B8961 and B8962
Brushless Servo
Smart Drives
Operator’s Manual
P/N PCW-4744, Rev 1.9
This manual covers the following
IDC Products:
B8961-1 axis Brushless Servo
Smart Drive
B8962-2 axis Brushless Servo
Smart Drive
Table of Contents
Table of Contents
PRODUCT AND MANUAL OVERVIEW................................................................1
SHIPPING CONTENTS......................................................................................................................2
QUICK START......................................................................................................3
KEYPAD OPERATION.........................................................................................7
KEYPAD FEATURES ..........................................................................................................................7
Keypad Har dware Features ..........................................................................................................................9
Dipswitches..........................................................................................................................9
Contrast ................................................................................................................................9
Remote Mounting.................................................................................................................9
KEY PAD PROGRAMMING MENU STRUCTURE...........................................................................10
RUN Menus ......................................................................................................................................................10
PROG Running Programs..............................................................................................11
JOG Jogging the Motor ..............................................................................................11
TEST Test and Debugging functions ...........................................................................12
EDIT Menus .....................................................................................................................................................13
PROG Creating and Editing Motion Programs..............................................................13
SETUP System Set-up Menu ...........................................................................................14
POS Reset Current Position to Zero ..........................................................................15
LIST List User Memory Usage ....................................................................................15
TUNING Servo Tuning.......................................................................................................15
HELP Menus .....................................................................................................................................................16
At the Main Menu...............................................................................................................16
At the Menus and Sub-Menus .............................................................................................16
In the Editor .......................................................................................................................16
COPY Menus ....................................................................................................................................................16
PROG Copy a Program to Another Program.................................................................16
TO PAD Upload Memory to Keypad................................................................................17
FROM Download Memory to Control...........................................................................17
DEL Men u.........................................................................................................................................................17
RUN-TIME OPERATOR INTERFACE................................................................................................17
CONFIGURING YOUR SYSTEM ........................................................................19
SETUP MENU..................................................................................................................................20
MOTOR Motor/Drive Configuration ....................................................................................................20
ENC Encoder Configuration ............................................................................................................22
MECH Mechanical Configuration .....................................................................................................24
I/O Input & Output Configuration .............................................................................................28
JOG Jogging Configuration .............................................................................................................36
HOME Homing Configuration ............................................................................................................37
PROG Program-Run Configuration .................................................................................................39
RS232 RS-232C Configuration ............................................................................................................40
MISC Miscellaneous Configuration Parameter s .........................................................................40
TUNING YOUR SERVO SYSTEM ....................................................................................................43
Compensator ......................................................................................................................44
RS-232C Users.....................................................................................................................44
Key Pad Tuning ..............................................................................................................................................45
Keypad Tuning Menu Tree..................................................................................................45
GAINS Setting the Servo Gains ......................................................................................45
B8961 and B8962 User Manual
Toggle Tuning Stimulus.......................................................................................................46
Monitor Monitor Port .........................................................................................................46
PROGRAMMING YOUR APPLICATION ............................................................47
SMART DRIVE PROGRAMMING OVERVIEW.................................................................................47
CREATING OR EDITING PROGRAMS WITH THE KEYPAD ...........................................................47
COMMAND SUMMARY ..................................................................................................................48
VARIABLES AND ARITHMETIC .......................................................................................................49
VARIABLES ......................................................................................................................................49
LEGAL VERIABLE NAMES...............................................................................................................49
BUILT-IN VARIABLES.......................................................................................................................50
NON-VOLATILE VARIABLES............................................................................................................52
ARITHMETIC OPERANDS AND EQUATIONS.................................................................................53
BOOLEAN OPERATORS- & (AND), (OR)......................................................................................53
LOGICAL OPERATIONS ON EXPRESSIONS ...................................................................................54
INCREMENTING AND DECREMENTING VARIABLES.....................................................................54
EXPRESSIONS .................................................................................................................................54
MULTI-AXIS OPERATION ...............................................................................................................55
SIMPLE GO COMMANDS ...............................................................................................................55
TYPICAL PROGRAMMING EXAMPLES...........................................................................................58
READING AN ANALOG INPUT.......................................................................................................59
CONFIGURING AN ANALOG OUTPUT..........................................................................................60
PROGRAMMING COMMANDS..........................................................................61
PROGRAMMING WITH SERIAL COMMUNICATION ........................................91
SECTION 1:RS-232 PROTOCOL .....................................................................................................91
Making RS-232C Connections to the S6961/2 .....................................................................................91
Troubleshooting Serial Command Problems .......................................................................................92
Daisy Chaining Smart Drives ...................................................................................................................92
SECTION 2:APPLICATION DEVELOPER SOFTWARE.....................................................................93
Installing Application De veloper ..............................................................................................................93
Common Installation Er rors and Remedies ........................................................................................94
SECTION 3:USING APPLICATION DEVELOPER™..........................................................................95
Setup Wizar d ....................................................................................................................................................95
Axis Setup .........................................................................................................................................................99
I/O Setup.........................................................................................................................................................102
Miscellaneous (Misc) Setup ......................................................................................................................103
File Menu .......................................................................................................................................................104
Program Editor ............................................................................................................................................105
View Configuration ....................................................................................................................................106
Communications .........................................................................................................................................106
Run Men u......................................................................................................................................................107
SECTION 4:RS-232C IDEAL™COMMAND REFERENCE...............................................................108
Overview ........................................................................................................................................................108
Sample File ....................................................................................................................................................108
Command Syntax .......................................................................................................................................110
Serial Setup Commands ............................................................................................................................112
Serial Prog ramming Commands ...........................................................................................................118
Commands Not Used In Host Mode .....................................................................................................120
Serial Immediate Status Commands ....................................................................................................122
Serial Supervisory Commands ...............................................................................................................127
Table of Contents
HARDWARE REFERENCE ...............................................................................131
B8961 AND B8962 SMART DRIVE MOUNTING...........................................................................131
FK1 and FK2 Fan Kit ................................................................................................................................132
RPACK-1 and RP ACK-2 Mounting Installation ..................................................................................132
Remote Keypad Mounting ........................................................................................................................132
B8000 SMART DRIVE HARDWARE SPECIFICATIONS..................................................................133
B8961 AND B8962 HARDWARE CONNECTIONS ........................................................................134
B8961 AND B8962 INPUT AND OUTPUT SCHEMATICS .............................................................135
TROUBLE SHOOTING .....................................................................................137
SYMPTOMS AND SOLUTIONS .....................................................................................................137
IDC PRODUCT SUPPORT ...............................................................................139
FACTORY AUTHORIZED DISTRIBUTORS ....................................................................................139
REGIONAL OFFICES.....................................................................................................................139
TOLL FREE TECHNICAL SUPPORT...............................................................................................139
CAD LIBRARY...............................................................................................................................139
WARRANTY & REPAIRS ..................................................................................139
INDEX..............................................................................................................140
APPENDIX A: IDC ACTUATOR RATIOS..........................................................143
CONFIGURING INCH & MM UNITS ON SMART DRIVES USED WITH IDC ACTUATORS..................143
Methods For Configuring Ratio ..............................................................................................................143
IDC ACTUATOR RATIOS...............................................................................................................143
N, T,R2, R3, R4, NM, RM Series ...............................................................................................................143
APPENDIX B: EMC INSTALLATION................................................................147
ELECTROMAGNETIC COMPATIBILITY (EMC) INSTALLATION GUIDELINES.............................147
Introduction ..................................................................................................................................................147
Separation and Shielding ..................................................................................................148
Grounding.........................................................................................................................149
Physical Installation ...................................................................................................................................150
AC Power Line Filtering .............................................................................................................................150
Motor Output P ower Cable Shielding ...................................................................................................151
Declaration of Confromity .......................................................................................................................152
APPENDIX C: FAN KIT OPTION .....................................................................153
APPENDIX D: REGEN PACK OPTION ............................................................155
Chapter 1 - Product and Manual Overview
Product and Manual Overview
IDC’s B8961 and B8962,one and two axis Smart Drives,combine a DSP based
servo amplifier with a powerful,but easy to use,machine controller.We offer a
single axis version (B8961) and a dual axis version (B8962).The B8962 has two
axes of independently configurable amplifiers.Both products incorporate IDC’s 5
amp continuous,10 amp peak,120/230VAC,digital servo amplifier with a
motion/machine controller in a single,compact package.Up to 24 digital I/O are
available to control other machine functions.Up to 8 of these can be configured as
analog inputs or outputs.
