Lenze PM94P01C User Manual

***************************** HEADER *************************************** ;Title: Pick and Place example program ;Author: Lenze - AC Technology ;Description: This is a sample program showing a simple sequence that ; picks up a part, moves to a set position and drops the part

;**************************** I/O List ************************************ ; Input A1 - not used ; Input A2 - not used ; Input A3 - Enable Input ; Input A4 - not used ; Input B1 - not used ; Input B2 - not used ; Input B3 - not used ; Input B4 - not used ; Input C1 - not used ; Input C2 - not used ; Input C3 - not used ; Input C4 - not used ; Output 1 - Pick Arm ; Output 2 - Gripper ; Output 3 - not used ; Output 4 - not used

;********************** Initialize and Set Variabl UNITS = 1 ACCEL = 75 DECEL =75 MAXV = 10 ;V1 = ;V2 =

;********************** Events ******************* ;Set Events handling here

;********************** Main Program ************

RESET_DRIVE: ;Place holder fo WAIT UNTIL IN_A3: ;Make sure tha continuing ENABLE PROGRAM_START: MOVEP 0 ;Move to Pick po OUT1 = 1 ;Turn on output WAIT TIME 1000 ;Delay 1 sec to OUT2 = 1 ;Turn on output WAIT TIME 1000 ;Delay 1 sec to OUT1 = 0 ;Turn off output MOVED -10 ;Move 10 REVs to OUT1 = 1 ;Turn on output WAIT TIME 1000 ;Delay 1 sec to OUT2 = 0 ;Turn off output WAIT TIME 1000 ;Delay 1 sec to OUT1 = 0 ;Retract Pick ar GOTO PROGRAM_START END

;********************** Sub-Routines ***************

Enter Sub-Routine code here

;********************** Fault Handler Routine ***************

; Enter Fault Handler code here ON FAULT ENDFAULT

PositionServo

Programming Manual for PC-based MotionView

All rights reserved. No part of this manual may be reproduced or transmitted in any form without written permission from AC Technology Corporation. The information and technical data in this manual are subject to change without notice. AC Technology makes no warranty of any kind with respect to this material, including, but not limited to, the implied warranties of its merchantability and ﬁtness for a given purpose. AC Technology assumes no responsibility for any errors that may appear in this manual and makes no commitment to update or to keep current the information in this manual.

MotionView®, PositionServo®, and all related indicia are either registered trademarks or trademarks of Lenze AG in the United States and other countries.

Contents

1. Introduction ............................................................................................................................. 4

1.1 Deﬁnitions ..................................................................................................................................................4

1.2 Programming Flowchart .............................................................................................................................5

1.3 MotionView / MotionView Studio ...............................................................................................................6

1.3.1 Main Toolbar ............................................................................................................................6

1.3.2 Program Toolbar ......................................................................................................................8

1.3.3 MotionView Studio - Indexer Program .....................................................................................9

1.4 Programming Basics ................................................................................................................................10

1.5 Using Advanced Debugging Features .....................................................................................................17

1.6 Inputs and Outputs ..................................................................................................................................17

1.7 Events ...................................................................................................................................................... 22

1.8 Variables and Deﬁne Statement ..............................................................................................................23

1.9 IF/ELSE Statements ................................................................................................................................24

1.10 Motion ......................................................................................................................................................25

1.10.1 Drive Operating Modes ..........................................................................................................26

1.10.2 Point To Point Moves .............................................................................................................26

1.10.3 Segment Moves .....................................................................................................................27

1.10.4 Registration ............................................................................................................................28

1.10.5 S-Curve Acceleration ............................................................................................................. 29

1.10.6 Motion Queue ........................................................................................................................29

1.11 Subroutines and Loops ............................................................................................................................30

1.11.1 Subroutines ............................................................................................................................30

1.11.2 Loops .....................................................................................................................................31

2. Programming ........................................................................................................................ 32

2.1 Program Structure ...................................................................................................................................32

2.2 Variables .................................................................................................................................................. 34

2.3 Arithmetic Expressions ............................................................................................................................36

2.4 Logical Expressions and Operators ......................................................................................................... 36

2.4.1 Bitwise Operators ..................................................................................................................36

2.4.2 Boolean Operators ................................................................................................................. 37

2.5 Comparison Operators ............................................................................................................................37

2.6 System Variables and Flags ....................................................................................................................38

2.7 System Variables Storage Organization ..................................................................................................38

2.7.1 RAM File for User’s Data Storage .........................................................................................38

2.7.2 Memory Access Through Special System Variables .............................................................39

2.7.3 Memory Access Through MEMSET, MEMGET Statements .................................................40

2.8 System Variables and Flags Summary ....................................................................................................41

2.8.1 System Variables ...................................................................................................................41

2.8.2 System Flags .........................................................................................................................42

2.9 Control Structures .................................................................................................................................... 43

2.9.1 DO/UNTIL Structure ..............................................................................................................43

2.9.2 WHILE Structure ....................................................................................................................43

2.9.3 Subroutines ............................................................................................................................44

2.9.4 IF Structure ............................................................................................................................45

2.9.5 IF/ELSE Structure ..................................................................................................................45

2.9.6 WAIT Statement ....................................................................................................................46

2.9.7 GOTO Statement & Labels ....................................................................................................46

2.10 Scanned Event Statements ..................................................................................................................... 46

PM94P01C 1

Contents

2.11 Motion ......................................................................................................................................................48

2.11.1 How Moves Work ...................................................................................................................48

2.11.2 Incremental (MOVED) and Absolute (MOVEP) Motion .........................................................48

2.11.3 Incremental (MOVED) Motion ................................................................................................49

2.11.4 Absolute (MOVEP) Move .......................................................................................................49

2.11.5 Registration (MOVEDR MOVEPR) Moves ............................................................................50

2.11.6 Segment Moves .....................................................................................................................50

2.11.7 MDV Segments ......................................................................................................................50

2.11.8 S-curve Acceleration ..............................................................................................................52

2.11.9 Motion SUSPEND/RESUME .................................................................................................52

2.11.10 Conditional Moves (MOVE WHILE/UNTIL) ...........................................................................52

2.11.11 Motion Queue and Statement Execution while in Motion ...................................................... 53

2.12 System Status Register (DSTATUS register) ..........................................................................................55

2.13 Fault Codes (DFAULTS register) ............................................................................................................. 56

2.14 Limitations and Restrictions .....................................................................................................................57

2.15 Homing ....................................................................................................................................................58

2.15.1 What is Homing? ................................................................................................................... 58

2.15.2 The Homing Function ............................................................................................................ 58

2.15.3 Home Offset ...........................................................................................................................59

2.15.4 Homing Velocity .....................................................................................................................59

2.15.5 Homing Acceleration ..............................................................................................................59

2.15.6 Homing Switch .......................................................................................................................59

2.15.7 Homing Start ..........................................................................................................................59

2.15.8 Homing Method ..................................................................................................................... 60

2.15.9 Homing Methods ....................................................................................................................61

2.15.9.1 Homing Method 1: Homing on the Negative Limit Switch ......................................................62

2.15.9.2 Homing Method 2: Homing on the Positive Limit Switch .......................................................62

2.15.9.3 Homing Method 3: Homing on the Positive Home Switch & Index Pulse ..............................63

2.15.9.4 Homing Method 4: Homing on the Positive Home Switch & Index Pulse ..............................63

2.15.9.5 Homing Method 5: Homing on the Negative Home Switch & Index Pulse ............................64

2.15.9.6 Homing Method 6: Homing on the Negative Home Switch & Index Pulse ............................64

2.15.9.7 Homing Method 7: Homing on the Home Switch & Index Pulse ............................................65

2.15.9.8 Homing Method 8: Homing on the Home Switch & Index Pulse ............................................66

2.15.9.9 Homing Method 9: Homing on the Home Switch & Index Pulse ............................................67

2.15.9.10 Homing Method 10: Homing on the Home Switch & Index Pulse .......................................... 68

2.15.9.11 Homing Method 11: Homing on the Home Switch & Index Pulse .......................................... 69

2.15.9.12 Homing Method 12: Homing on the Home Switch & Index Pulse .......................................... 70

2.15.9.13 Homing Method 13: Homing on the Home Switch & Index Pulse .......................................... 71

2.15.9.14 Homing Method 14: Homing on the Home Switch & Index Pulse .......................................... 72

2.15.9.15 Homing Method 17: Homing without an Index Pulse .............................................................73

2.15.9.16 Homing Method 18: Homing without an Index Pulse .............................................................74

2.15.9.17 Homing Method 19: Homing without an Index Pulse .............................................................75

2.15.9.18 Homing Method 21: Homing without an Index Pulse .............................................................76

2.15.9.19 Homing Method 23: Homing without an Index Pulse .............................................................77

2.15.9.20 Homing Method 25: Homing without an Index Pulse .............................................................78

2.15.9.21 Homing Method 27: Homing without an Index Pulse .............................................................79

2.15.9.22 Homing Method 29: Homing without an Index Pulse .............................................................80

2.15.9.23 Homing Method 33: Homing to an Index Pulse ..................................................................... 81

2.15.9.24 Homing Method 34: Homing to an Index Pulse ..................................................................... 81

2.15.9.25 Homing Method 35: Using Current Position as Home ...........................................................81

2.15.10 Homing Mode Operation example .........................................................................................82

3. Reference ............................................................................................................................. 83

3.1 Program Statement Glossary ..................................................................................................................83

3.2 Variable List ...........................................................................................................................................103

3.3 Quick Start Examples ............................................................................................................................117

3.3.1 Quick Start - External Torque/Velocity ................................................................................. 117

3.3.2 Quick Start - External Positioning ........................................................................................119

3.3.3 Quick Start - Internal Torque/Velocity ..................................................................................121

3.3.4 Quick Start - Internal Positioning ......................................................................................... 123

3.4 PositionServo Reference Diagrams .......................................................................................................124

PM94P01C2

About These Instructions

This documentation applies to the programming of the PositionServo drive with model numbers ending in “EX” and “RX”. This documentation should be used in conjunction with the PositionServo User Manual (Document S94P01) that shipped with the drive. These documents should be read in their entirety as they contain important technical data and describe the installation and operation of the drive.

Safety Warnings

Take note of these safety warnings and those in the PositionServo User Manual and related documentation.

WARNING! Hazard of unexpected motor starting!

When using MotionView, or otherwise remotely operating the PositionServo drive, the motor may start unexpectedly, which may result in damage to equipment and/or injury to personnel. Make sure the equipment is free to operate and that all guards and covers are in place to protect personnel.

All safety information contained in these Programming Instructions is formatted with this layout including an icon, signal word and description:

Signal Word! (Characterizes the severity of the danger)

Safety Information (describes the danger and informs on how to proceed)

Table 1: Pictographs used in these Instructions

Icon

Warning of hazardous electrical voltage

Warning of a general danger

Warning of damage to equipment

Signal Words

DANGER!

WARNING!

STOP!

Warns of impending danger.

Consequences if disregarded: Death or severe injuries. Warns of potential, very hazardous situations.

Consequences if disregarded: Death or severe injuries. Warns of potential damage to material and equipment.

Consequences if disregarded: Damage to the controller/ drive or its environment.

Information

NOTE

Designates a general, useful note.

If the note is observed then handling the controller/drive system is made easier.

1. Introduction

1.1 Deﬁnitions

Included herein are deﬁnitions of several terms used throughout this programming manual and the PositionServo user manual.

PositionServo: The PositionServo is a programmable digital drive/motion controller, that can be conﬁgured as a stand alone programmable motion controller, or as a high performance torque and velocity drive for centralized control systems. The PositionServo family of drives includes the 940 Encoder-based drive and the 941 Resolver-based drive.

MotionView: MotionView is a universal communication and conﬁguration software that is utilized by the PositionServo drive family. MotionView has an automatic self-conﬁguration mechanism that recognizes what drive it is connected to and conﬁgures the tool set accordingly. The MotionView platform is divided up into three sections or windows, the “Parameter Tree Window”, the “Parameter View Window” and the “Message Window”. Refer to Section 1.3 for more detail.

SimpleMotion Language (SML): SML is the programming language utilized by MotionView. The SML software provides a very ﬂexible development environment for creating solutions to motion applications. The software allows you to create complex and intelligent motion moves, process I/O, perform complex logic decision making, do program branching, utilize timed event processes, as well as a number of other functions found in PLC’s and high end motion controllers.

User Program (or Indexer Program): This is the SML program, developed by the user to describe the programmatic behavior of the PositionServo drive. The User Program can be stored in a text ﬁle on your PC or in the PositionServo’s EPM memory. The User Program needs to be compiled (translated) into binary form with the aid of the MotionView Studio tools before the PositionServo can execute it.

MotionView Studio: MotionView Studio is the front end interface of the MotionView platform. It is a tool suite containing all the software tools needed to program and debug a PositionServo. These tools include a full-screen text editor, a program compiler, status and monitor utilities, an online oscilloscope and a debugger function that allows the user to step through the program during program development.

WARNING!

• Hazard of unexpected motor starting! When using the MotionView software, or otherwise

remotely operating the PositionServo drive, the motor may start unexpectedly, which may result in damage to equipment and/or injury to personnel. Make sure the equipment is free to operate in this manner, and that all guards and covers are in place to protect personnel.

• Hazard of electrical shock! Circuit potentials are up to 480 VAC above earth ground. Avoid direct

contact with the printed circuit board or with circuit elements to prevent the risk of serious injury or fatality. Disconnect incoming power and wait 60 seconds before servicing drive. Capacitors retain charge after power is removed.

PM94P01C4

Introduction

1.2 Programming Flowchart

MotionView utilizes a BASIC-like programming structure referred to as SimpleMotion Programming Language (SML). SML is a quick and easy way to create powerful motion applications.

With SML the programmer describes his system’s logistics, motion, I/O processing and user interaction using the SML structured code. The program structure includes a full set of arithmetic and logical operator programming statements, that allow the user to command motion, process I/O and control program ﬂow.

Before the PositionServo drive can execute the user’s program, the program must ﬁrst be compiled (translated) into binary machine code, and downloaded to the drive. Compiling the program is done by selecting the [Compile] button from the toolbar. The user can also compile and download the program at the same time by selecting the [Compile and Load] button from the toolbar. Once downloaded, the compiled program is stored in both the PositionServo’s EPM memory and the internal ﬂash memory. Figure 1 illustrates the ﬂow of the program preparation process.

Prepare User Program

COMPILER

Any Error?

Load compiled program

to PositionServo drive

Start Execution in

debugger environment

or at next power up

Fix program errors

YES

Figure 1: Program Preparation

PM94P01C 5

Introduction

1.3 MotionView / MotionView Studio

There are two versions of MotionView Software: one which resides inside the drive’s memory, referred to as “MotionView on Board” (MVOB); and one supplied as a PC-installed software package, referred to simply as MotionView. This manual describes the PC-installed MotionView software for PositionServo drives with P/N ending in EX or RX. The MotionView display is illustrated in Figure 2.

NOTE

For MotionView OnBoard (MVOB), refer to “PositionServo with MVOB Programming Manual” document number PM94M01

Parameter Tree Window

Message Window

Figure 2: MotionView Parameters Display

MotionView is the universal programming software used to communicate with and conﬁgure the PositionServo drive. The MotionView platform is segmented into three windows. The ﬁrst window is the “Parameter Tree Window”. This window is used much like Windows Explorer. The various parameter groups for the drive are represented here as folders or ﬁles. Once the desired parameter group ﬁle is selected, all of the corresponding parameters within that parameter group will appear in the second window, the “Parameter View Window”. The user can then enable, disable or edit drive features or parameters in the Parameter View window. The third window is the “Message Window”. This window is located at the bottom of the screen and will display communication status and errors.

Parameter View

Window

1.3.1 Main Toolbar

The functions of MotionView are accessible via the Main Toolbar as illustrated in Figure 3. If a function in a pull-down menu or an icon is greyed out that denotes the function is unavailable. A function may be unavailable because a drive is not physically connected to the network or the present set-up and operation of the drive prohibits access to that function.

Figure 3: Main Menu and Toolbar

PM94P01C6

Introduction

Table 3a: Main Menu Text Pull-Down Folders

Main Menu

Node Project Tools View Help

New conﬁguration ﬁle New project Browse motor database Toolbar MotionView help

Open conﬁguration ﬁle Open project Clear output window Status Bar Product manuals

Save conﬁguration ﬁle Close project About MotionView

Load conﬁguration ﬁle Save project Time stamp

Set all parameters to default Save all conﬁguration ﬁles

Connect drive Options

Disconnect all coneected drives Connection setup

Remove node from project Recent ﬁle

Table 3b: Main Menu Icon Functions

Icon Function Description

Connect Build a connection list of the drive(s) to communicate with on the network. Build the

connection list by using any one of these three methods:

Discover [Discover] button discovers all drives on the network that are available for connectivity. Once

Connect If the IP address on the drive is known, enter it in the IP address dialog box and then select

Find by name If a drive has been assigned a speciﬁed “Drive Name”, enter this name in the Name dialog box

Connected Drive is connected as a node on the network.

Disconnect Terminate connection to the drive selected (backlit) in the Node Tree.

Add File Import a conﬁguration ﬁle to the drive

Open File Recall & open any previously saved conﬁguration ﬁles and connection parameters.

Save Save the conﬁguration ﬁle and the connection parameters of the drive selected in Node Tree.

Save As Save the conﬁguration ﬁle and the connection parameters of the drive selected in Node Tree.

Remove Node Remove a node from the network

drives have been discovered they are listed in the ‘Connect to drive’ list box. To connect one or a number of drives highlight their IP address in this window and press the [Connect] button. The ‘Ctrl’ key on your keyboard can be used to select multiple drives for connection.

[Connect] to access the drive.

and then select [Find by name]. The IP address should then appear in the “Connect To Drive” list. The drive can now be connected by highlighting and pressing the [Connect] button.

Print Print a report for the currently selected drive, containing all parameter set-up and

Help Open MotionView Help folder (from original installation CD)

programming information.

PM94P01C 7

Introduction

1.3.2 Program Toolbar

To view the Program Toolbar, click on the [Indexer Program] folder in the Node Tree. Click anywhere inside the gray Indexer program in the right-hand parameter window to bring up the program toolbar. This paragraph contains a brief description of the programming tools: Compile, Load with Source, Run, Reset, Stop, Step Over, Step Into, Set Breakpoint and Remove Breakpoint. For detailed descriptions of the program toolbar functions refer to paragraphs 1.3.3 and 1.4.

Figure 4: Program Toolbar

Icon Function Description

Compile Check compilation of the indexer program currently in the List View window.

Compile & Load w/ Source Load program including source code to the PositionServo drive listed in Node Tree.

Run Start / Continue program execution.

Main Toolbar

Reset

Stop

Step Over Execute each line of code in the program sequentially on each press on the [Step Over] button excluding subroutines.

Step Into Execute each line of code in the program sequentially on each press on the [Step Into] button, including subroutines.

Set Breakpoint Set breakpoint at current location of cursor in Indexer program.

Remove Breakpoint Remove breakpoint from current location of cursor in Indexer program.

Watch Window Display Parameter I/O window

Reset Drive. Disable drive, stop program execution, and return program processing to the beginning. Program will not restart program execution automatically.

Stop program execution on completion of the current statement being executed. WARNING: Stop button does not place the drive in a disable state or prevent execution of motion commands waiting on the motion stack.

Program

Toolbar

Program

User

Area

Figure 5: MotionView - Indexer Program Display

PM94P01C8

Introduction

1.3.3 MotionView Studio - Indexer Program

The MotionView Studio provides a tool suite used by MotionView to enter, compile, load and debug the user program. To view and develop the user program, select the [Indexer Program] folder in the Parameter (Node) Tree window. Once selected the program toolbar is displayed. The program displayed in the View window is uploaded from the drive when the connection is made between MotionView and the drive. This upload is always performed regardless of program running state. Click anywhere in the Parameter View Window to edit the Indexer program.

Common Programming Actions

Load User program from the PC to MotionView

- Select [Indexer Program] in the Node Tree.

- Select [Import] on the program toolbar. Select the program to import from the PC folder where it is located. This procedure loads the program from the ﬁle to the editor window. It doesn’t load the program to the drive’s memory.

Compile program and Load to the drive

- Select [Indexer Program] in the Node Tree.

- Select [Compile & Load W Source] on the program toolbar to to compile the program and load the source code and the compiled binary ﬁle to the PositionServo drive. The original source code contained in the drive can be viewed whenever the drive is accessed through MotionView and the Indexer Program folder is opened.

- Select [Compile] to check syntax errors without loading the program to drive. If the compiler ﬁnds any syntax error, compilation stops. Errors are reported in bottom portion of the screen in Message window.

Save User program from MotionView to PC.

- Select [Indexer Program] in the Node Tree.

- Select [Export] ] on the program toolbar. The program will be saved to the Windows “My Documents” folder by default.

Run User program in drive.

- Select [Indexer Program] in the Node Tree.

- Select [Run] on the program toolbar. If the program is already running, then ﬁrst select [Reset] or [Stop] to stop the program.

Step Through the User program.

- Select [Indexer Program] in the Node Tree.

- Select [Step] or [Step over] on the program toolbar. If [Step] is selected, the drive will execute the program one step at a time including subroutines. If [Step Over] is selected, the drive will execute the program one step at a time excluding subroutines. The program statement under execution will be highlighted. If the program is running, it will have to be either stopped or reset.

Set Breakpoint(s) in the program

- Select [Indexer Program] in the Node Tree.

- Place the cursor at the point in the program where the program will stop.

- Select [Set Breakpoint] or [Remove Breakpoint] on the program toolbar. A convenient way to debug a user program is to insert breakpoints at critical junctions throughout the program. These breakpoints stop the drive from executing the program, but do not disable the drive and the position variables. Once the program has stopped, the user can continue to run the program, step through the program or reset the program.

PM94P01C 9

Introduction

Stop program execution

- Select [Indexer Program] in the Node Tree.

- Select [Stop] on the program toolbar. The program will stop after completing the current statement. Select [Run] to resume the program from the same point.

IMPORTANT!

The [Stop] button only stops the execution of the program code. It does not stop motion or disable the drive.

Restart Program execution

- Select [Indexer Program] in the Node Tree.

