Yaskawa SMC-2000 User Manual

SMC-2000 Multi-Axis Motion Controller

User’s Guide Version 3.1

Overview

Introduction

The SMC-2000 Series are packaged motion controllers designed for stand-alone operation. Features include coordinated motion profiling, uncommitted inputs and outputs, non-volatile memory for stand-alone operation and RS232/RS422 communication. Extended performance capability includes: fast 8 MHz encoder input frequency, precise 16-bit motor command output DAC, +/-2 billion counts total travel per move, faster sample rate, and multitasking of up to four programs. The controllers provide increased performance and flexibility featuring plug and play operation.

Designed for maximum system flexibility, the SMC-2000 is available in one, two, four, and eight axes configurations.

Each axis accepts feedback from a quadrature linear or rotary encoder with input frequencies up to 8 million quadrature counts per second. For dual-loop applications that require one encoder on both the motor and the load, auxiliary encoder inputs are included for each axis.

The powerful controller provides several modes of motion including jogging, point-to-point positioning, linear and circular interpolation with infinite vector feed, electronic gearing and user-defined path following. Several motion parameters can be specified including acceleration and deceleration rates, and slew speed. To eliminate jerk, the SMC-2000 provides S-curve profiling.

For synchronizing motion with external events, the SMC-2000 includes 8 optically isolated inputs, eight programmable outputs and seven analog inputs (eight optional). I/O expansion boards provide additional inputs and outputs. Event triggers can automatically check for elapsed time, distance and motion complete.

Despite its full range of sophisticated features, the SMC-2000 is easy to program. Instructions are represented by two letter commands such as BG for Begin and SP for Speed. Conditional Instructions, Jump Statements, and arithmetic functions are included for writing self-contained applications programs.

To prevent system damage during machine operation, the SMC-2000 provides several error handling features. These include software and hardware limits, automatic shut-off on excessive error, abort input, and user-definable error and limit routines.

SMC-2000 User's Guide Overview

••••

SMC-2000 Functional Elements

The SMC-2000 circuitry can be divided into the following functional groups as shown in Figure 1.1 and discussed below.

To Host

RS-232 / RS-422 Serial

Communication FIFO

80 Bytes

8 24V Out

8 Digital In

8 Analog In

I/O

Interface

68340

Microcomputer

1024K RAM

256K EPROM

1024 EEPROM

Watch Dog

Timer

4-Axes

Motor/Encoder

Inte rface

To Amps

From

Limits

From

Encoders

Figure 1.1 - SMC-2000 Functional Elements

Microcomputer Section

The main processing unit of the SMC-2000 is a specialized 32-bit Motorola 68340 Series Microcomputer with 256K RAM, 64 K EPROM and 128 K bytes EEPROM. The RAM provides memory for variables, array elements, and application programs. The EPROM stores the firmware of the SMC-2000. The EEPROM allows parameters and programs to be saved in non-volatile memory upon power down.

Motor Interface

For each axis, a sub-micron gate array performs quadrature decoding of the encoders at up to 8 MHz, generates the +/-10 Volt analog signal (16-Bit D-to-A) for input to a servo amplifier. Interface to hardware limits and home inputs is also included.

Communication

Communication to the SMC-2000 is via two separately addressable RS232 ports. The factory may also configure the ports for RS422. The serial ports may be daisy-chained to other SMC-2000 controllers.

General I/O

The SMC-2000 provides interface circuitry for eight opto-isolated inputs, eight general outputs, and seven (or eight) analog inputs (14-Bit ADC). The eight axis SMC-2000 provides 24 inputs and 16 outputs. Additional I/O is optional.

System Elements

As shown in Fig. 1.2, the SMC-2000 is part of a motion control system that includes amplifiers, motors, and encoders. These elements are described below

Computer SMC-2000 Controller Driver

Figure 1.2 - Elements of Servo systems

Motor

A motor converts current into torque, which produces motion. Each axis of motion requires a motor sized properly to move the load at the required speed and acceleration. (Yaskawa's "YSize" software can help you with motor sizing).

