Superior Electric SLO-SYN Micro Series, SLO-SYN 3180-PI10, SLO-SYN 3180-PI, SLO-SYN 3180 Series, SLO-SYN 3180-PI125 Instructions Manual

The Only Factory Authorized Repair Center for Superior Electric

Motor Systems Inc. 460 Milford Parkway Milford, OH . 45150 www.motorsystems.com 513-576-1725

Stepper Drive & Motor Repair

PRICE:

$25.00

ecticut

060110-7488

1987

The Superlor Eleclr~c

Company

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The following are the minimum steps necessary for the Packaged

become operational.

Y

RESULT IN DAMAGE TO THE UNIT.

I.

DRIVE

Connect 120 volts ac, 50160 hertz to the AC input terminal strip. The terminal labeled "H" is hot, "C" is common and

Check to see that the motor used is compatible with the drive. A list of compatible motors is given in Section 3.3 of this manual.

Set the correct current level for the motor being used per the instructions in Section 3.8 of this manual.

Wire the motor per Section 2.2, "Motor Connections" in this manual.

Caution:

necting or disconnecting the motor connector or leads.

always disconnect the ac power to the unit when con-

FAILURE TO PERFORM THESE

"G"

is ground,

Be certain the "PWR ON" LED is OFF before unplugging the motorconnector, or the drive will be damaged.

2. CONNECTIONS

designated as follows:

-

The serial port (9-pin "D" connector) is

Pin ssignment

Signal Common RS232 Chain Out RS232 Receive Data Signal Common Signal Common 6232 Echo RS232 Chain In t5 Vdc t5 Vdc

Connect the host computer or terminal as shown in Figure 2.4 of this manual for single indexer interfacing oras in Figure 2.5fordaisy-chain operation,

device as

operation with the SSP-500 hand-held pendant. This connection is already made in the cable.

Use caution when connecting the indexer to the host

+5

Vdc is present on the connector.

3. COMMUNICATIONS

parameters to correspond to the protocol of the host device. The indexer utilizes the XonKoff handshaking technique which should be followed to ensure proper serial communications. The indexer must character(e.g., "<")and the device identification number (e,g., indexer#Ol) that is contained in parameter L21 to initiate communications.

-

Configure the RS232 communication

be

addressed with the proper attention

Only use the t5 Vdc for

Caution:

operation. Be sure to twist the wires for each motor phase. Six twists per foot is a good guideline.

Connect parallel interface data to J5 and serial datato J4. The SSP100 lndexer Programmer is a parallel interface device and the SSP-500 lndexer Programmer is aserial interface device. Referto Sections 4 and 5 of the manual for information and operating instructions.

The motor and drive must always be

grounded

during

This instruction manual MUST BE READ IN ITS ENTIRETY to correctly operate the indexer. This Express Start-Up Procedure only highlights the important items necessary to ensure correct operation of the Indexer.

S

-

Be certain that your signals which communicate with the lndexer meet the following specifications (more details are found in Section 3.6 of this manual).

.

SERIAL (RS232) OPERATIO

S

-

Be certain that the following signal speci

fications are met: RS232 s~gnal characterrstics:

6

Output voltage swing: lnput voltage range: -30 Vdc mlnimum: t30 Vdc maximum

Vdc minimum:

ltlO

Vdc maximum

4.

PROGRAMMING

parameter, first, followed by the remainder of the parameters. Carefully read Section 4 to implement the powerful and varied instruction set. Factory defaults have been set for your unit to aid in first-time operation. These are listed in Section 4.3 of the manual.

5.

EXECUTION

present settings of the various modes. If program or manual operations are not correct, verify the mode and parameter settings. The Trace mode is a valuable aid in observing program operation.

If the motor operates erratically, the motion parameters may need adjusting.

-

Always program L70, the step resolution

-

The indexer executes its program based on the

PARALLEL OPERATION

1.

SPECIFICATIONS-

nicate with the indexer meetthe following specifications (more details are found in Section 3.6 of the manual).

Be certain that yoursignals which commu-

lnput Characteristics:

High Level (inactive) Voltage: 4.5 Vdc minimum, t15.0 Vdc

maximum

1

High Level Current: Low Level (Active) Voltage: tO.O Vdc minimum, t6.5 Vdc

Low Level Current: 3.5 milliamperes maximum

milliampere maximum leakage

maximum

Output Characteristics:

High Level (inactive) Voltage: t24.0 Vdc maximum, open

collector

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High Level Leakage Current: 250 microamperes maximum

leakage

Low Level Output: t0.4 Vdc at 16 milliamperes sink current

+0.7 Vdc at 40 milliam~eres sink current

2.

CONNECTIONS

pin "D" type connector. The pin assignments are as follows:

-The parallel signals are obtained via the 25-

I

General Comments

Pin Assignment

-

Signal Common 14 D7 Input* 15 D5 Input* 16 03 Input* 17 Dl Input* 18 Motion

Busy*? 19

Strobe 7* 20

5* 21

Strobe Strobe 3" 22 Strobe 1 Output 2*t 24 All Windings Off Output't 25 Direction

*

Signals are active when low, inactive when high

t

Open collector output.

An example of a switch panel interface is displayed in Figure 5.2. The

diodes must be included

3.

COMMUNICATIONS

the timing requirements as shown in Figure 5.3. The LO7 parameter determines the timing of the strobes during the load sequence.

4.

PROGRAMMING

be programmed first, after which the rest of the parameters may be programmed. Carefully read Sections 4 and 5 of the manual to learn how to implement the powerful and varied instruction set. Factory default values have been set for your unit to aid in first-time operation. These default values are listed in Section 4.3 of the manual.

settings of the various modes. tions are not correct, verify the mode and parameter settings.

If the motor operates erratically, adjust the motion parameters.

*

Outputet

for the indexer to operate successfully.

-

Proper parallel operation must observe

-

170. the step resolution parameter, must

-The indexer executes based on the present

Pin Assignment

-

Signal Common 05 Input* D4 Input" D2 lnput* DO Input* Not Used Strobe

6* Strobe 4* Strobe 2*

23

If program or manual opera-

Strobe O*

I

Output Pulse Output*t

*t

SLO-SYN Micro Serles drives use modern solld-state electronics such as microprocessors to provide the features needed for- advanced motion control applications. In some cases, these applications produce electromagnetic interference (EMI, or electrical "noise") that may cause inappropriate operation of the microprocessor logic used in the Micro Series product, or in any other computer-type equipment in the user's system.

This guide is aimed toward helping users avoid such problems by applying "good engineering practices" when designing their systems. Following these guidelines will usually prevent

fering l~ith drive operation.

li

Noise Sources

What causes electrical norse? In general, any equrpment that causes arcs or sparks or that switches voltage or current at high frequencies can cause interference. In addition, ac utility lines are often "polluted" with electrical noise from sources outside a user's control (such as equipment in the factory next door).

The following are some of the more common causes of electrical interference:

*

power from the utility ac line

*

relays. contactors and solenoids

*

hght dimmers

*

arc welders

*

motors and motor starters

*

induction heaters

*

radio controls or transmitters sw~tch-mode power supplies

*

computer-based equipment

EM1 noise from inter-

FUSE AND MOTOR CONNECTOR PART NUMBERS

FOR

3180

SERIES UNITS

FUSE:

Littelfuse part number 225005

2AG. 5 amperes. 125 volts, fast acting

MOTOR CONNECTOR

Male connector body: AMP part number 206434-1

(5

required): AMP part number 66506-8

Pins

Cable clamp: AMP part number 206062-1

(mates with female motor connector on drive)

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*

high frequency llghting equipment

*

dc servo and stepper motors and drives

Ill

Mounting Location

When selecting a mounting location ~t is preferable to keep the drive away from obvious noise sources possible locate the drive in rts own metal enclosure to shield it and its wrmg from noise sources If this cannot be done keep the dr~ve at least three feet from any nolse sources

such as those listed above If

WHEN

MOUNTING

EXER,

BE

SURE TO

PROVIDE

SOLID,

AN CONNECTION

E

AND

ENCLOSU

P THESE WIRES

C

INPUT

I

J5

SINGLE POINT

I

GROUND

S

TWI

SEE

NOTE

1

SEE NOTE

2

-

BE SURE TO KEEP

OM

AND

AC POWER WIRING

Ud

CONNECTOR

TYPE

15(FEMALE) OOPER INDUSTRIES, USSMAN CORP.

NOTES: Recommended Cable Types

1)

Superior Electr~c cable part numbers

215851 007

5

feet

(1 5

meters) Ions

21 5851 008

10

feet

(3

meters) long

2)

Superior Electric cable part numbers

215801 216066 001 216067 001

216022 001

etc

(see catalog for details

3)

Typ~cal types

Alpha

6073 2463 45491 451271

Belden

8767 9406 88641 88761

Carol

C1350 C1352 C1353

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IV

Wiring Practices - "Dos and Don'ts"

Do

the folloviing when installing or wiring your drive or indexer

*

Do

keep the drive and its wiring as far away from noise sources

as possible

4

Do

provide a good solid ground connection to the ac system earth ground conductor Bond thedrive case to the system enclosure

Do

use a srngle-point grounding scheme for ail related cornponents of a system (this looks like a hub and spokes arrangement)

Do

keep the ground connection short and direct

*

Do

use a line filter on the ac input (Corcorn type

or

lOK1

or eqwalent) for noisy ac lines Particularly bad ac lines inay need to be conditioned with a ferroresonant type isolation transformer to provide clean power to the drive or indexer

Do

keep signal and drive wiring well separated If the wires

inust cross they should do so at right angles to minimize cou-

pling Power wiring includes ac wiring motor wiring etc and srgnal wiring includes inputs and outputs (110) serial coinrnunicatrons

(RS232

lines) etc

10B1 10S1

*

Do

use separate conduits or ducts for signal and I10 wiring

Keep all power wiring out of these signal line conduits

*

Do

use shielded twisted-pair cables for indexer

*

Do

ground shields only at

*

Do

use twisted-pair shielded cable for the motor wiring

*

Do

use solid-state relays instead of electromechanical contact

types wherever possible to minimize noise generat~on

*

Do

suppress all relays to prevent noise generation Typical suppressors are capacitors or MOVs See manufacturers lrterature for complete

Do not

do the following when installing your drive or indexer:

Do not

install sensitive computer-based equipment (such as

an indexer1drive) near a source of

*

Do not

bundle power and signal lines together.

*

Do not

bundle motor cables and signal lines together.

*

Do not

fail to use shielded. twisted-pair cables for signals.

Do not

fail to properly connect the system grounds.

*

Do not

use "daisy-chained" grounds.

*

Do not

fail to ground signal cable shields at only one end.

*

Do not

assume that power from the ac line is adequately

"clean".

one end

information

the indexeridri~e end

electromagnetic

110

lmes

noise.

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V

AC

Line Filter

Use of an AC lhne filter on

Proper installation of the

31

80

and

61

80

Ser~es drlves

AC

Line Filter is essential

is recommended.

Asuitable filter is included with each unit supplied for sale in North America.

WARNING: Improper installation of the ac line filter may cause electrical shock, which could result in death, serious bodily injury or property damage. To avoid electrical shock:

*The ac line filter must be installed by qualified personnel. Typical methods of locating and installing the line filter are shown in Figures

1

and

2.

*The ac line filter must be firmly fastened near the Indexer. Failure to do so may result in damage to the filter and system. *The installer must properly insulate and protect the ac connections to assure that the wires are not exposed. Exposed

wires could cause electrical shock, resutting in death, bodily injury or property damage.

If you have any questions regarding installation of the line filter, contact an electrician before installing the device.

For best performance:

*

The wlre between the Filter and the Drive should be less than two feet

(0.61

meter) long

Proper AC Line Filter Connections

VI

Troubleshooting Guide

Electrical interference problems are common with today's computer-based controls, and such problems are often difficult to diagnose and cure.

If such a problem occurs with your system. it is recommended that the following checks be made to locate the cause of the problem.

1.

Check the quality of the ac line voltage using an oscilloscope and a line monitor. such as the Superior Electric age problems exist, use appropriate line conditioning, such as line filters or isolation transformers.

2.

Be certaln all of the previous Do's and Don'ts are followed for location, grounding, wring and relay suppression

3.

Double check the grounding connections to be sure they are good electrical connections and are as short and direct as possible.

4

Try

operating the drive wlth all suspected noise sources switched off If the drlve functions properly switch the noise sources on again

one at a time and try to Isolate whlch ones are causing the Interference problems When a noise source is located try rerouting wirlng

suppressing

relays or other measures to eliminate the problem

VMS

series. If linevolt-

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FIGURE

1

Filter installed On Fabricated Plate Mounted On Indexer

FIGURE

2

Filter Mounted Adjacent To Indexer

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PAGE

PRECAUTIONS

WARNINGS CAUTIONS. LIMITS OF USE. ETC 9

SECTION

1:

INTRODUCTION

1.1 Features Overview 10

1.2 Inspection parts list 10

1.3 Using this manual 10

1.3.1 Organization

9

10

4.1.3 Programming Chart

~

--

-.-

4.2 Immediate Commands

-

Clear 19 Freehold 19 Device Attention Character 19 Cycle Stop 19 Backspace and Delete 19

PAGE

1.3.2 Logic voltage and programming conventions 10 Delete Line 19

1.3.3 Indicator lights and AC fuse 10

SECTION

2:

MOUNTING, CONNECTIONS & PIN ASSIGNMENTS

11

4.3 L Codes: Indexer Parameters 19 L06, Program Execution Format

2.1 Mounting 11 107, Strobe Delay Time 20

2.2 Motor connections 11 L08, Mechanical Home Direction 20

2.3 Connection Diagrams 13 L09, Jog Speed 20

17 19

2.3.2 J2: Motor 13

2.3.3 J3: Power lnuut

2.3.4 34: Parallel

2.3.5 J5: Serial

2 4 Serial Communication Connection Diagrams

Single lndexer System

2 4

1

Multiple lndexer System

2 4 2

-

110

.

..

--

-

-.

--

-

--

-

2 5 Memory Protect Switch

SECTION

3:

SPECIFICATIONS

3 1 Drive Description 3 2 Drive Performance

--

-

3 3 Motor Compatibility

--

-

--

-

--

---

--

-

3 4 Drive Mechanical Specifications 15

3.5 Electrical Specifications 15

AC

35 1 3 5 2

-

3 6 Micro-Series-Indexer 110 Signal Interfaces

--

lnput

-

Output to Motor

-

--

3 6 1 Parallel I10

3 6 1 1 Parallel Output Characteristics 16 3 6 1 2

-

Parallel lnput Characteristics

--

3 6 2 Serial I10 16

3.7 Environmental Specifications 16

3

8 Current Settings

4

1 2 General Programming Comments 17

-

GUIDE

-

--

-

--

13

13 13

15

15 15 15

16

17

L1 2. Low Speed L14, Home Speed 2 117, Offset Direction and Distance from

Mechanical Home 21

L18, Clockwise Software Travel Limit

119. Counterclockwise Software Travel Limit L21. Assign Device Identification Number L22, Baud Rate 22 L23, Character Length 22 L25, Parity 2 2 126, Indexer Ready Acknowledge 22 141, Auto Start Line Number L44 Program Line Delay

--

L45 Limit Switch Enable 23 L48. Program Line Transfer Count L49, Parameter Transfer Designation

-.

170, Translator Resolution 23

4 4 Codes Commands for Modes of Operation

--

-

- - - - -

-

HI Cycle Start H2 Step Mode H3 Jog Mode H4. High Speed Mode 24 H5. Low Speed Mode 24 H6. Turn in CW Direction Hi. turn in CCW Direction H8 Return to Electrical Home 24

2 1

1

2 1

3

2 2 3

2 3 2 3

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H9, Set Electr~cal Home

-

--

HI0 Return to Mechanical Home 24 HI 1, Clear Present Program Line HI 2. Clear Program 25 H13. Transmit Contents of Present Program L~ne HI4 Transm~t Program

-.

--

-

H15, Transmit The Current Program Line Number H16, Transmit Parameters 25 H17, Transmit Absolute Position 26 HI 8, Transmit Motion Status 2 6 HI 9, Transmit Mode Status 2 7 H20, Transmit I/O Status 28 H23, Transmit Software Revision Date 2 8 H24, Enable Trace Mode 28 H25, Disable Trace Mode 28

4 5 Programming Codes

--

N Codes Line Number 28

X

Codes, Move Direction and Distance

F

Codes, Feedrate

G Codes Programmable Commands

--

GO4 Dwell Time 29

-

GI 1 Call a Subrout~ne

--

G20 Conditional Branch

-

--

G22 Wait for Input 30 G30, Return from Subroutine ProgramLine 31 G31. Program Stop 3 1

PAGE

---

24

G36 Strobe X Code Data

31

G37 Strobe N Code Data 31

25

2 5 25

.-

25

G47 Set Output 3 2 G64 Enable Reduced Current

-

---

-

32

-

G65 Cancel Reduced Current 3 2 G66 Enable Boost Currerlt 32

G67 Cancel Boost Current 32

G68 Enable All Wmdings Off

--

-

32

G69 Cancel All Windings Off 32

G76 Return to Electrical Home

-

--

-

3 2

G77 Set Electrical Home 32

G78 Return to Mechanical Home

--

-

3 2

-

--

G90 Absolute Mode 32 G91, Incremental Mode 32

4.6 Sample Program 33

2 8

-

28

4.7 Code Assignment Tables 34 5:

SECTION

5

1 Overview

OPERATING INSTRUCTIONS 36

-

5 2 Operation from a Sw~tch Panel

28

--

5.3 Operation from a Remote Terminal 4 1

5.4 Operation from a Host Computer

6:

29 29

--

SECTION

6.1 Motor Performance 49

SECTION Summary of Codes

-

SPEEORORQUE CURVES

7:

TROUBLESHOOTING

--

-

50

53

-

Program Worksheet 54

WARNINGS

*

Voltagespresent in this unit can causeserious or fatal injury. Only qualified personnel should install or perform servicing procedures on this equipment.

*

Voltage is present on unprotected pins when unit is operational.

a

No short circuit protection for motor outputs is provided in this unit. The AC input is internally fused.

*

Before making changes to the motor or control wiring, turn off all power to the unit, and disconnect its AC power source.

*

Allow at least ten minutes for capacitors to discharge as they will

remain at high voltages for several minutes after power is removed.

*Assure motor compatibility before using the unit. *Observe all cooling and temperature limitations. Heat sink

temperature must be maintained between Oand 80 degrees C. (32

and

176

degrees F). Unit must not be operated in ambient tern

perature below 0 degrees C (32 degrees F) or above 50 degrees

C

(122 degrees F).

*

All Windings Off should be used with caution, asall holding torque

is lost.

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*Do not connect or disconnect motor or signal cables while AC

power is applied.

*

00 not use J1 connector (15-pin "0" connector).

*

Do not exceed specified input voltage.