The B8000 Series Smart Dri ves fe a t u re a 5 amp continu o u s , 10 amp peak, d i gi t a l
b rushless servo dri ve using state of the art DSP tech n o l o gy to provide high
p e r fo rmance closed loop servo control to a wide va riety of permanent mag n e t
b rushless and brushed servo motors and actuators offe red by Industrial Dev i c e s
C o r p o ra t i o n .
The Vector Control used by the servo amplifier offers higher bandwidth torque
and velocity control when compared with sinusoidal or hall effect commutated
brushless servo amplifiers.This results in an expanded torque speed curve that
leads to higher throughput machines.The easy servo setup offered by the keypad
configuration or via Application De veloper gives high speed,high torque,brushless
servo motor performance,with an ease of use rivaled only by a stepper system.
IDC’s IDeal™Smart Drives provide excellent value when your application calls for
any of the following:
• A small,1-2 axis machine controller
• A “motion node”to a master PLC or PC
• A cost effective operator interface
• Thumbwheel data inputs
• Flexible I/O capabilities
• On-board OPTO I/O modules (analog or digital)
The B8000 Series Smart Drives also feature a programming/operator interface.The
intent of the Smart Drive’s keypad is to allow you to quickly and easily configure
and program your system.Initial setup and configuration,in most cases,will require
only a few minutes using the keypad.While Smart Drives fully support PC based
RS232 programming,the setup and configuration sections of this manual often
emphasize the keypad approach.RS232 commands and setup definitions are in a
separate chapter.We strongly recommend using a keypad with your first B8000
Series Smart Drive application. You will also find it an invaluable troubleshooting
and machine commissioning aid during subsequent applications.
The following manual has been designed to help you successfully install,program
and operate your IDeal Programmable Smart Drive System.Each section of the
manual emphasizes the common theme “Ease of Use”.If you have any questions
that this manual does not adequately answer, please contact our factory application
engineers.
The manual begins with this Overview, followed by a Quick Star t chapter to help
you quickly confirm basic system operation.Next the manual describes
Communication with Your Control via the keypad interface.RS-232 interface
details are covered in Chapter 7, RS-232 Operation .
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B8961 and B8962 User Manual
Chapter 4 covers the procedure for Configuring Your System to your specific
equipment and application re q u i re m e n t s . It includes step-by-step keypad instru c t i o n s
on scrolling through and entering setup para m e t e rs .This chapter cove rs initial motor
settings,I/O configuration,and defining the mechanics of your system.IDC’s
Windows based Application De veloper also follows the same menu structure
described here. .
Chapter 5, Programming Your Control , provides detailed program and application
examples and strategies.Other topics include variable usage,user menus,math
functions,and analog I/O. Our IDEAL™command language is generally regarded as
the easiest motion control language in the industry. It is both easy to remember
and intuitive,without sacrificing flexibility or power.
In Chapter 6, Command Ref e re n c e,this alphabetical listing of Smart Dri ve commands
explains in detail syntax, ra n ge s ,d e fa u l t s , and provides pro gramming ex a m p l e s .
Chapter 7, RS-232 Operation , is for users who plan to use the Smart Drive in an
RS232 hosted mode,or who wish to program and configure the drive via RS232.
IDC’s Application De veloper program follows a standard Windows dialog box
structure to make configuring and programming the Smart Drive control straight
forward.This section also covers RS232 command syntax and definition for users
who are not using Windows.
The Har dware Reference chapter provides detailed I/O schematics,as well as
motor drawings,cables and specifications.The Troubleshooting chapter lists a
series of common application problems along with their symptoms and solutions.
Included with this manual is the Application De veloper cd-rom.IDC’s Application
Developer and Servo Tuner software are automatically installed on your hard drive
by running the setup program on the Application Developer cd-rom.This disc also
includes a readme file containing the latest information on software features.Many
demo programs are included with AppDeveloper.
If you cannot find the information that you need in this manual,please contact the
Applications Department.(800) 227-1066.
Shipping Contents
1. B8961 or B8962 Smart Drive control
2. 120 VAC power cable
3. Application Developer software cd-rom
4. Installed OPTO modules (optional)
5. Fan Kit (optional)
Note:Units ordered as B8961NPs or B8962NP do not include the following keypad
items:
1. Keypad programming/operator interface (Part #FP220)
2. Keypad remote extension cable (6 ft)
3. Keypad remote mounting gasket
2
Quick Start
The purpose of the Quick Start chapter is to help an experienced motion control
user quickly set-up and bench test a B8000 Series Smart Drive with an IDC
supplied motor/encoder package.The following directions assume that the user is
familiar with servo motors,encoders,servo amplifiers,servo controls,and their
related electrical connections.Please refer to Chapter 4, “Configuring Your
System” if you have questions on any of these procedures.
For ease of set-up,we recommend that you use a key p a d ,and in this chapter it is
assumed that a keypad is used for set-up, even if an RS232 connection will be used later.
Caution: All connectors are KEYED to prevent “backwards”
installation. The connectors should fit snugly, but do not need to
be forced.
Caution: Do not plug the motor/encoder connector into the drive
until instructed. The motor and encoder can be damaged by an
incorrect motor setting.
Apply Power
Chapter 2 - Quick Start
Connect the B8000 Series Smart Drive to 120VAC
using the supplied AC power cable and connector.
The AC power input terminals are labeled and
located at the top of the Smart Drive.When power is
applied,the display briefly shows Model number and Software Revision,then
changes to the Main Display.The Main Display continuously shows the position of
each axis on the top line and the status of Inputs 1-8 and Outputs 1-8 on the
bottom line.
Select the Motor Type
1. Press the EDIT key. Press SETUP (F2),then MOTOR
(F1),then TYPE (F1).
2. The display should show NONE.Use the á and â
keys to change the motor choice.If you have a
B8962,use the ß and à arrows to change to axis
two to verify the motor choice.
3. Once the proper motor and voltage level has been
selected,press ESC to save your choices.