- Select [Reset] on the program toolbar. The program will be reset and the drive will be disabled. Variables within the drive are not cleared (reset) when program execution is reset. It is important that any variables used by the programmer are set to safe values at the start of the user program.

1.4 Programming Basics

The user program consists of statements which when executed will not only initiate motion moves but also process the drives I/O and make decisions based on drive parameters. Before motion can be initiated, certain drive and I/O parameters must be conﬁgured. To conﬁgure these parameters perform the following procedure.

Parameter setup

Select [Parameter] folder in the Node Tree window and set the following parameters.

Set the “Drive” to “Position”:

- Select [Drive mode] from the Parameter View Window.

- Select [Position], [Velocity], or [Torque] from the drop down menu depending on the mode the drive is to be operated in. In order to execute the examples contained in this section of the manual the drive will need to be in [Position] mode.

Set the [Reference] to [Internal]:

- Select [Reference] from the Parameter View Window.

- Select [Internal] from the pull down menu to select the user program as the source of the Torque, Velocity, or Position Reference.

Set the [Enable switch function] to [Inhibit]:

- Select [Enable switch function] from the Parameter View Window.

- Select [Inhibit] from the menu to allow the user program control of the enable / disable status of the drive. Input A3 will now act as a hardware inhibit.

I/O Conﬁguration

Input A3 is the Inhibit/Enable special purpose input. Refer to the PS User Manual (S94P01) for more information. Before executing any motion related statements, the drive must be enabled by executing “ENABLE” statement. “ENABLE” statement can only be accepted if input A3 is made. If at any time while drive is enabled A3 deactivates then the fault “F36” (“Drive Disabled”) will result. This is a hardware safety feature.

PM94P01C10

Introduction

Basic Motion Program

Select [Indexer program] from the Node Tree. The Parameter View window will display the current User Program stored in the drive. Note that if there is no valid program in the drive’s memory the program area will be empty.

WARNING!

This program will cause motion. The motor should be disconnected from the application (free to rotate) or if a motor is connected, the shaft must be free to spin 10 revs forward and reverse from the location of the shaft at power up. Also, the machine must be capable of 10 RPS and an accel / decel of 5 RPSS.

In the program area, clear any existing program and replace it with the following program:

UNITS=1 ACCEL = 5 DECEL = 5 MAXV = 10 ENABLE MOVED 10 MOVEDISTANCE -10 END

After the text has been entered into the program area, select the [Compile] icon from the toolbar. After compilation is done, a “Compilation Error” message should appear:

Click [OK] to dismiss the “Compliation error” dialog box. The cause of the compilation error will be displayed in the Message window, located at the bottom of the MotionView OnBoard window. MotionView will also highlight the program line where the error occurred.

UNITS=1 ACCEL = 5 DECEL = 5 MAXV = 10 ; ENABLE MOVED 10 ; MOVEDISTANCE -10 END

The problem in this example is that “MOVEDISTANCE” is not a valid command. Change the text “MOVEDISTANCE” to “MOVED”.

UNITS=1 ACCEL = 5 DECEL = 5 ENABLE MOVED 10 MOVED -10 END

After editing the program, select the [Compile] icon from the program toolbar. After compilation is done, the “Compilation Complete” message box should appear.

PM94P01C 11

Introduction

The program has now been compiled without errors. Select [Compile & Load W Source] to load the program to the drive’s memory. Click [OK] to dismiss the dialog box.

To Run the program, input A3 must be active to remove the hardware inhibit. Select the [Run] icon on the program toolbar. The drive will start to execute the User Program. The motor will spin 10 revolutions in the CCW direction and then 10 revolutions in the CW direction. After all the code has been executed, the program will stop and the drive will stay enabled.

To Restart the program, select the [Reset] icon on the program toolbar. This will disable the drive and reset the program to execute from the start. The program does not run itself automatically. To run the program again, select the [Run] icon on the toolbar.

Program Layout

When developing a program, structure is very important. It is recommended that the program be divided up into the following 7 segments:

Header: The header deﬁnes the title of the program, who wrote the program and description of what

the program does. It may also include a date and revision number.

I/O List: The I/O list describes what the inputs and outputs of the drive are used for. For example input A1

might be used as a Start Switch.

Init & Set Var: Initialize and Set Variables deﬁnes the drives settings and system variables. For example

here is where acceleration, deceleration and max speed might be set.

Events: An Event is a small program that runs independently of the main program. This section is

used to deﬁne the Events.

Main Program: The Main Program is the area where the process of the drive is deﬁned. Sub-Routines: This is the area where any and all sub-routines should reside. These routines will be called

out from the Main Program with a GOSUB command.

Fault Handler: This is the area where the Fault Handler code resides. If the Fault handler is utilized this code

will be executed when the drive generates a fault.

The following is an example of a Pick and Place program divided up into the above segments.

***************************** HEADER ************************************** ;Title: Pick and Place example program ;Author: Lenze - AC Technology ;Description: This is a sample program showing a simple sequence that ; picks up a part, moves to a set position and places the part

PM94P01C12

Introduction

;********************** Initialize and Set Variables *********************** UNITS = 1 ACCEL = 75 DECEL =75 MAXV = 10 ;V1 = ;V2 =

;********************** Events ********************************************* ;Set Events handling here ;No events are currently defined in this program

;********************** Main Program **************************************

RESET_DRIVE: ;Place holder for Fault Handler Routine WAIT UNTIL IN_A3: ;Make sure that the Enable input is made before continuing ENABLE ;Enable output from drive to motor PROGRAM_START: ;Place holder for main program loop MOVEP 0 ;Move to Pick position OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT TIME 1000 ;Delay 1 sec to extend arm OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = 0 ;Turn off output 1 to Retract Pick arm MOVED -10 ;Move 10 REVs to Place position OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT TIME 1000 ;Delay 1 sec to extend arm OUT2 = 0 ;Turn off output 2 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = 0 ;Retract Pick arm GOTO PROGRAM_START ;Loop back and continuous execute main program loop END

;********************** Sub-Routines ***************************************

;Enter Sub-Routine code here

;********************** Fault Handler Routine ********************

;Enter Fault Handler code here ON FAULT ;No Fault Handler is currently defined in this program ENDFAULT

Saving Conﬁguration File to PC

The “Conﬁguration File” consists of all the parameter settings for the drive, as well as the User Program. Once you are done setting up the drive’s parameters and have written your User Program, you can save these setting to your computer. To save the settings, select [Save All] from the Main toolbar. Then simply assign your program a name, (e.g. Basic Motion), and click [Save] in the dialog box. The conﬁguration ﬁle has a “.dcf” extension and by default will be saved to the “My Documents” folder.

Loading Conﬁguration File to the Drive

There are times when it is desired to import (or export) the program to another drive. Other times the program was prepared off-line. In both scenarios, the program or conﬁguration ﬁle needs to be loaded from the PC to the drive. To load the conﬁguration ﬁle to the drive, select [Load Conﬁguration] from the Main toolbar. Then simply select the program you want to load and click [Open] in the dialog box. MotionView will ﬁrst compile the selected program. Once compiled, the [Compilation Complete] dialog box should appear. Click [OK] to dismiss this dialog box. MotionView will then load the selected ﬁle to the drive. When done, a “Parameters Successfully Loaded” or similar message will be displayed in the Message Window.

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Introduction

Motion source (Reference)

The PositionServo can be set up to operate in one of three modes: Torque, Velocity, or Position. The drive must be given a command before it can initiate any motion. The source for commanding this motion is referred to as the “Reference”. With the PositionServo you have two ways of commanding motion, or two types of References. When the drive’s command signal is from an external source, for example a PLC or Motion Controller, it is referred to as an External Reference. When the drive is being given its command from the User program or through one of the system variables it is referred to as an Internal Reference.

Table 4: Setting the Reference

“Reference” Parameter Setting

Mode External Internal

Torque

Velocity

Position

User Program (Trajectory generator output)

Units

All motion statements in the drive work with User units. The statement on the ﬁrst line of the test program, UNITS=1, sets the relationship between User units and motor revolutions. For example, if UNITS=0.5 the motor will turn 1/2 of a revolution when commanded to move 1 Unit. When the UNITS variable is set to zero, the motor will operate with encoder counts as User units.

Analog input AIN1 System variable “IREF”

Step/Direction Inputs

Master Encoder Pulse Train Inputs

User Program/Interface

(Trajectory generator)

Time base

Time base is always in seconds i.e. all time-related values are set in USER UNITS/SEC.

Enable/Disable/Inhibit drive

Set “Enable switch function” to “Run”.

When the “Enable switch function” parameter is set to Run, and the Input A3 is made, the drive will be enabled. Likewise, toggling input A3 to the off state will disable the drive.

- Select “Parameter” from the Parameter Tree Window.

- Select “Enable switch function” from the Parameter View Window.

- Select “Run” from the popup menu. This setting is primarily used when operating without any user’s program in torque or velocity mode or as position follower with Step&Direction/Master Encoder reference.

Set “Enable switch function” to “Inhibit”.

In the example of the Enable switch function being set to Run the decision on when to enable and disable the drive is determined by an external device, PLC or motion controller. The PositionServo’s User Program allows the programmer to take that decision and incorporate it into the drive’s program. The drive will execute the User Program whether the drive is enabled or disabled, however if a motion statement is executed while the drive is disabled, the F36 fault will occur. When the “Enable switch function” parameter is set to Inhibit, and Input A3 is on, the drive will be disabled and remain disabled until the ENABLE statement is executed by the User Program.

- Select “Parameter” from the Parameter Tree Window.

- Select “Enable switch function” from the Parameter View Window.

- Select “Inhibit” from the popup menu.

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Introduction

Faults

When a fault condition has been detected by the drive, the following actions will occur:

- Drive will Immediately be placed in a Disabled Condition.

- Motion Stack will be ﬂushed of any Motion Commands

- Execution of the user program will be terminated and program control will be handed over to the Fault Handler section. If no Fault handler is described then program execution will terminate. See fault handler section.

- A fault code deﬁning the nature of the drive trip will be written to the DFAULTS system variable and can be accessed by the fault handler. Refer to section 2.13 for a list of fault codes.

- The fault code will will be displayed on the drive display.

- Dedicated “Ready” output will turn off.

- Any Output with assigned special function “Fault” will turn on.

- Any Output with assigned special function “ready/enabled” will turn off.

- The “enable” status indicator on the drive display will turn off indicating drive in disabled state.

Clearing a fault condition can be done in one of the following ways:

- Select the [Reset] button from the toolbar.

- Execute the RESUME statement at the end of the Fault Handler routine (see Fault Handler example).

- Send “Reset” command over the Host Interface.

- Cycle power (hard reset).

Fault Handler

The Fault Handler is a code segment that will be executed when the drive is experiencing a fault. The fault handler allows the programmer to analyze the type of fault and deﬁne a recovery process for the drive and permits the continuation of program execution. While the drive is executing the Fault Handler Routine the drive is disabled and therefore will not be able to detect any additional faults that might occur. Fault handler code should be treated as the drive’s ﬁrst reaction on fault. While it executes, the drive will not respond to any I/O, interface commands etc. Therefore the user should use the fault handler to manipulate time critical and safety related I/O and variables and then exit the Fault Handler Routine by executing a “RESUME” statement for a full stop after statement. The Resume statement permits program execution to leave the fault handler and resume back in the main program section of the user code. Use the Resume statement to jump back to a section of the main program that designates the recovery process for the fault. Waiting in Fault handler for I/O state change or for interface command is not allowed. Do that in the code where you point the “RESUME” statement.

Without Fault Handler

To simulate a fault, restart the Pick and Place example program. While the program is running, switch the ENABLE input IN_A3 to the off state. This will cause the drive to generate an F_36 fault (Drive Disabled) and put the drive into Fault Mode. While the drive is in Fault Mode, any digital output currently active will remain active and any output deactivated will remain deactivated, excluding the dedicated ready output and any output that has been assigned special functionality. The program execution will stop and any motion moves will be terminated. In this example the Pick and Place arm may not be in a desired location when the program goes into the fault mode.

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Introduction

With Fault Handler

Add the following code to the end of your sample program. While the program is running, switch the ENABLE input IN_A3, to the off state. This will cause the drive to generate an F_36 fault (Drive Disabled) and put the drive into a Fault Mode. From this point the Fault Handler Routine will take over.

F_PROCESS: WAIT UNTIL IN_A4==1 ;Wait until reset switch is made WAIT UNTIL IN_A4==0 ;and then released before GOTO RESET_DRIVE ;returning to the beginning of the program END ;*********************** Sub-Routines ************************************** Enter Sub-Routines here; ;*********************** Fault Handler Routine ***************************** ON FAULT ;Statement starts fault handler routine ;Motion stopped, drive disabled, and events no longer ;scanned while executing the fault handler routine. OUT2 = 0 ;Output 1 off to Disengage gripper. ;This will drop the part in the gripper OUT1 = 0 ;Retract Pick arm to make sure it is up and out of the way RESUME F_PROCESS ;program restarts from label F_PROCESS ENDFAULT ;fault handler MUST end with this statement

NOTE

The following statements can not be used inside the Fault Handler Routine:

- ENABLE

- WAIT

- MOVE

- MOVED

- MOVEP

- MOVEDR

- MOVEPR

- MDV

- MOTION SUSPEND

- MOTION RESUME

- GOTO, GOSUB

- JUMP

- ENABLE

- VELOCITY ON/OFF

Refer to section 2.1 for additional details and the Language Reference section for the statement “ON FAULT/ENDFAULT”.

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Introduction

1.5 Using Advanced Debugging Features

To debug a program or view the I/O, open the Diagnostic window by clicking on the [Tools] in the Parmeter (Node) Tree list then click on the [Parameter & I/O View] button. The Diagnostic window will open. This window allows the programmer to monitor and set variables, and to view status of drive digital inputs and outputs.

Click on a variable in the variable list on the right-hand side to select that parameter

< -

- >

= >

Use the left arrow button to add variables after selecting a variable.

Use the right arrow button to remove variables after selecting a variable.

Use the double right arrow button to remove all variables in left-hand Diagnostic window.

Use the [R] (Refresh) button to refresh variable values.

Figure 6: Variable Diagnostic Display

NOTE

Write-only variables cannot be read. Attempts to either display a write-only variable in the diagnostic window or to read a write-only variable via network communications can show erroneous data.

1.6 Inputs and Outputs

Analog Input and Output

- The PositionServo has two analog inputs. These analog inputs are utilized by the drive as System Variables and are labeled “AIN1” and “AIN2”. Their values can be directly read by the User Program or via a Host Interface. Their value can range from -10 to +10 and correlates to ±10 volts analog input.

- The PositionServo has one analog output. This analog output is utilized by the drive as a System Variable and is labeled “AOUT”. It can be directly written by the User Program or via a Host Interface. Its value can range from -10 to +10 which correlates to ± 10 volts analog input.

NOTE

If an analog output is assigned to any special function from MotionView, writing to AOUT from the User Program will not change its value. If an analog output is set to “Not assigned” then it can be controlled by writing to the AOUT variable.

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Introduction

Digital Inputs

- The PositionServo has twelve digital inputs that are utilized by the drive for decision making in the User Program. Example uses: travel limit switches, proximity sensors, push buttons and hand shaking with other devices.

- Each input can be assigned an individual debounce time via MotionView. From the Parameter Tree, select [IO]. Then select the [Digital Input] folder. The debounce times will be displayed in the Parameter View Window. Debounce times can be set between 0 and 1000 ms (1ms = 0.001 sec). Debounce times can also be set via variables in the user program.

- The twelve inputs are separated into three groups: A, B and C. Each group has four inputs and share one common: Acom, Bcom and Ccom respectfully. The inputs are labeled individually as IN_A1 - IN_A4, IN_B1

- IN_B4 and IN_C1 - IN_C4.

- In addition to monitoring each input individually, the status of all twelve inputs can be represented as one binary number. Each input corresponds to 1 bit in the INPUTS system variable. Use the following format:

System Variable INPUTS

Bit # 11 10 9 8 7 6 5 4 3 2 1 0

Input

Name

C4 C3 C2 C1 B4 B3 B2 B1 A4 A3 A2 A1

- Some inputs can have additional special functionality such as Travel Limit switch, Enable input, and Registration input. Conﬁguration of these inputs is done from MotionView or through variables in the user program. Input special functionality is summarized in the table below and in the following sections. The current status of the drive’s inputs is available to the programmer through dedicated System Flags or as bits of the System Variable INPUTS. Table 5 summarizes the special functions for the inputs.

Table 5: Input Functions

Input Special Function

Input A1 negative limit switch

Input A2 positive limit switch

Input A3 Inhibit/Enable input

Input A4 N/A

Input B1 N/A

Input B2 N/A

Input B3 N/A

Input B4 N/A

Input C1 N/A

Input C2 N/A

Input C3 Registration sensor input

Input C4 N/A

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Introduction

Read Digital Inputs

The Pick and Place example program has been modiﬁed below to utilize the “WAIT UNTIL” inputs statements in place of the “WAIT TIME” statements. IN_A1 and IN_A4 will be used as proximity sensors to detect when the pick and place arm is extended and when it is retracted. When the arm is extended, IN_A1 will be in an ON state and will equal “1”. When the arm is retracted, IN_A4 will be in an ON state and will equal “1”.

;********************* Main Program **************************************** RESET_DRIVE: ;Place holder for Fault Handler Routine WAIT UNTIL IN_A3 ;Make sure that the Enable input is made before continuing ENABLE PROGRAM_START: WAIT UNTIL IN_A4==1 ;Make sure Arm is retracted MOVEP 0 ;Move to Pick position OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ; Arm extend OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = 0 ;Turn off output 1 to Retract Pick arm WAIT UNTIL IN_A4==1 ;Make sure Arm is retracted MOVED -10 ;Move 10 REVs to Place position OUT1 = 1 ;Turn on output 1 on to extend Pick arm WAIT UNTIL IN_A1==1 ; Arm is extended OUT2 = 0 ;Turn off output 2 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = 0 ;Retract Pick arm WAIT UNTIL IN_A4==1 ;Arm is retracted GOTO PROGRAM_START END

Once the above modiﬁcations have been made, export the program to ﬁle and save it as “Pick and Place with I/O”, then compile, download and test the program.

ASSIGN & INDEX - Using inputs to generate predeﬁned indexes

“INDEX” is a variable on the drive that can be conﬁgured to represent a certain group of inputs as a binary number. “ASSIGN” is the command that designates which inputs are utilized and how they are conﬁgured.

Below the Pick and Place program has been modiﬁed to utilize this “INDEX” function. The previous example program simply picked up a part and moved it to a place location. For demonstration purposes we will add seven different place locations. These locations will be referred to as Bins. What Bin the part is placed in will be determined by the state of three inputs, B1, B2 and B3.

Bin 1 - Input B1 is made Bin 2 - Input B2 is made Bin 3 - Inputs B1 and B2 are made Bin 4 - Input B3 is made Bin 5 - Inputs B1 and B3 are made Bin 6 - Inputs B2 and B3 are made Bin 7 - Inputs B1, B2 and B3 are made

The “ASSIGN” command is used to assign the individual input to a bit in the “INDEX” variable. ASSIGN INPUT <input name> AS BIT <bit #>

;*********************** Initialize and Set Variables ******************* ASSIGN INPUT IN_B1 AS BIT 0 ;Assign the Variable INDEX to equal 1 when IN_B1 is made ASSIGN INPUT IN_B2 AS BIT 1 ;Assign the Variable INDEX to equal 2 when IN_B2 is made ASSIGN INPUT IN_B3 AS BIT 2 ;Assign the Variable INDEX to equal 4 when IN_B4 is made

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Introduction

Table 6: Bin Location, Inputs & Index Values

Bin Location Input State INDEX Value

Bin 1 Input B1 is made 1 Bin 2 Input B2 is made 2 Bin 3 Inputs B1 and B2 are made 3 Bin 4 Input B3 is made 4 Bin 5 Inputs B1 and B3 are made 5 Bin 6 Inputs B2 and B3 are made 6 Bin 7 Inputs B1, B2 and B3 are made 7

The Main program has been modiﬁed to change the end place position based on the value of the “INDEX” variable.

;************************** Main Program ********************************** ENABLE PROGRAM_START: WAIT UNTIL IN_A4==1 ;Make sure Arm is retracted MOVEP 0 ;Move to (ABS) to Pick position OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ;Arm extends OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = 0 ;Turn off output 1 to Retract Pick arm WAIT UNTIL IN_A4==0 ;Make sure Arm is retracted

IF INDEX==1 ;In this area we use the If statement to GOTO BIN_1 ;check and see what state inputs B1, B2 & B3 ENDIF ;are in. IF INDEX==2 ; INDEX = 1 when input B1 is made GOTO BIN_2 ; INDEX = 2 when input B2 is made ENDIF ; INDEX = 3 when input B1 & B2 are made. . ; INDEX = 4 when input B3 is made . ; INDEX = 5 when input B1 & B3 are made. . ; INDEX = 6 when input B2 & B3 are made. IF INDEX==7 ; INDEX = 7 when input B1, B2 & B3 are made GOTO BIN_7 ;We can now direct the program to one of seven ENDIF ;locations based on three inputs.

BIN_1: ;Set up for Bin 1 MOVEP 10 ;Move to Bin 1 location GOTO PLACE_PART ;Jump to place part routine BIN_2: ;Set up for Bin 2 MOVEP 20 ;Move to Bin 2 location GOTO PLACE_PART ;Jump to place part routine BIN_7: ;Set up for Bin 7 MOVEP 70 ;Move to Bin 7 location GOTO PLACE_PART ;Jump to place part routine PLACE_PART: OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A4 == 1 ;Arm extends OUT2 = 0 ;Turn off output 2 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = 0 ;Retract Pick arm WAIT UNTIL IN_A4 == 0 ;Arm is retracted GOTO PROGRAM_START END

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Introduction

NOTE

Any one of the 12 inputs can be assigned as a bit position within the INDEX variable. Only bits 0 through 7 can be used with the INDEX variable. Bits 8-31 are not used and are always set to 0. Unassigned bits in the INDEX variable are set to 0.

BITS 8-31 (not used) A1 0 A2 A4 0 0 0 0

Limit Switch Input Functions

Inputs A1 and A2 can be conﬁgured as special purpose inputs from the [Digital IO] folder in MotionView. They can be set to one of three settings:

- The “Not assigned” setting designates the inputs as general purpose inputs which can be utilized by the User Program.