*Do not operate unit without the enclosures in place, as high

voltages are present.

LIMITS OF USE:

*

Reconfiguration of the circuit in any fashion not shown in this manual will void the warranty.

NOTES:

1.

Clockwise and counterclockwise directions are properly oriented when viewing the motor from the label end.

2. When connecting the unit to a terminal or host computer, be sure to make note of the

RS232 configuration and Micro-Series

Indexer device address.

3.

Care must be taken when connecting this unit to a host computer or remote terminal as a +5VDC voltage source is present on the RS232 connector. Follow instructions carefully.

4.

The

J1

connector (15 pin "D" connector) is not to be used for any

purpose.

9

1.1

FEATURES OVERVIEW

Complete specifications listed in Section 3 will provide easily referenced information concerning all aspects of installation power and interface requirements as well a performance specifications

The 3180-PI provides the following output capability:

MOTOR

CURRENT

VA

PER PHASE PER PHASE

3180-PI 3 Amps peak 500 VA nominal

The 3180-PI motor drivelindexer package is a line-operated, energy efficient motor drive module, that is coupled to a programmable m~crocontrolier indexer. An integral power supply provides the necessary DC voltages required to operate the indexer and drive. This indexeridriver module Electric SLO-SYN stepping motors, and allows for a wide range of functions, The indexer has several features, including:

Programming is done in a s~mple easy to use format Up to 400 lines of program instructions can be stored Program storage Easy programming allows for motion and input/output control

99

Up to tions Program entry and execution may be done Switch panel including the Superior Electric SSP-100 SLO-SYN lndexer Programmer Remote terminal including the Superlor Electric SSP-500 SLOSYN Indexer Programmer Host computer

The drive features include.

Full/half 1/10 or 11125 step resolution depending on model Motor current adjustable from 0

*

Speeds up to I0 000 full steps per second

*

Reduce-current and boost-current functions that are indexercontrolled

*

Power-on and fault LED indicators

*

Over-temperature protection

1.2

INSPECTION PARTS LIST

The drive and indexer come fully assembled as a single unit that is inarked with the part number either 3180-PI (fullihalf step) 3180PI10 (1110 microstep) or 3180-PI125 (11125 microstep)

1.3

USING THIS MANUAL

This manual is an installation and operating guide to the 3180-PI motor drive and indexer All the necessary information is provided for using the 3180-Pi successfully

indexers may be daisy chained via RS232 communica-

is capable of driving a wide range of Superior

is in nonvolatile memory

in a variety of ways

5

to 3 0 amperes per phase

Section 4 and commands used by the indexer and gives examples of how these commands are used

Section 5 entitled Operating Instructions provides information on how to operate the indexer from a switch panel remote terminal or host computer Detailed information on switch and strobesettings will be provided there

The remaining sections contain additional drawings and information useful for setting up and operating the indexer modules.

1.3.2

is a Programmrng Guide' that explains all the parameters

LOGIC VOLTAGE AND PROGRAMMING CONVENTIONS

All logic is LOW TRUE. This means that a logic function is

when low

designated by a bar. In the case of step/Eg, If a logiccontrol function connectorpin is left

be clamped in a

When a sign is to be used in conjunction with a move distance or an

offset direction. motor's LABEL END.

Certain commands are designated as MODE commands. Examples: ABSOLUTE MODE. INCREMENTAL MODE, STEP MODE. JOG MODE, etc. Care should be taken to assure that the correct MODE is operational for each command. Once a mode is set. remains active until a canceling or alternate mode is chosen.

Motion performance and the ranges listed for motion parameters are dependent on the translator resolution chosen with the L70 parameter.

and inactive when high. The low true condition is

jog

is active when low.

open,

the function will

high or inactive

+

will cause

condition.

clockwise

motion as viewed from the

L70 must be programmed priorto any motionparame-

active

it

ter entry. If the L70 parameter is modified, then the motion parameters must be re-entered.

3.3

INDICATOR LIGHTS AND AC FUSE

A red "PWR ON" LED indicator shows the presence of the t 5Vdc drive logic power supply. thereby indicating that the 3180-PI is energized.

A red "TEMP" LEO indicator shows a drive over-temperature condition. During this condition. the power is removed from the motor v~indings so that no holding torque is being applied. Recovery from tlirs condition necessitates removing and then re-applying the power source.

The unit s AC input is internally fused A blown AC input fuse

prevent the power supply from energizing any of its outputs hencs

the unit will not operate Usually theonly reason thlsfuse will ope?

(

blow ) is if an internal failure occurs If an open fuse occurs

return the unit to the factory for service

DO NOT REPLACE THE

AC

w

I

FUSE OR THE UNIT MAY BE FURTHER DAMAGED.

We strongly recommend that this manual be read thoroughly and completely before attempting to install and operate the equipment.

1.3.1

ORGANIZATION

This inianuai is organized for the convenience of the operator Section

2

mounting Connections and Pin Assignments provides diagraiiis and reminders that are necessary even for the experienced user and iiistaller

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The 31 80-PI is mounted by afflxing ~ts enclosure to aflat surface in one of two possible

locations

configurations

and

diameters

Figure 2 1 shows the mounting hole

It is important to leave at least two inches

(51 rnm) of space between the drive stop bottom and sides to allow

2.2

MOTOR CONNECTIONS

All motor Connectioris are made vla the 8-pin circular AMP connector. Figure 2.2 shows the possible rnotor wiring configurations. The

diagrarns in Figures 2.2.1 through 2.2.6 show the connections for each comblnatiori of cable and motor type

BLACK

m

w

WHlTElBLACK

-QUEEN

-+

a

QRWND

4-LEA0 MOTORS, SERIES CONNECTION

Figure 2.2: Motor Connections

J2: Motor Connections

Figure 2.1: Mounting Diagram

The heat sink should always be mounted with the fins oriented vertically, or proper cooling will not occur. Air flow should not be

2.2.1 Connections Using LF or FF Type Motors (With Leads) and Superior Electric 8215801-001, -002 or -003 Cables

ZCONNECTOR

CABLE

(8215801-001;002,

OR

-003)

Cabling: Shielded. twisted-par cable

IS

highly recommended. Tw~st

together the wlres for each motor phase; six twists per foot (305mm)

IS

a good guideline.

Superior Electric Motor cables are available as follows.

Length

loft (3m)

(Unterminated Leads

On Motor End)

Part Number

821 5801 -001

(Plug on

Motor End)*

I

Part Number

1

B216066-001

*Mates wlth receptacle on M062, M062 and M063 motors that have

receptacles (M061 -CS08. etc

RED -RED

TE/RED bWHITE/RED-

GREEN -BLAC

WHITE/GREEN

SHIELD-@ MOTOR

--+---

)

MOTOR

(TYPE

WHITE/BLA

FF

or

LF)

FRAME

3180 DRIVE / 8215801-001,

-002,

Figure 2.2.1

2.2.2 Connections Using FFType Motors (With Terminal Boxes) and Superior Electric B215801-001, -002 or -003 Cables

2

CONNECTOR

CABLE

3180

DRIVE

(8215801-001;002,

/

8215001-001, -002,or -003 CABLE / TYPE FF

OR

Figure 2.2.2

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or -003 CABLE / TYPE

-003)

WHITE/QREEN

SHIELD

~-0

FF

or LF MOTOR

(TYPE

(With

MOTOR

FF,

MOTOR

Term. Box) MOTOR

With

Terminal

MOTOR

TERMINALS

FRAME

Box)

2.2.3 Connections Using CF Type Motors (With Connectors) and Superior Electric 82166066-001, -002 or -003 Cables

CABLE (8216066-001,-002, OR -003)

OTOR

(TYPE CF)

-

MOTOR

CONNECTOR

3180 DRIVE / B216066-001, -002,

Figure 2.2.3

2.2.4 Connections Using LF or FF Type Motors (With Leads) and Customer Supplied Cables

2 CONNECTOR

AMP PART Nr 206434-1, PIN "66506-8,

CLAMP *206062-1

(GROUND -SHIELD

L----------d

LCUSTOMER

NOTE:- WIRES CONNECTED TO "~1" AND "~3" SHOULD BE

SUPPLIED

TWISTED, APPROXIMATELY SIX TWISTS PER FOOT. THE TWO PAIRS SHOULD THEN BE SHIELDED TO MINIMIZE RADIATED EMI.

CABLE

AS

WELL AS THOSE CONNECTEO TO "~4'' AND "M5",

3180 DRIVE / CUSTOMER SUPPLIED CABLE / TYPE FF

or

-003

CABLE / TYPE CF MOTOR

or

MOTOR

(TYPE FF

I-0

LF MOTOR

or

LF)

MOTOR

LEADS

FRAME

Figure 2.2.4

2.2.5 Connections Using FFType Motors (With Terminal Boxes) and Customer Supplied Cables

NOTE:- WIRES CONNECTEO

TWISTED, AS WELL AS THOSE CONNECTED TO "M4"AND "M5", APPROXIMATELY SIX TWISTS PER FOOT. THE TWO PAIRS SHOULD THEN BE SHIELDED TO RADIATED EMI.

3180

DRIVE / CUSTOMER SUPPLIED CABLE / TYPE FF(With Term.Box) MOTOR

TO

"Ml" AND "~3" SHOULD BE

Figure 2.2.5

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MINIMIZE

F,

With

Terminal

MOTOR FRAME

Box)

2.2.6 Connections Using CF Type Motors (With Connectors) and Customer Supplied Cable

2

CONNECTOR

GROUND

-SHIELD)

LcusToMER SUPPLIED CABLE

NOTE:- WIRES CONNECTED TO "~1" AND "~3" SHOULD

TWISTED, AS WELL AS THOSE CONNECTED TO APPROXIMATELY SIX TWISTS PER

THE TWO WlRS SHOULD THEN BE SHIELDED TO MINIMIZE RADIATED EMI.

3180 DRIVE / CUSTOMER SUPPLIED CABLE / TYPE CF MOTOR

Figure 2.2.6

2.3

CONNECTION DIAGRAMS

2.3.1 J1: DO NOT USE (15-pin "0" type) otor (see 3.5.2.1 for pin assignments)

53: Power Input (see 3.5.1.2 for terminal assignments)

2.3.3

2.3.4 J4: Parallel I10 Connections (25 pin. "0" type) (see 3.6.1 for pin assignments)

2.3.5 55: Serial IlO(9-pin, "0"

type)(see3.6.2forpinassignments)

'7LoIoR

BE

"~4"

FOOT.

2.4

SERIAL COMMUNICATION CONNECTION DIAGRAMS

AND "M5",

rmw

2.4.1 Single lndexer System

In

a

slngie

~ndexer

systeln

~t

IS init~ally transrnlttlng Ing devlce Flgure

HOST

RS

PORT

232

address

2

4

for

wlrlng Instructtons

3WlRE CONNtCIlON NO ECHO

ax

TI

VO

the

dev~ce

A

new

necessary

attentton

indexer

to actlvate

character

has

a

devlce

the

and

~ts

correspond-

address

INDEXER

9

lridexer

of

PIN CONNECTOR

1

by

See

/

I

Figure 2.3 3180-PI Connections

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SERIAL CONNECTOR

110

J5

MEMORY PROTECT

SWITCH

PARALLEL

CONNECTOR

I10

J4

PWR. ON LED

TEMP. LED

AC INPUT TERMINAL STRIP

J3

MOTOR CONNECTOR

J2

3

WlR€ CONNECTION WITH ECIi0

I

Figure 2.4 Single Indexer Connections

INDEXER

9

PIN CONNCCTOR

2.4.2

Multiple lndexer System

In a multiple indexer system. up to

99

indexers may be day-chained

together Dalsy-chaining

IS

a method in which muhple indexers can

communicate

with

a singie host uslng only 1 sera port. In order to dalsy chaln multiple Indexers together, each indexer must first be progran~med with a unlque device address. The device address can

3

WIRE

CONhECTlON

NO

ECHO

7-1

IPdEXER

#I

2.

CHAIN

OUT

I

9

PI4

CONNECTOR

3-

'Ivo

Rx

--

4

-I

vo

i

...

5:

vo

1

r---

6-1

ECHO

7

-

CHAIN

IN

1

cB!

15

volts

I

)

-

9

-1

15

volts

Ill

I

/

INDEXER

42

/

9

CONNECTOR

Ill

-

INDEXER

#3

9-PIN

CONNECTOR

1

INDEXER

#4

/

9-PIN

CONNECTOR

l

I

i

:

I

r--

--

3-

Rr

4-

vo

be any number

1

through 99, as long as each indexer has a unique number. The device addresses need not to be consecutive; the Indexers can be placed ~n the cnain in any position regardless of their device addresses. The device address of zero is used to communicate to all indexers simultaneously. See Figure

2.5

for wiring instructions.

-

5-

--

6

-

3

WIRE

CONNECTION

WITH

ECHO

6

AND

7

TIED TOGETHER

ON

LAST

INDEXER

IN

CHAIN

vo

ECHO

1

4

vo

INDEXER pl

HOST

I%--.-

---

2

'

CHAIN

OUT

9-PIN

CONNECTOR

RS-232,

Tx

t

3

1

Rx

--

7

4

CHAIN

IN

-

8

-/

15

volts

-

9

-i

45

volts

1

INDEXER

#3

9-PIN

CONNECTOR

FIGURE

2.5

Daisy-Chain Connections

t5

volts

15

volts

INDEXER

#4

9-PIN

CONNECTOR

emory Protect Switch

Ali Micro Series Indexers Incorporate a hardware Memory Protect When the Memory Protect Switch is positioned toward the 25-pin Switch to help prevent accidental or intentional program or parameter connector, the lndexer is in the

"Write"

mode. It is in the

"Protect"

changes. When the swltch

IS

in the

"Protect"

position. changes to the mode when the switch

IS

positioned toward the 9-pin connector. The

program or to the parameters will not be allowed. Such changes can switch is in the

"Write"

mode when the lndexer is shipped from the

be made by

placing

the swltch in the

"Write"

position. factory.

An Indexer whlch has the Memory Protect Swltch also has a metal

in all but the most severe

applications

~t will not be necessary to use

grounding strap whch connects the 9-pin and the 25-pin filtertype D

'

the Memory Protect S~vitch However some users may wlsh to use the

connectors Located midway between the two connectors 1s a hole to

protect feature to prevent unauthorized access to the lndexer program

allov! access to the Memory Protect Switch (see Figure 2

3)

or parameters

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3.5

ELECTRICAL SPECIFICATIONS

3.5.1 AC lnput

3.1

DRIVE DESCRlPTlO

3.5.1.1 Power and Voltages

AC lnput Range:

102-1 32 Vac. 50160Hz

Fuse Rating: 125 volts, 5 amps, Type 2AG (Littelfuse type 225005)

*

Blpolar, speed adjustable, 2-phase. line operated chopper drive with integral translator and indexer.

*Full, half, 111 0, or 111 25 step (Step resolution dependent on model

type).

Drive power dissipation (worst case)

3180-PI: 90 watts

3.5.1.2 AC lnput Connections

Power semiconductor type: N-channel FET

J3: 3-pin Screw terminal strip

*Chopping frequency: 20 Khz.

-

Assignment

"H" Hot (black)

"C"

Common or Neutral

"G" Ground (green)

*Control signals are optically isolated from the motor drive circuit.

3.2

DRIVE PERFORMANCE

(white)

Resolution: Half-step or full-step (3180-Pi)

1/10 microstep (3180-PI1 0) 11125 microstep (3180-P1125)

3.5.2 OUTPUT TO MOTOR

3.5.2.1 Motor Connections

J2: 8-pin twist-lock circular female Amp connection

Step Rate:

0 to 10,000 full-stepsisec. (3180-PI)

0 to 20,000 half-stepsisec. (3180-PI) 0 to 100,000 111 0 microstepsisec (3180-P110) Oto 1,250,000 11125 microsteps1sec. (3180-PI1 25)

-

Assignment

-

Pin Assignment

1 M3 5

No connection

2 M 5

6 M 1

3 No connection 7 No

connectioils

4 Ground 8 M4 Speeditorque:

See Section 6 for typical SpeedDorque Curves

NOTE: Motor phase A is MI and M3, and phase B is M4 and M5.

Mates to male connector, AMP part number 206434-1 (AMP pin part number 66506-8 and AMP clamp part number 206062-1).

Motor Types:

Superior Electric motors are recommended

Frame Sizes:

61 mm to 112mm

No. of Leads: 4 Min. Inductance: 8.0 mH Max. Inductance: 64 mH Voltage to Motor:

170-1 90 Volts

Max. motor cable length:

100 feet (30.5 meters)

MOTORS FOR USE WITH 3180-PI

SECO Type Number

3180 CURRENTSETTING (AMPERES)*

M061 -CF408

1

0.5

M061 -LF408

DEXER I10 SIGNALS

I

3.6.1 Parallel 110

J4: 25-pin, "D" Type Connector, female

Pin Assignment

-

1 Vo SIGNAL COMMON

2 07 INPUT

--

3 D5 INPUT 4 03 INPUT

Assignment

VO SIGNAL COMMON

--

D6 INPUT

-

--

D4 INPUT

--

D2 INPUT

--

-

DO INPUT NOT USED

--

STROBE 6 STROBE 4 STROBE

2

--

STROBE 0

5 Dl INPUT

--

6 MOTION BUSY

*

--

7 STROBE

7

8 STROBE 5 9 STROBE 3 10 STROBE 1

M091 -FF401 M092-FF402 M093-FF402 MI 11 -FF401 MXl 1 1 -FF401 M1 12-FF401 MHI 12-FJ4201

--

11 OUTPUT2* 24 OUTPUT 1" 12 ALL

WINDINGS

OFF

OUT*

25

PULSE

OUTPUT*^

13 CWiCCW OUT*

in

m.,f+-

'These

outputs

are

open collectors

If

monitored

they

must

be

pulled

up

to

an

external

mltage

source

(maximum

24 Vdc)

through

a

series

resistor

to

limit

the

sink

current

to

a

\F

maximum

of

40

milliamps

'The

strobe

outputs

are

also

open

coliector,

if

they

are

conrlected

directly

to

lhe

indexers

----

inputs

then

pull-up

resistors

are

not

required

t

Signal

line

filtering

has

been

incorporated

to

help

keep

electrical

interference

from

affecting

Indexer

operation

Because

of

this,

it

is

not possibie

to

use

the

Pulse

Output

signai

(pin

25

on

the

25-pin ' D"

connector)

when

operating

in

the

1:125

microstep

mode

The

puise

output

on

this

is

not

affected

when

operatinq

in

the

full-step

half-step

or

1/10

microstep

modes

A

maximum

piiil-up

impedance

of

3 9k

ohriis

should

be

used

vihen

utilizing

the

Puise

Outpu!

t

Note

that

the

Indexer

can

still

operate

in

the

11125

microstep

mode

This

lirnitation

only

affects

connection

to

external

dri'des

via

the

25-pin

connector

*

Use

this

number to set the drlve's

"nominal"

current as described in

Section 3 8

Size (inches)

immi Weight

MECHANICAL SPECIFICATIONS

6.291 x 5.67W x 7.69H (Height over connectors, excluding mounting flanges. Helght with flanges is 8.0 inches)

159.71 x 144.OW

x

195.3H

3180-PI: 7(lbs.) 3.2(kg)

For maximum noise

immunity,

it

IS

recommended that a twisted,

shielded cable of a maximum length of 20 feet (6.1 m) be used.