4. You will be prompted to Enable each axis.Choose YES (F1).
If using a non-IDC motor, please call the factory for details on obtaining a motor
data file for your motor. If you already have this custom motor data file, see the
Using Non-IDC M o t o r section of Chapter 7, RS-232 Opera t i o n .
+0.0000 +0.0000
00000000 00000000
------ á EDIT â ------
PROG SETUP POS
Axis One Motor Type
B23:110 VAC
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B8961 and B8962 User Manual
Connect The Motor and Encoder Cable(s)
Power down the drive and connect the pre-wired motor and encoder cables to the
Smart Drive.The 20 pin motor/encoder cable plugs into the bottom of the Smart
Drive.The MS connectors are keyed at the motor end.See the diagram below for
more information.If necessary,please refer to the Har dware Reference chapter for
wiring diagrams.
End-of-travel inputs are jumpered at the factory. See the Har dware Reference
section for IDC supplied limit switch wiring schematics.
After all motor and encoder cables are firmly connected, reapply power and
continue on with the Quick Star t directions.
Caution: The motor will be
enabled when the drive is
powered up.
Jog the Motor
1. Press RUN.Press JOG (F2).
2. Press the ß or à key to jog (and á and â keys
to jog axis two on the B8962).
3. Change the Jog Speed by pressing High (F2) or Low (F1) and jog again.
------ RUN ------
PROG JOG TEST
Run [TEST MOVE] Program
Press ESC to return to the Main Display.
1. Press RUN.Press TEST(F3).Press MOVE(F3)
2. Select the axis to test.(F1,F2,or F3) The axis
selected will move forward and backward one distance unit.(Distance units
default to motor revolutions.)
------ TEST MOVE -----Axis 1 Both Axis 2
4
Create and Run a Simple Program
Press ESC to return to the Main Display.
1. Press EDIT. Press PROG (F1). Enter 1.(Edit program #1.)
AC1 Press F2 & 2 & 1 & ENTER
VE10 Press F1 & 2 & 1 & 0 & ENTER
DI3 Press F2 & 1 & 3 & ENTER
GO Press F1 & 3 & ENTER
EN Press F3 & 6 & ENTER
2. Press ESC to save the program and return to the Main Display.
3. Press RUN,then PROG (F1),then enter 1.(Run program #1.) The program
should move the motor 3 revolutions.
Discrete Input Test
Connect a 12” test wire to one of the COM screw terminals found on the side of
the drive.One by one,touch the test lead to each Input screw terminal and verify
that the input status shown on the Main Display toggles between 0 and 1.
Discrete Output Test
1. Press RUN. Press TEST (F3). Press OUTPUT (F2)
2. Press the ß or à key to select an output number.
3. Press the â or á to turn the output ON or OFF.
4. Press ESC to leave this menu.The outputs will return to their state prior to
entering the test mode.Please use caution when manually toggling outputs
connected to live devices.No software interlocks are observed during this test.
Chapter 2 - Quick Start
The OPTO position’s default configuration is as an input.Please see Configuring
Your System for information on changing these to Outputs.You will then be able
to toggle their state from this screen.
Where to go from here?
Successfully completing these steps confirms the basic operation of your system.At
this point, you may want to refer to the following sections for more information:
• Hardware connections p.134
• Configuring Your System p.19
• IDC Actuator Gear Ratios p.25
• Non-IDC’s motor operation p.21
• Drive mounting p.131
• Fan Kit and RPACK connections p.132
• I/O software configuration p.28
• I/O hardware schematics p.135
• Basic keypad operation p. 7
• Programming examples p.58
• RS232 connection and usage p.91
5
Keypad Operation
This chapter is meant to familiarize a first time user with the basics of IDC’s
keypad operation.IDC’s keypad functions fall into two categories. The keypad
functions first as a programming and troubleshooting tool.Secondly, it functions as
an operator interface.Operators can run programs,make menu choices,or be
prompted to enter data via the keypad number keys.
The first section of this chapter, Keypad Features , defines the basic function of
each button on the keypad.The second section,Menu Structur e, gives the
programmer a broad overview of how the keypad’s setup and programming menus
operate and fit together. Detailed information about each step parameter is
presented in Configuring Your Control .
Keypad Features
Chapter 3 - Keypad Operation
Display
Easy to read,2 line,40 character,back-lit supertwist display.
F1, F2, F3 Function Keys
Used as Menu selectors.Used with numeric keys to select commands in the editor.
Programmable as operator menu selections.See the FK command for information
on using the function keys within a program.
7
B8961 and B8962 User Manual
RUN
Runs a Program, Jogs an axis,or accesses Test/Debugging functions like Program
Trace mode,and amplifier Enable/Disable/Reset.
EDIT
Edits setup parameters,programs,tuning (servos only),and resets position counter.
Also accesses program listing and teach mode. (Teach mode will be implemented
in a future software r evision.)
HELP
Provides help on keys,menus and command syntax.
COPY
Copies one program to another within a unit.Copying a complete application,
including all programs,setup parameters and motor configuration information.
Smart Drive to Smart Drive copying,via the keypad,will be implemented in a
future software release.
DEL
Deletes characters in the editor, or entire programs from memory.
Arrows (ß, à, and á, â)
Scroll through menu options,setup choices and programs in the editor.Also used
to move an axis in jog mode.
Decimal Point
Used to enter fixed point numbers.
Comma
Used in multi-axis controls to separate axis command parameters.Also part of the
syntax in message and variable prompt commands.
ALPHA
Alpha plus a numeric key selects the first letter on that key.Press the numeric key
more than once to select second or third characters. For example,Alpha+1+1
selects B.Other ASCII symbols,such as the >< and á characters can be selected
with Alpha using the á and â arrow keys.
ENTER
Selects a choice and enters a space in the editor.
Sign (+/-)
Selects the direction of motion in programs and can be used in math expressions.
ESC
Stops a program,backs up a menu level,also used for exiting and saving programs
while in the editor.
Numeric Keys (0-9)
Enters numbers.Used with Alpha to select characters.Used with F1-F3 to enter
commands in the editor.
8
Keypad Hardware Features
Dipswitches
A bank of four dipswitches on the back of the keypad provide a way to lock
operators out of various keypad access levels.See the chart below for switch
assignments.If access to a menu level is denied,pressing that key will have no
effect. For example,if 1 is on,and 2 is off, the operator will be able to stop motion,
and program execution,(by pressing the escape key) but will not be able to access
the RUN menus to select another program to run.This is a hardware inhibit,and is
independent of any software,or setup parameter in the Smart Drive. Power must
be cycled before keypad dipswitch changes take effect.
In addition,access to the jog menu can be enabled or disabled from software.
SW1 SW2 Function Level
off off Full keypad functionality
off on No access to RUN, ESC,EDIT,COPY, DEL menus
on off No access to RUN, EDIT,COPY, DEL menus
on on No access to EDIT, COPY, DEL menus
Chapter 3 - Keypad Operation
Switch 3 and 4 are reserved for future functionality.
Contrast
On the back of the keypad,there is a single,plastic, flat head screw driver
adjustable,potentiometer.This is used to adjust the contrast on the LCD display. If
the Smart Drive and keypad were purchased together,this adjustment has been
made by IDC.Some adjustment may still be needed to accommodate unusual
lighting or viewing angles.