- The “Fault” setting will conﬁgure A1 and A2 as Hard Limit Switches. When either input is made the drive will be disabled, the motor will come to an uncontrolled stop, and the drive will generate a fault. If the negative limit switch is activated, the drive will display an F-33 fault. If the positive limit switch is activated the drive will display an F32 fault.

- The “Stop and fault” setting will conﬁgure A1 and A2 as End of Travel limit switches. When either input is made the drive will initiate a rapid stop before disabling the drive and generating an F34 or F35 fault (refer to section 2.15 for details). The speed of the deceleration will be set by the value stored in the “QDECEL” System Variable.

NOTE

The “Stop and Fault” function is available in position mode only, (“Drive mode” is set to “Position”). In all other cases, the Stop and Fault function will act the same as the Fault function.

To set this parameter, select the [IO] folder from the Parameter Tree. Then select the [Digital IO] folder. From the Parameter View Window, use the pull-down menu next to [Hard Limit Switches Action] to select the status: Not Assigned, Fault or Stop and Fault.

Digital Outputs Control

- The PositionServo has 5 digital outputs. The “RDY” or READY output is dedicated and will only come on when the drive is enabled, i.e. in RUN mode. The other outputs are labeled OUT1 - OUT4.

- Outputs can be conﬁgured as Special Purpose Outputs. If an output is conﬁgured as a Special Purpose Output it will activate when the state assigned to it becomes true. For example, if an output is assigned the function “Zero speed”, the assigned output will come on when the motor is not in motion. To conﬁgure an output as a Special Purpose Output, select the [IO] folder from the Parameter Tree. Then select the [Digital IO] folder. From the Parameter View Window, select the “Output function” parameter you wish to set (1, 2, 3 or 4).

- Outputs that are conﬁgured as “Not assigned” can be activated either via the User Program or from a host interface. If an output is assigned as a Special Purpose Output, neither the user program nor the host interface can overwrite its status.

- The Systems Variable “OUTPUTS” is a read/write variable that allows the User Program, or host interface, to monitor and set the status of all four outputs. Each output allocates 1 bit in the OUTPUTS variable. For example, if you set this variable equal to 15 in the User Program,i.e. 1111 in binary format, then all 4 outputs will be turned on.

- The example below summarizes the output functions and corresponding System Flags. To set the output, write any non-0 value (TRUE) to its ﬂag. To clear the output, write a 0 value (FALSE) to its ﬂag. You can also use ﬂags in an expression. If an expression is evaluated as TRUE then the output will be turned ON. Otherwise, it will be turned OFF.

OUT1 = 1 ;turn OUT1 ON OUT2 = 10 ;any value but 0 turns output ON OUT3 = 0 ;turn OUT3 OFF OUT2 = APOS>3 && APOS<10 ;ON when position within window, otherwise OFF

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Introduction

Figure 7: Digital IO Folder

1.7 Events

A Scanned Event is a small program that runs independently of the main program. An event statement establishes a condition that is scanned on a regular basis. Once established, the scanned event can be enabled and disabled in the main program. If condition becomes true and EVENT is enabled, the code placed between EVENT and ENDEVENT executes. Scanned events are used to trigger the actions independently of the main program.

In the following example the Event “SPRAY_GUNS_ON” will be setup to turn Output 3 on when the drive’s position becomes greater than 25. Note: the event will be triggered only at the instant when the drive position becomes greater than 25. It will not continue to execute while the position is greater than 25. (i.e. the event is triggered by the transition in logic from false to true). Note also that main program doesn’t need to be interrupted to perform this action.

;*********************** EVENT SETUP *************************************** EVENT SPRAY_GUNS_ON APOS>25 ;Event will trigger as position passes 25 in pos dir. OUT3=1 ;Turn on the spray guns (out 3 on) ENDEVENT ;End event ;***************************************************************************

Enter the Event code in the EVENT SETUP section of the program. To Setup an Event, the “EVENT” command must be entered. This is followed by the Event Name “SPRAY_GUNS_ON” and the triggering mechanism, “APOS>25”. After that a sequence of programming statements can be entered once the event is triggered. In our case, we will turn on output 3. To end the Event, the “ENDEVENT” command must be used. Events can be activated (turned on) and deactivated (turned off) throughout the program. To turn on an Event, the “EVENT” command is entered, followed by the Event Name “SPRAY_GUNS_ON”. This is completed by the desired state of the Event, “ON” or “OFF”. Refer to Section

2.10 for more on Scanned Events.

;*************************************************************************** EVENT SPRAY_GUNS_ON ON ;Enable ‘spray guns on’ event ;***************************************************************************

Two Scanned Events have been added to the Pick and Place program below to trigger a spray gun on and off. The Event will be triggered after the part has been picked up and is passing in front of the spray guns (position greater than

25). Once the part is in position, output 3 is turned on to activate the spray guns. When the part has passed by the spray guns, (position greater than 75), output 3 is turned off, deactivating the spray guns.

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Introduction

;*********************** Events ******************************************** EVENT SPRAY_GUNS_ON APOS>25 ;Event will trigger as position passes 25 in pos dir. OUT3=1 ;Turn on the spray guns (out 3 on) ENDEVENT ;End event EVENT SPRAY_GUNS_OFF APOS>75 ;Event will trigger as position passes 75 in pos dir. OUT3=0 ;Turn off the spray guns (out 3 off) ENDEVENT ;End event ;*********************** Main Program ************************************** PROGRAM_START: ;Place holder for main program loop ENABLE ;Enable output from drive to motor EVENT SPRAY_GUNS_ON ON ;Enable ‘spray guns on’ event EVENT SPRAY_GUNS_OFF ON ;Enable ‘spray guns off’ event WAIT UNTIL IN_A4==1 ;Make sure Arm is retracted MOVEP 0 ;Move to Pick position OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ;Arm extends OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = 0 ;Turn off output 1 to Retract Pick arm WAIT UNTIL IN_A4==1 ;Make sure Arm is retracted MOVEP 100 ;Move to Place position OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ;Arm extends OUT2 = 0 ;Turn off output 2 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = 0 ;Retract Pick arm WAIT UNTIL IN_A4==1 ;Arm is retracted GOTO PROGRAM_START ;Loop back and continuously execute main program loop END

1.8 Variables and Deﬁne Statement

In the previous program for the pick and place machine constants were used for position limits to trigger the event and turn the spray gun ON and OFF. If limits must be calculated based on some parameters unknown before the program runs (like home origin, material width, etc.), then use the User Variables. The PositionServo provides 32 User Variables V0-V31 and 32 User Network Variables NV0-NV31. In the program below, the limit APOS (actual position) is compared to V1 for an ON event and V2 for an OFF event. The necessary limit values could be calculated earlier in the program or supplied by an HMI or host PC.

The DEFINE statement can be used to assign a name to a constant, variable or drive Input/Output. In the program below, constants 1 and 0 are deﬁned as Output_On and Output_Off. DEFINE is a pseudo statement, i.e it is not executed by the program interpreter, but rather substitutes expressions in the subsequent program at the time of compilation.

DEFINE Value2 2

DEFINE Value10 10

V1 = Value2+Value10 ; result is 12

V1 = 2+10 ; does exactly same as above, the result is 12

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Introduction

;*********************** Initialize and Set Variables ********************** UNITS = 1 ;Define units for program, 1=revolution of motor shaft ACCEL = 5 ;Set acceleration rate for motion command DECEL = 5 ;Set deceleration rate for motion command MAXV = 10 ;Maximum velocity for motion commands V1 = 25 ;Set Variable V1 equal to 25 V2 = 75 ;Set Variable V2 equal to 75 DEFINE Output_On 1 ;Define Name for output On DEFINE Output_Off 0 ;Define Name for output Off ;*********************** EVENTS ******************************************* EVENT SPRAY_GUNS_ON APOS > V1 ;Event will trigger as position passes 25 in pos dir. OUT3= Output_On ;Turn on the spray guns (out 3 on) ENDEVENT ;End event

EVENT SPRAY_GUNS_OFF APOS > V2 ;Event will trigger as position passes 75 in pos dir. OUT3= Output_Off ;Turn off the spray guns (out 3 off) ENDEVENT ;End even ;*********************** Main Program ************************************* PROGRAM_START: ;Place holder for main program loop ENABLE ;Enable output from drive to motor EVENT SPRAY_GUNS_ON ON ;Enable the ‘spray guns on’ event EVENT SPRAY_GUNS_OFF ON ;Enable the ‘spray guns off’ event WAIT UNTIL IN_A4==1 ;Ensure Arm is retracted before running the program MOVEP 0 ;Move to position 0 to pick part OUT1 = Output_On ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended OUT2 = Output_On ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = Output_Off ;Turn off output 1 to Retract Pick arm WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted MOVED 100 ;Move to Place position OUT1 = Output_On ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended OUT2 = Output_Off ;Turn off output 2 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = Output_Off ;Retract Pick arm WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted GOTO PROGRAM_START ;Loop back and continuously execute main program loop END

1.9 IF/ELSE Statements

An IF/ELSE statement allows the user to execute one or more statements conditionally. The programmer can use an IF or IF/ELSE construct:

Single IF example:

This example increments a counter, Variable “V1”, until the Variable, “V1”, is greater than 10.

Again: V1=V1+1 IF V1>10 V1=0 ENDIF GOTO Again END

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Introduction

Position Feedback

IF/ELSE example:

This example checks the value of Variable V1. If V1 is greater than 3, then V2 is set to 1. If V1 is not greater than 3, then V2 is set to 0.

IF V1>3 V2=1 ELSE V2=0 ENDIF

Whether you are using an IF or IF/ELSE statement the construct must end with ENDIF keyword.

1.10 Motion

Figure 8 illustrates the Position and Velocity regulator of the PositionServo drive.

Kff is automatically calculated

Kff term

I term

I term Limit and unti wind-up

Biquad Convergence Filter

Position Command

P term

D term

#41 Second Encoder

To Torque Amplifier Current Command

Secondary

Encoder

Primary Encoder

Velocity Command

Velocity Window

P term

D term

Mechanical Velocity Feedback

I term Limit and unti wind-up

Current Limiter

Biquad Convergence Filter

Velocity Estimator

Figure 8: PositionServo Position and Velocity Regulator’s Diagram

The “Position Command”, as shown in the regulator’s diagram (Figure 9), is produced by a Trajectory Generator. The Trajectory Generator processes the motion commands produced by the User’s program to calculate the position increment or decrement, also referred to as the “index” value, for every servo loop. This calculated target (or theoretical) position is then supplied to the Regulator input.

The main purpose of the Regulator is to set the motors position to match the target position created by the Trajectory Generator. This is done by comparing the input from the Trajectory Generator with the position feedback from the encoder or resolver, to control the torque and velocity of the motor. Of course there will always be some error in the position following. Such error is referred to as “Position Error” and is expressed as follows:

Position Error = Target Position - Actual Position

When the actual Position Error exceeds a certain threshold value a “Position Error limit”, fault (F_PE) will be generated. The Position Error limit and Position Error time can be set under the Node Tree “Limits”/ “Position Limits” in MotionView. The Position Error time speciﬁes how long the actual position error can exceed the Position Error limit before the fault is generated.

PM94P01C 25

Introduction

1.10.1 Drive Operating Modes

There are three modes of operation for the PositionServo: Torque, Velocity and Position. Torque and Velocity modes are generally used when the command reference is from an external device, (Ain). Position mode is used when the command comes from the drives User Program, or from an external device, encoder or a step and direction pulse. Setting the drive’s mode is done from the [Parameter] folder in MotionView. To command motion from the user program the drive must be conﬁgured to internal reference mode. When the drive is in position mode, it can be placed into a velocity mode without the need to change operating mode to ‘Velocity’. Velocity proﬁling from Positioning mode can be turned on and off from the User Program. Executing the VELOCITY ON statement is used to activate this mode while VELOCITY OFF will deactivate this mode. This mode is used for special case indexing moves. Velocity mode is the mode when the target position is constantly advanced with a rate set in the VEL system variable. The Reference arrangements for the different modes of operation are illustrated in Figure 9.

#37, Reference

IREF

"INTERNAL"

#214,#189 TPOS

REGULATOR

POSITION

0 Torque

1 Velocity

2 Position

#34, DRIVEMODE

VELOCITY

REGULATOR

CURRENT

REGULATOR

TO MODULA

MA/MB inputs

User's program

Analog input #1

#79,#80

Master to System

ratio

#35,VELOCITY

#89

Dead Band

#90, Offset

#36,CURRENT SCALE

Gearing

Trajectory Generator

SCALE

Phase Correction

Figure 9: Reference Arrangement Diagram

1.10.2 Point To Point Moves

The PositionServo supports two types of moves: absolute and incremental. The statement MOVEP (Move to Position) is used to make an absolute move. When executing an absolute move, the motor is instructed to move to a known position. The move to this known position is always referenced from the motor’s “home” or “zero” location. For example, the statement (MOVEP 0) will cause the motor to move to its zero or home position, regardless of where the motor is located at the beginning of the move. The statement MOVED (Move Distance) makes incremental, (or relative), moves from its current position. For example, MOVED 10, will cause the motor to move forward 10 user units from it current location.

MOVEP and MOVED statements generate what is called a trapezoidal point to point motion proﬁle. A trapezoidal move is when the motor accelerates, using the current acceleration setting, (ACCEL), to a default top speed, (MAXV), it then maintains that speed for a period of time before decelerating to the end position using the deceleration setting, (DECEL). If the distance to be moved is fairly small, a triangular move proﬁle will be used. A triangular move is a move that starts to accelerate toward the Max Velocity setting but has to decelerate before ever achieving the max velocity in order to reach the desired end point.

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Introduction

Trapezoidal Move Profile

Velocity (RPS)

Current accel value

Velocity

Top Velocity

Triangular Move Profile

Time

Figure 10: Trapezoidal Move

1.10.3 Segment Moves

MOVED and MOVEP commands facilitate simple motion to be commanded, but if the required move proﬁle is more complex than a simple trapezoidal move, then the segment move MDV can be used.

The proﬁle shown in Figure 11 is divided into 8 segments or 8 MDV moves. An MDV move (Move Distance Velocity) has two arguments. The ﬁrst argument is the distance moved in that segment. This distance is referenced from the motor’s current position in User Units. The second argument is the desired target velocity for the end of the segment move. That is the velocity at which the motor will run at the moment when the speciﬁed distance in this segment is completed.

Segment Number

Segment

10 15

Segment

20 25

Distance (User Units)

Figure 11: Segment Move

Table 7: Segment Move

Distance moved

during segment

1 3 56

2 3 12

3 4 16

4 2 57

5 2.5 57

6 3 11

7 5 20

8 5 0

- - -

Velocity at the end of

segment

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Introduction

Registration Move

Here is the user program for the segment move example. The last segment move must have a “0” for the end velocity, (MDV 5 , 0). Otherwise, fault F_24 (Motion Queue Underﬂow), will occur.

;Segment moves LOOP: WAIT UNTIL IN_A4==0 ;Wait until input A4 is off before starting the move MDV 3 , 56 ;Move 3 units accelerating to 56 User Units per sec MDV 3 , 12 ;Move 3 units decelerating to 12 User Units per sec MDV 4 , 16 ;Move 4 units accelerating to 16 User Units per sec MDV 2 , 57 ;Move 2 units accelerating to 57 User Units per sec MDV 2.5 , 57 ;Move 2.5 units maintaining 57 User Units per sec MDV 3 , 11 ;Move 3 units decelerating to 11 User Units per sec MDV 5 , 20 ;Move 5 units accelerating to 20 User Units per sec MDV 5 , 0 ;Move 5 units decelerating to 0 User Units per sec WAIT UNTIL IN_A4==1 ;Wait until input A4 is on before looping GOTO LOOP END

NOTE

When an MDV move is executed, the segment moves are stored to a Motion Queue. If the program loops on itself, then the queue will become full and an F_23 Fault Motion Queue Overﬂow will occur.

Since the MDV moves utilize a Motion Queue, the [Step] or [Step Over] debugging features can not be used.

1.10.4 Registration

Both absolute and incremental moves can be used for registration moves. The statements associated with these moves are MOVEPR and MOVEDR. These statements have two arguments. The ﬁrst argument speciﬁes the commanded move distance or position. The second argument speciﬁes the move made after the registration input is seen. If the registration move is an absolute move, for MovePR, the ﬁrst argument is absolute (referenced to the 0 position), the second argument is relative to the registration position. For MoveDR, both arguments are relative. The ﬁrst is relative to the shaft position when motion is started and the second is relative to the registration position.

Position Registration

Input is made

Commanded

Move

Figure 12: Registration Move

Registration

Move

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Introduction

Velocity (RMS)

1.10.5 S-Curve Acceleration

Very often it is important for acceleration and deceleration of the motor to be as smooth as possible. For example, using a smooth acceleration/deceleration proﬁle could minimize the wear and tear on a machine tool, smoothing the transition from accel/decel to steady state velocity. To perform smooth motion proﬁles, the PositionServo supports Scurve acceleration.

With normal straight line acceleration, the axis is accelerated to the target velocity in a linear fashion. With S-curve acceleration, the motor accelerates slowly at the ﬁrst, then twice as fast as the middle straight line area, and then slowly stops accelerating as it reaches the target velocity. With straight line acceleration, the acceleration changes are abrupt at the beginning of the acceleration and again once the motor reaches the target velocity. With S-curve acceleration, the acceleration gradually builds to the peak value then gradually decreases to no acceleration. The disadvantage with S-curve acceleration is that for the same acceleration distance the peak acceleration is twice that of straight line acceleration, which often requires twice the peak torque. Note that the axis will arrive at the target position at the same time regardless of which acceleration method is used.

Distance (Units)

Figure 13: Sequential Move

To use S-curve acceleration in a MOVED, MOVEP or MDV statement requires only the additional “,S” at the end of the statement.

Examples:

MOVED 10 , S MOVEP 10 , S MDV 10,20,S MDV 10,0,S

1.10.6 Motion Queue

The PositionServo drive executes the User Program one statement at a time. When a move statement (MOVED or MOVEP) is executed, the move proﬁle is stored to the Motion Queue. The program will, by default, wait on that statement until the Motion Queue has executed the move. Once the move is completed, the next statement in the program will be executed. By default motion commands (other than MDV statements) effectively suspend the program until the motion is complete.

A standard move (MOVED or MOVEP) is only followed by one argument. This argument references the distance or position to move the motor to. By adding the second argument “C”, (MOVEP 0,C) or (MOVED 100,C), the drive is allowed to continue executing the user program during the move. At this point, multiple move proﬁles can be stored to the queue. The Motion Queue can hold up to 32 proﬁles. The Continue “C” argument is very useful when it is necessary to trigger an action, e.g. handle I/O, while the motor is in motion. Below the Pick and Place Example Program has been modiﬁed to utilize the Continue, “C”, argument.

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Introduction

;**************************** Main Program ******************************** PROGRAM_START: ;Place holder for main program loop ENABLE ;Enable output from drive to motor WAIT UNTIL IN_A4==1 ;Make sure Arm is retracted before starting the program MOVEP 0 ;Move to position 0 to pick part OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = 0 ;Turn off output 1 to Retract Pick arm WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted MOVED 100,C ;Move to Place position and continue code execution WAIT UNTIL APOS >25 ;Wait until pos is greater than 25 OUT3 = 1 ;Turn on output 3 to spray part WAIT UNTIL APOS >=75 ;Wait until pos is greater than or equal to 75 OUT3 = 0 ;Turn off output 3 to shut off spray guns WAIT UNTIL APOS >=95 ;Wait until move is almost done before extending arm OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended OUT2 =0 ;Turn off output 2 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = 0 ;Retract Pick arm WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted GOTO PROGRAM_START ;Loop back and continuously execute main program loop END

When the “C” argument is added to the standard MOVED and MOVEP statements, program execution is not interrupted by the execution of the motion command. NOTE: With an MDV move the execution of the program is never suspended.

The generated motion proﬁles are stored directly to the Motion Queue and are then executed in sequence. If the MOVED and MOVEP statements don’t have the “C” modiﬁer, then the motion proﬁles generated by these statements go to the motion stack and the program is suspended until each proﬁle has been executed.

1.11 Subroutines and Loops

1.11.1 Subroutines

Often it is necessary to repeat a series of program statements in several places in a program. Subroutines can be useful in such situations. The syntax of a subroutine is simple. Subroutines must be placed after the main program, i.e. after the END statement, and must start with the subname: label (where subname is the name of subroutine), and must end with a statement RETURN.

Note that there can be more than one RETURN statement in a subroutine. Subroutines are called using the GOSUB statement.

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Introduction

1.11.2 Loops

SML language supports WHILE/ENDWHILE block statement which can be used to create conditional loops. Note that IF-GOTO statements can also be used to create loops.

The following example illustrates calling subroutines as well as how to implement looping by utilizing WHILE / ENDWHILE statements.

;*************************** Initialize and Set Variables ****************** UNITS = 1 ;Units in Revolutions (R) ACCEL = 15 ;15 Rev per second per second (RPSS) DECEL = 15 ;15 Rev per second per second (RPSS) MAXV = 100 ;100 Rev per second (RPS)/6000RPM APOS = 0 ;Set current position to 0 (absolute zero position) DEFINE LOOPCOUNT V1 DEFINE LOOPS 10 DEFINE DIST V2 DEFINE REPETITIONS V3 REPETITIONS = 0

;******************************* Main Program ******************************** PROGRAM_START: ;Place holder for main program loop ENABLE ;Enable output from drive to motor MAINLOOP: LOOPCOUNT=LOOPS ;Set up the loopcount to loop 10 times DIST=10 ;Set distance to 10 WHILE LOOPCOUNT ;Loop while loopcount is greater than zero DIST=DIST/2 ;decrease dist by 1/2 GOSUB MDS ;Call to subroutine WAIT TIME 100 ;Delay executes after returned from the subroutine LOOPCOUNT=LOOPCOUNT-1 ;decrement loop counter ENDWHILE REPETITIONS=REPETITIONS+1 ;outer loop IF REPETITIONS < 5 GOTO MAINLOOP Wait Motioncomplete ;Wait for MDV segments to be completed ENDIF END

;****************************** Sub-Routines ****************************** MDS: V4=dist/3 MDV V4,10 MDV V4,10 MDV V4,0 RETURN

NOTE

Running this code as is will most likely result in F_23. There are 3 MDV statements that are executed 10 times = 30 moves. Then the condition set on the repetitions variable makes the program execute the above another 4 times. 4 x 30 = 120. The 120 moves, with no waits anywhere in the program will most likely produce an F_23 fault (Motion Queue overﬂow).