15

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3.6.1.1 Parallel Output Characteristics

3.8

CURRENT SETTINGS

The follov~~ng pertain to Output 1 (Pin 24) Output 2 (Pin 11) Out (Pin 12) CW CCW Out (Pin 13) %L~(PI~ 25) ~:tionX& (Pin 6) and Strobe 0 through Strobe 7 Outputs

High level output.

124 Vdc max.. open collector

High level leakage current: 250 microamps max.

@

Low level output:

1-0.4 Vdc t0.7 Vdc

16 mA sink current

@

40 mA sink current

3.6.1.2 Parallel Input characteristics

The following pertain to DO through 07 inputs:

t

High level (inact~ve voltage: t8.5 Vdc min.; High level current:

1 milliamp maximum leakage

Low level (active) voltage: 0.0 Vdc mln.:

15 Vdc max

t

6.5 Vdc max.

[.ow Level current: 3.5 milliam~ max

3.6.2 Serial

110

35 9-Pin "D" Type Coriiiector female

1 2

3

4 5 6 7 8

9

Assignment

Vo RS-232 CHAIN OUT RS-232 RECEIVE DATA Vo Vo RS-232 ECHO RS-232 CHAIN IN

t

5 Vdc

t

5 Vdc

The current applied per motor phase is switch-selectable by a "DIP"

switch accessible through an opening on the s~de of the indexer-drive (see figure 3.1).

NOTE: Before making this adjustment, be sure to disconnect the drive's

120

volt AC power source and wait

10

minutes for the power supply capacitors to discharge. Set the switch as follows for the appropriate current, based on the motor's rating:

CURRENT (AMPS) SWITCH POSITION

NOMINAL REDUCE BOOST

2.0

1 .O

3.0 OFF OFF OFF OFF

1.5 0.75 2.25 ON OFF 1

.O

0.5 1.5 OFF ON OFF OFF

S1 S2 S3 S4

OFF OFF

0.5 0.25 0.75 OFF OFF ON OFF

3.0 1.5 3.0 OFF OFF OFF ON

Boost and Reduce functions are software controlled

G

ate Indexer

codes The Boost funct~on

via the appropri-

IS

useful for prov~d~ng additional motortorque during acceleration this increases current per phase by 50% up to a maximum of 3 amperes If desrred current may be decreased by 50% using the Reduce functlon Thls allows for cooler motor operation at standstill in cases where the

resulting

lower

holding torque can be accommodated

Wire size. 24 AWG minimum. Cable with shielded. tw~sted pairs is

higtily recommended. Ruii length: 50 feet (15.2m) max Cables available from Superlor Electric:

(25

D

connector on one end 9-pin D connector on other)

Length Part No.

5 ft (1 51n) B216059-001 loft (3x1) 821 6059-002

VIRONMENTAL SPECIFICATIONS

t

Operating Temp

32 F to t 122

Anibient

-

Storage Temp

40 F to t 167 F Humidity 95% max noncondensing Altitude Cooling

10 000 feet (3048 meters) max Will operate up to 122 degrees so long as maximuni heat sink temperature of 176 degrees forced-air (fan) cooling may be required)

F (0 C to t50 C) Free Air

(-

40 C to t75 C)

F (50 degrees C)

F (80 degrees C) is maintained

SWITCH

-

ACCESS

OPENING

FIGURE 3.1 Current Setting Dip Switch For

3180

Series Drive

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This section contains the information necessary to set up, enter, and edit programs and also to execute programs with the Micro Series Indexer.

By carefully reading this section through in its entirety, the user will fully understand the wide range of applications possible with the Micro Series Indexer.

.1

OVERVIEW AN0 SET-U EIA (Electronic Industries Association) Standard RS274-D is the programming guide for numerically controlled machines. Superior Electric has utilized this standard to form the basis for the Micro Series Indexer's command structure. It was not technically desirable to conform to the standard in complete detail, but it proved beneficial in the program structure to perform complex and varied operations with a simple format.

Using straightforward programming formats, the Micro Series lndexer enables the user to program and execute in either parallel (switch panel) or serial (remote terminal or host

computer) communication modes. In general, all parameters and commands can be broadly

grouped into four categories, which correspond to these code groupings:

1.

L

Codes

3.

N,

G,

X and F Codes

2.

H

Codes

4. Immediate Codes

1.

"L Codes" (discussed in Section 4.3) are used to set parameters for each indexer. These commands are not considered part of an indexer program, that is, they are made prior to any motion programming and do not have program line num bers.

It is important to remember that the L codes are used exclu-

sively to set the initial parameters of a particular indexer and should not be thought of as part of the program option for the indexer.

Codes" (Section 4.4) are used to set indexer modes, control manual and program execution and to transmit parameters and indexer status via the serial communications port.

H codes are not part of the programming commands for the indexer. There are no program line numbers associated with the

"H"

codes and they are not considered to be part of the

programming function.

and F

Codes" (Section 4.5) are the programming

commands for the indexer. Up to 400 lines of program instruc-

tions can be stored as a unique motion control program.

Each program is in a fixed format, and is composed of a line number, a "G" code, an

"Xu

code and an

"F"

field. A line of program has this format: N[nnn) G[nn] X[snnnnnnnn] F[nnnnnnn] A space is used to separate the codes. Not all codes need be programmed for each program line. The G,

X

and F codes may be programmed in any order.

:

The brackets,

[I,

are used in this manual for clarity

h,

and are not to be used when entering data

or

variables

4. lmmediate Codes (Section 4.2) are executed immediately upon receipt and are not stored as part of the program. All commands are highlighted in bold face for easy reference.

4.1.2 General Programming Comments T PROGRAMMING NOTES**

1.

The indexer contains a 40 character serial buffer

to

accept all data and programming entries.

If

a COMMAND

TERMINATOR (CARRIAGE RETURN and/or LINE FEED) is

not received by the 40th character, the buffer contents art: dumped and that 40 character strina is lost.

Upon receipt of a CR and/or LF, an XOFF (ASCII Code 19) character is transmitted to the host; no further data trans-

mission from the host should occur. However, any characters transmitted subsequent to XOFF will be stored in the buffer until the buffer capacity is reached. if the capacity is exceeded, the buffer contents are dumped.

The receipt of a COMMAND TERMINATOR character will cause the commands in the buffer to be executed sequentially. That is, the first command that was entered will be

the first command executed. The COMMAND DELIMITER for a series of commands is a space. Once all the com-

mands in the buffer have been executed, the indexer will

send an XON (ASCII Code 17) character and will be ready to receive further data.

2. Whether the indexer is being operated from a switch panel, remote terminal or host computer, the first task that

faces an operator, after all circuit connections have been made, is that of setting

"L:

codes", the parameters of each

indexer.

3.

In the following descriptions, it is important to note the factory default values for each parameter as entry steps can be eliminated. Upon receipt of a new indexer, the default ilalues will have been entered for the parameters.

I.

Motor speeds and acceleration will depend on theTRANSLATOR RESOLUTION setting (L70 nnn). Set this parameter first and then work in ascending numerical order starting @ith the LO6 parameter.

NOTE: If the L70value is changed, the valuesfor L09, L11, L12, L14 and the "F" field values must be reentered.

5.

Entry of invalid data for a parameter or program field will

-esult in the previous data being left intact.

3.

If the number of characters entered exceeds the number ~f required characters, the data is truncated to the maxinum field length for the entry.

XoniXoff Protocol: The Xoff character is transrnitted to the host when a CR or LF is

received The lndexer will process the information it has received and

v!iII transmit an Xon character when it is ready to accept more

information

from the host The lndexer should be polled to determine

when it is ready to accept more information If

L26

3

is selected the

lndexer will transmit an

=

if it is ready to accept more ~nformation If an Xoff chardcter has been transmitted to the host and the command received by the lndexer calls for motion or progrdm execution the lndexer will send an Xon to the host This allo?.!s the host to send any of the immediate commands such as

*

[Clear) S (Feed Hold) or

#

(Cycle Stop) The host shoiild not send normal commands until the lndexer is ready to accept more information The lndexer will be ready to accept more information when motion is stopped program is stopped and all

previoiis commands have been executed

17

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.1

.3

Programming Chart For lndexer Communications - "On The Fly" Commands

"On The Fly" commands can be sent to the indexer when it is "BUSY" (When motion or program execution is active or when previously transmitted commands are being processed)."On The Fly" commands allow the indexer to send status or position

information to the host. The sequence for sending "On The Fly" commands is shown below. The host must send an "On The Fly" command, followed immediately by a carriage return (CR) and/or Line Feed (LF). If the command is not sent in this manner, it will not be treated as an "On The Fly" command. Instead, it

1

HOST DEVICE SENDS

I

HOST DEVICE WAITS FOR INDEXER TO SEND REQUESTED DATA

The following commands can be sent the lndexer while it is "BUSY":

HI Scrlf Transmit Present Program Line Number HI 7crlf Transmit Present Absolute Position HI 8crlf Transmit Mode Status HI 9crlf Transmit Motion Status H2Ocrlf Transmit I10 Status

will be placed in the buffer and executed when the indexer is no longer "BUSY".

ON

THE FLY" COMMAND"

I

Any other commands sent to the lndexer will be executed when the lndexer is no longer "BUSY"

.l,

Program Flow Chart For lndexer Communications

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.2 IMMEDIATE COMMANDS

The

"X

command is executed immediately upon entry and is

not stored as part of the program.

I

*

CLEAR (ASCII Code 42)

/

(s.

This command IMMEDIATELY halts all motor motion and

program execution and will cause a loss of home position. The

program line pointer

is

reset to the line number specified with

the

L41

parameter.

The RS232 input buffer is also cleared and the indexer transmits an XOFF and then an XON when a CLEAR command is

used.

(ASCII CODE 36)

1

This command will immediately bring current motor motion to a controlled stop with deceleration determined by the

L11

parameter

(ACCELERATION/DECELERATION).

Motion can be continued without loss of position by using a

NO1

CYCLE START command if the feedhold was applied

during program execution. If a feedhold was applied during

a

H08

(return to electrical home) command, a subsequent

H08

will continue the motion. A feedhold during a

HI0

(return to

mechanical home) command requires a

HI0

to continue the

motion. The line number cannot bealtered during afeedhold as

the remaining move distance needs to be completed. A CLEAR

(*)

can be issued if it is not desired to complete the motion.

TTENTION CHARACTE

If

<[nn] = 00, all indexers will be addressed; otherwise, the

indexer with the value set by the

L21

parameter that matches the <[nn] value will become the active indexer. The indexer will respond with

"

=

XON" when the <[nn] value matches the value

set with the

L21

parameter and the indexer is ready for commands. If the indexer is not ready, the indexer responds with

":".

If <00 is used, there is no indexer response.

This command halts program execution after the current program line is completed.

This command is used to stop programs executing with

LO6

[2]

[31

EXECUTION FORMAT settings.

H) BACKSPACE AND DELETE

The CONTROL

H (&H)

command will cause a backspace and

delete one character on the current program line. The

AH

command is executed immediately upon entry and is not stored as part of the program.

The CONTROL

X

(A

)

command will delete the program line

that has been entered in the line buffer, This command must be used prior to a COMMAND TERMINA-

TOR.

.3 L Codes: INDEXER PARAMETERS

L codes are used to set parameters for each indexer. These parameters affect the entire operation of the indexer and cannot be changed during program execution; therefore, they should be programmed first. The Lcodes can be categorized into three areas of interest: motion, execution and serial communication parameters.

Motion parameters: L08,

L09, L11, L12, L14, L17, L18,

L19, L70

Execution parameters: L06, L07, L41, L44, L45, L48,

L49

Communication parameters: L21, L22, L23, L25, L26

The L codes have been preset at the factory to default values; these are listed as "Factory Default" settings.

INDEXER PARAMETER FACTORY DEFAULT VALUES

Full Step

1/10 Step 11125 Step

Translator

Translator Translator

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I

LO8

[sl

MECHANICAL HOME DIRECTION

/

This command determines the fashion in which a program will

(H01)

be executed after a CYCLE START

command is issued.

The options are:

Single-line program execution format

=

1

[n]

When a CYCLE STARTcommand is given, the current program

line is executed. The line pointer is then incremented to the next program line and the cycle stops. The program line pointer may be moved to another line by using the N [nnn] command.

(H01)

Another CYCLE START

command will repeat the proc-

ess.

Automatic program execution format

=

2

[n]

In this mode, a CYCLE START command will cause the program to execute from the present program line to line number

G30

400 or to a line command that contains a

of

a

GI1

(subroutine call) command. The program will then halt

that is not a part

execution and the program line pointer will be set to the line

L41

number specified with the

parameter. A second CYCLE

START command will cause the program to start execution

from this line number.

Continuous program execution format

=

3

[n]

In this mode, a CYCLE START command will cause the pro-

gram to execute from the present program line to line number

630

400 or to a line command that contains a

that is not part

(subroutine call) command. The program line pointer

is then set to the line number specified with the

and program execution continues until a

mand or a Example:

mat. [CRLF

NOTES:

format is ignored as line

CYCLE START

*

CLEAR command is issued.

LO6

2 CRLF sets automatic program execution for-

=

carriage return, line feed].

Factory default:

When line

and the line pointer remains at line

LO6

1

00 (MDI

line) is executed, the execution

00

executes one time for each

L41

parameter

#

CYCLE STOP com-

00.

HI0

or

Sets the direction that the motor will turn when a

678

RETURN TO MECHANICAL HOME command is issued.

A

"t"

will cause the motor to turn clockwise.

"-"

will cause the motor to turn counterclockwise.

A

LO$:

s

=

Factory default Example:

LO8

t

CRLF sets a clockwise mechanical home

t.

direction.

LO9

[nnnnnnnl

JOG SPEED

Sets the desired speed, in pulseslsecond, to be used when the motor is run in the JOG mode and the HIGH SPEED mode.

Allowable values for this parameter are:

full step (L70 half step (L70 115 step (L70 111 0 step 111 25 step (L70

=

1) 0 to 115,000 pulses/sec.

=

2) 0 to 115,000 pulses/sec.

=

5) 0 to 115,000 pulses/sec.

=

10) 0 to 11 5,000 pulses/sec.

(L70

=

125) 0 to 1,875,000 pulses/sec.

Factory default:

=

full step (L70

half step 115 step 1/10 step 111 25 step (L70

LO9

Example:

PLEASE NOTE: L09, L11, L12

1200 CRLF sets a jog speed of 1200 pulseslsec.

The range of values that will be accepted by the

and

1)

=

2) 2,000 pulses/sec.

(L70

=

5) 5,000 pulses/sec.

(L70

=

10) 10,000 pulses/sec.

(L70

=

125)

L14

parameters

1,000 pulseslsec.

125,000 pulses/sec.

IS

set by the

L70

TRANS-

LATOR RESOLUTION value.

L70

is set or changed after setting the

If parameters, the range may not be valid and

may

occur.

ALWAYS SET THE

L70

PARAMETER FIRST.

L09, L11, L12

incorrect motion

or

L14

This command is transparent when using the SSP-500.The

mode is changed when using specific displays. Refer to the SSP-500 manual for details.

This sets the length of time, in milliseconds, that the output

strobe line will be ACTIVE (low) before the connected data line is read.

9999

The delay range is 0 milliseconds to

milliseconds.

See Section 5 for an explanation of the STROBE and DATA

functions.

=

Factory default L07: [nnnn]

100 milliseconds Strobe delay accuracy is i2.5•‹/0 of the selected value. Example:

LO7 1000 CRLF sets a 1000 millisecond strobe

delay.

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L14

[nnnnnnn]

HOME SPEED

Sets the value, in pulses/sec/sec, for acceleration and deceleration. The same rate applies to both.

Whenever the indexer initiates motion, it is always at the speed set with the

L12

LOW SPEED parameter. This is the instanta-

neous starting speed of a motor; it will then ramp up to the JOG

or HOME SPEED value orthe FEED RATE using the acceleration

rate set with the

ACCELERATIONIDECELERATION

pa-

L11

rameter.

When the motor is running at JOG SPEED and a feedhold is asked for, the motor will decelerate from JOG SPEED using the

L11

deceleration rate set with the

parameter and will then stop.

When a move distance and feed rate have been programmed, the motor will decelerate to a stop at the end of the move using

L11

the deceleration rate set with the

The ranges for

[nnnnnnn]

ACCELERATIONIDECELERATION

=

25 to

9,999,999

parameter.

are:

pulses/sec/sec.

Factory defaults:

full step (L70 half step (L70

115 step (L70 1110 step (L70 111 25 step (L70

=

1)

=

2) 5,000 pulses/sec/sec

=

5)

=

10)

=

125)

Example: L11 5000 CRLFsets an

2,500 pulses/sec/sec 12,500 pulseslseclsec

25,000 pulses/sec/sec 31 2,500 pulses/sec/sec

accelerationldeceleration

rate

of 5000 pulses/second/second.

This command sets the speed, in pulseslsecond, with which

HI0

or

678

the motor will return home when a

H08

or

MECHANICAL HOME, or a

CAL HOME command

is

executed.

676

RETURN TO ELECTRI-

RETURN TO

The ranges for the HOME SPEED are:

full step (L70

half step (L70 115 step (L70 111 0 step (70

=

111 25 step (L70

1)

=

2) 0 to 115,000 pulseslsec.

=

5) 0 to 115,000 pulseslsec.

10) 0 to 11 5,000 pulseslsec.

=

125) 0 to 1,875,000 pulseslsec.

0 to 11 5,000 pulseslsec.

=

Factory default:

=

full step (L70

half step (L70 115 step 111 0 step (L70 11125 step (L70

1)

=

2) 2,000 pulseslsec.

=

5) 5,000 pulseslsec.

(L70

=

10)

=

125)

Exampie: L14 2000 CRLF sets

1,000 pulseslsec.

10,000 pulseslsec. 125,000 pulseslsec

a

home speed of 2000 pulses1

second.

L17

[snnnnnnnnl

OFFSET DIRECTION AND

DISTANCE FROM ELECTRICAL HOME

This command sets the direction and distance, in pulses, that

HI0

or

678

the motor will automatically move after a

RETURN

TO MECHANICAL HOME command has been issued and the

motor has returned to the HOME LIMIT switch.

This command sets the speed at which the motor will run if the

H05

LOW SPEED MODE command is used, or the speed at which the motor will start before accelerating to the HIGH SPEED value.

