SMI30 / SMI31 Servo/Step Motor Indexer User Manual SMC35A

SMI30 / SMI31

Servo/Step Motor Indexer

SMC35A / SMC35B

Step Motor Controller

User Manual

TT0119

LB0040-09GB

JVL Industri Elektronik A/S - April 2001

Revised 26-6-2002

Contents

1 Introduction ................................................................................................................................ 5

1.1

Features SMI30/31 ............................................................................................................................................... 6

1.2

Features SMC35 ................................................................................................................................................... 7

1.3

SMI30/31 Indexer Front Panel ............................................................................................................................. 8

1.4

SMC35 Controller Front Panel ............................................................................................................................ 9

1.5

Quick Start SMI30/31 ........................................................................................................................................ 10

1.6

Quick Start SMC35 ............................................................................................................................................ 11

2 Hardware .................................................................................................................................. 13

2.1

Connections ........................................................................................................................................................ 14

2.2

User Inputs ......................................................................................................................................................... 15

2.3

End-of-travel Limit Inputs ................................................................................................................................. 16

2.4

Home Input ........................................................................................................................................................ 17

2.5

User Outputs ...................................................................................................................................................... 18

2.6

Connection of Motor (SMC35 only) .................................................................................................................. 19

2.7

Power Supply (SMI30 only) .............................................................................................................................. 22

2.8

Power Supply (SMC35 only) ............................................................................................................................. 23

2.9

Driver Connection (SMI30 only) ....................................................................................................................... 24

2.10

Control Connection (SMC35 only) .................................................................................................................... 25

2.11

Analogue Inputs ................................................................................................................................................. 26

2.12

Analogue Output ................................................................................................................................................ 27

2.13

RS232/RS485 Interface ...................................................................................................................................... 28

3 Software .................................................................................................................................... 33

3.1

Use of RS232/RS485 Commands ...................................................................................................................... 34

3.2

Standby Mode .................................................................................................................................................... 35

3.3

Program Execution ............................................................................................................................................. 36

3.4

Command Description ....................................................................................................................................... 47

3.5

Control Flags .................................................................................................................................................... 110

3.6

Error Messages ................................................................................................................................................ 123

3.7

Alphabetical Overview of Commands ............................................................................................................. 129

4 Appendix ................................................................................................................................. 133

4.1

Technical Data SMI30/31 and SMC35 ............................................................................................................ 134

4.2

Physical Dimensions ........................................................................................................................................ 136

4.3

Status and error indication ............................................................................................................................... 138

4.4

Common Errors ................................................................................................................................................ 139

4.5

Connection to Yaskawa servo drives ............................................................................................................... 140

4.6

Connection to JVL step motor driver ............................................................................................................... 144

4.7

Connection to other selected drivers ................................................................................................................ 146

4.8

Accessories ....................................................................................................................................................... 148

4.9

Program examples ............................................................................................................................................ 149

4.10

Command timing .............................................................................................................................................. 159

4.11

Connection tables ............................................................................................................................................. 161

4.12

Calculation of motor movement ...................................................................................................................... 163

4.13

Motor Connections (SMC35 only) .................................................................................................................. 164

4.14

Declaration of conformity ................................................................................................................................ 166

5 Index ........................................................................................................................................ 169

JVL Industri Elektronik A/S - User Manual - SMI30-31 and SMC35A/B 1


Copyright 1996-2002, JVL Industri Elektronik A/S. All rights reserved.

This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A/S.

JVL Industri Elektronik A/S reserves the right to make changes to information contained in this manual without prior notice.

Similarly JVL Industri Elektronik A/S assumes no liability for printing errors or other omissions or discrepancies in this user manual.

MotoWare is a registered trademark of JVL Industri Elektronik A/S

JVL Industri Elektronik A/S

Blokken 42

DK-3460 Birkerød

Denmark

Tlf. +45 45 82 44 40

Fax. +45 45 82 55 50 e-mail: [email protected]

Internet: http://www.jvl.dk



1 Introduction

This User Manual deals with the SMI30-31 Servo/Step Motor Indexer and the SMC35A and SMC35B Step Motor Controller.

The 2 products are fundamentally the same.

The SMI3x Servo/Step Motor Indexer series is a processor unit which requires an external driver to control the motor.

The SMC35 Step Motor Controller series includes a step motor driver which makes it a complete controller unit for step motors.

Allmost everything in this user manual is identical for the SMI3x and the SMC35. Very few additional commands are included in the SMC35 in order to control, for example, the motor current. In hardware sections, some specific pages describe the motor connections.

Pages that differ between the SMI3x and the SMC35 are clearly marked.

Note: This manual can only be used for firmware versions higher than V1.59a.

Type

SMI30

SMI31

SMC35A

SMC35B

SMC35Q

(special version)

Y

Y

Y

Y

Indexer Controller Driver JVL-bus Conversion

factor

Y -

-

Y

Y

Y

-

3Amp

6Amp

1.5Amp

-

Y

Y

Y

-

Y

Y

Y

1½ axis

-

-

-

Y

Y


6

1.1

Features SMI30/31

10-32VDC

Filter and fuse

Block diagram of SMI30-31 Servo/step Motor Indexer

Power Supply

Voltage monitoring

U=Min.

U=Max.

Frequency

Synthesis

2

2

Pulse output

(balanced)

Direction output

(balanced)

Reset- and temperature monitoring

RISC-processor

RS232 / RS485

Programming interface

8 Basis inputs

8 Basis outputs

Transceiver

Opto coupler

Opto coupler

Opto coupler

2 End-of-travel inputs

1 Zero-point seek input

+0-5V Analogue input


A/D Converter

8 Bit

TT0100GB

Interface logic

Program Processor

EEPROM

= Extended functions in SMI31

Expansion

Module interface

Controlsignals for motordriver

Analogue output

+0-5V

2

JVL module bus

To Keyboard / display / extra I/O etc.

SMI30 and SMI31 are compact programmable servo or step motor indexers.

Main Features:

The Indexers are characterised by their ability to be controlled either via the RS232/RS485 interface, or via the general inputs in conjunction with a downloaded program.

The Indexer generates a pulse train which is output to the connected servo or step motor driver. This pulse train controls the speed and position of the connected motor. The speed, acceleration, deceleration and distance travelled can be controlled by single commands received via the RS232/RS485 interface or by the program that has been downloaded.

All general purpose inputs and outputs are optically isolated and protected against voltage overloads.

The Indexer is equipped with 8 general-purpose outputs. These can be configured, for example, to give a ready signal when the motor has reached its desired position, or to give an error signal if an obstruction occurs that prevents motor operation. The

Indexer can be mounted on a surface.

• Simple programming

• Large speed range: 1 - 2,000,000 pulses/sec.

• Exact speed resolution +/- 0.5 pulse/sec.

• Small physical dimensions

• Connection of up to 255 controllers on the same RS232/RS485 interface bus

• Thermal protection

• Absolute/Relative positioning

• EMC compliant construction - CE approved

• 1 Analogue output +0-5V (1-16Bit)

• 2 Analogue inputs +0-5V (10Bit)

• End-of-travel limit inputs

• 8 general purpose inputs — optically isolated

• 8 general purpose outputs — optically isolated

• Program stored in EEPROM

• Handshake signals to the servo/step driver

• All general purpose I/Os monitored by LEDs

• Plugable screw connectors

• Balanced pulse and direction outputs

JVL Industri Elektronik A/S - User Manual - SMI30-31 and SMC35A/B

1.2

Features SMC35

10-85VDC

Filter and fuse

Power Supply

Block diagram of SMC35 Step Motor Controller

Voltage monitoring

U=Min.

U=Max.

Frequency

Synthesis

Reset- and temperature monitoring

RISC-processor

RS232 / RS485

Programming interface

8 Basis inputs

8 Basis outputs

Transceiver

Opto coupler

Opto coupler

Opto coupler

2 End-of-travel inputs

1 Zero-point seek input



A/D Converter

8 Bit

TT0158GB

Interface logic

Program Processor

EEPROM

Expansion

= Extended functions in SMC35B

Module interface

2

2

Pulse output

(balanced)

Direction output

(balanced)

Driver

4

Step Motor

SMC35A = 3A/phase

SMC35B = 6A/phase

Controlsignals for motordriver

Analogue output

+0-5V

2

JVL module bus

To Keyboard / display / extra I/O etc.

Type overview

SMC35A

SMC35B

Motor Current

3 A/RMS per phase

6 A/RMS per phase

JVL Module bus

No

Yes

• Ultra-compact Step Motor Controller up to

6A/80VDC

• Indexer and driver in one unit

• 1½-axis controller for control of 2 motors from the same program

• Special modes for solving tasks involving dispensing/labelling

• Extremely fast start/stop reaction times

• Programmed via the well-known Windowsbased MotoWare program

• Can operate with all 2 or 4 phase step motors

• Selection of ministep resolution via software

• Advanced "all digital" with built-in

µ

-PLC

• Encoder inputs for monitoring of position and "stall" of motor

• Stores up to 15 errors

• CE approved. Low EMI

• 2 analogue inputs and 1 analogue output 0-

5VDC

• User outputs can deliver up to 0.7Amp per channel, i.e. external relays can be avoided

• Positioning range from -2.1billion to +2.1billion

• Multipoint control so that 1 master SMC35 can send data to up to 31 slaves, e.g. SMI30, SMC35, DMC10 and AMC10/12

• Multitasking system with possibility for changing vel., acc., outputs etc. with motor running

• 2 models: SMC35A 3A/20-80VDC or SMC35B 6A/

20-80VDC with JVL bus

• Program stored in EEPROM

• Large velocity range: 0 to 2,000,000 pulses/sec.

• Connection of up to 32 indexers on the same RS232/

485 interface bus

• Absolute/Relative positioning

• 11 inputs, 8 outputs, end-of-travel inputs, high speed counter/encoder inputs

• All generally used I/O monitored by light emitting diodes

• Small physical dimensions

• Plugable screw connector

• Can be mounted on a surface

• Electronic gear can be coupled in/out


1.3

SMI30/31 Indexer Front Panel

The 8 user inputs are available at this connector. Additionally, the end-of-travel limit inputs and the

Home input are available at this connector.

The status of each input is displayed at the corresponding LED.

This connector includes power input, 2 analogue inputs and

1 analogue output. For the SMI31, the JVL-bus interface is also available.

The 8 user outputs are available at this connector. The status of each output is displayed at the corresponding LED. Additionally the LED "OE" indicates if one of the outputs has been short-circuited.

TT0107GB

Industri Elektronik

POWER

PROGRAM

MOTOR

ERROR

HM

PL

NL

I

I8

I7

I6

I5

I

I4

I3

I2

I1

I

RS232

RS485

OE

O+

O1

O2

O3

O4

O5

O6

P +

P -

AI1

AI2

AO

A

B

O7

O8

O

-

DRIVER

Indicates Indexer is switched on

Indicates program is running

Indicates motor is running

Indicates an error has occurred

SUB-D 9 Pole Female Interface connector.

Connected to PC or terminal for set-up/programming of Indexer

SUB-D 9 Pole Male Driver connector.

Connected to servo or step motor driver. Pulse, direction and other relevant signals are available at this connector.

Mounting plate.

The indexer can be mounted on a surface, in a cabinet, etc.

8 JVL Industri Elektronik A/S - User Manual - SMI30-31 and SMC35A/B

1.4

SMC35 Controller Front Panel

The 8 user inputs are available at this connector. Additionally, the end-of-travel limit inputs and the

Home input are available at this connector.

The status of each input is displayed at the corresponding LED.

This connector includes power input, 2 analogue inputs and

1 analogue output. For the SMC35B, the JVL-bus interface is also available.

The 8 user outputs are available at this connector. The status of each output is displayed at the corresponding LED. Additionally the LED "OE" indicates if one of the outputs has been short-circuited.

Industri Elektronik

Step Motor Controller SMC3x

POWER

PROGRAM

MOTOR

ERROR

I

I8

I7

I6

I5

I

I4

I3

I2

I1

I

HM

PL

NL

RS232

RS485

A

+

A

B

P

-

-

-

B

+

O3

O4

O5

O6

O7

O8

O

-

A

B

P +

P -

AI1

AI2

AO

OE

O+

O1

O2

CONTROL

TT0159GB

Indicates Controller is switched on

Indicates program is running

Indicates motor is running

Indicates an error has occurred

Motor Output.

A 2 or 4 phase step motor can be connected to this connector.

Please notice that up to

90V can be present at these terminals.

SUB-D 9 Pole Female Interface connector.

Connected to PC or terminal for set-up/programming of Controller

SUB-D 9 Pole Male Control connector.

The connector is intended for an external slave axis which can be controlled from the SMC35.

Pulse, direction and other relevant signals are available at this connector.

Mounting plate.

The Controller can be mounted on a surface, in a cabinet, etc.


1.5

Quick Start SMI30/31

1.5.1

24V DC

+

Start

Industri Elektronik

POWER

PROGRAM

MOTOR

ERROR

HM

PL

NL

I

I8

I

I4

I3

I7

I6

I5

I

I2

I1

RS232

RS485

O5

O6

O7

O8

O -

O+

O1

O2

O3

O4

P +

P -

AI1

AI2

AO1

A

B

OE

DRIVER

7

8

2

4

5

RS232

Driver

CLK

DIR

GND

Pulse input

Direction input

PC

Motor

TT0123GB

How to get started with the SMI30 and MotoWare

1. Switch on the SMI30. The Power lamp should be lit.

2. Start MotoWare and set it to SMI30 mode by selecting SMI30 in the Set-up menu,

Controller specs.

3. Select OnLine Editor in the Applications Menu or from the Toolbox. Key-in

SON=1. (servo on). This will enable the servo driver.

4. Key in "OUT1=1". The green LED O1 on the front panel of the Indexer will be lit if

+24 volts are connected to O+ and 0 volts connected to O-.

5. In the OnLine Editor, key-in "?". This will display status information, giving all the current register values.

6. In the OnLine editor, key in "SR=1000". This will cause the motor to move 1000 pulses forward. If this does not happen, the Indexer will probably display errors E46 or

E39. To solve the problem, check the cable connection to the motor controller and the servo-parameters.

7. When the motor runs, return to the main menu. Select Open from the File menu.

From the MotoWare directory select the test program: Test_SMI.mcp and press OK.

Send the program by activating the Send button. This test program activates the outputs in succession and moves the motor 8000 pulses forwards and backwards. When this has taken place 5 times, it will stop. (See Test-program, quick start, page 153.)


1.6

Quick Start SMC35

1.6.1

How to get started with the SMC35 and MotoWare

1. Switch on the SMC35. The Power lamp should be lit.

2. Start MotoWare and set it to SMC35 mode by selecting SMC35 in the Set-Up menu,

Controller specs.

3. Select OnLine Editor in the Applications Menu or from the Toolbox. Key-in

SON=1. (servo on). This will enable the motor output.

4. Key in "OUT1=1". The green LED O1 on the front panel of the Indexer will be lit if

+24 volts are connected to O+ and 0 volts connected to O-.

5. In the OnLine Editor, key-in "?". This will display status information, giving all the current register values.

6. In the OnLine editor, key in "SR=1000". This will cause the motor to move 1000 pulses forward. If this does not happen, check the cable connection to the motor or adjust the current to the motor with the CS and CT commands.

7. When the motor runs, return to the main menu. Select Open from the File menu. From the MotoWare directory select the test program: Test_SMI.mcp and press OK. Send the program by activating the Send button. This test program activates the outputs in succession and moves the motor 8000 pulses forwards and backwards. When this has taken place 5 times, it will stop. (See Test-program, quick start, page 153.)



2 Hardware


2.1

14

Connections

SMI30/31

Connectors

Home Input

End-of-travel Inputs

User Inputs

Power Supply in

Analogue Inputs

Analogue Output

(JVL-bus interface)

Only available on

Indexer type SMI31

User Outputs

Industri Elektronik

POWER

PROGRAM

MOTOR

ERROR

I

I7

I6

I

I5

I4

I3

I2

I1

HM

PL

NL

I

I8

RS232

RS485

OE

O+

O1

O2

O3

O4

O5

O6

O7

O8

O -

P +

P -

AI1

A

B

AI2

AO1

DRIVER

RS232 Interface

RS485 Interface

For programming etc.

Driver.

Pulse, direction, status etc.

Connected to the servo or step motor driver

SMC35

Connectors

Home Input


User Inputs

Power Supply in

Analogue Inputs

Analogue Output

(JVL-bus interface)

Only available on SMC35B

User Outputs

Industri Elektronik


POWER

PROGRAM

MOTOR

ERROR

I8

I7

I6

I5

HM

PL

NL

I

I

I4

I3

I2

I1

I

RS232

RS485

A +

A

B

+

B

P

-

-

-

O4

O5

O6

O7

O8

O

-

P +

P -

AI1

AI2

AO

A

B

OE

O+

O1

O2

O3

CONTROL

TT0108GB

Motor Output

A 2 or 4 phase step motor can be connected to this connector.

RS232 Interface

RS485 Interface

For programming etc.

Control connector.

Pulse, direction and other relevant signals are available at this connector to be used for an external slave axis.


2.2

2.2.1

2.2.2

2.2.3

User Inputs

Power Supply

+5-30VDC

Power Supply

+5-30VDC

PNP Output

Note that End-of-travel inputs,

I1-8 and HM share a common ground ( I- ).

All the three ground terminals ( I- ) are connected together.

+

Inductive sensor or similar

This diagram is used if an NPN output is connected

+


NPN Output

R

User Inputs

Industri Elektronik

POWER

PROGRAM

MOTOR

ERROR

I

I8

I7

I6

HM

PL

NL

I5

I

I4

I

I3

I2

I1

RS232

RS485

OE

O+

O1

O2

O3

O4

O5

O6

P +

P -

AI1

AI2

AO1

A

B

O7

O8

O -

DRIVER

TT0109GB

General

The Indexer is equipped with a total of 8 digital inputs. Each input can be used for a variety of purposes depending on the actual application. Each of the inputs can be detected from the actual program that has been downloaded to the Indexer.

The Inputs are optically isolated from other Indexer circuitry. All of the Inputs have a common ground terminal, denoted I-. Note that this terminal is also used for the End-of-

Travel Limit Inputs (Section 2.3, page 16) and Home Input (Section 2.4, page 17). Each

Input can operate with voltages in the range 5 to 30VDC. Note that the Inputs should normally be connected to a PNP output since a positive current must be applied for an input to be activated.

Connection of NPN Output

If an Input is connected to an NPN output, a Pull-Up resistor must be connected between the Input and the + supply. See the illustration above.

The value of the resistance used depends on the supply voltage. The following resistances are recommended:

Supply Voltage

5-12VDC

12-18VDC

18-24VDC

24-30VDC

Recommended Resistance

1kOhm / 0.25W

2.2kOhm / 0.25W

3.3kOhm / 0.25W

4.7kOhm / 0.25W

Indication of Input Status

To indicate the status of each Input, the Indexer’s front panel is equipped with LEDs denoted I1, I2,..... I8. These LEDs are lit when the respective Input is activated.


2.3

2.3.1

2.3.2

16

End-of-travel Limit Inputs

PNP Output

Power Supply

+5-30VDC

Power Supply

+5-30VDC

+


Note that end-of-travel inputs,




+


NPN Output


R

Industri Elektronik

POWER

PROGRAM

MOTOR

ERROR

I8

I7

I6

I5

I

I4

I3

I2

I1

I

HM

PL

NL

I

RS232

RS485

OE

O+

O1

O2

O3

P+

P -

AI1

AI2

AO1

A

B

O4

O5

O6

O7

O8

O -

DRIVER

TT0110GB

General

The Indexer is equipped with end-of-travel limit inputs denoted NL (negative limit) and

PL (positive limit). The Inputs are, together with I1-I8 and HM (Home input) optically isolated from other Indexer circuitry. All of these inputs have a common ground denoted

I-. The End-of-travel Limit Inputs operate with voltages in the range 5 to 30VDC. Note that the Inputs must normally receive a signal from a PNP output since a positive current must be applied for the Inputs to be activated.

Activation of the PL Input will halt motor operation if the motor is moving in a positive direction. The motor can however operate in a negative direction even if the PL Input is activated. Activation of the NL Input will halt motor operation if the motor is moving in a negative direction. The motor can however operate in a positive direction even if the

NL Input is activated.

An error message will be set in the Indexer’s error register if either the NL or PL Inputs has been activated. See Error Messages, page 123.

The NL and PL inputs can also be used as general inputs (i.e. the same as IN1-8). See also the Positive Limit Switch (PLS) command, page 88 and the Negative Limit Switch (NLS) command, page 83.


To connect an end-of-travel input to an NPN output, a Pull-Up resistor must be connected between the Input and the + supply. See above illustration. The size of the resistance depends on the supply voltage used. The following resistances are recommended:

Supply Voltage

5-12VDC

12-18VDC

18-24VDC

24-30VDC


1kOhm / 0.25W

2.2kOhm / 0.25W

3.3kOhm / 0.25W

4.7kOhm / 0.25W


2.4

Home Input

2.4.1

2.4.2

PNP Output

Power Supply

+5-30VDC

+


Note that end-of-travel inputs,




Power Supply

+5-30VDC

+


NPN Output

R

Home Input

Industr i Elektr onik

POWER

PROGRAM

MOTOR

ERROR

I

I4

I3

I2

I1

I

I

I8

I7

I6

I5

HM

PL

NL

RS232

RS485

P +

P -

AI1

AI2

AO1

A

B

O5

O6

O7

O8

O -

OE

O+

O1

O2

O3

O4

DRIVER

TT0111GB

General

The Input HM (Home) is used during the zero-point seek function. A zero-point seek occurs after one of the following conditions:

1. The Indexer receives the seek zero command SZ (reset). See the Seek Zero Point (SZ) command, page 106

2. The Indexer is switched on and is set to automatically execute a program containing a SZ command (only if MR1=1).

The Home Input is primarily used if the Indexer is used for positioning purposes.

The Input is optically isolated from other Indexer circuitry, with the exceptions of I1 - I8, and NL and PL (End-of-travel Limit Inputs). All these inputs have a common ground denoted IN-. The Home Input can operate with voltages in the range 5 to 30VDC. Note that the Input is designed to receive a signal from a PNP output since a positive current must be applied for the Input to be activated.

The HM input can also be used as a normal input which means it can be included, for example, in an IF statement.


To connect the Input to an NPN output, a Pull-Up resistor must be connected between the

Input and the + supply. See above illustration. The size of the resistance depends on the supply voltage used. The following resistances are recommended:

Supply Voltage

5-12VDC

12-18VDC

18-24VDC

24-30VDC


1kOhm / 0.25W

2.2kOhm / 0.25W

3.3kOhm / 0.25W

4.7kOhm / 0.25W


2.5

User Outputs

2.5.1

2.5.2

General

The Indexer is equipped with a total of 8 digital outputs. Each output can be used for a variety of purposes depending on the Indexer’s basic mode of operation. The Outputs are optically isolated from other Indexer circuitry. The output circuitry must be powered from an external power supply. This power supply is connected to the terminals O+ and

O-. The output circuitry operates with voltages in the range 8-28VDC. Each output can supply a continuous current of 700mA. The Outputs are all source drivers, i.e. if a given

Output is activated, contact is made between the +supply (O+) and the respective output terminal. See above illustration. To indicate the level of each output, the Indexer front panel is equipped with LEDs, denoted IO1, IO2,..... IO8. These LEDs are lit when the respective Output is activated.

Overload of User Outputs

All of the Outputs are short-circuit protected, which means that the program and the motor is stopped and the output is automatically disconnected in the event of a short circuit.

The Output will first function normally again when the short-circuit has been removed.

The Out Error (OE) LED on the Indexer’s front panel is lit when one or more of the

Outputs has been short-circuited. The LED also indicates if the output circuitry has been overheated due to an overload. It is possible via software control to detect an overload using the command EST or ES2. The error message E43: 01-08 Output error, page 127 will appear.

Note: Do not connect a voltage greater than 30VDC to the O+ terminal as the output circuitry may be seriously damaged and the unit will require factory repair.


2.6

Connection of Motor (SMC35 only)

2.6.1

Cabling

For SMC35A that supply a phase current in the range 0 to 3 A, it is recommended that

0.5mm² cable (minimum) is used to connect the motor to the controller.

For SMC35B that supply a phase current in the range 0 to 6 A, it is recommended that

0.75mm² cable (minimum) is used to connect the motor to the controller.

Cable lengths used to connect the motor to the Driver should not exceed 10 metres because of impedance loss. It is possible to use longer cables but motor performance will decrease.

Cables should be securely connected since a poor connection can cause heating and destruction of the connector. Similarly, tinned conductors should be avoided.

Important!

To minimise spurious noise emission from the motor cables and fulfil CE requirements, screened cable must be used.

If screened cable is not used, other electronic equipment in the vicinity may be adversely affected.

The removable connector must never be removed while a voltage is connected as this will significantly reduce the lifetime of the connector. Note also that the connector’s lifetime is reduced by repeated connecting/disconnecting since the contact resistance of the pins is increased.

Note that P- is connected to the chassis and functions as the main ground on the SMC35.

See also Motor Connections (SMC35 only), page 164 which describes how various models of motor should be connected to the SMC35.


2.6


2.6.2

Connection of Step Motor

Various types of step motor are available:

1. 2-phase Bipolar (4 connectors)

2. 4-phase Bipolar/Unipolar (8 connectors)

3. 4-phase Unipolar (6 connectors).

Note that Type 3 motors indicated above (Unipolar motors) produce 40% less torque.

This motor type can be used with success but is not recommended if a 4 or 8 wire motor is available instead. This section will not describe the unipolar type further.

2-phase or 4-phase motors can be connected to the Controllers as follows:

2-phase Motors (4 wires).

This type of motor can be directly connected to the Controller’s motor terminals.

The Controller current adjustment must not exceed the manufacturer’s specified rated current for the motor.

4-phase Motors (8 wires).

This type of motor can be connected to the Driver in one of the 2 following ways:

1. Serial connection of phases.

2. Parallel connection of phases.

Selection of serial or parallel connection of the motor phases is typically determined by the speed requirements of the actual system.

If slow speeds are required (typically less than 1 kHz), the motor phases can be connected in serial. For operation at higher speeds (greater than 1 kHz), the motor phases can be connected in parallel.


2.6


2.6.3

2.6.4

Serial Connection

Using serial connection of the phases, a motor provides the same performance (up to

1kHz) as parallel connection, but using only approximately half the current. This can influence the selection of Controller model and enables a Controller rated for a lower motor current to be used. See illustration on previous page.

If the phases of a 4-phase step motor are connected in series, the motor’s rated phase current should be divided by 1.41. For example, if the rated current is 4.2A, the maximum setting of the Controller phase current must not exceed 3 A when the motor phases are connected in series.

Parallel Connection

With parallel connection of motor phases, a motor will provide better performance at frequencies greater than 1kHz compared to serially connected phases, but requires approximately twice the current. This can influence the choice of Controller since it is necessary to select a Controller that can supply twice the current used for serial phase connection.

See illustration on previous page.

When the phases of a 4-phase motor are connected in parallel, the specified rated current of the motor must be multiplied by a factor of 1.41. For example, if the rated current is

4.2 A, the maximum setting of the Controller phase current must not exceed 5.9 A when the phases are connected in parallel.

It should be noted that the lower the self-induction of the motor, the better since this influences the torque at high speeds. The torque is proportional to the current supplied to the motor.

The applied voltage is regulated by the Controller so that the phase current is adjusted to the selected value. In practice this means that if a motor with a large self-inductance (e.g.

100mH) is used, the Controller cannot supply the required phase current at high speeds

(high rotational frequencies) since the output voltage is limited.


2.7

Power Supply (SMI30 only)

2.7.1

2.7.2

2.7.3

General Aspects of Power Supply (SMI30 only)

Powering of the Indexer is relatively simple. Indexer types SMI30/31 require a supply voltage in the range 10-30VDC.

Power Supply of Indexer (SMI30 only)

To ensure that powering of the Indexer is as simple as possible, only a single supply voltage is connected to the Indexer. Internal supply circuitry ensures the correct supply voltages for the driver, control circuits, etc.

For optimum performance, it is recommended that a capacitance of minimum 1000

µ

F is connected to the supply. Similarly, it is recommended that 0.75mm cable is used to connect the power supply to the Indexer. If the Indexer supply voltage falls below 8V, the internal reset circuitry will reset the driver. Provision should therefore be made to ensure that the supply voltage is always maintained at a minimum of 10-15V, even in the event of a mains voltage drop.

Power Supply Faults (SMI30 only)

The Indexer is protected against incorrect polarity connection and voltage overload.

If a voltage overload of the Indexer supply occurs, or the supply is connected with incorrect polarity, the Indexer’s internal fuse will be blown.

The fuse can only be replaced by an authorised service centre.


2.8

Power Supply (SMC35 only)

2.8.1

2.8.2

2.8.3

General Aspects of Power Supply (SMC35 only)

Powering of the Controller is relatively simple. The Controller types SMC35A and

SMC35B require a supply voltage in the range 20-80VDC nominal. It is strongly recommended to use a voltage as high as possible since it will give the best torque performance of the motor at high speeds.

Power Supply (SMC35 only)

To ensure that powering of the Controller is as simple as possible, only a single supply voltage is connected to the Controller. Internal supply circuitry ensures the correct supply voltages for the driver, control circuits, etc.

For optimum performance, it is recommended that a capacitance of minimum 1000mF is connected to the supply. Similarly, it is recommended that 0.75mm cable is used to connect the power supply to the Controller. If the Controller supply voltage falls below 15V, the internal reset circuitry will reset the driver. Provision should therefore be made to ensure that the supply voltage is always maintained at a minimum of 20V, even in the event of a mains voltage drop.

Power Supply Faults (SMC35 only)

The Controller is protected against incorrect polarity connection and voltage overload.

If a voltage overload of the Controller supply occurs, or the supply is connected with incorrect polarity, the Controller’s internal fuse will be blown.

The fuse can only be replaced by an authorised service centre.


2.9

Driver Connection (SMI30 only)

2.9.1

24

General

All the necessary input and outputs for the connected servo or step motor driver are available at this connector. The following signals can be used:

CLK - / CLK +

This is the main pulse signal output for the connected driver. The 5V output is balanced which means that CLK - is the inverted signal of CLK +. If the driver connected to the Indexer has an unbalanced input, CLK- must be left unconnected.

DIR - / DIR +

This is the direction output for the connected driver. The 5V output is balanced which means that DIR - is the inverted signal of DIR +. If the driver connected to the Indexer has an unbalanced input, DIR- must be left unconnected.

GND

The ground terminal must be connected to the driver to ensure proper operation. The

PS+

GND is also reference for the PS+, SALA, COIN and SON terminals.

This terminal is a voltage output for the input or output circuitry in the connected driver.

Note that the voltage at this terminal is the same as at the Supply terminal P+. Inside the indexer it is protected by the main fuse so that any short circuit results in limited damage.

SALA

Servo Alarm input. This terminal ensures that all activity in the Indexer is stopped if the terminal is left open. The terminal must under normal operation be kept logic low which means at the same level as GND. The input is active high. See CB15 Servo

alarm signal (SALA) flag, page 113, to change active level.

COIN

Servo-in-position input. This terminal ensures that the Indexer waits for the servo motor until it has reached its final position. If the terminal is left open, the Indexer will keep waiting. The terminal must under normal operation be kept logic low which means at the same level as GND. See CB16 Motor in position (COIN) flag, page 113, flag to change active level.

SON

This output is low (active NPN) if the command SON=1 is executed.