Power Supply

Encoder Motor

The servo motor and can be brush-type or brushless, rotary or linear. Please refer to Yaskawa catalogs for more information.

Amplifier

For each axis, the power amplifier converts the +/-10 Volt signal from the controller into enough current to drive the motor. As such, the amplifier should be sized properly to meet the power requirements of the motor. For brushless motors, an amplifier that provides electronic commutation is required. The amplifier should be set up to operate in a torque control mode. Set the torque reference gain so that 10 Volts at the torque reference input will allow the amplifier/motor to operate at peak torque (typically 200-300% of rated torque). See Yaskawa technical manuals for specifications. Please call Yaskawa if you need help configuring your amplifier.

Encoder

An encoder translates motion into an electrical signal to be fed back into the controller. The SMC-2000 accepts feedback from either a rotary or linear encoder. The preferred encoder is the one with two channels in quadrature, CHA and CHB. This encoder may also have a third channel (or index) for synchronization. When necessary, the SMC-2000 can interface to encoders with pulse and direction signals.

There is no limit on encoder line density, however, the input frequency to the controller must not exceed 2,000,000 full encoder cycles/second (8,000,000 quadrature counts/sec). For example, if the encoder line density is 10000 cycles per inch, the maximum speed is 200 inches/second.

The encoder type may be either single-ended (CHA and CHB) or differential (CHA,CHA-,CHB,CHB-). The SMC-2000 decodes either type into quadrature states or four times the number of cycles.

SMC-2000 User's Guide Overview

••••

The standard voltage level is TTL (zero to five volts), however, voltage levels up to 12 Volts are acceptable. (If using differential signals, 12 Volts can be input directly to the SMC-2000. Single-ended 12 Volt signals require a bias voltage input to the complementary inputs)

SMC-2000 User's Guide Overview

••••

Getting Started

Elements You Need

Before you start, you must get all the necessary system elements. These include:

1. SMC-2000 Series Controller

2. Servo motors and amplifiers

3. 24 Volt Class 2 Power Supply for SMC-2000 and Amplifiers

4. PC (Personal Computer with RS232 port) with at least 4MB of RAM and Windows 3.1 or higher.

5. Communication Disk (YTerm-2000 software) from Yaskawa

6. All interface and communication cables

Warning: Follow the “Tuning Servo System” procedure before applying power to the SMC unit and the servo amplifier at the same time. Applying power to the SMC unit and the amplifiers at the same time may result in damage to the mechanical system if the initial gain parameters for the SMC unit are not properly set.

Installing the SMC-2000

Connecting AC and DC Power to the Controller

The SMC-2000 requires a single AC supply voltage, single phase, 50 Hz or 60 Hz, from 85 volts to 264 volts, and a +24 (±10%) Volt Class 2 DC supply for I/O. It is also recommended that AC and DC wiring is kept separate in order to avoid noise and interference.

Warning: Do NOT use the I/O 24 VDC power supply to power any holding brakes that may be connected to your servo motors. Use a dedicated supply for that purpose.

Warning

associated amplifier(s) and servo motor(s). Extreme caution should be exercised in the application of this equipment. Only qualified individuals should attempt to install, set up and operate this equipment.

SMC-2000 User's Guide Getting Started

: Dangerous voltages, current, temperatures and energy levels exist in this product and in its

••••

The AC and DC power is applied to the power connector at the bottom of the front panel. The power connector is a 6-pin black screw-type terminal. Note that the AC power is applied to the LEFT side while the DC power is applied to the RIGHT. The five connections are:

Pin Connect to:

GND Earth Ground

N & L AC In, 85V - 264V

0 & 24V 24 Volt DC and Common

Warning

Applying AC power will turn on the green light power indicator.

: Never open the controller box when AC power is applied to it.

Connecting Servo Motors and the Amplifiers

Before connecting the amplifier to the controller, you need to verify that the ground level of the amplifier is either floating or at the same potential as earth.

WARNING: When the amplifier ground is not isolated from the power line or when it has a different potential than that of the computer ground serious damage will result to the computer controller and amplifier.