The ranges for LOW SPEED are:

(L70

=

full step half step 115 step

1/10 step

11125 step

1) 0 to 115,000 pulseslsec.

(L70

=

2) 0 to 115,000 pulseslsec.

(L70

=

5) 0 to 11 5,000 pulseslsec.

(L70

=

10) 0 to 115,000 pulseslsec.

(L70

=

125) 0 to 1,875,000 pulseslsec

Factory defaults:

full step (L70 half step

115 step 1/10 step

(L70 (L70 (L70

11125 step (L70

=

1)

=

2) 500 pulseslsec.

=

5) 1,250 pulseslsec.

=

10) 2,500 pulseslsec.

=

125)

250 pulseslsec.

31,250 pulseslsec.

Example: L12 300 CRLF sets a low speed of 300 pulseslsec.

See Section 5.2.3 on hardware inputs for a description of the HOME

LIMIT switch function. [s] =tor [nnnnnnnnj = 0 to Factory default

Example:

-

99,999,999

L17:

[s]

L17

-

1000 CRLF sets an offset of 1000 pulses in the

pulses.

=

t:

[nnnnnnn] pulses = 0.

negative direction.

L18

[snnnnnnnnl

CLOCKWISE SOFTWARE

TRAVEL LIMIT

s

=

t

to enable the feature

s

=

-

to disable the feature

[nnnnnnnn]

=

0 to

99,999,999

pulses

When enabled, motion in the clockwise direction that causes the absolute position to exceed the

L18

value will result in a feedhold being activated. Only motion in the opposite direction is permitted.

L18:

Factory default

[s] = -[nnnnnnnn] = 0 pulses

Example: L18 t5000 CRLF will enact a feedhold should the absolute position exceed t5000 and no further clockwise motion is permitted.

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s

=

-

to enable the feature

s

=

t

to disable the feature

[nnnnnnnn]

=

0 to 99,999,999 pulses

When enabled, motion in the counterclockwise direction that

L19

causes the absolute position to exceed the

value will result in a feedhold being activated. Only motion in the opposite direction is permitted.

:

[s]

=

t

[nnnnnnnn] = 0 pulses

Example:

L19

-7500 CRLF will enact a feedhold should the absolute position exceed -7500 and no further counterclockwise motion is permitted.

This will assign a unique device number to each indexer in situations where multiple indexers (up to 99 are permitted) have been daisy-chained.

4nnl

This number will be used with the

DEVICE ATTENTION

command to activate a particular indexer.

The range for Factory default

Example:

L21

is 01 to 99

L21:

inn] = 01

05 CRLF sets an identification number of 5.

This command sets the serial port data transfer rate in bits1 second (baud).

The acceptable values for [nnnn] are:

=

[nnnn] Factory default

300, 1200,2400 and 9600

L22:

[nnnn] = 9600

ost of the recently manufactured terminals and

9600

baud.

If

desktop computers are set at

9600

terminal used is not

b d, it will not be able to commu-

the computer or

nicate with a new indexer. nondefault rate will have to be

set

either with a compatible switch or with a switch panel as

described in Section

I

L23

[nl

CHARACTER LE

5.

This sets the number of data bits in a character sent via serial communications.

=

7

or

The acceptable values for [n] are: [n]

Factory default

L23:

[n]

=

8

This setting determines whether parity applies to serial communication commands and, if parity is selected, whether odd or even parity is applied. The acceptable values for [nn] are:

=

1

Parity disabled

[n]

=

2Parity enabled, odd parity

[n] [n]

=

3parity enabled, even parity

L25:

[n]

=

1,

Factory default

OTE:

When parity is disabled, two stop bits will be sent,

Parity disabled.

regardless of the character length. When odd or even parity is set, one stop bit will be sent if is set to [nl = 8.

=

7.

Two stop bits will be sent if

L23 CHARACTER LENGTH

L23

is set to [nl

This parameter selects the transmission protocol which the lndexer will use when responding to input commands. If the

L26

command

n is issued while the lndexer is busy, the command will be processed when the lndexer is no longer busy.

Range:

0 to 7

Factory Default

n Transmission Mode Selected

0 Normal Transmission Mode (No "EOT" or

L26:

[n] = 0

XonRoff Protocol Enabled

"="

characters)

1 "EOT" follows each complete data transmission to the host

2

"="

is transmitted when Indexer is ready for more commands

3

"EOT" follows each complete data transmission to the host

and

"="

is transmitted when thelndexer is ready for more in-

formation

n Transmission Mode Selected 4 Normal Transmission Mode (No "EOT" or

XonRoff Protocol Disabled

"="

characters) 5 "EOT" follows each complete data transmission to the host 6

"="

is transmitted when lndexer is ready for more commands

7 "EOT" follows each complete data transmission to the host

"="

and

is transmitted when thelndexer is ready for more in-

formation

Xon character is ASCll code 17 Xoff character is ASCll code

19

EOT character is ASCll code 04

XonRoff Protocol:

The Xoff character is transmitted to the host when a CR or LF

is received. The lndexer will process the information it has received and will transmit an Xon character when it is ready to

accept more information from the host. The lndexer should be

polled to determine when it is ready to accept more informa-

L26

tion. If

3 is selected, the lndexer will transmit an

"="

if it is

ready to accept more information. If an Xoff character has been

transmitted to the host and the command received by the

lndexer calls for motion or program execution, the lndexer will

send an Xon to the host. This allows the host to send any of the

"*"

immediate commands such as

"f"

(Cycle Stop). The host should not send "normal" com-

(Clear),

"$"

(Feed Hold) or

mands until the lndexer is ready to accept more information.

The lndexer will be ready to accept more information when

is

motion is stopped, program

stopped and all previous com-

mands have been executed.

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This parameter determines the line number to which the

-

program line pointer will automatically be set upon powerup,

during invalid program execution, upon encountering a G30 command that is not part of a GI1 subroutine call or after a clear command

(*)

has been executed.

The acceptable values for [nnn]

=

0

to

400.

Factory default L41: [nnn] = 0

1

200

CRLF sets the autostart line number to

200.

During program execution, a delay of L44 parameter length in

milliseconds will occur after each line completes executing. This delay should be set to allow sufficient motor settling time. The delay is also invoked after G76

or

67

sfor [nnnn]

=

0

to

9999

milliseconds.

[nnnn]

=

50

milliseconds.

ets a delay of

250

milliseconds after

execution of each line.

IT SWITCH ENABLE

I

The user can utilize the inputs labeled CW LIMIT- and CCW LIMIT- either as limit switches (L45

0)

or as additional pro-

grammable inputs (L45

1).

[n] = 0

to enable limit switch operation

[n]

=

1

to disable limit switch operation for utilization as

additional programmable inputs.

Factory default L45: [n]

=

0

Example: L45 1 CRLFdisables limit switch operation as the two limit switch inputs are used as additional programmable inputs.

ote: When [n]

=

1,

the CW LIMIT- input becomes input 3 and

IT- input become input

I

L48

[nnn] PROGRA LINE TRANSFER COUNT

/

Used in conjunction with the

H12

and HI4 commands, L48 contains the number of lines the command is to act upon. If L48 contains

0,

lines 1 through

400

will be cleared

(H12)

or trans-

).

Otherwise, the command is effective for the number of lines indicated by the L48 value starting from the present line number.

Factory default L48:

[nnn]

=

000

Example: L48

10

CRLF sets a

10

line execution block for

H12

UST BE SET WlTH 0 TO OPER

500.

Used in conjunction with the HI6 command, L49 contains the designated parameter to transfer. If L49contains

0,

all parameters are transferred. Otherwise, only the parameter designated by L49 is transferred. If L49 contains an invalid parameter, HI6 transmits only a Carriage ReturnILine Feed. This parameter IS NOT stored in nonvolatile memory.

Factory default L49: [nn]

=

00

Example: L49

06

CRLF causes HI6 to transfer the contents of

the LO6 parameter.

UST BE SET WlTH 0 TO OPERATE WlTH AN SSP-

500.

L70

[nnnl TRANSLATOR RESOLUTION

This sets the step resolution of the motor drive translator The acceptable values for [nnn] are:

full step

1

half step

2

*

115

step

5

*

1/10

step

10

*

11125step

125

*

These settings are only valid for the

440, 3180

and

6180

Series drives.

Factory default:

full step

1

115

step

5

1/10

step

10

111 25

step

125

Example: L70 2 CRLF sets a half step tsanslator resolution.

OTE: For all

230

and

430

Series indexers, the

L70

parame-

ter must be set to

1

or 2 for the drive

to

work properly.

OTE: Since the ranges of

L09, Lll, L12

and

L14

depend on

the setting of

L70,

it is important to set the

L70

parameter

first so that range confusion will be avoided.

.4 H

CODES: COMMANDS FOR MODES OF OPERATION

H

codes perform four different functions in indexer operations:

1.

They control manual and program execution. H codes, however, cannot be used as programmable instructions.

2.

They are used to set MODES OF OPERATION,

3.

They are used in PROGRAM EDITING to clear program data.

4.

They issue transmission instructions, that is, they allow stored parameters and status data to be TRANSFERRED via the serial communications port.

The

H

code are categorized into the following four areas of

interest.

Mode Commands:

H2, H3, H4, H5, H24, H25

Execution Commands:

HI, H6, H7, H8, H9, HI0

Transfer Commands:

H13, H14, H15, H16, H17,

H18, H19, H20, H23

Edit Commands:

H1 1, HI2 For ease of reference, the H codes are presented here in numerical order.

23

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I

HQ1 CYCLE START

I

H05 LOW SPEED MODE

This is a "GO" command. It will start program execution from the present line number based on the execution format set with

This command will also restart motion during program execution after a

This command sets the indexer in the single-step mode for

manual motion operation.

OTE:

they only set the mode in which motion will occur when it is called for.

otion is started by issuing a

COUNTERCLOCKWISE

or

H03 JOG

followed by a made by the motor.

Upon power up of the system, the indexer is set in the

I

H03

This command sets the indexer in the continuous motion mode for manual motion operation.

$

FEEDHOLD command.

The

HQ2

and

H03

command after setting the

mode. When the

H06

or

H07

JOG

MODE

I

commands do not cause motion,

H06 CLOCKWISE

H02 STEP

command, a single step will be

mode command is

or a

HQ7

H02 STEP

STEP

This command allows the motor to run at the speed, in pulses

L12

per second, that was set with the

o acceleration or deceleration is allowed.

A

H05

command followed by a

will cause the motor to JOG at the speed set with the

parameter. If the LOW SPEED mode is enabled when a CYCLE START command is issued, all motion will be at the value set with the

ignored.

H06 TURN

This command will cause the motor to move in the CLOCKWISE direction.

The type of motion will depend on whether the indexer is in the STEP or JOG mode, the HlGH SPEED or LOW SPEED mode and the parameters set with the

I

H07 TURN IN CCW DIRECTION

This command will cause the motor to turn in the COUNTERCLOCKWISE direction. The type of motion will depend on whether the indexer is in the STEP or JOG mode, the HlGH SPEED or LOW SPEED mode and the parameters set with the

LQ9, L11

and

L12

parameter. Any F field values will be

IN

CW DIRECTION

L09, L11

L12.

LOW SPEED parameter.

H03

and a

H06

or

H07

and

L12.

I

command

L12

H01

H06

or

H07

When a the motor will turn continuously until a$ FEEDHOLD command is issued.

The speed at which the motor will turn is dependent on whether the HlGH SPEED or the LOW SPEED mode has been selected.

If the HlGH SPEED mode is enabled, the motor will run at the value set with the enabled. the motor will run at the value set with the parameter.

This command allows the motor to run at the speed, in pulses per second, that was set with the during program execution, or at the value set with the parameter when the JOG mode is selected.

mand, the motor will accelerate according to the value set with

L11

the

JOGGING is terminated with a motor decelerates to a stop according to the value set with the

L11

When the indexer is powered up, it is set in the HlGH SPEED MODE.

parameter to the jog speed set with the

parameter.

command is issued after a

LO9

parameter. If the LOW SPEED mode is

or a

HQ7

command is issued after a

$

FEEDHOLD command and the

F[x] FEEDRATE command

H03

command,

HQ4

LO9

value.

L12

L

com-

Electrical home is established when the indexer is powered up

H09

or when a will cause the motor to return to the absolute position of (electrical home).

In executing this motion, the motor will move in the

direction

position counter reaches

H09 SET ELECTRICAL HOME

This command will set the absolute position counter to zero. This, in effect, sets the

home position.

HlO RETURN TO MECHANICAL HOME

This command will cause the indexer to return the motor to the

MECHANICAL HOME LIMIT SWITCH.

When this command is being executed, the motor will turn in the

direction

motor from the home limit switch the direction and distance set with the

ter. When motion is completed, the motor position becomes electrical home as the absolute position counter is set to zero.

SET HOME command is issued. This command

opposite

of the absolute position sign until the absolute

0.

current motor position as the electrical

set with the

L17

parameter, at the speed set with the

LO8

parameter and will

offset

L14

parame-

0

the

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This command will

designated by the line pointer.

This command, with

is stored in the indexer EEROM.

Lines

1

NOTE: After a CLEAR PROGRAM command, with

line pointer will be returned to the value set by

If all 400 lines are programmed, this command may take as

long as 15 seconds to complete execution.

12

Example: contents of lines 10, 11, 12, 13 and 14.

An additional 16,17,18 and 19.

L48

delete

the contents of the program line

rmation contained in that program line is

lete the contents of line 20.

L48

=

0, will clear the entire program that

through

is not allowed while in a FEEDHOLD condition

400 will

5

NO10

H12

command deletes the contents of lines 15,

be

IRRETRIEVABLY ERASED.

L48

L41.

CRLF results in the deletion of the

=

0, the

L48

=

With number is reset to the value set by

After to the line number that was active during the feed hold.

Example: contents of lines 20 and 21.

NO20 NO21

An additional

23. NO22 NO23

H15 TRANSMIT THE CURRENT

PROGRAM LINE NUMBER

This command will transmit the current program line number. This H code can be executed while the indexer is in motion, executing a program or in parallel mode.

Example: If the line number is equal to 100,

in NIOOCRLF being transmitted by the indexer.

/

HI6 TRANSIT PARAMETERS

This command, with

parameters to be transmitted through the RS232 serial port in the order shown below:

0, after the

H14

execution during afeed hold. the line number is reset

L48

2 NO20

G90

Xt00001000 F0002000CRLF

G91

Xt00002000 F0002500CRLF

H14

G64

Xt00001234 CRLF

630

H14

command is executed, the line

L41.

H14

CRLF results in the transfer of the

CRLF transfers the contents of line 22 and

CRLF

H15

CRLF results

I

L49=0,

will cause the contents of the L

This command causes the indexer to transmit the contents of

the program line at the program line pointerthrough the RS232

serial interface port.

H13

transfers are always in a fixed format as follows:

Nnnn Gnn Xtnnnnnnnn FnnnnnnnCRLF

N is in column 1

G

is in column 6 (if programmed, otherwise a space)

X is in column 10 (if programmed, otherwise

F is in column 21 (if programmed, otherwise a space)

a

program line does not contain all the fields, spaces fill

If in the unprogrammed fields. Example: If program line number 100 contains F5678,". then

100 H13

Nl 00

This command, with program lines 1 through 400 through the RS232 serial port.

Each program line is transmitted in the same format as

NO01 Gnn Xtsnnnnnnnn FnnnnnnnCRLF NO02 Gnn Xtsnnnnnnnn FnnnnnnnCRLF

&t !t

CRLF would result in the following transmis-

sion:

G90

Xt00001234 F0005678CRLF

L48

=

0, causes the indexer to transmit

a

space)

"G90

Xt1234

H13.

Examples

149 70 H16 CRLF results In the transfer of the contents of

parameter L70: L70 nnn CRLF is transmitted

N399 Gnn Xtsnnnnnnnn FnnnnnnnCRLF

N400 Gnn Xtsnnnnnnnn FnnnnnnnCRLF

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149 99 H16 CRLF results In no parameter transfer as 199

is nonexistent: CRLF is transm~tted.

This command causes the indexer to transmit the current contents of the absolute position counter through the RS232 serial interface port. This H Code can be executed while the indexer is in motion, executing a program or in the parallel

mode. The data transmission format is:

snnnnnnnnnn CRLF

EXAMPLE: If

HI7

CRLF results in t0000001000CRLF being

transmitted, the absolute position is t1000 pulses.

:

If

motion is called for that exceeds the maximum absolute position (9,999,999,999 pulses), the absolute position counter will roll over (reset to

0

and continue counting). In this case, the absolute position counter would contain erroneous information.

TRANSMIT MOTlO

The "TRANSMIT" command will output the requested data via the RS232C serial port.

This command causes the current status of tLIMIT, -LIMIT, HOME LIMIT, CLEAR, FEED HOLD, and STOP EXECUTION data inputs. This H Code can be executed while indexer is

in

motion,

executing a program or in parallel mode.

The data is transmitted in the following format: OOOOOOOOCRLF

n

.......

STOP EXEC O=inactive

1

=active

.n

......

CCW DIR O=inactive

1

=active

.n.....CW DIR O=inactive 1 =active

.n,.HOME LIMIT O=inactive

1

=active

......

n.CCW LIMIT O=inactive

1

=active

.nCW LIMIT O=inactive

1

=active

EXAMPLE: If

HI8

CRLF results in OOOO1OOICRLF being transmitted. CW limit and clear are active, the others are inactive

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IT

MODE

STATUS

I

This command will transmit through the RS232 serial port the

the indexer is in motion, executing

a

program or in parallel

status of the indexer modes. This H Code can be executed while

mode.

The format for the data transfer is as follows:

OOOOOOOOCRLF n

.......

O=PROG EXECUTION INACTIVE

.n

......

O=MOTION INACTIVE

..n

.....

O=INCREMENTAL MODE SELECTED

... n ....

O=ALL WINDINGS OFF CANCELLED

....

n... O=BOOST CURRENT CANCELLED

.....

n.. O=REDUCE CURRENT CANCELLED

......

n.

O=LOW SPEED MODE SELECTED

.......

n

O=STEP MODE SELECTED

1 =PROGRAM EXECUTION ACTIVE 1 =MOTION ACTIVE 1 =ABSOLUTE MODE SELECTED 1=ALL WINDINGS OFF ENABLED 1=BOOST CURRENT ENABLED 1=REDUCE CURRENT ENABLED

1

=HIGH SPEED MODE SELECTED

1

=JOG

MODE SELECTED

EXAMPLE: If

HI9

CRLF results in 00100011CRLF being transmitted, jog made, high speed mode and absolute mode are enabled.

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This command causes the indexer to transmit the status of the

H

two inputs and the two outputs. This while the indexer is in motion, executing a program or in parallel mode.

The format for the data transfer is as follows:

OOOOOOOOCRLF

...