Remote Mounting
The keypad can easily be remote mounted and sealed to NEMA 4 specifications by
using the included mounting gasket and 6 foot communication cable.The gasket
should be installed with its adhesive side to the enclosure.A pressure seal is formed
between the gasket and the keypad,while the adhesive maintains the seal between
the enclosure and the gasket.The keypad communicates with the Smart Drive via
RS-232 so this cable can be extended if needed.At longer distances,users may have
to provide a separate 5 VDC supply to power the keypad.Complete keypad
drawings and pinouts can be found in the Har dware Reference chapter.
Back of Keypad Detail drawing
9
B8961 and B8962 User Manual
Key Pad Programming Menu Structure
Most operations from the Keypad are menu-driven.A menu consists of a title bar
on the top display line and as many as three options (or sub-menus) at a time on
the bottom display line.Each option is positioned over one of the function keys.
Pressing a function key will select the corresponding option.
If a menu has more than three options,arrows will appear in the title bar
indicating that there are more options which are not displayed.Pressing the
appropriate arrows (indicated on the display) will cycle through all options
associated with the menu.To leave a menu,without making a selection,or to back
up one menu level,press ESC.
The following tree shows the Menus which are accessible from the Main Display
by pressing RUN, EDIT, HELP, COPY, and DEL keys.
NOTE:ESC backs up one menu in SETUP, and returns the user to the Main Display
elsewhere.
RUN EDIT HELP COPY DEL
PROG: Run pro g r a m s ,
by name or number.
JOG: Jog either axis
at low or high speeds
using submenu and
a r row keys
T E S T: Run pro g r a m s
in trace mode,
amplifier shutdown
and reset, test
outputs, and moves.
RUN Menus
PROG: Edit/Wr i t e
p rograms, most
commands are listed
on the keypad.
SETUP: Configure
system and operating
l i m i t s .
POS: Sets curre n t
position to a desire d
v a l u e .
L I S T: D i rectory of
s t o red pro g r a m s ,
memory usage and
available space.
TUNING: Servo tuning
via keypad, or set-up
for PC-based tuning.
TEACH: Teach move
p o s i t i o n s
At Main Menu:
P rovides help on the
function of each key.
At Menus:
P rovides help on how
to move about menus.
At Sub-Menus:
Explains setup
c h o i c e s .
In the Editor:
P rovides command
d e s c r i p t i o n s .
PROGRAM: Copies
p rograms within a
c o n t ro l .
T O PA D : Uploads a
c o n t rols memory to a
k e y p a d .
FROM: Downloads
keypad memory to a
c o n t ro l .
PROGRAM: Deletes a
p ro g r a m .
Pressing the RUN key displays a second set of RUN
RUN
sub-menus.Access the sub-menus by pressing the
function keys F1,F2,and F3,which are below PROG,
JOG and TEST respectively.
10
------ RUN ------
PROG JOG TEST
PROG Running Programs
Run an existing program by program number, by
pressing:
1. PROG(F1)
2. Program number 1-199 using numeric keys
(1-400 available with the 30k expanded memory option)
3. ENTER
Chapter 3 - Keypad Operation
á RUN PROGRAM â
> 5
Run an existing program by name by pressing:
1. PROG(F1)
2. á and â keys to scroll through the list of available
programs until you find the program you want
3. ENTER
JOG Jogging the Motor
Jog either axes by pressing:
1. RUN
2. JOG(F2)
3. ß and à keys to move axis 1
á and â keys to move axis 2 on a B8962.
Note:The á and â keys will also jog Axis 1 on a single axis unit.
Change between Low and High speeds with the F1 and F2 keys. Jog speeds and
accelerations can be changed in the JOG \ SETUP menu.
“Jog”an incremental distance by:
1. RUN
2. JOG (F2)
3. Entering a number (i.e.,0.012).
4. Pressing and releasing an arrow key will make the motor move this distance.
The arrow pressed determines the direction of the move.
5. Repeat 3 and 4 until at desired position.
Additional pushes of arrow keys will jog the same distance until either, F1,F2,or F3
is pressed.This feature is intended for very fine, final positioning.The incremental
jog speed is therefore fixed at a very low speed.
--á RUN PROGRAM â--
> 12 GRIND
JOG AXIS 1 +0.0000
<LO> HIGH
JOG AXIS 1 +0.0000
Dist.: .01
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B8961 and B8962 User Manual
TEST Test and Debugging functions
TRACE
The trace features allows you to de-bug programs by
sequentially executing one program command at a
time.
Press:
1. RUN \ TEST \ TRACE
2. Enter the program name or number
3. ENTER
The top line displays the program number, the
number of nested loops,and the number of nested
routines.The bottom line shows the command to be
executed when you press ENTER.Each time you
press ENTER,the displayed command will be executed.Pressing ESC halts program
execution.TRACE mode is not currently supported during homing operations.
OUTPUT
This feature allows you to test the control’s outputs,
as well as the devices to which they are connected,
by forcing them on and off. Press:
1. RUN \ TEST \ OUTPUT
2. ß à keys to scroll through outputs 1-8,and any OPTO positions configured as
outputs.
3. á â keys to turn the output on and off
Please use caution when connected to live devices.The Outputs will revert to their
original state when ESC is pressed.
NOTE:The OPTO position default to Inputs.They must be configured as outputs
from the SETUP / I/O / OPTO menu before being accessible from this test utility.
See Configuring Your System for details.
á TRACE PROGRAM â
>_
PR:5 LP:1 GS:0
DI8000
Test Output #4
ß á ON â à
MOVE
This selection moves your motor shaft one user unit forward and backwards.This
allows you to verify basic motor, encoder, and amplifier operation.
Press: RUN \ TEST \ MOVE,and select the axis to move.Pressing the axis Function
key will start the move.
SHUTDN
Selecting SHUTDN (shut down) allows you to
enable,disable or reset axis 1 or axis 2 (B8962).
When a drive is disabled,the amplifier is off and your
motor has no power.The shaft can be manually rotated relatively easily. RESET returns each drive to its power-on condition.
Existing set-up parameters are restored.
Press:
1. RUN \ TEST \ à \ SHUTDN
2. ENABLE,DISABLE or RESET
ß Drive 1 Disabled à
ENABLE DISABLE RESET
12
RS232 Serial Communications
Chapter 3 - Keypad Operation
ENCODER
EDIT Menus
EDIT
RUN > TEXT > RS232
This feature allows for testing of the terminal serial communications port through
the keypad.
Testing Serial Transmission:
1. From the Test Connection menu press the F1 key to
select the TRANSMIT option
2. The SmartDrive will now transmit the string ”ABC123” every 5 seconds.
Testing Serial Receive:
1. From the Test Connection menu press the F3 key to
select the RECEIVE option.
2.Any character received on the terminal port will be displayed on the keypad.
To be implemented in a future version of software.
Pressing the EDIT key reveals three sub-menus called
PROG,SETUP and POS.
---- Test Connection-----
TRANSMIT RECEIVE
Test String ‘ABC123’
Transmitting....
Data Received
------ á EDIT â ------
PROG SETUP POS
Pressing the â key reveals three more EDIT
sub-menus called LIST,TUNING and TEACH.
