Lenze PMSS1000 User Manual
Indexer-Programmer-Manual.pdf REV 1.3
Indexing Digital Servo Drive
Programmer's Manual
Applied to Models:
SSi1004 SSi1004-3P
SSi1008 SSi1008-3P
SSi1010 SSi1010-3P
SSi1012-3P
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TABLE OF CONTENTS
1. GETTING STARTED ...............................................................................................................................4
1.1 Introduction ......................................................................................................................................... 4
1.2 Programming flow overview ........................................................................................................... 7
1.3 MotionView Studio .......................................................................................................................... 8
1.4 Programming Basics....................................................................................................................... 9
1.5 Using advanced debugging features ............................................................................................ 13
1.6 Inputs and Outputs .......................................................................................................................14
1.7 Events ........................................................................................................................................... 18
1.8 Variables and Define statement ...................................................................................................19
1.9 IF/ELSE statements ...................................................................................................................... 20
1.10 Motion .......................................................................................................................................21
1.11 Subroutines and Loops ............................................................................................................. 25
2. PROGRAMMING ............................................................................................................................. 26
2.1 Introduction ................................................................................................................................... 26
2.2 User Variables .............................................................................................................................. 27
2.3 Arithmetic's ...................................................................................................................................28
2.4 Logical expressions and operators ...............................................................................................28
2.5 Bitwise operators ..........................................................................................................................29
2.6 Boolean Operators........................................................................................................................ 29
2.7 Comparison operators ..................................................................................................................30
2.8 Summary of User Variables .......................................................................................................... 30
2.9 System Variables and Flags.........................................................................................................30
2.10 System Variables and Flags Summary..................................................................................... 31
2.12 Scanned Event Statements ......................................................................................................39
2.13 Motion .......................................................................................................................................40
2.14 System Status Register (DSTATUS register) ........................................................................... 47
2.15 Fault Codes (DFAULTS register) .............................................................................................. 48
2.16 Limitations and restrictions .......................................................................................................49
3. LANGUAGE REFERENCE ............................................................................................................. 50
KEYWORD Long Name Type........................................................................................................ 50
ASSIGN Assign Input As Index Bit Statement .................................................................................. 51
DEFINE Define name Pseudo-statement....................................................................................... 51
DISABLE Turns servo OFF Statement ..........................................................................................52
DO UNTIL Do/Until Statement........................................................................................................ 52
ENABLE Enables servo Statement............................................................................................. 53
END END program Statement...................................................................................................53
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EVENT
ENDEVENT End of Event handler Statement ................................................................................. 55
EVENT ON/OFF Turn events on or off Statement............................................................................ 56
EVENTS ON/OFF Globally Enables/disables events Statement...................................................... 56
FAULT User generate fault Statement ......................................................................................... 57
GEAR ON/OFF Gearing Mode Statement ...................................................................................... 58
GOTO Go To Statement ............................................................................................................ 58
GOSUB Go to subroutine Statement ............................................................................................. 59
HALT Halt the program execution Statement .................................................................................. 59
ICONTROL ON/OFF Enables interface control Statement............................................................... 60
IF If/Then/Else Statement .......................................................................................................... 61
MOVE Move Statement ............................................................................................................. 62
MOVED Move Distance Statement ............................................................................................... 63
MOVEP Move to Position Statement ............................................................................................ 64
MOVEDR Registered Distance Move Statement ........................................................................... 64
MOVEPR Registered Position Move Statement ............................................................................65
MDV Segment Move Statement .................................................................................................66
MOTION SUSPEND Suspend Statement..................................................................................... 66
MOTION RESUME Resume Statement .......................................................................................67
ON FAULT/ENDFAULT On Fault Statement ................................................................................... 68
REGISTRATION ON Registration On Statement ........................................................................... 69
RESUME Resume Statement .................................................................................................69
RETURN Return from subroutine Statement ............................................................................... 70
SEND/SENDTO Send network variable(s) value Statement ......................................................... 70
STOP MOTION [QUICK] Stop Motion Statement............................................................................. 71
VELOCITY ON/OFF Velocity Mode Statement................................................................................ 71
WAIT Wait Statement ................................................................................................................ 72
WHILE/ENDWHILE While Statement ............................................................................................72
Starts Event handler Statement ........................................................................................53
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1. Getting Started
1.1 Introduction
Definitions
The SimpleServo Indexer (SSI) is a digital motion controller that will process commands within the
hardware and software limits dictated by user (wiring, configuration, parameters, program statements,
events, etc.). The output of the system is the motion(s) created in response to the command(s) input.