0000n OOOO.n.. INPUT

0000..n. OUTPUT 2 O=inactive 0000

...

n OUTPUT

EXAMPLE: If transmitted, then output and input

1

H23 TRANSMIT SOFTWARE REVISION DATE

This command causes the indexer to transmit the software revision date via the RS232 serial interface port. The date is transmitted in the following format:

INDH mmiyylxCRLF

Where INDH=indexer. mrn=month, yy=year or the software revision and x=software level

EXAMPLE: mitted, which indicates that indexer software level leased in April

INPUT 2 O=inactive

1

H20

CRLF results in 00001001CRLF being

1

and input 2 are active, and output 2

1

are inactive.

H23

CRJLF results in INDH 04/87/C being trans-

of

1987.

code can be executed

O=inactive

1

=active

1

=active

1

=active

1

=active

1

C

was re-

.5 N, 6, X, F Codes: PROGRAMMING CODES

This command will set the program line pointer to the line specified by [nnn].

[nnn] can have a value from 0 to 400.

N:

Powerup default

parameter. If a line number greater than 400 is entered, the program line pointer will reset to the line number specified with the parameter.

rogram line 00 (NOO) is used at any time, the NUAL DATA INTERFACE mode (MDI) will be ened.

rogram line 00 is stored in a volatile memory only and its contents will be lost when power is removed from the indexer.

NO0 is used to store a single program line for manual operation

and will not change the contents of the stored program. Upon

power up, the MDI line's

the

LO9

parameter.

I

X [snnnnnnnnl MOVE DIRECTION AND DISTANCE

If in incremental mode, the motor will move in either the +(clockwise) or -(counterclockwise) direction for the distance specified, in pulses. If in absolute mode, the motor will move

to the absolute position specified in the The X field range is from 0 pulse to

eld

IS

also used wlth the

nds to spec~fy add~t~onal

604, 611, 620, 622

the mformatlon

OTE: No motion can be programmed on a line that contains

a 604, 611, 620, 622, 630, 631,637 or 647 command.

[nnn] = The line number in the

F

code is loaded with the contents of

X

field.

and

99,999,999

647

commands for add~tlonal

pulses.

L

L41

I

This command causes the indexer to transmit the contents of each line being executed during program execution.

HI3

The data is transmitted in the same format as an

ODE MUST BE OFF TO OPER

SSP-500 INDEXER PROGRAMMER

This command causes the indexer to disable the trace mode during program execution. Upon power up. the indexer is set in the trace disabled mode.

:

The following H codes are able to be executed while

er is in motion, executing a program, or in parallel

15, H17, H18, the user to monitor the indexerson the fly1'. Each command must be immediately followed with a carriage return and/or line feed during "on the fly" operations.

H19, and H20. These codes enable

transfer.

/

F [nnnnnnnl FEEDRATE

This command is used to specify the motor speed, in pulses1 second, at which a move will occur.

F

The range of

0

to

11

5,000 pulses/second if the 10 0 to 1,875.000 pulsesisec if the

F

field is also used with

The additional data.

FEEDRATE SHOULD BE SPECIFIED IN THE FIRST

LINE OF THE PROGRAM.

If no FEEDRATE is specified as part of the program line, the last FEEDRATE that was programmed will be used.

G Codes PROGRAMMABLE COMMANDS

G

codes are preparatory commands that are stored and exe-

cuted within a program. Several

which are those functions that retain their state until canceled

or superseded by a subsequent command.

execute a

program execution

the

G

L41

parameter.

[nnnnnnn] is:

code without required additional data causes

to

halt and the line number is loaded

I

L70

parameter is 1,2.5.

L70

parameter is 125

GI1

and

G20

commands to specify

G

codesare modal commands

Attempting to

with

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1

620

CONDITIONAL BRANCH

(L45 = 0)

1

This command allows a delay to be entered in the program.

must be followed by an X field value that is

the desired delay in milliseconds. The

9999 msec and any sign is ignored. The correct format for entering a delay is:

NO01 GO4 X1000 CRLF

calls for a delay and XI000 sets the delay at 1000

milliseconds.

E:

The F field value is ignored during the execution of a

X

value range is 0 to

command.

If any value is entered that is greaterthan 9999, it will automati-

cally be truncated to the four least significant digits. Therefore,

GO4

entering N120 milliseconds.

Dwell time accuracy is

This command calls a subroutine. A

GI1

command must be followed by an X value that gives the

starting line number of the subroutine and an Fvalue that is the number of times the subroutine is to be repeated.

The range for the ignored); the range for the VALUE IS 0 to 9999. The correct

format for a subroutine call is:

"NO01

GI1

This will set the program line pointer to line 15 and execute the subroutine twice.

X612000 CRLF will cause a delay of 2000

Q.5% of the selected value.

value is 1 to 400 (with the sign being

X15 F1 CRLF"

command for terminating a subroutine

NOTE: Using an F value for 0 will cause the subroutine to be executed

an F value

of

1

will cause the subroutine to

once;

be executed twice, etc. The number of executions is the F

The Ffield cannot be left blankas this may cause the program

broutines can

mand while a

be nested.

Gll

subroutine call

T

not

cause program execution to cease and fhe program line

will

pointer

The X field value is truncated to the four least significant digits. The only values that are valid are numbers from 1 to 400. or a number greater than 400 will cause program execution to cease and the program line pointer will reset to the The F field value is also truncated to the four least significant digits.

automatically reset to the

L41

value.

L41

A

0

value.

This command consists of a The

620

command will cause the program line pointer to jump to the program line number given by the Ffield if the state of the two inputs correspoond to the values of the X field.

The acceptable values for the X field are: x In21 [n11

Any value for nl or n2 from 2 to 9 will signify a "don't care" condition and that input will be ignored.

If the states of input

n2, the program will jump to the line number indicated by the

F field value (1 TO 400 ONLY).

If

the states of input 1 and input 2

grammed values of nl and n2, the program line pointer is

incrernented to the next program line.

20

OPTIONS:

G20 XOO: Go to line number (F field) if input 2 off and input G20 XO1: Go to line number (F field) if input 2 off and input G20 X10: Go to line number (F field) if input 2 on and input

1:

G20 XI G20 XOd: Go to line number (F field) if input 2 off, ignore

G20 Xld: Go to line number (F field) if input 2 on, ignore 620 XdO: Go to line number (F field) if input 1 off, ignore G20 Xdd: Go to line number (F field) ignore input 2, ignore

=

2 through 9: don't care condition

d

EXAMPLE: N100 Will always cause a jump to line 120 when executed because both nl and n2 signify a "don't care" condition.

Nl00

When executed, will cause a jump to line 120 if input 1 is active and input 2 is inactive. Otherwise, the program will increment to line 101.

F field value is truncated to the least four significant digits,

The and if the F field value is 0 or greater than 400, program execution will cease and the program line pointer will be set to

L41

the

parameter.

nl nl n2 n2

1

1 off 1 on 1 off

Go to line number (F field) if input 2 on and input 1 on

input 1

2

input input 1

G20

X01 F120 CRLF

620,

and X value and an F value.

= 0 =

input 1 inactive

=

1 = input 1 active

=

0 = input 2 inactive

=

1 = input 2 active

and input 2

match

do not match

620

X22 F120 CRLF

the values of nl and

the pro-

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620

CONDITIONAL BRANCH (L45 = 0)

This command consists of a 620, an X value and an F value. The 620 command will cause the program line pointer to jump

to the program line number given by the

Ffield if the state of the

four inputs correspond to the values of the X field.

The acceptable values for the X field are: x [n41[n31[ n2WI

nl

= 0 =

input 1 inactive

n1

=

l= input 1 active

n2

=

0 = input 2 inactive

n2

= 1 =

input 2 active

n3

= 0 =

CW limit input (input 3) inactive

n3

=

1 = CW limit input (input 3) active

n4

=

0 = CCW limit input (input 4) inactive

n4

= 1 =

CCW limit input (input 4) active

Any value for nl, n2, n3, or n4 from 2 to 9 will signify a

"don't care" condition and that input will be ignored.

If the states of the four inputs

match

the values of nl, n2, n3, and n4, the program will jump to the line number indicated by the

F

field value (1 TO 400 ONLY).

If the states of the four inputs

do not match

the programmed values of nl, n2, n3. and n4, the program line pointer is incremented to the next program line.

620 OPTIONS: G20 X0000: Go to line number (F field) if input

4

off, input 3 off,

input 2 off, input 1 off

G20 X0001 :Go to line number (F field) if input 4 off, input 3 off,

input 2 off, input 1 on

G20 XOOIO: Go to line number (Ffield) if input 4 off, input 3 off,

input 2 on, input 1 off

G20 XOO11 :Go to line number (F field) if input 4 off, input 3 off,

input 2 on, input 1 on

G20 X0100: Go to line number (F field) if input 4 off, input 3 on,

input 2 off, input 1 off

G20 X0101 :Go to line number (F field) if input 4 off, input 3 on,

input 2 off, input 1 on

G20

XO110: Go to line number (Ffield) if input

4

off, input 3 on,

input 2 on, input

1

off

G20 X0111: Go to line number (Ffield) if input 4 off, input 3 on,

input 2 on, input 1 on

G20 X1000: Go to line number (Ffield) if input 4 on, input 3 off,

input 2 off, input 1 off

G20 XI 001

:

Go to line number (F field) if input 4 on, input 3 off,

input 2 off, input 1 on

G20 X1010: Go to line number (Ffield) if input 4 on, input 3 off,

input 2 on, input 1 off

G20 XI01 1: Go to line number (Ffield) if input 4 on, input 3 off,

input 2 on, input 1 on

G20 X1 100: Go to line number (Ffield) if input 4 on, input 3 on,

input 2 off, input 1 off

G20 X1 101: Go to line number (Ffield) if input 4 on, input 3 on,

input 2 off, input 1 on

G20 X1 11 0: Go to line number (Ffield) if input 4 on, input 3 on,

input 2 on, input 1 off

G20

XI

11

1

:

Go to line number (F field) if input 4 on, input 3 on,

input 2 on, input

1

on

Any 0 or 1 can be replaced by a "don't care" character (2 through 9). A "don't care" condition causes that particular input to be ignored.

EXAMPLE:

Nl 00

620

X2222 F120 Will always cause a jump to line 120 because all inputs signify a "don't care" condition. Nl00 620 XI 01 0 F120 CRLF When executed, will cause a jump to line 120 if

4

is active, input 3 is inactive, input 2 is active, and input 1 is inactive. Otherwise, the program will increment to line 101.

The F field value is truncated to the least four significant digits, and if the

F field value is 0 or greater than 400, program

execution ceases and the line number is set with the

L41

parameter.

622

WAIT

FOR

INPUT

(L45 = 0)

This command consists of a 622 and X field The 622command will cause the program to wait until the state

of the two inputs correspond to the values of the X field.

The acceptable values for the

X

field are:

x in21 In1

I

nl = 0 = input 1 inactive n1

= 1 =

input 1 active

n2

= 0 =

input 2 inactive

n2

=

1

=

input 2 active

Any value for nl or n2 from 2 to 9 will signify a "don't care" condition and that input will be ignored.

If

the states of input 1 and input 2

match

the values of nl and

n2, the program continues execution.

If the states of input 1 and input 2

do not match

the pro-

grammed values of nl and n2, the program waits until a match occurs.

N100 622 XI0 CRLF When executed will cause the program to wait until input 2 is active and input 1 is inactive. Then, the program will increment to line 101. The F field is ignored during a 622 command.

22 OPTIONS:

G22 XOO: Wait until input 2 off, input 1 off 622 XOl: Wait until input 2 off, input

1

on G22 X10: Wait until input 2 on, input 1 off G22 XI 1: Wait until input

2

on, input 1 on G22 XOd: Wait until input 2 off, ignore input 1 G22 Xld: Wait until input 2 on, ignore input 1 G22 XdO: Wait until input

1

off, ignore input 2 G22 Xdl: Wait until input 1 on, ignore input

2

G22 Xdd: Don't wait

d

=

2 through 9: don't care condition

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-

622 WAIT FOR INPUT (L45 = 1)

This command consists of a 622 and X field.

&

The 622 comand will cause the program to wait until the state of the four inputs correspond to the values of the X field.

The acceptable values for the X field are: x in41 in31 in21 [nl

I

nl = 0 = input 1 inactive

=

1 = input 1 active

nl

= 0 =

n2 n2 n3 n3 n4 n4

Any value for nl, n2, n3, or n4 from 2 to

input 2 inactive

=

1 = input 2 active

=

0 = CW limit input (input 3) inactive

=

1 = CW limit input (input 3) active

=

0 = CCW limit input (input 4) inactive

=

1 = CCW limit input (input 4) active

9

will signify a "don't

care" condition and that input will be ignored.

match

If the state of the four inputs

the values of n1, n2, n3 and

n4, the program continues execution. If the states of the four inputs

do not match

the programmed values of nl, n2, n3 and n4, the program waits until a match occurs.

622 OPTIONS:

G22 X0000: Wait until input 4 off, input 3 off, input 2 off, input

1 off

G22 X0001: Wait until input 4 off, input 3 off, input 2 off, input

1 on

G22 X007O: Wait until input 4 off, input 3 off, input 2 on, input

1 off

G22 XOO11: Wait until input 4 off, input 3 off, input 2 on, input

1 on

G22 XO100: Wait until input 4 off, input 3 on, input

1 off

G22 X0101: Wait until input 4 off, input 3 on, input 2 off, input

1 on

G22 X0110: Wait until input 4 off, input 3 on, input 2 on, input

1 off

X0111: Wait until input 4 off, input 3 on, input 2 on, input

G22

1 on

G22 X1000: Wait until input 4 on, input 3 off, input 2 off, input

1 off

G22 X1001: Wait until input 4 on, input 3 off, input

1 on

G22 X1010: Wait until input 4 on, input 3 off, input 2 on, input

1 off

2

off, input

2

off, input

Any

0 or 1 can be replaced by a "don't care" character (2

through

9).

A "don't care" condition causes that particular

input to be ignored. EXAMPLE:

Nl 00 622 Xl 01 0 CRLF When executed will cause the program to wait until input 4 is active, input 3 is inactive, input 2 is active, and input

1

is inactive. Then the program will increment to line 101.

1

630 RETURN FROM SUBROUTlNElPROGRAM END

I

This command has two uses.

1. 630, used in conjunction with a Gll, indicates end of a subroutine. A 630 command that is issued after a 611 command will cause the program line pointer to be

after

set to the next program line

the line containing the

Gll command.

2. 630, used by itself, that is not following a GI1 com- mand, indicates the

end of the program.

The program line pointer will reset to the program line indicated by the L41 parameter.

In the

automatic execution format,

(LO6 n = 2), 630 will stop

program execution. In the

continuous execution format

(LO6 n

=

3),

program

execution will continue from the line number indicated by the

L41 parameter. If no 630 command is used, program line number 400 is

of

automatically set as the end

the program.

During program execution, the 631 causes the program to cease executing and the line pointer increments to the next line. A CYCLE START (Hl) will continue execution from that point.

636 STROBE

X

CODE DATA

During program execution, the G36 command causes the indexer to load the parallel data inputs. The Field Data entry becomes the X field for the program line. The Select and Code Data entries are ignored. The program line's F Code, if programmed, will be utilized as the active feed rate. Any previously programmed X field on a line with a 636 command is ignored.

G22 XI01 1: Wait until input 4 on, input 3 off, input 2 on, input

1 on

G22 XI 100: Wait until input 4 on, input 3 on, input 2 off, input

I

off

:

G22 XI 101

Wait until input 4 on, input 3 on, input 2 off, input

1 on

G22 Xf 110: Wait until input

1

off

G22

XI

11 1: Wait until input 4 on, input 3 on, input 2 on, input

4

on, input 3 on, input 2 on, input

1 on

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During program execution, the 637 command causes the indexer to load the parallel data inputs. The Code Data entry becomes the active program line as the program branches to

that line. The Select and Field Data entries are ignored. Any

previously programmed X or F fields on a line with a 637

command are ignored. Attempting to load a line number of 0 or greater than 400 will cause program execution to cease, and the program line pointer will reset to the L41 value.

668 ENABLE ALL WINDINGS OFF

This command will set the states of the two programmable outputs according to the value of the last 2 digits of the X field

in the following fashion:

nl

=

0 = output 1 off (inactive)

=

1 = output 1 on (active)

nl

=

0 = output 2 off (inactive)

n2

=

1

=

n2

If a value of 2 through

the state of the output.

G47 G47 G47

G47

G47 G47 G47

G47

=

2

through

d The F field is ignored on a line containing a

*

The following four commands apply to 3180 and 6180 series drives only. They are not functional with 230 and 430 series units.

This command will reduce the motor current at standstill to a value set on the drive. If a command for motion is issed after

command, the motor will run at normal current, and

return to a reduced current when motion ceases.

CEL REDUCED CURRENT

This command cancels the is powered up, it is in the CANCEL REDUCED CURRENT mode.

output 2 on (active)

9

is used for nl or n2, it will not

XOO = Output 2 off, output 1 off X01 = Output 2 off, output 1 on XI0 = Output 2 on, output 1 off Xl

1

=

Output 2 on, output 1 on XOd = Output 2 off, output 1 no change XI d = Output 2 on, output 1 no change XdO = Output 2 no change, output 1 off Xdl = Output 2 no change, output 1 on

Xdd = Output 2 no change, output 1 no change

9,

don't care condition

647

command.

LE REDUCED CURRE

*

/

664

command. When the indexer

This command sets the average motor current to zero when the motor is at a standstill. Voltage is still present at the motor terminals.

668

If a command for motor motion is issued aftera the motor will turn at normal current and return to a zero condition when motion ceases.

G68

This command cancels a When the indexer is powered up, it is in the CANCEL ALL

WINDINGS OFF mode.

This command causes the motor to turn until an absolute position of

Electrical home is established when the indexer is powered up

or when a The motor will move in the

position sign

position counter.

677 SET ELECTRICAL HOME

This command sets the absolute position counter to zero. The current motor position is established as electrical home.

This command causes the motor to turn in the direction set with the home limit switch is activated. The motorthen offsets from the switch the direction and distance set with the the speed set with position becomes electrical home as the absolute position counter is set to zero.

0 is reached.

H09

SET HOME command

and will index the value contained in the absolute

LO8

parameter, at the speed set with

L14.

command.

is

used.

opposite direction of the absolute

At motion completion, the motor

command,

L14

L17

parameter at

until the

q

This command will increase the motor current during acceleration and deceleration to a value set on the drive. The boost will

5

turn off heating during long

This command cancels the is powered up, it is in the CANCEL BOOST CURRENT mode.

seconds after application to prevent excessive motor

acceleration/deceleration

CEL BOOST CURRENT*

G66

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I

command. When the indexer

ramps.

This command sets the indexer to operate in the absolute mode. All moves made by the motor are counted either plus or minus from the command.