2.10

Control Connection (SMC35 only)

2.10.1

Industri Elektronik


POWER

PROGRAM

MOTOR

ERROR

I7

I6

I5

HM

PL

NL

I

I8

I

I4

I3

I2

I1

I

RS232

RS485

A

+

A

-

B

+

B

P

-

-

O6

O7

O8

O

-

O+

O1

O2

O3

O4

O5

P +

P -

AI1

AI2

AO

A

B

OE

CONTROL

TT0166GB

SALA

5V

1k

Ω

2.7k

Ω

5.6V

CONTROL

+14V

SALA

+5V

SON

6

7

8

9

1

2

3

4

5

CLK-

CLK+

DIR-

DIR+

GND

SON

100

Ω

CLK-/DIR

CLK+/DIR

4.7k

Ω

5V

SN 75176

General

The Control connector is intended to be used if an external step or servo driver has to be controlled. The control signals are shared with the internal driver and therefore it is not possible to operate both motors at the same time unless it with the same speed and target position. The following signals can be used:

CLK - / CLK +

This is the main pulse signal output for the connected driver. The 5V output is balanced which means that CLK - is the inverted signal of CLK +. If the driver connected to the controller has an unbalanced input, CLK- must be left unconnected.

DIR - / DIR +

This is the direction output for the connected driver. The 5V output is balanced which means that DIR - is the inverted signal of DIR +. If the driver connected to the Controller has an unbalanced input, DIR- must be left unconnected.

GND

The ground terminal must be connected to the driver to ensure proper operation. The

GND is also reference for the +5V, SALA, +14V and SON terminals.

+14V


Note that this output voltage can only withstand shortcircuit for 5-10 seconds. The maximum allowable current drawn from this terminal is 50mA.

SALA

Servo Alarm input. This terminal ensures that all activity in the Controller is stopped if the terminal is left open. The terminal must under normal operation be kept logic low which means at the same level as GND. The input is active high. See CB15 Servo

alarm signal (SALA) flag, page 113, to change active level.

+5V


Note that this output voltage can only withstand shortcircuit for 5-10 seconds. The maximum allowable current drawn from this terminal is 50mA.

SON

This output is low (active NPN) if the command SON=1 is executed.


2.11

Analogue Inputs

PC-card or

Potentiometer

Note ! : screenonly connectedto signal source.

Analogue inputs

0-5VDC Input

Ground

0-5V Out

Screen

TT0115GB

Indust ri Elektronik

POWER

PROGRAM

MOTOR

ERROR

I

I8

I7

I6

I

I5

I4

I3

I

I2

I1

HM

PL

NL

RS232

RS485

O6

O7

O8

O -

O2

O3

O4

O5

A

B

OE

O+

O1

P +

P -

AI1

AI2

AO

DRIVER

2.11.1

General

The 0-5V Analogue Inputs are used for example when the Indexer is operated as a standalone unit. In this kind of application it can be an advantage to use a potentiometer, joystick or other device for adjusting speed, position, acceleration, etc.

In these modes of operation, the motor is controlled to produce a velocity or position, etc., which is determined by, and proportional to, the voltage applied to the Analogue Input.

The Analogue Inputs share a common internal supply with the P+ and P- terminal and also the signals at the Driver connector, but are optically isolated from all other input and outputs. The Analogue Inputs are protected against voltage overload up to 50V peak and have a built-in filter which removes input signal noise.

Always use screened cable to connect the source used to control an Analogue Input since the motor, etc., can easily interfere with the analogue signal and cause instability.

The Indexer is equipped with an analog-to-digital converter (ADC) which converts the detected analogue signal level. The ADC has a resolution of 8 bit.

Via software, the A/D converter can be adjusted to 10, 12, or 14 bit resolution using a special integration technique.

See Analogue input (AI1 / AI2), page 52 for further details.

In order to use the Analogue Inputs as 0-20 mA inputs, a 250

Ω

, 1% resistor must be connected between AI and P-.


2.12

Analogue Output e.g. DC-Driver

Note ! : screen only connected to signal receiver Analogue output

0-5VDC Output

Ground

0-5V Input

Screen

TT0118GB

Industri Elektronik

POWER

PROGRAM

MOTOR

ERROR

I

I8

I7

I6

I

I5

I4

I3

I

I2

I1

HM

PL

NL

RS232

RS485

O6

O7

O8

O -

O2

O3

O4

O5

A

B

OE

O+

O1

P +

P -

AI1

AI2

AO

DRIVER

2.12.1

General

The 0-5V Analogue Output is used, for example, when the Indexer must control secondary functions, such as a small DC-motor + driver or a temperature controller.

The voltage at the Analogue Output is set using a single command either inserted in a program or sent directly to the Indexer.

The Analogue Output shares a common internal supply with the P+ and P- terminal and also the signals at the Driver connector, but is optically isolated from all other input and outputs.

The Analogue Output is not protected against long-duration short circuits, although the

Output can withstand short (<100ms) short-circuit or capacitive loads up to 10 nF.

Always use screened cable when connecting the Analogue Output to external units since the motor, etc., can easily interfere with the analogue signal and cause instability.

The Analogue Output can be set to a resolution between 1 and 16 bit. The output voltage however is always from 0.00 to 5.00 VDC.

See also Analogue output (AOUT), page 54.


2.13

2.13.1

RS232/RS485 Interface

Interface Connection

The Indexer Interface uses the widespread RS232/RS485 standard, offering the advantage that all Personal Computers and standard terminals can be connected via the interface. The 3 interface signals Rx, Tx and ground are used. The interface cable length should not exceed 10 meters in the case of RS232 or 100 meters in the case of RS485.

Indexer Interface:

RS232

RS485

2.13.2

2.13.3

2.13.4

28

B (RS485)

RS485 Term.

Tx-PD

9

8

7

6

5

4

3

2

1

Signal ground

A (RS485)

Tx (RS232 Transmit)

Rx (RS232 Receive)

Chassis ground

(not isolated)

TT0106GB

Communication Protocol

The Indexer uses the following format: (1 startbit), 7 databits, Odd parity, 1 Stop bit

Note that a startbit is always used in the RS232(V24)/RS485 protocol. It is also possible to use 8 databit, no parity. See the Baud Rate on RS232/RS485 (Baud) command, page 56.

Communication Rate

The Indexer operates at a fixed communication rate (Baud rate) of 9600 or 19200 Baud.

The Baud Rate must be set accordingly on the terminal or PC used to communicate with the Indexer. See the Baud Rate on RS232/RS485 (Baud) command, page 56.

Command Syntax

Communication with the Indexer must follow a specific command syntax:

[Address] Command [=Argument] [Checksum] <CR>

Text in square brackets [] may be included or omitted depending on the set-up.

Address:

This address must be used when more than one Indexer is connected to the same interface. See also the Address (ADDR) - Only SMI31 and SMC35B command, page 51.

Command: The command itself. See Command Description, page 47 for an overview of commands.

Argument:

The subsequent numeric argument for the command. An argument always begins with the equal-to sign “=“. Certain commands do not use arguments. (e.g. commands that display set-ups).

Checksum: In situations where long communication lines are used, a checksum can be used to ensure that the commands are received correctly. If an error occurs, the error message E9 is received and the command must be re-transmitted.

See also the RS232/RS485 Interface Checksum (CHS) command, page 56.

<CR>:

ASCII value 13. This character terminates the command line.


2.13

2.13.5

2.13.6


Synchronisation

During communication with the Indexer, each command string must be terminated by a

<CR> (ASCII 13) or a semi-colon ";" to separate the commands. These delimiters tell the

Indexer that the command string is complete and interpretation can begin. When a checksum is used, command interpretation will not begin until the entire command line has been received, i.e. the command line is terminated by a <CR>. A maximum of 120 characters may be sent in a single command line.

Checksum

In industrial applications, electrical noise from motors etc. often occurs. This noise is quite arbitrary and random and cannot be eliminated 100% even by effective electrical filtering. To ensure correct transmission of Indexer commands therefore, a checksum can be used. A typical command line may be as follows:

25VM=2000A2

2.13.7

Address

TT0117GB

Command

Checksum

In this example, addressing is used (address 25). A command is transmitted followed by a checksum. The checksum consists of two characters. The checksum is a ‘simple’ checksum and is calculated in the following way: First the ASCII value of each of the characters in the command line is determined. These values are summed and the two least significant characters (the least significant byte) of the result’s hexadecimal value are used.

The two least significant digits are converted to ASCII values and transmitted along with the command line. The actual calculation in this example is as follow:

50+53+86+77+61+50+48+48+48 = 418 (decimal) = 1A2 (hexadecimal)

The checksum is thus A2 (only the 2 least significant characters) which is sent as ASCII

65 (decimal) and 50 (decimal). The hexadecimal characters a-f can also be sent as capitals, i.e. can also be sent as ASCII 65 - 70 (decimal).

In the event that the command string is corrupted during transmission, the checksum will not correspond and the Indexer will report an error message “E9”, indicating that a checksum error has occurred. The command string must then be re-transmitted. See the RS232/

RS485 Interface Checksum (CHS) command, page 56, for activation of the checksum function.

Parity Bit Error

In the event that one byte is corrupted during transmission, there will be a parity bit error and the indexer will report an error message E14 after the entire command has been received. The command string must be re-transmitted.


2.13

2.13.8


Connection to a PC

For communication from a PC, the following connection diagrams can be used. These show the connections between the Indexer and an IBM AT or IBM-XT/PS2:

PC-XT/PS2

PC-AT

7

5

Gnd

3

2

1

Tx

Rx

Indexer

Gnd

Tx

Rx

7

5

3

2

1

8

7

6

5

4

3

2

1

Gnd

Rx

Tx

Indexer

Gnd

Tx

Rx

7

5

3

2

1

2.13.9

TT0104GB

Connection of Several Indexers to a PC

For connection of more than 1 Indexer to a PC (i.e. using addressing), the connection diagrams given below can be used. Note that Tx (pin 3) must be connected to TX-PD (pin

7) on one of the Indexers included in the system. It is possible to combine SMI30 and 31 and other JVL products on the same interface bus. The diagrams show the connections between Indexers and an IBM AT or IBM-XT/PS2:

PC-XT/PS2

Gnd

Gnd

Indexer

Address 1

Gnd

Indexer

Address 2

To other Indexers

Addresses 3, 4, 5, ....

Connect as address 2

30

PC-AT

Gnd Gnd

Indexer

Address 1

Gnd

Indexer

Address 2

To other Indexers

Addresses 3, 4, 5, ....

Connect as address 2

TT0105GB


2.10


JVL can deliver cables in different lengths and with up to 7 leads. See Accessories in Appendix. To make your own cable, use a male 9-pin D-Sub connector at the SMI30 and a female 9-pin D-Sub connector at the PC:



3 Software


3.1

3.1.1

Use of RS232/RS485 Commands

Use of RS232/RS485 Commands

The Indexer can be controlled via its RS232/RS485 interface. Indexer commands are sent as ASCII characters terminated by <CR> ASCII 13 (decimal) or delimited by a semicolon ";". See also RS232/RS485 Interface, page 28.

Some of the Indexer commands have associated command parameters, others do not. For those commands which use parameters, transmitting the command alone without specifying the parameter will provoke the Indexer to respond with the command and the currently set value of the parameter. If no addressing is used, the Indexer always responds when a command has been received. If the purpose of the command is to display a value or set-up, the required information will be sent as a reply, or a ‘Y’ will be transmitted to indicate that the command has been received. In the event that incorrect information has been sent to the Indexer, for example a command that does not exist or a value that is out of range, the Indexer will respond with an error message. Error messages consist of an

‘E’ followed by a number followed by an explanatory text. See Error Messages, page

123.

Example: Sent to Indexer

VM<CR>

Received from Indexer

VM=500<CR>

Sent to Indexer

VM=600<CR>


Y<CR>

Sent to Indexer

VM=-5<CR>


E2: Out of range<CR>

Any errors in communication will be stored in the error status register 1. This register can be read using the Read-out of Error Status (ES) command, page 69. See also the Error

Status Text (EST) command, page 72

Commands may be sent as both upper-case and lower-case characters. With the exception of error messages, replies from the Indexer are always upper-case.

The following sections described all of the RS232/RS485 commands. As mentioned above, all commands must be terminated by a carriage-return character <CR> or semicolon ";" before they will be interpreted by the Indexer. These characters are not included in the description of the individual commands.


3.2

Standby Mode

3.2.1

Standby Mode

In this mode of operation the Indexer will position the motor via commands transmitted over the RS232/RS485 interface. Various operating parameters can be continuously adjusted via the interface while the motor is running. This mode is primarily used in systems in which the Indexer is permanently connected to a PC via the RS232/RS485 interface.

The Program must be aborted by use of the Halt of Motor and Program (H,K) command, page 73 or the Smooth Halt of Motor (SH) command, page 102.

The position is specified in terms of pulses. The motor’s instantaneous position can be read regardless of whether it is running or stationary. When a new position is set up, the motor moves to the new position using the pre-programmed velocity profile. See the following commands: Acceleration (AC), page 49, Start Rate (VS), page 108, and Maximum

Velocity (VM), page 107.

Motor operation can use a programmed velocity profile by programming a maximum velocity and acceleration. In this mode when the motor is operated to move to a new position, it will operate using the programmed velocity profile and the profile will always follow the acceleration/deceleration values. This means that the motor may not always attain maximum velocity if the distance is short. Motor status can be read using the Re-

port Motor Status (RS) command, page 94.

At any time the motor can be stopped using either the Halt of Motor and Program (H,K) command, page 73 or the Smooth Halt of Motor (SH) command, page 102.

Note: In order to achieve the correct velocity and acceleration, the number of encoder pulses per revolution must be set up using the Pulses per revolution (PR) command, page

89.

Set a maximum velocity using the Maximum Velocity (VM) command, page 107

If necessary, set start velocity using the Start Rate (VS) command, page 108

Set an acceleration using the Acceleration (AC) command, page 49.

The motor can now be set to move to various positions using the Set new absolute Posi-

tion (SP) command, page 103 or the Relative Positioning (SR) command, page 104.

Commands of particular interest for operation in this mode are:

Pulses per revolution (PR), page 89

Set new absolute Position (SP), page 103

Relative Positioning (SR), page 104

Start Rate (VS), page 108

Maximum Velocity (VM), page 107

Acceleration (AC), page 49

Read Status of Inputs (IN), page 75

Read/Set Status of Outputs O1 - O8 (OUT), page 86

Halt of Motor and Program (H,K), page 73

Smooth Halt of Motor (SH), page 102.

Velocity

VM (RPM)

AC (RPM/S)

VS (RPM)

Position

TT0116GB

Figure -1 - Velocity profile


3.3

3.3.1

3.3.2

3.3.3

36

Program Execution

General Description

The Indexer and Controller provide the feature that they can be programmed using a simple and flexible programming language which is built up around the interface command set. Thus all commands can be used for developing or executing programs. During program execution, all parameters in the Controller can be read or changed. All values that can be set and read using the same single command are called registers and can be used in arithmetic expressions.

Program execution is line based. A program can consist of up to 2000 program lines, beginning with line number 0. A program line is executed every 0.8 - 7 milliseconds. The

Indexer can thus take care of all the functions required in a step or servo system. For example, it is possible to communicate via the RS232 interface when a program is executed.

The programming language itself is very simple and resembles BASIC. The program is not compiled, but is interpreted during execution. This gives the advantage that in principle only a terminal is required to program the Controller.

Use of Commands in a Program

The inclusion of a command, such as one of the "show value" commands, will result in the returned value being sent over the RS232 interface. For example, if the current acceleration is 100, the command AC alone will result in the following string on the interface:

AC=100. The command AC=200 however will change the acceleration to 200. When a command is included in an arithmetic expression, the value of the register is substituted into the expression. For example, the program line VM=AC+100 will set the maximum velocity to the value of the acceleration plus 100. When register values are included in expressions in this way, no account is taken of the implied units (velocity and acceleration in this case). When, for example, velocity is changed using the VM command, the effect on motor operation occurs instantaneously. Changes in motor parameters must therefore be made with great care.

Examples of the use of commands in a program:

AC=330 ; Set acceleration to 330 RPM/s

VM=500

SR=100000

AP

; Set max. velocity to 500 RPM

; Advance the motor 100000 pulses

; Show actual position via the RS232 interface

User Registers

All registers can be used for temporary storage of values. Since some registers have direct effect on motor movement, as mentioned above, the Controller is equipped with 221 userdefinable 32 bit registers denoted R0-R220. The memory space can also be used as 440 user-definable 16 bit registers called RI, or 880 user-definable 8 bit registers called RB, see RI and RB description. All registers are signed integer. These can be used freely to store intermediate value or can be used and included in arithmetic expressions in the same way as any other parameter such as the velocity (VM) or acceleration (AC). The user registers can store values in the range -2.147.483.647 to +2.147.483.647 and can be saved in the Controller’s non-volatile memory using the command MS2. When the contents of the user registers are saved in non-volatile memory, they must be recalled using the MR2 command before they can be used.

Examples of the use of user registers:

R1=R2

R1=R1/R2

R3=R1*R2

R1=VM*10

; Set register 1 (R1) equal to register 2 (R2)

; Divide R1 with R2 and save the result in R1

; Multiply R2 by R1 and save result in R3

; Multiply VM by 10 and save the result in R1


3.3

3.3.4


The user registers can also be used for indirect addressing by the use of square brackets

[ and ]. R[3] and R3 will give the same result. [ and ] give the possibility of using another register or an equation as the index for the register. The following illustrate examples of indirect addressing:

VM=R[R5]

R15=R[R5+1]

Programming the SMI3x or SMC35 using MotoWare

Using MotoWare, programs can be easily developed and saved in the Controller.

Proceed as follows to create a new program:

1) First, open a new program document: either by selecting FILE and then New, or by clicking the new document icon.

Open a new program document

2) Select the correct Controller type and, if required, whether addressing and checksum are to be used.

SMI3x must be selected here, otherwise the selected Controller type is incorrect

If necessary, change checksum and address


3.3


3) Key in the program in the program document editor window

Key in program here

4) Once the program is complete, it can be saved on the hard disk.

Save program on hard disk

5) Once the program has been saved to hard disk, it can be sent to the Controller. Select

SEND. If an error occurs, an error message will be displayed. See Error messages

during programming and program execution, page 43.

Select SEND to send the program


3.3


6) Once the program has been sent to the Controller, the dialogue box shown below is displayed. This provides several options. For example, you can choose to start the program automatically when the Controller is powered up. In this case No is selected followed by Save. The six command buttons have the following function:

Save/Online Editor: Saves the program in non-volatile memory and opens the On-

Line Editor. When this option is selected, the MS1 command is sent to the Controller. Then the OnLine Editor is started.

The program can then be executed using the GO command.

It is important to use the OnLine Editor during tests. In the event of program errors, the Controller sends error messages which are automatically displayed in the OnLine Editor.

Save and run Program: Saves the program in non-volatile memory and starts program execution. When this option is selected, the MS1 command is sent to the Controller, followed by the GO command. The program is saved and then executed.

Run Program: Starts the program.When this option is selected, the GO command is sent to the Controller and program execution begins.

Saves the program in non-volatile memory.

Save:

OnLine Editor: Starts the OnLine Editor directly. The OnLine Editor is opened and the program can be executed using the GO command. It is important to use the OnLine Editor during tests. In the event of program errors, the Controller sends error messages which are automatically displayed in the OnLine

Editor.

Cancel: Closes the dialogue box without any further action.


3.3

3.3.5


+

-

/

*

Arithmetic expressions

All registers can be assigned a value by following the register name with an "equal to" sign "=", followed by an absolute value, a register name, or an arithmetic expression. Absolute values, register values and the following four operators can be used in arithmetic expressions.

Arithmetic operators used in expressions:

addition subtraction multiplication division

All calculations are performed as 32-bit integers (-2.147.483.647 to +2.147.483.647). Integers are signed and have approximately 10 significant digits.

The Indexer is equipped with 221 User Storage Registers which can be used for storing intermediate results etc. These are designated R0-R220. These registers can also be used as 8 bit or 16 bit registers by using the RB0 - RB880 or the RI0 - RI440 command. In addition the Indexer is equipped with predefined registers which can only be used for specific purposes. Register VM for example is used to determine the motor top speed. The user- and predefined registers enable parameters such as lengths, speeds, acceleration, delay times, etc. to be continuously changed and controlled during program execution.

In addition the User Register contents can be stored permanently in the Indexer’s EEP-

ROM memory.

Example 1:

R2=3000

VM=R2+100

; Sets the value of register R2 to 3000.

; Sets the Top Rate to 3100 pulses/seconds for the next motor

; operation.

Example 2:

R34=400

D=R34+AI1

Example 3:

R1=AP+R2

; Sets the value of register R34 to 400.

; Waits (400+A/D conversion of Analogue input 1 Level) x 10ms.

; Sets the value of R1 to value of the Position Counter in

; pulses + R2.


3.3

3.3.6


Example 4:

R1=350+750 ; Sets the value of R1 to 1050.

Example 5:

R30=100

R31=200

; Sets the value of R30 to 100.

; Sets the value of R31 to 200.

R34=R30+R31 ; Sets the value of R34 to value of R30+R31.

Note:

If the # sign is used, the number will be interpreted as a binary number consisting of zeros and ones.

For example: OUT = #00001111 or R1 = #10101010 or, if the value should be read out as a binary number, the following should be written:

OUT# or R1#

Operator precedence and order of evaluation

The following table gives the rules of operator precedence and order of evaluation for operators that can be used in arithmetic and/or logical expressions. Operators on the same line of the table have the same rank, i.e. multiplication * and division / are ranked equally and an expression is evaluated from left to right. For example, 2*35/3 results in a value of 23, and 35/3*2 gives a value of 22.

Operators that can be used in arithmetic and logical expressions:

Operator

* /

+ -

< > = <= >= <>

AND

OR

= (value assignment)

Order of evaluation left to right left to right left to right left to right left to right right to left

3.3.7

Binary notation using the # operator

Using the # operator, it is possible to express a number in binary notation using zeroes or ones. For example it can be practical to set the outputs in this way. In addition, it is possible to express an arbitrary number or register in binary notation by setting a # after the register name. Note: R1 = #xxxx1111 is not allowed.

Examples

Sent to Indexer

Out=#00001010 ;Outputs 2 and 4 set active


R1=#10101010 ;Register R1 is assigned the value 170

Sent to Indexer R1#


R1=#10101010

If IN = 0001010

OUT2=1

;If Input 2 and 4 are high and the rest

OUT1=1 ;are low, output 1 is activated

If IN = #xxxxxx10 ;If input 1 is low and Input2 is high, and

;the rest are either high or low, Out 2 is

;activated.


3.3

3.3.8

3.3.9


Logic operations

It is possible to perform bit-operations using the ANDL (and), ORL (or) and INV (invert) commands. Thus it is possible to set or remove single bits in a number. INV (invert) changes all "1"s to "0"s and "0"s to "1"s.

Example

R1=#01001111

R2=#00110110

R3=R1 ORL R2

R3

R3=R1 ANDL R2

R3

R3=0 INV R1

;Assign R1 the value 79

;Assign R2 the value 54

;Logic "OR" between R1 and R2

;R3=#01111111 or 127

;Logic "AND" between R1 and R2

;R3=#00000110 or 6

;R3=#11111111111111111111111110110000 or -80

IF statement

Logical expressions can be evaluated using an IF statement. Together with ELSE, the IF statement can be used to express "decisions" within the programming sequence. Formally the syntax for the IF statement is as follows:

IF expression

action1

ELSE

action2

in which the ELSE clause is optional. The conditional test is performed by evaluating ex-

pression. If it is true, action1 is carried out. If expression is false, and if an ELSE clause is included, then action2 is carried out. The IF statement is line based: action1 must be specified on the lines following the IF statement, and if an ELSE clause is used, ELSE and action2 must be specified on the subsequent lines.


3.3

3.3.10


Error messages during programming and program execution

Three types of error message can occur during programming and program execution: grammatical errors, syntactic errors, and errors during execution (runtime errors). A check for grammatical errors is carried out immediately during transfer of a program to the Indexer. A check is made to ensure that the individual commands and operators exist, that absolute values are not too large, etc. A check is also made to ensure that commands are used in the correct context. For example, the following program line:

AC=H will result in the error message: E6: Parameter error or out of range. The H command is not of the register type. When a program is transferred via the MotoWare program editor and an error occurs, transfer is interrupted and the line containing the error is highlighted.

When a program is interpreted during execution, any syntax errors are found while the program is in use. During testing therefore, it is important to use MotoWare with the On-

Line editor window open. During execution, the Controller will automatically transmit any error messages. The following is an example:

:START VM=500

JS : CALC

J : START

:CALC VM=VM+5

J : START ;This line has incorrect syntax. Use RET in this line

The above program segment will result in the error message: E34. Too many gosub, max.

32. The Indexer has detected 32 JS commands without RET command.

The third type of error is those that occur during normal operation of a program that functions. These are not program errors as such but errors for example in the use of registers.

Assigning a value which is too great or too small to a register during online control will normally result in the error message: E2: Out of range. During program execution however, this type of error will not generate error messages on the RS232 interface. Instead, information about previous errors is stored in a register which can be read using the EST command. These types of error can thus be handled during program execution and therefore do not require the program to be stopped. The following example illustrates how such errors can be avoided:

ES0=0

AC=100000

IF ES0>0

AC=50000

// Clear any error messages

// Set acceleration to 100000

// If error, ES0 is greater than 0

// Set acceleration to 50000 resulting in the acceleration being set to 50000.


3.3

3.3.11

3.3.12


Jumping to program lines and the use of labels

The Jump command J provides a facility for program control by jumping to a specified program line number. The Jump command can only be understood correctly by the Indexer when it is used together with an absolute value, for example J50 (jump to line number 50). Using absolute line number values can give problems when programs are modified. When MotoWare is used however, labels can be used. MotoWare interprets and translates the individual labels and sends the correct command to the Controller. Label names may in principle consist of all displayable characters, but it is recommended that only numerals and letters (a-z) are used since problems may occur if programs are moved between computers with different set-ups. Labels are case sensitive.

The following program segment:

:START IF IN1=1

J:OK

ELSE

J:ERROR

:OK OUT5=1

J:START

:ERROR OUT5=0

J:START is translated to:

; If IN1 is equal to 1, next line is executed

; Jump to label OK

; If IN1 is 0, execute line after ELSE

; Jump to label ERROR

; Set OUT5

; Jump to label START. Begin again

; Clear OUT5

; Jump to label START. Begin again

IF IN1=1

J4

ELSE

J6

OUT5=1

J0

OUT5=0

J0

Call of sub-routine

If the same sequence of commands is used often, it is a good idea to specify a sub-routine.

A sub-routine is started with a label and terminated by the RET command. A sub-routine is called by the JS (Jump Subroutine) command. When the JS command is executed, program execution will continue from the line number specified by the JS command in the form of a number or a label. When the RET (Return) command is encountered in the subroutine, the program returns to the main program at the line immediately after the JS command and continues from there. The following is an example of the use of a sub-routine:

R5=500

R6=1000

R1=5

JS:TEST ; set acceleration to 500

R1=6

JS:TEST ;set acceleration to 1000

J:END

:TEST AC=R[R1]

RET

:END


3.3

3.3.13

Example:


Array and pointer functions

R[Rx]

RI[Rx]

RB[Rx]

Pointer for 32 bit signed numbers

Pointer for 16 bit signed number

Pointer for 8 bit signed numbers

With these registers it is possible to point at a register using the contents of another register. This is often required when the Indexer is used for prescribed repetitive tasks operating with many subjects and associated variables.

100 1

R0 R1 R2 R3 R4

TT0140GB

R4 contains the value 1. R1 contains the value 100

R0 = R[R4] will transfer the value 100 which is in register R1 to register R0

Location of registers in the memory

Note that RB, RI and R are placed "on top" of each other

Example:

RB0 RB1 RB2 RB3 RB4 RB5 RB6 RB7

RI0 RI1 RI2 RI3

R0 R1

TT0141GB

The example below shows how a register can be used to point to the content of another register. R10 to R15 contain velocity, lengths, etc., for subject 1. R20 to R25 contains the variables for subject 2. To access these, R1 would be set to 20.

:INIT R10=1000 ;Velocity1

R11=500

R12=20000

R13=2000

R14=100000

;Acceleration

;Position1

;Velocity2

;Position2

R15=#00001111 ;Out 1-4 = 1

:START R1=10

VM=R[R1]

R1=R1+1

AC=R[R1]

R1=R1+1

SP=R[R1]

Wait RS=0

R1=R1+1

VM=R[R1]

R1=R1+1

SR=R[R1]

WAIT RS=0

R1=R1+1

OUT=R[R1]

J: START

;Pointer to one subject

;Transfer R10 to VM

;Pointer = 11

;Transfer R11 to AC

;Pointer = 12

;Run to absolute position in R12

;Wait until motor has finished running

;Pointer = 13

;Transfer R13 to VM

;Pointer = 14

;Run to relative position: R14

;Wait until motor stands still

;Pointer = 15

;Set outputs


3.3


3.3.14

Monitoring of inputs and errors

The program below illustrates how external events can be handled with simple commands and interrupt routines while a main program is being executed

CB7=1

:MAIN SR=10000

WAIT RS=0

J: MAIN

INT 146

OUT4=1

RETI

INT1

SH

OUT6=1

OUT6=0

RETI

;If any error bit active in ES register, output O5 will be

activated

;Run relative 10000 pulses

;Wait until motor has stopped

;Jump to Main and loop

;If error 46 (Alarm signal from motor drive) occurs while in

;Main routine, activate output O4

;Return to main routine

;If IN1 is activated

;Stop the motor and

;Activate output O6

;Deactivate output O6 again

;Return to main routine

3.3.15

Pause in program execution (Delay)

The D command pauses program execution. The resulting break in program execution is specified in units of 10 msec by writing D=pause. For example:

R1=20

D=R1

; Set R1 to 20

; Wait for 200 msec.


3.4

Command Description

This section gives a brief description of the SMI30-31 Indexer command set, including the following main points: Command Name, Mode, Range, Usage and Examples. All the commands are listed in alphabetical order.

Command name:

Modes:

The name of the command

In which mode the command is available —

Standby mode, Programming mode or Running mode

Range: The valid numerical range of the command.

For example: 0 - 100000 RPM/sec.

The valid prefix to the command Selection:

Default:

Description:

Usage:

Example

The default value of the command or register content after Power up and SD command

A brief explanation of the command

Describes the syntax of the command

An example how the command could be used


3.4


3.4.1

Show set-up (?)

Command ?

Modes Stand by

Description The most important details of the Indexer status and set-up can be displayed using this single command.

? Display values.

Usage

Example Sent to Indexer ?

Received from Indexer:

**JVL Industri Elektronik A/S, SMI30, 2

7-01-1998,1.5, Addr=0

Max. Velocity (RPM):

Acceleration (RPM/S):

VM =100

AC =100

Start Velocity (RPM): VS =10

Actual Pos. (Unit,Pulses): AP =0, APP =0

Puls/rev. Motor:

Acc. S-curve (RPM/S/S):

PR =8192

ACS =0

Conversion fac.(pulse/unit): CON =1.0000

Counter 1 (Pulses): CN1 =0

Counter 2 (Pulses):

Counter 1 mode,divider:

Counter 2 mode,divider:

Input (HM,PL,NL,I8-I1):

Output (O8-O1):

Analogue input 1 (Volt):

Analogue input 2 (Volt):

Analogue output (Volt):

Input voltage P+ (Volt):

CN2 =0

CTM1 =1,

CTM2 =1, CND2 =8

IN =#0,0,00000000

OUT =#00000000

AI1 =0.00

AI2 =0.00

AOUT =0.00

VOL =25.05

CND1 =1

3.4.2

Indexer Type (!)

Command !

Modes Stand by

Description This command (an exclamation mark) can be used to obtain information about the Indexer type and its address. The Indexer will reply to this command regardless of whether addressing or checksum is used. Thus only 1 Indexer may be connected to the interface if this command is used without an address. The command can be used alone, or together with an address.

Usage

Example

!

Show Indexer type and address.

Sent to Indexer

!


SMI30:ADDR=0

Note that the above is only an example. If the Indexer is a type SMI31, the response would be SMI31. Similarly the address (0 in the above example) will also depend on the actual address of the Indexer in question.


3.4


3.4.3

Delete EEPROM (##)

Command ##

Modes Standby

Description This command can be used to reset the content of the Indexer´s permanent memory.