The SimpleServo SimpleMotion programming language (SML) provides a very flexible development
environment for creating solution to motion application. As opposed to indexers with simple command
interpreting mode, language based indexer allows you to create complex and intelligent motion, flexible
processing of inputs, complex logic decision making and program branching, timed events processing
and number of functions mostly found in PLC controllers.
The MotionView is a universal setup and configuration program used for all SimpleServo products. It has
self-configuration mechanism that adapts it to particular product automatically.
The MotionView Studio tools suite contains all the software tools needed to program and debug a
SimpleServo Indexer. MotionView Studio is a part of MotionView program. It constrains a full-screen text
editor, program compiler, status and monitor information and debugger (the tool allows you to step
through program you are developing).
The User Program (or Indexer Program) is user-developed program describing programmatic behavior
of the SSi. User Program can be stored in the text file on your PC or in SSi's memory. User Program
needs to be compiled (translated) in binary form before SSi can execute it with aid of MotionView Studio
tools.
Safety Warnings
Warning!
• Hazard of unexpected motor starting! When using the MotionView software, or otherwise
operating the SSi drive over RS-232/485 or Ethernet, 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.
Warning!
• Hazard of electrical shock! Circuit potentials are at 115 VAC or 230 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.
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Getting started with SSi
Before SSi can execute motion program it has to be properly installed and configured. First time users are
encouraged to read through the appropriate sections in this manual and in SimpleServo User's Manual for
proper hardware installation and configuration.SSi programmable features and parameters
SSi drives have a number of features and parameters which can be programmed via MotionView
Software. Below is a list of programmable features and parameters specific for SSi drives in order they
appear in left tree of the MotionView. Please refer to User's Manual for details on these parameters.
Motor folder
This folder contains action button to choose particular motor. The rest of the fields contain information
about selected motor. See MotionView Help on detailed information how to setup motor.
Parameters
• Drive mode
PIVFF mode. P(roportional) I(ntgral) V(elocity F(eed) F(orward) regulator configuration. This
mode using tunable position loop. Velocity feedback is used as dumping term and adjusted
automatically. Velocity feed forward gain is adjustable.
• P+V mode. P(osition) +V(elocity) regulator configuration. This mode is generally slower than
PIVFF and used with lower performance mechanics. Regulator consists of outer position loop
followed by independent velocity loop followed by current loop. Position and velocity loop gains
are in tacked in this mode.
• Current Limit
Sets RMS motor current limit. Settings per phase Amps RMS
• Peak Current Limit
Sets RMS per phase peak current limit. This current limit is allowed for 2 Seconds. After that it will
be folded back to the level that is set by Current limit parameter.
• Autoboot
If this option is selected after Power Up SSi will start execution of the user program. Otherwise
the program must be started manually via MotionView software or via Host Interface.
Warning!
• Hazard of unexpected motor starting! When using the MotionView software, or otherwise
operating the SSi drive over RS-232/485 or Ethernet, 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.
• Feedback loss detection
When this option is enabled SSI will detect feedback loss, then consequently disable, and
generate fault.
• RS485 configuration
Switches between different protocols can be used over RS485 interface. In normal mode, PPP
protocol (described in Host Interface manual) is used. "Modbus slave" is another alternative
protocol can be used to communicate with SSI drive. Modbus primarily supported for compatibility
with industry standard operator interfaces and terminals. For all other control tasks, PPP is
recommended.
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• Group ID
This parameter is used to combine different SSIs in functional groups. SSIs with the same group
ID can be communicated simultaneously with statement SENDTO. See statements SEND and
SENDTO for farther explanations.
• IP Properties
Displays properties and settings for Ethernet communication port.
I/O
• Output 0 (1,2,3) function
Every digital output except output #4 can be assigned special function
Refer to Section 1.6 to see list of available functions.
• Hard limit switches action.