CREMENTAL MODE

This command sets the indexer to operate in the incremental mode.

All moves of the motor are counted either plus or minus from

the present motor position.

When the indexer is powered up, it is automatically set in the

INCREMENTAL MODE.

OTE: Even when the indexer is operating in the incremental

mode, the ABSOLUTE POSITION counter is operational and

RETURN TO ELECTRICAL HOME command may be used.

zero position

set with the

I

NO9

or

677

.6

SAMPLE PROGRA DESCRIPTION

The following is a sample program which demonstrates some of the capabilities of the Micro Series indexer. With

5

at 0, lines 1 through 3 will execute continuously until an input condition matches the branch condition and jumps to

the branch line number.

1

Selecting program segment 1 through input

results in the following lines being executed:

20, 21, 22, 23, 24, 25, 26, 27, 28, 29, and back to 1.

Selecting program segment 2 through input 2 results in the following lines being executed:

10, 11, 12,13,14,15,

NO01 G20

X

t

0000001 0 FOOOOOlO

16,30,31,32,33,34,30,31,32,33,34,30,31,32,33,34,17,18,

Line

1

is a CONDITIONAL BRANCH. If input 2 is active and input 1 is inactive, the line pointer

19,andbacktol

jumps to linelo.

NO02 G20

X

t

0000001 F0000020

Line 2 is a CONDITIONAL BRANCH. If input 2 is inactive and input 1 is active, the line pointer jumps to line 20.

Line 3 is a PROGRAM END. The L41 Value (1) is loaded in the line pointer and since

LO6 is set in the continuous mode (3), the program continues to execute. NO04 NO05 NO06 NO07

Line 4 contains no programming

Line 5 contains no programming.

Line 6 contains no programming

Line

7

contains no programming

LO6

set to 3,

L41

Line 8 contains no programming.

Line 9 contains no programming.

Line 10 sets ABSOLUTE MODE with G90 and the motor moves to position t1000 at a

FEEEDRATE of 2400 pulseslsec.

2

Line 11 is a DWELL time of

seconds

Line 12 moves to position -2000 by moving -3000 pulses at a FEEDRATE of 2400 pulses1

sec. (Since no feedrate was programmed, it moved at the last programmed feedrate.)

Line 13 ENABLES BOOST CURRENT with G66 and the motor moves to position t10000 by

moving

t12000 pulses at a FEEDRATE of 1200 pulses/sec. Line 14 is a DWELL of 3 seconds Line 15 CANCELS BOOST CURRENT

moving -13000 pulses at

FEEDRATE of 2000 pulseslsec.

WITH G67 and the motor moves to position -3000 by

Line 16 is a SUBROUTINE CALL to line 30. The subroutine will be executed 3 times

17

RETURNS HOME (position 0) by moving the necessary pulses at the HOME SPEED

Line (L14).

2

Line 18 turns off output

and turns output 1 on Line 19 is an UNCONDITIONAL BRANCH to Line 1 Line 20 sets INCREMENTAL MODE with G91 and the motor moves -2500 pulses at a

FEEDRATE OF 2400 pulseslsec.

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NO21 G64

NO22 GO4

X

t

00000500

X

t

00004000

Line 13 ENABLES REDUCE CURRENT with G64 and the motor moves t500 pulses at a FEEDRATE of 2400 pulseslsec. (Since no feedrate was programmed, it moved at the last programmed feedrate.)

Lme 22 is a DWELL of 4 seconds.

N23 G65

N24 G68

X

NO25 GO4 N26 G69

NO28 G47 NO29 G20

NO30

X

-

000001 00 F0000800

NO31 GO4

X

NO32

t

+ 00005500

-

00009120 F0002000

X

t00009000

X

t00000010

X

t

00000022 F0000001

X

t

00005000

00000500 F0001500

Line 23 CANCELS REDUCE CURRENT with G65 and moves the motor t5500 pulses at

a

FEEDRATE of 2400 pulseslsec. (Since no feedrate was programmed, it moved at the last programmed feedrate.)

Line 24 ENABLES ALL WINDINGS OFF with G68 and the motor moves -9120 pulses at a FEEDRATE of 2000 pulseslsec.

Line 25 is a DWELL of 9 seconds. Line 26 CANCELS ALL WINDINGS OFF with G69

Line 27 RETURNS HOME (position

0) by moving the necessary pulses at the HOME SPEED

(L14). Line 28 turns off output %and turns output 2 on. Line 29

is

an UNCONDITIONAL BRANCH to Line

1,

effectively ending the second program

segment.

a

Line 30 moves the motor to position -100 at

FEEDRATE of 800 pulseslsec. Line 31 is a DWELL of 5 seconds Line 32 moves the motor to position t500 at a FEEDRATE of 1500 pulseslsec.

NO33 GO4

X

t

00003500 Line 33 is a DWELL of 3.5 seconds.

NO34 G30 Line 34 is a SUBROUTINE END.

.7

CODE ASSIGNMENT TABLES

PARAMETERS

cod

field

data

n nnnn

S

nnnnnnn nnnnnnn nnnnnnn nnnnnnn snnnnnnnn snnnnnnnn snnnnnnnn n n nnnn n n n nnn nnnn n nnn nn nnn

function

Execute Format

Strobe delay Time (milliseconds)

Mechanical Home Direction (t, Jog Speed (pulselsec) Acceleration/Deceleration

Low Speed (pulseslsec)

Home Speed (pulseslsec) Offset Distance and Direction from Home (pulses) CW software Travel Limit (pulses) CCW software Travel Limit (pulses)

RS232 Device ID (01 thru 99)

RS232 Baud Rate (300, 1200, 2400,9600)

RS232 Word Length (7, 8) RS232 Parity (1, 2, 3)

Indexer Ready Acknowledge (0, Line Number for Auto Start (00 through 400) Program Line Delay (milliseconds) Limit Switch Enable (0, Program Line Count Parameter Transfer Designation Translator Resolution (1. 2. 5. 10.

(1,

2, 3)

(pulses/sec/sec)

1)

-)

1,

2,3)

125)

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COMMANDS

code type function

H06 motion H06 motion H07 motion H08 motion H09 motion

Cycle Start CW Direction for STEP or JOG mode CCW Direction for STEP or JOG mode Return to Electrical Home Set Home

HI0 motion Return to Mechanical Home

motion Clear (uncontrolled stop)

$

#

H02 mode

motion

Feed hold (controlled stop)

motion Stop Program Execution Cycle

set Step Mode H03 mode set Jog Mode H 04 mode

set High Speed Mode operation H05 mode set Low Speed Mode of operation

1

HI HI 2 edit

edit

Clear present Program Line

Clear Program <nn edit Device Attention Character Cntl H edit

Cntl

X

edit

Back Space

Cancel Line HI3 transfer transfer Present Program Line HI 4 transfer transfer Program Hi5 transfer transfer Present Line Number (see note) HI 6 transfer transfer Parameters HI7 transfer

HI

8

transfer

transfer Absolute Position (see note) transfer Motion Status (see note)

HI9 transfer transfer Mode Status (see note)

H20 transfer transfer I/O Status (see note)

H23 transfer transfer Software Revision Date

H24 mode H25 mode

enable Trace Mode disable Trace Mode

code field data function

N

X

F

cod function

Program Dwell Time Subroutine call Conditional Branch Wait for Input Return from Subroutine1 Program End Program Stop Strobe

X

Strobe N Code Data SettReset Output Condition Enable Reduce Current Mode Cancel Reduce Current Mode Enable Boost Current Mode Cancel Boost Current Mode Enable All Windings Off Mode Cancel All Windings Off Mode Return To Electrical Home Set Electrical Home Return to Mechanical Home Set Absolute Motion Mode Set Incremental Motion Mode

nnn Line Number (000 thru 400) snnnnnnnn nnnnnnn Feed Rate or Data field for GI

Code Data

can be executed during motion or program execution, and also while in parallel mode,

PROGRAM DATA

Move Distance or Data field for G04, GI 1, G20, G22, G47 codes

1,

G20 codes

X

field data F field data

nnnn Dwell in milliseconds nnn Line Number of Subroutine nnnn Subroutine Repeat count (nn)nn Input condition for Branch nnn Branch Line Number (nn)nn Input Wait Condition

nn Output condition

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4. If feed rate is not programmed for a given line, the last programmed feed rate is used.

5. Selection of invalid data will result in the previous data

The Micro-Indexer allows for program entry and execution

being left intact.

from a variety of sources. The options are:

Operation from a user-made switch panel.

Operation from Superior Electric switch panel SSP-1 00.

These options are discussed in Section 5.2. Operation from a Superior Electric SSP-500 hand-held

intelligent terminal. Operation from a user supplied remote terminal. These

options are covered in Section 5.3. Operation from a host computer. This option is covered

in Section 5.4.

5.1.1

Instructions for Entering Data

5.1.1

.I

General Instructions

1.

Lines may be programmed in any order but are executed in numerical sequence.

2. Variables may be programmed or reprogrammed in any order.

3. Program area should be cleared prior to new program entry to avoid execution of previously programmed lines.

5.2

OPERATION FROM A SWITCH PANEL

5.2.1

Overview

Because of the nature of the parallel interface, all indexer

functions can be controlled by the connection of one of 8

STROBE pins to one of 8 DATA pins. A matrix diagram of the STROBEIDATA functions is given in Figure 5.1.

Referring to this figure, it can be seen that if the STROBE 0 line is connected to the DATA 2 line, a Home Limit condition will be indicated.

All STROBEIDATA functions are controlled by either STROBE 0 or STROBE

1.

These two STROBE lines are polled by the indexer every several milliseconds, so that any contact closure between STROBE

0 or STROBE

1

and any of the DATA lines will be detected by the indexer within a maximum of 12 milliseconds. Figure 5.3 shows a strobe signal timing diagram.

The other STROBES listed in Figure 5.1 are used to enter

programs and parameters. After switches are set, the LOAD input must be activated for data entry

to

be executed (LOAD is

a connection between STROBE

1

and DATA

2).

CW LIMIT CW DIR CODE 1 CODE1 00 DATA 1 M DATA 1 OK DATA 100 DATA

1

-

--

1

CCW LIMIT CCW DIR CODE 2 CODE 200 DATA2M DATA 20K DATA 200 DATA

2

HOME LIMIT LOAD CODE 4 CODE 400 DATA 4M DATA 40K DATA 400 DATA 4

-

CLEAR CYCLE AWO CODE 8 CODE 800 DATA

8M

DATA 80K DATA 800 DATA 8

FEED HOLD LOWIHIGH CODE 10 SIGN DATA 10M DATA 1OOK DATA 1K DATA 10

IN

1

STEP/JOG CODE 20

SEL

1

DATA 20M DATA 200K DATA 2K DATA 20

IN 2 CYCLE START CODE 40

SEL 2 DATA 40M DATA 400K DATA 4K DATA 40

7

STOP CYCLE SERiPAR CODE 80 SEL 4 DATA 80M DATA 800K DATA 8K DATA 80

li

signals are low true logic except LOW, STEP and SER.

Figure

5.1,

Strobe and Data Functions

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PARALLEL INPUT EVALUATION Due to necessary timing restrictions, not all inputs are monitored at all times. Below is a description of which inputs are active and

when.

a

Inputs must be active for

minimum of

12

milliseconds to be considered valid.

I

INPUT

I

CCW LIMIT

I

HOME LIMIT

I

CLEAR

I

FEEDHOLD

1

CW DIRECTION CCW DIRECTION CYCLE STOP

I

INPUT

1

/

INPUT

2

LOAD

1

AWO

CYCLE START SERIAUPARALLEL

I

CODE

SIGN SEL

-CODE 800

DATA 1 -DATA 80M

1,

SEL

2,

SEL

4

SERIAL MODE

READY MODE

PROGRAM EXECUTION

PARALLEL MODE

ANUAL

MOTION

PARALLEL READY DATA LOAD MODE

I*Ie

]@Ie

I*\@ IeIe

I

e

I

1.1

e

1

I

The schematic diagram shown in Figure 5.2 gives the wiring details for the construction of a Parallel Data Entry Interface

:

Implementation of steering diodes is essential to insure proper operation. The SSP-100, A fully functional parallel interface data entry switch panel, can be ordered from Superior Electric The following table gives

FUNCTIONAL SELECT CODE DATA THUMBWHEEL

=

Line No.

Code

Code F Code L Code

W

Code

a

summary of the data entry format

FIELD DATA THUMBWHEEL

ot

Line Number

G

Code Selection Not Used Not Used L Code Selection

W

Code Selection

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Used

ot Used

X

Field Data

F

Field Data

L Field Data

ot Used

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5.2.3

Description Of Hardware Inputs

CODE DATA THUMBWHEEL lnput for entty of line number,

L, H or G code

FIELD DATA THUMBWHEEL lnput for entry of data assoc-

ated with the X field, F field or

L field data

CW

LIMIT-

Input to cause motion to come

to an uncontrolled immediate

stop if moving in the CW direction. Motion is only allowed in the CCW direction until the CW

Limit- is inactive. Line pointer

resetto L41 value, serial buffer

is

is cleared and XOFF and then

XON are sent.

CCW LIMIT-

lnput to cause motion to come to an uncontrolled immediate stop of moving in the CCW di-

rection. Motion is only allowed

in the CW direction until the

CCW Limit- is inactive. Line

pointer is reset to L41 value, serial buffer is cleared and XOFF and then XON are sent.

STOP-

CYCLE

LOAD-

AWO-

STEPIJOG-

CYCLE

START-

Program execution is stopped after the present line is executed.

lnput to enter data selected on CODE DATA thumbwheel and corresponding data on FIELD

DATA thumbwheel.

lnput to turn windings off when the motor is at a standstill.

Input to determine speed range limit. If HIGH- is selected, motor will be allowed to ramp to selected speed. If LOW is selected, motor will not be allowed to ramp and will run at selected low speed.

Input to determine if motor will single-step or jog (continuous motion) when manual motion is called for.

Input to start execution of pro-

gram or to continue motion if a FEED HOLD has been executed.

CLEAR-

FEEDHOLD-

HOME LIMIT-

CW DIR-

CCW DIR-

lnput to cause motion to come to an uncontrolled immediate stop. Position is lost, no mo-

tion is allowed while CLEAR- is

active. Resets line pointer to L41 value, clears the serial buffer and XOFF and then XON are sent.

lnput to cause motion to come

toacontrolled stop (pause) with

no loss of position. lnput to indicate mechanical

home position. Input to cause motor motion in

the CW direction. If STEP was

selected, motor will single-step each time this input is activated. If JOG- is selected, motor will

turn continuously while input is

active. lnput to cause motor motion in

the CCW

direction.lf STEP was selected, motor will single-step each time this input isactivated. If JOG- is selected, motor will

turn continuously while input is active.

SERIALIPARALLEL-

SEL 4-, SEL 2-, SEL

NOTE: O=high input

l=low input

inus sign

(-)

1

-

indicates signal is active when low.

Input to determine if operation is via SERIAL (RS232) or PARALLEL inputs. If SERIAL mode is selected, the following parallel inputs are ignored. CW DIR-, CCW DIR-, LOW/ HIGH-, AWO-, STEPJJOG-, LOAD-

Changing this input automatically invokes a CLEAR mand.

com-

FUNCTION SELECT inputs SEL

1

-

4-, SEL 2- and SEL

are used

in combination to select the

variable to be programmed on a selected line.

Function Selected

N Line Number G Code

X Code

F Code L Code H Code

Not Used

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PARALLEL DATA LOADING

1)

Parallel mode must be selected

2) Program execution and manual modes must be stopped

3) The proper data must be selected via the function select switches, code data thumbwheels and field data thurnbwheels.

4) The load input must be activated.

OF HOW INDEXER LOADS PARALLEL DATA

Strobe 0 and Strobe 1 are disabled. Strobe 2 is activated for the delay time indicated by

the LO7 parameter.

At the end of the delay period the data is read and

the strobe deactivated.

Strobe 3 is activated for the delay time indicated by the LO7 parameter. At the end of the delay period the data is read and the strobe deactivated. Strobe

4

is activated for the delay time indicated by

the LO7 parameter.

At the end of the delay period the data is read and

the strobe deactivated.

Strobe

5

is activated for the delay time indicated by the LO7 parameter. At the end of the delay period the date is read and

the strobe deactivated.

10)

Strobe 6 is activated for the delay time indicated by

the LO7 parameter.

11) At the end of the delay period the data is read and the strobe deactivated.

12) Strobe 7 is activated for the delay time indicated by

the LO7 parameter.

13) At the end of the delay period the data is read and the strobe deactivated.

14) An additional time delay indicated by the LO7 parameter

is executed to allow sufficient time to remove the data

prior to Strobe 0 and Strobe 1 actuation.

15)

The command is then executed.

STROBE

0

STROBE

1

STROBE

2

STROBE

3

STROBE

4

STROBE

5

STROBE

6

STROBE

7

5.2.4.1

Data Entry

By

Letter Code

inus sign

(-)

indicates signal is active when low.

Data Entry

N:

Select N code via SEL

4-,

SEL 2- and SEL 1- ~nputs.

Select desired line number on code data thumbwheel.

Bring LOAD- input low and release. Code data thumbwheel value is then strobed in. This becomes the active program line until new line

number is selected.

Field data thumbwheel value is ignored.

Data Entry

G:

1.

Select G code via SEL 4-, SEL 2- and SEL

1-

inputs

2. Select desired

G

code on code data thumbwheel.

3.

Bring LOAD- input low and release.

4.

Code data thumbwheel value are the strobed in.

5.

G

code is placed in active program line.

6.

Field data thumbwheel value is ignored.

Data Entry

X:

1. Select X code via SEL

4-,

SEL 2- and SEL

1

-

inputs.

2. Select desired

X

value on field data thumbwheel.

3.

Bring LOAD- input low and release.

4. Field data thumbwheel value is then strobed in.

5.

Value is placed in active program line X field.

6.

Code data thumbwheel value is ignored.

Data Entry F:

1. Select F code via SEL 4-, SEL 2- and SEL

1

-

inputs.

2. Select desired value on the field data thumbwheel.

3. Bring LOAD- input low and release.

4. Field data thumbwheel value is then strobed in.

5.

Value is placed in active program line F field.

6.

Code data thumbwheel is ignored.

FIGURE

5.3,

STROBE TIMING DIAGRAM

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code via SEL 4-, SEL 2- and SEL

1-

inputs.

2. Select desired L code data on code data thumbwheel.

3.

Select associated value on field data thumbwheel.

4. Bring LOAD- input low and release.

5.

Code data thurnbwheel value is then strobed in.

6.

Field data thumbwheel value is then strobed in.

7.

L code is entered.

1.

Select H code via SEL 4-, SEL 2- and SEL

1

-

inputs

2.

Select desired H code on code data thumbwheel.

3.

Bring LOAD- input low and release.

4. Code data thumbwheel value is then strobed in.

5.