If you are not sure about the potential of the ground levels, connect the two ground signals by a 10 KΩ resistor and measure the voltage across the resistor. Only if the voltage is zero, proceed to connect the two ground signals directly.

Establishing Communication - RS232

Use the 9-Pin RS232 cable to connect the MAIN (Com 1) SMC-2000 serial port to your computer Com port. Your computer must be configured for a baud rate setting of 19.2 KB, full duplex, no parity, 8 bits data, one start bit, and one stop bit. The Yaskawa software “YTerm-2000” will accomplish this configuration.

At this point you should install YTerm-2000 software. This software requires the use of Windows 3.1 or above, and at least 4M of RAM. The YTerm-2000 communication disk from Yaskawa provides a terminal emulator / configuration program for your computer. Follow the steps below to install and run the terminal emulator.

Installation

1. Insert Disk in drive A: ( or B)

2. From Windows Program Manager or Start Menu, select <Run> command.

3. Run: A:\Setup ( or B:\Setup)

4. After the Yaskawa group is created, make sure the SMC-2000 has AC power connected to it then double-click the YTerm-2000 icon to start the program.

Encoder Interface

Encoder interface is part of the Yaskawa supplied cable that connects the SMC with the Yaskawa amplifier.

See the pinout for connector AE1 or AE2 for Auxiliary Encoder interface connection, found in the appendix.

Getting Started SMC-2000 User's Guide

••••

Tuning Servo System

Step 1. Setting servo(s) parameters

Yaskawa servo amplifier models SGD, SGDA, SGDB need to be set up to operate in a Torque Mode.

Parameter ( SGD, SGDA ) Function Setting

Cn-01, bit B , A Torque Control Mode Selection 1,0

Cn-13 Torque Reference Gain 30

Cn-01, bit 2,3 Limit Switch Disable 1,1

Parameter ( SGDB ) Function Setting

Cn-2B Torque Control Mode Selection 2

Cn-13 Torque Reference Gain 30

Cn-01, bit 2,3 Limit Switch Disable 1,1

NOTE: When using a motor with an absolute encoder please see the Absolute Encoder section in chapter 12 for additional parameter settings.

Step 2. Applying Power to SMC unit and servos

Apply power to SMC-2000. Input the command MO (CR), this will shut off control of the SMC to the servo(s).

Apply power to the servo amplifier.

Step 3. Setting Gain values in SMC unit

Set gains to default values:

Command Function Default value for

SG** servo

KD Derivative Constant 10

KP Proportional Constant 1

KI Integrator 0

Step 4. Enable Servo

In order to properly tune the servo system, enable one servo at a time with the

E, F, G, H

). After enabling a servo, maximize the gains.

SH*

command (

*=X, Y, Z, W,

Step 5. Maximize Gains

For more damping, you can increase KD (maximum is 4095). Increase gradually and stop after the motor vibrates. A vibration is noticed by the audible sound or by interrogation. If you send the command

TE X (CR) Tell error

SMC-2000 User's Guide Getting Started

••••

a few times, and get varying responses, especially with reversing polarity, it indicates system vibration. When that is the case, simply reduce KD.

Next you need to increase the value of KP gradually (maximum allowed is 1023). You can monitor the improvement in the response with the Tell Error instruction.

KP 10 (CR) Proportion gain

TE X (CR) Tell error

As the proportional gain is increased, the error decreases.

Here again, the system may vibrate if the gain is too high. When that is the case, reduce KP. Typically, KP should not be greater than KD/4.

Finally, increase the value of KI, start with zero value and increase it gradually. The integrator eliminates the position error, resulting in improved accuracy. Therefore, the response to the instruction

TE X (CR)

becomes zero. As KI is increased, its effect is amplified and it may lead to vibrations. When that occurs, simply reduce KI.

After tuning one axis, disable the servo with the MO* command ( tuning process for the remaining axes.

After each servo has been properly tuned, the values now need to be burned into the EEROM. This is done by issuing the BN command. After the BN command has been issued the new values will remain effective.