(EEPROM). Program, error messages, address, and checksum data will be erased and set to default factory settings. (MR1=0, Baud=2, Addr.=0, CHS=0). The Indexer will reply to this command regardless of whether addressing or checksum are used.

The command can also be used in extreme cases where the Indexer is functioning improperly because of noise, has been programmed incorrectly, or includes a fault.

3.4.4

Acceleration (AC)

Command AC

Modes

Range

Stand by, Programming, Running

1 - 2000000 RPM/sec.

Description This command is used to specify the acceleration/deceleration profile. AC can be changed while the motor is running. This gives for instance the possibility to accelerate very softly and to decelerate very fastly in the same run. If AC is changed during an acceleration/deceleration, the new value will not be active until the next acceleration/deceleration. Remember that if AC is changed while the motor is running, this must be done so that the motor has time to decelerate with the new slope. If AC is set to a value higher than 16777215*5455/PR, AC is set to 16777215*5455/PR.

Speed New AC given here

TT0127GB

Time

Usage AC = x Set acceleration in RPM/sec.

AC

Show the current acceleration value.

3.4.5

Acceleration pulses (ACP)

Command ACP

Modes

Range


1-1000000 Pulses.

Description This command is used to specify the acceleration profile expressed in pulses.

Using this command it is possible to make the acceleration and deceleration with a fixed length. If the motor is running when ACP is changed, the acceleration will be changed only when the motor has stopped.

If the acceleration is to be changed "on the fly", use the

AC command.

Usage ACP = x Set acceleration in fixed number of pulses.

ACP

Show the actual acceleration in number of pulses.


3.4


3.4.6

Acceleration Time (ACT)

Command ACT

Modes Stand by, Programming, Running

Range 1-10000 ms

Description This command is used to specify the acceleration profile expressed in time.

Using this command it is possible to make the acceleration and deceleration with a fixed time during. If the motor is running when the acceleration time is changed, the acceleration will be changed only when the motor has stopped. If the acceleration is to be changed

"on the fly", use the AC command.

Usage ACT = x Set acceleration in fixed time.

ACT

Show the current acceleration time in msec.


3.4


3.4.7

Address (ADDR) - Only SMI31 and SMC35B

Command ADDR

Modes

Range


0 - 255

Description The Indexer can be configured to react to all communication via the interface bus (Pointto-Point communication). In this case, the Indexer address must be set to 0, which is the factory default. When the address is set to 0, the address must not be transmitted together with any command during communication with the Indexer. It is also possible to connect several Indexers to the same interface bus. In this case each Indexer must be assigned its own unique address in the range 1-255. This is done by writing an address command to each Indexer and connecting all Indexers in parallel to the same RS232/RS485 port.

When the address is changed, it will be effective immediately and be stored in the EEP-

ROM so that the address is remembered, also at power down. Commands can then be sent to each individual Indexer by preceding each command with the respective address between 1 and 255. The number of Indexers that can be simultaneously controlled is however dependent on the system hardware. Note: If the address of an Indexer has been forgotten, the Indexer Type (!) command, page 48

can be used.

Usage ADDR=x Set address to x.

ADDR

Show address.

Example

5SR=1000

Send command SR=1000 to Indexer with address 5.

Y

"Y" is received in return as an indication that the command is received.

5R1

Ask Indexer with address 5 for the value of R1.

R1=1000

Indexer returns R1=1000.


3.4


3.4.8

Analogue input (AI1 / AI2)

Command AI1 or AI2


Range 0 - 16383

Description The AI1 and AI2 commands refer to the two analogue inputs. These commands make it possible to read these inputs. This can be done as a part of a program or when the Indexer is in standby mode. For example, an analogue input can be used to adjust the speed as a function of an analogue voltage applied to the input. Another application is the adjustment of motor position or length according to the analogue voltage applied to these inputs. The analogue inputs are fed to an A/D converter with 8 bit resolution. Internally the Indexer uses an oversampling technique which makes the actual resolution much higher. By use of oversampling, it is possible to achieve resolutions of 8, 10, 12 or 14 bit.

To set the resolution, control bit CB2 and CB3 can be used (See the CB2 / CB3 Analogue

conversion flags command, page 110.) The default resolution is 8 bit. Regardless of the resolution, the value returned will always be in the range 0-16383. This makes it possible to adjust the resolution without making any further conversion of the measured values.

Notice that higher resolution also makes the execution time longer.

Usage

AI1

AI2

Shows actual level at analogue input 1 (AI1)

Shows actual level at analogue input 2 (AI2)

Example 1 High resolution is required, therefore 14 bit-resolution is set. The motor must move to an absolute position determined by the analogue input voltage. This movement must start

(be updated) every time input 1 is activated. The example code is as follows:

:INIT CB2=1

CB3=1

;SELECT 14 BIT RESOLUTION

; -

VM=1500 ;SET THE SPEED TO 1500 RPM

:START WAIT IN1=1 ;WAIT FOR A START SIGNAL AT INPUT 1

SP=AI1*6 ;READ THE ANALOGUE INPUT AND MULTIPLY

;THE VALUE WITH 6. LET THE MOTOR MOVE TO

WAIT RS=0

J:START

;THE RESULTING POSITION.

;WAIT UNTIL MOTOR HAS STOPPED

;JUMP TO START AND REPEAT

Example 2

SR=10000

:Start VM=AI1/10+200

IF RS>0

J:Start


3.4


3.4.9

Activate flag in external module (AO) - Only SMI31

Command AO

Modes Standby, Programming, Run

Range Address 0-31, Flag 0 - 65535

Description The Activate command is used to activate a flag in an external module whose address is specified by "a".

The Flag number is specified by "o". For example, the flag may refer to an output on a

JVL IOM11 module (Input/Output module). When the flag is activated, an output will be activated. A flag in a different module may refer to a completely different function. For example if flag 3 in a JVL Keyboard/Display KDM10 module is activated, the cursor on the module's LCD display will blink. Flags with the same number in different modules can have different functions. Remember that all modules should have their own unique address.

See the instruction manual for the individual module for a description of the function of the module's flags.

AO{1<=a<=31}.{1<=o<=255} Format:

Example 1: A Keyboard-Display Module has address 4. The module display is to be erased so that new text can be displayed. The following command will erase the display and position the cursor at the top left-hand corner of the display.

AO4.1

; Erase LCD display

Example 2: An IOM11 module and the Indexer are connected together in a system. The IOM11 module address is 10. Output 4 is to be activated. The following command is used:

AO10.4


3.4


3.4.10

Analogue output (AOUT)

Command AOUT


Range 0 - 65535

Description The AOUT command is used to set the analogue output of the Indexer. The value specified by the AOUT command is converted into an analogue voltage between 0.00 and 5.00

VDC. Note that the analogue output uses a PWM technique and is not recommended for use in very precise applications.

Normally the output can be used for temperature control, or for speed control of secondary motors, etc.

The resolution can be set in the range from 1-16 bit which corresponds to a dynamic range from 1 to 65535. The resolution is set by the CND2 register (see page 58). The CND2 register must be set in the range 1 to 16 which corresponds to the number of bits.

To enable the analogue output, CTM2 must be set to 7 (see page 65).

It is recommended that the resolution is set in the range 5 to 9.

Note that if the output value is specified outside the allowable range, the output voltage will not be valid and an error message will occur.

11

12

13

14

15

16

7

8

9

10

5

6

3

4

Bit resolution (CND2) Range (0-5V) Ripple frequency Hz Ripple voltage 2,5V

1

2

0-1

0-3

460800

230400 -

-

0-7

0-15

0-31

0-63

0-127

0-255

0-511

0-1023

0-2047

0-4095

0-8191

0-16383

0-32767

0-65535

450

225

112.5

56.25

28.12

14.06

115200

57600

28800

14400

7200

3600

1800

900

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Example In this example the analogue output is set to 2.5 volt.

:START CND2=8

CTM2=7

AOUT=127

; SET ANALOGUE OUTPUT TO 8 BIT RESOLUTION

; SET TIMER 2 AS PWM GENERATOR

; SET ANALOGUE OUTPUT TO 2.5 VOLT


3.4


3.4.11

Actual Position (AP)

Command AP


Range -2147483648 - +2147483647 units or pulses

Description The motor position can be read at any given time. The position is given in terms of units relative to the zero point. The motor’s position can also be “reset” by specifying an argument to the AP command. If the conversion factor is set to 1 (CON=1.0000) the units will be expressed in pulses. AP is the desired position and not necessarily the motor position.

There can be a difference if a servo motor is used and it has a positioning error during running and standstill.

The position can be changed only when the motor is stationary.

Usage AP = x Sets motor’s current position to x.

AP

Show motor’s position in units.

3.4.12

Actual position expressed in number of pulses (APP)

Command APP

Stand by, Programming, Running Modes

Range -2147483648 - +2147483647 pulses

Description The motor position can be read at any given time. The position is given in terms of pulses relative to the zero point. APP is the desired position and not necessarily the motor position. There can be a difference if a servo motor is used and it has a positioning error during running and standstill.

The position can be changed only when the motor is stationary.


3.4


3.4.13

Baud Rate on RS232/RS485 (Baud)

Command BAUD

Modes Stand by

Range 1-8

Description This command is used to select the baud rate of the serial interface. The table below shows the selectable values.

5

6

3

4

7

8

Baud Baud Rate bits/sec

1

2

1200

9600 (default)

19200 reserved

1200

9600

19200 reserved

Parity Databits

odd odd

7

7 odd 7

None

None

None

8

8

8

When the baud rate is changed, the new baud rate is valid immediately.The value is not stored in the Indexer EEPROM, and will not be remembered after power has been switched off or Reset has been activated.

The default value is Baud = 2 (9600 bits/sec, odd parity, 7 databits).

3.4.14

Control Bit (CB1 - CB31)

See Control Flags, page 110.

RS232/RS485 Interface Checksum (CHS) 3.4.15

Command CHS

Modes Standby, Programming, Running

Selection 0 = no, 1 = yes

Description As described in Checksum, page 29 a checksum can be used for communication via the interface.

Usage CHS=0 Do not use checksum.

CHS=1 Use checksum.

CHS Show checksum status.


3.4


3.4.16

Counter 1 / Timer 1 (CN1)

Command CN1


Range 0 - 65535

Description The contents of the counter / timer 1 are available and can be set using this command.

CN1 can be verified, reset, or preset at any time under standby or program control.

See also the CTM1 (page 63) and CND1 (page 58) commands.

Usage

CN1

Shows the contents of Counter Timer 1

CN1 = 100

Set the Counter/Timer 1 equal to 100

3.4.17

Counter 2 / Timer 2/ Encoder (CN2)

Command CN2

Standby, Programming, Run Modes

Range 0 - 65535 (-2 mia. to +2 mia. if CTM2=10)

Description The contents of the counter / timer 2 are available and can be set using this command.

CN2 can be verified, reset, or preset at any time under standby or program control.

See also the CTM2 (page 65) and CND2 (page 58) commands.

If CTM2=10, then CN2 is used to show encoder pulses on IN7 and IN8. See CTML page

56.

Usage

CN2

Shows the contents of Counter Timer 2

CN2 = 100

Sets the Counter/Timer 2 equal 100


3.4


3.4.18

Counter 1 / Timer 1 divider (CND1)

Command CND1


Range 1 - 2.147.483.648

Description This command can only be used when counter 1 (CN1) is set to mode 5 or 6 (timer with divided frequency). See the Counter mode (CTM1) command, page 63.

An overrun in the counter will normally cause an interrupt and the routine INT7 will be executed, if it is implemented in the actual program.

When the counter 1 is set to mode 5 or 6, the interrupt will first be accessed after the interrupt has occurred the number of times specified by CND1.

If the counter 1 (CN1) is driven by the internal counter frequency of 921600 Hz, the interrupt will occur 14 times per second. This also means that if an interrupt is requested each second, the command CND1=14 must be executed.

Example In this example the INT7 routine will be called every 10 second

:START CTM1=5

CND1=140

.

.

INT7

OUT8=1

D=100

OUT8=0

RETI

; SET TIMER TO DIVIDED FREQUENCY

; (921600/65536)*10 SECOND

; INT7 ROUTINE

; RETURN TO MAIN PROGRAM

3.4.19

Counter 2 / timer 2 divider (CND2)

Command CND2


Range 1 - 2.147.483.648

Description This command can only be used when counter 2 (CN2) is set to mode 5 or 6 (timer with divided frequency) or mode 7 (analogue output). See the Counter mode (CTM2) command, page 65.

An overrun in the counter will normally cause an interrupt and the routine INT8 will be executed if it is implemented in the actual program.

When the counter 2 is set to mode 5 or 6, the interrupt will first be accessed after the interrupt has occurred the number of times specified in CND2.

If the counter 2 (CN2) is driven by the internal counter frequency of 460800 Hz, the interrupt will occur 7 times per second. This also means that if an interrupt is requested each second, the command CND2=7 must be executed.

If CTM2 is set to mode 7 (analogue output) the CND2 command is used to specify the number of bits used to produce the analogue output voltage.


3.4


3.4.20

Clear flag in external module (CO) - Only SMI31 and SMC35B

Command CO


Range Address 0-31, Flag 0 - 65535

Description The Clear command is used to clear a flag in an external module. The number of flags which can be cleared in different external modules varies, but each module has at least 1 flag. For the JVL KDM10 module (Keyboard-Display Module) for example, the Clear command can be used to clear the LCD display; in the IOM10 module (I/O module) the

Clear command can be used to deactivate one of the Module's outputs, etc. See page 79.

Format: CO {1<=a<=31}.{1<=o<=255}

Example 1: The Indexer and a KDM10 Module are connected in a system via the RS485 interface.

The address of the Indexer is 1 and the KDM10 module address is 3. The Cursor on the

KDM10's LCD display is to be switched off. If the cursor is active while text is being printed using the PRINT command, the display may flicker. This is avoided by switching off the cursor as follows:

CO3.3

; Deactivate cursor

Example 2: The Indexer and an IOM10 module are connected in a system via the RS485 interface.

The IOM11 module's address is 5. The IOM11's output 7 is to be de-activated. The command is as follows:

CO5.7

;Deactivate output 7 on IOM11 module with address 5.

3.4.21

Compare Memory (COMP)

Command COMP

Modes Stand by

Range 0 - 1000

Description The program which is in the permanent EEPROM memory is compared, byte by byte, with the program in the temporary memory. If the two programs are identical, a "Y" is returned. If there is an error, the response indicates in which line, e.g. COMP = 12 (error in line 12).

If there is no program in temporary memory, the response "E21: No program in RAM" is given.


3.4


3.4.22

Conversion factor (CON) - Only SMI31 and SMC35B

Command CON


Range 0.0001 - 9999.9999

Description The CON command makes it possible to specify a conversion ratio between the number of pulses a motor moves and a unit of measurement such as length, volume, position, etc.

The command CON specifies the number of pulses per well-known unit - length, volume

(mm, ml, cm, dl, etc.). The conversion factor can be specified as a real number in the range 0.0001 to 9999.9999, with up to 4 decimal points.

The CON command is inserted at the beginning of a program and stays in effect until any subsequent conversion factor is specified at run-time. When a motor operation is performed, the number of units specified by the motor command is multiplied by the conversion factor and the motor moves the resulting number of pulses.

If, for example, a motor must move 2.3456 steps to dose a volume of 1 millilitre, the conversion factor is set to a value of 2.3456 using the command CON=2.3456.

To dose a volume of 450 ml in a subsequent motor command, the value 450 is specified.

The conversion results in 450 * 2.3456 (1055.52) pulses. The motor will then move 1055 pulses and the remainder (0.52 pulses) will be stored. The remainder is used in the next motor operation to correct for the 0.52 dosage pulses.

Example A system requires motor operation of 14.654 pulses to dose a volume of 1 ml.

The following program is send to the indexer.

CON=14.654

R1=290

SR=R1

D100

SR=+18

;THE CONVERSION FACTOR IS SET TO 14.654

;PULSES PER MILLILITRE

;A VALUE OF 290 IS ASSIGNED TO REGISTER R1

;THE MOTOR IS MOVED TO PROVIDE A DOSE OF

;290 ml. THE NUMBER OF PULSES RUN IS

;290 * 14.654 = 4249. THE PULSE REMAINDER

;IS 0.66

;DELAY OF 1 SECOND

;DOSE 18 ml. THE NUMBER OF PULSES IS

;18 * 14.654 + PULSE_REMAINDER = 264

;THE NEW PULSE REMAINDER IS 0.432

Note that after a "Home" operation using the SZ command, or after a new CON command is executed, the pulse remainder is reset to 0 since the motor is set to its absolute reference point.

An extra pulse will be executed if the remainder in the positive direction is

>=0.5 or if the remainder in the negative direction is >0.5.

Note: The length or the number below the decimal point, multiplied by the conversion factor, must give a number of maximum ±2.147.483.647.

If CON is used in arithmetic expressions, only the whole numbers are included in the calculation.

Usage CON = x Sets the conversion factor to x.

CON

Show the actual conversion factor.


3.4


3.4.23

Motor current at standby (CS) - Only SMC35

Command: CS

Modes:

Range:

Standby, Programming, Running

SMC35B 0-6000 mA, SMC35A 0-3000mA

Description : The current supplied to the step motor can be adjusted to specified values for standby using the CS command. Set the current at top speed, acceleration and deceleration VM using the CT command. See the CT command for further description, examples etc.

Usage:

CS=1000

CS

Sets the motor current when the motor is stationary to 1000mA

Show the motor current at standstill

3.4.24

Motor current when running (CT) - Only SMC35

Command: CT

Modes:

Range:


SMC35B 0-6000 mA, SMC35A 0-3000mA

Description : The current supplied to the step motor can be adjusted to specified values for standby using the CS command. Set the current at top speed, acceleration and deceleration VM using the CT command. Normally only a small current is required when the motor is stationary since the static inertia of a typical step motor is much less than the inertia while the motor is rotating, depending on the speed range of the motor.

The torque of a step motor is directly proportional to the applied current, up to the specified phase current (see the specifications for a given motor). If a 4 phase motor with 8 leads is used, the current should be set to the value specified for the motor multiplied by a factor of 1.4. See motor connections section for further information.

In the nominal current is exceeded, the motor will overheat and only very little increase in torque will result.

The commands can be used at any point in a program and can be specified and changed continuously throughout a program.

The current supplied to each of the step motor’s phases can be adjusted for standby and operating currents using software commands CS and CT. The Driver automatically switches between the two currents by detecting the presence of step-pulses. Values for the two currents are typically adjusted so that the Operating Current is significantly higher than the Standby Current, since the motor must be supplied with more power to drive its load during acceleration and constant operation than when it is stationary. The only overriding consideration that must be made in the adjustment of motor phase currents is that the thermal output of the motor must not exceed the maximum operating temperature of the step motor — see the manufacturer’s product data for the motor in question. Independent of which model of SMC35 is used, the current will always be divisible by 64 (6 bit resolution)

Usage: CT=4000 Sets the current at acceleration, deceleration and at VM velocity to 4000mA

CT

Show the motor current when running


3.4


When mini-step resolution is changed using the PR command, the motor current is sinusoidal and the peak current will be greater than the specified CT current by a factor of 1.41. This is done to maintain the correct RMS current so that the motor is utilised 100%. When the current in one phase is at the peak value (1.41 times the specified CT current), current in the other phase will be zero.

Example:

CS CT CS

TT0165GB

CS=400

CT=5000

;Sets motor Standby Current to 400mA (0.4A.

;Sets motor Current during acceleration/de-

AC=1000

VM=1000

SR=10000 celeration and running to 6000mA (6A).

;Sets acceleration/deceleration to 1000 rpm/s

;Set max. velocity to 1000 rpm

;Run the motor 10000 steps forward

WAIT RS=0 ;Wait until motion completes.


3.4


3.4.25

Counter mode (CTM1)

Command CTM1


Range 1 - 10

Description The Indexer provides facilities for solving advanced applications using 2 counters/timers denoted CN1 and CN2. These counter/timer registers have a resolution of 16 bit (0-

65535).

The registers can be configured for different purposes by setting the CTM1 and CTM2 registers.

The counter / timers can be set as an ordinary incremental-counter, timer, gated timer, timer with divider (slow speed), etc. Note that both counters are set in encoder mode if

CTM2 (see page 65) is set to 10. This makes counter 1 disabled for normal use.

Usage

Different counter / timer modes

CTM1 = 1 Counter 1 (CN1) is not active

CTM1 = 2 Incremental counter (0-65535). Input 7 is counter input

CTM1 = 3 Timer. The timer frequency is 921600 Hz. If overflow, timer starts from 0.

CTM1 = 4 Gated timer. Input 1 must be high to keep the counter running

CTM1 = 5 Timer with divided frequency. Division ratio is set up by the CND1 command

CTM1 = 6 Similar to CTM1 = 5 but as gated timer.

CTM1 = 7 Gated counter. Gate is input 1 and count input is input 7.

CTM1=10 Encoder Mode. See CTM2 command

Oscillator

921600 Hz

1

CND1

IN1 (Gate)

IN7 (Counter input)

AND

AND

AND

CTM1=1, CTM1=10

CTM1=5

CTM1=6

CTM1=3

CTM1=4

CTM1=7

Counter

CN1

CTM1=2

Interrupt to

INT7 if specified in program

TT0142GB


3.4


Example In an actual application there is a requirement to count an external event. For every 10 counts, program execution must be interrupted and an unconditional jump be made to an interrupt routine that drives the motor 10000 pulses. The program is as follows:

:START CN1=65535-10 ;SET COUNTER REGISTER EQUAL 65525.

CTM1=2

.

;ACTIVATE COUNTER MODE

.

(more program)

INT7 ;BEGINNING OF INTERRUPT 7 ROUTINE

CN1=65535-10 ;SET COUNTER REGISTER TO 65525

SR=10000 ;DRIVE MOTOR +10000 PULSES

WAIT RS=0

RETI

;WAIT HERE UNTIL MOTOR HAS STOPPED

;RETURN TO MAIN ROUTINE

Note !

When the counter (CN1) overflows from 65535 to 0, the interrupt routine INT7 is executed if this routine is included in the program memory.

If the command NSTOP=7 is included in a program at the same time as the counter overflows, the motor will be stopped.


3.4


3.4.26

Counter mode (CTM2)

Command CTM2


Range 1 - 10

Description The Indexer provides facilities for solving advanced applications using 2 counters/timers denoted CN1 and CN2. These counter/timer registers have a resolution of 16 bit (0-

65535).

The registers can be configured for different purposes by setting the CTM1 and CTM2 registers.

The counter / timers can be set as ordinary incremental-counters, timer, gated timer, timer with divider (slow speed), etc. Note that both counters are set in encoder mode if CTM2 is set to 10. This makes counter 1 disabled for normal use.

Usage

Different counter / timer modes

CTM2 = 1

CTM2 = 2

CTM2 = 3

CTM2 = 4

CTM2 = 5

CTM2 = 6

CTM2 = 7

CTM2 = 10

Counter 2 (CN2) is not active

Incremental counter (0-65535). Input 8 is counter input

Timer. The timer frequency is 460800 Hz. If overflow, timer starts from 0.

Gated timer. Input 8 must be high to keep the counter running

Timer with divided frequency. Division ratio is setup by the CND2 command

Similar to CTM2 = 5 but as gated timer. Input 8 is gate.

Analogue output is enabled - see also the AOUT command

Encoder mode. Inputs 7 and 8 are encoder inputs. CN2 contains the number of pulses in 32 bit.

Oscillator

460800 Hz

IN8 (Counter input, Gate)

1

CND2

AND

AND

CTM2=1, CTM2=7, CTM2=10

CTM2=5

CTM2=6

CTM2=3

CTM2=4

Counter

CN2

16bit

CTM2=2

Interrupt to

INT8 if specified in program

TT0143GB


3.4


Example

Example

In an actual application there is a requirement to count an external event. For every 10 counts, program execution must be interrupted and an unconditional jump be made to an interrupt routine that drives the motor 10000 pulses. The program is as follows:

:START CN2=65535-10 ;SET COUNTER REGISTER EQUAL 65525.

CTM2=2

.

;ACTIVATE COUNTER MODE

.

(more program)

INT8 ;BEGINNING OF INTERRUPT 8 ROUTINE

CN2=65535-10 ;SET COUNTER REGISTER EQUAL 65525

SR=10000 ;DRIVE MOTOR +10000 PULSES

WAIT RS=0

RETI

;WAIT HERE UNTIL MOTOR SPEED IS ZERO

;RETURN TO MAIN ROUTINE

Note !

When the counter (CN2) overflows from 65535 to 0, the interrupt routine INT8 is executed if this routine is included in the program memory.

If the command NSTOP=8 is included in a program at the same time as the counter overflows the motor will be stopped.

If it is required to monitor if a step motor runs the required number of steps, an encoder can be connected to I7 and I8. CN2 shows the number of pulses received multiplied by a factor of 4. CN2 can show numbers in 32 bit. An encoder giving 100 pulses/rev. is connected. This gives 400 pulses in CN2 for each revolution.

:INIT CTM2=10

CN2=0

AP=0

:START SR=400

Wait RS=0

If CN2

≤

SR-5

J:Error

If CN2

≥

SR+5

J:Error

J:Start

;Encoder Mode.

;Zero-set encoder counter

;Run one motor revolution

;Wait until motor is stopped

:ERROR OUT1=1

SR=SR-CN2

Wait RS=0

AP=CN2

;Set output showing that motor is posi-

;tioned wrongly

;Run the missing steps

;Correct position counter so it corresponds

;to the number of pulses run.

Current Velocity (CV) 3.4.27

Command CV


Description The motor velocity in RPM can be read at any time using this command.

Usage

CV

Show current velocity in RPM.


3.4

3.4.28


Current Frequency (CVI)

Command CVI

Modes

Selection


1, 2, 3, 4, 7, 8

Description With this command it is possible to determine the frequency of a signal at digital inputs

IN1, IN2, IN3, IN4, IN7 and IN8. When the command is executed, a high to low transition on the input is awaited, whereafter a timer is started which measures the following period time.

CVI is calculated according to the following formula:

Using CB28 it is possible to select whether measurement should take place on fast frequencies, CB28=1, or on slow frequencies, CB28=0. Note that timer 1 (CN1) is used for measurement of time if CB28=0. (See CB28 CVIx Frequency range, page 116.)

Note: CVI 7 and CVI 8 does not work in encoder mode. (PIF=2 or CTM2=10)

CB28 Frequency Range Formula

Default

0

1

1Hz to 7kHz

14Hz to 60kHz

CVIx =

RX11

921600 x t

CVIx =

921600

921600 x t

=

CVI expressed in Hz

1 t

TT0149GB

RX11 is set to 921600 in order to get CVI to be expressed in pulses/sec. RX11 can be changed if it is desired to have CVI expressed in another unit.

Unit

Pulses/sec -

PR RX11

921600

Rev./min.

2000 27648

Rev/sec.

500 1843

Units in Rev./min.

RX11=

921600 x 60

PR

Units in Rev./sec.

RX11=

921600

PR

TT0150GB


3.4

Example


CVI is best suited for measurement of frequencies below 50kHz. Measurement above this frequency will cause measurement errors. The measurement period will have a tolerance of ±8ms. Note that as the frequency is measured for one period only, the value shown will differ much if the frequency differs much from one period to the next. This is, for instance, the case if an encoder signal from a servo motor is measured.

If the frequency is too low, an error bit 41 will be set. CVI is then set to the VS value +1.

RX11 = 921600

:START CVI7

J:START

;CVI CONTAINS VELOCITY IN PULSES/SEC.

;SHOW VELOCITY ON IN7

;REPEAT

3.4.29

Delay (D).

Command D

Range 1 - 32000 (0.01 - 320 sec)


Description The Delay command pauses program execution. The command character must be followed by a parameter value between 1 and 32,000 which specifies the Delay duration in

1/100 second.

Example D=27 - results in a delay of 0.27 seconds.

3.4.30

Global Execute (E)

Command E


Description The motor runs to the absolute position given by the SPT register. The E command is always received by the Indexer independent of the address. This enables many motors to be started precisely at the same time. This makes it possible to make linear interpolation between many axes with a high degree of precision.

See also Set new global absolute position (SPT), page 103.

The Indexer will respond to the E command regardless of whether addressing or checksum is used.

3.4.31

Else (ELSE).

Command ELSE

Modes Programming, Running

Description See Control of program flow (IF), page 74, and IF statement, page 42.


3.4


3.4.32

Error bit (ERR)

Command ERR


Selection 0 - 47

Description The ERR (0-47) command can be used to test if an error bit has been set in the program.

For example, a test can be made to determine whether there is an alarm from the servo driver (Flag ERR46). If this is the case, the program will stop.

The ERR command can also be used to change the Flag value by writing to the ERR register. Writing for instance ERR46=1, will cause bit 14 in error register ES2 to be set to 1.

Thus a possible error routine can be tested for proper functioning without the error actually being present. When an ERR command is activated, it is possible to use it as an interrupt function by use of the INT 100-147 command. See the INT command.

3.4.33

Read-out of Error Status (ES)

Command ES


Selection 0, 1, and 2

Description During operation of a system, various error conditions can arise. Some errors can be attributed to communication and set-up (error status register 0) and others attributed to hardware and motor control errors. The error status can be read using the ES (Error Status) command. The command invokes the Indexer to transmit a series of zeroes (0) and ones (1). A quick overview of error messages is thus obtained and can also be interpreted by other software programs. The separate EST command can be used to give an overview of text responses.

There are three error status registers.

ES0 : General errors caused by communication (RS232/RS485) or commands that have bad syntax.

ES1 : This register contains errors that have occurred while motor was running.

ES2 : This register contains errors that have been discovered under program execution.

Bit 11-15 are critical errors that always are directly transmitted at the RS232/

RS485 interface.

Register ES0 provides information about RS232/RS485 communication and set-up errors. This register accumulates and stores all errors that have occurred since the register was last read. When the register is read, the information is automatically erased.


3.4


Bit no.

0

10

11

12

13

14

15

7

8

9

4

5

6

1

2

32

Error status bits, Register ES0

Error no.

E0

E7

E8

E9

E10

E11

E12

E13

E14

E15

E1

E2

E3

E4

E5

E6

Explanation

No error

Error

Out of range

Number of parameters is wrong

Instruction does not exist

It is not an instruction

Parameter error or out of range

Register number error or out of range

Data cannot be saved in EEPROM

Checksum error

Parameter will be truncated

Limit switch activated

Limit switch active. Motor run command ignored

Reserved

Odd parity error in RS232 receive

Reserved


Bit no.

0

13

14

15

9

10

11

12

7

8

5

6

3

4

1

2

Error no.

E16

E25

E26

E27

E28

E29

E30

E31

E17

E18

E19

E20

E21

E22

E23

E24

Explanation

Command not allowed in standby mode

Error

Flag

ERR16

Memory full, (EEPROM)

Command not allowed. Program is running

Command not allowed in programming mode

Command not allowed. Motor is running

No program in RAM

Command ignored. Communication error on JVL BUS

Command ignored. Timeout error on JVL BUS

Command ignored. Unknown register/flag on JVL BUS

ERR17

ERR18

ERR19

ERR20

ERR21

ERR22

ERR23

ERR24

Command ignored. A and B connected wrong on JVL BUS ERR25

AC lower than 1. AC value changed to 1 ERR26

AC higher than 1250000. AC value changed to 1250000

Internal AC=0. PIC value = 1

ERR27

ERR28

AOUT parameter out of resolution range

Warning. Wrong supply voltage

Reserved

ERR29

ERR30

ERR31

Error

Flag

ERR0

ERR1

ERR2

ERR3

ERR4

ERR5

ERR6

ERR7

ERR8

ERR9

ERR10

ERR11

ERR12

ERR13

ERR14

ERR15


3.4



Bit no.

E no.