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Introduction

2. Programming

2.1 Program Structure

One of the most important aspects of programming is developing the program’s structure. Before writing a program, ﬁrst develop a plan for that program. What tasks must be performed? And in what order? What things can be done to make the program easy to understand and allow it to be maintained by others? Are there any repetitive procedures?

Most programs are not a simple linear list of instructions where every instruction is executed in exactly the same order each time the program runs. Programs need to do different things in response to external events and operator input. SML contains program control structure instructions and scanned event functions that may be used to control the ﬂow of execution in an application program. Control structure instructions are the instructions that cause the program to change the path of execution. Scanned events are instructions that execute at the same time as the main body of the application program.

Header - Enter in program description and title information

;********************************* HEADER ********************************* ;Title: Pick and Place example program ;Author: Lenze - AC Technology ;Description: This is a sample program showing a simple sequence that ; picks up a part, moves to a set position and places the part

I/O List - Deﬁne what I/O will be used

;********************************* I/O List ****************************** ; Input A1 - not used ; Input A2 - not used ; Input A3 - Enable Input ; Input A4 - not used ; Input B1 - not used ; Input B2 - not used ; Input B3 - not used ; Input B4 - not used ; Input C1 - not used ; Input C2 - not used ; Input C3 - not used ; Input C4 - not used ; ; Output 1 - Pick Arm ; Output 2 - Gripper ; Output 3 - not used ; Output 4 - not used

Initialize and Set Variables - Deﬁne and assign variable values

;**************************** Initialize and Set Variables ***************** UNITS = 1 ACCEL = 75 DECEL =75 MAXV = 10 ;V1 = ;V2 = DEFINE Output_on 1 DEFINE Output_off 0

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Introduction

Events - Deﬁne Event name, Trigger and Program Statements

;***************************** Events ************************************** EVENT SPRAY_GUNS_ON APOS > V1 ;Event will trigger as position passes 25 in pos dir. OUT3= Output_On ;Turn on the spray guns (out 3 on) ENDEVENT ;End event EVENT SPRAY_GUNS_OFF APOS > V2 ;Event will trigger as position passes 75 in pos dir. OUT3= Output_Off ;Turn off the spray guns (out 3 off) ENDEVENT ;End even

Main Program - Deﬁne the motion and I/O handling of the machine

;***************************** Main Program ******************************** RESET_DRIVE: ;Place holder for Fault Handler Routine WAIT UNTIL IN_A3 ;Make sure that the ENABLE input is made before continuing ENABLE ;Enable output from drive to motor PROGRAM_START: ;Place holder for main program loop EVENT SPRAY_GUNS_ON ON ;Enable the ‘spray guns on’ event EVENT SPRAY_GUNS_OFF ON ;Enable the ‘spray guns off’ event WAIT UNTIL IN_A4==1 ;Make sure Arm is retracted before starting the program MOVEP 0 ;Move to position 0 to pick part OUT1 = Output_On ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended OUT2 = Output_On ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = Output_Off ;Turn off output 1 to Retract Pick arm WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted MOVED 100 ;Move to Place position OUT1 = Output_On ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended OUT2 = Output_Off ;Turn off output 2 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = Output_Off ;Retract Pick arm WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted GOTO PROGRAM_START ;Loop back and continuously execute main program loop END

Sub-Routine - Any and all Sub-Routine code should reside here

;************************* Sub-Routines *********************************** ; Enter Sub-Routine code here

Fault Handler - Deﬁne what the program should do when a fault is detected

;************************* Fault Handler Routine ************************** ; Enter Fault Handler code here ON FAULT ENDFAULT

The header section of the program contains description information, program name, version number, description of process and programmers name. The I/O List section of the program contains a listing of all the I/O used within the application. The Initialize and Set Variables section of the program deﬁnes the names for the user variables and constants used in the program and provides initial setting of these and other variables.

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Programming

The Events section contains all scanned events. Remember to execute the EVENT <eventname> ON statement in the main program to enable the events. Please note that not all of the SML statements are executable from within the EVENT body. For more detail, reference “EVENT” and “ENDEVENT” in Section 3 of the manual. The GOTO statement can not be executed from within the Event body. However, the JUMP statement can be used to jump to code in the main program body. This technique allows the program ﬂow to change based on the execution of an event. For more detail, reference “JUMP”, in Section 3.1 (Program Statement Glossary) of this manual.

The main program body of the program contains the main part of the program, which can include all motion and math statements, labels, I/O commands and subroutine calls. The main body should be ﬁnished with an END statement, however if the program loops indeﬁnitely then the END statement can be omitted.

Subroutines are routines that are called from the main body of the program. When a subroutine is called, (GOSUB), the program’s execution is transferred from the main program to the called subroutine. It will then process the subroutine until a RETURN statement occurs. Once a RETURN statement is executed, the program’s execution will return back to the main program to the line of code immediately following the GOSUB statement.

Fault handler is a section of code that is executed when the drive detects a fault. This section of code begins with the “ON FAULT” statement and ends with an “ENDFAULT” statement. When a fault occurs, the normal program ﬂow is interrupted, motion is stopped, the drive is disabled, Event scanning is stopped and the statements in the Fault Handler are executed, until the program exits the fault handler. The Fault handler can be exited in two ways:

- The “RESUME” statement will cause the program to end the Fault Handler routine and resume the execution of the main program. The location (label) called out in the “RESUME” command will determine where the program will commence.

- The “ENDFAULT” statement will cause the user program to be terminated.

While the Fault Handler is being executed, Events are not being processed and detection of additional faults is not possible. Because of this, the Fault Handler code should be kept as short as possible.

If extensive code must be written to process the fault, then this code should be placed in the main program and the “RESUME” statement should be utilized. Not all of SML statements can be utilized by the Fault Handler. For more details reference “ON FAULT/ENDFAULT”, in Section 3.1 (Program Statement Glossary) of this manual.

Comments are allowed in any section of the program and are preceded by a semicolon. They may occur on the same line as an instruction or on a line by themselves. Any text following a semicolon in a line will be ignored by the compiler.

2.2 Variables

Variables can be System or User. User variables do not have a predeﬁned meaning and are available to the user to store any valid numeric value. System variables have a predeﬁned meaning and are used to conﬁgure, control or monitor the operations of the PositionServo. (Refer to paragraph 2.6 for more information on System Variables).

All variables can be used in valid arithmetic expressions. All variables have their own corresponding index or identiﬁcation number. Any variable can be accessed by their identiﬁcation number from the User’s program or from a Host Interface. In addition to numbers some of the variables have predeﬁned names and can be accessed by that name from the User’s program.

The following syntax is used when accessing variables by their identiﬁcation number:

@102 = 20 ; set variable #102 to 20 @88=@100 ; copy value of variable #100 to variable #88

Variable @102 has the variable name ‘V2”; variable @88 has the variable name ‘VAR_AOUT’ and variable @100 has the variable name ‘V0’. Hence the program statements above could be written as:

V2 = 20 VAR_AOUT = V0

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Programming

There are two types of variables in the PositionServo drive - User Variables and System Variables.

User Variables are a ﬁxed set of variables that the programmer can use to store data and perform arithmetic

manipulations. All variables are of a single type. Single type variables, i.e. typeless variables, relieve the programmer of the task of remembering to apply conversion rules between types, thus greatly simplifying programming.

User Variables

V0-V31 User deﬁned variables. Variables can hold any numeric value including logic (Boolean 0 - FALSE and

non 0 - TRUE) values. They can be used in any valid arithmetic or logical expressions.

NV0-NV31 User deﬁned network variables. Variables can hold any numeric value including logic (Boolean 0

- FALSE and non 0 - TRUE) values. They can be used in any valid arithmetic or logical expressions. Variables can be shared across Ethernet network with use of statements SEND and SENDTO.

Since SML is a typeless language, there is no special type for Boolean type variables (variables that can be only 0 or

1). Regular variables are used to facilitate Boolean variables. Assigning a variable a “FALSE” state is done by setting it equal to “0”. Assigning a variable a “TRUE” state is done by assigning it any value other than “0”.

Scope

SML variables are accessible from several sources. Each of the variables can be read and set from any user program or Host communications interface at any time. There is no provision to protect a variable from change. This is referred to as global scope.

Volatility

User variables are volatile i.e. they don’t maintain their values after the drive is powered down. After power up the values of the user variables are set to 0. Loading or resetting the program doesn’t change variables values.

In addition to the user variables, system variables are also provided. System variables are dedicated variables that contain speciﬁc information relative to the setup and operation of the drive. For example, APOS variable holds actual position of the motor shaft. For more details refer to Section 2.9.

Flags, Resolution and Accuracy

Any variable can be used as a ﬂag in a logical expression and as a condition in a conditional expression. Flags are often used to indicate that some event has occurred, logic state of an input has changed or that the program has executed to a particular point. Variables with non ‘0’ values are evaluated as “TRUE” and variables with a “0” values are evaluated as “FALSE”.

Variables are stored internally as 4 bytes (double word) for integer portion and 4 bytes (double word) for fractional portion. Every variable in the system is stored as 64 bit in 32.32 ﬁxed point format. Maximum number can be represented by this format is +/- 2,147,483,648. Variable resolution in this format is 2.3E-10.

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Programming

2.3 Arithmetic Expressions

Table 8 lists the four arithmetic functions supported by the Indexer program. Constants as well as User and System variables can be part of the arithmetic expressions.

Examples.

V1 = V1+V2 ;Add two user variables V1 = V1-1 ;Subtract constant from variable V2 = V1+APOS ;Add User and System (actual position) variables APOS = 20 ;Set System variable V5 = V1*(V2+V3*5/2+1) ;Complicated expression

Table 8: Supported Arithmetic Expressions

Operator Symbol

Addition +

Subtraction -

Multiplication *

Division /

Result overﬂow for “*” and “/” operations will cause arithmetic overﬂow fault F_19. Result overﬂow/underﬂow for “+” and “-” operations does not cause an arithmetic fault.

2.4 Logical Expressions and Operators

Bitwise, Boolean, and comparison operators are considered as Logical Operators. They operate on logical values of the operands. There are two possible values for logical operand: TRUE and FALSE. Any value contained in a User variable, System variable or ﬂag is treated as TRUE or FALSE with these types of the operators. If a variable value equals “0”, it is considered FALSE. All other values (non-0) including negative numbers are considered TRUE.

2.4.1 Bitwise Operators

Table 9 lists the bitwise operators supported by the Indexer program.

Table 9: Supported Bitwise Operators

Operator Symbol

AND &

OR |

XOR ^

NOT !

Both User or System variables can be used with these operators. In order to perform a bitwise (Boolean) operation, the value must be referenced in hexadecimal format. Example: bit 22 alone would be referenced as 0x400000.

Examples:

V1 = V2 & 0xF ;clear all bits but lowest 4 IF (INPUTS & 0x3) ;check inputs 0 and 1 V1 = V1 | 0xff ;set lowest 8 bits V1 = INPUTS ^ 0xF ;invert inputs 0-3 V1 = !IN_A1 ;invert input A1

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Programming

2.4.2 Boolean Operators

Table 10 lists the boolean operators supported by the Indexer program. Boolean operators are used in logical expressions.

Table 10: Supported Boolean Operators

Operator Symbol

AND &&

OR ||

NOT !

Examples:

IF APOS >2 && APOS <6 || APOS >10 && APOS <20 {statements if true} ENDIF

The above example checks if APOS (actual position) is within one of two windows; 2 to 6 units or 10 to 20 units. In other words:

If (APOS is more than 2 AND less than 6)

If (APOS is more than 10 AND less then 20)

THEN the logical expression is evaluated to TRUE. Otherwise it is FALSE

2.5 Comparison Operators

Table 11 lists the comparison operators supported by the Indexer program.

Table 11: Supported Comparison Operators

Operator Symbol

More >

Less <

Equal or more >=

Equal or less =<

Not Equal <>

Equal ==

Examples:

IF APOS <=10 ; If Actual Position equal or less than 10 IF APOS > 20 ; If Actual Position greater than 20 IF V0 ==5 ; If V0 equal to 5 IF V1<2 && V2 <>4 ; If V1 less than 2 and V2 doesn’t equal 4

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Programming

2.6 System Variables and Flags

System variables are variables that have a predeﬁned meaning. They give the programmer/user access to drive parameters and functions. Some of these variables can also be set via the parameters in MotionView. In most cases the value of these variables can be read and set in your program or via a Host Interface. Variables are either read only, write only or read and write. Read only variables can only be read and can’t be set. For example, INPUTS = 5, is an illegal action because you can not set an input. Conversely, write-only variables cannot be read. Reading a write-only variable by either the variable watch window or network communications can result in erroneous data.

System Flags are System Variables that can only have values of 0 or 1. For example, IN_A1 is the system ﬂag that reﬂects the state of digital input A1. Since inputs can only be ON or OFF, then the value of IN_A1 can only be 0 or 1.

2.7 System Variables Storage Organization

All system variables are located in drive’s RAM memory and therefore are volatile. However, values for some of these system variables are also stored in EPM. When a system variable is changed in MotionView, its value changes in both RAM and EPM. When a system variable is changed from the user’s program, its value is changed in RAM only and will be lost on power down.

Host interfaces have the capability to change the variable value in both the EPM and RAM. The user has a choice in memory to change a variable in RAM and EPM or in RAM only.

2.7.1 RAM File for User’s Data Storage

In addition to the standard user variables (V0-V31 & NV0-NV31) PositionServo drives have a section of RAM memory (256k) allocated as data storage space and available to the programmer for storage of program data.

The RAM ﬁle data storage is often required in systems where it is desirable to store large amounts of data prepared by a host controller ( PLC, HMI, PC, etc). This data might represent more complex Pick and Place coordinates, complicated trajectory coordinates, or sets of gains/limits speciﬁc for given motion segments.

RAM memory is also utilized in applications that require data collection during system operation. At the end of a period of time the collected data can be acquired by the host controller for analysis. For example, position errors and phase currents collected during the move are then analyzed by the host PLC/PC to qualify system tolerance to error free operation.

Implementation

There are 256K (262,144) bytes provided as RAM ﬁle for data storage. Since the basic data type in the drive is 64 bit (8 bytes) 32,768 data elements can be stored in the RAM ﬁle. The ﬁle is accessible from within the User’s program or through any external communications interface (Ethernet, ModBUs, CAN etc.). Two statements and three system variables are provided for accessing the RAM ﬁle memory. The RAM ﬁle is volatile storage and is intended for “per session” usage. The data saved in the RAM ﬁle will be lost when the drive is powered off.

The three system variables provided to support ﬁle access are:

VAR_MEM_VALUE (PID = 4) VAR_MEM_INDEX (PID = 5) VAR_MEM_INDEX_INCREMENT (PID = 6)

In addition, two statements are provided to to allow access and storage to the RAM ﬁle direct from convenient statements within the user program. The statements MEMSET, MEMGET are described in paragraph 2.7.3 and Tables 44 & 45.

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Programming

2.7.2 Memory Access Through Special System Variables

MEM_INDEX holds the value that will be read or written to the RAM ﬁle. MEM_INDEX points to the position in the RAM ﬁle (0 to 32767) and MEM_INDEX_INCREMENT holds the value that MEM_INDEX is going to modify after the read or write operation is completed.

The RAM memory access is illustrated with the example program herein.

;--------------------------------------------------------------------------;User’s program to read/write to RAM file. ;Advance index after writing/reading by 1 ;Record position error to RAM file every 100 ms for 10 seconds. 10/0.1 = 100 ;locations are needed ;---------------------------------------------------------------------------

#DEFINE IndexStart 0 #DEFINE MemIncrement 1 #DEFINE RecordLength 100 #DEFINE PElimit 0.1 ;0.1 user unit

VAR_MEM_INDEX = IndexStart ;set start position VAR_MEM_INDEX_INCREMENT=MemIncrement ;set increment

;--------------------------------------------------------------------------EVENT StorePE TIME 100

VAR_MEM_VALUE = VAR_POSERROR ;store in RAM file.

ENDEVENT

PROGRAMSTART:

EVENT StorePE ON

{ Start some motion activity….

} ;wait for data collection is over

WHILE VAR_MEM_INDEX < (IndexStart+RecordLength) ENDWHILE EVENT StorePE Off ;turn off storage

;Analyze data collected. If PE > PElimit then signal system has low performance… VAR_MEM_INDEX= IndexStart WHILE VAR_MEM_INDEX < (IndexStart+RecordLength) IF (VAR_MEM_VALUE > PElimit) GOTO Label_SignalBad ENDIF ENDWHILE

LabelSignalBad:

{ Signal that PE out of limits … }

END

PM94P01C 39

Programming

In the RAM memory access program example, the values of PE (position error) are stored sequentially in the RAM ﬁle every 100ms for 10 seconds. (100 samples). After collection is done the data is read from the ﬁle one by one and compared with limit.

Variable VAR_MEM_INDEX is incremented every read or write by the value stored in VAR_MEM_INDEX_INCREMENT. That value could be any value from -32767 to 32767. This way backwards reading is also possible. If the value is 0 (zero) no increment/decrement is produced. VAR_MEM_INDEX wraps around its min/max values. I.e. if the next read or write will result in a value more (less) than 32767 (-32767), the index will be adjusted by modulo 32767. This allows for the creation of circular arrays. This feature can be used for diagnostics when certain parameter(s) are stored in the memory continuously and then if the system fails the data array can be examined to simplify diagnostics.

2.7.3 Memory Access Through MEMSET, MEMGET Statements

The memory access statements MEMSET and MEMGET are provided for simpliﬁed storage of data in the RAM memory to/from the user variables V0-V31. Using these statements any combinations of variables V0-V31 can be stored/retrieved with a single statement. This allows for efﬁcient access to the RAM memory area. For example, in reading 10 variables of the user’s program. Indeed for reading 10 variables V0-V10 it would normally require 10 read statements (Vx=VAR_ MEM_VALUE). With the MEMGET statement all V0-V10 can be read in one step. The format of MEMSET/MEMGET is as follows:

MEMSET <offset> [ <varlist>] MEMGET <offset> [ <varlist>] <offset> any valid expression that evaluates to a number between -32767 to 32767

It speciﬁes the offset in the RAM ﬁle where data will be stored or retrieved. <varlist> any combinations of variables V0-V31

Examples for <offset> expression

5 constant 10+23+1 constant expression V0 variable Must hold values in -32767 to 32767 range V0+V1+3 expression Must evaluate to -32767 to 32767 range Example: <offset> =5

RAM ﬁle memory

0 1 2 3 4 5 6 ... address increase

data data data data data data data

Examples for <varlist> instruction

[V0] single variable will be stored/retreived [V0,V3,V2] variables V0,V3,V2 will be stored/retrieved [V3-V7] variables V3 to V7 inclusively will be stored [V0,V2,V4-V8] variables V0,V2, V4 through V8 will be stored

Storage/Retrieval order with MEMSET/MEMGET

Variables in the list are always stored in order: the variable with smallest index ﬁrst and the variables with highest index last regardless of the order they appear in the <varlist> instruction.

Example: [V0,V3, V5-V7] will be stored in memory in the order of increasing memory index as follows:

RAM ﬁle memory

V0 V3 V5 V6 V7 ... ... ... index increase

For comparison: [V5-V7, V0, V3] will have the same storage order as the above list regardless of the order in which the variables are listed.

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Programming

When retrieving data with MEMGET statements memory locations will be sequentially copied to variables starting from the one with smallest index in the list to the last with biggest index. Consider the list for the MEMGET statement:

[V2,V3,V5-V7]

RAM ﬁle memory

Data1 Data2 Data3 Data4 Data5 Data6 ... ... index increase

Here is how the data will be assigned to variables: V2 <- Data1 V3 <- Data2 V5 <- Data3 V6 <- Data4 V7 <- Data5

2.8 System Variables and Flags Summary

2.8.1 System Variables

Section 3.2 provides a complete list of the system variables. Every aspect of the PositionServo can be controlled by the manipulation of the values stored in the System Variables. All System Variables start with a “VAR_” followed by the variable name. Alternatively, System Variables can be addressed as an @NUMBER where the number is the variable Index. The most frequently used variables also have alternate names listed in Table 12.

Table 12: System Variables

Index Variable Access Variable Description Units

181 ACCEL R/W Acceleration for motion commands User Units/Sec

71 AIN1 R Analog input. Scaled in volts. Range from -10 to +10 volts V(olt)

72 AIN2 R Analog input 2. Scaled in Volts. Range from -10 to +10 volts V(olt)

(2)

88 AOUT R/W Analog output. Value in Volts. Valid range from -10 to +10 (V)

215 APOS R/W Actual motor position User Units

190 APOS_PLS R/W Actual Motor Position Encoder Counts

182 DECEL R/W Deceleration for motion commands User Units/Sec

83 DEXSTATUS R Drive Extended Status Word -

54 DSTATUS R Status ﬂags register -

DFAULTS R Fault code register -

245 HOME W Start Homing (pre-deﬁned homing) -

INDEX R Lower 8 bits are used. See ASSIGN statement for details. -

184 INPOSLIM R/W Maximum deviation of position for INPOSITION Flag to remain set User Units

65 INPUTS R Digital Inputs states. The ﬁrst 12 bits correspond to the 12 drive inputs -

139 IREF W Internal Reference: Velocity / Torque RPS/A

187 MECOUNTER R Master Encoder Counts (Master Encoder Input) Encoder Counts

180 MAXV R/W Maximum velocity for motion commands User Units/Sec

140-

171

66 OUTPUTS R/W Digital outputs. Bits #0 to #4 represent outputs 1 through 5 -

216 PERROR R Position Error Feedback Pls

191 PERROR_PLS R Position Error User Units

48 PGAIN_D R/W Position loop D-gain -

47 PGAIN_I R/W Position loop I-gain -

49 PGAIN_ILIM R/W Position loop I gain limit -

46 PGAIN_P R/W Position loop P-gain -

NV0 - NV31 R/W User Network Variables -

V(olt)

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Programming

Index Variable Access Variable Description Units

188 PHCUR R Motor phase current A(mpere)

183 QDECEL R/W Quick Deceleration for STOP MOTION QUICK statement User Units/Sec

213 RPOS R Registration position. Valid when system ﬂag F_REGISTRATION set User Units

212 RPOS_PLS R Registration position Feedback Pls

218 TA R Commanded acceleration User units/Sec

214 TPOS R/W Theoretical/commanded position User Units

219 TPOS_ADV W Theoretical/commanded position advance Feedback Pls

189 TPOS_PLS R/W Theoretical/commanded position Feedback Pls

217 TV R Commanded velocity in User Units/Sec

(1)

186 UNITS R/W User Units scale.

185 VEL R/W Set Velocity when in velocity mode User Units/Sec

44 VGAIN_P R/W Velocity loop P-gain -

45 VGAIN_I R/W Velocity loop I-gain -

100-

131

(1)

When a “0”, (Zero), value is assigned to the variable “UNITS”, then “USER UNITS” is set to QUAD ENCODER COUNTS. This is the default setting at the start of the program before UNITS=<value> is executed.