Access the PROG, SETUP, POS,LIST,TUNING and TEACH sub-menus by pressing the
appropriate function key. See descriptions of each of these sub-menus below.
PROG Creating and Editing Motion Programs
This menu allows you to edit an existing program,or
begin entering a new program from the keypad.
Use the numeric keys to enter a program number to
start a new motion program,or use the á and â
keys to scroll through the list of existing programs,and press ENTER.
You are now viewing your IDeal™motion program in
the keypad program editor and are ready to edit your
program.
See Programming Your Application for more information on editing IDeal motion
programs with the keypad.
------ á EDIT â ------
LIST TUNING TEACH
-á EDIT PROGRAM â-
-> 5
AC3 VE1 DI8000 GO
EN
13
B8961 and B8962 User Manual
SETUP System Set-up Menu
The following table shows the structure within the SETUP menu. For complete
descriptions of each system parameter in the SETUP sub-menu,see Configuring
Your System .
Sub- Set-up Description of Set-up Parameters
Menus Parameters
MOTOR TYPE Motor type
D-RES Drive Resolution
DIR Direction of travel
ENC MODE Select open/closed loop mode
E-RES Encoder resolution
FOL-ERR Following error
MECH DIST Distance Units
RATIO Scale distance to preferred user units
BKLASH Electronic backlash compensation
VEL Speed units
VMAX Critical speed limit
ACCEL Acceleration units
(fixed at 8000 on IDC motors)
I/O INPUTS Input functions
OUTPUTS Output functions
OPTOS OPTO module configuration
JOG ACCEL Jog acceleration
LO-VEL Low jog velocity
HI-VEL High jog velocity
ENABLE Enable/disable jog in RUN menu
HOME EDGE Edge of home switch
SWITCH Type of home switch
OFFSET Position counter offset
FINAL Final homing direction
PROG PWR-UP Program to run on power up, if any
SCAN How to scan program select inputs
DELAY Program Select de-bounce time
RS232 ECHO Echo characters
UNIT# Serial address
MISC DISPLAY Display mode
STOP-RATE Decel rate when stop input activated
TEST Enable Test Menu
14
POS Reset Current Position to Zero
POS is a quick way to reset the motor’s current
position to (absolute) zero,which can be a helpful
setup and debugging tool.
Press:
1. EDIT \ POS
2. YES (F1) or NO (F3)
LIST List User Memory Usage
LIST provides a way to view your program memory usage.Your IDC Smart Drive
will accept up to 199 IDeal™motion programs of 1024 characters each,with 6K
bytes of program storage available (up to 400 programs available with the 30k
expanded memory option).
Pressing:
1. EDIT \ â \ LIST
Displays the number of programs stored in your
Smart Drive.
Chapter 3 - Keypad Operation
Reset Position?
YES NO
DIRECTORY áMOREâ
PROGRAMS: 18
2. â
Displays the total amount of memory your
programs have used.
3. â
Displays the number of bytes of memory you
still have available.
4. âââ ... â
Displays the number of bytes being used by each
of your programs.
TUNING Servo Tuning
The following shows the structure of the TUNING menu.See Configuring Your
System for a complete description of servo tuning and the parameters in the
TUNING sub-menus.
Sub- Set-up Description of Set-up Parameters
Menus Parameters
AXIS 1 GAINS Alter servo gains for AXIS 1.
TOGGLE Start step function generator to view system
MONITOR Configure oscilloscope monitor port.
NOHUNT Enable between-move Anti-Hunt feature.
WINDUP Enable Inertial Anti-Windup feature.
DIRECTORY áMOREâ
BYTES USED: 1186
DIRECTORY áMOREâ
BYTES FREE: 4958
DIRECTORY áMOREâ
5 <untitled>: 56 bytes
response.
AXIS 2 Tune Axis 2 (same set up parameters as
RS232 Configure Smart Drive for tuning via
AXIS 1 above)
RS-232C port and IDC’s Servo Tuner
15
B8961 and B8962 User Manual
TEACH Teach Move Positions Within a Program
To be implemented in a future version of software.
HELP Menus
Whenever you have a question using the keypad,pressing HELP will display a help
HELP
message related to the menu you are currently in.Help messages are often several
lines,which you can scroll through using the á and â keys.When you are finished
reading a help message,pressing ESC returns you to the menu.
At the Main Menu
HELP explains the functions available when you
press any of the non-numeric keys.
At the Menus and Sub-Menus
HELP explains the selections available from your
current menu location.
In the Editor
HELP provides a brief alphabetical command list.Full
syntax and details on command usage are available in
the IDeal™Command Reference of this manual,or from HELP in the Application
Developer editor.
COPY Menus
Copying programs from one name (or number) to another can save you a
COPY
significant amount of time when programming your Smart Drive.The keypad has
its own non-volatile memory, which allows you to upload the memory (motion
programs,set-up and tuning parameters) of one Smart Drive, reconnect and
download the memory contents to another unit.Note:Smart Drive to Smart Drive
c o pying via the keypad is not yet implemented in the B8000 Series of Smart Dri ve s .
- - - - á HELP â - - - -
Use RUN key to...
This option is used to
select the motor type...
á COMMAND SUMMARY â
AC Acceleration
Pressing the COPY key brings up three choices that
can be accessed by pressing the function keys.
PROG Copy a Program to Another Program
This selection allows you to copy any existing
program to a new program name.
1. Press PROG
2. Enter the source program number. Or,if you wish, you can scroll through your
list of program names by using the âá keys.
3. Press ENTER
Then you are asked to enter the new program.If the target program already exists,
you will have to delete it first (see DEL).
Then
1. Enter the target program.
2. Press ENTER
Remember to change the name of the copied programs to avoid subroutine call
conflicts.
16
- - - - - COPY - - - - -
PROG TO PAD FROM
á SOURCE PROGRAM â
> 5
á TARGET PROGRAM â
> 5
TO-FROM PAD Copy to-from Keypad
Chapter 3 - Keypad Operation
DEL Menu
DEL
The COPY TO-FROM feature has been implemented
which allows user setup and programs to be downloaded to and from the keypad.A special keypad
cable (PCS-5004) provides a +5V power supply and a 9 pin D style connector for
communications with Application Developer™.COPY TO-FROM requires
SmartDrive version v6.00 or higher and keypad firmware v2.60 or higher.
Contact IDC for firmware upgrades and cable information
Copy TO Keypad:
1.Press F2 key to select TO PAD (Note:Unit address is not saved in keypad)
Copy FROM Keypad:
1.Press F3 key to select FROM (Note:Unit address is not set from keypad transfer)
In order to use COPY TO-FROM with Application Developer™, connect the kepad to
the PC using cable PCS-5004 and select “Retrieve All”from the Application
Developer Communications menu to load data from the keypad and select “Send
All”from the Application Developer Communications menu to load data to the
keypad.See the Application Developer section in the S696X,B896X and 96X manuals for more information on using Application Developer.
The DEL key lets you delete any motion program
currently in your Smart Drive.
Press:
1. DEL
2. Enter the number of the program to delete.Or, if you wish, you can scroll
through a list of existing program names by using the âá keys.