12

13

14

15

8

9

10

11

6

7

4

5

2

3

0

1

E40

E41

E42

E43

E44

E45

E46

E47

E32

E33

E34

E35

E36

E37

E38

E39

Explanation

VM specified lower than VS. VM value changed to VS

Error in CTM command parameter

Too many GOSUB, max 32

Program end

Too many ELSE after IF (ELSE)

Too many interrupts (INT)

Return without jump. (RET,RETI)

Warning!. Motor drive running

Address not allowed. Max. 255

Timeout on IN7/IN8. CVI command

Motorprocessor fault

O1-O8 Output error

RAM/EEPROM memory error

Fatal case error. Contact JVL!!

Error !. Alarm signal from motor drive

Unknown error

Error

Flag

ERR40

ERR41

ERR42

ERR43

ERR44

ERR45

ERR46

ERR47

ERR32

ERR33

ERR34

ERR35

ERR36

ERR37

ERR38

ERR39

Usage

Example

The error indication is cleared after reading the error status. For critical (vital) errors, motor operation is interrupted and the error information remains in the register. The user must then either switch the system off and on again to reset the error status, or use the

RESET command.

Note: Control bit CB8 will be 1 if there is one or more errors in the three error registers.

(See also Control Flags, page 110, and Error Messages, page 123.)

ES0

Show error status register 0.

Sent to Indexer

ES0


ES0=0000000001000101

Note: bit 0 is the right-most bit.


3.4


3.4.34

Error Status Text (EST)

Command EST

Modes Stand by, Running

Description The EST command has exactly the same function as the ES command described above with the exception that the error status is reported as plain text for all three status registers. The EST command produces a list in English of the error status. If there are no errors, the error response is E0: No errors. A list of the error messages is given in Error Mes-

sages, page 123.

EST

Read out error status register 0, 1, 2 as text.

Usage

Example Send to indexer

EST

Received from indexer

E0: No errors

E2: Out of range

E46: Error!. Alarm signal from motor driver

3.4.35

Error Status Text (ESTG)

Command ESTG

Modes Standby, Running

Description The ESTG command can be used to print out last 15 errors which have occurred. The errors are stored in the permanent memory (EEPROM) and earlier errors are therefore stored even if the Indexer has been switched off. All errors above Error 7 will be stored.

The command is typically used for example if a machine has periodical errors. It is then possible to determine which errors have occurred earlier. All the errors messages can be deleted using the CB22=1 command (see CB22 Diverse flag, page 114).

3.4.36

Exit Programming Mode (EXIT)

Command EXIT or PX

Modes Programming

Description The EXIT or PX command is used to exit Programming Mode and set the Indexer to Stand by Mode. A program can then be executed or a new program keyed in.

If JVL’s MotoWare software is used for programming the Indexer, this command should not be included in the program as MotoWare sends it automatically.


3.4


3.4.37

Start Program execution (GO)

Command GO

Modes Stand by

Description Starts Program execution. The GO command can also be used to complete a programming sequence. The command can be used when the Indexer is in Stand by Mode.

After the program has been started, the only way to stop it is by sending the H (Halt), SH

(Soft Halt) or STOP command.

3.4.38

Halt of Motor and Program (H,K)

Command H,K

Modes Stand by, Program, Running

Description This command is used to stop the motor at once, regardless of velocity, deceleration etc.

The Halt command has the highest priority since it stops program execution regardless of motor movement. The Halt command is effective immediately, i.e. as soon as the command is issued the Indexer is set to Standby Mode. To begin program execution once more, a new Execute command must be used. The program will start from the beginning.

It is often necessary to use the SZ (Home) command before starting a new execution of a program since the motor position will be arbitrary owing to the instantaneous stop resulting from the Halt command.

To stop the motor without stopping the program execution, the STOP command can be used. (See Stop motor (STOP), page 106, and Smooth Halt of Motor (SH), page 102).

Note also that the halt command will disable the high speed start input (CB20=0) permanently in the same manner as RESET or SD (set default). See also CB20 High speed start

trigger at IN1, page 114.

Usage H Halt motor (and disable high speed start)

Command given in

Standby mode

Halt


Program

Running

Halt

Motor

Program

TT0130GB

Stopped Stopped


3.4


3.4.39

Control of program flow (IF)

Command IF

Modes Programming, Run

Description The IF command is used for comparison of 2 numeric values. These values may be the contents of registers such as R1, IN1, VM etc., or simply integer values such as 10500,

420, etc. All registers described in Arithmetic expressions, page 40, can be used in IF expressions. The comparison operator may be one of the following >, <, <>, =.

It is also possible to use all the input designations, IN1 - IN8, NL, PL, HM, AI1 and AI2 directly in the expressions.

If the condition specified by the IF expression is fulfilled, the next line of the program is executed. If the condition is not fulfilled, the next line is omitted and execution continues from there. The ELSE command can be combined with the IF expression to provide more flexible possibilities.

Example 1:

:START IF R10 < 9800 ; If the content of register R10 is less than

OUT1=1 ; 9800, activate output 1.

J:PROG2 ; Jump to label PROG2.

Example 2:

IF IN2=1

J:START

SP=100

:START SP=AP+50

IF AP=4000

SP=100

ELSE

SR=100

WAIT RS=0

J:START

; If Input2 is active.

; Jump to label START.

; Set position to 100.

; Increase position by 50.

; If position has reached 4000 ...

; ...Move to absolute position 100.

; Else ...

; ...Move 100 pulses (relative) clockwise.

; Jump to label START, where the position is increased.

The above program moves the motor 100 pulses and increases the motor position 50 pulses for each cycle until position 4000 is reached. Then the motor is moved back to position

100 and the cycle is repeated.


3.4


3.4.40

Read Status of Inputs (IN)

Command IN


Description The Indexer has 8 inputs. The status of these inputs can be read using the IN command as a single bit IN1 to IN8 or as an 8-bit value with a value from 0-255 (IN).

Usage IN Read inputs.

Example Sent to Indexer


IN#

IN=#00010100

Note that IN8 is the left-most digit (MSB)

Sent to Indexer

IN


Sent to Indexer


IN=20

IN3

IN3=1

IN can also be used in a program

Example

If IN=1

OUT=1

If IN=#00001100

OUT8=1

If IN=#xxx101x

SR=10000

;Where x is immaterial

It is also possible to read other inputs than IN1 to IN8. For example, the analogue input can be read as a digital value directly.

IN9 IN10 IN11 IN12 IN13 IN14

NL PL HM AI1 AI2 (SOK)

Reserved

IN15

OE

Output

Error LED

IN16

Reserved

3.4.41

Read data from external module (INPUT) - Only SMI31 and SMC35B

Command INPUT


Description The INPUT command is used to read-in data from external modules connected to the JVL bus RS485 interface. It can be used to read-in data from modules such a Keyboard, Display, thumbwheel, BCD data from PLC equipment, printer, extra inputs, digital-to-analogue modules, etc. All of the above-mentioned external modules are intelligent and will therefore contain registers whose contents can be read into the Indexer's registers using the INPUT command. The size and number of registers in external modules may vary, but each module has at least 1 register. Remember that all modules should have their own unique address.


3.4

Format

Example


Rx = Input n1.n2

n1 Specifies the address of the external module from which input is required. The address parameter must be specified as a value between 0 and 31. The RS485 interface enables up to 32 modules to be connected to the interface. The address of each module must be set via DIP switches on the individual module. n2 Specifies the register in the external module from which input is to be read. n2 must be specified in the range 0-255.

A JVL Input/Output Module IOM11 that has 16 inputs and 8 outputs is used. The Module address is 5. All 16 inputs are to be read and tested to determine if the value is 255. If this is the case, the module Counter is read and the program continues. In the instruction manual for the IOM11 module, the Counter register is specified as register 2 and the register for all 16 inputs is 3.

:READINP R10=INPUT5.2

;READ ALL 16 INPUTS AND TRANSFER

IF R10=255

;CONTENTS TO R10

;IF INPUTS NOT EQUAL TO 255 READ AGAIN

J:READ_COUNT

J:READINP

R[R1]=R30

;ELSE READ COUNTER VALUE AND CONTINUE

;PROGRAM

:READ_COUNT R30=INPUT5.3

;READ COUNTER AND TRANSFER TO R30

;TRANSFER COUNTER VALUE TO AN ARRAY

;REGISTER USING R1 AS ARRAY POINTER

Read flag from external module (I) - Only SMI31 and SMC35B 3.4.42

Command I


Description The I command is used to read-in data flags from external modules connected to the JVL bus RS485 interface. It can be used to read-in data from modules such a Keyboard, Display, thumbwheel, BCD data from PLC equipment, printer, extra inputs, digital-to-analogue modules, etc. All of the above-mentioned external modules are intelligent and will therefore contain flags whose contents can be read into the Indexer's registers using the I command. The size and number of flags in external modules may vary, but each module has at least 1 flag. Remember that all modules should have their own unique address.

Format Rx = I n1.n2

Example n1 Specifies the address of the external module from which input is required. The address parameter must be specified as a value between 0 and 31. The RS485 interface enables up to 32 modules to be connected to the interface. The address of each module must be set via DIP switches on the individual module. n2 Specifies the flag in the external module from which input is to be read. n2 must be specified in the range 0-255.

A JVL Input/Output Module IOM11 is used and has address 2.

:START

:RUN+

IF I2.3=1

J:RUN+

IF I2.4=1

J:RUN-

SR=100

WAIT RS=0

;IF INPUT3 ON IOM11

;IS HIGH JUMP TO RUN+

;IF INPUT4 ON IOM11

;IS HIGH JUMP TO RUN-

;RUN MOTOR 100 PULSES

;WAIT UNTIL MOTOR STOPPED


3.4

:RUN-


J:START

SR=0-100

WAIT RS=0

J:START

;JUMP BACK TO START

;RUN MOTOR -100 PULSES

;WAIT UNTIL MOTOR STOPPED

;JUMP BACK TO START

Interrupt (INT) 3.4.43

Command INT


Description The Indexer can monitor different inputs while the program is being executed.

When a specified input condition is fulfilled, the Indexer finishes the command line that is under execution. Program execution is then continued from the program line where the corresponding INT command is inserted.

Example

The following interrupts are available

Command

INT1

Description

Input 1 (I1)

Trigger condition

Transition from logic 1 to 0. (CB12=0). Default

Logic 0. (CB12=1).

INT2

INT3

INT7

INT8

INT9

INT10

INT100-147

Input 2 (I2)

Input 3 (I3)

Transition from logic 1 to 0. (CB13=0).

Default

Logic 0. (CB13=1).



Default

Counter 1 (CN1) Overflow in counter 1 from 65535 to 65536

Counter 2 (CN2) Overflow in counter 2 from 65535 to 65536

Input NL

Input PL

ERR1-47

Transition from 0 to 1. CB25=0. Default.

Transition from 1 to 0. CB25=1.

Transition from 0 to 1. CB26=0. Default

Transition from 1 to 0. CB26=1.

Error E1 to E47

An application is written so that user output O8 will be activated for 100 ms if input 1 is activated. The program is as follows:

:START SR=100000 ; RUN THE MOTOR 100,000 PULSES

WAIT RS=0 ; WAIT HERE UNTIL THE MOTOR HAS STOPPED

D=10 ; DELAY 100ms

J:START ; JUMP TO THE PROGRAM START

INT1

OUT8=1

D=10

OUT8=0

RETI

; THIS INTERRUPT RUTINE IS EXECUTED IF INPUT 1

; IS ACTIVATED (I1=1)

; SET OUTPUT 8 TO LOGIC 1

; DELAY 100ms

; SET OUTPUT 8 TO LOGIC 0

; RETURN FROM INTERRUPT RUTINE.

; CONTINUE THE MAIN PROGRAM

Several inputs can be monitored at the same time.

If an interrupt is being executed while another interrupt occurs, the first interrupt will be finished before the new interrupt routine is executed.

The interrupt routines can be inserted at any point in the program. If an interrupt routine is executed in a program without any interrupt having occurred, program execution is halted and an error message will occur when the RETI is executed.


3.4


3.4.44

Jump Command (J)

Command J

Range 0 - 2000


Description The J command is used to make an unconditional jump to a specified line number in the program.

The program line number can be specified in the range 0-2000. If MotoWare is used, a label can be inserted instead. See also Jumping to program lines and the use of labels, page 44.

Example:

0 OUT1=1

1 SR=100

2 OUT1=0

3 WAIT RS=0

4 J0

;Activate output 1

;Run motor 100 pulses forward

;Deactivate output 1

;Wait until motor is finished

;Goto line 0

3.4.45

Jump-Sub command (JS)

Command JS

Range 0 - 2000


Description In contrast to the J command which jumps to a specified program line number, the JS command makes a jump to a program sub-routine.

When a JS command is executed, the Indexer first stores the number of the next line after the JS command and then goes to the line number specified by the JS command. When the RET (Return) command is encountered in the sub-routine, the program returns to the main program at the line immediately after the JS command and continues from there.

The JS command can be used up to 32 times corresponding to 32 nested sub-routines.

Note that a subroutine in the program always must be placed after the corresponding JS command. See also Call of sub-routine, page 44.

Example:

:

JS:SetOut1

:

:SetOut1OUT1=1;1ACTIVATE OUTPUT 1

D=10 ;WAIT 100MS

OUT1=0 ;DEACTIVATE OUTPUT1

RET ;RETURN TO MAIN PROGRAM


3.4


3.4.46

Verify line number (LINE)

Command LINE


Description The LINE command returns the line number of the program in the controller (not in the document). If the command is used in standby mode, it will return the line number for the last command executed.

Usage

LINE

Show line number

3.4.47

Macro functions (MAKRO)

Command MAKRO


Range 1 - xx

Description In cases where the Indexer is used for very special applications, the macro functions can be used. Macro functions are made upon customer request.

Please contact JVL Industri Elektronik regarding this feature.

Usage MAKRO = x Start macro function x.


3.4


3.4.48

Memory Checksum (MCHS)

Command MCHS


Range

Selection

Description

0-2.147.483.648

0-4

3.4.49

Register

MCHS0

MCHS1

MCHS2

MCHS3

MCHS4

Memory

Received on RS232

Temporary

memory

RAM

Permanent memory

EEPROM

Program memory

EPROM

Total RAM

Description

All bytes received on the RS232 interface are added in this checksum register. This makes it possible to check if the Indexer has received the data correctly.

The checksum register is only reset under power up or after the command Program (start programming) has been received. The

MCHS0 register can be set to 0 by sending the command

MCHS0=0 or simply by reading the MCHS0 register.

Here the checksum of the program which is in the temporary memory (RAM) is shown. It is only the checksum of the program itself which is calculated.

Calculates the checksum of the entire EEPROM, independent of the size of the program. This number will be an expression for the content of the program, which is in EEPROM. This register can for instance be used in the beginning of a program to check if the content of the EEPROM is ok or contains errors. Special parameters such as address, checksum, Baud rate etc. are part of the checksum calculation.

Calculates the checksum for the program memory (EPROM)

The checksum is calculated for the entire RAM (32Kbyte)

Note:

The checksum is calculated by adding all bytes in a 32 bit number.

Calculations of the checksum can take up to 15 sec. During this period it is not possible to communicate with the Indexer.

Show used memory (MEM)

Command MEM


Range 0 -100%

Description Use this command to verify how much memory has been used.

When the MEM command is used, the Indexer will return a number indicating the used memory in bytes and the percentage free memory.


MEM


MEM=292 byte used. 95% free.

This indicates that 292 bytes of the memory is used and 95% is still free.


3.4


3.4.50

Recall Program (MR1)

Command MR1

Modes Stand by

Range 0 - 3

Description An Indexer program can be permanently stored in non-volatile EEPROM memory, i.e. without the need for current to retain the data. The Memory Recall command MR1 is used to recall data from the EEPROM memory and set-up the Indexer and system using these values. It is also possible to recall the program automatically at power up. Note that each time the MR1 command is used to load a program from permanent memory into working memory, any instructions in the Indexer’s working memory will be erased.

Usage MR1=x Restore status:

0 = Do not recall program at power up.

1 = Recall program and execute at power up.

2 = Recall program now, but not at power up.

3 = Recall program now and at power up. After power up the program is executed.

4 = Recall program now and send it in a special format via RS232 to PC (Moto-

Ware). MotoWare will then receive the program and save it on disk if required.

The program can also be transferred to another unit using the special CB41

and PROGRAM command (from version 1.7)

MR1

Show restore status.

3.4.51

Recall Registers (MR2)

Command MR2


Description The user registers R0 - R220 can be permanently stored in non-volatile EEPROM memory, i.e. without the need for current to retain the data. The Memory Recall Register command MR2 is used to recall all 220 registers from the EEPROM memory.

Usage MR2 Recall all user registers R0 to R220.

3.4.52

Save Program and user registers (MS)

Command MS

Modes Stand by

Description Saves program and user registers. Performs the same operation as if MS1 and MS2 were used simultaneously

3.4.53

Save Program (MS1)

Command MS1

Modes Stand by

Description An Indexer program can be permanently stored in non-volatile EEPROM memory, i.e.


3.4

Usage


without the need for current to retain the data. The Memory Save program MS1 command is used to store the Indexer program in the permanent memory. Only one program can be stored in permanent memory at a time. If the MR1 register is set to 1, the program stored in permanent memory is automatically recalled and executed when the Indexer is switched on. Note: Storage should not be made more than 100 000 times to the EEP-

ROM. See also: Save user registers (MS2), page 83.

MS1

Save program in EEPROM


3.4


3.4.54

Save user registers (MS2)

Command MS2


Description The user registers R0 to R220 can be permanently stored in non-volatile EEPROM memory, i.e. without the need for current to retain the data. The Memory Save register MS2 command is used to store the registers in the permanent memory. The predefined registers, for example VM, cannot be saved in permanent memory,

Usage

MS2

Save all registers R0 to R220 in EEPROM

Note: The MS2 command must not be used in a program in such a way that a register is repeatedly being stored. Writing more than 100 000 times to the EEPROM must be avoided.

3.4.55

Negative Limit Switch (NLS)

Command NLS


Range

Default

1=enabled or 2=disabled

2 (disabled)

Description The PL and NL Inputs function as end-of-travel limits. If the motor is moving in a negative direction and NL is activated, the motor is stopped at once. The PL Input is the positive end-of-travel input. The NL input can be set to active high (NLS=1 and CB25=1), to active low (NLS=1 and CB25=0), or be disabled (NLS=2).

For connection of the end-of-travel inputs, see End-of-travel Limit Inputs, page 16.

Please note following limitation when using the limit switch (NLS=1)

If NLS= 1, it is not possible to use the NL input as a stop input in connection with the

NSTOP command. Neither is it possible to use the input as an interrupt input. If one of these 2 modes is chosen, the limit function will have the highest priority.

If the limit input is activated when a motor run command is about to be executed, the command will be ignored and a bit will be set in the error status register.

Control bit 4 (CB4) will go high when the limit input is activated. The bit will first go low when a new motor run command is executed without the limit activated.

If the user wants to make a controlled limit with proper acceleration, it should be done with CB5=1 or with an interrupt program and the INT command. See Interrupt (INT), page 77.

Usage NLS = x Set Negative Limit Switch to level 1 = high or 2 = disabled.

NLS

Show Negative Limit Switch level.


3.4


Desired function

Limit switch

Limit switch

Normal input

Transition from logic 1 to logic 0 stops motor

Transition from logic 0 to logic 1, stops motor

Normal input Use NL as normal input

Normal input Use NL as interrupt input to INT9

Use NL input as interrupt controlled smooth stop of motor

Interrupt controlled start (NSTART)

Command

NLS=1, CB25=1

NLS=1, CB25=0

NLS=2. Default

NLS=2, INT9

NLS=2, NSTOP=9

3.4.56

Command NSTART


Range

Default

0 - 15

0 (disabled)

Description This command must be used if timing is very critical for a certain motor start sequence.

The NSTART command enables an interrupt feature that will detect a start signal at the same moment it occurs. All the inputs can be used, including the analogue inputs and limit inputs. The advantage of using this command instead of the WAIT command is the fast response time. In addition, precise repetition timing is obtained with this command.

The typical response time for this command is 500 to 650 µs. The WAIT command requires 0-5 ms. To obtain high noise immunity, the NSTART command always measures

16 times at the input signal before a start is realized. Using the CB18 flag it is possible to select between 4 trigger conditions. See CB18 NSTART Trigger level flag, page 113. If ultra high-speed Start/stop is required, see CB20 High speed start trigger at IN1, page

114, and CB21 High speed stop trigger at IN2, page 114.

The following inputs can be used:

The following start conditions are available

Input

Disabled

I1 (Input 1)

I2 (Input 2)

I3 (Input 3)

I4 (Input 4)

I5 (Input 5)

I6 (Input 6)

I7 (Input 7)

I8 (Input 8)

NL (Negative limit)

PL (Positive limit)

HM (Home input)

AI1 (Analogue input)

AI2 (Analogue input)

SOK

OE (Output error)

Command

NSTART=0 (default)

NSTART = 1

NSTART = 2

NSTART = 3

NSTART = 4

NSTART = 5

NSTART = 6

NSTART = 7

NSTART = 8

NSTART = 9

NSTART = 10

NSTART = 11

NSTART = 12

NSTART = 13

NSTART = 14

NSTART = 15

-

Trigger level

See CB18

CB18=0 logic 0 to1

CB18=1 logic1

CB18=2 logic 0

CB18=3 logic 1 to 0


3.4


Usage

Example

3.4.57

NSTART=1 Set input 1 as start input.

NSTART

Show the actual start input condition.

:LOOP

R1=10000

NSTART=6

SR=R1

;Register 1 equal to 10000

;Set input 6 as start input

;The program will stop here until the

start input is activated

WAIT RS=0 ;Wait until motor has stopped

R1=0-R1 ;Register1 = -Register1

J:LOOP ;Jump to loop

The program will always stop at the loop line because of the SR statement, and will only continue if input IN6 is activated, i.e. goes from inactive to active.

Interrupt controlled stop (NSTOP)

Command NSTOP


Range

Default

0 - 10

0 (disabled)

Description This command must be used if the timing is very critical for a certain motor stop sequence. The NSTOP command enables an interrupt feature that will detect a stop signal at the same moment it occurs.

The command makes it possible to stop the motor as a function of an input condition.

Note that only Input 1 - 3 and NL and PL can be used in a stop condition.

The advantage of using this command instead of the WAIT or the IF command is the fast response time. In addition, precise repetition timing is obtained with the NSTOP command.

The typical response time for this command is 500 to 650 µs. The WAIT or IF command requires 0-5 ms If ultra high-speed Start/stop is required, see CB20 High speed start trig-

ger at IN1, page 114, and CB21 High speed stop trigger at IN2, page 114.

The following stop conditions are available

Input

disabled

Input 1 (I1)

Input 2 (I2)

Input 3 (I3)

Counter 1 (CN1)

Counter 2 (CN2)

Input NL

Input PL

Command

NSTOP=0

NSTOP = 1

NSTOP = 2

NSTOP = 3

NSTOP = 7

NSTOP = 8

NSTOP = 9

NSTOP = 10

Trigger condition

none


Logic 0. (CB12=1).

Logic 0. (CB13=1).




Overflow in counter 1 from 65535 to 65536

Overflow in counter 2 from 65535 to 65536

Transition from logic 0 to 1. CB25=0. Default

Transition from logic 1 to 0. CB25 =1.

Transition from logic 0 to 1. CB26=0. Default

Transition from logic 1 to 0. CB26=1.


3.4

Usage

Example 1

Example 2


NSTOP=1

NSTOP

Set input 1 as stop input.

Show the actual stop input condition.

VM=1000 ; SET VELOCITY TO 1000 RPM

NSTART=5 ; SET INPUT 5 AS START INPUT

NSTOP=2 ; SET INPUT 2 AS STOP INPUT

:START SR=10000 ; MOVE MAX 10000 PULSES WHEN INPUT 5 IS ACTIVATED

; WHEN INPUT 2 IS ACTIVED THE MOTOR IS STOPPED

WAIT RS=0 ; WAIT UNTIL MOTOR HAS FINISHED RUNNING

OUT1=1 ; ACTIVATE OUTPUT 1

OUT1=0

J:START

; DEACTIVATE OUTPUT 1

NSTOP=1 ; SET INPUT 1 AS STOP INPUT

SR=1000 ; THE MOTOR WILL START IMMEDIATLY AND DECELERATE

; TO STOP WHEN THE STOP INPUT IS ACTIVATED

OUT1=1 ; NEXT COMMAND IS EXECUTED (SET OUTPUT 1 = 1)

3.4.58

Read/Set Status of Outputs O1 - O8 (OUT)

Command OUT

Modes Stand by, Programming, Run

Description The Indexer has 8 outputs. The status of these outputs can be read or set using the following OUT commands. When the status of the Outputs O1 - O8 is read, information is also given about the status of the 8 control LEDs.

4

5

2

3

6

7

Bit no.

Output Special function

0

1

O1

O2

O3

O4

O5

O6

O7

O8

Error output if there is an error in ES0, ES1 or ES2. See command CB7

This output is active if the position is within the interval given in RX1 and RX2

If CB17 is activated, then output 8 is active parallel with the Run LED

Usage

OUT

OUT n

Read status of outputs

Read status of output n (n=1 to 8)

OUT n=x Set output n to x (0 or 1)

OUT# =xxxxxxxx Set all outputs to x, where x is 0 or 1. (To be used in Standby mode only)

OUT = x Set all 8 outputs to decimal value x (x= 0-255)


3.4


Examples Sent to Indexer

Out#=1010

Received from Indexer Y

Sets outputs to 00001010

All digits to the left of msb will be set to 0

Sent to Indexer

OUT#

Read outputs


OUT#=00001010

Note bit 0 is the rightmost digit (LSB)

Sent to Indexer

OUT

Received from Indexer OUT=10

Sent to Indexer

OUT=255


Sent to Indexer

OUT3=1


Y

Sets all outputs to 1

Sets O3 to 1


3.4


3.4.59

Pulse Input Format (PIF)

Command PIF


Range

Default

1 = Normal or 2 = Encoder

1 (normal)

Description This command determines the input format of inputs 7 and 8.

If the format is set to 1 (PIF = 1) inputs 7 and 8 function as normal inputs. If the format is set to 2 (PIF = 2) inputs 7 and 8 are dedicated as encoder inputs. See also Counter mode

(CTM2), page 65

3.4.60

Positive Limit Switch (PLS)

Command PLS


Range

Default

1=enabled or 2=disabled

2 (disabled)

Description The PL and NL Inputs function as end-of-travel limits. If the motor is moving in a positive direction and PL is activated, the motor is stopped at once. The NL Input is the negative end-of-travel input. The PL input can be set to active high (PLS=1 and CB26=1), active low (PLS=1 and CB26=0), or disabled (PLS=2).

For connection of the end-of-travel inputs, see End-of-travel Limit Inputs, page 16.

Please note the following limitations when using the limit switch (PLS=1)

If PLS= 1, it is not possible to use the PL input as a stop input in connection with the

NSTOP command. Neither is it possible to use the input as an interrupt input. If one of these 2 modes is chosen, the limit function will have the highest priority.

If the limit input is activated when a motor run command is being executed, the command will be ignored and a bit will be set in the error status register.

Control bit 4 (CB4) will go high when the limit input is activated. The bit will first go low when a new motor run command is executed without the limit switch being activated.

If the user wants to make a controlled limit with proper deceleration, this should be done with CB5=1 or with an interrupt program and the INT command. See Interrupt (INT), page 77.

Usage PLS = x Set Positive Limit Switch to level 1=high or 2=disabled.

PLS

Show Positive Limit Switch level.

Desired function

Limit switch

Limit switch

Normal input

Normal input

Normal input



Use PL as normal input

Use PL as interrupt input to INT10

Use PL input as normal interrupt controlled smooth stop of motor

Command

PLS=1. CB26=1

PLS=1. CB26=0

PLS=2. Default

PLS=2, INT10

PLS=2, NSTOP=10


3.4


3.4.61

Pulses per revolution (PR)

Command PR


Range (50 - 20000) - see text

Description SMI30 and SMC31: To achieve correct velocity of the motor, the number of encoder pulses per revolution must be programmed. The value specified must be the resolution specified for the encoder.

Note that many drivers internally multiply the number of encoder pulses by a factor 4, so that, for example, an encoder/motor with a resolution of 500 pulses per revolution effectively has a resolution of 2000 pulses per revolution. If the motor is to rotate 1 revolution, the positioning command must be based on the effective resolution of 2000 pulses.

Note that in a typical step motor system, PR must be set to 200 for fullstep, and 400 for halfstep operation. (See also Connection to Yaskawa servo drives, page 140). Default value is PR=8192.

SMC35: The following table shows the step resolutions that are available. The values

"per revolution" are based on a standard motor with 200 steps per revolution. If motors different from 200 steps per revolution are used see RX 16

Usage

Type

SMC35x

Mini steps/full step

1, 2, 4, 8

Mini steps/revolution when 200 steps/rev. motor is used

200, 400, 800, 1600

Use of higher step resolution minimises mechanical resonances and thus provides optimum motor torque throughout the entire range of velocity. Note that the motor’s resonances/torque are also heavily determined by the supply voltage. At high supply voltages, optimum torque is achieved at high rates of revolution.

It is not recommended to change step resolution when the motor is running, Default value is 8 ministeps/full step or PR=1600. Contact JVL if a different step resolution is required.

PR = x Set pulses per revolution

PR

Show pulses per revolution.

3.4.62

Print to external module (PRINT) - Only SMI31 and SMC35B

Command PRINT


Range Address 0-31, Register 0-65535, Value 0-65535 (or text)

Description The Print command is used to print out the contents of registers to external modules. At present, print-out to 4 external modules is possible: to a PC via the RS232 interface and to JVL DIS10, KDM10 and IOM11 Modules via the JVL bus RS485 interface. Remember that all modules should have their own unique address.

Command Format : PRINTn1.n2.n3


3.4


n1 Specifies the address of the module to be printed to (1-31). Address 255 is reserved for a PC. n2 Specifies the register or cursor position to be printed to in the external module.

n3 Specifies the register, numeric value or text string in the Indexer to be printed.

Example 1:

PRINT1.0.R23

Prints the contents of register R23 to the module whose interface address is 1. Since transmission via the RS485 interface is balanced, it is possible to locate external modules up to 500 metres from the Indexer.

Example 2:

PRINT255.0."TEST"

Prints the text "TEST" to a PC via the RS232 interface. Address 255 is reserved as the address for PCs. Note that the PRINT command can be used to print out register contents at run-time. It is especially well-suited for debugging a program. If JVL's MotoWare program is used, once the Indexer program has been transferred, the online feature can be used to display when a PRINT command is executed at run-time.

Example 3:

PRINT3.41."Key in Value:

"

When a Keyboard-Display Module KDM10 is incorporated in a system, it is often desirable to display information to the user. The above example illustrates how text can be written to the module's LCD display. In the example, the address of the module is 3. The second parameter value is cursor position 41, which is the first character on line 2 of the display.

Example 4:

R1=5555 ;ASSIGN A VALUE OF 5555 TO REGISTER R1

R30=333

PRINT5.41.R1

;ASSIGN A VALUE OF 333 TO REGISTER R30

;PRINT THE CONTENTS OF REGISTER R1 TO CURSOR

PRINT2.0.R30

;POSITION 41 OF A KDM10 MODULE WITH ADDRESS 5

;PRINT THE CONTENTS OF REGISTER R30 TO THE DISPLAY

;OF A DIS10 MODULE WITH ADDRESS 2

When external modules DIS10 or KDM10 are used in a system, it is often necessary to print out the contents of register on the displays of the modules.

As illustrated in the above example, this is best accomplished using the PRINT command to print the contents of a register either to a cursor position or directly to the LED display of the DIS10 module. Note that the figure printed must be within the interval 0 to 65.535.

3.4.63

Set the Indexer in programming mode (PROGRAM)

Command PROGRAM

Modes Stand by

Description The PROGRAM command sets the Indexer to Programming Mode, i.e. so that the Indexer is ready to receive programming instructions. Each time the program command is used, the content of the Indexer’s working memory are reset, erasing any existing instructions.