(2)

Any value outside +/- 10 range assigned to AOUT will be automatically trimmed to that range

V0 - V31 R/W User Variables

UserUnits/Rev

Example:

AOUT=100 , AOUT will be assigned value of 10. V0=236 VOUT=V0, VOUT will be assigned 10 and V0 will be unchanged.

2.8.2 System Flags

Flags don’t have an Index number assigned to them. They are the product of a BIT mask applied to a particular system variable by the drive and are available to the user only from the User’s program. Table 13 lists the System Flags with access rights and description.

Table 13: System Flags

Name Access Description

IN_A1-4, IN_B1-4, IN_C1-4 R Digital inputs . TRUE if input active, FALSE otherwise

OUT1, OUT2, OUT3, OUT4, OUT5 W Digital outputs OUTPUT1- OUTPUT5

F_ICONTROL OFF R Interface Control Status (ON/OFF) #27 in DSTATUS register

F_IN_POSITION R

F_ENABLED R Set when drive is enabled

F_EVENTS OFF R Events Disabled Status (ON/OFF) #30 in DSTATUS register

F_MCOMPLETE R

F_MQUEUE_FULL R Motion Queue full

F_MQUEUE_EMPTY R Motion Queue empty

F_FAULT R Set if any fault detected

F_ARITHMETIC_FLT R Arithmetic fault

F_REGISTRATION R

F_MSUSPENDED R Set if motion suspended by statement MOTION SUSPEND

TRUE when Actual Position (APOS) is within limits set by INPOSLIM variable and motion completed

Set when motion is completed and there is no motion commands waiting in the Motion Queue

Set when registration mark was detected. Content RPOS variable is valid when this ﬂag is active. Flag resets by any registration moves MOVEPR,MOVEDR or by command REGISTRATION ON

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Programming

Flag logic is shown herein.

IF TPOS-INPOSLIM < APOS < TPOS+INPOSLIM && F_MCOMPLETE && F_MQUEUE_EMPTY F_IN_POSITION = TRUE ELSE F_IN_POSITION = FALSE ENDIF

For VELOCITY mode F_MCOMPLETE and F_MQUEUE_EMPTY ﬂags are ignored and assumed TRUE.

2.9 Control Structures

Control structures allow the user to control the ﬂow of the program’s execution. Most of the power and utility of any programming language comes from its ability to change statement order with structure and loops.

2.9.1 DO/UNTIL Structure

This statement is used to execute a block of code one time and then continue executing that block until a condition becomes true (satisﬁed). The difference between DO/UNTIL and WHILE statements is that the DO/UNTIL instruction tests the condition after the block is executed so the conditional statements are always executed at least one time. The syntax for DO/UNTIL statement is:

DO …statements UNTIL <condition>

The ﬂowchart and code segment in Figure 14 illustrate the use of the DO/UNTIL statement.

Start

… statements

Move DIstance 3

units. Delay 2

seconds

DO MOVED 3 WAIT TIME 2000 UNTIL IN_A3

Is input A3 ON?

…statements

YES

End

Figure 14: DO/UNTIL Code and Flowchart

2.9.2 WHILE Structure

This statement is used if you want a block of code to execute while a condition is true.

WHILE <condition>

…statements

ENDWHILE

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Programming

The ﬂowchart and code segment in Figure 15 illustrate the syntax for the WHILE instruction.

WHILE <condition>

Start

…statements

ENDWHILE

Is input A3 ON?

…statements

WHILE IN_A3 MOVED 3 WAIT TIME 2000 ENDWHILE

…statements

Move DIstance 3

YES

units. Delay 2

seconds

End

Figure 15: WHILE Code and Flowchart

2.9.3 Subroutines

A subroutine is a group of SML statements that is located at the end of the main body of the program. It starts with a label which is used by the GOSUB statement to call the subroutine and ends with a RETURN statement. The subroutine is executed by using the GOSUB statement in the main body of the program. Subroutines can not be called from an EVENT or from the FAULT handlers.

When a GOSUB statement is executed, execution is transferred to the ﬁrst line of the subroutine. The subroutine is then executed until a RETURN statement is met. When the RETURN statement is executed, the program’s execution returns to the program line, in the main program, following the GOSUB statement. Subroutines may have more than one RETURN statement in its body.

Subroutines may be nested up to 32 times. Only the main body of the program and subroutines may contain a GOSUB statement. Refer to Section 3.1 for more detailed information on the GOSUB and RETURN statements. The ﬂowchart and code segment in Figure 16 illustrate the use of subroutines.

…statements GOSUB CalcMotionParam

Start

MOVED V1 OUT2=1 …statements

Main Program

END ;Subs usually located after END

GOSUB

;statement of main program ;

Label

CalcMotionParam: V1 = (V3*2)/V4 RETURN

RETURN

End

Figure 16: GOSUB Code and Flowchart

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Programming

2.9.4 IF Structure

The “IF” statement is used to execute an instruction or block of instructions one time if a condition is true. The simpliﬁed syntax for the IF statement is:

IF condition …statement(s) ENDIF

The ﬂowchart and code segment in Figure 17 illustrate the use of the IF statement.

Start

…statements

IF IN_A2 OUT2 = 1 MOVED 3 ENDIF

Input A2 ON?

Yes

Set Output 2 ON

Move Distance 3

units

..statements

End

Figure 17: IF Code and Flowchart

2.9.5 IF/ELSE Structure

The IF/ELSE statement is used to execute a statement or a block of statements one time if a condition is true and a different statement or block of statements if condition is false.

The simpliﬁed syntax for the IF/ELSE statement is:

IF <condition> …statement(s) ELSE …statement(s) ENDIF

The ﬂowchart and code segment in Figure 18 illustrate the use of the IF/ELSE instruction.

…statements

IF IN_A2 OUT2=1 MOVED 3 ELSE OUT2=0 MOVED 5 ENDIF

..statements

Figure 18: IF/ELSE Code and Flowchart

Start

Input A2 ON?

Set Output 2 OFF

Move Distance 5

units

End

PM94P01C 45

Yes

Set Output 2 ON Move Distance 3

units

Programming

2.9.6 WAIT Statement

The WAIT statement is used to suspend program execution until or while a condition is true, for a speciﬁed time period (delay) or until motion has been completed. The simpliﬁed syntax for the WAIT statement is:

WAIT UNTIL <condition> WAIT WHILE <condition> WAIT TIME <time> WAIT MOTION COMPLETE

2.9.7 GOTO Statement & Labels

The GOTO statement can be used to transfer program execution to a new point marked by a label. This statement is often used as the action of an IF statement. The destination label may be above or below the GOTO statement in the application program.

Labels may be any alphanumeric string 64 characters in length beginning with a letter and ending with a colon “:”.

GOTO TestInputs …statements TestInputs: …statements IF (IN_A1) GOTO TestInputs

Table 14 provides a short description of the instructions used for program branching.

Table 14: Program Branching Instructions

Name Description

GOTO Transfer code execution to a new line marked by a label DO/UNTIL Do once and keep doing until conditions becomes true IF and IF/ELSE Execute if condition is true RETURN Return from subroutine WAIT Wait ﬁxed time or until condition is true WHILE Execute while a condition is true GOSUB Go to subroutine

2.10 Scanned Event Statements

A Scanned Event is a small program that runs independently of the main program. SCANNED EVENTS are very useful when it is necessary to trigger an action , i.e. handle I/O, while the motor is in motion. When setting up Events, the ﬁrst step is to deﬁne both the action that will trigger the event as well as the sequence of statements to be executed once the event has been triggered. Events are scanned every 512µs. Before an Event can be scanned however it must ﬁrst be enabled. Events can be enabled or disabled from the user program, from another event or from itself (see explanations below). Once the Event is deﬁned and enabled, the Event will be constantly scanned until the trigger condition is met, this scan rate is independent of the main program’s timing. Once the trigger condition is met, the Event statements will be executed independently of the user program.

Scanned events are used to record events and perform actions independent of the main body of the program. For example, if you want output 3 to come ON when the position is greater than 4 units, or if you need to turn output 4 ON whenever input 2 and 3 are ON, you may use the following scanned event statements.

EVENT PositionIndicator APOS > 4 OUT3=1 ENDEVENT

EVENT Inputs3and4 IN_A4 & IN_B1 OUT4=1 ENDEVENT

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Programming

Scanned events may also be used with a timer to perform an action on the periodic time basis.

The program statements contained in the action portion of the scanned event can be any legal program statement except the following statements: Subroutine calls (GOSUB), DO/WHILE, WHILE, WAIT, GOTO and also motion commands: MOVED,MOVEP, MDV, STOP, MOTION SUSPEND/RESUME.

EVENT <name> INPUT <inputname> RISE

This scanned event statement is used to execute a block of code each time a speciﬁed input <inputname> changes its state from low to high.

EVENT <name> INPUT <inputname> FALL

This scanned event statement is used to execute a block of code each time a speciﬁed input <inputname> changes its state from high to low.

EVENT <name> TIME <timeout>

This scanned event statement is used to execute a block of code with a repetition rate speciﬁed by the <timeout> argument. The range for “timeout” is 0 - 50,000ms (milliseconds). Specifying a timeout period of 0 ms will result in the event running every event cycle (256ms).

EVENT <name> expression

This scanned event statement is used to execute a block of code when the expression evaluates as true.

EVENT <name> ON/OFF

This statement is used to enable/disable a scanned event. Statement can be used within event’s block of code.

Scanned Event Statements Summary

Table 15 contains a summary of instructions that relate to scanned events. Refer to Section 3 “Language Reference” for more detailed information.

Table 15: Scanned Events Instructions

Name Description

EVENT <name> ON/OFF enable / disable event

EVENT <name> INPUT <inputname> RISE Scanned event when <input name> goes low to high

EVENT <name> INPUT <inputname> FALL Scanned event when <input name> goes high to low

EVENT <name> TIME <value> Periodic event with <input name> repetition rate.

EVENT <name> expression Scanned event on expression = true

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Programming

2.11 Motion

2.11.1 How Moves Work

The position command that causes motion to be generated comes from the proﬁle generator or proﬁler for short. The proﬁle generator is used by the MOVE, MOVED, MOVEP, MOVEPR, MOVEDR and MDV statements. MOVE commands generate motion in a positive or negative direction, while or until certain conditions are met. For example you can specify a motion while a speciﬁc input remains ON (or OFF). MOVEP generates a move to speciﬁc absolute position. MOVED generates incremental distance moves, i.e. move some distance from its current position. MOVEPR and MOVEDR are registration moves. MDV commands are used to generate complicated proﬁles. Proﬁles generated by these commands are put into the motion stack which is 32 levels deep. By default when one of these statements (except for MDV) is executed, the execution of the main User Program is suspended until the generated motion is completed. Motion requests generated by an MDV statement or MOVE statement with the “C” modiﬁer do not suspend the program. All motion statements are put into the motion stack and executed by the proﬁler in the order in which they where loaded. The Motion Stack can hold up to 32 moves. The SML language allows the programmer to load moves into the stack and continue on with the program. It is the responsibility of the programmer to check the motion stack to make sure there is room available before loading new moves. This is done by checking the appropriate bits in the System status register or the appropriate system ﬂag.

2.11.2 Incremental (MOVED) and Absolute (MOVEP) Motion

MOVED and MOVEP statements are used to create incremental and absolute moves respectively. The motion that results from these commands is by default a trapezoidal velocity move or an S-curved velocity move if the “,S” modiﬁer is used with the statement,

For example:

MOVEP 10 ;will result in a trapezoidal move

But

MOVEP 10,S ;will result in an S-curved move

In the above example, (MOVEP 10), the length of the move is determined by the argument following the MOVEP command, (10). This argument can be a number, a variable or any valid arithmetic expression. The maximum velocity of the move is determined by setting the system variable MAXV. The acceleration and deceleration are determined by setting the system variables ACCEL and DECEL respectively.

If values for velocity, acceleration and deceleration, for a speciﬁed distance, are such that there is not enough time to accelerate to the speciﬁed velocity, the motion proﬁle will result in triangular or double S proﬁle as illustrated in Figure

19.

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Programming

MOVE 1 MOVE 2

Velocity

Velocity = 20

Move1- 4 units

Time

Velocity

max velocity < 20

Move2 - 1.5 units

Time

Trapezoidal moves

MOVE 3 MOVE 4

Velocity

Velocity = 20

Move3- 4 units

Time

Velocity

max velocity < 20

Move4 - 1.5 units

Time

S-curve moves

Figure 19: Move Illustration

ACCEL = 200 DECEL = 200 MAXV = 20 MOVED 4 ;Move 1 MOVED 1.5 ;Move 2 MOVED 4 , S ;Move 3 MOVED 1.5 , S ;Move 4

All four of the moves shown in Figure 19 have the same Acceleration, Deceleration and Max Velocity values. Moves 1 and 3 have a larger value for the move distance than Moves 2 and 4. In Moves 1 and 3 the distance is long enough to allow the motor to accelerate to the proﬁled max velocity and maintain that velocity before decelerating down to a stop. In Moves 2 and 4 the distance is so small that while the motor is accelerating towards the proﬁled Max Velocity it has to decelerate to a stop before it can ever obtain the proﬁled Max Velocity.

2.11.3 Incremental (MOVED) Motion

Incremental motion is deﬁned as a move of some distance from the current position. ‘Move four revolutions from the current position’ is an example of an incremental move.

MOVED is the statement used to create incremental moves. The simpliﬁed syntax is:

MOVED <+/-distance>

+/- sign will tell the motor shaft what direction to move.

2.11.4 Absolute (MOVEP) Move

Absolute motion is deﬁned as a motion to some ﬁxed position from the current position. The ﬁxed position is deﬁned as a position relative to a ﬁxed zero point. The zero point for a system is normally established during the homing cycle, typically performed immediately after power-up.

During a homing cycle, the motor will make incremental moves while checking for a physical input, index mark, or both.

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Programming

2.11.5 Registration (MOVEDR MOVEPR) Moves

MOVEPR and MOVEDR are used to move to position or distance respectively just like MOVEP and MOVED. The difference is that while the statements are being executed they are looking for a registration signal or registration input (C3). If during the motion a registration signal is detected, then a new end position is generated. With both the MoveDR and MovePR statements the drive will increment the distance called out in the registration argument. This increment will be referenced from the position where the registration input has seen.

Example:

MOVEDR 5, 1 ;Statement move a distance of 5 user units or registration position + ;1 user units if registration input is activated during motion.

There are two exceptions to this behavior:

Exception one:

The move will not be modiﬁed to “Registration position +displacement” if the registration was detected while system was decelerating to complete the motion.

Exception two:

Once the registration input is seen, there must be enough room for the motor to decelerate to a stop using the proﬁled Decel Value. If the new registration move is smaller than the distance necessary to come to a stop, then the motor will overshoot the new registration position.

2.11.6 Segment Moves

In addition to the simple moves that can be generated by MOVED and MOVEP statements, complex proﬁles can be generated using segment moves. A segment move represents one portion of a complete move. A complete move is constructed out of two or more segments, starting and ending at zero velocity.

2.11.7 MDV Segments

Segments are created using a sequence of MDV statements. The simpliﬁed syntax for the MDV (Move Distance with Velocity) statement is:

MDV <distance>,<velocity>

The <distance> is the length of the segment move. The <velocity> is the ﬁnal velocity for the segment move. The starting velocity is either zero or the ﬁnal velocity of the previous segment. The ﬁnal segment in a complete move must have a velocity of zero. If the ﬁnal segment has a ﬁnal velocity other than zero, a motion stack underﬂow fault will occur (F_24).

The proﬁle shown in Figure 20 can be broken up into 8 MDV moves. The ﬁrst segment deﬁnes the distance between point 1 and point 2 and the velocity at point 2. So, if the distance between point 1 and 2 was 3 units and the velocity at point 2 was 56 Units/S, the command would be: MDV 3 , 56. The second segment gives the distance between point 2 and 3 and the velocity at point 3, and so on.

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Programming

Point

Po nt

Point

10 15

Distance (units)

Figure 20: MDV Segment Example

Table 16 lists the supporting data for the graph in Figure 20.

Table 16: MDV Segment Example

Segment Number Distance moved during segment Velocity at the end of segment

1 3 56

2 3 12

3 4 16

4 2 57

5 2.5 57

6 3 11

7 5 20

8 5 0

- - -

Point

20 25

S824

;Segment moves MDV 3 , 56 MDV 3 , 12 MDV 4 , 16 MDV 2 , 57 MDV 2.5 , 57 MDV 3 , 11 MDV 5 , 20 MDV 5 , 0 END

The following equation can be used to calculate the acceleration/deceleration that results from a segment move.

Accel = (V

- V

) / [2*D]

Vf = Final velocity V0 = Starting velocity D = Distance

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Programming

2.11.8 S-curve Acceleration

Instead of using a linear acceleration, the motion created using segment moves (MDV statements) can use S-curve acceleration. The syntax for MDV move with S-curve acceleration is:

MDV <distance>,<velocity>,S

Segment moves using S-curve acceleration will take the same amount of time as linear acceleration segment moves. S-curve acceleration is useful because it is much smoother at the beginning and end of the segment, however, the peak acceleration of the segment will be twice as high as the acceleration used in the linear acceleration segment.

2.11.9 Motion SUSPEND/RESUME

At times it is necessary to control the motion by preloading the motion stack with motion proﬁles. Then, based on the User Program, execute those motion proﬁles at some predetermined instance. The statement “MOTION SUSPEND” will suspend motion until the statement “MOTION RESUME” is executed. While motion is suspended, any motion statement executed by the User Program will be loaded into the motion stack. When the “MOTION RESUME” statement is executed, the preloaded motion proﬁles will be executed in the order that they were loaded.

Example:

MOTION SUSPEND MDV 10,2 ;placed in stack MDV 20,2 ;placed in stack MDV 2,0 ;placed in stack MOVED 3,C ;must use “,C “modifier. Otherwise program will hang. MOTION RESUME

Caution should be taken when using MOVED,MOVEP and MOVE statements. If any of the MOVE instructions are written without the “C” modiﬁer, the program will hang or lock up. The “MOTION SUSPEND” command effectively halts all execution of motion. In the example, as the program executes the “MDV” and “MOVED” statements, those move proﬁles are loaded into the motion stack. If the ﬁnal “MOVED” is missing the “C” modiﬁer then the User Program will wait until that move proﬁle is complete before continuing on. Because motion has been suspended, the move will never be complete and the program will hang on this instruction.

2.11.10 Conditional Moves (MOVE WHILE/UNTIL)

The statements “MOVE UNTIL <expression>” and “MOVE WHILE <expression>” will both start their motion proﬁles based on their acceleration and max velocity proﬁle settings. The “MOVE UNTIL <expression> statement will continue the move until the <expression> becomes true. The “MOVE WHILE <expression>” will also continue its move while it’s <expression> is true. Expression can be any valid arithmetic or logical expressions or their combination.

Examples:

MOVE WHILE APOS<20 ;Move while the position is less then 20, then ;stop with current deceleration rate. MOVE UNTIL APOS>V1 ;Move positive until the position is greater than ;the value in variable V1 MOVE BACK UNTIL APOS<V1 ;Move negative until the position is less than the ;value in variable V1 MOVE WHILE IN_A1 ;Move positive while input A1 is activated. MOVE WHILE !IN_A1 ;Move positive while input A1 is not activated. ;The exclamation mark (!) in front of IN_A1 inverts ;(or negates) the value of IN_A1.

This last example is a convenient way to ﬁnd a sensor or switch.

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Programming

2.11.11 Motion Queue and Statement Execution while in Motion

By default when the program executes a MOVE, MOVED or MOVEP statement, it waits until the motion is complete before going on to the next statement. This effectively will suspend the program until the requested motion is done. Note that “EVENTS” are not suspended however and continue executing in parallel with the User Program. The Continue “C” argument is very useful when it is necessary to trigger an action (handle I/O) while the motor is in motion. Below is an example of the Continue “C” argument.

;This program monitors I/O in parallel with motion: START: MOVED 100,C ;start moving max 100 revs WHILE F_MCOMPLETE=0 ;while moving IF IN_A2 == 1 ;if sensor detected OUT1=1 ;turn ON output WAIT TIME 500 ;500 mS OUT1=0 ;turn output OFF WAIT TIME 500 ;wait 500 ms ENDIF ENDWHILE MOVED -100 ;Return back WAIT TIME 1000 ;wait time GOTO START ;and start all over END

This program starts a motion of 100 revolutions. While the motor is in motion, input A2 is monitored. If Input A2 is made during the move, then output 1 is turned on for 500ms and then turned off. The program will continue to loop in the WHILE statement, monitoring input A2, until the move is completed. If input 2 remains ON, or made, during the move, then Output 1 will continue to toggle On and Off every 500ms until the move is complete. If input A2 is only made while the motion passes by a sensor wired to the input, then output 1 will stay on for 500ms only. By adding the “Continue” argument “C” to the MOVE statement, the program is able to monitor the input while executing the motion proﬁle. Without this modiﬁer the program would be suspended until all motion is done making it impossible to look for the input during the move. After the motor has traveled the full distance it then returns back to its initial position and the process repeats. This program could be used for a simple paint mechanism which turns ON a paint spray gun as soon as the part’s edge (or part guide) crosses the sensor(s) because delays, such as the one created by the ‘Wait Time 500’ statement are not allowed in an events task, this processor needs to be executed from the main program with the ‘,C’ modiﬁer on the move statement as shown.