Next, you are ready to try a few motion examples.

Motion Examples

Here are a few examples for using your controller.

Example 1- Profiled Move

Objective: Rotate the X-axis a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an acceleration and deceleration rates of 100,000 counts/s

Instruction Interpretation

PR 10000 Distance

SP 20000 Speed

DC 100000 Deceleration

AC 100000 Acceleration

BG X Start Motion

X, Y, Z, W, E, F, G, H), and repeat the

In response, the motor turns and stops.

Example 2 - Multiple Axes

Objective: To move four axes independently.

Getting Started SMC-2000 User's Guide

••••

Instruction Interpretation

PR 500,1000,600,-400 Distances of X,Y,Z,W

SP 10000,12000,20000,10000 Slew speeds of X,Y,Z,W

AC 100000,10000,100000,100000 Accelerations of X,Y,Z,W

DC 80000,40000,30000,50000 Decelerations of X,Y,Z,W

BG XZ Start X and Z motion

BG YW Start Y and W motion

Example 3 - Independent Moves

The motion parameters may be specified independently as illustrated below.

Instruction Interpretation

PR ,300,-600 Distances of Y and Z

SP ,2000 Slew speed of Y

DC,80000 Deceleration of Y

AC,100000 Acceleration of Y

SP ,,40000 Slew speed of Z

AC ,,100000 Acceleration of Z

DC ,,150000 Deceleration of Z

BG Z Start Z motion

BG Y Start Y motion

Example 4 - Position Interrogation

The position of all axes may be interrogated with the instruction

TP Tell position all axes

which returns all of the positions of the motors separated by commas.

Individual axis may be interrogated with the instructions:

TP X Tell position - X axis only

TP Y Tell position - Y axis only

TP Z Tell position - Z axis only

TP W Tell position - W axis only

TP E Tell position - E axis only (SMC-2000-8 only)

TP F Tell position - F axis only (SMC-2000-8 only)

TP G Tell position - G axis only (SMC-2000-8 only)

TP H Tell position - H axis only (SMC-2000-8 only)

The position error, which is the difference between the commanded position and the actual position, can be interrogated by the instructions

SMC-2000 User's Guide Getting Started

••••

TE Tell error - all axes

TE X Tell error - X axis only

TE Y Tell error - Y axis only

TE Z Tell error - Z axis only

TE W Tell error - W axis only

Example 5- Absolute Position

Objective: Command motion by specifying the absolute position.

Instruction Interpretation

DP 0,2000 Define the current positions of X,Y as 0 and 2000

PA 7000,4000 Sets the desired absolute positions

BG X Start X motion

BG Y Start Y motion

After both motions are completed, command:

PA 0,0 Move to 0,0

BG XY Start both motions

Example 6 - Velocity Control

Objective: Drive the X and Y motors at specified speeds.

Instruction Interpretation

JG 10000,-20000 Set Jog Speeds and Directions

AC 100000, 40000 Set accelerations

DC 50000,50000 Set decelerations

BG XY Start motion

after a few seconds, command:

JG -40000 New X speed and Direction

TV X Returns X speed

and then

JG ,20000 New Y speed

TV Y Returns Y speed

These cause velocity changes, including direction reversal. The motion can be stopped with the instruction

ST Stop

Getting Started SMC-2000 User's Guide

••••

Example 7 - Operation under Torque Limit

The magnitude of the motor command may be limited independently by the instruction TL. The following program illustrates that effect.

Instruction Interpretation

TL 0.2 Set output limit of X axis to 0.2 volts

JG 10000 Set X speed

BG X Start X motion

The X motor will probably not move as the output signal is not sufficient to overcome the friction. If the motion starts, it can be stopped easily by the touch of a finger.

Increase the torque level gradually by instructions such as

TL 1.0 Increase torque limit to 1 volt.

TL 9.998 Increase torque limit to maximum, 9.998 Volts.

The maximum level of 10 volts provides the full output torque.