It is recommended that the command RESET is used before the PROGRAM command. If the MotoWare software is used for programming, this command should not be included in the program as MotoWare sends it automatically.


3.4


3.4.64

Register

Modes

Selection

User Register (R)

R

Standby, Programming

0-220

Range

Description The Indexer includes 220 32-bit registers which can be used freely in a program. A register can be assigned a value, be included in an equation, etc.

Usage

-2147483648 to +2147483647

Rx=v

Rx

Set register x to the value v

Show the value of register x

Examples

R1=VM+100

R67 ;show the value of register 67 on the RS232


3.4


3.4.65

User Register (RB)

Register

Modes

Selection

Range

RB


0-880

-127 to +128

Description The Indexer include 880 8-bit registers which can be used freely in a program. The registers can be assigned a value, included in an equation, etc. The RB register uses the same memory space as the R register.

R0 (32bit)

R1 (32bit)

8bit

RB3

RB7

8bit

RB2

RB6

8bit

RB1

RB5

8bit

RB0

RB4

TT0146GB

Example R1=65535 results in

RB4 and RB5 each has the value -127. RB6 and RB7 each has the value 0.

Reset Indexer (RESET) 3.4.66

Command RESET

Modes Stand by

Description If a system overload occurs, the system must be reset before motor control is possible again. The RESET command has the same effect as turning the Indexer off and then on again. No communication with the Indexer until 2 sec. after the Reset command has been sent is allowed.

Reset RESET Reset Indexer.

3.4.67

Return from subroutine (RET)

Command RET


Description If the JS (jump subroutine) command has been used, the program will jump to a sub-routine. When this routine is finished, the RET command must be executed so that program execution can continue at the line just after the JS command.

See also the Jump-Sub command (JS) command, page 78.

Usage

RET

Return from subroutine.


3.4


3.4.68

Return from interrupt (RETI)

Command RETI


Description If the INT command has been used, the program will jump to the INT routine when a specified input is activated. When this routine is finished, the RETI command must be executed so that program execution can continue at the line just after it was interrupted.

See also the Interrupt (INT) command, page 77.

RETI

Return from interrupt routine.

Usage

Example

VM=1000 ; SET VELOCITY TO 1000 RPM

:START WAIT I8=1 ; WAIT HERE FOR START SIGNAL AT INPUT 8

SR=100000 ; RUN A RELATIVE DISTANCE OF 100000 PULSES

WAIT RS=0 ; WAIT HERE UNTIL MOTOR HAS STOPPED

J:START ; JUMP TO START AND REPEAT PROGRAM

.

INT2 ; THIS INTERRUPT ROUTINE IS EXECUTED IF INPUT 2

; IS ACTIVATED

WAIT RS=0 ; WAIT HERE UNTIL MOTOR HAS STOPPED

VM=2000

RETI

; SET SPEED TO 2000 RPM

; TERMINATE INTERRUPT ROUTINE AND CONTINUE FROM

; THE PROGRAM LINE WHERE THE INTERRUPT

; OCCURED

3.4.69

Register

Modes

Selection

User Register (RI)

RI


0-440

Range -32768 to +32767

Description The Indexer include 440 16-bit registers which can be used freely in a program. The registers can be assigned a value, be included in an equation, etc. The registers use the same memory space as the R registers.

R0 (32bit)

R1 (32bit)

16bit

RI1

RI3

16bit

RI0

RI2

Usage

Example

TT0147GB

RIx=v

Set register x to the value v

RIx

Show the value of register x

R1=65535 results in

RI2 has the value 65536 and RI3 has the value 0


3.4


3.4.70

Report Motor Status (RS)

Command RS

Modes Stand by

Range 0 - 7

Description During operation, the system can report information about the status of the motor (stationary, running, etc.) using the RS command.

The command can be used to ensure that a new positioning command is not executed while a motor movement is in progress.

Usage

RS

Motor Status: 0=stationary

1=accelerating

2=Running at max. speed

3=decelerating

4=Motor not in position. (COIN=1)

5=Fatal error in connected servo/step driver. (SALA=1)

6=Motor zero searching

7=Motor stationary but NL or PL active. See CB 38.

Example

Notes

Example

:

START VM=1000 ; SET TOPSPEED TO 1000 RPM

WAIT RS=0 ; WAIT HERE UNTIL LAST POSITIONING IS FINISHED

SP=10000 ; RUN MOTOR TO POSITION 10000

J:START ; RETURN TO START

If RS=4 or RS=5 occurs while the motor is running, the Indexer will continue to generate pulses as if nothing has happened. These pulses will be lost as the driver returns an error message. If the RS=4 or RS=5 error lasts repeatedly up to 500 times, the Indexer will give an E39 or E46 error message respectively.

If RS=4 or RS=5 occurs before a motor command is executed, the Indexer will give an

E39 or E46 error message respectively. If RS=5 the program will also stop.

If the servo alarm is activated while the motor is running, pulse generation will cease first when an attempt to start the motor again is made. This is due to the fact that RS is updated when RS is read or prior to executing a motor command. If it is required that RS is updated once for each line, the CB35=8 command is used.

Execution of a special program is required when error conditions occur. The program below can be used.

:START VM=1000

SR=10000

:WAIT IF RS=4

J:ERR39

IF RS=5

J:ERR47

IF RS>=1

J:WAIT

;SET VELOCITY TO 1000 RPM

;RUN A RELATIVE DISTANCE OF 1000 pulses

;IF SERVODRIVE NOT IN POSITION

;... JUMP TO ERROR ROUTINE

;IF FATAL ERROR IN DRIVER

;...JUMP TO ERROR ROUTINE

;IF MOTOR ERROR OR RUNNING

;...JUMP TO TRY AGAIN

D=200

J:START

;NO ERROR. PROGRAM CONTINUE HERE

;JUMP BACK TO START

:ERR39 PRINT255.1."ERROR 4" ;Print ERROR4 on RS232

J:WAIT

:ERR47 PRINT255.1."ERROR 5" ;Print ERROR5 on RS232

J:WAIT


3.4


3.4.71

Report Motor/Program Status in text (RST)

Command RST


Notes:

Example

3

4

5

6

7

RS Description

0

1

2

Motor stopped

Motor accelerates

Motor running at max. speed

Motor decelerating

Servo not in position. COIN=1

Servo alarm. SALA=1

SZ command execution

Limit inputs active

RST Motor Status

Stationary

Accelerating

Running at max. speed

Decelerating

Motor not in position

Fatal error in connected servo/step driver

Motor zero seek in progress

Motor stationary but NL or PL active

RST Program mode Explanation

Standby

Programming

Running

Program not running. Keyed-in commands will be executed immediately

The Indexer is in programming mode

The Indexer is executing a program

If RST is included in a program, a response will be returned on the RS232 interface when commands are executed in the program

Sent to Indexer:

RST

Received from Indexer:

Motor Status: Accelerating

Program Mode: Running


3.4


3.4.72

Special user registers RX

Command RX


Selection 1-16

Description RX1 / RX2 High-speed interval output at O6.

For purposes where an external signal is required when the motor reaches a certain distance, these 2 registers can be used.

The RX1 register specifies when user output 6 (O6) is set high and RX2 specifies when the output is set low. The function is only enabled when RX2 is higher than RX1.

The delay time from the internal position counter to the output is less than 100µs.

RX1 / RX2

RX1 = RX2

RX1 > RX2

RX1 < RX2

Status

High speed output disabled - O6 used as normal output

High speed output disabled - O6 used as normal output

High speed output enabled - Active when RX1 < (APP) < RX2

Time

Timing of user output 6 when used as position output

96

Motor movement

Logic level

1

Speed

O6 Is deactivated after the position (AP) has exeeded RX2

User output "O6"

0

Time

TT0136GB

O6 Is activated after the position (AP) has exeeded RX1

Note that the specified positions in RX1 and RX2 refer to where the motor started and not the AP register

Example 1

An application requires that user output 6 must be activated after 500 pulses and deactivated after 1000 pulses. Therefore the following program is made:

:START AP=12345 ;SET POSITIONCOUNTER EQUAL TO 12345

;NOTE THAT THE POSITIONCOUNTER (AP) IS NOT


3.4


;USED BY THE RX1/RX2 FEATURE IT IS ONLY THE PULSE COUNT

;FROM THE POINT WHERE THE MOTOR STARTS.

RX1=500 ;SET THE DISTANCE WHERE O6 MUST BE SET HIGH

RX2=1000 ;SET THE DISTANCE WHERE O6 MUST BE SET LOW

SR=5000 ;LET THE MOTOR RUN 5000 PULSES

;NOW THE MOTOR WILL START RUNNING AND AFTER

;RUNNING 501 PULSES, O6 WILL BE SET HIGH

;WHEN THE MOTOR HAS MOVED 1001 PULSES FROM THE

;START, O6 WILL BE SET LOW.

RX3 Delay of High Speed Start

For purposes where the high speed start must be delayed until a certain distance is achieved, the RX3 register can be used. RX3 can have values from 0 to 65535.

A 2-channel encoder must be connected to IN7 and IN8. If RX3 is set to a value higher than 0, the encoder pulses will be connected to a counter that increments each time a transition happens at IN7 or IN8.

When a high speed start is recognized at IN1 according to CB20, the counter is reset and will start counting. When the counter reaches the value specified in RX3, the motor is started and is running.

Note that RX3 can be changed at any time. A change of RX3 will not have any effect on the counter.

Only a stop will reset the counter to zero. A stop could be one of following conditions.

1. Motor reaches final position

2. The halt (H) command or the soft halt (SH) command is executed.

3. The stop (STOP) command is executed.

Note that the RX3 feature only can be used together with high speed start !

Motor speed

The start is delayed until number of pulses at IN7+8 is equal to RX3

Time

High speed startinput (IN1) is activated according to register CB20

The encoder counter is reset to zero at the same time.

TT0155GB

RX4 IN1 high speed start digital filter

When IN1 is used as high speed start together with CB21, RX4 is used to specify a debounce period. If RX4 = 5, the input should be stable for 5x102

µ s = 510

µ s before the motor is started.

RX5 IN2 high speed stop digital filter.

When IN2 is used as high speed stop together with CB22, RX5 is used to specify a debounce period. If RX5=10, the input should be stable for 10x102

µ s = 1.02ms before the motor is stopped.


3.4

98


RX7, RX8, RX9, RX10 Monitoring of distance travelled

This feature can be used in situations where "High speed start and stop" is used and the distance travelled by the motor is to be monitored. Typical applications include label dispensing. See appendix for a flowchart and program example.

Note that Input 4 (IN4) is used as a secondary start input when the function is active.

The function monitors 2 parameters:

1 How far the motor runs before it sees the stop input (IN2).

This is determined by the sum of the pulses in RX7 + RX8.

If this sum is exceeded, output 6 is activated for the duration in mS determined by RX10.

2. How long the stop signal is active.

This duration is determined by the sum of the pulses in RX8 + SR2 (SR2 = run-length after stop signal.

If this sum is exceeded, output 7 is activated for the duration in mS determined by RX10.

Register description:

RX7

Contains the nominal length of operation.

RX7 can be specified in the range 0 - 16000000.

RX8

Contains the nominal length that the stop sensor must be active.

RX8 can be specified in the range 0 - 16000000.

RX9

Specifies whether the monitoring function will be active or not.

RX9=0 (default) Monitoring inactive. RX7, RX8 and RX10 have no effect.

RX9=1 Monitoring active.

RX10 Specifies the duration of the pulse when an error occurs on either output 6 or outoutput 7. The default duration is 1 msec.

The value assigned to RX10 is specified in steps of 0.1024 ms. For example, if a duration of 10 ms is required, RX10 is assigned a value of 10 / 0.1024 = 98. RX10 can be specified in the interval 0 - 65000 (ca. 6.5 seconds)

Automatic adjustment of RX7 and RX8

If IN4 is activated, the motor will start and measure the length of operation until the stop sensor is activated the first time. This value is assigned to RX7. The motor will continue to run and begin measurement of the length that the stop sensor is active. When the stop sensor is again passive, the measured value is assigned to RX8. See appendix for further description, time history and program example.

RX11 Frequency multiplier in CVI command.

Used in CVI command as frequency multiplier. See CB28 flag in Current Frequency

(CVI), page 67.

RX12 Max. pulses/rev. in turntable mode.

Used in turntable mode as max. number of pulses per revolution. See CB30 flag in CB30

Modula Mode (Turntable mode), page 116.

RX13 Multicontrol (only applicable from version1.8)

Using this mode it is possible to perform advanced multicontrol of up to 32 axes via a single program. The MotoWare program is transferred to the master SMI31 and when executed, commands are sent via the RS485 interface to other JVL slave controllers, e.g.

SMI3x, DMC10, AMCxx etc. The slave controller addressed is selected via the RX13=x command. Slave-controllers must be able to interpret JVL language, e.g. SR=100, VM and RS commands.


3.4


In multicontrol mode, the master must always have address 0 and each slave must be assigned its own unique address in the range 1-31.

The master is set in multicontrol mode by specifying RX13 = address of the "slave". In this way a selected number of registers and commands on the slave controller become accessible to the master controller, with the same names as on the slave controller. The various slave controllers are selected by changing the slave address, e.g. RX13=4 to select slave controller with address 4. In order to transfer registers from the slave and perform calculations on the master controller, registers R1-R99 are reserved on the master. If a register value is to be retrieved from a slave controller, it must be from a register greater than R99. Communication is carried out via the standard RS232 interface and it is therefore possible to monitor communication between the master and slave controllers via

MotoWare´s on-line window.

To use the master controllers own 8 user outputs and a motor, RX13 must be set to 0, which is the factory default setting. Any slave controller can be addressed by using the corresponding address and RX13=1 to 31.

Example 1

RX13=1 ;Select slave with address 1 (Addr=1)

R1=R110 ;Transfer the value of R110 from the slave with address 1 to master register R1

Example 2

RX13=3 ;Select slave with address 3 (Addr=3)

SR=R1 ;The value of master register R1 is sent to

OUT=255 slave with address 3 and the slave runs length R1

;The value 255 is transferred from the master to the 8 user outputs on the slave with address 3.

All user outputs are set to "1" (255)

Example 3: An x-y-z table is controlled using a master SMI30 with master address 0, and 2 servo controllers with slave addresses 1 and 2 that are connected via the RS232 interface. Operating commands are sent to slaves 1 and 2 so that they operate simultaneously. When these operations are complete, the master indexer runs.

RX13=1 ;Select axis 1. Address 1

VM=500 ;Send velocity value to axis 1

SR=1000 ;Send relative operation length to axis 1. The motor operates immediately.

RX13=2

VM=2000

;Select axis 2. Address 2

;Send velocity value to axis 2

SR=1000 ;Send relative operation length to axis 2

Wait RS=0 ;Wait until axis 2 operation is completed

RX13=1 ;Select axis 1. Address 1

Wait RS=0 ;Wait until axis 1 operation is completed

RX13=0 ;Select master indexer. Address 0

SR=-1000 ;Move relative 1000 in reverse

Wait RS=0 ;Wait until master motor operation is complete.

Care must be taken in transmitting data from a PC to a master or slave controller since communication errors may arise. If a PC attempts to transmit to a master indexer and for example RX13=1, the master will send the transmission to the slave (address 1) which will reply to the master, which in turn will reply to the PC. This should normally be avoided since there is a lot of communication on the RS232 and a risk of simultaneous transmission and reception.

A new program can be transmitted to the master, since MotoWare stops a program with repeated H (Halt) commands.

If during transmission of data, an error arises or unexpected commands are returned,


3.4


re-transmission is attempted up to a maximum of 4 times. If incorrect data is received by all 4 attempts, error E22 is reported, the ERROR light is lit constantly and program execution stops. The error can be a parity error, no receipt of "Y" confirmation, or a timeout error.

If the master controller tries to transmit to a slave and the slave does not respond, the master controller will timeout after approximately 1 sec. Error E23 is reported, the ERROR lamp is lit constantly and program execution stops.

Note that the following commands cannot be used when RX13 is not 0 (i.e. when in multicontrol mode): RX, Makro, CON, all JVL-bus commands, SPT, MS, etc.

PC-AT

Gnd

Master

(Address = 0)

Slave

(Address = 1)

Gnd

9

4

Gnd

9

4

To other slaves

Addresses 2, 3, 4, 5, ....

Connect as slave address 1

Example

100

TT0154GB

RX14 Lower limit for position check. See CB40 Default value is -2 147 483 648

RX15 Upper limit for position check. See CB40. Default value is +2 147 483 648

RX16 Selection of step/revolution on the motor. (SMC35 only)

Since all velocities and acceleration are specified in terms of r.p.m., it is important to specify the step/revolution of the motor. Normally this is 200 step/revolution, but 400 or

24 step/revolution for example are also very common. Specify RX16 in accordance with the following table.

RX16

Steps/rev

24

48

100

200

400

Degrees/ step

15

7.5

3.6

1.8

0.9

Steps/rev. in 1/1 step

24

48

100

200

400

Steps/rev. in ½ step

PR=

Steps/rev. in ¼ step

48

96

200

400

800

96

192

400

800

1600

Steps/rev. in 1/8 step

192

384

800

1600

3200

The default setting is RX16=200 and PR=1600, corresponding to 1/8 step

A HWI motor with 24 step/revolution is connected. and ½ step operation is required.

RX16 = 24

PR = 48

RX17 Diverse register

If RX17 is preset with a velocity and the LL1 command is executed, the speed will be changed faster than if VM=x is executed.


3.4


3.4.73

System Default (SD)

Command SD

Modes Stand by

Description The SD command is used to recall the Indexer’s factory default set-up. All user registers will be set to 0. Note that address, checksum, memory recall and Baud rate registers will not be changed. These can only be reset using of the ## command.

The factory default set-up is as follows:

AC=100

ACS=0

AP=0

CB2, CB3, CB6, CB7

CB8, CB10, CB11, CB12,

CB13, CB17, CB19, CB20,

CB21, CB23, CB24, CB25,

CB26, CB27, CB28, CB29,

CB30, CB31, CB32, CB33,

CB34, CB35, CB37, CB38,

CB39, CB40=0

CB9, CB14, CB18=1 CTM2=1

CB15, CB16=2 ES0, ES1, ES2=0

CN1=0

CN2=0

NLS=2

OUT=#00000000

CND1=1

CND2=8

CON=1.0000

CTM1=1

CB36=1

PIF=1

PLS=2

PR=8192

R1-R220=0

RX1, RX2=0

RX11=921600

RX12= 8192

SR=0

SR2=0

VS=10

VM=100

Usage SD Recall factory default set-up


3.4


3.4.74

Smooth Halt of Motor (SH)

Command SH


Description This command is used to perform a controlled halt of the system. The motor is stopped in accordance with the pre-programmed deceleration (acceleration).

If SH is used in a program, it will only stop the motor and not the program execution. Use the H command if the program must be stopped. See also the Halt of Motor and Program

(H,K) command, page 73, and the Stop motor (STOP) command, page 106.

Usage

SH

Smooth halt of motor.


Standby mode

SH


Program

Running

SH

Motor

Program Stopped Running

TT0131GB

3.4.75

Serial Number (SN)

Command SN

Modes

Range


0 - 65536

Description The serial number of the Indexer is shown using this command. The number cannot be changed. (Available from version 2.0 of the firmware only)

3.4.76

Servo on (SON)

Command SON


Range 0 - 1

Description This command is used to enable or disable the connected servo or step motor driver.

The command activates or deactivates the SON output placed at the 9 pole D-SUB connector called Driver. The SON output is a NPN output and is set low if the command SON

= 1 is executed.

ON the SMC35, SON = 1 must be set in order to make the internal driver active. When the SMC35 is switched on, the motor will be completely without current and no voltage will be applied. If sensitive measuring equipment is located close to the motor, SON


3.4


Usage

3.4.77

can be set to 0 while measurements are made. SON can also be set to 0 if for example the motor is to be rotated by some external force and therefore should not yield stationary torque.

SON=1

Set servo on (activate driver)

SON=0

Set servo off (deactivate driver - motor is without current)

Set new absolute Position (SP)

Command SP


Range -2147483648 to +2147483647 units or pulses

Description In Standby Mode and Programming Mode, the motor can be set to move to a new absolute position specified in terms of pulses or units if a conversion factor is used. (See also the Conversion factor (CON) - Only SMI31 and SMC35B command, page 60.)

Usage SP = x Move to new Position.

SP

Show new position.


SP=-1000

Move to absolute position -1000


Sent to indexer

SP = 0-R1

Move to absolute position -R1

3.4.78

Set new global absolute position (SPT)

Command SPT



Description When it is required to start several motors at the same time, the SPT is set to the absolute position. When the E command is received via the RS232 interface, all the motors will run to the position given by the SPT command. As the E command is received independently of address, several motors can thus be started simultaneously.


3.4


3.4.79

Relative Positioning (SR)

Command SR+, SR-, SR=n, SR=-n



Description In Standby Mode and Programming Mode, the motor can be set to move a specified number of pulses in a positive or negative direction. For movement in a negative direction, the parameter value is specified with a minus sign.

Usage

Example

The SR command is also used to move the motor continuously in a specified direction.

The command is then followed by a + or - parameter which specifies the direction of the movement. To stop the motor once the SR command has been issued, a SH (Smooth Stop) or H (Halt) command must be used.

If the NSTOP (input set-up) command is used before the SR command, the conditions specified by the NSTOP or CB21 command can also stop the motor. See the description of the Input Setup commands (NSTOP, page 85, and NSTART, page 84) for further details.

The Position Counter AP is updated while the SR command is executed. If an SP command is executed, the SR will hold the value that is calculated for the run.

SR = x Set relative position

Sent to Indexer

SR=5000

Move 5000 pulses in positive direction


Y

Sent to Indexer

SR=-5000

Move 5000 pulses in negative direction


Sent to Indexer

SR-


Move continuously in negative direction

3.4.80

Relative Offset Positioning (SR2)

Command SR2

Modes

Range

Stand by, Programming, Run

0 to 16.777.215 pulses

Description The SR2 command has the same function as SR but will first be executed after a Soft-halt has occurred. This soft halt (SH) can occur by sending the command SH via the RS232/

RS485 interface or if it is implemented in a program. A soft halt can also be executed if the NSTOP command is used in a program, which means the motor is soft halted when a certain input is activated. When the soft halt has been detected, the motor continue running at the same speed (no deceleration) and moves the distance specified by SR2.

Once the distance has been reached, the motor decelerates and stop.

Usage

Example

SR2 = x Set relative offset distance

Sent to Indexer

SR2=5000

Move 5000 pulses in positive direction



3.4


Example 1

VM=1000

AC=1000

SR2=10000

SR=1000000

WAIT IN1=1

SH

WAIT RS=0

Example 2

CB21=1

SR2 =1000

SR=10000

WAIT RS=0

;Velocity 1000 RPM

;Acceleration 1000 RPM/sec.

;Relative offset distance

;Run maximum distance

;Wait for stop input on IN1

;Run relative distance before stop

;Wait for motor to stop

;Enable the high speed stop on IN2

;Relative offset distance

;Run maximum distance

;Wait for motor to stop


3.4


3.4.81

Stop motor (STOP)

Command STOP


Description This command will cause the motor to stop. If the motor was running, it will be halted as when using the H command, but the program will not be stopped. See also the Smooth

Halt of Motor (SH) command, page 102, and the Halt of Motor and Program (H,K) command, page 73.

Usage STOP Stops the motor.


Standby mode

Stop


Program

Running

Stop

Motor

Program Running Running

TT0144GB

3.4.82

Seek Zero Point (SZ)

Command SZ+ or SZ-


Description This command is used to reset the motor position to a known zero point.

The Seek Zero command enables an electrical and mechanical reset of the system to a pre-defined reference position. As soon as the Indexer receives the Seek Zero command, the motor will move in the specified direction, either SZ+ or SZ-.

As soon as the HM (End of Travel) input becomes low, the motor will stop. The motor is then at its reference position. The speed at which a reset occurs is determined by the VS

(Start Rate) command.

During and after execution of a Seek Zero command, the Position Counter is reset to zero

(AP=0). See also Home Input, page 17

SZ+

Begin zero point seek in positive direction.

Usage

Example

SZ+ ;Begin zero point seek

:WAIT IF CB4=1 ;If limit switch active before home switch...

J: ERRORPL ;..jump to error handler

IF RS<>0

J: WAIT

;If motor is running and HM not active..

;...jump and test again


3.4


3.4.83

Temperature (TP) (SMC35 only)

Command TP

Modes Stand by, running, running

Description The TP command shows the actual temperature of the SMC35 Controller.

Usage

Example

TP Show actual temperature

Send to controller TP

Received from controller TP=37

Indicating that the temperature of the controller is 37°C

3.4.84

Firmware Version (VE)

Command VE

Modes Stand by

Description The VE command provides information about the Indexer firmware version and date.

Usage

VE

Show version and date.

Example Send to Indexer VE

Received from Indexer 19-01-1998. V1.45/MCP2.0

Indicating that the firmware is from 19 January 1998, version 1.45, and the motion processor firmware is version 2.0

For example, R1=VE used in a program will transfer the number 19011998 to R1

3.4.85

Maximum Velocity (VM)

Command VM


Range 0 - 65535 RPM

Description The VM command is used to set the maximum velocity.

The speed can be changed at any time regardless of whether the motor is running or not.

Usage VM = x Set maximum velocity in rpm.

VM

Show current max. velocity

Example

AC=10000

SP=30000

;set acc/dec to 10000 RPM/sec

;run to absolute position

VM=1000 ;set velocity to 1000 RPM

WAIT AP

>=

10000 ;wait until position reached

VM=2000 ;change velocity to 2000 RPM

WAIT RS=0 ;wait until motor has stopped


3.4


3.4.86

Supply Voltage (VOL)

Command VOL

Modes Stand by

Range 8 - 100

Description The VOL command is used to check the voltage applied to the Indexer. Note that the supply should be in the range 10-32VDC for the SMI3x and 10-85VDC for the SMC35.

Usage

VOL

Show voltage in Volts

3.4.87

Start Rate (VS)

Command VS

Range 1- 10000 RPM


Description The Start Rate is the speed at which the motor is started. The command is intended for use in step motor systems. In servo systems the start speed should normally be set to 10

RPM.

In a step motor system, the motor will simply stop at an arbitrary position if the start speed is set too high. The default Start Rate is 10 RPM.

3.4.88

Wait for condition (WAIT)

Command WAIT


Description Using this command is it possible to wait at a specific program line until a condition is fulfilled. It is possible to use all user registers, predefined registers and control bits.

Example Program execution is halted until input 1 is activated. Then the motor must run 100000 pulses with the velocity of 1000 RPM. When the position has passed the first 8000 pulses,


3.4


the motor should accelerate up to 2000 RPM. After the motor has reached the final position (100000), it must return to zero position.

:START

VM=1000

AP=0

WAIT IN1=1

SP=100000

; Velocity 1000 RPM

; Zero positionscounter

; Wait here for input 1

; run motor to position 100000

WAIT AP>=8000 ; Wait here until position 8000 is

; passed - then change velocity to

VM=2000

; 2000 RPM

; Accelerate to velocity 2000 RPM

WAIT RS=0

SP=0

WAIT RS=0

J:START

; Wait here until motor is stopped

; Return motor to zero position.

; Wait here until motor is stopped

; Jump to label START

The WAIT command cannot be recommended for time-critical tasks such as a rapid stop of a motor using WAIT IN1=1 followed by the SH command. Instead use NSTOP or

CB21. The WAIT command functions in the way that the condition is checked first time and thereafter the program line is executed again and again until the condition is fulfilled.

Up to 1ms to 4ms may therefore elapse before the next line, e.g. the SH command, is executed.


3.5

3.5.1

3.5.2

3.5.3

3.5.4

3.5.5

3.5.6

Control Flags

Control flags in general

In addition to the 221 user registers, the Indexer contains a number of control flags. These flags control some basic parameters in the Indexer.

For example, a flag can control whether a certain input should be activated at logic 1 or logic 0.

Also the resolution at the analogue inputs can be set using control flags.

Some of the flags can only be read. These flags show the status of different conditions during program execution — for example, in which direction the motor is moving or whether errors have been signalled in the error registers.

The following Control Flags are available.

CB1 Direction level flag. (Status flag)

By reading this flag the actual level of the direction output can be verified.

CB1=1 Positive direction signal to driver is logic 1 (5V nominal)

CB1=0 Negative direction signal to driver is logic 0 (0V nominal)

CB2 / CB3 Analogue conversion flags

Using these two flags it is possible to change the resolution of the two analogue inputs

AI1 and AI2. The A/D converter of the analogue inputs is 8-bit, but by using an integration technique the resolution can be much higher. It is possible to select up to 14-bit resolution.

Note that at high resolution the execution time is much longer for commands that use the analogue inputs. The default is 0 for both flags.

CB3

1

1

0

0

CB2

0

1

0

1

Resolution

8 Bit (default)

10 Bit

12 Bit

14 Bit

Measurements

16

64

256

1024

Interval

0-16383

0-16383

0-16383

0-16383

Time (ms)

4.5

18.0

55.7

66.0

CB4 End of travel flag. (Status flag)

This flag is set to 1 if the end-of-travel inputs (NL or PL) have been activated.

The flag will be 1 until the motor has been running without any of the end-of travel inputs activated. Note that the function is active only if NLS and PLS is different from 2.

CB5 End of travel, deceleration

Using this flag it is possible to select whether the motor should decelerate in H or SH mode when a limit switch is activated (i.e. if NL or PL is activated)

0: Deceleration as if a halt (H) command is used. (Default).

1: Deceleration as if a smooth stop (SH) command according to AC is used.

CB6 Error at user output flag

This flag is set (CB6=1) if a fault occurs at the user outputs O1-O8.

The default for this flag is 0. The program and motor are stopped if the output is shortcircuited. The CB6 flag will be set to 0 again if the EST or GO command is executed or a motor command SR and SP is executed.


3.5

3.5.7

3.5.8

3.5.9

3.5.10

3.5.11

Control Flags

CB7 Output error flag

A message in the error register EST will cause activation of output 5 (O5)

This feature can be used to give, for example, a PLC a message that something has failed.

Default for this flag is 0 (function is disabled).

CB7=0 O5 is used normally. Nothing can set the output 5 except the OUT command.

CB7=1 O5 is set by error (also the ERROR LED lights).

CB8 General error flag. (Status flag)

This flag is set to 1 if an error message appears in the error registers EST, ES0, ES1 and

ES2. If the error message(s) is read using the EST command, the flag is cleared after the register is empty (No errors). The flag is intended to be used as a quick reference to see if an error has occurred. Default for this flag is 0 (no errors).

CB9 RS232 communication flag

CB9=1 Enable RS232 communication (transmit) when using address. (addr>0) (default).

CB9=0 Disable RS232 communication.(transmit).

CB10 Default direction flag

CB10=1 The direction output is inverted. The motor will run in reverse direction.

CB10=0 Direction output is high if SR+ and low if SR- (default).

CB11 Disable error E43-E47 flag

Disable fatal error E43 to E47.

Error

LED

RS232

Error

Message

Running

LED CB11= bit

Lit Yes

Flash Yes

Flash No

Off

On

On

0

+1

+2

0

1

Description

E43 to E47 will stop program execution and motor (Default) Error message will be sent to the RS232 and Error LED will be lit.

E43 to E47 are treated as common errors. Motor and program will not stop. Error LED will flash once. Error message will be sent to the RS232.

E43 to E47 are treated as common errors. Error message will not be sent to

RS232 and Error LED will flash once.


3.5

Control Flags

3.5.12

CB12 Trigger level flag for INT1

Trigger level at input 1 (I1) when interrupt routine 1 (INT1) is used

Default for this flag = 0

CB12=0 Interrupt at the falling edge - when input 1 goes from logic 1 to 0.

CB12=1 Interrupt level, logic 0. Pulse interrupt. If the level remains 0, the system will remain interrupted.

CB12=2 Interrupt level, logic 0. Interrupt is disabled by the first measurement of 0 on

Input 1. Interrupt enables at the next NSTOP command.