Inputs A0 and A1 serve as Hard Limit switches inputs. If <No Action> option is selected then
inputs have no effect on SSi operation as can be used as general-purpose inputs. Refer to
Section 1.6 for detail on each action item.
Limits
Position Limits
• Position error
This parameter sets maximum allowable position error before "Position Excess Error" fault will be
generated. This parameter works in conjunction with "Max Error Time". Position Error is set in
primary motor encoder quadrature counts.
• Position error time
This parameter sets time how long position error allowed to be bigger then limit set by "Position
error" parameter until "Position Excess Error" fault will be generated.
Compensation
Velocity Loop filter
These parameters have an effect on velocity regulator behavior when SSi placed in V+P mode. It
has no effect in PIVFF mode
• P-gain Velocity loop Proportional gain
• I-gain Velocity loop Integral gain
Refer to Section 1.10 for details on SSi position and velocity regulators behavior in both P+V and
PIVFF mode.
Position Loop filter
This parameters have an effect on position loop regulator and
• P-gain Position loop Proportional gain
• I-gain Position loop Integral gain
• D-gain Position loop Derivative gain
• VFF-gain Position loop velocity feed forward gain
• I-limit Position loop Integral gain influence limit
Refer to Section 1.10 for details on SSi position and velocity regulators and regulation diagrams.
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Indexer Program
This will select the MotionView Studio section of the MotionView. Right panel is used to enter edit and
debug User Programs. Menu and toolbar will display additional features needed for program preparation
compiling debugging and loading to the SSi's memory. Motion View Studio tools and operations are
described in details in Section 1.3
Security
This option will protect source code of the User Program with password. If password was set then SSi will
ask for password before displaying User Program text. Password can be any alphanumeric string.
1.2 Programming flow overview
Welcome to SimpleServo SimpleMotion programming language (SML) - the quick and easy way to create
powerful motion application. With SML you describe your system logistics, motion, I/O processing and
user interaction programmatically i.e. creating program. The program consists from list of statements with
optional parameter(s). There are different statements for motion, processing I/O, events, program flow
control, and full set of arithmetic and logical operators. For more detail, refer to "Language Specification"
Appendix A on the back of this manual.
In order for SSI to understand statements, they need to be compiled (translated) to the binary machine
code. This happens when you done writing program and hit toolbar button "compile" in the MotionView
Studio environment. After compilation (translation), the binary machine codes and program text (source
code) are both loaded into the SSI memory and stored in the internal SSI's flash memory. Fig. 2.1 below
summarizes program preparation process.
Fig. 2.1 Indexer program preparation flowchart
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1.3 MotionView Studio
MotionView Studio screen layout
MotionView Studio is a powerful tool suite used to enter, compile, load and debug User Programs. MotionView studio is part of the MotionView universal program. MotionView Studio becomes available when user selects "Indexer Program" folder from MotionView's parameter tree. Motion View Studio consists of three parts: Editor, Compiler and Debugger.
When Motion View starts, it always loads current program text from SSi's memory to the editor window.
This action is always performed regardless program run state.
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MotionView Studio toolbar Icons From Left to Right:
Compile, Compile and load, Run, Reset Program, Stop and Disable, Single Step (Step Over), Single Step
(Step Into), Set Breakpoint, Remove breakpoint, Display Watch Window.
To load User program from PC use <Edit> <Import program from file> menu. Executing this menu loads
program from file to editor window. It doesn't load it to SSi memory yet.
To compile program and load it to SSi's memory use <Indexer> <Compile and load> menu. You can use
<Indexer> <Compile> menu to compile and check syntax errors without loading program to the SSi'
memory. If the compiler finds any syntax error, compilation stops and program will not be loaded to drive's
memory. Errors are reported in bottom portion of the screen in message area.
To save program on PC disk use <Edit> <Export program to file >.
To execute program use <Indexer> <Run> menu.
To execute program step by step use <Indexer> <Step Over> menu. SSi will execute program one
step at the time. Current program statement will be highlighted.
Breakpoint(s). It is convenient to set point in the program where you would like to stop and evaluate
some results. You can do it by pointing to lines of code you would like program to stop and hit
<Indexer><Set Breakpoint>. Red dot will mark the line showing that program will be stopped if it reaches
this line before executing it. Executing stop doesn't disable drive and all position variables are valid.