H

code is executed.

6.

Field data thumbwheel is ignored.

:

The following H codes cannot b

el mode:

H2, H3,

H4, H5, H6 and

Manual motion is possible whenever a program is not being executed. The STEPIJOG- input and the LOWIHIGH- input will determine the response to the CW DIR- and CCW DIR- inputs

becoming active. The absolute position counter is maintained.

Program Execution is accomplished by activating the CYCLE START- input and releasing. The program then executes based on the L parameters.

uts Accessed Through The External Parallel

I10

These outputs are open collectors. They must be pulled up to an external voltage source (maximum t24Vdc) through a series resistor to limit the sink current to a maximum of 40

milliamperes.

OUTPUT

1

-,

OUTPUT 2-

Programmable outputs con-

trolled through use of G47 code.

ALL WINDINGS OFF OUT- Output indicating the status of

the ALL WINDINGS OFF- mode.

CWICCW- OUT

Output indicating the direction of

motor motion.

MOTION BUSY OUT-

Output indicating when any type of motion is occurring.

PULSE OUT-

Output of the pulses being ap plied to the drive.

FROM A REMOTE TER

This section contains information pertaining to operating the

indexer from a remote terminal via the RS232 serial port.

.2 Connections and Intedace

9-prn ser~al rnterface connector can be used to connect a

remote termrnal to the Indexer for

programming

and program

t

execution

When any other type of remote terminal is used with the indexer, the baud rate must be set correctly so that the indexer will match the terminal. This parameter is set with the

L22, L23

and L25

commands. See the Command Description section

for the applicable values and defaults.

NOTE: The baud rate, word length and parity default settings are correct for operation with the Superior Electric hand-held remote terminal SSP-500.

If

another type of remote terminal is used which has a baud rate other than 9600 baud, the terminal will not be able to communicate with the indexer.

A

compatible terminal will have to be used to set the baud rate or, alternatively, a switch panel (such as an

SSP-1OO)can be used to set the indexer's baud rate, etc. (See Section 5.2.1 for a description of the switch panel operation).

5.4 OPERATION FROM

A

HOST COMPUTER

The hardware connections fora host computer are the same as those for a remote terminal. The connection is made through the 9-pin serial interface connector.

An IBM compatible program (on a

5.25"

floppy disk) that has editing, manual motion and program execution modes of operation to facilitate Micro Series indexer functions is available from Superior Electric. Local and remote modes allow programs to be developed off-line in the IBM PC and later loaded into the indexer.

Alternatively, a commercially available communications program (such as "Crosstalk", from Digital Communications Associates. Inc.) may be run on the PC to configure it as a remote terminal.

To interface with an IBM PC, the connections must be config-

ured as follows:

IBM

(25-pin

"D"

Connector)

Positioner (9-pin

"D"

Connector)

-

- -

-- - -

-

--

-

Pin Number

--

Pin Number

-

2

>

3

Rece~ve

3

>

2

Cham

Out

7

-

--

>

4

S~gnal

Common

Following are three sample IBM PC compatible programs to display the ease of indexer/host computer software interfacing. Program

1

uploads an indexer program to the PC disk. Program 2 downloads a program from the PC disk to the indexer: and program

3

sets up interactive communications between

the PC and the indexer. Enter BASIC with the following:

The SSP-500, a hand-held intelligent terminal available from

Superior Electric, can be used for debugging, loading and

executing indexer programs.

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10 REM THIS PROGRAM TAKES THE APPLICATION PRO- 450 REM CLOSE THE OPEN FILES

GRAM THAT IS IN 460 CLOSE 20 REM THE INDEXER AND STORES IT ON A DISK 470 REM PROGRAM END 25 REM PROGRAM DOES NOT SUPPORT DAISY CHAINING 480 END 30 REM CONFIGURE SERIAL PORT 1 FOR INDEXER COM-

MUNICATIONS 40 REM INDEXER SET AT9600 BAUD,

8

DATA BITS, 1 STOP

BIT, AND

50 REM NO PARITY

60 OPEN

"COMI 9600, N,8,2,CS,DS,CDH AS# 1 70 INPUT "ENTER DEVICE NUMBERn,D 80

REM OUTPUT DEVICE CHARACTER AND DEVICE NUMBER

90

IF

D>99 OR D<1 GO TO 70 100 REM 110 IF D<10 THEN PRlNT #1 USING "<#",D 120 IF D>9 THEN PRlNT

#l

USING "<##",D

130 REM RECEIVE EQUAL SIGN AND XON

140 G$=INPUT$(2,#1)

150 REM SET L26 PARAMETER TO 0

160 PRlNT #1, "L26 0" 170 REM RECEIVE XOFF AND XON 180

G$=INPUT$(2,#

1)

190 REM INPUT FILENAME TO WHICH THE INDEXER PRO-

GRAM WILL BE STORED

200 INPUT "ENTER FILENAME TO STORE INDEXER

PROGRAMn,F$

210 REM OPEN THE DlSK FILE TO RECEIVE THE INDEXER

PROGRAM

220 OPEN

"OH, #2, F$ 230 REM INITIALIZE LlNE COUNT 240 C=O

250 REM SEND PROGRAM TRANSFER COMMAND TO IN-

DEXER 260 PRlNT #1,"L48 0 HI4 270 REM INPUT XOFF 280

G$=INPUT$(l ,#1) 290 REM RECEIVE PROGRAM LlNE 300 INPUT

#l

,

L$

310 REM SEND XOFF TO ALLOW TIME TO STORE DATA ON

DISK 320 PRlNT #I, CHR$(I 9), 330 REM STORE DATA ON DlSK 340 PRINT #2,L$ 350 REM DISPLAY PROGRAM LlNE ON SCREEN 360 PRlNT L$ 370 REM INCREMENT LlNE COUNT

380

C=C+1

390 REM SEND XON TO ALLOW TRANSMISSION TO CON-

TINUE 400 PRlNT #1, CHR$(17), 410 REM GET NEXT LINE IF 400 LINES HAVE NOT BEEN

RECEIVED

420 IF

C<400 THEN GO TO 300 430 REM DATA TRANSFER AND STORAGE COMPLETE 440 PRlNT "INDEXER PROGRAM STORED IN FILE'' F$

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PROGRAM LISTING

3

REM THIS PROGRAM LOADS THE INDEXER WlTH AN APPLICATION PROGRAM REM THAT HAS BEEN STORED ON A DISK REM PROGRAM DOES NOT SUPPORT DAISY CHAINING REM CONFIGURE SERIAL PORT 1 FOR INDEXER COMMUNICATIONS REM INDEXER SET AT9600 BAUD, 8 DATA BITS, 2 STOP BITS AND REM NO PARITY

"COM1:9600,N,8,2,CS,DS,CDU

OPEN

AS#l INPUT "ENTER DEVICE NUMBERn;D REM OUTPUT XON PRlNT #I ,CHR$(17); REM OUTPUT DEVICE CHARACTER AND DEVICE NUMBER IF D>99 OR D<1 THEN GO TO 70

REM

IF

D<lO THEN PRlNT #1, USING "<#;D IF D>9 THEN PRlNT #1, USING "<##";D REM RECEIVE EQUAL SIGN, AND XON G$=INPUT$(2,#1) REM SET L26 PARAMETER TO 0 PRlNT #1 ,"L26 0" REM RECEIVE XOFF AND XON G$=INPUT$(2,#1) REM FILENAME FROM WHICH THE INDEXER WILL BE LOADED INPUT "ENTER FILENAME TO LOAD INDEXER" ;F$ REM OPEN THE DISK FILE TO LOAD INDEXER

"I",

OPEN

#2, F$ REM INITIALIZE LlNE COUNT C=O REM READ PROGRAM LlNE FROM DISK INPUT #2, L$ REM SEND PROGRAM LlNE TO INDEXER PRlNT #1 ,L$ REM INPUT XOFF AND XON G$=INPUT$(2,# 1

)

REM DISPLAY PROGRAM LlNE ON SCREEN PRlNT L$ REM INCREMENT LlNE COUNT C=Ctl REM GET NEXT LINE IF 400 LINES HAVE NOT BEEN TRANSFERRED IF (2400 THEN GO TO 280 REM DATA TRANSFER AND STORAGE COMPLETE PRlNT "INDEXER LOADED WlTH FILEn$$ REM CLOSE THE OPEN FILES CLOSE REM PROGRAM END END

REM THlS PROGRAM ALLOWS INTERACTIVE COMMU-

NICATIONS BETWEEN THE

REM HOST AND THE INDEXER

1

REM CONFIGURE SERIAL PORT

FOR INDEXER COMMUNICATIONS REM INDEXER SET AT 9600 BAUD, 8 DATA BITS, 2 STOP BITS,AND REM NO PARITY

OPEN TOM1 :9600,N,8,2,CS,DS,CD" AS#1

PRlNT #I, CHR$(17); REM SET L26 PARAMETER IN ALL INDEXERS PRlNT #1,"<00 L26 0" REM ENTER INDEXER COMMAND STRING REM IF END IS ENTERED THEN PROGRAM IS TERMI-

NATED

INPUT "ENTER INDEXER COMMANDn;L$ IF L$="ENDn THEN GO TO 350 PRlNT #I, CHR$(17); REM OUTPUT INDEXER COMMAND STRING PRINT #1 ,L$ REM TIME DELAY

FOR I=1 TO 25

l

NEXT REM READ INPUT BUFFER FOR DATA

IF EOF(1)= -1 THEN GO TO 140

REM DO NOT PRlNT CHARACTER IF XOFF OR XON PRlNT

#I, CHR$(17);

B$=INPUT$(l,#l

)

IF B$=CHR$(17) THEN GO TO 230 IF B$=CHR$(19) THEN GO TO 230 REM IF B$=CHR$(10) THEN PRINT B$;: GOSUB 360: GO TO 230 REM PRlNT INPUT CHARACTER ON DISPLAY PRlNT B$; GO TO 200 REM PROGRAM END END REM THlS SUBROUTINE IS CALLED IF A MULTI-LINE TRANSFER HAS BEEN REM COMMANDED. IT UTILIZES XON AND XOFF

IF

EOF(l)= -1 THEN RETURN

REM OUTPUT XOFF

#1

PRlNT

,CHR$(19); REM INPUT CHARACTER B$=INPUT$(1,#1) REM DO NOT PRINT IF XOFF OR XON

IF B$=CHR$(l 7) THEN GO TO 380 IF

B$=CHR$(l 9) THEN GO TO 380 REM REM PRlNT INPUT CHARACTER ON DISPLAY PRlNT B$;

IF EOF(I)=O THEN GO TO 420 REM OUTPUT XON PRlNT #I ,CHR$(17), RETURN

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TYPICAL PERFORMANCE CHARACTERISTICS

-

(FULL STEP)-0

1000 2000

3000

4000

5000

6000

7000

8000

9000

XXXX)

(HALF

STEP)

-0

XXX)

4000 6000

8000 10000 12000 14000

16000 18000

20000

SPEED (STEPS PER SECOND)

FULLIHALF STEP

M061-CF408 AND M061-LF408 MOTORS

3

TYPICAL PERFORMANCE CHARACTERISTICS

(FULL

STEP)-0

1000 2000

3000

4000

5000

6000 7000 8000

9000

10000

(HALF STEP)-0

2000

4000

6000

8000

10000 12000 14000 16000 18000 20000

SPEED (STEPSPER SECOND)

FULLIHALF-STEP

M062-CF402 AND M062-LF402 MOTORS

TYPICAL PERFOR ANCE CHARACTERISTICS

(FULL STEP) - 0

1000

2000 3000

4000

5000

6000 7000

8000 9000 10000

(HALF STEP)-0

'2000

4000

6000

8000 10000

12000 14000 16000 18000 20000

SPEED (STEPS PER SECOND)

FULLtHALF STEP

M063-CF401 AND M063-LF401 MOTORS

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=,,

TYPICAL PERFORMANCE CHARACTERISTICS

SPEED

(1.8"

STEPS PER SECOND)

MICROSTEP

M061-CF408

AND

M061-LF408 MOTORS

TYPICAL PERFORMANCE CHARACTERISTICS

SPEED

(1.8O

STEPS PER

SECOND)

MICROSTEP

M062-CF402

AND

M062-LF402 MOTORS

.,.,.

TYPICAL PERFORMANCE CHARACTERISTICS

SPEED

(1.8"

STEPS PER SECOND)

MICROSTEP

M063-CF401

AND

M063-LF401 MOTORS

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7

nn

TYPICAL PERFORMANCE CHARACTERISTICS

50

40

30

20

10

0

(FULL

STEP)

-

0

1000 2000

3000

4000 5000

6000

7000 8000

9000

10000

(hALF

STEP

-

0

2000 4000

6000

8000 10000 12000 14000 16000 18000 20000

SPEED (STEPS PER SECOND)

FULLIHALF STEP

M091-FF401 MOTOR

TYPICAL PERFORMANCE CHARACTERISTICS

150

120

-

cn

I-

90

&

3

-

60

E

3

30

B

n

(FULL

STEP)

-

0

1000 2000 3000 4000

5000

6000

7000 8000 9000

1OW

(HALF

STEP)

-

0 2000

4000

6000 8000 10000

12000

14000 16000

1sOOO

20000

(FUL

(HAL

SPEED (STEPSPERSECOND)

FULLIHALF-STEP

M092-FF401 MOTOR

fino

TYPICAL PERFORMANCE CHARACTERISTICS

SPEED (STEPSPER SECOND)

FULLIHALF STEP

M093-FF402 MOTOR

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4

5n

TYPICAL PERFORMANCE CHARACTERISTICS

SPEED (1.8" STEPS PER SECOND)

MICROSTEP

M091-FF401 MOTOR

TYPICAL PERFORMANCE CHARACTERISTICS

400

(282.4)

125

320

(226.0) 100

-

cn

k-

240

(169.4)

75

+

4

-.

160

(113.0)

50

&

3

0

80

a

(56 5)

25

0

1000

2000

3000

4000

5000

6000

7000

800Ci

9000

1m

SPEED

(1.8"

STEPS PER

SECOND)

MICROSTEP

M092-FF402 MOTOR

cnn

TYPICAL PERFORMANCE CHARACTERISTICS

SPEED (1.8" STEPS PER SECOND)

MICROSTEP

M093-FF402 MOTOR

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750

TYPICAL PERFORMANCE CHARACTERISTICS

(529.6) 250

-

600

E

(423.6) 200

2

-

450

z

(317.8)

I.

N

0

300

(211.8) 100

"

3

150

,o

0

(105.9) 50

k-

150

(FULL STEP)-0 1000 2000

(HALF STEP) - 0

0

2000

4000

M111-FF401 AND MX111-FF401 MOTORS

TYPICAL PERFORMANCE CHARACTERISTICS

XXX)

4000

(FULL

(HALF

-7-

/

3u

(529.6) 300

600

E

(423.6) 240

,U

-

450

z

(317.8) 180

I.

N

0

300

(211.8) 120

13

150

(105.9)

0

STEP)

-0 1000 2000

STEP)

-0

3000

4000

5000

6000

7000

8000

9000

6000 8000 10000 12000

SPEED (STEPS

PER

SECOND)

14000

16000

10000

18000 20000

FULLNHALF STEP

3000

4000 5000 6000 7000 8000 9000 10000

6000 8000 10000 12000 14000 16000 18000 20000

SPEED (STEPS PER SECOND)

FULLIHALF-STEP

M112-FF401 MOTOR

0

60

0

1500

(FULL STEP) (HALF STEP)- 0 2000 4000 6000 8000 10000 12000 14000 16000 18000 20000

-

TYPICAL PERFORMANCE CHARACTERISTICS

0 1000

2000 3000 4000 5000 6000 7000

8000 9000 10000

300

240

180

120

60

0

SPEED (STEPS PER SECOND)

FULLIHALF STEP

MH112-FJ4201 MOTOR

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0 1000 2000 3000 4000 5000 6000 7000 8000

9000

IOOOO-

SPEED

(1.8''

STEPS PER SECOND)

cnn

TYPICAL PERFORMANCE CHARACTERlSTlCS

MICROSTEP

M111-FF401

AND

MX111-FF401 MOTORS

TYPICAL PERFORMANCE CHARACTERISTICS

250

150

100

50

0

1000 2000

3000

4000

5000

6000 7000

eOOO

9000

loo00

SPEED

(1.8"

STEPS PER SECOND)

MICROSTEP

M112-FF401 MOTOR

TYPICAL PERFORMANCE CHARACTERISTICS

SPEED

(1.8"

STEPS PER SECOND

1

MICROSTEP

MH112-FJ4201 MOTOR

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6.1

MOTOR PERFORMANCE

All stepping motors exhibit instability at their natural frequency and harmonics of that frequency Typically this instability will occur at speeds between 50 and 500 full steps per second and depending on the dynamic motor load parameters can cause excessive velocity modulation or improper positioning

There are also other instabilities which may cause a loss of torque at stepping rates outside the range of natural resonance frequencies. One such instability is broadly identified as mid-range instability. This

(....I

is identified by the dotted area Usually the dampening of the system and

through the resonance areas aids in reducing instability to a level that

prov~des smooth shaft velocity and accurate positioning If instability does cause unacceptable performance under actual operating conditions, the following techniques can be used to reduce velocity modulation

1 Avoid constant speed operation at the motor s unstable frequencies Select a base speed that adjust acceleration and deceleration to move the motor through unstable regions quickly

2

The motor winding current can be reduced as discussed in Section

3.8

Lowering the current will reduce torque proportionally. The reduced energy delivered to the motor can decrease velocity modulation

3.

Use half-step mode of operation (3180-PI only). Note that this halves the shaft speed for a given input pulse rate. Microstepping (3180-PI10 and 3180-P1125) inherently provides smoother opera-

tion. and reduces the effects of mid-range instability.

WARNING:

and large amounts of mechanical energy.

Motors connected to this drive can develop high torque

is above the motor's resonant frequencies and

on the speed torque curves.

accelerationideceleration

Keep clear of the motor shaft, and all parts mechanically linked to the motor shaft.

Turn off the power to the

mechan~cally coupled to the motor.

if installation and operation instructions have been followed carefully this unit should perform correctly If motor fails to step properly the following checklist will be helpful

In General:

Check all installation wiring carefully for wiring errors or poor

connections

Check to see that the proper voltage levels are being

unit Be sure the motor is compatible for use with this unit *Check to see that baud rates parity and other communications

parameters are properly set *When connecting thls unit to a terminal or host computer be sure

device addresses are correct

7.1

IF

MOTOR DIRECTION (CW,

Connect~ons to the Motor Connector may be reversed

7.2

IF

THE MOTOR MOTION IS ERRATIC, Check:

Supply voltage out of tolerance. Motion parameters (low speed, home speed, and feedrate) may need adjustment. Operation in dotted area of speed-torque curve.