3.5.13


Trigger level at input 2 (I2) when interrupt routine 2 (INT2) is used.

Default for this flag = 0.


CB13=1 Interrupt level logic 0. Pulse interrupt. If the level remains 0, the system will

remain interrupted.

CB13=2 Interrupt level, logic 0. Interrupt is disabled by the first measurement of 0 on

Input 1. Interrupt enables at the next NSTOP command.


3.5

3.5.14

3.5.15

3.5.16

3.5.17

3.5.18

3.5.19

Control Flags


Trigger level at input 3 (I3) when interrupt routine 3 (INT3) is used.

Default for this flag = 1

CB14=1 Interrupt at the rising edge - when input 3 goes from logic 0 to 1.


CB15 Servo alarm signal (SALA) flag

Active level for servo alarm, SALA. Pin 7 SALA at driver/control connector.

CB15=0 SALA signal disabled. (RS register can never be 5)

CB15=1 SALA active high

CB15=2 SALA active low (default)

If the servo alarm is activated while the motor is operating, pulse generation will first cease when an attempt is made to start the motor again. This is due to the face that RS is updated when RS is read or just before execution of a motor command. If it is required that RS is updated once for each line, the CB35=8 command is used.

CB16 Motor in position (COIN) flag

Active level for COIN (motor in position) signal. Pin 8 at driver connector.

CB16=0 COIN signal disabled. (RS register can never be 4)

CB16=1 COIN input active high

CB16=2 COIN input active low (default)

CB17 Enable running output (O8) flag

Running status at user output 8 (O8).

The CB17 flag can enable a status function at output 8 indicating when the motor is moving. When enabling this feature, O8 will be set / reset synchronously with the MOTOR

LED at the front of the Indexer.

CB17=0 Function is disabled - O8 works as normal (default).

CB17=1 Function enabled - O8 is high when the motor is running.

CB17=2 Function enabled - O8 is low when the motor is running.

CB18 NSTART Trigger level flag

Trigger level when NSTART command is used.

CB18=0 Transition from logic 0 to 1

CB18=1 High logic 1 (default)

CB18=2 Low logic 0

CB18=3 Transition from logic 1 to 0

CB19 Digital filtering on user inputs (from version 1.7)

Disable average measurement on inputs I1-I8, PL, NL and HM. Normally the input is measured 16 times to detect and verify a valid level. If CB19=1, the input is only measured once. This can be done if the program is executing some time-critical operation.

CB19=1 1 time measureme56nt

CB19=0 16 times measurement. Default.

If CB19 is preset to a value between 1 and 255, this will be the number of times the input is measured. Each measurement takes 5.4 microseconds, which means that the time cycle can be improved by 86 microseconds by choosing CB19=1 instead of CB19=0. This can be significant when using NSTART for example.


3.5

3.5.20

Example

3.5.21

Example

3.5.22

Control Flags

CB20 High speed start trigger at IN1

This flag can be used in applications where the motor must be started extremely fast (no delay time) when an external event happens — e.g. when a sensor is activated. The high speed start offers a reaction time of less than 100 µs regardless of other activities in the

Indexer.

The distance must be specified by the SR (set relative distance) command before the start input will react. The distance only need to be specified once to be remembered by the high speed function, but it can be changed at any time.

CB20=0 High speed start disabled (default at power up)

CB20=1 High speed start enabled, triggering at the rising edge at IN1

CB20=2 High speed start enabled, triggering at the falling edge at IN1

Note !

If the CB20 flag is enabled, the motor will not react on any movement commands (SR, SP, SR+, etc.). Only a valid signal at input 1 will start the motor.

Note also that the only commands that disable the high speed start input are H (halt), RE-

SET, SD (set default), or simply setting CB20=0. The H (halt) and STOP instruction will disable the high speed start (CB20=0) permanently in the same manner as RESET or SD

(set default)

CB20=1

SR=1000

:START OUT1=1

-

-

;ENABLE THE HIGH SPEED START (RISING EDGE)

;SET THE MAXIMUM DISTANCE. THE MOTOR WILL NOT

;MOVE BY THIS COMMAND ITSELF; ONLY WHEN THE INPUT

;1 IS ACTIVATED.

;SET O1 - THE MAIN PROGRAM STARTS HERE.

;THE PROGRAM IS NOW EXECUTED AND THE HIGH SPEED

;START IS WORKING IN THE BACKGROUND.

CB21 High speed stop trigger at IN2

This flag can be used in applications where the motor must be stopped extremely fast (no delay time) when an external event happens — e.g. when a sensor is activated. Note that a stop is performed with the specified deceleration. The high speed stop offers a reaction time of less than 100 µs regardless of other activities in the Indexer.

The high speed stop functions exactly as the SH (soft halt) command

CB21=0 High speed stop disabled (default at power up)

CB21=1 High speed stop enabled, triggering at the rising edge at IN2

CB21=2 High speed stop enabled, triggering at the falling edge at IN2

CB21=1 ;ENABLE THE HIGH SPEED STOP (RISING EDGE)

:START SR=1000 ;SET THE DISTANCE. THE MOTOR WILL START MOVING

;BUT STOP WHEN INPUT 2 IS ACTIVATED

OUT1=1 ;SET O1

WAIT RS=0 ;WAIT UNTIL MOTOR IS STOPPED. THIS WILL

OUT1=0

J:START

;HAPPEN IF THE MOTOR IS STOPPED BY ACTIVATING

;INPUT 2 OR IF ALL 1000 PULSES ARE EXECUTED.

;RESET O1

;JUMP TO START AND MAKE A NEW RUN

CB22 Diverse flag

The flag is set to CB22=0 after use.

CB22=1 deletes the last 15 error messages that can be shown with the ESTG command.

CB22=2 resets the driver and sets SON as it was before. (SMC35 only)

CB22=3 deletes all user registers R0 - R220

CB22=4 test of user registers R0-R220 and the EEPROM where R0-R220 are saved with

MS2 command. Errors are written to RS232 and CB22 is set to 255 if there are errors.


3.5

3.5.23

3.5.24

3.5.25

3.5.26

Control Flags

CB23 Used for electronic gear

If the motor must be completely synchronised with another moving part, this feature can be used. Inputs I7 and I8 are in encoder format. Output is pulse and direction signal. The

Indexer does not perform gearing on the signal. This must be done in the connected servo driver. Note that it is possible to activate and deactivate the gearing by use of the commands CB20 and CB21. Thus the gearing is active when input I1 is active and inactive when input I2 is active.

CB23=0 Disable the gear function (default)

CB23=1 Enable the gear function all the time.

CB23=2 Enable the gear function except when decelerating before target. Deceleration will start on VM, follow ACP and stop at VS.

CB24 Position reached. (Status flag)

The CB24 flag indicates if a positioning is completed without any stop.

CB24=0 The last positioning was finished with a SH, or highspeed stop.

CB24=1 Last positioning was finished without any stop.

The flag will be cleared if there has been a soft halt command (SH) or high speed stop

(see CB21 High speed stop trigger at IN2, page 114).

The basic idea behind this command is to prevent the motor from keeping running if e.g. a stop sensor is faulty or similar.

Example

CB20=1

CB21=1

SR=1000

;ENABLE HIGH SPEED START

;ENABLE HIGH SPEED STOP

;SET MAXIMUM POSITIONING LENGTH

;FROM NOW ON THE MOTOR WILL START AND STOP ACCORDING TO

;THE HIGH SPEED START AND STOP INPUTS.

;EVERY TIME A START IS APPLIED, MAX.1000 PULSES WILL BE

;EXECUTED.

:START IF CB24=1 ;CHECK IF THE TOTAL LENGTH HAS BEEN EXECUTED

J:ERROR ;IF YES (THE TOTAL LENGTH HAS BEEN EXECUTED), JUMP TO

:ERROR

J:START

OUT1=1

;THE ERROR ROUTINE SINCE NO STOP SIGNAL WAS RECEIVED.

;IF NO CHECK AGAIN

;SET O1 AS AN ERROR INDICATION.

....

CB25 Trigger level flag for NL input

CB25=1 Transition from logic "1" to "0"

CB25=0 Transition from logic "0" to "1". Default.

This flag works when NSTOP, INT and limit switch NL is used.

CB26 Trigger level flag for PL input

CB26=1 Transition from logic "1" to "0"

CB26=0 Transition from logic "0" to "1". Default.

This flag works when NSTOP, INT and limit switch input PL are used.


3.5

3.5.27

3.5.28

3.5.29

3.5.30

Control Flags

CB27 Zero search flag. (Status flag)

CB27=0 (default)

CB27=1

CB27 is set high as soon as the SZ+ or SZ- command is executed. If zero seek is interrupted by a HALT command while the program is being executed, the flag will still be 1.

CB27 can then be set manually to 0 by CB27=0

CB28 CVIx Frequency range

CB28=0 Used when measurement at low frequencies is desired in the CVIx command.

(typically 1Hz to 7kHz). Default.

CB28=1 Used when measurement at high frequencies is desired in the CVIx command.(typically 14 to 60kHz)

Note that timer 1 (CN1) cannot be used if CB28=1.

CB29 RS232 activity

If CB29=1, then the Power LED will blink concurrently with the reception and transmission of data on the RS232 (RS485) interface. The LED will have reduced light intensity and blink to indicate activity. This is used when one is in doubt whether the Indexer is receiving data correctly, for instance if problems arise with the cable or port set-up. Note that the data transmission rate will be reduced.

CB30 Modula Mode (Turntable mode)

This flag is used for example when a turntable is used, and it is desired to move to a fixed positive position/angle and not a certain number of pulses. The position counter will always contain a number between 0 and RX12. RX12 indicates how many pulses are needed for one revolution. If a servomotor with 8192 pulses is used, a gear has a ratio of 10:1, and CON = 1.0000, RX12 must be set to 81920. The position range is between 0 and

81919. Positioning must take place using the SP command. If SP is set to SP=81920 and

AP=0, the motor will not run as it is already at the desired position.

Using the CB30 flag, it is possible to select whether operation should be clockwise, counter clockwise or the shortest possible distance to the desired position.

CB30=0

CB30=1

CB30=2

CB30=3

Function disabled. (default)

Counter clockwise

Clockwise

Shortest possible distance

See section 4.9 for program example.


3.5

3.5.31

3.5.32

Control Flags

CB31 For internal use, reserved

CB32 Set/Read Interrupt status (Flip/Flop) (from version 1.7)

Using this register it is possible to activate/simulate an interrupt, even though it has not occurred. This can be used to test programs or to initiate an interrupt routine from a program-dependent condition (see the INT command). The register can be read to examine if an input has been active, even if only for a short duration. Inputs NL, PL, IN3, I2, I1 can in this way be used as a form of flip/flop inputs since a bit is set when the input is activated. Note that the bit is only reset when a corresponding INT routine is executed or if INT is not used, by manual reset via the software command.

CB32

Bit no.

Trigger level

Flag

Interrupt

Reserved CN2

Bit7 Bit6

INT8

CN1

Bit5

INT7

PL

Bit4

NL

Bit3

IN3

Bit2

IN2

Bit1

IN1

Bit0

CB26 CB25 CB14 CB13 CB12

INT10 INT9 INT3 INT2 INT1

Example 1:

:RUN

CB32=0

IF CB32=#xxxxxxx1

; Reset any interrupt bit

; If IN1 has been activ-

; ated...

; .. jump to RUN routine JS:RUN

.

.

.

CB32=CB32 ANDL 254 ; Reset bit so input is not

; doubly detected

SR=1000

WAIT RS=0

RET

Example 2

CB32=0

CB32=#xxxxxxx1

; Reset any Interrupt bit

; Activate bit 0 corresponding

; to interrupt INT1 will be

; executed

.

.

INT1 ; When bit1 in CB32 activated

; program jumps here OUT=255

; and outputs set active.

; RETI; Jump back to

; line after

; CB32=#xxxxxxx1


3.5

3.5.33

Control Flags

CB33 User output Error mode (from version 1.7)

This flag can be used to determine what happens when an error occurs at user outputs 01-

08. When a user output is shorted to ground or overloaded, the output will close down automatically after a few seconds and the Error LED and Output Error LED will be lit.

CB33 can be used to determine what happens to program execution and the outputs when this happens.

Output

1-8

Error

LED

Output

Error OE

LED

RS232

Error 43 text

CB33=0 No change Lit

CB33=1

(Default)

No change Lit

CB33=2 00000000 Lit

CB34=3 No change Lit

Flashing

Flashing

Flashing once

Flashing

Yes

Yes

Yes

No

Motor and

Program

Stopped

(SH)

Running

Stopped

(SH)

Running

Outputs after short circuit is remove

Value as before short circuit


All outputs will be logic

0. OUT=0


3.5.34

3.5.35

CB34 Reserved

CB35 Acknowledge from the indexer to a PC that a command has been executed and that RS is updated continuously (available from version 1.7)

Using this flag, it is possible for response commands to be automatically sent via the

RS232 dependent on a change of user inputs, or the motor has completed a reset or has moved to the required position. The following is based on a program is being executed and the check will only be carried out once per line execution. If the Indexer is in standby mode and the program is there not being executed, the function will be executed approximately 1000 times/sec.


3.5

Control Flags

Trigger

SR+,

SR-

SR=x

SP=x

SZ+,

SZ-

Bit no.

0

Function

Position transferred when the motor is stopped.

AP transferred when RS goes from a value greater than 0 to 0. Normally requires that bit no. 3 is also set.

+1

CB35=0

Examples of response commands

AP=1000

Active level on

IN 1-3

Level shift on

IN 1-3

1

2

3

Once for each program line execution inputs IN1-IN8 are read and if changes have occurred, transmission is made via the

RS232.

Note that level changes must be active for a period greater than the time taken to execute a line

When interrupt trigger level for IN 1-3

(CB12-14) is fulfilled, the output level IN1-8 is transmitted on the RS232. Data are written even though only a short pulse is applied to the input.

Updates RS and AP automatically once for each program line execution

+2

+4

+8

IN=127

IN=7

This function is often used when a PC or PLC is used in a system. The function avoids having to spend time continuously querying the Indexer whether a task is complete or an input is set for example. The Indexer automatically responds as soon as an event occurs.

CB35 can be used both when a program is executed and if commands are sent directly via the RS232/RS485 interface. If addressing is used, the command response will be prefixed by the corresponding device address. For example 1AP=1000, for the device with

ADDR=1.

Several monitoring function can be used in parallel and are selected by writing the summed value to CB35. For example, if bit 1 and 3 are required, 2 + 8 are summed and the command is thus CB35=10.


3.5

3.5.36

Control Flags

CB36 1 ½ axis control and selection of chopper frequency (SMC35B only)

Internal or external axis:

Using a 1 ½ axis controller it is possible to control 2 motors using the same program. Both motors are controlled independent of one another, but not simultaneously. In addition, it is possible to operate both motors fully synchronously. The advantage of this method over 2 individual 1-axis controllers is the cost saving in having only 1 program.

Since a 1½ axis controller is used in this case, the motors cannot be controlled inter-dependently. For example, linear or circular interpolation is not possible. By changing

CB36 throughout a program, an internal axis, external axis or both axes be selected.

If only the internal axis is selected, the built-in step motor driver is used. No pulse/direction signals will be output to the CONTROL connector external axis. Conversely, if the external axis is selected, pulse/direction signal will only appear at the CONTROL connector. In this way an external step or servo driver can be controlled. With both axes active simultaneously, it is possible to operate 2 motor synchronously.

Chopper frequency: (from version 1.8)

Motors with very little inertia, e.g. disc motors, can operate more smoothly if the chopper frequency is doubled. Doubling the chopper frequency means that the current is regulated more precisely and thus results in better regulation of the motor. Noise levels can also be reduced slightly by operating at double chopper frequency. The disadvantage is that the motor and controller become warmer, so normally a chopper frequency of 20Khz must be used. Operating with double chopper frequency is not recommended is the current is set higher than 2.5-3 Amp.

Chopper frequency internal

CB36=0

CB36=1

Default

Normal 20kHz

Normal 20kHz

CB36=2

CB36=3

Normal 20 kHz

Normal 20kHz

CB36=128 Double 40kHz




See section 4.9.6 for program example.

External axis

No

No

Yes

Yes

No

No

Yes

Yes

Internal axis

No

Yes

No

Yes

No

Yes

No

Yes


3.5

3.5.37

3.5.38

Control Flags

CB37 Digital filtering on interrupt inputs

(only from version 1.7)

Normally inputs are digitally filtered (see CB19) but when an input is used as an interrupt input where fast response is expected, only a pulse or a level shift is sufficient to activate the input. When using interrupt input, the input is only measured once and a noise pulse can unwantedly trigger the input. Therefore it is possible to perform digital filtering on the interrupt input using this CB flag. If CB37=0, the interrupt routine is directly executed. If CB37 is preset to a value between 1 and 255, this value specifies the number of times the input is measured. Each measurement takes approximately 5.4

µ s. Note that digital filtering will not work together with high speed start/stop trigger commands CB20 and CB21 because the input is connected directly to the signal processor and cannot be filtered by the microprocessor. It is possible to perform digital filtering on inputs: IN1,

IN2, IN3, NL and PL.

CB38 Motor status (RS) when limit is activated

(only from version 1.7)

Using this flag it is possible to determine whether the RS value is set to 0 or 7 when the limit input is activated. Often a program is built up with the motor being started by an SR command and execution waits for the motor to finish with "WAIT RS=0". If the limit input is activated, the motor has not completed its run, but RS becomes 0. This can be properly regarded as an error condition and therefore RS should have a value other than 0.

Using CB38 this can be changed so that RS is assigned the value 7 and it is thus possible to control program execution in this case. Regardless of which mode is selected, the motor will always stop when the limit inputs are activated.

Note that E11 is erased when the EST command is executed or when a new run command is executed. RS will thus be set to 0 again.

2

3

CB38 mode

0 (Default)

1

4

RS Description

RS=0 When NL or PL is activated, the motor will stop and RS is 0

RS=7 RS is 7 when error flag "E11:limit switch activated" is set.

RS=7 RS is 7 when "E12: limit switch active" is set.

RS=7 RS is 7 when E11 or E12 is set.

RS=7

RS is 7 if operating in a positive direction and PL is activated, or if operating in a negative direction and NL is activated.

3.5.39

CB39 Diverse flag (only from version 1.7)

CB39 Bit

+1 0

Description

Normally a motor alarm will not stop the Indexers running LED or program.

Even the ERROR LED will first be lit when a new motor running command is executed. This is because the motor status (RS) is only read before a motor run command. If the CB39 bit 0 is set and CB35 bit 3 is set, then the motor status (RS) will be tested continuously so that a motor alarm will stop the motor and program immediately. Motor and program will also stop if CB39 bit 0 is set and an RS command is executed.

Note that the motor will stop immediately as if the SH command was executed.


3.5

3.5.40

Control Flags

CB40 Software position limits (only from version 1.7)

1

2

CB40

0

3

Description

Default. No test for position limits.

If the required position (AP) is calculated to be out of the interval specified in RX14 and RX15, the motor will stop at the position specified in RX14 or RX15. The error bit 13 will be set and the ERROR LED will flash once.

Same as CB40=1 but when the position is calculated to exceed the position limit, the run is not executed. The error bit 13 is set.

Same as CB 40=2 but the program will also stop when the software position limit is exceeded. When the position is calculated to exceed the limits, the program will stop and therefore the last motor run will not be executed.

Example:

:Start

CB40=01

RX14=-1000

RX15=2000

SR=100

Wait RS=0

J:Start

INT 113

SP=0

Wait RS=0

RET

; Activate software position lim-

; its, check lower position limit

; Higher position limit

; If software limits exceeded

; run back to position 0

; Wait until motor stopped

; Return to start loop


3.6

3.6.1

Error Messages

When an error occurs in communication with the Indexer or when an internal error occurs, the Indexer transmits an error message. The error message consists of an ‘E’, followed by an error number, followed by a colon ‘:’, followed by a descriptive English text.

The following illustrates an example of an error message:

Example: E2: Out of range

If error E43 to E47 occurs, a fatal error has occurred and motor and program execution stop immediately. The ERROR LED will light constantly as an indication of a fatal error.

The LED will switch off after a program is started, or an EST command or a motor command is executed. If required, the error can be handled by setting CB11 to 1, thus enabling one´s own error routine to be run to handle the fatal error.

When an error occurs, the corresponding ERR flag will be set, and by introducing some special interrupt routines using the INT command, provision can be made for determining how an error should be handled. The INT routine that should be introduced in the program is given by: 100 + the error number. For example: INT139 for E39 Warning! Motor

drive running.

Description of Error Messages

E0: No errors

No errors have occurred since the last request.

E1: Error

The command string is not understandable or not allowed in the controller

Example:

VXUSADF

Results in error E1.

Correction:

Carefully check the command sent to Indexer and compare with the description of the command given in this manual.

E2: Out of range

The parameter value specified with the command is out of the allowable range.

Example:

VM=999999

The above command attempts to set the velocity to 999999 rpm, which is outside the allowable range. The Indexer therefore reports an E2 error.

Correction:

Specify a parameter value within the allowable range for the actual command.

E3: Number of parameters is wrong

The number of parameters specified with the command is incorrect.

Example:

EST66 or SH9

Both of the above command examples will produce an E3 error.

Correction:

The EST command has only 1 register associated with it and can therefore only be called by specifying EST.

The SH command is only used to make the motor decelerate and therefore specifying a parameter has no meaning.


3.6

124

Error Messages

E4: Instruction does not exist

The command given does not exist

Example ABCDEF

Correction:

Use a valid Indexer command. See the description of the command for details of the required command syntax.

E5: It is not an instruction

The Indexer has not received a proper command.

Example:

4R

If the Indexer is not using addressing, this example will result in error E5.

Correction:

Use a proper command.

E6: Parameter error or out of range

There is an error in the specified parameter or the parameter value is out of the allowable range.

Example:

SP=111111111111 or VM=8G7

Correction:

The Indexer cannot handle values as great as 111111111111 in the first example. Use a value within the allowable range.

In the second example: parameter values must not contain alphabetic characters.

E6: Parameter error or out of range

The Indexer has received a parameter value which must be an integer.

Example:

VM=1000.8

Correction:

Send the command specifying an integer value VM=1000.

E7: Register number error or out of range

Error in register number.

Example:

XP7777 or XP4F

Correction:

In the first example: use a register number in the allowable range.

In the second example: register numbers must not contain alphabetic characters.

E8: Data can not be saved in EEPROM

The data cannot be saved in the EEPROM, the data read from the EEPROM are illegal, a hardware or software error has occurred that prevents the CPU from communicating with the EEPROM or an illegal value is stored in the EEPROM caused by the ESTG command. Correction: Try to use the delete EEPROM command ##.

E9: Checksum error

The Indexer’s (receiver’s) calculated checksum is not the same as the transmitted checksum.

Example:

25VM=2000Q3.

Correction:

Send the command as 25VM=2000A2.


3.6

Error Messages

E10: Value out of range for CS and CT command

Correction: Select a value within the specified range

E11: Limit switch activated

If the negative (NL) limit switch is activated, motor movement in the negative direction is stopped. Only positive movement is now possible.

If the positive (PL) limit switch is activated, motor movement in the positive direction is stopped. Only negative movement is now possible. This error message will not be written to the RS232 interface. It will be placed in the error register only.

E12: Limit switch active. Motor run command ignored

If a limit switch is activated when a motor-run command is executed, the motor command will be ignored and the program will continue to the next command.

E13: Position limit exceeded. Position truncated

E14: Odd parity error

A command with wrong parity has been received because of noise on the RS232 interface. Send the command again. Can also arise because the baud rate is not set correctly.

E15: Reserved

E16: Command not allowed in standby mode

The command is an illegal command in standby mode and can only be used in a program.

Example.

The PX command is used to change mode from programming mode to standby mode.

Correction:

Do not use the command in standby mode.

E17: Memory full, (EEPROM)

The memory is full and cannot contain any more commands.

Correction:

Reduce the size of the program, erase blank lines and try to use commands that use little memory. See Alphabetical Overview of Commands, page 129 for command list.

E18: Command not allowed. Program is running.

A command has been used which is not allowed because the program is running.

Example

WAIT IN1=1

Correction:

Use a valid command. See Alphabetical Overview of Commands, page 129 for a complete list of valid commands.

E19: Command not allowed in programming mode

A command has been used which is not allowed because the indexer is in programming mode.

Example

PE

Correction:

Use a valid command. The PE command changes mode from standby mode to programming mode. It is not allowed to change from programming mode to programming mode. See Alphabetical Overview of Commands, page 129 for a complete list of valid commands.


3.6

126

Error Messages

E20: Command not allowed. Motor is running

A command has been used which is not allowed because the motor is running.

Example

Correction:

SR=4000

Use a valid command. The SR command runs the motor and is not allowed when the motor is already running. See Alphabetical Overview of Commands, page 129 for

complete list of which commands can be used.

E21: No program in RAM

If the temporary memory does not contain a program and the GO command is executed, this error will occur.

Correction:

Load program and remember to store it permanently in the EEPROM. Set MR=1 so that the program is started at power up, or ´check´ the ´run at power up´ item in the program flow dialogue. (AMCxx or SMIxx).

E22: Command ignored. Multicontrol or JVL bus communication error

An error in the communication between the SMI Indexer and a connected module on the

JVL bus has occurred or an error occurred between 2 SMI Indexers in multicontrol mode.

Correction:

Check cable and make it shorter if possible. Use a screened cable.

Check that all units have their own unique address.

E23: Command ignored. Multicontrol or JVL bus timeout

The SMI Indexer has tried to send a command but has not received a reply.

Correction:

Check if the module is connected correctly and has been given the correct address corresponding to the command sent.

Check that all units have their own unique address

E24: Unknown register/flag on JVL Bus

E25: Reserved

E26: AC lower than 1. AC value changed to 1

E27: AC higher than 1250000. AC value changed to 1250000

E28: Reserved

E29: AOUT parameter out of resolution range

E30: Warning, wrong supply voltage

If the supply voltage is less than 10 VDC or higher than 32 VDC for the SMI3x or higher than 85 VDC for the SMC35 this error message will be given.

Correction: Change the supply voltage to typically 24 VDC.

E31: Warning. SMI3x/SMC35 conflict solved

E32: VM specified lower than VS. VM value changed to VS

The Indexer have received a VM value lower than VS.

Correction: Change the VM value to a value higher than VS

E33: Error in CTM parameter

The number of parameters specified with the command is incorrect.


3.6

Error Messages

Example:

CTM1=86

Correction:

Use a parameter within the limits.

E34: Too many gosub, max 32

A maximum of 32 GOSUB or JS levels are allowed in a program. This error message will be given if the program detects more than 32 JS levels. The error will be given when the Indexer is in running mode and detects the error.

Correction: Simplify the program with less GOSUB or JS commands.

E35: Program end

This error message will be given if the program ends without a jump command.

The Indexer will be in standby mode if this happens. The error will be given when the

Indexer is in running mode and detects the error.

Correction: Place a jump command to a label above in the end of the program.

E36: Too many else after if (ELSE)

This error message will be given if there is a greater number of ELSE statements than IF statements in the program. The error will be given when the indexer is in running mode and detects the error.

This error can also be given if there are over 300 IF statements in the program.

Correction: Use less than 300 IF statements in the program

E37: Too many interrupts (INT)

A maximum of 32 interrupt programs running at the same time is allowed. If the Indexer is servicing an interrupt routine and another interrupt appears, it jumps to the new interrupt routine. It will first continue with the first interrupt routine when the last is finished.

This error message will be given if the program detects more than 32 interrupt levels. The error will be given when the Indexer is in running mode and detects the error.

Correction: Simplify the program with less interrupt routines.

E38: Return without jump (RET, RETI)

This error message will be given if the program detects a RET or RETI command without a J or JS command first. When a return command is executed, it jumps to a line number and if the Jump command is missing, the Indexer does not know which line to return to.

E39: Warning !. Motor drive running

This error message will be given if a motor command (SR,SP,SZ) is under execution and the motor driver is still running or busy after a deceleration. Note that this error is given if the motor ´in position signal´ (COIN) is active.

Correction: This signal must be tied if not used or disabled by the CB16 flag - see CB16

Motor in position (COIN) flag, page 113

E40: Address not allowed. Max 255

E41: Timeout on IN7/IN8. (CVI command)

E42: Motor processor fault

E43: 01-08 Output error

One of the outputs O1-O8 has been short circuited.

Correction:

Turn power off and fix the problem.


3.6

Error Messages

E45: Fatal case error. Contact JVL

This error will be given if there is a problem in the Indexer’s firmware or a problem with the hardware.

Correction: Check program or use the delete EEPROM command ##.

E46: ERROR !. Alarm signal from motor drive

This error message will be given if the motor driver reports an error by activating the

SALA input.

Correction:

Turn power off and fix the problem in the motor driver. Check the cable.

Check if the SALA signal is connected properly or, if not used, disable the signal using the CB15 flag - see CB15 Servo alarm signal (SALA) flag, page 113

E47: Unknown error. Contact JVL

This error will be given if there is a problem in the Indexer’s firmware or a problem with the hardware.

Correction: Check program or use the delete EEPROM command ##.

Note:

E43 - E47 are fatal errors. If they occur, motor and program execution will stop immediately and the ERROR LED will light continuously.

If CB11=1 the ERROR LED will be switched off and program execution will continue.

This can be used when it is required to handle errors which occur in the motor driver for instance. The error routine can for instance activate the output connected to the driver reset input.


3.7

Alphabetical Overview of Commands

Command

!

?

##

AC

ACP

ACT

ADDR

AI1

AI2 Analogue input 2

(AO)[n1,n2] Activate flag in external module -

-

AOUT

AP

Description

Show set-up

Show Indexer type and address

Delete EEPROM

Acceleration

Acceleration defined in pulses

Acceleration defined in time

Address

Analogue input 1

Analogue output

Motor’s Actual Position in units

-

-

-

-

-

Defaults Limits

100

-

0

0

0

-

-

Min.

-

1

1

1

0

0

-

0

0

-

-

-

-

Max.

100000

100.000

10000

255

16383

16383

65535

Mode

S

x x x x x x x Pulses x x x x x x x

P

x x x x x

-

-

-

Units

Rpm/s ms

page

48

48

41

49

49

50

43

5/16383 V 52

52

53 x x 5/65535 V 54

-2.147.483.648

2.147.483.647 x x Units 55

APP

BAUD

Actual position in pulses

Baud rate on RS232/ RS485

-

2

-2.147.483.648

1

2.147.483.647 -

8 x

x

Pulses bit/sec

47

48

CB [n]

CHS

CN1

CN2

Control Flag

Use checksum at RS232/RS485

Counter / timer 1

Counter / timer 2

-

0

0

0

1

0 = No

0

0

40

1 = Yes x x

2.147.483.647 x

2.147.483.647 x x x x x

-

Pulses

Pulses

95

56

57

57

CND1

CND2

Divider for CN1

Divider for CN2

(CO)[n1,n2] Clear flag in external module

COMP Compare memory

CON

CTM1

CTM2

CV

Conversion factor for distance

Counter / timer 1 mode

Counter / timer 2 mode

Show current Velocity

-

-

1

8

-

1

1

0

1.0000

0.0001

1

1

0

1

1

0

2.147.483.647 x x -

2.147.483.647 x x -

-

1000

9999.9999

7

10

65.535

x x x x x x x x x x x x

-

-

-

-

-

Rpm

60

63

65

66

58

58

59

51

CVI [n]

D

E

ELSE

ERR [n]

ES [n]

EST

ESTG

Show velocity

Delay

Global execute

Used together with IF command -

-

-

-

Error bit (n=0-47)

Error status (n=0-2)

Error status in text

Error status text -

-

-

-

-

-

0

1

-

-

0

0......0

-

-

65.535

32.000

-

-

47

1......1

x x -

x x x

x x x x x x x Text x x Text

EXIT

GO

H,K

(I)[n1.n2]

IF

IN [n]

(INPUT)

[n1,n2]

Exit programming mode

Start program execution

Halt of motor and program

Read flag from external module

Used to control program flow

Read input port status (n=1-8)

Read data from external module -

-

-

-

-

-

-

-

-

-

-

-

-

00000000

-

-

-

-

-

-

11111111

-

x x x x x x x x x x x x

-

-

-

-

-

Bit

INT[n] Interrupt control (n=1-10) 1 10 x x -

( ) = Only available on indexer type SMI31 or SMC35B (Continued on next page)

77

74

75

75

62

63

73

67

59

69

72

62

57

58

58

68


3.7


Command

Description

J

JS

Makes an unconditional jump

Makes an unconditional jump to subroutine

LINE Verify actual program line number

(MAKRO) Used for custom routines

MCHS [n] Memory checksum (n=0-3)

MEM Show used memory

MR1

MR2

MS1

MS2

Recall program from EEPROM

Recall registers from EEPROM

Save program in EEPROM

Save registers in EEPROM

NLS

NSTOP

Negative Limit Switch

NSTART Define trigger condition for motor run

Define trigger condition for motor run

-

-

-

-

-

-

-

-

Defaults Limits

0

2

0

0

-

-

-

-

Min.