To Stop program execution and disable drive use <Indexer><Stop>. Program will stop after completing
current statement. You can resume program by hitting <Indexer><Run>.
To Reset Program execution from the beginning use <Indexer><Reset>. Program will be reset and drive
will be disabled. All position variables will no longer be valid.
1.4 Programming Basics
It is usually useful to have all the moves a machine will do, along with I/O statements, etc., in a program.
We will now explore how programs are written and used.
Make sure the indexing drive is connected to your computer and on-line.
Select <Indexer program> on the left tree. MotionView loads program from indexer memory automatically
to the right window. Note that if there is no valid program in the indexer memory window on the right will
be empty. Clear program text on in the right window if any appears then type in following program:
UNITS=1
ACCEL = 5
DECEL = 5
ENABLE
MOVED 10
MOVEDISTANCE -10
END
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After the text has been entered, select <Compile and load> from <Indexer> menu. After compilation is
done, message box will be displayed suggesting that our program has errors. Click <OK> to dismiss
dialog. The message window (bottom portion of your screen) will display Compiler error(s). Program line
with an error is highlighted. The line "MOVEDISTANCE -10" generated syntax error because
"MOVEDISTANCE" not a valid command. Change text "MOVEDISTANCE" to "MOVED" :
UNITS=1
ACCEL = 5
DECEL = 5
ENABLE
MOVED 10
MOVED -10
END
Select <Compile and load> again from <Indexer> menu. There should no longer be any errors. Since
program was successfully compiled, it gets loaded to the drive memory and ready to run. Run the
program by selecting <RUN> from <Indexer> menu. After program finishes, drive stays enabled. Click
<Indexer->Restart> to disable the drive and reset program execution from the start. Note that program
doesn't run itself automatically. You have to select <Indexer->Run> to run it again.
After you are done with writing the program and drive setup you can save them by using <Node|Save
configuration As.>. Indexer program is a part of drive configuration and also saved in the same file. There
will be a time when you need to import (or export) program source to the other drive or perhaps you
prepared program off-line and what to load it to drive later. You can use Indexer|Load from text file> menu
to load program source to the drive. You also can open new configuration file by selecting <Node| New
configuration file>, go to "Indexer program" folder on the left tree, and type your program in the right pane,
then save configuration file to the disk and later load it to the drive memory by selecting <Node|Load
configuration file to drive> menu. Remember that when you do so, drive configuration parameters will also
be loaded. If you want to preserve drive configuration and load a program only, use file-importing method
described above.
Units
All motion statements in the drive work with User units. Statement on first line of the test program
UNITS=1, sets the relationship between User units and motor revolutions. It simply answers the question:
"How many User units in one motor shaft revolution?" If this statement is omitted from the program, the
motor will operate with encoder counts as User units.
Time base
Time base always in seconds i.e. all time-related values are set in USER UNITS/SEC.
Enable/Disable
After execution of the statement ENABLE, drive will be enabled. If drive was disabled before execution of
that statement then the absolute position counter will be reset to zero.
Execution of the statement DISABLE will disable the drive and clear motion stack.
Attempt to produce motion when drive is disabled will generate fault.
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Faults
When fault condition has been detected by the drive, the following events occur:
If a program is executing it is stopped. If fault handler was defined, its code starts execution.
(See below for details on fault handler). If there is no fault handler - user program is
terminated.
Fault code will be written in DFAULTS register and available to user's program. See list of
fault codes in section 2.15
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
LED's located on drive's front panel:
Ready will turn OFF
Status will BLINK OUT fault code or stay ON depending on fault type (See
hardwar a ction "Faults" for details on fault LED).
Overcurrent will turn ON if fault was "Overcurrent"
e m nual se
Overvoltage will turn ON if fault was "Overvoltage"
Clearing Fa ays:
Note:
You cannot
You must leave error handler code by executing first "Reset" or "Resume <lab
Certain statements are not allowed for use in fault handler. See section 2.1 for additional details
Language Reference section for statement ON FAULT/ENDFAULT.
ult condition can be done one of the following w
If user program has Fault Handler section execute RESUM
example below).
estart> if in MotionView Studio or
Press <Indexer->R
ost Interface or
Send "Reset" command (command ID= 78) over the H
Cycle power (hard reset).
execute "ENABLE" command while executing error handler code
E statement at the end (see code
el>" statements.
and
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Here is an example:
;
;This program handles faults correctly
;
UNITS=1
.