3. ENTER
-----------COPY---------PROG TO PAD FROM
á DELETE PROGRAM â
> _
Run-Time Operator Interface
Your keypad features an easy-to-read,2-line,40-character, back-lit display that can be
easily remote mounted to a panel and exposed to industrial NEMA 4 environments.
While motion programming and system configuration procedures using the keypad
are defined by IDC, run-time operation (i.e.how the machine operator will
interface with the Smart Drive) falls completely within the customer’s control.
Here are some of the operating functions you can program with the Smart Drive:
• Run a program on power-up,on input signal from a PLC,or RS-232C host
command
• Within a program,prompt the operator for any program variable (the number of
parts to run,size of parts,speed,etc.)
• Run a part or prog ram by name
• Lock-out operators from programming functions
For more information on programming your Smart Drive’s operator interface,see
the Programming Your Application and IDeal™Command Reference chapters.
17
Configuring Your System
This chapter presents a straight forward,intuitive procedure for Configuring Your
System to your specific equipment and application requirements.The following
configuration section contains detailed,step-by-step directions for customizing the
B8961 and B8962 to your specific application and mechanical requirements.IDC
recommends that even experienced users follow this procedure in its entirety.
Following all the SETUP steps will insure that no critical parameters are
overlooked.
The task of configuring your B8961 or B8962 Smart Drive system to a specific
application consists of customizing a number of software parameters to match the
mechanics of the system.These parameters include distance,acceleration and
velocity scaling as well as I/O configuration.Other than plugging in the
motor/encoder cable and connecting your I/O wiring,there are no hardware
settings on a B8961 or B8962 Smart Drive system.
All of the software configuration can be done via the keypad,or via RS232 using
Application De veloper.The Configuring Your System description presented here is
from a keypad user’s perspective,via the keypad menu structure and step-by-step
keypad instructions.
Chapter 4 - Configuring Your System
Keypad
strokes
needed to
get to the
input set-up
menu.
Application De veloper and RS-232C users will want to refer to this chapter for
detailed explanations of configuration parameters.Details on how to use IDC’s
Application De veloper can be found in the Chapter 7. For RS-232C terminal users,
non-Windows™PC users,or PLC users,the equivalent 2-character ASCII
configuration commands are detailed in the RS-232 Command Reference section
Chapter 7,but the examples presented here are valid for all users.The 2-character
ASCII command appears in brackets next to the appropriate keypad menu choice
in this chapter.Application De veloper users will find that the Windows dialog
boxes under the Setup menu follow the keypad menu structure very closely.
Users who plan to create and download their own ASCII setup file will also find
this section useful.The RS-232 command that relates to the parameter being set is
in brackets below the keypad menu structure.RS-232 command syntax details are
in the RS-232 Command Reference section of Chapter 7.
Each SETUP step follows the format of the example below:
In App Developer
click on SETUP/I/O
EDIT
SETUP I/O
Input Defn [ID]
Default:UUUUUUUUUUUUUUUU
RS-232 input
configuration
command
IN1: unassigned
BBBBKREJUUUUßáâà
The function of each input is easily configured using the k eypad as described on the fol lowing page.
19
B8961 and B8962 User Manual
SETUP Menu
Pressing the EDIT key followed by the SETUP
function key reveals three menus.
Pressing â reveals a second and a third set of menus.
Each of these sub-menus are explained below.
- - - á SETUP â - - -
MOTOR ENC MECH
- - - á SETUP â - - -
I/O JOG HOME
NEW MOTOR CONFIGURATION
The structure of the motor type selection menu has
changed in order to accommodate the addition of
the built-in linear servo motor files plust the expansion of the B servo motor series.The MOTOR TYPE
menu option now has three sub-menus: STEPER (for step motor drive parameters),
R-SRVO (for rotary ser vo motors) and L-SRVO (for linear servo motors).
Configuring Stepper Motor Type
EDIT
Configuring R-SRVO Motor Type [MT]
EDIT
This option specifies the type of rotary servo motor connected to the B896X
SmartDrive and the operating voltage level.The motor parameters used for drive
configuration have been specifically tailored for IDC supplied rotary servo motors.
> SETUP > MOTOR > TYPE > STEPER
Default: STEPPER (S696X)
N/A (B896X)
INDEXER (96X)
> SETUP > MOTOR > TYPE > R-SRVO
Default: N/A (S696X)
NONE (B896X)
INDEXER (96X)
- - - á SETUP â - - -
PROG RS232 MISC
--- Motor Type ---
STEPER R-SERVO L-SERVO
Axis One Motor Type
ßá STEPPER âà
– Axis One R-Srvo Type –
ßá B32:110VAC âà
20
1.Use the ß and à keys to select an axis.
2.Use the á and â keys to scroll through the list of IDC’s rotary motors
3.Press the ESC key to select
None (Sets Kiiand Kipgains to zero.)
B12:110VAC
B22:110VAC,B22:220VAC
B23:110VAC,B23:220VAC
B23H:110VAC,B23H:220VAC
B32:110VAC,B32:220VAC
B33:110VAC,B33:220VAC
B40:110VAC,B40:220VAC
B41:110VAC,B41:220VAC
B42:110VAC,B42:220VAC
BN21:110VAC
BN23:100VAC
BN31:110VAC
BN32:110VAC
H3:110VAC
H4:110VAC
or OTHER
Default:None.
Consult the factory if you intend to use a non-IDC motor.See Chapter 7, RS-232
Operation , for information on configuring a Smart Drive for a non-IDC motor.
Chapter 4 - Configuring Your System
CAUTION: If the motor type is set incorrectly the motor may be damaged.
Specifying the incorrect voltage will not damage anything, but different
current loop gains are used so system instability may result.
The safest way to change motor types is to:
1. Power up the control without the motor connected.
2. Change the Motor Type setup parameter to the new motor.
3. Remove power.
4. Connect the motor.
5. Re-apply power.
EDIT
SETUP MOTOR-D-RES
- Axis One Drive Res -
ßá 8000 counts/rev âà
Motor Resolution [MR]
Default:B Motors = 8,000,H motors = 8,000,BN Motors = 4,000.
IDC’s B8961 and B8962 Smart Drives allow you to set a different drive input
resolution than the actual resolution encoder.This option specifies the input
resolution for each axis of your digital servo smart drive,in counts per motor
revolution.This is a very useful feature when retrofitting microstepping systems.
It is ve ry i m p o rtant that the e n c o d e r resolution (E-RES) is set to your post-quadra t u re
encoder resolution.D-RES can be set at the users discretion.
1. Use ß and à keys to select an axis.
2. Use the áâ and ENTER keys to select from a list of drive resolutions available:
200,400,1000,2000,5000,8000,10,000,18,000,25,000,25,400,and 36000.
Your mechanics,and application needs will dictate the choice of D-RES. For
example,if you want to move in .1 deg ree increments,a D-RES choice of 18,000
will allow 50 motor steps per degree and prevent any resolution induced rounding
errors.
EDIT
SETUP MOTOR DIR
- Axis One Motor Dir -
ßá POSITIVE âà
Motor Direction [MD]
Default: Positive
This option provides a convenient way to change which direction the motor
moves when you program a positive distance command.