0

0

0

0

0

0

1

0

0

-

-

Max.

2000

2000

-

3

-

2000

2

15

10

Mode Units

S P

x -

page

x Line no.

78

x Line no.

78 x x Line no.

79 x x 79

2147483647 x x -

100 x x Text x x x x x x x x x x x -

80

80

81

81

81

83

83

84

85

OUT [n] Show/set levels at User Outputs (n=1-8) 00000000 00000000

PIF Set format at input 7 and 8 1 1 = Normal

11111111

2 = Encoder x x x x -

Bit

PLS

PR

Positive Limit Switch

Encoder pulses per revolution

2

8192

1

50

2

20000 x x -

86

88

88 x x Pulses/rev. 89

(PRINT)

[n1,n2]

PRO-

GRAM

Print data to external module

Programming mode -

-

-

-

-

x x x -

89

78

R [n]

RB [n]

RESET

RET

User register, 32-bit

User register, 8-bit

Reset Indexer

Return from subroutine in a program -

-

-

-

-

-

0

0

-

-

220

880 x x x x x x -

x -

RETI

RI[n]

Return from interrupt

User register, 16-bit -

-

0

-

440

x x x -.

93

82

RS

RST

RX1/RX2 High speed interval output at O6

RX [n]

SD

SH

SN

SON

SP

SPT

SR

SR2

STOP

Status: 0=stop,1=acc.,2=max.,3=dec....

Motor/program status in text

Special user register

Default set-up

Smooth Halt of motor

Serial number

Servo on

Set new absolute position

Set new global absolute position

Set relative position

Set relative offset distance

Stop motor immediately

-

-

-

-

-

-

0

0

0

0

0

0

-

-

-

-

0

0

-2147483648 2147483647

0

-2147483648 2147483647 x x Units/Puls. 88

-16777215

-

-

-

0 = Servo off 1 = Servo on

-2147483648 2147483647

-2147483648 2147483647

-

7

2147483647

65535

16777215 x x x x x x x x x x x x x x x x x x x x x x x x -

-

-

-

-

-

-

Text

Pulses

Pulses

Pulses

Pulses

( ) = Only available on indexer type SMI31 or SMC35B (Continued on next page)

94

82

85

85

101

102

85

102

103

104

104

106

78

79

92

92


Command

SZ

VE

VM

VOL

VS

WAIT

3.7


Description

Seek zero-point

Show firmware version and date -

-

Defaults Limits

Min.

-

-

Maximum velocity

Show supply voltage

Start speed

Waits for a specified condition -

-

100

10

-

0

8

1

-

Max.

-

65535

-

45

10000

Mode Units

S P

x x x x Text x x RPM x x Volt x x Rpm

x -

page

106

107

107

108

94

108

( ) = Command only available on indexer type SMI31 or SMC35B



4 Appendix


4.1

Technical Data SMI30/31 and SMC35

Typical Max.

Units Description

Supply(P+, P-) : SMI30/31 only

Supply Voltage

Power Consumption (unconnected I/O) @ 24VDC supply

Supply (P+, P-): SMC35 only

Supply Voltage


Motor Connector, Current: SMC35 only

Running and standby current SMC35A

Running and standby current SMC35B

Resolution 6 bit

Driver/Control Connector:

Output level (CLK+, CLK-, DIR+, DIR-)

Output level at SON (NPN output) @ 50mA

Frequency for CLK output

Input level SALA

Input level COIN

SALA/COIN logic 0

SALA/COIN logic1

PS+ (Only SMI30/31)

+14V Pin 6 (Only SMC35)

+14V maximum current

+5V Pin 8 (Only SMC35)

+5V maximum current

User Inputs (I1 - I6 / PL, NL, HM) :

Input Impedance

Logic "0"

Logic "1"

Logic "0"

Logic "1"

Max. frequency on input I7 and I8

User Inputs (I7-I8)

Input Impedance

Logic "0"

Logic "1"

User Outputs (O1 - O8) :

Supply Voltage (0+, 0-)


Power Consumpt. All outputs activated

@ 24VDC supply

Loaded Current per Output

Overload Current

Min.

10

10

0

0

0

0

0

0

0

4.5

13

4.5

?

?

?

3.2

-1

4.5

-

2.0

8

8

?

5

5

24

14

5

32

85

3

6

64

?

?

?

3.6

2.5

30

-

1.0

100

5

1.3

2

30

30

2.5

2.5

15

50

5.5

50

V DC

W

VDC

W

A

A levels kOhm

V DC

V DC mA DC mA DC kHz

28

?

VDC

?

700 mA DC

2 A

Continued next page

V

V DC

MHz

V

V

V

V

VDC

VDC mA

VDC mA


4.1

Technical Data SMI30/31 and SMC35

Min.

Typical Max.

Units Description

Analogue Output (AOUT) :

Output voltage

Output current

Output resistance at 5V out

Analogue Inputs (AI1, AI2) :

Input Voltage (nominal)

Input Impedance

Time constant

Precision

Diverse :

Operating Temperature Range

Storage Temperature

Humidity non condensing

Weight SMI30

Weight SMC35

0.00

0

0

0

-20

0

10

10

1.0

500

585

5.00

5.0

5.0

5

45

70

90

V DC mA

Ohm

V DC kOhm ms

%

°

C

°

C

% grams grams


4.2

4.2.1

Physical Dimensions

Physical Dimensions of SMI30 / 31

55

43

100

4

Industri Elektronik

POWER

PROGRAM

MOTOR

ERROR

HM

PL

NL

I-

I8

I7

I6

I5

I-

I4

I3

I2

I1

I-

RS232

O6

O7

O8

O-

O+

O1

O2

O3

O4

O5

P+

P-

AI1

AI2

AO1

A

B

OE

DRIVER

50

55

∅

=4.2

∅

=5

∅

=4.2

16

80

144

All measurements in mm ±0.2mm

160

TT0101GB


4.2

4.2.2

Physical Dimensions

Physical Dimensions of SMC35A and SMC35B


4.3

4.3.1

4.3.2

4.3.3

4.3.4

Status and error indication

In addition to their normal function, the Indexer LEDs are also used to indicate vital error conditions. The following describes the normal functions of the LEDs and their additional functions. See also Error Status Text (EST), page 72, concerning Indexer error messages.

The 4 LED’s on the front of the Indexer can show different status and error conditions.

Power LED (Green)

The Power LED is lit when there the power is on and supplied to the Indexer. The LED is controlled by the internal microprocessor. If the power is applied to the P+ and P- terminal and the LED is not lit, there may be a defect fuse inside the Indexer or a malfunction in the Indexer’s switch mode or processor circuit. Check the internal 5x20 fuse.

Program LED (Green)

The Program LED is lit when the Indexer executes a program. If a program is transferred to the Indexer and the LED not is lit, check the MotoWare setup and select "Run Pro-

gram". It is also possible to start a program from the On line editor using the GO command.

Motor LED (Green)

The Motor LED is lit when the motor is running. This is done if a motor command SR,

SP or SZ command is executed in run or standby mode.

Error LED (Red)

The Error LED is lit when there is an error in the user output circuit, an error in the external driver or an error in the program.

LED flashing once.

This indicates an error in a program when this was transferred to the Indexer. When using the MotoWare software this will normally give an error message to the screen. If no error message is shown on the screen, look at the internal SMI30-31 error handling systems by typing EST in the Online editor. See Error Messages, page 123 for an error list and correction possibilities.

LED continuously lit.

The LED can be lit continuously if a fatal error has occurred. See Error Messages, page

123 for an error list.

1: If a user output O1-O8 is short circuited.

Correction: Remove power from the Indexer and fix the problem.

Turn power on again.

2: If a servo driver reports an error to the Indexer. This is done via the SALA pin in the driver/control connector. If the SALA is active when a motor command is executed, the SMI30 will stop the motor/program and turn the LED on.

Correction: Turn power off and fix the problem in the servo driver.

3: Fatal software error in the firmware. A command has been transferred to the Indexer and the Indexer has not been able to understand the command.

Correction: Use the RESET command to restart the Indexer or turn power off and on. Check the program carefully for syntax errors, etc. and send it again. Please fax or e-mail a description of the error to JVL.


4.4

Common Errors

During installation and use of the Indexer, various errors may occur. Information about many of these can be obtained from the Indexer itself using the EST command. (see Error

Status Text (EST), page 72). Some error conditions are similar to other errors. The following describes some of the most common errors and possible solutions.


4.5

Connection to Yaskawa servo drives

Connection table

SMI30

Yaskawa SGDE/SGDA-xxVP

Pin 2

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 1

Pin 3

Pin 2,4,10,19,35

Pin 13

Pin 34

Pin 8

Pin 14

DRIVER

PS+

SALA

COIN

SON

6

7

8

9

1

2

3

4

5

CLK+

DIR+

GND

1

2

3

4

5

6

8

9

10

11

12

14

13

15

16

17

18

7

20

22

24

26

28

30

32

34

36

19

21

23

25

27

29

31

33

35

4.5.1

TT0120GB

Connecting a Yaskawa SGDE/SGDA driver

The illustration above shows how to connect a Yaskawa sigma driver type SGDE/SGDAxxVP to the Indexer. It is recommended that shielded cable is used, with the shield connected to GND (Pin 5) on the SMI30-31. Do not use cable lengths longer than 2 meters.

Cable order no.: YASK-SMI30-SGDA


4.5



SMI30

Yaskawa SGDB/SGDH

Pin 2

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 7

Pin 11

Pin 1, 8, 12, 26, 32,

Pin 47

Pin 31

Pin 25

Pin 40

DRIVER

PS+

SALA

COIN

SON

6

7

8

9

1

2

3

4

5

CLK+

DIR+

GND

2

4

6

8

10

12

14

16

18

20

22

24

1

3

5

7

9

11

13

15

17

19

21

23

25

27

26

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

4.5.2

TT0152GB

Connecting a Yaskawa SGDB/SGDH driver

The illustration above shows how to connect a Yaskawa sigma driver type SGDB/SGDH to the Indexer. It is recommended that shielded cable is used, with the shield connected to GND (Pin 5) on the SMI30-31. Do not use cable lengths longer than 2 meters.

Cable order no.: YASK-SMI30-SGDB/H


4.5



SMI30 Yaskawa DR2

Pin 2

Pin 4

Pin 5

Pin 6

Pin 7

Pin 8

Pin 9

Pin 7

Pin 11

Pin 1,8,12,26,32

Pin 47

Pin 31

Pin 25

Pin 40

DRIVER

PS+

SALA

COIN

SON

6

7

8

9

1

2

3

4

5

CLK+

DIR+

GND

50 18

49 17

48

32

47

46

30

45

29

44

28

43

42

27

26

41

25

40

24

39

23

38

31

22

37

21

36

20

35

19

34

16

15

14

13

12

11

10

9

8

7

6

5

4

3

2

33 1

TT0121GB

4.5.3

Connecting a Yaskawa DR2 driver

The illustration shows how to connect a Yaskawa driver type DR2 to the Indexer. It is recommended that shielded cable is used, with the shield connected to GND (Pin 5) on the SMI30-31. Do not use cable lengths longer than 2 meters.

Cable order no.: YASK-SMI30-DR2


4.5


4.5.4

Velocity and Angle

In both the Yaskawa servo drivers and in the Indexer SMI30, there are parameters which influence the velocity of the motor and the angle it moves.

1. Yaskawa

In all Yaskawa drives, 3 registers influence the velocity and the angle (Cn-11, Cn-24 and

Cn-25)

The number of encoder pulses from the motor encoder is multiplied by a factor of 4 in the Yaskawa driver, so that a motor encoder with for instance 2048 pulses will indicate

8192 pulses/rev. in the driver. If parameters 24 and 25 are both 1, the motor will require

8192 pulses to turn 1 revolution. At low velocities this gives the best angular resolution, but it will cause problems at high speeds as the Yaskawa driver has a built-in 450 kHz filter which corresponds to a velocity of max. 3295 rev./min. with 8192 pulses per rev. If the velocity must be higher, Cn 24 can be set e.g. to 2.

2. SMI3x

In the SMI Indexer there are also some parameters which influence the velocity and acceleration of the motor and the angle it turns.

The PR command defines the number of pulses required to make the motor turn 1 revolution. CON is a scaling factor which is used for example to rescale a given length (e.g. in mm) to a number of pulses.

Example:

SMI3x

PR

1 2048

2 2048

3 8192

4 8192

5 8192

SGD(A/B)

VM SR CON Cn-11

1000 2000 1 2048

1000 2000 1

1000 2000 1

2048

2048

1000 2000 2

1000 2000 1

2048

2048

Motor (with 8192 p/rev.)

1

4

1

1

-24 -25 Velocity Position Max. Vel.

4 1 1000 8000

1

1

250

1000

2000

2000

3295

3295

1

1

2000

4000

4000

8000

3295

Combinations 1 and 3 should be preferred as in these cases the motor will run with the velocity and run the distance corresponding to VM and SR.

SMI30/31

VM=x

SP=x

SR=x

AC=x

X selectable

PR

Con

Yaskawa SGDx-xxVP

Cn-24

B

A

Cn-25

Cn-OA

Frequency

Divider

+

x4

TT0125GB

M

PG

Cn-11


4.6

Connection to JVL step motor driver

Step Motor Driver

Type SMD10, 11, 15, 30

Note ! : screen only connected to signal receiver.

Screen

SMI30

PS+

SALA

COIN

SON

6

7

8

9

3

4

5

1

2

CLK-

CLK+

DIR-

DIR+

GND

4.6.1

TT0122GB

Connecting a JVL step motor driver SMD10,11,15,30

The illustration above shows how to connect a JVL step motor driver SMD10/11/15/30 to the Indexer.

It is recommended that shielded cable is used, with the shield connected to GND (Pin 5) on the SMI30-31. Do not use cable lengths longer than 2 meters. Remember to set the

Pulses/rev. command (PR) according to the driver’s pulses/rev. settings.

Step Motor Driver

Type SMD10, 11, 15, 30

BC547B

Driver

PS+

SALA

COIN

SON

6

7

8

9

1

2

3

4

5

CLK-

CLK+

DIR-

DIR+

GND

10k, 0.5W

3.9k, 0.5W

Note ! : screenonly connectedto signal receiver.

Screen shield white green brown

TT0157GB

If it is required that the ERR (Error) output is used so that the SMI30 can report if the driver produces an error, special cable WI0020 (2m) must be used. The Error signal is inverted to that it matches the level at the SALA input. When using the WI0020 cable, remember to set CB15=0.


4.6

Connection to JVL step motor driver

A power-dump resistor may be mounted

(33-50 Ohm/50W)

Industri Elektronik

POWER

PROGRAM

MOTOR

ERROR

I5

I

I4

I3

I2

I1

I

I8

I7

I6

HM

PL

NL

I

RS232

RS485

OE

O+

O1

O2

O3

O4

O5

O6

O7

O8

O -

P+

P -

AI1

A

B

AI2

AO1

DRIVER

SMI30 / 31

Motor

20-80VDC

+

Fuse T10A

Stel

Screen

Screen connected to digital GND as close to

SMD41 as possible

DRIVER

Screen

Power

Error

1

2

3

4

5

Current Curve

Resolution

50kHz Filter ON/OFF

I

I

O

O

O

O

1

2

3

4

5

6

O

I

7

8

I

I

9

10

I

I

11

12

I 13

O 14

GND /

+20V - 80VDC

Motor A

Motor A

Motor B

Motor B

+

-

+

-

Power Dump

Direction

PNP

Stepclock

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

TT0017

Resistor values selected in accordance with table in section

"Adjustment of Motor Current” in

SMD41 manual

2,2k

P+

SALA

COIN

SON

6

7

8

9

4

5

1

2

3

CLK-

CLK+

DIR-

DIR+

GND

4.6.2

Connecting a Ministep Driver SMD41

The above illustration shows how a typical connection is made between JVL Indexer

SMI30 or SMI31 and a Ministep Step Motor Driver SMD41. It is recommended that screened cable is used for connecting the motor and the logic signals to the SMI3x in order to avoid spurious noise problems and to fulfil the requirements of CE conformity for the complete system.

It is recommended that the cable length between the SMI3x and SMD41 does not exceed

2 m.

The following SMI3x registers must be set:

PR

Pulses per motor revolution. This register must be set according to the number of steps per revolution selected on the SMD41.

CB15 Control flag for SALA (servo alarm). This flag is set to CB15=1 so that the

SMI3x accepts logic 0 as the active level for the SALA input. This means that the

SMI3x detects any error from the SMD41 when the "Error" Output goes to logic

0.


4.7

Connection to other selected drivers



4.8

Accessories

Accessories etc. for SMI30/31 and SMC35A/B:

Software:

MotoWare

Programming and setup SoftWare for Windows 95,98,2000,NT

Cables:

RS232-9-1

RS232-9-a-b

Standard 3m RS232 programming cable

RS232 cable for multipoint. a = number of units. b= length of cable

(3 or 5 meter).

Yask-SMI30 SGDA Cable for Yaskawa SGDE/SGDA

Yask-SMI30-SGDB Cable for Yaskawa SGDB/SGDH

SMI30CON

D-Sub connector for driver or controller connection

Extension Modules:

KDM10T/KDM10D Keyboard/Display module for 19" rack (D version) or panel

IOM11

mounting (T version)

Input/Output module. 16 extra inputs and 8 extra outputs for

DIS11

mounting in 19" rack

Panel Mounting LED display

Power Supplies:

PSU24-1

PSU80-2

KITPSU80-2

24VDC/100W Power Supply for Indexer/controller and In- and

Outputs

80VDC/200W power supply for SMC35x controller.(115 or 230

VAC input

Transformer, capacitor, diodes for low cost 80VDC power supply

Step motors for SMC35x:

(SMC35B is used if the motor is connected in parallel. 3Amp controller SMC35A can be used if the motor is connected in series.

MST171A01

MST172A01

MST230B01

MST231B01

MST232B01

MST340B01

MST341B01

MST342B01

High torque step motor, 200 step/rev. 0.3Nm

High torque step motor. 200 step/rev. 0.56Nm

High torque step motor. 200 step/rev. 0,6Nm




1.9Amp

1.9Amp

5.4Amp.

High torque step motor. 200 step/rev. 1.06Nm 5.5Amp.


6.7Amp.

6.0Amp.

6.5Amp.

6.3Amp.

External Drivers for SMIx or SMC35 1½ axis operation:

SMD41xx series

Ministep Drivers

Connectors

CS0107

CS0110

CS0002

CS0205

7-pole connector

10-pole output connector

14-pole input connector

5-pole connector to motor (only SMC35)


4.9

4.9.1

Program examples

Multi-tasking

The Indexer has a built-in signal processor to handle the actual motor run. Thus the Indexer has the capability for operating the motor while the main program continues execution in the background. This takes place without decreasing the speed of program execution. When a run command is executed (SR+, SZ+, SP+), the length is transferred from the main processor to the signal processor, which then handles the entire motor run.

The main processor continues execution of its program and can continuously change the velocity, acceleration ramps, lengths, and, for instance, set outputs, etc.

This gives the possibility for performing very advanced motion profiles and thus solving all kinds of tasks.

OUT=0

:START

:LOOP

OUT4=1

SON=1

PR=8192

WAIT RS=0

OUT7=0

AP=0

AC=20000

VM=1000

SR=100000

IF AP>20000

OUT1=1

IF AP>30000

OUT7=1

IF AP>40000

OUT1=0

IF IN3=1

J:BREAK

IF IN2=1

VM=2000

IF AP>60000

AC=40000

IF RS<>0

J:LOOP

WAIT IN1=1

J:START

;Set pulses per revolution

;set position.

;set acc/dec to 500 RPM/sec.

;Set velocity to 1000 RPM.

; run max. length 100000 pulses.

;when position > 20000

;set output1


;OUT7 connected to IN2


;reset output1.

;if IN3 is activated

;jump out of LOOP

;if IN2 is activated shift

;velocity to 2000 RPM.

;when position > 8000 shift

;deceleration to 10000 RPM/sec.

;If motor is still running

;20000 pulses jump to LOOP

IN2

OUT1

Velocity RPM

VM=2000

VM=1000

AC = 20.000

AC = 40.000

AC = 40.000

TT0137GB

20.000

40.000

60.000

100.000

pulses

Time


4.9


(continued)

The above illustration shows how the motion profile can be changed according to external events or internal positions. The more events are introduced, the longer the loop scan time will be. It is therefore recommended that the number of "IF" conditions is kept to a minimum. The example above for instance requires that IN2 be activated during the whole loop program in order that the function is reliable, as measurement only takes place once within the loop program. (See Command timing, page 159. See also Monitoring of inputs

and errors, page 46, and the Interrupt (INT) command, page 77, for information on how to control program flow using interrupts.)


4.9

4.9.2


Use of analogue input

; This program shows how to use the analogue inputs for variable speed

; in +- direction via a joystick. 0-5 Volt connected to AI1.

; Automatic mode via joystick and manual mode via inputs and preset distance +-

; Components used: SMI30, SMD41 ministep driver, step motor, analogue joystick

; 5kOhm.

:INIT PR=1600

R6=3

; Ministep resolution. 1600 pulses/rev

; Use R6 to scale the analogue input AI1.

:MAIN

:MOTOR+

:MOTOR-

OUT=0

VS=10

VM=300

AC=1000

R4=2200

R5=300

R2=2700

R3=1700

CB2=0

CB3=0

IF IN1=1

J:MANUAL

R1=AI1/R6

IF R1>R2

J:MOTOR+

IF R1<R3

J:MOTOR-

SH

WAIT RS=0

J:MAIN

R10=R1-R2

IF R10<=VS

VM=VS

ELSE

VM=R10

IF RS=0

SR=10000000

J:MAIN

R10=R3-R1

IF R10<=VS

; (VM=AI1/R6)

; Clear all 8 outputs

; Start speed

; Maximum velocity

; Acc/deceleration in RPM/s

; Analogue value where motor stands still

; Dead band +- where motor must stand

still

; Upper limit value

; Lower limit value

; 8-BIT resolution with oversampling

; Value 0-16360

; If manual mode selected

; Jump to MANUAL

; Read DA converter and divide by 3.

; If analogue value > upper limit ..

; .. run the motor in + direction

; If analogue value < upper limit ..

; .. run the motor in - direction

; If in dead band, smooth stop the motor

; Wait until motor stands still

; Jump to main, test again

; Adjust analog value

; If calculated speed < start speed

; .. set speed to start speed

; .. else

; Set speed to calculated speed

; If motor not running

; .. start motor in positive direction

; Jump to main

; Adjust analogue value

; If calculated speed < start speed

:MANUAL

VM=VS

ELSE

VM=R10

IF RS=0

; .. set speed to start speed

; .. else

; Set speed to calculated speed

; If motor not running

SR=-10000000 ; .. start motor in positive direction

J:MAIN ; Jump to main

IF IN2=1 ; If manual mode and manual run in posi-

tive direction

J:MANPLUS

IF IN3=1

; .. jump

; If manual mode and manual run in nega

tive direction

; .. jump J:MANMINUS

J:MAIN

:MANPLUS SR=100

WAIT RS=0

J:MANUAL

:MANMINUS SR=-100

WAIT RS=0

J:MANUAL

; Jump to main and check again

; Run distance in positive direction

; Wait for motor stopped


; Run distance in negative direction

; Wait for motor stopped



4.9

4.9.3


Use of analog output and input

This program shows how it is possible to control the speed in both directions using two potentiometers.

5 volts for the supply of two 5kOhm potentiometers is generated by the internal 5V output which is set to supply 5V constantly. Input 1 and 2 are mounted with 2 switches that determine whether the motor runs in one direction or the other.

:INIT

:START

:GOPOS

:WAIT1

:GONEG

:WAIT2

R1=2

R2=2

OUT3=1

OUT4=1

CND2=7

CTM2=7

AOUT=255

AC=1000

VS=100

SON=1

IF IN1=1

J:GOPOS

IF IN2=1

J:GONEG

; Use R1 to scale the analogue Input

; AI1

; Use R2 to scale the analogue input

; AI2

; Possibly use OUT3 to control IN1

; Possibly use OUT4 to control IN2

; Set analogue output to 8-bit

; Set TIMER2 as analogue output

; Set 5V out

; Set ACC/DEC slope to 1000RPM/SEC

; Set Min. Speed to 100 RPM

; Servo On

; If GO-Positive switch is activated

; .. then Jump to subroutine

; If Go-negative switch is activated

; .. then jump to subroutine

J:START

VM=AI1/R1

; Test inputs again

; Set Velocity to value of Analogue

; input1

SR=10000000 ; Move max. distance, while ..

VM=AI1/R1

IF IN1=1

J:WAIT1

SH

WAIT RS=0

; .. changing the speed

; Move until STOP is signalled

; .. on input 1

; If STOP Decelerate motor speed

J:START

VM=AI2/R2

; Wait until motor has reached its

; destination point

; Test inputs again

; Set Velocity to value of Analogue

; input 2

SR=-10000000 ; Move max. distance, while ..

VM=AI2/R2

IF IN2=1

J:WAIT2

SH

WAIT RS=0

; .. changing the speed

; Move until STOP is signalled

; .. on input 2

; If STOP, Decelerate motor speed

J:START

; Wait until the motor has reached its

; destination point

; Test inputs again

152

Indexer SMI30

IN2

IN3

IN1

Joystick

19kOhm

AI1

P-

24V

P+

24V

P-

0V

TT0148GB


4.9

4.9.4


Test-program, quick start

R1=0 ;Set register 1 to Zero

:START OUT=#00000000 ;Reset all outputs

OUT1=1

D=30

;Turn on OUT1

;Wait 0.3 sec.

OUT1=0

OUT2=1

D=30

OUT2=0

;Turn off OUT1

;Turn on OUT2

;Wait 0.3 sec.

;Turn off OUT2

OUT3=1

D=30

OUT3=0

OUT4=1

D=30

OUT4=0

OUT5=1

D=30

;Turn on OUT3

;Wait 0.3 sec.

;Turn off OUT3

;Turn on OUT4

;Wait 0.3 sec.

;Turn off OUT4

;Turn on OUT5

;Wait 0.3 sec.

OUT5=0

OUT6=1

D=30

OUT6=0

OUT7=1

D=30

OUT7=0

OUT8=1

D=30

SR=8000

WAIT RS=0

SR=-8000

Wait RS=0

R1=R1+1

IF R1 < 5

J:START

ELSE

J:STOP

;Turn off OUT5

;Turn on OUT6

;Wait 0.3 sec.

;Turn off OUT6

;Turn on OUT7

;Wait 0.3 sec.

;Turn off OUT7

;Turn on OUT8

;Wait 0.3 sec.

;Move 8000 pulses forward


;Move 8000 pulses backward


;Inc. Register1

;If register R1 is less than 5

;Jump to START

:STOP


4.9


4.9.5

TurnMaster Mode

Example

VM=100

AC=100

SON=1

CB30=1

PR=1600

RX12=4800

:START If IN=1

SP=0

WAIT RS=0

IF IN2=1

SP=2400

WAIT RS=0

;Can also be 2 or 3

;Ministep mode 1600 puls/rev selected

;Gear of 3 is used

IF IN3=1

SP=1200

WAIT RS=0

J:START


4.9

4.9.6


1½ axis mode

This program shows how 1 stepmotor and 1 servo motor can be controlled from a single

SMC35B.

Using 1 program it is possible to control 2 motors but not at the same time. (2 motors can be run at the same time, but synchronously and with the same step-pulse rate).

The step motor is controlled from the internal driver and the servomotor and driver are controlled via step-pulse and direction signals on the connector "setup".

:INIT

:MAIN

:INIT_STEP PR=1600; Pulses/rev

CS=1000 ; X-axis motor current at standstill

CT=2000

VS=100

AC=800

; X-axis motor current when accelera-

; tion and running

; Start speed in RPM

; Acceleration in RPM/s

VM=300

SON=1

R1=0

R2=0

R3=1000

; Top speed in RPM

; Activate internal driver. X axis.

; position for x-axis. Step motor

; position for y-axis. Servo motor

; relative length X and Y should move

AP=0 ; Zero position counter

JS:STEP_ON ; activate X-axis

VM=400 ; Change speed

SR=3000

WAIT RS=0

R1=AP

; Run X-axis relative position forward

; Wait until position

; Set R2 = Actual position

D=10 ; wait 100mS

JS:SERVO_ON ; activate Y-axis

VM=3000 ; change speed

SR=20000

WAIT RS=0

R2=AP

; Run Y-axis relative position forward

; Wait until position

; Set R2 = Actual position

:STEP_ON

D=10 ; wait 100mS

JS:STEP_ON ; activate X-axis and Y-axis

VM=40 ; Change speed for X and Y axes

AC=800

SR=R3

WAIT RS=0

; change acceleration for both axes

; Run X and Y axes at the same time.

; wait until position reached

R1=R1+R3

R2=R2+R3

D=100

J:MAIN

PR=1600

AC=800

; update position counter for X-axis

; update position counter for Y-axis

; wait 100mS

; jump to main

; Pulses/rev for step motor axis

; General acceleration for Y-axis step motor

AP=R1

CB36=1

RET

:SERVO_ON PR=8192

AC=10000

AP=R2

CB36=2

RET

; Preset position with last value for X-axis

; Switch to X axis active

; Return

; Pulses/rev for servo axis

; general acceleration for Y-axis servo-

; motor-step motor

; Preset position with last value for Y-axis

; Switch to Y axis active

; Return

:STEP_ON PR=1600

AC=800

CB36=3

; Pulses/rev for step motor axis. Speed and

; acc for servo

; axis will not be valid.

; Acceleration for X-axis stepmotor

; Enable X and Y axes to run at the same time


4.9

4.9.7


Use of KDM10 and registers

This program shows the use of absolute registers, with an SMI31/SMC35 at address 1, and a KDM10 at address 3. The program uses the registers 100-199. The register pointer calculation is done at the "REG_POINT" label.

At the first menu, the user has the possibility to change program number, change data, or run the motor using the specified data. If <F1> is pressed, the change program routine is run and the corresponding menu displayed; if <F2> is pressed, the data change menu is shown; and if <F6> is pressed, the motor runs the specified length and speed.

;R1=CHOOSEN PROGRAMNUMBER

;R2=ABSOLUTE REGISTERPOINTER

;R3=ABSOLUTE REGISTERPOINTER (WORK)

:MENU

MR2

SON=1

R1=1

AO3.1

;READ ALL REGISTERS

;SET SERVO SIGNAL ON

;SET PROGRAMNUMBER

;CLEAR DISPLAY

PRINT3.1."PRGNO=" ;PRINT MENU AND ACTUAL PRGNO.