Figure 21 illustrates the structure and operation of the Motion Queue. All moves are loaded into the Motion Queue before they are executed. If the move is a standard move, “MOVEP 10” or “MOVED 10”, then the move will be loaded into the queue and the execution of the User Program will be suspended until the move is completed. If the move has the continue argument, e.g. “MOVEP 10,C” or “MOVED 10,C”, or if it is an “MDV” move, then the moves will be loaded into Motion Queue and executed simultaneously with the User Program.

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To Motion Profiler

Queue

Empty flag

Queue locations

MOVED 20

User Program

{...Statements}

......

MOVED 20,C MDV 10,5 MDV 20,5 MDV 10,0 MOVEP 0,C

.......

{statements}

Queue IN PUT pointer

Pointer alwayes positions to next

avalable location

Queue Full

flag

Figure 21: Motion Queue

MDV 10,5

MDV 20,5

MDV 10,0 4

MOVEP 0 5

EMPTY

The Motion Queue can hold a maximum of 32 motion proﬁles. The System Status Register contains bit values that indicate the state of the Motion Queue. Additionally, system ﬂags (representing individual bits of the status register) are available for ease of programming. If the possibility of overﬂow exists, the programmer should check the Motion Queue full ﬂag before executing any MOVE statements, especially in programs where MOVE statements are executed in a looped fashion. Attempts to execute a motion statement while the Motion Queue is full will result in fault #23. MDV statements don’t have the “C” option and therefore the program is never suspended by these statements. If last MDV statement in the Queue doesn’t specify a 0 velocity Motion, a Stack Underﬂow fault #24 will occur.

The “MOTION SUSPEND” and “MOTION RESUME” statements can be utilized to help manage the User Program and the Motion Queue. If the motion proﬁles loaded into the queue are not managed correctly, the Motion Queue can become overloaded which will cause the drive to fault.

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2.12 System Status Register (DSTATUS register)

System Status Register, (DSTATUS), is a Read Only register. Its bits indicate the various states of the PositionServo’s subsystems as listed in Table 17. Some of the ﬂags are available as System Flag Variables and summarized in Table13.

Table 17: DSTATUS Register

Bit in register Description

0 Set when drive enabled

1 Set if DSP subsystem at any fault

2 Set if drive has a valid program

3 Set if byte-code or system or DSP at any fault

4 Set if drive has a valid source code

5 Set if motion completed and target position is within speciﬁed limits

6 Set when scope is triggered and data collected

7 Set if motion stack is full

8 Set if motion stack is empty

9 Set if byte-code halted

10 Set if byte-code is running

11 Set if byte-code is set to run in step mode

12 Set if byte-code is reached the end of program

13 Set if current limit is reached

14 Set if byte-code at fault

15 Set if no valid motor selected

16 Set if byte-code at arithmetic fault

17 Set if byte-code at user fault

18 Set if DSP initialization completed

19 Set if registration has been triggered

20 Set if registration variable was updated from DSP after last trigger

21 Set if motion module at fault

22 Set if motion suspended

23 Set if program requested to suspend motion

24 Set if system waits completion of motion

25 Set if motion command completed and motion Queue is empty

26 Set if byte-code task requested reset

27 If set interface control is disabled. This ﬂag is set/clear by ICONTROL ON/OFF statement.

28 Set if positive limit switch reached

29 Set if negative limit switch reached

Events disabled. All events disabled when this ﬂag is set. After executing EVENTS ON all events previously enabled by EVENT EventName ON statements become enabled again

PositionServo variable #83 provides Extended Status Bits, the encoding of which is listed in Table 18.

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Table 18: Encoding for Extended Status Bits (Variable #83 EXSTATUS):

Bit # Function Comment

0 Reserved 1 Velocity in speciﬁed window Velocity in limits as per parameter #59: VAR_VLIMIT_SPEEDWND

2-4 Reserved

5 Velocity at 0 (zero) Velocity 0: Zero deﬁned by parameter #58: VAR_VLIMIT_ZEROSPEED

6,7 Reserved

8 Bus voltage below under-voltage limit Utilized to indicate drive is operating from +24V keep alive and a valid DC

bus voltage level is not present.

9,10 Reserved

11 Regen circuit is on Drive regeneration circuit is active. Drive will be dissipating power through

the braking resistor (if ﬁtted).

12-20 Reserved

21 Set if homing operation in progress Drive executing Pre-deﬁned homing function (see section 2.15). 22 Set if system homed Drive completed Pre-deﬁned homing function (see section 2.15). 23 If set then last fault will remain on the

display until re-enabled.

24 Set if EIP IO exclusive owner

connection is established. Cleared if closed.

25 Set if EIP IO exclusive owner

connection times out. Cleared if exc. owner conn exsists.

26-31 Reserved

User can set this bit to retain fault code on the display until re-enabled. It is useful if there is a fault handler routine. When the fault handler is exited, the fault number on the display will be replaced by current status (usually DiS if bit #24 is not set). Setting bit #24 retains diagnostics on the display.

Checks if drive is controlled by EthernetIP master. Use bit #24 and bit #25 to process “lost of connection” condition (if needed ) in the user’s program

Checks if connection with Ethernet/IP master is lost. Use bit #24 and bit #25 to process “lost of connection” condition (if needed) in the user’s program

2.13 Fault Codes (DFAULTS register)

Whenever a fault occurs in the drive, a record of that fault is recorded in the Fault Register (DFAULTS). In addition, speciﬁc ﬂags in the System Status Register will be set helping to indicate what class of fault the current fault belongs to. Table 19 summarizes the possible fault codes. Codes from 1 to 16 are used for DSP subsystem errors. Codes above that range are generated by various subsystems of the PositionServo.

Table 19: DFAULTS Register

Fault IDAssociated ﬂags

in status register

1 1, 3 Over voltage 2 1, 3 Invalid Hall sensors code 3 1, 3 Over current 4 1, 3 Over temperature 5 1, 3 The drive is disabled by the EN954-1 Safety Function 6 1, 3 Over speed. (Over speed limit set by motor capability in motor ﬁle) 7 1, 3 Position error excess. 8 1, 3 Attempt to enable while motor data array invalid or motor was not selected. 9 1,3 Motor over temperature switch activated

10 1,3 Sub processor error

11-13 - Reserved

14 1,3 Under voltage 15 1,3 Hardware current trip protection 16 - Reserved 17 3 Unrecoverable error. 18 16 Division by zero 19 16 Arithmetic overﬂow

Description

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Fault IDAssociated ﬂags

in status register

20 3 Subroutine stack overﬂow. Exceeded 16 levels subroutines stack depth. 21 3 Subroutine stack underﬂow. Executing RETURN statement without preceding call to subroutine. 22 3 Variable evaluation stack overﬂow. Expression too complicated for compiler to process. 23 21 Motion Queue overﬂow. 32 levels depth exceeded 24 21 Motion Queue underﬂow. Last queued MDV statement has non 0 target velocity 25 3 Unknown opcode. Byte code interpreter error 26 3 Unknown byte code. Byte code interpreter error 27 21 Drive disabled. Attempt to execute motion while drive is disabled. 28 16, 21 Accel too high. Motion statement parameters calculate an Accel value above the system capability. 29 16, 21 Accel too low. Motion statement parameters calculate an Accel value below the system capability. 30 16, 21 Velocity too high. Motion statement parameters calculate a velocity above the system capability. 31 16, 21 Velocity too low. Motion statement parameters calculate a velocity below the system capability. 32 3,21 Positive limit switch engaged 33 3,21 Negative limit switch engaged 34 3,21 Attempt at positive motion with engaged positive limit switch 35 3,21 Attempt at negative motion with engaged negative limit switch 36 3 Hardware disable (enable input not active when attempting to enable drive from program or interface) 37 3 Undervoltage 38 3 EPM loss 39 3,21 Positive soft limit reached 40 3,21 Negative soft limit reached 41 3 Attempt to use variable with unknown ID from user program 45 1,3 Secondary encoder position error excess

Description

2.14 Limitations and Restrictions

Communication Interfaces Usage Restrictions

Simultaneous connection to the RS485 port is allowed for retransmitting (conversion) between interfaces.

WARNING!

Usage of the RS485 simultaneously with Ethernet may lead to unpredictable behavior since the drive will attempt to perform commands from both interfaces concurrently.

Motion Parameters Limitation

Due to a ﬁnite precision in the calculations there are some restrictions for acceleration/deceleration and max velocity for a move. If you receive arithmetic faults during your programs execution, it is likely due to these limitations. Min/Max values are expressed in counts or counts/sample, where the sample is a position loop sample interval (512msec).

Table 20: Motion Parameter Limits

Parameter MIN MAX Units

Accel / Decel 65/(2^32) 512 counts/sample^2

MaxV (maximum velocity) 0 2048 counts/sample

Max move distance 0 +/- 2^31 counts

Stacks and Queues Depth Limitations

Table 21: Stack Depth Limit

Stack/Queue Motion Queue Subroutines Stack Number of Events

Depth

32 32 32

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2.15 Homing

2.15.1 What is Homing?

Predeﬁned (ﬁrmware based) homing functionality is available on PositionServo drives with ﬁrmware 3.03 or later. In addition custom homing functionality can be created by the programmer within the user program by utilizing the programming command set available.

Examples of custom homing routine creation as well as user program code to replicate each of the predeﬁned homing routines is available from technical support.

Homing is the method by which a drive seeks the home position (also called the datum, reference point, or zero point). There are various methods of achieving this using:

• limit switches at the ends of travel, or

• a dedicated home switch, or

• an Index Pulse or zero reference from the motor feedback device, or

• a combination of the above.

In order to use home methods involving Motor Index Pulse (zero pulse), the index pulse of the motor MUST be connected to the drive registration input (C3). For encoder motors this connection can be made directly. Connect the 0V ref for the encoder to P3-36 (IN_C_COM) and the Z+ line from the encoder to P3-39 (IN_C3).

For convenience of wiring and for Resolver motors the Z pulse output from the simulated encoder can be looped back into the C3 registration input. Connect P3-36 (IN_C_COM) to the digital ground terminal P3-5 and P3-39 (IN_C3) to P311 (BZ+). For Resolver motors the Z Pulse is created by the simulated encoder at 0 degrees of the motor shaft.

Establish the time period that the Z pulse must be present on the input in order for it to be reliably detected (back thru C3), by calculating the maximum homing speed for the speciﬁc application. A 1kW pull-up resistor is available for those with issues picking up the index pulse.

2.15.2 The Homing Function

The homing function provides a set of trajectory parameters to the position loop, as shown in Figure 22. They are calculated based on user supplied variable values such as:

VAR_HOME_OFFSET VAR_HOME_METHOD VAR_HOME_SWITCH_INPUT VAR_HOME_FAST_VEL VAR_HOME_SLOW_VEL VAR_HOME_ACCEL VAR_START_HOMING

Home Offset Homing Method Homing Speeds Home Velocity Fast/Slow Homing Acceleration

Homing

Function

Trajectory Parameter

Trajectory Generator

Position Demand

Position

Loop

Figure: 22: Homing Function

Homing Function Monitoring:

The extended drive status variable (#83 EXSTATUS variable) contains bit values for monitoring the homing function over the communications interface.

Bit 21 of #83 indicates homing procedure in progress and is set to logic 1 while homing is being executed. Bit 22 of #83 indicates homing complete. It is set to 1 upon the successful completion of the homing routine.

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2.15.3 Home Offset

The home offset is the difference between the zero position for the application and the machine home position (found during homing). During homing the home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position. All subsequent absolute moves shall be taken relative to this new zero position. This is illustrated in Figure 23. Offset can either be set in User Units (UU) by writing to variable #240, or in encoder counts by writing to variable #241. Setting a value for either variable #240 or #241 will result in the value being automatically calculated for the respective variable.

VAR_HOME_OFFSET (#240) VAR_HOME_OFFSET_PULSES (#241)

Home

Position

home_offset

Zero

Position

Figure 23: Home Offset

2.15.4 Homing Velocity

There are two homing velocities: fast and slow. These velocity variables are used to ﬁnd the home switch and to ﬁnd the index pulse. Which velocity (fast or slow) is used to locate the home switch and the index pulse depends on the homing routine selected.

VAR_HOME_FAST_VEL (#242) VAR_HOME_SLOW_VEL (#243)

2.15.5 Homing Acceleration

Homing acceleration establishes the velocity ramp rate to be used for all accelerations and decelerations within the standard homing modes. Note that in homing, it is not possible to program a separate deceleration rate.

VAR_HOME_ACCEL (#239)

2.15.6 Homing Switch

The homing switch variable enables the user to select the PositionServo input used for the Home Switch connection. The Homing Switch Input Assignment range is 0 - 11. Inputs A1-A4 are assigned 0 to 3, respectively; inputs B1-B4 are assigned 4 to 7, respectively; and inputs C1-C4 are assigned 8 to 11, respectively.

VAR_HOME_SWITCH_INPUT (#246)

WARNING!

• Setting inputs A1 and A2 as the home switch in methods that do NOT use limit switches can cause the drive to behave in an unexpected manner.

• Input A3 is a dedicated hardware enable input and should never be assigned as the homing switch input.

• Input C3 can be used as the homing switch input only in methods that do not home to an index pulse from an encoder. Methods that use an index

pulse automatically use Input C3 for capture of the index pulse, as described previously.

2.15.7 Homing Start

The homing operation is initiated using the home start variable. Start Homing range is: 0 or 1. When set to 0, no action occurs. When set to 1, the homing operation is started. it is recommended to directly write to VAR_START_HOMING solely via network communications.

VAR_START_HOMING (#245)

‘HOME’ is the logical command to set VAR_START_HOMING. Writing the word ‘HOME’ within the user program will result in the homing operation commencing. After initiating the HOME command with ﬁrmware 3.60 (and later) the user program will not execute subsequent lines of code until after homing is completed (similar to MOVE P). If either using ﬁrmware prior to 3.60 or if user initiates homing in the indexer program via the statement VAR_START_HOMING=1, then it is recommended to immediately follow that statement with the following code:

WAIT UNTIL VAR_EXSTATUS & 0x400000 == 0x400000.

Doing this ensures no further lines of code will be executed until homing is complete.

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2.15.8 Homing Method

VAR_HOME_METHOD (#244)

The Home Method establishes the method that will be used for homing. All supported methods are summarized in Table 22 and described in sections 2.15.9.1 through 2.15.9.25. These homing methods deﬁne the location of the home position. The zero position is always the home position adjusted by the homing offset.

Table 22: Homing Methods

Method Home Position

0 No operation/reserved. An attempt to execute 0 will result in execution of method 1. 1 Location of ﬁrst encoder index pulse is on the positive side of the negative limit switch. 2 Location of ﬁrst encoder index pulse is on the negative side of the positive limit switch. 3 Location of ﬁrst index pulse is on the negative side of a positive home switch. 4 Location of ﬁrst index pulse is on the positive side of a positive home switch. 5 Location of ﬁrst index pulse is on the positive side of a negative home switch.2 6 Location of ﬁrst index pulse is on the negative side of a negative home switch. 7 Location of ﬁrst index pulse is on the negative side of the negative edge of an intermittent home switch. 8 Location of ﬁrst index pulse is on the positive side of the negative edge of an intermittent home switch.

9 Location of ﬁrst index pulse is on the negative side of the positive edge of an intermittent home switch. 10 Location of ﬁrst index pulse is on the positive side of the positive edge of an intermittent home switch.3 11 Location of ﬁrst index pulse is on the positive side of the positive edge of an intermittent home switch. 12 Location of ﬁrst index pulse is on the negative side of the positive edge of an intermittent home switch. 13 Location of ﬁrst index pulse is on the positive side of the negative edge of an intermittent home switch. 14 Location of ﬁrst index pulse is on the negative side of the negative edge of an intermittent home switch. 15 Reserved for future use. 16 Reserved for future use 17 The edge of a negative limit switch. 18 The edge of a positive limit switch. 19 The edge of a positive home switch. 20 Reserved for future use. 21 The edge of a negative home switch. 22 Reserved for future use. 23 Positive edge of an intermittent home switch. 24 Reserved for future use. 25 The negative edge of an intermittent home switch. 26 Reserved for future use. 27 Negative edge of an intermittent home switch. 28 Reserved for future use. 29 The positive edge of an intermittent home switch. 30 Reserved for future use. 31 Reserved for future use. 32 Reserved for future use. 33 The ﬁrst index pulse on the negative side of the current position. 34 The ﬁrst index pulse on the positive side of the current position.

1 - A positive home switch is one that goes active at some position, and remains active for all positions greater than that one. 2 - A negative home switch is one that goes active at some position, and remains active for all positions less than that one. 3 - An intermittent home switch is one that is only active for a limited range of travel.

Current position becomes home position. Home offset is also active and will be added to current position to form the ﬁnal value.

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2.15.9 Homing Methods

There are several types of homing methods but each method establishes the:

• Homing signal (positive limit switch, negative limit switch, home switch ,or index pulse)

• Direction of actuation and, where appropriate, the direction of the index pulse.

The homing method descriptions and diagrams in this manual are based on those in the CANopen Proﬁle for Drives and Motion Control (DSP 402). As illustrated in Figure 24, each homing method diagram shows the motor in the starting position on a mechanical stage. The arrow line indicates direction of motion and the circled number indicates the homing method (the mode selected by the Homing Method variable).

The location of the circled method number indicates the home position reached with that method. The text designators (A, B) indicate the logical transition required for the homing function to complete it’s current phase of motion. Dashed lines overlay these transitions and reference them to the relevant transitions of limit switches, homing sensors, or index pulses.

Deﬁnitions

Positive home switch: goes active at some position, and remains active for all positions greater than that one.

Negative home switch: goes active at some position, and remains active for all positions less than that one.

Intermittent home switch: is one that is only active for a limited range of travel.

Index Pulse Positions

Negative Limit Switch

Switch active (high)

NOTE

In the homing method descriptions, negative motion is leftward and positive motion is rightward

BLUE lines indicate fast velocity moves

GREEN lines indicate slow velocity moves

RED lines indicate slow velocity/100 moves

Mechanical Stage Limits

Switch transition

Switch inactive (low)

Direction of Motion

Figure 24: Homing Terms

Starting Position

Number = Homing Method Number.

Refers to Homing Method Object 0x6098 Position of the number indicates the home position

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2.15.9.1 Homing Method 1: Homing on the Negative Limit Switch

Using this method, the initial direction of movement is negative if the negative limit switch is inactive (here shown as low). The home position is at the ﬁrst index pulse to the positive of the position where the negative limit switch becomes active.

Axis will accelerate to fast homing velocity in the negative direction and continue until Negative Limit Switch (A1) is activated (rising edge) shown at position A. Axis then decelerates to zero velocity. If the negative limit switch is already active when the homing routine commences then this initial move is not executed. Axis will then accelerate to slow homing velocity in the positive direction. Motion will continue until ﬁrst the falling edge of the negative limit switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 1) is detected.

Index Pulse (via Input C3)

Negative Limit Switch (Input A1)

Figure 25: Homing Method 1

2.15.9.2 Homing Method 2: Homing on the Positive Limit Switch

Using this method the initial direction of movement is positive if the positive limit switch is inactive (here shown as low). The position of home is at the ﬁrst index pulse to the negative of the position where the positive limit switch becomes active.

Axis will accelerate to fast homing velocity in the positive direction and continue until Positive Limit Switch (A2) is activated (rising edge) shown at position A. Axis then decelerates to zero velocity. If the positive limit switch is already active when the homing routine commences then this initial move is not executed. Axis will then accelerate to slow homing velocity in the negative direction. Motion will continue until ﬁrst the falling edge of the positive limit switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 2) is detected.

Index Pulse (via Input C3)

Positive Limit Switch (Input A2)

Figure 26: Homing Method 2

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2.15.9.3 Homing Method 3: Homing on the Positive Home Switch & Index Pulse

Using this method the initial direction of movement is positive (if the homing switch is inactive). The home position is the ﬁrst index pulse to the negative of the position where the homing switch becomes active.

Axis will accelerate to fast homing velocity in the positive direction and continue until Homing Switch (selectable via Var_Home_Switch_Input Variable) is activated (rising edge) shown at position A. Axis then decelerates to zero velocity. If the homing switch is already active when the homing routine commences then this initial move is not executed. Axis will then accelerate to fast homing velocity in negative direction. Motion will continue until ﬁrst the falling edge of the Homing switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 3) is detected.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

Figure 27: Homing Method 3

2.15.9.4 Homing Method 4: Homing on the Positive Home Switch & Index Pulse

Using this method the initial direction of movement is negative (if the homing switch is active). The home position is the ﬁrst index pulse to the positive of the position where the homing switch becomes inactive.

Axis will accelerate to fast homing velocity in the negative direction and continue until Homing Switch (selectable via Var_Home_Switch_Input Variable) is deactivated (falling edge) shown at position A. Axis then decelerates to zero velocity. If the homing switch is already inactive when the homing routine commences then this initial move is not executed. Axis will then accelerate to fast homing velocity in positive direction. Motion will continue until ﬁrst the rising edge of the Homing switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 4) is detected.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

Figure 28: Homing Method 4

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2.15.9.5 Homing Method 5: Homing on the Negative Home Switch & Index Pulse

Using this method the initial direction of movement is negative (if the homing switch is inactive). The home position is the ﬁrst index pulse to the positive of the position where the homing switch becomes active.

Axis will accelerate to fast homing velocity in the negative direction and continue until Homing Switch (selectable via Var_Home_Switch_Input Variable) is activated (rising edge) shown at position A. Axis then decelerates to zero velocity. If the homing switch is already active when the homing routine commences then this initial move is not executed. Axis will then accelerate to fast homing velocity in positive direction. Motion will continue until ﬁrst the falling edge of the Homing switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 5) is detected.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

Figure 29: Homing Method 5

2.15.9.6 Homing Method 6: Homing on the Negative Home Switch & Index Pulse

Using this method the initial direction of movement is positive (if the homing switch is active). The home position is the ﬁrst index pulse to the negative of the position where the homing switch becomes inactive.