.
. {Some initialization code}
.
PROGRAM_START:
ENABLE
MOVED 10
MOVED -10
.
. {Program statements}
.
END
;----------------------------------------------------------------------------
---------;Fault Handler. If any fault occurs following program will run:
;----------------------------------------------------------------------------
-- ------ON FAULT ;statement starts fault handler
.
;Fault handler program. Motion stopped, Drive disabled, events not scanned
;while executing fault handler statements
;
;Do whatever necessary in your system
;after fault is detected. Turn ON/OFF some outputs …etc.
.
. {Statements}
.
RESUME PROGRAM_START ;program restarts from label PROGRAM_START
; RESET ;you can use this statement instead.
;to start program from the beginning
ENDFAULT ;fault handler MUST end with this statement
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1.5 Using advanced debugging features
Click on <Indexer><Reset> menu to restart program from the beginning.
To execute program statements one at the time use or toolbar buttons or menu: <Indexer> <Step in> (or
<Step over>).
If you need to execute program up to certain statement and then stop to for example evaluate variable or
check program branching you can set breakpoints.
To set/reset breakpoint click program line you want program to stop at and click toolbar button or use
menu <Indexer><Toggle breakpoint>.
To view system and user variables values use menu <Indexer><Show Variables>. Select variables you
want to see and click on <R> (Refresh) button to refresh variables values. Note that variables values are
refreshed manually when you click on <R> button in the lower right corner or automatically when program
stops when single step completed or breakpoint is encountered.
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1.6 Inputs and Outputs
Analog Input and Output
SSi has one analog input and one analog output directly accessible from User Program or via Host
Interface. Analog input value contained in AIN System Variable. Value returned in AIN lays in range -10 to
+10 representing voltage on analog input from -10V to +10V. Analog output can be written by writing to
System Variable AOUT. Valid range for AOUT is -10 to +10 resulting in output voltage -10V to +10V
output.
Digital Inputs numbering
SSi has 12 inputs for customer connection. Inputs are separated into three groups: A, B and C. Inputs
within the group share common terminal. Inputs are named by group name: A1-A4, B1-B4, and C1-C4.
In addition to group name, every input has its bit number range from 0 to 11in INPUTS System variable.
Each input allocates 1 bit in INPUTS variable. See table below:
Input Name System Variable INPUTS bit #
A1 0
A2 1
A3 2
A4 3
B1 4
B2 5
B3 6
B4 7
C1 8
C2 9
C3 10
C4 11
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Some inputs could have additional special functionality like Travel Limit, Registration etc. Special
functions (if appropriate) are selected in MotionView program for execution by Host Interface
command(s). Input functionality is summarized in the table below. Input current states are available for
programmer through dedicated System Flags or as bits of System Variable INPUTS. Table below
summarizes inputs:
Function Special function
Input A1 Left limit switch
Input A2 Right limit switch
Input 2 A3
Input 3 A4
Common for A section
Input 4 B1
Input 5 B2
Input 6 B3
Input 7 B4
Common for B section
Input 8 C1 Master encoder input “A”
Input 9 C2 Master Encoder input “B”
Input 10 C3 Registration sensor input
Input 11 C4
Common for C section
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Read Digital Inputs
We will now modify our test program to look for the input to go on before doing the first move, and wait for
the input to go off before doing second move. Modified program look like this:
;This program looks for the input goes on before making first move
;and looks for the input goes off before making second move
DEFINE INPUT_ON 1
DEFINE INPUT_OFF 0
UNITS=1
ENABLE
WAIT UNTIL IN_A1==INPUT_ON ;waits until IN_A1 is ON
;WAIT UNTIL IN_A1 ;you can use this is shorter form ;too
MOVED 10
WAIT UNTIL IN_A1==INPUT_OFF ;waits until IN_A1 is OFF
;WAIT UNTIL !IN_A1 ;you can use this is shorter form ;too
MOVED -10
END
NOTE: Newly added statements are in blue.
Using inputs to generate predefined indexes
Sometimes it is convenient to use inputs to perform predefined moves (indexes).