7.3

IF TORQUE IS LOW, Check:

AWO (All Windings Off) active or REDUCED CURRENT active. Im-

proper supply voltage. Operation in dotted area of speed-torque curve. If a malfunction occurs that cannot be corrected by making these corrections, contact The Superior Electric Company.

drlve before perform~ng work on parts

supplled to the

CGW)

IS REVERSED, Check:

accelerationldeceleration.

jog speed,

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APPENDIX MICRO-SERIES SINGLE LINE PRESET INDEXER EMULATION

This Appendix provides two methods of emulating a one-line indexer function with a Superior Electric Micro-Series Indexer. Method 1

utilizes the MDI (line 000) mode to function as a one-liner indexer. while Method 2 requires programming of lines 1 and 2. Asassumption was made that a Superior Electric SSP-100 programmer was interfaced to the Micro-Series Indexer, although any parallel data entry device (such as a programmable controller) can utilize these methods.

Only the required parameters and program lines are programmed: the other parameters and program lines retain their factory defaults as shown below:

Full Step 1110th Step 11125th Step

Translator

---

.

=

1 LO6 = 1 LO6 = 1

LO6

Translator Translator

-

One-Line Indexer: Method

1

A. Indexer Set Up - Done only once as all values are retained in nonvolatile memory.

1.

L70 (Translator Resolution) Data Entry: A. Select L code with SEL4

- -

=

1,

SEL2 = 0. and%? = 0. B. Set the CODE DATA THUMBWHEELS to 007. C. Set the translator resolution (1.2,lO. or 125) in the FIELD

DATA THUMBWHEELS. D. Activate the LOAD switch and release. E. The translator resolution has been entered into the

170

parameter.

2. L12 (Low Speed) Data Entry:

=

A Select L code with

SEL~ = 1 SEL2 = 0 and

0 B Set the CODE DATA THUMBWHEELS to 012 C Set the low (base) speed (pulseslsec) in the FIELD DATA

THUMBWHEELS D Activate the LOAD switch and release E The low (base) speed has been entered into the 112 parame-

ter

3.

L11

(Acceleration/Deceleration)

-

A. Select L code with SEL4 = 1. SEL2 = 0, and B.

Set the CODE DATA THUMBWHEELS to 01 1

6. Set the

accelerationldeceleration

Data Entry:

-

SEL~ = 0.

rate (pulses/sec2) in the

FIELD DATA THUMBWHEELS. D. Activate the LOAD switch and release.

accelerationldeceleration

E. The

rate has been entered into the

L11 parameter.

4.

LO9 (Jog Speed) Data Entry: A. Select L code with SEL 4 = I,

. . -.

..

.

-

SEL2 = 0, and?~~l = 0. B. Set the CODE DATA THUMBWHEELS to 009. C. Set the low (base) speed (pulses/sec) rn the FIELD DATA

One-Line Indexer Emulation Comments

1. Method 1 requires fewer set up steps than Method 2. but Method 2 simplifies the daily operations.

1

2. Method the power up default of the LO9 parameter is not adequate, while

requires the feed rate to be loaded on power up if

8.

Method 2 retains the feed rate in nonvolatile memory.

3.

The two methods are applicable to any Micro-Series lndexer.

4. The power up default of incremental mode is assumed to remain unchanged.

5,

The user may find it easierto perform the set up operations via the

RS232 serial port with a computer or terminal. or using the

Superior Electric SSP-500 remote hand-held programmer.

6. The set up is similar to the set up requirements of an IODD008

Modulynx indexer of the analog speed adjustment of a TBM or PIM module.

7, The methods require Rev. C (4187) or later indexer software

revisions.

8, If the time to load the data. which is 7 times the LO7 value (a total

or 700 milliseconds at factory default

setting).

is too long, then LO7

can be altered as follows:

-

I

A Select L code with SEL 4 = 1

B Set the CODE DATA THUMBWHEELS to 007

-

SEL 2

=

--

0 and SEL

1

=

0

C Set the strobe delay time (m~lliseconds) in the FlELD DATA

THUMBWHEELS

D

Act~vate the LOAD switch and release

E The strobe delay time has been entered into the LO9 parameter

THUMBWHEELS.

D. Activate the LOAD switch and release.

E.

The jog speed has been entered into the LO9 parameter.

F. Upon power up, the jog speed in LO9 will be utilized as the

feed rate.

Daily Operation

1.

X (Move Distance) Data Entry: A Select X code with SEL4 = 0 SEL2 = 1 and

-

SK

=

0 B Set the Distance (pulses) in the FlELD DATATHUMBWHEELS C Activate the LOAD swrtch and release

X

=

1 and

field

SF

=

1

D The distance has been entered into the

2.

F(Feed Rate) Data Entry: (skip tostep 3 if the power up default of the LO9 parameter is adequate)

--

A Select F code with SEL4 = 0 K2

B

Set the Feed Rate (pulseslsec) in the FIELD DATA

THUMBWHEELS

C Activate the LOAD switch and release

D The Feed Rate has been entered into the

3.

Index Operation:

F field

A. Activate the CYCLE START switch and release

B. The motor indexes the distance entered.

4.

The X and F values are retained until power is turned off

Repeat steps 1 and 2 as necessary to edit the motron parame-

ters and then repeat step

3

to

initiate motion

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One-Line lndexer: Method A. lndexer Set Up

nonvolatile

-

memory.

2

Done only once as all values are retained in

1. L70 (Translator Resolution) Data Entry:

A Select L code with s== 1 s== 0 and B Set the CODE DATA THUMBWHEELS to 070 C Set the translator resolution (1 2 10 or 125)

in the FIELD

DATA THUMBWHEELS D Act~vate the LOAD swltch and release E The translator resolution has been entered into the

parameter

2.

L12 (Low Speed) Data Entry:

---

A. Select L code with SEL4 = 1. SEL2 = 0, andm = 0. B. Set the CODE DATA THUMBWHEELS to 012. C. Set the low (base) speed (pulsesisec) in the FIELD DATA

THUMBWHEELS. D. Activate the LOAD switch and release. E. The low (base) speed has been entered into the L12 parame-

ter.

3.

L11

(Acceleration/Deceleration)

A.

Select L code with SEL4 = 1. SEL2 = 0, and

Data Entry:

-

SE

B. Set the CODE DATA THUMBWHEELS to 01 1 C. Set the accelerationldeceleration rate (pulseslseci) in the

FIELD DATA THUMBWHEELS. D. Activate the LOAD swrtch and release.

acceleration/deceleration

E. The

rate has been entered into the

L1 1 parameter.

4.

LO9 (Jog Speed) Data Entry: (skip to step 5 if not utilizing jog function)

--

-

A. Select L code with SEL4 = 1, SEL2 = 0. and B. Set the CODE DATA THUMBWHEELS to 009. C. Set the low (base) speed (pulseslsec) ~n the FIELD DATA

THUMBWHEELS. D. Activate the LOAD switch and release. E. The low (base) speed had been entered into the L12 parame-

ter.

5.

LO6 (Program Execution Mode) Data Entry:

=

0

170

=

0.

=

0.

8.

Enter G36

(X

code Strobe) on line number 001:

--

-.

A. Select G code with SEL4 = 0, SEL2 = 0. andm = 1

B. Set the CODE DATA THUMBWHEELS to 036.

C. Activate the LOAD switch and release.

D. G36 has been entered into the program.

9. F (Feed Rate) Data Entry:

-

--

A. Select F code w~th SEL4 = 0. SEL2 = 1, and =l. B. Set the Feed Rate (pulseslsec) in the FIELD DATA

THUMBWHEELS.

C.

Activate the LOAD switch and release.

D. The Feed Rate has been entered into line number 1's Ffield

10. Select Line Number 002:

A. Select N code w~th SEL4 = 0, SEL2 = 0, and~~i

6.

Set the CODE DATA THUMBWHEELS to 002.

-

=

0

C. Activate the LOAD switch and release. D. NO02 has been selected.

11.

Enter G30 (Program End) on line number 002:

..

-

A. Select G code with SEL4 = 0, SEL2 = 0, andm = 1 B. Set the CODE DATA THUMBWHEELS to 030.

C.

Activate the LOAD switch and release.

D. G30 has been entered into the program on line number 2

8.

Daily Operation

1.

Index Operation:

A. Setthe Distance (pulses) in the FIELD DATATHUMBWHEELS.

B. Activate the CYCLE START switch and release. C. The motor indexes the distance entered.

2.

Repeat step 1 as necessary.

A. Select L code w~th SEL4 = 1, SEL2 = 0, and SEL 1 = 0. B. Set the CODE DATA THUMBWHEELS to 006.

C.

Set FIELD DATA THUMBWHEELS to 2. D. Activate the LOAD switch and release. E. The auto execution mode has been entered into the

parameter.

6.

L41 (Autostart Line Number) Data Entry:

A.

Select L code wth SEL4 = 1, SEL2 = 0, and

B.

Set the CODE DATA THUMBWHEELS to 041

C.

Set FIELD DATA THUMBWHEELS to 1

KT

D Activate the LOAD switch and release.

E.

The autostar? line number has been entered ~nto the 141

parameter.

7.

Select line number 001:

--

A Select N code with B

Set the CODE DATA THUMBWHEELS to 001

C

Activate the LOAD switch and release

~x4

--

=

0 SEL2 = 0 and

~ELI

D NO01 hds been selected

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=

LO6

0.

0

CODE

SUMMARY

COMMAND FORMAT

LO6

n

LO7

nnnn LO8 s LO9

nnnnnnn

Lll

nnnnnnnn

L 12

nlmnnnn

L14

nnnnnnn

L 17 snnnnnnnn 118 snnnnnnnn 119 snnnnnnnn L21

nn

L22

nnnn

L23

n

125

n

126

n

141

nnn

144

nnnn

L45

n

L48

nnn

L49

nn

L70

nnn

PARAMETERS

FUNCTION

EXECUTION FORMAT STROBE DELAY TIME MECHANICAL HOME DIRECTION JOG SPEED

ACC/DCC

LOW SPEED HOME SPEED

MECHANICAL HOME OFFSET

SOFTWARE CW LIMIT

SOFTWARE CCW LIMIT DEVICE ID BAUD RATE WORD LENGTH PARITY RESPONSE FORMAT AUTO START LINE NUMBER BETWEEN LINE DELAY

ENABLE/DISABLE

LIMIT PROGRAM LINE TRANSFER COUNT PARAMETER TRANSFER DESIGNATOR RESOLUTION

COMMANDS

-

.-

-

.-

COMMAND FORMAT

NOTE:

TX

is an abbreviation for "Transmit".

COMMANDS

--

FUNCTION

-

PROGRAM CYCLE START STEP MODE JOG MODE SET HIGH SPEED MODE SET LOW SPEED MODE CU DIR (Jog or Step cycle) CCW RETURN ELECTRICAL HOME SET ELECTRICAL HOME RETURN MECHANICAL HOME CLEAR PRESENT PROGRAM LINE CLEAR ALL PROGRAM LINES TX PRESENT PROGRAM LINE TX ALL PROGRAM LINES TX PRESENT PROGRAM NUMBER

TX PARAMETER TX ABSOLUTE POSITION TX MOTION STATUS TX MODE STATUS TX 1/0 STATUS TX SOFTWARE REV LEVEL ENABLE TRACE MODE DISABLE TRACE MODE

--

DIR (Jog

-

or

Step cycle)

-

COMMAND FORMAT

f

Xof Xon

'X

ICOMMAND FORMAT 1 FUNCTION

I

Nnnn

Xsnnnnnnnn

I

Fnnnnnnn

1

COMMAND FORMAT / FUNCTION

GO4 Xnnnn IGll Xnnn Fnnnn G20 Xnnnn Fnnn G22 Xnnnn

I

G30

lG31

I

G36 G37 G47 Xnn C64

I

G65 G66 G67 C68

FUNCTION

SUSPEND RS232 TRANSMISSION RESUME RS232 TRANSMISSION CANCEL LINE IN RS232 BUFFER BACKSPACE 1 CHARACTER IN RS232 BUFFER ATTENTION ALL DEVICES ATTENTION DEVICE MOTION CLEAR FEED HOLD OR JOG STOP PROGRAM STOP

I

/

LINE NUMBER (000 THRU 4001

/

MOVE DISTANCE OR DATA FIELD FOR GO4,Gll ,G2D,G22,G47 CODES

1

FEED RATE OR DATA FIELD FOR G11 ,G2O

/BRANCH ON INPUT CONDITION /WAITFOR INPUTCONDITION IlnputCondition

END OF PROGRAM/RTS PROGRAM STOP

/STROBE x CODE DATA

/STROBE N CODE DATA

/

SET/RESET OUTPUT CONDITION

/ENABLE

ID

IENABLE BOOST CURRENT MODE

WINDINGS OFF

/WINDINGS

IRETURN TO ELECTRICAL HOME

!SET

/RETURN

/ABSOLUTE DIMENSION INPUT

/

REDUCED

ISABLE REDUCED CURRENT MODE

DISABLE BOOST CURRENT MODE

ON

ELECTRICAL

TO MECHANICAL HOME

INCREMENTAL DIMENSION INPUT

nn

WITH RESPONSE

CURRENT

HOME

MODE

(:)

OR (=Xon)

/X

FIELD DATA

Dwell Time Line Number of Subroutine

/Input

in

milliseconds

Condition for Branch

1

I

/output

1

1 I /

!

1

i

I

1

/

Condition

FIELD DATA

;ubroutine Repeat Count jranch Line Number

NOTE:

RTS is an abbreviation for "Return From Subroutine".

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PROGRAM WORKSHEET

HARD

L

CODE DATA

L

CODE DATA

ENED INDEXER

ROGRAMMING WORKSHEET

FUNCTION

EXECUTION FORMAT STROBE DELAY TIME MECHANICAL HOME DIRECTION JOG SPEED

ACCELERATION/DECELERATION/

LOW SPEED HOME SPEED

MECHANICAL HOME OFFSET

SOFTWARE CW LIMIT

SOFTWARE CCW LIMIT

FUNCTION

DEVICE ID BAUD RATE WORD LENGTH PAR

I

TY

RESPONSE FORMAT

AUTO START LINE

BETWEEN LINE DELAY LIMIT ENABLE/DISABLE RESOLUTION

I

1

I I

I

-

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PROGRAM DATA

Line Number

G

Code

ove Distance or Data

Feed Rate

or Dat;

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Superlor Electrlc products are available nationwide

In addition, Superior Electric sales engineers and manu-

through an extensive authorized distributor network.

facturers' representatives are conveniently

located to

These

distributors

offer literature. technlcal assistance

provide prompt attention to customers' needs. Call the

and a wide range of models off the shelf for fastest

nearest office listed for ordering and application informa-

,

possible delivery. tion or for the address of the closest authorized distributor.

383

Middle Street

Br~stol. CT

061 01

Tel:

(203) 582-9561

TWX:

71 0-454-0682

-

FAX:

203-589-21 36

Customer Serivce:

1-800-227-6470

Product Application:

1-800-227-6471

FAX:

1-800-766-6366

Product Literature Request:

1-800-766-71 71

Superior Electric Nederland

B.V.

Koperwerf

33

2544

EM The Hague, Netherlands

Tel:

31 70 3 679590

TELEX:

31 436

Supe nl

FAX:

01 I 31 70 3 296274

WARRANTY AND LIMITATION OF LIABILITY

Superior Electric (the Company ) Bristol Connecticut warrants to the first end user purchaser (the purchaser ) of equipment manufactured by the Company that such equipment if new unused and in original unopened cartons at the time of purchase will be free from defects in material and workmanship under normal use and service for a period of one year from date of shipment from the Company s factory or a warehouse of the Company in the event that the equipment is purchased from the Company or for a period of one year from the date of shipment from the business establishment of an authorized distributor of the Company in the event that the equipment is purchased from an authorized distributor

THE COMPANY'S

OBLIGATION UNDER THIS WARRANTY SHALL BE STRICTLY AND EXCLUSIVELY LIMITED TO REPAIRING OR REPLACING, AT THE FACTORY OR A SERVICE CENTER OF THE COMPANY, ANY SUCH EQUIPMENT OR PARTS THEREOF WHICH AN AUTHORIZED REPRESENTATIVE OF THE COMPANY FINDS TO BE DEFECTIVE IN MATERIAL OR WORKMANSHIP UNDER NORMAL USE AND SERVICE WITHIN SUCH PERIOD OF ONE YEAR. THE COMPANY RESERVES THE RIGHTTO SATISFY SUCH OBLIGATION IN FULL BY REFUNDING THE FULL PURCHASE PRICE OF ANY SUCH DEFECTIVE EQUIPMENT.

This warranty does not apply to any equipment

which has been tampered with or altered in any way which has been improperly installed or which has been subject to misuse neglect or accident

THE FOREGOING WARRANTY IS IN LIEU OF ANY OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING, WITHOUT LIMITATION, ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE,

and of any other obligations or liabilities

1

on the part of the Company and no person is authorized to assume for the Company any other liability with respect to equipment manufactured by the Company

The Company shall have no liab~lity with respect to equipment not of its manufacture

THE COMPANY SHALL HAVE NO LIABILITY WHATSOEVER IN ANY EVENT FOR PAYMENTOF ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES, INCLUDING, WITHOUT LIMITATION, DAMAGES FOR INJURY TO ANY PERSON OR PROPERTY.

Written authorization to return any equipment or parts thereof must be obtained from the Company The Company shall not be responsible tor any transportation charges

IF FOR ANY REASON ANY OF THE FOREGOING PROVISIONS SHALL BE INEFFECTIVE, THE COMPANY'S LIABILITY FOR DAMAGES ARISING OUT OF ITS MANUFACTURE OR SALE OF EQUIPMENT, OR USE THEREOF, WHETHER SUCH LIABILITY IS BASED

ON

WARRANTY, CONTRACT, NEGLIGENCE, STRICT LIABILITY IN TORT OR OTHERWISE, SHALL NOT IN ANY EVENT EXCEED THE FULL PURCHASE PRICE OF SUCH EQUIPMENT.

Any action against the Company based upon any liability or obligation arising hereunder or under any law applicable to the sale of equipment or the use thereof must be commenced within one year after the cause of such action arises

These products are sold subject to the standard Limitation of Liability

and'or Warranty of The Superior Electric Company The

American Superior Electric Company Lid

or Superior Electric Nederland B

V

The right to make engineering refinements on all products is reserved Dimensions and other details are subject to change

TEL: (203) 582-9561 TELEX: 96-2446

:

7

10-454-0682

Cable Address: SUPELEC

FAX:

(203) 589-2 136

A213710

025.

REV.

D

Printed

in

US

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Superior Electric SLO-SYN Micro Series, SLO-SYN 3180-PI10, SLO-SYN 3180-PI, SLO-SYN 3180 Series, SLO-SYN 3180-PI125 Instructions Manual

Specifications and Main Features

Frequently Asked Questions

User Manual