Axis will accelerate to fast homing velocity in the positive direction and continue until Homing Switch (selectable via Var_ Home_Switch_Input Variable) is deactivated (falling edge) shown at position A. Axis then decelerates to zero velocity. If the homing switch is already inactive when the homing routine commences then this initial move is not executed. Axis will then accelerate to fast homing velocity in negative direction. Motion will continue until ﬁrst the rising edge of the Homing switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 6) is detected.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

Figure 30: Homing Method 6

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2.15.9.7 Homing Method 7: Homing on the Home Switch & Index Pulse

If the homing switch is already active when the homing routine commences then this initial move is not executed.

Axis will then accelerate to fast homing velocity in negative direction. Motion will continue until ﬁrst the falling edge of the Homing switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 7) is detected.

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch (A2). Upon activating the positive limit switch the axis will change direction (negative) following the procedure as detailed above, but moving negative instead of positive and without stopping on detection of the homing switch rising edge.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

Figure 31: Homing Method 7

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2.15.9.8 Homing Method 8: Homing on the Home Switch & Index Pulse

If the homing switch is already inactive when the homing routine commences then this initial move is not executed.

Axis will then accelerate to fast homing velocity in positive direction. Motion will continue until ﬁrst the rising edge of the Homing switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 8) is detected.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

Figure 32: Homing Method 8

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2.15.9.9 Homing Method 9: Homing on the Home Switch & Index Pulse

Using this method the initial direction of movement is positive. The home position is the ﬁrst index pulse to the negative of the position where the homing switch becomes inactive on its negative edge.

If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases.

Axis will then accelerate to fast homing velocity in negative direction. Motion will continue until ﬁrst the rising edge of the Homing switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 9) is detected.

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch (A2). Upon activating the positive limit switch the axis will change direction (negative) following the procedure as detailed above but ignoring the initial move in the positive direction.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

Figure 33: Homing Method 9

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2.15.9.10 Homing Method 10: Homing on the Home Switch & Index Pulse

Using this method the initial direction of movement is positive. The home position is the ﬁrst index pulse to the positive of the position where the homing switch becomes inactive.

If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases.

Axis will continue running at fast homing velocity in positive direction until the rising edge of the ﬁrst index pulse (position 10) is detected.

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch (A2). Upon activating the positive limit switch the axis will change direction (negative) continuing motion until it sees the rising edge of the homing switch. The axis will then stop and follow the procedure as detailed above.

1 0

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

Figure 34: Homing Method 10

1 0

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2.15.9.11 Homing Method 11: Homing on the Home Switch & Index Pulse

If the homing switch is already active when the homing routine commences then this initial move is not executed.

Axis will then accelerate to fast homing velocity in positive direction. Motion will continue until ﬁrst the falling edge of the Homing switch is detected (position B) and then the rising edge of the ﬁrst index pulse (position 11) is detected.

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch (A1). Upon activating the negative limit switch the axis will change direction (positive) following the procedure as detailed above, but moving positive instead of negative and without stopping on detection of the homing switch rising edge.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

Figure 35: Homing Method 11

1 1

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2.15.9.12 Homing Method 12: Homing on the Home Switch & Index Pulse

If the homing switch is already inactive when the homing routine commences then this initial move is not executed.

NOTE: if it the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch (A1). Upon activating the negative limit switch the axis will change direction (positive) following the procedure as detailed above.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

1 2

Figure 36: Homing Method 12

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2.15.9.13 Homing Method 13: Homing on the Home Switch & Index Pulse

Using this method the initial direction of movement is negative. The home position is the ﬁrst index pulse to the positive of the position where the homing switch becomes inactive on its positive edge.

If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases.

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch (A1). Upon activating the negative limit switch the axis will change direction (positive) following the procedure as detailed above but ignoring the initial move in the negative direction.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

1 3

Figure 37: Homing Method 13

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2.15.9.14 Homing Method 14: Homing on the Home Switch & Index Pulse

Using this method the initial direction of movement is negative. The home position is the ﬁrst index pulse to the negative of the position where the homing switch becomes inactive.

If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases.

Axis will continue running at fast homing velocity in negative direction until the rising edge of the ﬁrst index pulse (position 14) is detected.

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch (A1). Upon activating the negative limit switch the axis will change direction (positive) continuing motion until it sees the rising edge of the homing switch. The axis will then stop and follow the procedure as detailed above.

Index Pulse (via Input C3)

Homing Switch (Var_Home_Switch_Input)

1 4

Figure 38: Homing Method 14

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2.15.9.15 Homing Method 17: Homing without an Index Pulse

Method 17 is similar to method 1, except that the home position is not dependent on the index pulse but only on the negative limit switch translation.

Using this method the initial direction of movement is negative. The home position is the leading edge of the Negative limit switch.

If the negative limit switch is already active when the homing routine commences then this initial move is not executed.

Axis will then accelerate to fast homing velocity in the positive direction. Motion will continue until the falling edge of the negative limit switch is detected (position B), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity in the negative direction. Motion will continue until the rising edge of the negative limit switch is detected (position C), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity divided by 100 in the positive direction. Motion will continue until the falling edge of the negative limit switch is detected (position 17). This is the home position (excluding offset).

Negative Limit Switch (Input A1)

1 7

Figure 39: Homing Method 17

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2.15.9.16 Homing Method 18: Homing without an Index Pulse

Method 18 is similar to method 2, except that the home position is not dependent on the index pulse but only on the Positive limit switch translation.

Using this method the initial direction of movement is positive. The home position is the leading edge of the Positive limit switch.

If the positive limit switch is already active when the homing routine commences then this initial move is not executed.

Axis will then accelerate to fast homing velocity in the negative direction. Motion will continue until the falling edge of the positive limit switch is detected (position B), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity in the positive direction. Motion will continue until the rising edge of the positive limit switch is detected (position C), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity divided by 100 in the negative direction. Motion will continue until the falling edge of the positive limit switch is detected (position 18). This is the home position (excluding offset).

Positive Limit Switch (Input A2)

1 8

Figure 40: Homing Method 18

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2.15.9.17 Homing Method 19: Homing without an Index Pulse

Using this method the initial direction of movement is positive (if the homing switch is inactive). The home position is the leading edge of the homing switch.

Axis will accelerate to fast homing velocity in the positive direction and continue until the homing switch is activated (rising edge) shown at position A. Axis then decelerates to zero velocity.

If the homing switch is already active when the homing routine commences then this initial move is not executed.

Axis will then accelerate to fast homing velocity in the negative direction. Motion will continue until the falling edge of the homing switch is detected (position B), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity in the positive direction. Motion will continue until the rising edge of the homing switch is detected (position C), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity in the negative direction. Motion will continue until the falling edge of the homing switch is detected (position 19). This is the home position (excluding offset).

Homing Switch (Var_Home_Switch_Input)

1 9

Figure 41: Homing Method 19

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2.15.9.18 Homing Method 21: Homing without an Index Pulse

Using this method the initial direction of movement is negative (if the homing switch is inactive). The home position is the leading edge of the homing switch.

Axis will accelerate to fast homing velocity in the negative direction and continue until the homing switch is activated (rising edge) shown at position A. Axis then decelerates to zero velocity.

If the homing switch is already active when the homing routine commences then this initial move is not executed.

Axis will then accelerate to fast homing velocity in the positive direction. Motion will continue until the falling edge of the homing switch is detected (position B), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity in the negative direction. Motion will continue until the rising edge of the homing switch is detected (position C), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity in the positive direction. Motion will continue until the falling edge of the homing switch is detected (position 21). This is the home position (excluding offset).

Homing Switch (Var_Home_Switch_Input)

2 1

Figure 42: Homing Method 21

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2.15.9.19 Homing Method 23: Homing without an Index Pulse

Using this method the initial direction of movement is positive (if the homing switch is inactive). The home position is the leading edge of the homing switch.

Axis will accelerate to fast homing velocity in the positive direction and continue until the homing switch (selectable via Var_Home_Switch_Input Variable) is activated (rising edge) shown at position A. Axis then decelerates to zero velocity.

If the homing switch is already active when the homing routine commences then this initial move is not executed.

Axis will then accelerate to slow homing velocity in the negative direction. Motion will continue until the falling edge of the homing switch is detected (position 23). This is the home position (excluding offset).

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch (A2). Upon activating the positive limit switch the axis will change direction (negative) following the procedure as detailed above but ignoring the initial move in the positive direction.

Homing Switch (Var_Home_Switch_Input)

2 3

Figure 43: Homing Method 23

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2.15.9.20 Homing Method 25: Homing without an Index Pulse

Using this method the initial direction of movement is positive. The home position is the negative edge of the homing switch.

If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases.

Axis will then accelerate to slow homing velocity in the negative direction. Motion will continue until the rising edge of the homing switch is detected (position B), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity in the positive direction. Motion will continue until the falling edge of the homing switch is detected (position 25). This is the home position (excluding offset).

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move positive until it contacts the positive limit switch (A2). Upon activating the positive limit switch the axis will change direction (negative) continuing motion until it sees the rising edge of the homing switch. The axis will then stop and follow the procedure as detailed above.

Homing Switch (Var_Home_Switch_Input)

2 5

Figure 44: Homing Method 25

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2.15.9.21 Homing Method 27: Homing without an Index Pulse

Using this method the initial direction of movement is negative. The home position is the negative edge of the homing switch.

If the homing switch is already active when the homing routine commences then this does not effect this mode of homing as the procedure is searching for falling edge of homing switch in both cases.

Axis will then accelerate to slow homing velocity in the positive direction. Motion will continue until the rising edge of the homing switch is detected (position B), where the axis will decelerate to 0 velocity.

Axis will then accelerate to slow homing velocity in the negative direction. Motion will continue until the falling edge of the homing switch is detected (position 27). This is the home position (excluding offset).

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch (A1). Upon activating the negative limit switch the axis will change direction (positive) continuing motion until it sees the rising edge of the homing switch. The axis will then stop and follow the procedure as detailed above.

Homing Switch (Var_Home_Switch_Input)

2 7

Figure 45: Homing Method 27

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2.15.9.22 Homing Method 29: Homing without an Index Pulse

Using this method the initial direction of movement is negative (if the homing switch is inactive). The home position is the leading edge of the homing switch.

Axis will accelerate to fast homing velocity in the negative direction and continue until the homing switch (selectable via Var_Home_Switch_Input Variable) is activated (rising edge) shown at position A. Axis then decelerates to zero velocity.

If the homing switch is already active when the homing routine commences then this initial move is not executed.

Axis will then accelerate to slow homing velocity in the positive direction. Motion will continue until the falling edge of the homing switch is detected (position 29). This is the home position (excluding offset).

NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move negative until it contacts the negative limit switch (A1). Upon activating the negative limit switch the axis will change direction (positive) following the procedure as detailed above but ignoring the initial move in the negative direction.

Homing Switch (Var_Home_Switch_Input)

2 9

Figure 46: Homing Method 29

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2.15.9.23 Homing Method 33: Homing to an Index Pulse

Using this method the initial direction of movement is negative. The home position is the ﬁrst index pulse to the negative of the shaft starting Position. Axis will accelerate to fast homing velocity in the negative direction and continue until the rising edge of the ﬁrst index pulse (position 33) is detected.

3 3

Index Pulse (via Input C3)

Figure 47: Homing Method 33

2.15.9.24 Homing Method 34: Homing to an Index Pulse

Using this method the initial direction of movement is positive. The home position is the ﬁrst index pulse to the positive of the shaft starting Position. Axis will accelerate to fast homing velocity in the positive direction and continue until the rising edge of the ﬁrst index pulse (position 34) is detected.

3 4

Index Pulse (via Input C3)

Figure 48: Homing Method 34

2.15.9.25 Homing Method 35: Using Current Position as Home

Using this method the current position of the axis is taken as the home position. There is no motion of the motor shaft during this procedure. Any offset speciﬁed (via the Var_Home_Offset Variable) will be added to the stored home position.

3 5

Figure 49: Homing Method 35

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2.15.10 Homing Mode Operation example

The following steps are needed to execute the homing operation from the user program or under interface control.

1. Set Fast homing speed: Variable #242

2. Set Slow homing speed: Variable #243

3. Set Homing accel/decel: Variable #239

4. Set home offset:

a. In User Units Variable #240

b. In encoder pulses Variable #241

5. Set Home Switch Input Variable #246

6. Select Home Method Variable #244

WAIT UNTIL VAR_EXSTATUS & 0x400000 == 0x400000.

Doing this ensures no further lines of code will be executed until homing is complete.

;Program start------------------------------------------------------------------; ; UNITS=1 ;rps

Accel=1000 Decel=1000 MaxV =20

;some program statements… ; ; ;Homing specific set up.. VAR_HOME_FAST_VEL= 10 ;rps VAR_HOME_SLOW_VEL= 1 ;rps VAR_HOME_ACCEL= 100 ;rps/sec^2 VAR_HOME_OFFSET= 0 ;no offset from sensor VAR_HOME_SWITCH_INPUT= 4 ;input B1 (0-A1, 1-A2…3-A4,4-B1,…11-C4) VAR_HOME_METHOD= 4 ;see table 22 ENABLE HOME ;starts homing sequence WAIT UNTIL VAR_EXSTATUS & 0x400000 == 0x400000 ;wait for homing complete ;Drive homed

;Program statements… END

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3. Reference

3.1 Program Statement Glossary

Each statement, system variable or operand is documented using the tabular format shown in Tables 23 and 24. The ﬁeld label is still shown even if there is no information for a particular ﬁeld. The individual program statements are listed in this section in alphabetical order with detailed descriptions in Tables 25 through 60.

Table 23: Language Format

KEYWORD Long Name Type

Purpose

Syntax

Remarks

See Also

Example

Field Descriptions

KEYWORD:

Description:

Type:

Purpose:

Syntax:

Arguments:

Remarks:

See Also

Example:

ASSIGN INPUT IN_B1 AS BIT 0 ;index bit 0 state matches state of input B1 ASSIGN INPUT IN_B2 AS BIT 1 ;index bit 1 state matches state of input B2

Program Start: ; <statements> If Index == 0 ; If neither IN_B1 or IN_B2 is on MoveP 0 ; Move to Absolute Position 0 Endif

Assign keyword causes a speciﬁed input to be assigned to a particular bit of system variable INDEX. Up to 8 digital inputs can be assigned to the ﬁrst eight bits (bits 0 - 7) of the INDEX system variable in any order or combination. The purpose of the Assign Keyword and INDEX system Variable is to allow the creation of a custom input word for inclusion in the user program. Good examples of it’s use are for implementing easy selection of preset torque, velocity or position values within the user program.

ASSIGN INPUT <input name> AS BIT <bit #>

Input name (IN_A1..IN_A2 etc.) Bit# INDEX variable bit number from 0 to 7

Assign statements typically appear at the start of the program (Initialize and set Variables section) but can be included in other code sections with the exception of Events and the Fault Handler.

VAR_IOINDEX Variable (#220)

If Index == 1 ; If IN_B1 is on and IN_B2 is off MoveP 10 ; Move to Absolute Position 10 Endif

; If Index == 2 .....

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Table 26: DEFINE

DEFINE Deﬁne name Pseudo-statement

Purpose

Syntax

Remarks:

See Also

Example:

Define Start_Button IN_B1 ; Define a Digital Input Define System_Stop Out2 ; Define a Digital Output Define Loop_Counter V5 ; Define a User Variable Define Loop_Increment 1 ; Define a Constant Value

Program_Start: ; Label Program Start If Start_Button == 0 ; If input B1 is off Disable ; Disable Servo System_Stop = 1 ; Turn on Output 2 Else ; Otherwise System_Stop = 0 ; Turn off Output 2 Enable ; Enable Servo MoveD 10 ; Move (increment) Distance 10 Loop_Counter = Loop_Counter + Loop_Increment ; Increment Variable V5 by 1 Endif Goto Program_Start ; Goto Label Program_Start

DEFINE is used to deﬁne symbolic names for User Variables, constants, and Digital I/O for programming convenience. Deﬁne statements greatly enhance program understanding by allowing the user to program using symbolic strings (names)relevant to their application. DEFINE can be used also to substitute a symbolic string.

DEFINE <name> <string> name any symbolic string string User Variable, constant, or Digital I/O Flag that symbolic string will represent

DEFINE statements can be located anywhere within the user program (with the exception of events and the fault handler). Normally practice however is to place deﬁnitions at the start of the program prior to any executable code.

Table 27: DISABLE

DISABLE Disables the drive Statement

Purpose

Syntax

Remarks

See Also

Example:

DISABLE turns OFF the power to the motor. Drive shows ‘Dis’ on display when in a disabled state.

DISABLE

Once the DISABLE statement is executed, the power to the motor is turned off and the motor can move freely. When disabled the drive will continue to monitor feedback and the actual position variable (APOS) will continue to update with the current position of the motor. The target position variable (TPOS) will be updated with the value of the actual position variable (APOS) on Enable to prevent unexpected motion from the motor shaft.

ENABLE

If Start_Button == 0 ; If input B1 is off Disable ; Disable Servo Else ; Otherwise Enable ; Enable Servo MoveD 10 ; Move (increment) Distance 10 Endif

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Table 28: DO UNTIL

DO UNTIL Do/Until Statement

Purpose

Syntax

Remarks

See Also

Example:

V0 = 0 ; Set V0 to Value 0 ; Create Loop to perform Move command 12 times DO ; Start of Do Loop V0 = V0 + 1 ; Add 1 to Variable V0 Moved 5 ; Move (incremental) distance 5 Until V0 == 12 ; Loop back to DO Statement, Repeat Until Logic True

The DO / UNTIL statement is used to execute a statement or set of statements repeatedly until a logical condition becomes true. The Do / Until statements enclose the program code to be repeatedly executed with the UNTIL statement containing the logical statement for exit of the loop.

DO {statement(s)}… UNTIL <condition> {statement(s)} any valid statement(s) <condition> The condition to be tested.

The loop statement or statements contained within a DO / UNTIL loop will always be executed at least once because the logical condition to be tested is contained within the UNTIL statement in the last statement of the loop.

WHILE, IF

Table 29: ENABLE

ENABLE Enables the drive Statement

Purpose

Syntax

Remarks

See Also

Example:

Enable turns on power to the motor. Drive shows ‘Run’ on display when in the enabled state.

ENABLE

Once a drive is enabled motion can be commanded from the user program. Commanding motion while the drive is disabled will result in fault trip (F_27).

DISABLE

If Start_Button == 0 ; If input B1 is off Disable ; Disable Servo Else ; Otherwise Enable ; Enable Servo MoveD 10 ; Move (increment) Distance 10 Endif

Table 30: END

END END program Statement

Purpose

Syntax

Remarks

See Also

Example:

This statement is used to terminate (ﬁnish) user program and its events.

END

END can be used anywhere in program

DISABLE

END ;end user program

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Table 31: EVENT

EVENT Starts Event handler Statement

Purpose

Syntax

Remarks

For syntax 1 and 2:

The Event will occur when the input with the <name/number> transition from L(Low) to H (High), for syntax 1 (RISE) and from H (High) to L(Low) for syntax 2 (FALL).

For syntax 3:

The Event will occur when the speciﬁed , <period>, period of time has expired. This event can be used as periodic event to check for some conditions.

For syntax 4

The Event will occur when the expression, <expression>, evaluates to be true. The expression can be any valid arithmetic or logical expression or combination of the two. This event can be used when implementing soft limit switches or when changing the program ﬂow based on some conditions. Any variable, (user and system), or constants can be used in the expression. The event will only trigger when the logic transitions from False to True. Further occurrence of the event will not occur while the condition remains true.

See Also

Example:

EVENT InEvent IN_A1 RISE V0 = V0+1 ;V0 increments by 1 each time IN_A1 transitions from low to high ENDEVENT EVENT period TIME 1000 ;1000 ms = 1Sec V3=V0-V1 ;Event subtracts V1 from V0 and stores result in V3 every second (1000mS) ENDEVENT ;----------------------------------------------------------------------------- EVENT InEvent ON EVENT period ON {program statements} END

EVENT keyword is used to create scanned events within the user program. Statement also sets one of 4 possible types of events.

Any one of the 4 syntax examples herein may be used:

1. EVENT <name> INPUT <inputname> RISE

2. EVENT <name> INPUT <inputname> FALL

3. EVENT <name> TIME <period>

4. EVENT <name> <expression> name any valid alphanumeric string inputname any valid input “IN_A1 - IN_C4” period any integer number. Expressed in ms expression any arithmetic or logical expression The following statements can not be used within event’s handler: MOVE,MOVED,MOVEP,MOVEDR,MOVEPR,MDV MOTION SUSPEND MOTION RESUME STOP MOTION DO UNTIL GOTO GOSUB HALT VELOCITY ON/OFF WAIT WHILE

While GOTO or GOSUB are restricted, a special JUMP statement can be used for program ﬂow change from within event handler. See JUMP statement description in Language Reference section.

ENDEVENT, EVENT ON, EVENT OFF

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Table 32: ENDEVENT

ENDEVENT END of Event handler Statement

Purpose

Syntax

Remarks

See Also

Example:

EVENT ON/OFF Turn events on or off Statement

Purpose

Syntax

Remarks

See Also

Example:

EVENT InputRise ON EVENT InputRise OFF

Indicates end of the scanned event code

ENDEVENT

EVENT, EVENT ON, EVENT OFF

EVENT InputRise IN_B4 RISE V0=V0+1 ENDEVENT

Table 33: EVENT ON/OFF

Turns ON or OFF events created by an EVENT handler statement

EVENT <name> ON EVENT <name> OFF <name> Event handler name

EVENT

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Table 34: EVENTS ON/OFF

EVENTS OFF/ON Globally Disables/enables events Statement

Purpose

Syntax

Remarks

See Also

Example:

******************************************************************************** EVENT SKIPOUT IN_B4 RISE ;check for rising edge of input B4 JUMP TOGGLE ;redirect code execution to TOGGLE ENDEVENT ;end the event EVENT OVERSHOOT IN_B3 RISE ;check for rising edge of input B3 JUMP SHUTDOWN ;redirect code execution to SHUTDOWN ENDEVENT ;end the event ******************************************************************************** EVENT SKIPOUT ON EVENT OVERSHOOOT ON ******************************************************************************** ……….…User code……………..