To simplify task of inputs processing for such purposes SSi provides special system variable INDEX and
keyword ASSIGN. Keyword ASSIGN causes specific input act as particular bit of system variable INDEX .
After such assignments changes of input state will cause changes of the particular bit variable INDEX
input is assign to. Variable INDEX could be used then conveniently to select predefined move.
…{statements} …
ASSIGN 0 AS BIT 7 ;input A1
ASSIGN 1 AS BIT 5 ;input A2
ASSIGN 5 AS BIT 4 ;input A4
…{statements} …
Variable INDEX structure after execution of the ASSIGN statements will look like this:
Note that every input can be assigned as any bit position within INDEX variable' lower 8 bits. Bits 8-31 are
not used and always set to 0. Not assign bits in INDEX variable are set to 0s.
A1
16
0
A2 A4
0 0 0 0BITS 8-31 (not used)
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Limit switches input functions
Inputs A1 and A2 have secondary functions as Hard Limit Switch Negative and Hard Limit Switch Positive
respectively. From MotionVew's I/O folder you can select what type of action to perform when one of the
inputs is activated. Refer to the table below for list of possible actions.
Action Description
Not Assigned No action. Input functioning as regular input
Fault Input activation cause disable and fault
Stop and Fault Input activation causes deceleration with rate set by
System Variable QDECEL and then disable and fault
Digital Outputs Control
There are total of 5 outputs. 4 are general purpose programmable and 1 dedicated.
Dedicated output turns ON when system status is READY and cannot be controlled from the program.
The rest of 4 outputs could be assigned special function through MotionView or executing Host Interface
commands. You can turn ON (set) or turn OFF (clear) particular output by writing to corresponding
System Flag or setting particular bit(s) in System Variable OUTPUT. Output can be control by program if
it is not assigned to one of the special functions. In this case, output is controlled internally and changing
its value from within program (or via Host Interface) has no effect on output. Table below summarizes
outputs functions and corresponding flags in DSTATUS System Variables. To set output write to its flag
any non 0 value (TRUE). To clear output write to its flag 0 (FALSE). You also can use flags in expression.
If expression evaluates to TRUE then output will be turned ON. It will be turned OFF otherwise.
Example:
;Following code sets and clears some outputs
;
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
;OFF otherwise
Function Related Flag # from DSTATUS System Variable
Motion Complete 25
In Position Window 5
Fault 3
In Motion Inverse of flag 25
Ready 0
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1.7 Events
Scanned Events
A Scanned Event is a small program that runs independently of the main program. To establish Scanned
Event we need to specify condition to scan in event header and write statements to perform when
condition is true. Finally we need to turn Event On by executing Event <eventname> ON statement. To
learn more about Scanned Events refer to the Section 2.12. We will use Scanned Events to implement a
programmable limit switch. A programmable limit switch is a mechanism that can be programmed to turn
on at specific position. We will set up a Scanned Event to check if the current position (system variable
APOS) is greater than or equal to a given value (3) and less than or equal to another given value (6). If it
is, Output 0 is turned ON. Otherwise it is OFF.
UNITS =1
;
;
EVENT InLimits 1==1 ; always true so event scanned every
;256uS
;
OUT1= APOS>=3 && APOS<=6
;
ENDEVENT
;
ENABLE ;APOS and TPOS are initialized to 0
EVENT InLimits ON ;turns Event InLimits ON
;Make some moves so we can go in and out ;of the specified limits of
MAXV=200 ;200 Rpm
ACCEL=10 ;10 Rps*s
DECEL=10 ;same as ACCEL
ProgramStart:
MOVE 10 ;move to 10 revs position
MOVE 0 ;move back to 0
GOTO ProgramStart ;loop it forever
END
When this program run motor will move 10 revs CW and than move back to initial position. Output 0 will
be ON during motor shaft position within the window 3 to 6 revs inclusively and low all the other times.
There are certain restrictions when writing code for event handlers. Refer to section 2.1 for additional
information on scanned events.