When POSITIVE is selected as the motor direction,the EOT+ limit switch should
be wired so that moves in the plus direction (as shown on the keypad display, or
via the PA command) will activate the switch.When NEGATIVE is selected,the
EOT+ limit switch should be wired so that moves in the negative direction (as
shown on the keypad display, or via the PA command) will activate the switch.
1. Use ß and à keys to select an axis.
2. Use the áâ and ENTER keys to select a direction
21
B8961 and B8962 User Manual
ENC Encoder Configuration
EDIT
SETUP ENC MODE
- Axis One Enc Mode -
ßá CLOSED LOOP âà
Encoder Mode [EM]
Default: SERVO CLOSED LOOP
This option sets the encoder mode for each axis.
The B8961 and B8962 servo position loops are closed by the DSP in the amplifier,
freeing up the motion control board to do other processing.Therefore, you can run
the servo in either “open loop”or “servo closed loop”modes.This allows you to
view (on the keypad display or via the PAn commands) either the commanded or
actual position in user units.All programmed moves are based on the Motor/Drive
Resolution setting (D_RES).
1. Use ß and à keys to select an axis.
2. Use the á and â keys to scroll through the list of encoder modes and press
ESC to select:
Encoder Mode Description
OPEN LOOP The OPEN LOOP position will be displa yed on the keypad.
OPEN-STALL The OPEN LOOP position will be displayed on the k eypad but the
encoder will be used for stall detection.
CLOSED LOOP The encoder position is displayed on the keypad.All moves are
based on encoder position and stall detection is enabled.
SERVO-CLOSED The encoder position is displa yed on the keypad.All mo ves are
based on the commanded OPEN LOOP position and stall detection
is enabled.
CLOSED LOOP PM The encoder position is displayed on the keypad.All moves are
based on encoder position,however, post move correction algorithms will keep the encoder position equal to the last commanded
OPEN LOOP position. Following error is still active while in CLOSED
LOOP PM mode.A following error will occur when the number of
correction steps exceeds the following error value.This allows the
SmartDrive to signal a fault when the displacement can not be corrected (i.e.the motor is stalled at an obstruction). Position maintenance will not attempt to correct position while navigating menus
with the keypad.
EDIT
> SETUP > ENC > IN-RANGE > WINDOW
- Axis One PM DeadBnd -
ßá 25 Steps âà
Configuring Position Maintenance Deadband [IR]
Default: 25 motor steps
Range: 0 - 99999
Position maintenance deadband is a user definable region surrounding the commanded position in which the motor shaft can reside and not be considered “out of
position”.A displacement position exceeding the last commanded position +/- the
deadband value,will cause position maintenance to attempt to correct the position.
1. Use ß and à keys to select an axis.
2. Use numeric keys to enter a new deadband value and press ENTER then ESC
to register.
22
Chapter 4 - Configuring Your System
NOTE: EDIT > SETUP > ENC > INRANGE > WINDOW and the IR serial command
have an alternate functionality with servo SmartDrive systems. See the B8961/2
manual for more details.
EDIT
> SETUP > ENC > PMGAIN
Configuring Position Maintenance Gain [PG]
Default: 10
Range: 1 - 32767
The position maintenance gain value is an integer factor usedin determining the
velocity at which the position maintenance correction move will travel.Correction
velocity is calculated as (displacement * correction gain) in units of steps/sec.
Therefore,the larger the displacement,the faster position maintenance will attempt
to correct position. For example,if the correction gain is set to 3 and an active displacement of 3200 steps occurs,the correction velocity will be (3 * 3200) = 9600
steps/sec.
1. Use ß and à keys to select an axis.
2. Use numeric keys to enter a new position maintenance gain and press ENTER
then ESC to register.
EDIT
> SETUP > ENC > PMMAX
- Axis One PMGain -
ß 10 à
- Axis One PMMax -
ß 1 RPS à
Configuring Position Max Velocity [PV]
Default: 1 RPS
Range: 0.005 - 9999999
The position maintenance maximum velocity value sets a velocity limit in which
position maintenance will attempt to correct position.Regardless of the magnitude
of displacement or correction gain,the correction velocity will never exceed the
maximum velocity setting.
1. Use ß and à keys to select an axis.
2. Use numeric keys to enter a new position maintenance max velocity in the
same units selceted in teh SETUP>MECH>VEL menu and press ENTER the ESC
to register.
EDIT
SETUP ENC E-RES
Encoder Resolution [ER]
Default:8,000 for B motors,2,000 for H motors,4000 for BN Motors.
This option is used to set the encoder resolution for each axis.The resolution is
specified in encoder pulses per revolution of the motor, post-quadrature.
- Axis One Encoder Res
ßá 4000 counts/rev âà
23
B8961 and B8962 User Manual
Specifying the wrong encoder resolution will prevent the Smart Drive from
properly communicating the motor and could damage it,as well as cause unstable
system behavior.For this reason,IDC fixes the encoder resolution for our servo
motors.Consult the factory if your application requires using another motor or
resolution encoder.
1. Use ß and à keys to select an axis.
2. Use the áâ and ENTER keys to select from a list of encoder resolutions,or
use the numeric keys to enter the encoder resolution.
EDIT
SETUP ENC FOL-ERR
Following Error Limit [FE]
Default:8,000 counts
This option defines the maximum position following error allowed during motion.
A fault occurs when the error between the commanded and feedback signal
exceeds the Following Error value.
Range:0-524,000 step counts,0 = OFF
If a Following - Error occurs,the control will enter a fault state where:
• Any motion or program being executed is immediately terminated.
• The LCD Display will indicate “Following Error”,along with an explanation.
• A fault output will be generated if defined as a “Stall”or Fault output.
• The ESC key or a RESET (either an input or via RS-232) will need to be issued
before motion can occur.
MECH Mechanical Configuration
Through the mechanical setup menu, your IDeal™Programmable Smart Drive
allows you to program in distance, velocity and acceleration units convenient for
your application.Once configured, your keypad will use these units in all display
and position reporting modes.This menu also allows you to compensate for a
known amount of backlash in your mechanical system,and to set a maximum
allowable speed for each axis.
Pressing the MECH function key displays three menu
choices:
Pressing â reveals three additional menu choices:
- - Axis One Fol Error - -
ß 8000 steps à
-- á MECH SETUP â -DIST RATIO BKLASH
-- á MECH SETUP â -VEL VMAX ACCEL
24
Chapter 4 - Configuring Your System
EDIT
SETUP MECH DIST
- Axis One Dist Units ßá revs âà
Distance Unit [DU]
Default:Motor Revs
DIST is used along with RATIO to select your distance units and unit label.All
distance values specified in the system will be expressed in the units selected here.
The relationship between motor revolutions,system mechanics,and the distance
label chosen here is defined with the RATIO command defined below.
1. Use ß and à keys to select an axis.
2. Use the áâ keys to select distance units from:
• mils • inch
• feet • yards
• mm • cm
• meter • arcsec
• arcmin • degrees
• radians • grads
• steps • %
• index • revs
Notes:
• You can change DIST or RATIO at any time.Changing them will not change the
associated DI or DA values in a program.(i.e.DI100 will command a 100 inch
move instead of a 100 step move if the DIST units are changed from Steps to
Inches.)