EVENTS OFF ;turns off all events

EVENTS OFF command when executed will disable any events currently enabled (running). EVENTS ON Command re-enables any events previously disabled through the events off command. EVENTS ON is not a global enable of all declared events. Events status is indicated through bit #30 of the DSTATUS register or by system ﬂag ‘F_EVENTSOFF’. EVENTS OFF/ON allows for easy disable and re-activation of events in sections of the main program or subroutines that the programmer doesn’t want interrupted by event code.

EVENTS OFF Disables execution of all events EVENTS ON Restores execution of previously enabled events.

Events are globally disabled after a reset is made. Events are re-enable by executing the individual EVENT <name> ON statement.

EVENT

……….…User code……………..

EVENTS ON ;turns on any event previously activated

Table 35: FAULT

FAULT User generated fault Statement

Purpose

Syntax

Remarks

See Also

Example:

Allows the user program to set a custom system fault. This is useful when the programmer needs to deﬁne a fault code and fault process for custom conditions like data supplied by interface out of range etc. Custom fault numbers must be in region of 128 to 240 (decimal)

FAULT FaultNumber Sets system fault.

Faultnumber - constant in range 128-240 Variables are not allowed in this statement.

Custom fault will be processed as any regular fault. There will be a record in the fault log.

ON FAULT

FAULT 200 ;Sets fault #200

V0=200 FAULT V0 ;Not valid. Variables are not allowed here

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Table 36: GOSUB

GOSUB Go To subroutine Statement

Purpose

Syntax

Remarks

See Also

Example:

DO GOSUB CALCMOVE ;Go to CALCMOVE Subroutine MOVED V1 ;Move distance calculated in Subroutine UNTIL INA1 END

SUB CALCMOVE: V1=(V2+V3)/2 ;Subroutine statement, Calculates value for V1 RETURN ;Return to main program execution

GOSUB transfers control to subroutine.

GOSUB <subname>

<subname> a valid subroutine name

After return from subroutine program resumes from next statement after GOSUB

GOTO, JUMP, RETURN

Table 37: GOTO

GOTO Go To Statement

Purpose

Syntax

Remarks

See Also

Example:

Transfer program execution to label following the GOTO instruction.

GOTO <label>

GOSUB, JUMP

GOTO Label2 {Statements…}

Label2:

{Statements…}

Table 38: HALT

HALT Halt the program execution Statement

Purpose

Syntax

Remarks

See Also

Example:

Used to halt main program execution. Events are not halted by the HALT statement. Execution will be resumed by the RESET statement or by executing a JUMP to code from the EVENT handler.

HALT

This statement is convenient when writing event driven programs.

RESET

{Statements…} HALT ;halt main program execution and wait for event

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Reference

Table 39: HOME

HOME Execute homing routine Statement

Purpose

Syntax

Remarks

See Also

Example:

{Statements…} HOME ;initiate homing routine

ICONTROL

ON/OFF Enables interface control Statement

Purpose

Syntax

Remarks

See Also

Example:

EVENT LimitSwitch IN_A1 RISE ;limit switch event Jump LimitSwitchHandler ;jump to process limit switch ENDEVENT V0=0 ;V0 will be used to indicate fault condition EVENT LimitSwitch ON ;Turn on event to detect limit switch activation Again: HALT ;system controlled by interface LimitSwitchHandler: EVENTS OFF ;turn off all events ICONTROL OFF ;disable interface control STOP MOTION QUICK DISABLE ;DISABLE V0=1 ;indicate fault condition to the interface ICONTROL ON ;Enable Interface Control EVENTS ON ;turn on events turned off by ‘EVENTS OFF’ GOTO AGAIN

Used to initiate homing.

HOME

This statement is convenient when writing event driven programs.

Table 40: ICONTROL ON/OFF

Enables/Disables interface control. Effects bit #27 in DSTATUS register and system ﬂag F_ICONTROLOFF. All interface motion commands and commands changing any outputs will be disabled. See Host interface commands manual for details. This command is useful when the program is processing critical states (example limit switches) and can’t be disturbed by the interface.

ICONTROL ON ICONTROL OFF

After reset interface control is enabled by default.

Enables Interface control Disables interface control

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Reference

Table 41: IF

IF IF/ENDIF Statement

Purpose

Syntax

Remarks

See Also

Example:

IF APOS > 4 ;If actual position is greater than 4 units

V0=2

ELSE ;otherwise... (actual position equal or less than 4)

V0=0

ENDIF

;----------------------------------------------------------

If V1 <> V2 && V3>V4 ;If V1 doesn’t equal V2 AND V3 if greater than V4

V2=9

ENDIF

The IF statement tests for a condition and then executes the speciﬁc action(s) between the IF and ENDIF statements if the condition is found to be true. If the condition is false, no action is taken and the instructions following the ENDIF statement are executed. Optionally, using the ELSE statement, a second series of statements may be speciﬁed to be executed if the condition is false.

IF <condition> {statements 1} ELSE {statements 2} ENDIF

WHILE, DO

Table 42: JUMP

JUMP Jump to label from Event handler Statement

Purpose

Syntax

Remarks

See Also

Example:

This is a special purpose statement to be used only in the Event Handler code. When the EVENT is triggered and this statement is processed, execution of the main program is transferred to the <label> argument called out in the “JUMP” statement. The Jump statement is useful when there is a need for the program’s ﬂow to change based on some event(s). Transfer program execution to the instruction following the label.

JUMP <label> <label> is any valid program label

Can be used in EVENT handler only.

EVENT

EVENT ExternalFault INPUT IN_A4 RISE ;activate Event when IN_A4 goes high JUMP ExecuteStop ;redirect program to <ExecuteStop> ENDEVENT StartMotion: EVENT ExternalFault ON ENABLE MOVED 20 MOVED -100 {statements} END ExecuteStop: STOP MOTION ;Motion stopped here DISABLE ;drive disabled Wait Until !IN_A4 ;Wait Until Input A4 goes low GOTO StartMotion

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Reference

Table 43: MDV

MDV Segment Move Statement

Purpose

Syntax

See Also

Example:

{Statements…}

MDV 5, 10 ;Move 5 user units and accelerate to a velocity of 10 MDV 10,10 ;Move 10 user units and maintain a velocity of 10 MDV 10,5 ;Move 10 user units and decelerate to velocity of 5 MDV 5,;0 ;Move 5 user units and decelerate to velocity 0. ;The last MDV must have a final velocity of 0. {Statements…}

MDV deﬁnes individual motion segment by specifying distance and ﬁnal velocity (for each segment) in User Units. Acceleration (or deceleration) is calculated automatically based on these two parameters. This technique allows complicated moves to be created that consist of many segments. Each MDV sequence (series of MDV segments) starts and ends with a velocity of 0. Based on this an MDV sequence must have at least two segments. The MDV statement doesn’t suspend execution of the main program. Each segment is loaded into the Motion Queue and the sequence executed immediately. If the last segment in the Motion Queue doesn’t have a ﬁnal velocity of 0, the drive will generate a “Motion Queue Empty” fault #24. If the “S” modiﬁer is used in the statement, then the velocity acceleration/deceleration will be S-curved as opposed to be linear.

MDV <[-]segment distance>,<segment ﬁnal velocity> [,S]

S[-curve] optional modiﬁer speciﬁes S-curve acceleration / deceleration.

MOVE, MOVEP, MOVEPR, MOVED, MOVEDR, MOTION SUSPEND, MOTION RESUME

Table 44: MEMGET

MEMGET Memory access statements MEMGET Statement

Purpose

Syntax

MEMGET provides command for simpliﬁed retrieval of data from the drives RAM memory ﬁle through transfer of data to the variables V0-V31. Using this statement any combinations of variables V0-V31 can be retrieved from the RAM ﬁle with a single statement.

MEMGET <offset> [ <varlist>] <offset> It speciﬁes offset in RAM ﬁle where data will be retrieved.

Range: -32767 to 32767 <varlist> any combinations of variables V0-V31

See Also

Example:

MEMSET

MEMGET 5 [V0] ;single variable will be retrieved from location 5 MEMGET V1 [V0,V3,V2] ;variables V0,V3,V2 will be retrieved from ;memory location starting at value held in V1 MEMGET 10 [V3-V7] ;variables V3 to V7 inclusively will be retrieved MEMGET V1 [V0,V2,V4-V8] ;variables V0,V2, V4 through V8 will be retrieved

PM94P01C 93

Reference

Table 45: MEMSET

MEMSET Memory access statements MEMSET Statement

Purpose

Syntax

See Also

Example:

MEMSET 5 [V0] ;single variable will be stored in location 5 MEMSET V1 [V0,V3,V2] ;variables V0,V3,V2 will be stored in memory ;location starting at value held in V1 MEMSET 10 [V3-V7] ;variables V3 to V7 inclusively will be stored MEMSET V1 [V0,V2,V4-V8] ;variables V0,V2, V4 through V8 will be stored.

MEMSET provides command for simpliﬁed storage of data to the drives RAM memory ﬁle through transfer of data from variables V0-V31. Using this statement any combinations of variables V0-V31 can be stored in the RAM ﬁle with a single statement.

MEMSET <offset> [ <varlist>] <offset> It speciﬁes offset in RAM ﬁle where data will be stored. Range: -32767 to 32767 <varlist> any combinations of variables V0-V31

MEMGET

Table 46: MOTION RESUME

MOTION RESUME Resume Motion Statement

Purpose

Syntax

See Also

Example:

Statement resumes motion previously suspended by MOTION SUSPEND. If motion was not previously suspended, this has no effect on operation.

MOTION RESUME

MOVE, MOVEP, MOVEDR, MOVED, MOVEPR ,MDV, MOTION SUSPEND

…{statements}

MOTION RESUME ;Motion is resumed from first command in motion Queue (if any)

…{statements}

Table 47: MOTION SUSPEND

MOTION SUSPEND Suspend Statement

Purpose

Syntax

Remarks

See Also

Example:

This statement is used to temporarily suspend motion without ﬂushing the Motion Queue’s contents. If this statement is executed while a motion proﬁle is being processed, then the motion will not be suspended until after the completion of the move. If executing a series of segment moves, motion will not be suspended until after all the MDV segments have been processed. If the Motion Queue is empty then any subsequent motion statement will be loaded into the queue and will remain there until the “Motion Resume” statement is executed. Any motion statements without the “C” modiﬁer (except MDV statements) will lock-up the User Program.

MOTION SUSPEND

Performing any MOVEx commands without “C” modiﬁer will lock-up the user program. You will be able to unlock it only by performing a Reset or Host Interface command “Motion Resume”

MOVE, MOVEP, MOVEDR, MOVED, MOVEPR ,MDV, MOTION RESUME

…{statements}

MOTION SUSPEND ;Motion will be suspended after current motion ;command is finished.

…{statements}

PM94P01C94

Reference

Table 48: MOVE

MOVE Move Statement

Purpose

Syntax

Remarks

See Also

Example:

{Statements…}

MOVE UNTIL V0<3 ;Move until V0 is less than 3 MOVE BACK UNTIL V0>4 ;Move back until V0 is greater than 4 MOVE WHILE V0<3 ;Move While V0 is less than 3 MOVE BACK WHILE V0>4 ;Move While V0 is greater than 4 MOVE WHILE V0<3,C ;Move While V0 < 3, continue program execution

MOVE UNTIL performs motion until condition becomes TRUE. MOVE WHILE performs motion while conditions stays TRUE. The statement suspends the programs execution until the motion is completed, unless the statement is used with C modiﬁer.

MOVE [BACK] UNTIL <condition> [,C] MOVE [BACK] WHILE <condition> [,C]

BACK Changes direction of the move.

C (optional) C[ontinue] - modiﬁer allows the program to continue while motion is being performed.

If a second motion proﬁle is executed while the ﬁrst proﬁle is still in motion, the second proﬁle will be loaded into the Motion Stack. The Motion Stack is 32 entries deep. The programmer should check the “F_MQUEUE_FULL” system ﬂag to make sure that there is available space in the queue. If the queue becomes full, or overﬂows, then the drive will generate a fault.

MOVEP, MOVED, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION RESUME

The condition to be tested. The condition may be a comparison, an input being TRUE or FALSE (H or L) system ﬂag or a variable is used as ﬂag (if 0 - false, else - true ).

Table 49: MOVED

MOVED Move Distance Statement

Purpose

Syntax

See Also

Example:

MOVED performs incremental motion (distance) speciﬁed in User Units. The commanded distance can range from -231 to 231. This statement will suspend the programs execution until the motion is completed, unless the statement is used with the “C” modiﬁer. If the “S” modiﬁer is used then S-curve accel is performed during the move.

MOVED <distance>[,S] [,C]

C[ontinue] The “C” argument is an optional modiﬁer which allows the program to continue executing

while the motion proﬁle is being executed. If the drive is in the process of executing a previous motion proﬁle the new motion proﬁle will be loaded into the Motion Stack. The Motion Stack is 32 entries deep. The programmer should check the “F_MQUEUE_FULL” system ﬂag to make sure that there is available space in the queue. If the queue becomes full, or overﬂows, then the drive will generate a fault.

S[-curve] optional modiﬁer speciﬁes S-curve acceleration/deceleration.

MOVE, MOVEP, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION RESUME

{Statements…}

MOVED 3 ;moves 3 user units forward MOVED BACK 3 ;moves 3 user units backward

{Statements…}

PM94P01C 95

Reference

Table 50: MOVEDR

MOVEDR Registered Distance Move Statement

Purpose

Syntax

See Also

Example:

{Statements…}

MOVEDR 3, 2

{Statements…}

MOVEDR performs incremental motion, speciﬁed in User Units. If during the move the registration input becomes activated (goes high) then the current position is recorded, and the displacement value (the second argument in the MOVEDR statement) is added to this position to form a new target position. The end of the move is then altered to this new target position. This statement suspends execution of the program until the move is completed, unless the statement is used with the “C” modiﬁer.

MOVEDR <distance>,<displacement> [,S] [,C]

C[ontinue] The “C” argument is an optional modiﬁer which allows the program to continue

executing the User Program while a motion proﬁle is being processed. If a new motion proﬁle is requested while the drive is processing a move the new motion proﬁle will be loaded into the Motion Stack. The Motion Stack is 32 entries deep. The programmer should check the “F_MQUEUE_FULL” system ﬂag to make sure that there is available space in the queue. If the queue becomes full, or overﬂows, then the drive will generate a fault.

S[-curve] optional modiﬁer speciﬁes S-curve acceleration/deceleration.

MOVE, MOVEP, MOVEPR, MOVED, MDV, MOTION SUSPEND, MOTION RESUME

This example moves the motor 3 user units and checks for the registration input. If registration isn’t detected then the move is completed. If registration is detected, the registration position is recorded and a displacement value of 2 is added to the recorded registration position to calculate the new end position.

Table 51: MOVEP

MOVEP Move to Position Statement

Purpose

Syntax

See Also

Example:

MOVEP performs motion to a speciﬁed absolute position in User Units. The command range for an Absolute move is from -2 until the motion is completed unless the statement is used with the “C” modiﬁer. If the “S” modiﬁer is used then an S-curve accel is performed during the move.

MOVEP <absolute position>[,S] [,C]

C[ontinue] The “C” argument is an optional modiﬁer which allows the program to continue

executing while the motion proﬁle is being executed. If the drive is in the process of executing a previous motion proﬁle the new motion proﬁle will be loaded into the Motion Stack. The Motion Stack is 32 entries deep. The programmer should check the “F_ MQUEUE_FULL” system ﬂag to make sure that there is available space in the queue. If the queue becomes full, or overﬂows, then the drive will generate a fault.

S[-curve] optional modiﬁer speciﬁes S-curve acceleration/deceleration.

MOVE, MOVED, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION RESUME

to 231 User Units. This statement will suspend the program’s execution

{Statements…}

MOVEP 3 ;moves to 3 user units absolute position

{Statements…}

PM94P01C96

Reference

Table 52: MOVEPR

MOVEPR Registered Distance Move Statement

Purpose

Syntax

See Also

Example:

{Statements…}

MOVEPR 3, 2

{Statements…}

MOVEPR performs absolute position moves speciﬁed in User Units. If during a move the registration input becomes activated, i.e., goes high, then the end position of the move is altered to a new target position. The new position is generated from the second argument in the MOVEPR statement, (displacement). This statement suspends the execution of the program until the move is completed, unless the statement is used with the C modiﬁer.

MOVEPR <distance>,<displacement> [,S] [,C]

C[ontinue] The “C” argument is an optional modiﬁer which allows the program to continue

S[-curve] optional modiﬁer speciﬁes S-curve acceleration/deceleration.

MOVE, MOVEP, MOVEDR, MOVED, MDV, MOTION SUSPEND, MOTION RESUME

This example moves the motor to the absolute position of 3 user units while checking for the registration input. If registration isn’t detected, then the move is completed . If registration is detected, the registration position is recorded and a displacement value of 2 is added to the recorded registration position to calculate the new end position.

PM94P01C 97

Reference

Table 53: ON FAULT/ENDFAULT

ON FAULT/ ENDFAULT Deﬁnes Fault Handler Statement

Purpose

Syntax

See Also

Example:

…{statements} ;User program FaultRecovery: ;Recovery procedure

This statement initiates the Fault Handler section of the User Program. The Fault Handler is a piece of code which is executed when a fault occurs in the drive. The Fault Handler program must begin with the “ON FAULT” statement and end with the “ENDFAULT” statement. If a Fault Handler routine is not deﬁned, then the User Program will be terminated and the drive disabled upon the drive detecting a fault. Subsequently, if a Fault Handler is deﬁned and a fault is detected, the drive will be disabled, all scanned events will be disabled, and the Fault Handler routine will be executed. The RESUME statement can be used to redirect the program execution from the Fault Handler back to the main program. If this statement is not utilized then the program will terminate once the ENDFAULT statement is executed.

The following statements can’t be used in fault handler:

MOVE, MOVED, MOVEP,MOVEDR, MOVEPR, MDV, MOTION SUSPEND, MOTION RESUME, GOTO, GOSUB, JUMP, ENABLE, WAIT and VELOCITY ON/OFF

ON FAULT {…statements} ENDFAULT

RESUME

…{statements}

END

ON FAULT ;Once fault occurs program is directed here

…{statements} ;Any code to deal with fault

RESUME FaultRecovery ;Execution of RESUME ends Fault Handler and directs ;execution back to User Program. ENDFAULT ;If RESUME is omitted the program will terminate here Fault routine must end with a ENDFAULT statement

Table 54: REGISTRATION ON

REGISTRATION ON Registration On Statement

Purpose

Syntax

See Also

Example:

This statement arms the registration input, (input IN_C3). When the registration input is activated, the Flag Variable “F_REGISTRATION” is set and the current position is captured and stored to the “RPOS” System Variable. Both of these variables are available to the User Program for decision making purposes. The “REGISTRATION ON” statement, when executed will reset the “F_ REGISTRATION” ﬂag ready for detection of the next registration input.

REGISTRATION ON Flag “F_REGISTRATION” is reset and

registration input is armed

MOVEDR, MOVEPR

; Moves until input is activated and then come back to the sensor position.

…{statements}

REGISTRATION ON ;Arm registration input MOVE UNTIL F_REGISTRATION ;Move until input is activated, (sensor hit) MOVEP RPOS ;Absolute move to the position of the sensor

…{statements}

PM94P01C98

Lenze PM94P01C User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Introduction

1.2 Programming Flowchart

1.3 MotionView / MotionView Studio

1.3.1 Main Toolbar

1.3.2 Program Toolbar

1.3.3 MotionView Studio - Indexer Program

1.4 Programming Basics

1.5 Using Advanced Debugging Features

1.6 Inputs and Outputs

1.7 Events

1.9 IF/ELSE Statements

1.10 Motion

1.10.1 Drive Operating Modes

1.10.2 Point To Point Moves

1.10.3 Segment Moves

1.10.4 Registration

1.10.5 S-Curve Acceleration

1.10.6 Motion Queue

1.11 Subroutines and Loops

1.11.1 Subroutines

1.11.2 Loops

2. Programming

2.1 Program Structure

2.2 Variables

2.3 Arithmetic Expressions

2.4 Logical Expressions and Operators

2.4.1 Bitwise Operators

2.4.2 Boolean Operators

2.5 Comparison Operators

2.6 System Variables and Flags

2.7 System Variables Storage Organization

2.7.1 RAM File for User’s Data Storage

2.7.2 Memory Access Through Special System Variables

2.7.3 Memory Access Through MEMSET, MEMGET Statements

2.8 System Variables and Flags Summary

2.8.1 System Variables

2.8.2 System Flags

2.9 Control Structures

2.9.1 DO/UNTIL Structure

2.9.2 WHILE Structure

2.9.3 Subroutines

2.9.4 IF Structure

2.9.5 IF/ELSE Structure

2.9.6 WAIT Statement

2.9.7 GOTO Statement & Labels

2.10 Scanned Event Statements

2.11 Motion

2.11.1 How Moves Work

2.11.2 Incremental (MOVED) and Absolute (MOVEP) Motion

2.11.3 Incremental (MOVED) Motion

2.11.4 Absolute (MOVEP) Move

2.11.5 Registration (MOVEDR MOVEPR) Moves

2.11.6 Segment Moves

2.11.7 MDV Segments

2.11.8 S-curve Acceleration

2.11.9 Motion SUSPEND/RESUME

2.11.10 Conditional Moves (MOVE WHILE/UNTIL)

2.11.11 Motion Queue and Statement Execution while in Motion

2.12 System Status Register (DSTATUS register)

2.13 Fault Codes (DFAULTS register)

2.14 Limitations and Restrictions

2.15 Homing

2.15.1 What is Homing?

2.15.2 The Homing Function

2.15.3 Home Offset

2.15.4 Homing Velocity

2.15.5 Homing Acceleration

2.15.6 Homing Switch

2.15.7 Homing Start

2.15.8 Homing Method

2.15.9 Homing Methods

2.15.9.1 Homing Method 1: Homing on the Negative Limit Switch

2.15.9.2 Homing Method 2: Homing on the Positive Limit Switch

2.15.9.3 Homing Method 3: Homing on the Positive Home Switch & Index Pulse

2.15.9.4 Homing Method 4: Homing on the Positive Home Switch & Index Pulse

2.15.9.5 Homing Method 5: Homing on the Negative Home Switch & Index Pulse