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1.8 Variables and Define statement
In the previous program for programmable limit switch we used hard coded numbers 3 and 6 :
EVENT InLimits ALWAYS ;scanned every 256uS
;
OUT1=APOS>=3 && APOS<=6 ;Hard Coded Limit values
ENDEVENT
Using hard coded numbers is fine as long as these numbers are known at the moment when you
preparing program. (Or we call it "at compile time").But what if limits has to be calculated based on some
parameters unknown before program run? (i.e. home origin, material width etc.). Then you can use User
Variables instead of hard coded values. SSi has 32 User Variables available for calculation and storage
of intermediate data. Let's use variable V1 and V2 to hold the values of lower and upper travel limits:
;Modified program:
EVENT InLimits ALWAYS ;scanned every 256uS
;
OUT1= APOS>=V1 && APOS<=V2 ;Variables hold Limit values
ENDEVENT
It might be difficult to remember that V1 is the lower and V2 is upper travel limit later on. The DEFINE
statement lets a programmer define a meanful name to a variable. The program looks like this:
DEFINE LowerLimit V1 ;name alias for V1
DEFINE UpperLimit V2 'name alias for V2
Define ALWAYS 1
EVENT InLimits ALWAYS ;scanned every 256uS
;
OUT0=APOS >= LowerLimit && APOS <= UpperLimit ;Variables V1 V2
;named by DEFINE statement
ENDEVENT
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1.9 IF/ELSE statements
IF/ELSE statement allows you to execute one or more statements conditionally. You can use IF or
IF/ELSE construct:
Single IF example:
;Implementing counter modulo reset:
Again:
V1=V1+1
IF V1>10
V1=0
ENDIF
GOTO Again
END
IF/ELSE example:
;Assign value to variable conditionally
IF V1>3
V2=1
ELSE
V2=0
ENDIF
IF or IF/ELSE construct must end with ENDIF keyword
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Indexer-Programmer-Manual.pdf REV 1.3
1.10 Motion
SSi position and velocity regulator's diagram
Kff term
Position Feedback
Biquad
convergence
filter
Biquad
covergence
filter
PIVFF Mode
P+V Mode
Velocity
estimator
To Torque amplifier
Primary
Encoder
Position
Command
Velocity Command
P term
I term
P term
I term
I term Limit and
unti wind-up
Mechanical Velocity feedback
I term Limit and
unti wind-up
P+V Mode
PIVFF Mode
Scale factor
Current
limiter
Current
limiter
"Position Command" in regulator's diagram is produced by trajectory generator. Trajectory generator
processes generated motion commands, produced by User's program motion statements, in order to
calculate position increment or decrement or also called "index" value for every servo loop. This way
target (or theoretical) position supplied to regulator input. The main job of the regulator is to control motor
shaft torque and velocity such way that actual position of the motor shaft, measured by processing
motor's encoder position feedback, matches target position as closed as possible. Of course there is
always will be the error in position following. Such error called "Position Error" and is expressed as:
Position Error = Target Position - Actual Position
When Position Error exceeds certain threshold value "Position Error Excess" fault #7 will be generated.
You can set allowable Position Error limit and Position Error Time (how long is a delay before fault
generated). These parameters can be set only using MotionView software.
Motion Modes
There is three modes SSi can operate in: Indexing (profiling) mode, Velocity mode and Gear mode.
Indexing is a default mode. All user program generated moves are executed in this mode. Velocity and
Gearing mode are covered in details in section 2.13.
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Indexer-Programmer-Manual.pdf REV 1.3
Point To Point Moves
SSi supports two types of moves: absolute and incremental. The statement MOVEP (Move to Position) is
used to make absolute move. The statement MOVED (Move Distance) makes incremental (or relative )
move from current position.
MOVEP and MOVED statements generate what is called a trapezoidal point to point motion profile: the
motor accelerate using the current acceleration setting to a default top speed and then decelerate at the
right time to arrive at desired position. If the distance to be moved is fairly small, a triangular move profile
will be used: the motor will accelerate for the half the move and decelerate for the other half of the move,
but never reach the top speed.
Segment moves
MOVED and MOVEP commands are simple and useful, but if the required move profile is more complex
then a simple trapezoid, MDV (segment) moves can be used.
The profile shown below can be broken up to 8 MDV moves. The first segment would define 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 RPM, the command would be: MDV 3 , 56. The second segment
would give the distance between point 2 and 3 and the velocity at point 3, and so on. Any profile can be
programmed using MDV moves.
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