PRINT3.0.R1

PRINT3.10."<F1>CHANGE PRG"

PRINT3.41."<F2>CHANGE DATA <F6>MOVE"

:READ_MENUKB R99=INPUT3.222

IF R99=0

J:CHANGE_PRGNO

IF R99=1

J:CHANGE_DATA

IF R99=5

J:MOVE_MOTOR

J:READ_MENUKB

;READ KEYBOARDINPUT

;IF F1 IS PRESSED

;...THEN JUMP TO CHANGE_PRGNO

;IF F2 IS PRESSED

;...THEN JUMP TO CHANGE_DATA

;IF F6 IS PRESSED

;...THEN JUMP TO MOVE_MOTOR

;JUMP TO READ_MENUKB

:CHANGE_PRGNO AO3.1

;CLEAR DISPLAY

PRINT3.1."ACTUAL PRGNO="

PRINT3.0.R1

PRINT3.41."NEW PRGNO="

R99=INPUT3.255

IF R99=0

J:NO_PRG_CHANGE

IF R99<1

;READ INPUT FROM KEYBOARD

;IF "NOTHING" ENTERED

;...THEN JUMP NO_PRG_CHANGE

;IF ENTERED VALUE IS BELOW 1

J:PRGNO_MINMAX

IF R99>10

J:PRGNO_MINMAX

R1=R99

MS2

;...THEN JUMP PRGNO_MINMAX

;IF ENTERED VALUE IS ABOVE 10

;...THEN JUMP PRGNO_MINMAX

;SET R1 = R99

;SAVE ALL REGISTERS IN EEPROM

:NO_PRG_CHANGEJS:ACT_DATA

J:MENU

;JUMP TO SUBROUTINE ACT_DATA

;JUMP TO MENU

:PRGNO_MINMAX PRINT3.1."ONLY DIGITS BETWEEN 1 AND 10"

D=400 ;WAIT 4 SECONDS

J:CHANGE_PRGNO


4.9


:CHANGE_DATA JS:ACT_DATA

AO3.1

;JUMP TO SUBROUTINE ACT_DATA

;CLEAR DISPLAY

PRINT3.1."<F1>CHANGE LENGTH <F6>RETURN"

PRINT3.41."<F2>CHANGE SPEED"

:DATA_MENUKB R99=INPUT3.222

IF R99=0

J:CHANGE_LENGTH

IF R99=1

J:CHANGE_SPEED

IF R99=5

J:MENU

J:DATA_MENUKB

;READ KEYBOARDINPUT

;IF F1 IS PRESSED

;...THEN JUMP TO CHANGE_LENGTH

;IF F2 IS PRESSED

;...THEN JUMP TO CHANGE_SPEED

;IF F6 IS PRESSED

;...THEN JUMP TO MENU

;JUMP TO DATA_MENUKB

:CHANGE_LENGTH R3=R2

AO3.1

;SET R3 = R2

;CLEAR DISPLAY

PRINT3.1."ACTUAL LENGTH="

PRINT3.0.R[R3] ;PRINT REGISTER R[R3]

PRINT3.41."NEW LENGTH="

R99=INPUT3.255


IF R99=0

J:CHANGE_DATA

R[R3]=R99


;...THEN JUMP CHANGE_DATA

;SET REGISTER R[R3] TO ENTERED

; VALUE

MS2

J:CHANGE_DATA

;SAVE ALL REGISTERS TO EEPROM

;JUMP TO CHANGE_DATA

:CHANGE_SPEED R3=R2+1

AO3.1

;SET R3 = R2 + 1

;CLEAR DISPLAY

PRINT3.1."ACTUAL SPEED="


PRINT3.41."NEW SPEED="

R99=INPUT3.255


IF R99=0

J:CHANGE_DATA

R[R3]=R99


;...THEN JUMP CHANGE_DATA

;SET REGISTER R[R3] TO ENTERED

;VALUE

MS2

J:SKIFT_DATA

;SAVE ALL REGISTERS TO EEPROM

;JUMP TO CHANGE_DATA

:ACT_DATA JS:REG_POINT

AO3.1

;JUMP TO SUBROUTINE REG_POINT

;CLEAR DISPLAY

PRINT3.1."ACTUAL LENGTH="


R3=R2+1 ;SET R3 = R2 + 1

PRINT3.41."ACTUAL SPEED="

PRINT3.0.R[R3]

D=200

RET

;PRINT REGISTER R[R3]

;WAIT 2 SECONDS

;RETURN


4.9


:REG_POINT R2=R1-1

R2=R2*10

R2=R2+100

R3=R2

RET

;SET R2 = R1 - 1

;EVERY RECIPE CONTAINS 10 REGIS

;TERS

;THE RECIPE STARTS AT REGISTER 100

;SET R3 = R2

;RETURN

:MOVE_MOTOR JS:REG_POINT

AO3.1

;JUMP TO SUBROUTINE REG_POINT

;CLEAR DISPLAY

PRINT3.1."MOVING "


PRINT3.0." STEP WITH"

R3=R2+1

PRINT3.41.R[R3]

PRINT3.0." RPM"

VM=R[R3]

;SET R3 = R2 + 1

;PRINT REGISTER R[R3]

SR=R[R2]

WAIT RS=0

PRINT3.0."OK!"

D=200

J:MENU

;SET VM TO REGISTER R[R3]

;SET SR TO REGISTER R[R2]

;WAIT UNTIL MOTOR HAS STOPPED

;PRINT "OK"

;WAIT 2 SECONDS

;JUMP TO MENU


4.10

Command timing

Command

AC=x

AO 1.21

AP

CB2=1

IF INx=x

If IN=#xxxxxxxx

If R1=R2

INT1....RETI

J:LABEL

JS:SUB.... :SUB RET

OUTX=x

PRINT 1.1."AB"

R1

R1=AI1

R1=AI1

R1=R2 / 15

R1=R2 / R3

R1=R2 -100.000.000

R1=R2+100.000.000

R1=R2 * 100.000.000

RX=x

R1=INPUT 1.201

SH

SON=x

SR=0

SR=x

VM=x

VS=x

WAIT IN1=1

WAIT R1=R2

In critical-timing applications it can be important to know the time for each command.

Execution time is the time a command will use in a program. Interpretation time is the time a command will use if it was sent to the Indexer/Controller via the RS232/RS485.

The time is from receipt of <CR> until <CR> is sent again to acknowledge command received ok. All measurements are based on 9600 bit/sec.

The table below shows the execution time for the most typical Indexer commands.

Description

Set acceleration

Set output on module

Send actual position to

RS232 (9600 baud)

Control flag

Statement

Statement

Statement

Interrupt + Return INT

Jump to label

Jump to subroutine and back again

Set output x = x

Print text on display

Send R1 to RS232

(9600 baud)

Mathematic. Read analog input in 8-bit

Mathematic. Read analog input in 14-bit

Mathematic

Mathematic

Mathematic

Mathematic

Mathematic

Mathematic

Read mailbox on display

Soft Halt

Servo On/Off

Run motor relative

Set relative distance

Set top speed

Set startspeed

Wait statement

Wait statement

9.2

3.0

3.2

4.5

3.2

2.1

0.54

1.23

2.6

11.0

9.8

4.5

66.0

5.8

5.8

4.3

4.3

4.4

2.7

6.8

0.8

3.7

6.6

6.6

9.5

9.4

3.3

3.3

Execution time

(msec.) typical

10.6

6.0

Interpretation time

(msec)

Bytes in

EE-

PROM

13

6

7

13

14

14

13

2+1

3

3+1

13

9

7

12

12

18

17

18

18

18

13

1

13

13

13

13

13

14

13


4.10

Command timing

Example:

If the Indexer/Controller is controlled from a PC or PLC that sends commands to be executed immediately, if is often desirable to know how much time will elapse.

The total time can be divided into 4 separate stages:

1) Transmission time from the PC/PLC to the Indexer/controller via the RS232.

2) Interpretation time of the command. This is the time the Indexer/Controller uses to check whether the commando is valid and any values are within allowable ranges.

The command interpretation time is given in the table on the previous page.

3) Execution of the command. This is time taken for the command itself to execute, in the same way as if it were part of a program. The execution time is given in the table on the previous page.

4) Transmission time of the response from the Indexer/Controller to the PLC/PLC via the RS232.

SR=10000 is to be sent to indexer/controller with address 1. The baud rate is 9600 bit/s.

The command to be sent is therefore 1SR=10000<CR>, in all a total of 10 characters.

Each character comprises approximately 10 bits, so the transmission rate is 960 characters/s. 10 characters therefore take 10.4 ms to transmit. The Indexer responds with the reply Y<CR>, i.e. 2 characters. This takes 2.08 ms. In accordance with the table on the previous page, the total calculation is as follows: Total time = 10.4ms + 5.9ms + 7ms +

2.08ms = 25.38ms.

If a baud rate of 19200 bit/sec was selected, the transmission time would be halved, corresponding to a total time for transmission, interpretation and execution of 19.14ms.


4.11

Connection tables

The connection tables below make it easier to see the connections to PLCs, other connectors, etc., so that fault finding will be easier. For example, the tables can be used to indicate the numbers of the individual connectors on a PLC in the "Connector no." column and to specify what the connection is used for under the "Application" column (e.g. "Start signal from PLC", "Vacuum on", "Air cylinder up", etc.).

Connector no,

P+

P-

AI1

AI2

O4

O5

O6

O7

O+

O1

O2

O3

O8

O-

Designation Description

HM Home Input

I7

I6

I5

I-

PL

NL

I-

I8

I4

I3

I2

I1

I-

AO

A

B

Positive limit

Negative limit

Gnd for Input

Input 8

Input 7

Input 6

Input 5

Gnd. for Input

Input 4

Input 3

Input 2

Input 1

Gnd. for Input

Supply

+10 - 35V DC

Supply Ground

Analog Input1

Analog Input2

Analog Output

(0 - 5VDC)

RS485

Terminal A

RS485

Terminal B

Output Supply

+5 - 30VDC

Output 1

Output 2

Output 3

Output 4

Output 5

Output 6

Output 7

Output 8

Gnd. for Outputs

Application


4.11

Connection tables

7

8

9

5

6

3

4

Connection of SMI30, RS232/RS485 SUB D Connector (female)

Pin no.

1

Designation

Common

Description Application

2 Rx

Chassis

RS232

Receive

Tx

A

RS232

Transmit

(A RS485)

Gnd.

Not used

Tx-PD

Term.

B

Signal Gnd.

Not used

Tx Pull

Down

RS485 Term.

(B RS485)

Connection of SMI30, Driver SUB D Connector (male)

3

4

5

1

2

Pin no.

6

Designation

CLK-

CLK+

DIR-

DIR+

GND.

PS+

Description

Clock pulse-

Clock pulse+

Direction signal-

Direction signal+

Signal Gnd.

Voltage output

Application

7

8

9

SALA

COIN

SON

Alarm input

Servo-in position input

Servo on/off output


4.12

Calculation of motor movement

Velocity (rpm.)

VM

VS

AC

ACT

ACP: Pulses used for acceleration

ACT: Time in sec. used for acceleration

AC: Slope in rpm./sec.

VM: Top velocity in rpm.

VS: Start velocity in rpm.

t: Time in sec.

s: Moved distance in pulses

PR: Pulses per revolution (encoder) t Time (sec.)

ACP=

(VM + VS) * ACT * PR

120

[Pulses]

ACP=

2 2

(VM - VS ) * PR

120*AC

[Pulses]

AC=

VM - VS

ACT

[RPM/sec.] s=

2

AC * t * PR

120

(Valid if VS=0)

[Pulses] s=

VM * t * PR

60

[Pulses]

(Valid if velocity is constant)

TT0151GB


4.13

Motor Connections (SMC35 only)


4.13

Motor Connections (SMC35 only)


4.14

Declaration of conformity


4.14

Declaration of conformity



Index

- Subtraction operator 41

Symbols

! (Indexer type) command 48, 51

# Binary notation 41

## (Delete EEPROM) command 49

* Multiplication operator 41

+Addition operator 41

/ Division operator 41

; Semi Colon, Command Delimiter 29, 34

< Less than operator 41

<= Less than or equal to operator 41

<> Not equal to operator 41

= Equal to (value assignment) operator 41

> Great than operator 41

>= Greater than or equal to operator 41

? (Show set-up) command 48

Numerics

1½.axis mode, program example 155

1½-axis Control Flag, CB36 120

A

AC (Acceleration) command 49, 159

Acceleration (AC) command 49, 159

Acceleration pulses (ACP) command 49

Acceleration time (ACT) command 50

ACP (Acceleration pulses) command 49

ACT (Acceleration time) command 50

Activate flag in external module (AO) command 53, 159

Actual Position (AP) command 55, 159

Actual Position Pulses (APP) command 55

Addition operator, +, 41

ADDR (Address) command 51

Address 28

Address (ADDR) command 51

AI1, AI2 (Analogue Input) commands 52

Analogue Inputs 26, 161

AI1, AI2 commands 52

Analogue Conversion Flags CB2/CB3

110, 159

Program Examples 151–152

Analogue Output 27, 161

AOUT command 54

Program Examples 152

AND operator 41

ANDL 42

AO (Activate flag in external module) command 53, 159

AOUT (Analogue Output) command 54

AP (Acutal Position) command 55, 159

APP (Actual Position Pulses) command 55

Argument, Command argument 28

Arithmetic Expressions 40

Array functions 45

B

Baud Rate 28

Baud Rate (BAUD) command 56

Binary Notation 41

Bipolar motors 20

Bit operations 42

C

Cabling 19, 140–142, 144–145, 148, 161–

162, 164–165

Capacitor 22–23

Carriage Return (Command Delimiter) 29

CB1 Direction Level Flag 110

CB10 Default Direction Flag 111

CB11 Disable Error E43-E47 Flag 111

CB12 Trigger Level Flag for INT1 112



CB15 register (SMI3x Indexer) 145

CB15 Servo Alarm Signal Flag 113

CB16 Motor in Position Flag 113

CB17 Enable Running Output (08) Flag 113

CB18 NSTART Trigger Level Flag 113

CB19 Disable Input Averaging Flag 113

CB2/CB3 Analogue Conversion Flags 110,

159

CB20 High-speed start trigger at IN1 114

CB21 High-speed start trigger at IN2 114

CB22 Diverse Flag 114

CB23 Electronic Gearing Flag 115

CB24 Position Reached Flag 115

Status Flags 115

CB25 Trigger Level Flag for NL Input 115

CB26 Trigger Level Flag for PL Input 115

CB27 Zero Search Flag 116

CB28 CVIx Frequency Range Flag 116

CB29 RS232 Activity Flag 116

CB30 Turntable Mode 116

CB31 Reserved, for internal use 117

CB32 Set/Read Interrupt status 117

CB33 User Output Error Mode 118

CB34 Reserved 118


Index

CB35 Command acknowledge flag 118–

119

CB36 1½-axis control/chopper frequency flag 120

CB37 Digital filtering on interrupt inputs flag 121

CB38 Motor status (RS) when limit activated flag 121

CB39 Diverse flag 121

CB4 End-of-travel flag 110

CB40 Software position limits flag 122

CB5 110

CB6 Error at User Output Flag 110

CB7 Output Error Flag 111

CB8 General Error Flag 111

CB9 RS232 Communication Flag 111

CE requirements 19

Checksum 28–29

CHS (Checksum) command 56

Memory Checksum (MCHS) command

80

CHS (Interface Checksum) command 56

Clear Flag in external module (CO) command 59

CLK Outputs 24–25

CN1 (Counter/Timer 1) command 57

CN2 (Counter/Timer 2) command 57

CND1 (Counter/Timer 1 Divider) command

58

CND2 (Counter/Timer 2 Divider) command

58

CO (Clear Flag in external module)) command 59

COIN Output 24–25

Motor in Position Flag CB16 113

Command 28

Argument 28

Checksum 28–29, 56

Command acknowledge flag, CB35 118–

119

Command Description 47–109

Command Overview 129–131

Command Timing 159

Delimiter 28–29, 34

Line, max. no. of characters 29

Syntax 28

Common Errors 139

Communication 28–30

Address 28

Checksum 28–29, 56, 80

Command 28

Command syntax 28

Errors, see ES0 command 69–71

Protocol 28

Rate 28, 56

RS232 Activity Flag CB29 116

RS232 Communication Flag CB9 111

Synchronisation 29

Use of RS232/485 Interface Commands

34

COMP (Compare Memory) command 59

Compare Memory (COMP) command 59

CON (Conversion Factor) command 60

Connection

Analogue Inputs 26

Analogue Output 27

Connection Tables 161–162

Driver Outputs 24

End-of-travel Limit Inputs 16

Home Input 17

Indexer Front Panel Overview 8 of Indexer to a PC 30

Overview 14

Power Supply 22

RS232/RS485 Interface connection 28,

30

User Inputs 15

User Outputs 18

Connection of motor 20–21, 164–165

Connection of motor phases 21

Control Flags 110–122

Control of program flow 42–44, 68, 74, 78,

92–93

Conversion Factor (CON) command 60

Counter Mode (CTM1) command 63

Counter Mode (CTM2) command 65

Counter/Timer 1 (CN1) command 57

Counter/Timer 1 Divider (CND1) command

58

Counter/Timer 2 (CN2) command 57

Counter/Timer 2 Divider (CND2) command

58

CR (Command Delimiter) 28–29

Critical Errors 69, 128


CS (Motor Current at Standby) Command

61

CT (Motor Current when Running) command 61–62

CTM1 (Counter Mode) command 63

CTM2 (Counter Mode) command 65

Current Frequency (CVI) command 67

CVIx Frequency Range Flag CB28 116

Current Velocity (CV) command 66

CV (Current Velocity) command 66

CVI (Current Frequency) command 67

CVI Frequency Range Flag CB28 116

D

D (Delay) command 46, 68

Deceleration 49–50

Default

Default Direction Flag CB10 111

System Default (SD) command 101

Delay (D) command 46, 68

Delete EEPROM command ## 49

Digital Inputs 15–17, 161

Disable Input Averaging Flag CB19 113

Encoder inputs see PIF command 88

High-speed Start Trigger at IN1, Flag

CB20 114


CB21 114

Read Status of Inputs (IN) command 75

Digital Outputs 18

Enable Running Output (08) Flag CB17

113

Error at User Output Flag CB6 110

Read/Set Status of Outputs (OUT) command 86–87

Dimensions 136–137

DIR Outputs 24–25

Direction

Default Direction Flag CB10 111

Direction Level Flag CB1 110

Disable Error E43-E47 Flag CB11 111


Diverse Flag CB22 114

Division operator, /, 41

Driver

Outputs 24

Yaskawa Servo Drivers 140–143

Index

E

E (Global Execute) command 68

EEPROM, Delete EEPROM (##) command

49

Electronic Gearing Flag CB23 115

ELSE 42, 68

Enable Running Output (08) Flag CB17 113


Encoder Pulses (PR) command 89

End-of-travel Limit Inputs 16, 161


End of travel Flag CB4 110

Negative Limit Switch (NLS) command

83

Positive Limit Switch (PLS) command

88

Trigger Level Flag for NL Input CB25

115

Trigger Level Flag for PL Input CB26

115

Equal to (value assignment) operator, =, 41

ERR (Error Bit) command 69

Error

Output Error Flag CB7 111

Error Messages 43, 124–127

Errors

Common Errors 139

Communication errors, see ES0 command 69–71

Critical Errors 69, 128

Disable Error E43-E47 Flag CB11 111



Error Bit (ERR) command 69

Error Messages 124–127

Error Status Text (EST) command 72

Error Status Text (ESTG) command 72

General Error Flag CB8 111

Monitoring inputs and errors 46

Read-out of Error Status (ES) command

69–71

Status and Error Indication 138

Testing error routines using the ERR command 69

ES (Read-out of Error Status) command 69–

71


Index

EST (Error Status Text) command 72

ESTG (Error Status Text) command 72


Exclamation mark

See Indexer type command 48, 51

Execute. Global Execute command E 68

Execution time of commands 159

EXIT (Exit Programming Mode) command

72

Exit Programming Mode (EXIT) command

72

External modules 53, 59, 75–76, 89–90, 159

F

Factory default settings (## command) 49

Factory Default Set-up, SD command 101

Firmware Version (VE) command 107

Flags


Front Panel, Overview 8

G

Galvanic isolation 15–18, 26–27

Gearing Flag CB23 115

General Error Flag CB8 111

Global Execute (E) command 68

GND Output 24–25

GO (Start Program Execution) command 73

Grammatical errors 43

Greater than operator, >, 41

Greater than or equal to operator, >=, 41

Ground 15–17, 161

H

H (Halt) command 73

Halt (H) command 73

Hardware 13–18, 22, 24, 26–30

High-speed Start Trigger at IN1, Flag CB20

114

High-speed Start Trigger at IN2, Flag CB21

114

I

Home Input 17, 161


I (Read Flag from External Module) command 76

IBM AT/IBM-XT/PS2 30

IF statement 42, 74, 159

IN (Read Status of Inputs) command 75

Indexer type command ! 48, 51

INPUT (Read Data from External Module) command 75

Inputs

Analogue Inputs 26, 52, 151–152, 161



End-of-travel Limit Inputs 16, 161


CB20 114


CB21 114

Home Input 17, 161

Monitoring inputs and errors 46

Read Status of User Inputs (IN) command 75

User Inputs 15–17, 161

INT (Interrupt) command 77


115


115

Interface see RS232/RS485 Interface

Interrupt

Return from Interrupt (RETI) command

93

Interrupt (INT) command 77


115


115

Interrupt Controlled Start (NSTART) command 84–85

NSTART Trigger Level Flag CB18 113

Interrupt Controlled Stop (NSTOP) command 85–86


115


115

Interrupt status 117

INV 42

J

J (Jump) command 44, 78, 159

JS (Jump Subroutine) command 44, 78, 159

Jump command 44, 78, 159


Index

Jump Subroutine command 44, 78, 159

JVL Step Motor Driver 144

L

Labels

See the J and JS commands and Motoware

LEDs


Less than ooperator, <, 41

Less than or equal to operator, <=, 41

Limit Inputs 16, 161

LINE (Verify Line Number) command 79

Line Number

Verify Line Number (LINE) command

79

Logic Operations 42

Logical Operators 41

M

Macro Functions (MAKRO) command 79

MAKRO (Macro Functions) command 79

Maximum Velocity (VM) command 107,

159

MCHS (Memory Checksum) command 80

MEM (Show Used Memory) command 80

Memory Checksum (MCHS) command 80

Memory, Show Used Memory (MEM) command 80

Ministeps 89

Mode 47

Motor Connection 20–21, 164–165

Motor Current at Standby (CS) commands

61

Motor Current when Running (CT) command 61–62

Motor in Position (COIN) Flag CB16 113

Motor Phases 20

MotoWare 37–39

MR1 (Recall Program) command 81

MR2 (Recall Registers) command 81

MS1 (Save Program) command 81

MS2 (Save User Registers) command 83

Multiplication operator, *, 41

Multi-tasking 149–150

N

Negative Limit Switch (NLS) command 83


115

NLS (Negative Limit Switch) command 83


115

Noise 19

Noise emission 19

Not equal to operator, <>, 41

NPN output 15–17

NSTART (Interrupt Controlled Start) command 84–85

NSTART Trigger Level Flag CB18 113

NSTOP (Interrupt Controlled Stop) command 85–86


115


115

O

Operators

Arithmetic Operators 40

Logical Operators 41

Precedence 41

Optical isolation 15–18, 26–27

OR operator 41

ORL 42

OUT (Read/Set Status of Outputs) command 86–87, 159

Outputs

Analogue Output 27, 54, 152, 161

CLK 24–25

COIN 24–25

COIN Motor in Position Flag CB16 113

DIR 24–25

Driver Outputs 24


113


GND 24–25

Output Error Flag CB7 111

PS+ 24–25

Read/Set Status of User Outputs (OUT) command 86–87

SALA 24–25

SALA Signal Flag CB15 113

SON 24–25

User Outputs 18

Overload

Voltage 22–23


Overview of Commands 129–131

P

P- terminal 22–23, 161

P+ terminal 22–23, 161

Parallel connection of motor phases 20–21

Pausing program execution

See the Delay (D) command

PC 28, 30–31, 35, 81, 89–90, 99, 118–119,

160

Connection of Indexer to a PC 30

Phases 20

PIF (Pulse Input Format) command 88

PLC 7, 75–76, 111, 119, 160–161

PLS (Positive Limit Switch) command 88


115

PNP output 15–17

Pointer functions 45

Position Reached Flag CB24 115

Positive Limit Switch (PLS) command 88


115

Power Supply 22

Capacitor 22–23

Supply Voltage (VOL) command 108

PR (Encoder Pulses) command 89

Prefix 47

PRINT (Print to External Module) command 89–90, 159

Print to External Module (PRINT) command 89–90, 159

Programming & Programs 36–46

Command Description 28–29, 47–109

Alphabetical Overview of

Commands 129–131


Error Messages 124–127

Execution time of commands 159

PROGRAM (Set Indexer to Programming Mode) command 90

Program Examples 149–158

Multi-tasking 149–150

Test-program, quick start 10, 153

Use of analogue input 151–152

Use of analogue output 152

Program execution, GO command 73

Program Exit (PX) command 72

Index

Program flow 42–44, 68, 74, 78, 92–93

Programming the Indexer using Motoware 37–39

Recall Program (MR1) command 81

Save Program (MS1) command 81

Set Indexer to Programming Mode

(PROGRAM) command 90

PS+ Output 24–25

Pull-up resistor 15–17

Pulse Input Format (PIF) command 88

PX (Program EXIT) command 72

Q

Question mark

See Show set-up command 48

Quick Start, Test program 10, 153

R

R (User Register) command 91

R0-R220

See User Registers

Range 47

RB (User Register) command 92

Read data from external module (INPUT) command 75

Read Flag from external module (I) command 76

Read Status of Inputs (IN) command 75

Read/Set Status of Outputs (OUT) command 86–87, 159

Recall Program (MR1) command 81

Registers 36

Recall Registers (MR2) command 81

Save User Registers (MS2) command 83

Special User Registers (RX) command

96–100, 159

User Register (R) command 91

User Register (RB) command 92

User Register (RI) command 93, 159

Registers, SMI3x 145

Relative Offset Positioning (SR2) command

104–105

Relative Positioning (SR) command 104,

159

Report Motor Status (RS) command 94

Report Motor/Program Status in Text (RST) command 95

Reset factory default settings, (## command) 49


Index

Reset Indexer (RESET) command 92

Resonances 89

RET

See Subroutines 44, 92

RETI (Return from Interrupt) command 93

Return from Interrupt (RETI) command 93

RI (User Register) command 93, 159

RS (Report Motor Status) command 94

Motor status (RS) when limit is activated flag, CB38 121

RS232/RS485 Interface 28–30

Address 28

Checksum 28–29, 56, 80

Command 28

Command Syntax 28

Communication (Baud) Rate 28, 56

Communication Protocol 28

Connection 28

Errors, see ES0 command 69–71

RS232 Activity Flag CB29 116

RS232 Communication Flag CB9 111

Synchronisation 29

Use of commands 34

RST (Report Motor/Program Status in Text) command 95

Runtime errors 43

RX (Special User Registers) command 96–

100, 159

S

SALA (servo alarm) 145

SALA Output 24–25

Signal Flag 113

Save Program (MS1) command 81

Save User Registers (MS2) command 83

Screened cable 19, 140–142, 144–145, 148,

161–162, 164–165

SD (System Default) command 101

Seek Zero Point (SZ) command 106

Zero Search Flag CB27 116

Semi-colon (Command Delimiter) 29, 34

Serial connection of motor phases 20–21

Serial Number (SN) command 102

Servo Alarm Signal (SALA) Flag CB15 113

Servo On (SON) command 102, 159

Set New Absolute Position (SP) command

103

Set New Global Absolute Position (SPT) command 103

Set/Read Interrupt status 117

Set/Read Status of Outputs (OUT) command 86–87, 159

Set-up (Show set-up) command ? 48

SH (Smooth Halt of Motor) command 102,

159

Show set-up command ? 48

Show user memory (MEM) command 80

Smooth Halt of Motor (SH) command 102,

159

SN (Serial Number) command 102

Software 33

SON Output 24–25

Servo On (SON) command 102, 159

SP (Set New Absolute Position) command

103

Special User Registers (RX) command 96–

100, 159

Specifications 134–135

SPT (Set New Global Absolute Position) command 103

SR (Relative Positioning) command 104,

159

SR2 (Relative Offset Positioning) command

104–105

Standby Mode 35

Motor Current at Standby (CS) command

61

Start program execution, GO command 73

Start Rate (VS) command 108, 159


Motor Status (RS) when limit is activated flag, CB38 121

Status Flags 110–111, 113, 115–116

STOP (Stop Motor) command 106

Stop Motor (STOP) command 106

Subroutines 44, 92

Subtraction operator, -, 41

Supply Voltage (VOL) command 108

Synchronisation 29

Syntactic errors 43

Syntax

Command Syntax 28

System Default (SD) command 101

SZ (Seek Zero Point) command 106



T

Technical Data 134–135

Temperature (TP) command 107

Test program, Quick Start 10, 153

Testing error routines using the ERR command 69

Timing, Command Timing 159

Torque 21

TP (Temperature) command 107

Trigger Level Flag for INT1 CB12 112



Trigger Level Flag for NL Input CB25 115

Trigger Level Flag for PL Input CB26 115

Turntable Mode CB30 116

U

Unipolar Motors 20

User Inputs 15–17, 161


Encoder inputs

See PIF command 88


CB20 114


CB21 114

Read Status of User Inputs (IN) command 75

User Outputs 18


113


Read/Set Status of Outputs (OUT) command 86–87

User Output Error Mode Flag, CB33 118

User Registers 36

Recall Registers (MR2) command 36, 81

Save User Registers (MS2) command 36,

83

Special User Registers (RX) command

96–100, 159

User Register (R) command 91

User Register (RB) command 92

User Register (RI) command 93, 159

V

Value assignment (equal to) operator, =, 41

VE (Firmware Version) command 107

Index

VM (Maximum Velocity) command 107,

159

VOL (Supply Voltage) command 108

Voltage Overload 22–23, 26

VS (Start Rate) command 108, 159

W

Wait for Condition (WAIT) command 108,

159

Y

Yaskawa Servo Drivers 140–143

Z



SMI30 / SMI31 Servo/Step Motor Indexer User Manual SMC35A

SMI30 / SMI31

Servo/Step Motor Indexer

SMC35A / SMC35B

Step Motor Controller

User Manual

JVL Industri Elektronik A/S - April 2001

Velocity (rpm.)

VM

VS

AC

ACT

ACP: Pulses used for acceleration

ACT: Time in sec. used for acceleration

AC: Slope in rpm./sec.

VM: Top velocity in rpm.

VS: Start velocity in rpm.

t: Time in sec.

s: Moved distance in pulses

PR: Pulses per revolution (encoder) t Time (sec.)

ACP=

(VM + VS) * ACT * PR

120

[Pulses]

ACP=

(VM - VS ) * PR

120*AC

[Pulses]

AC=

VM - VS

ACT

[RPM/sec.] s=

AC * t * PR

120

[Pulses] s=

VM * t * PR

60

[Pulses]

Related manuals

Table of contents

SMI30 / SMI31 Servo/Step Motor Indexer User Manual SMC35A

SMI30 / SMI31

Servo/Step Motor Indexer

SMC35A / SMC35B

Step Motor Controller

User Manual

JVL Industri Elektronik A/S - April 2001

Velocity (rpm.)

VM

VS

AC

ACT

ACP: Pulses used for acceleration

ACT: Time in sec. used for acceleration

AC: Slope in rpm./sec.

VM: Top velocity in rpm.

VS: Start velocity in rpm.

t: Time in sec.

s: Moved distance in pulses

PR: Pulses per revolution (encoder) t Time (sec.)

ACP=

(VM + VS) * ACT * PR

120

[Pulses]

ACP=

(VM - VS ) * PR

120*AC

[Pulses]

AC=

VM - VS

ACT

[RPM/sec.] s=

AC * t * PR

120

[Pulses] s=

VM * t * PR

60

[Pulses]

Related manuals

JVL

MIS340

CB32CLN20QTAX10M

JVL

MAC00-EP41

CB32PB Rev.1.0

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