• If steps is chosen,the control automatically fixes the RATIO (see below).
EDIT
SETUP MECH RATIO
- - Axis One Ratio - -
ßá 1 to 1 âà
Gear Ratio [GR]
Default:1 to 1
The RATIO option is used to scale DI and DA moves to your preferred distance
units.RATIO sets the ratio of motor r evolutions per DIST unit . Up to 5 digits on
either side of the ratio can be entered to properly scale your DIST units.
1. Use ß and à keys to select an axis.
2. Use the numeric keys to enter a ratio
expressed as 2 integers.Ex:When programming in output shaft revolutions of
a 5:1 gearbox,enter “5 to 1” rather than
“1 to .2”
Notes:
• You can change DIST or RATIO at any
time.Changing them will not change the
associated DI or DA values in a program,
so all moves will change by the same fac tor that RATIO was changed.
• If using an IDC supplied actuator,the
proper Gear Ratios for programming in
units of Inches and mm can be found in
Appendix A,directly following the Index.
25
B8961 and B8962 User Manual
Units Example - Lead Screw System
• Desired distance units:inches
• Lead Screw:4 revs/inch
DIST = inch
RATIO = 4 to 1
Units Example - Rotary Index Table
• Desired distance units:1/8 of a revolution
DIST = inch
RATIO = 1 to 8
Units Example - Gear Reduced Tangential Drive System
• Desired distance units:mm
• Reducer:5:1 reduction
Drive Pulley:6 inch circumference
5 revolutions of motor travel results in 152.4 mm of linear road travel.This ratio
must be expressed as an integer to be used in the Gear Ratio command.Multiply
each side by 10 to get a Gear Ratio of 50 to 1524.
DIST = mm
RATIO = 50 to 1524
EDIT
SETUP MECH BKLASH
- - Axis One Backlash ß 25.0 steps à
Backlash [BK]
Default:0.0 (Distance Units)
(Not yet implemented)
BKLASH allows your Smart Drive to compensate for the backlash in each axis of
your mechanical system.The Smart Drive will automatically take up (add) the
backlash distance specified whenever the move direction is reversed.
1. Use ß and à keys to select an axis.
2. Use the numeric keys to enter a backlash value in DIST units.
EDIT
SETUP MECH VEL
Velocity Units [VU]
Default:rps (motor Revolutions Per Second)
Use this option to select your velocity units.All
velocity values specified in the system will be
expressed in these units.
1. Use ß and à keys to select an axis.
2. Use the áâ and ENTER keys to select velocity units from the list:
• rps
• rpm
• (DIST units)/sec (see DIST above)
• (DIST units)/min (see DIST above)
- Axis One Vel. Units ßá mm/sec âà
26
Chapter 4 - Configuring Your System
EDIT
Maximum Velocity [MV]
Default:50 (velocity units)
SETUP MECH VMAX
- - Axis One Max Vel. -
ßá 50.0 inch/sec âà
This parameter limits the top speed of your motor. Depending on the application,
you may want to limit the speed of your control to prevent accidental damage to
your mechanics. For example,in a leadscrew driven system, exceeding the “critical
speed”will damage the leadscrew or ballscrew.
1. Use ß and à keys to select an axis.
2. Use the numeric keys to set the maximum velocity in VEL units.
EDIT
Acceleration Units [AU]
Default:sec
SETUP MECH ACCEL
- Axis One Accel. Units
ßá sec âà
This option is used to select acceleration (and deceleration) units.All acceleration
and deceleration values specified in the system will be expressed in these units.
You can specify acceleration as a rate,or in time-to-accelerate to full speed.
1. Use ß and à keys to select an axis.
2. Use the áâ and ENTER keys to select acceleration units from the list:
• sec (time to reach top speed)
• (DIST units)/sec
2
• rps2(motor Revolutions Per Sec2)
EDIT
> SETUP > MECH > AMAX
– Axis One Max Accel –
ß 0.002 sec à
Configuring Acceleration Maximum [AM]
Default: 0.002 (acceleration units)
Range: 0.002 - 99999999 (acceleration units)
Acceleration maximum sets a maximum acceleration and deceleration limit for programmed move profiles in the current acceleration units.Programmed accelerations and decelerations for moves will be limited by this parameter (analogous to
VMAX for velocity).Regardless of acceleration units,the absolute maximum acceleration is 0.002 seconds.
1. Use the ß and à keys to select an axis.
2. Use numeric keys to enter a new acceleration maximum in the same units
selected in the SETUP > MECH > ACCEL menu and press ENTER then ESC to
register.
27
B8961 and B8962 User Manual
I/O Input & Output Configuration
Your IDeal™Programmable Smart Drive has eight discrete optically-isolated inputs,
and eight discrete optically-isolated outputs.It also supports up to eight Opto I/O
modules (G4/G5 footprint),which is like having a G4PB8 board and cable built in
— plus,it has the capability of supporting a mix of analog and digital modules.All
the inputs and outputs can be configured to a specific machine control function.
The eight OPTO positions can be inputs or outputs,logic or AC/DC power, digital
or analog,or even used as a thermocouple (Type K or J) inputs.The control is
completely protected from errors in interchanging modules.You will not damage
the unit by plugging in the wrong module.Simply insert the modules you need
into the positions you desire,and configure each position in the OPTO menu
(explained below) as either an input or an output.
Your I D e a l P ro gra m m able Smart Dri ve is compatible with almost any manu fa c t u re r ’s
G4 or G5 digital opto modules (OPTO 22,Grayhill,Gordos,etc.).However, at the
time of this printing,only Grayhill’s analog modules are compatible with our
control.Other manufacturer’s analog opto modules do not fit into a G4 footprint.
For more information on how to use your Smart Drive’s inputs and outputs in an
application, refer to Chapter 5, Applying the Product , and Chapter 6, Programming
Command Reference , in this manual.
The function of each input and output in your
system is easily configured in the I/O SETUP menus.
- - - â I/O SETUP á- - -
INPUT OUTPUT OPTOS
Once you have your I/O defined,it is a good idea to
write down your configuration scheme for later
reference when you develop your motion programs.
OUTSTS (Output States on Event) allows user configuration of output states after power-up,fault or a
- - - â I/O SETUP á- - -
OUTSTS LIMITS
OUTPUT STATES ON
PWR-UP FAULT ST/K
Stop/Kill.LIMITS allows user configuration of the
EOT (End of Travel) switch polarity.Also a new configurable input CLR CMD
BUFFER “c”has been added.
EDIT
Input Definition [ID]
Default:UUUUUUUUUUUUUUUU
SETUP I/O INPUTS
IN1: EXTEND JOG 1
EBBBKREJUUUUßáâà
The function of each input is easily configured using the keypad as described
below.
The function for each input channel is indicated by a letter along the bottom of
the display.The first 8 letters are for the dedicated Inputs and the last 8 letters are
for the optional OPTO inputs.
OPTO positions configured as outputs are shown as dashes and cannot be
configured without changing the position to an input in the OPTO menu.The
OPTO position’s default configurations are as inputs.(see below).
1. Use ß and à keys to select an Input.The function of the highlighted input
will be displayed on the top line.
2. Once your cursor is on the desired input,use áâ to select from the following
list of dedicated functions for each input:
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