Example 8 - Interrogation

The values of the parameters may be interrogated. For example, the instruction

KP ? Return gain of X-axis.

returns the value of the proportional gain of the X axis. Similarly, the instruction

KP ,,? Return gain of Z-axis.

returns the value of the Z axis gain.

KP ?,?,?,? Return gains of all axes.

returns the gain values for the four axes.

The same procedure applies to other parameters such as KI, KD, FA, etc.

Example 9 - Operation in the Buffer Mode

The instructions may be buffered before execution as shown below.

PR 600000 Distance

SP 10000 Speed

WT 10000 Wait 10000 milliseconds before reading the next

instruction

BG X Start the motion

SMC-2000 User's Guide Getting Started

••••

Example 10 - Motion Programs

Motion programs may be edited and stored in memory using Yaskawa’s YTerm-2000 software. They may be executed at a later time.

#A Define label

PR 700 Distance

SP 2000 Speed

BGX Start X motion

EN End program

Now the program may be executed with the command

XQ #A Start the program running

Example 11 - Motion Programs with Loops

Motion programs may include conditional jumps as shown below.

Instruction Interpretation

#A Label

DP 0 Define current position as zero

V1=1000 Set initial value of V1

#LOOP Label for loop

PA V1 Move X motor V1 counts

BG X Start X motion

AM X After X motion is complete

WT 500 Wait 500 ms

TP X Tell position X

V1=V1+1000 Increase the value of V1

JP #LOOP,V1<10001 Repeat if V1<10001

EN End

After the above program is entered and downloaded to the SMC-2000, use the following command to run the program:

XQ #A Execute Program #A

Example 12 - Motion Programs with Trippoints

The motion programs may include trippoints as shown below.

Instruction Interpretation

#B Label

DP 0,0 Define initial positions

PR 30000,60000 Set targets

SP 5000,5000 Set speeds

Getting Started SMC-2000 User's Guide

••••

BGX Start X motion

AD 4000 Wait until X moved 4000

BGY Start Y motion

AP 6000 Wait until position X=6000

SP 2000,50000 Change speeds

AP ,50000 Wait until position Y=50000

SP ,10000 Change speed of Y

EN End program

To start the program, command:

XQ #B Execute Program #B

Example 13 - Control Variables

Objective: To show how control variables may be utilized.

Instruction Interpretation

#A;DP0 Label; Define current position as zero

PR 4000 Initial position

SP 2000 Set speed

BGX Move X

AMX Wait until move is complete

WT 500 Wait 500 ms

V1 = _TPX Determine distance to zero

PR -V1/2 Command X move 1/2 the distance

BGX Start X motion

AMX After X moved

WT 500 Wait 500 ms

V1= Report the value of V1

JP #C, V1=0 Exit if position=0

JP #B Repeat otherwise

#C;EN End

To start the program, command

XQ #A Execute Program #A

This program moves X to an initial position of 1000 and returns it to zero on increments of half the distance. Note that _TPX is an internal variable that returns the value of the X position. Internal variables may be created by preceding a SMC-2000 instruction with an underscore, _.

Example 14 - Control Variables and Offset

Objective: Illustrate the use of variables in iterative loops and use of multiple instructions on one line.

SMC-2000 User's Guide Getting Started

••••

Instruction Interpretation

#A;KI0;DP0;V1=8 Set initial values

#B;OF V1;WT 200 Set offset value

V2=_TPX;JP #C,@ABS[V2]<2;V2= Exit if error small, report position

V1=V1-1;JP #B Decrease Offset

#C;EN End

This program starts with a large offset and gradually decreases its value, resulting in decreasing error.

Example 15 - Linear Interpolation

Objective: Move X,Y,Z motors distance of 7000,3000,6000, respectively, along linear trajectory. Namely, motors start and stop together.

Instruction Interpretation

LM XYZ Specify linear interpolation axes

LI 7000,3000,6000 Relative distances for linear interpolation

LE Linear End

VS 6000 Vector speed

VA 20000 Vector acceleration

VD 20000 Vector deceleration

BGS Start motion

Example 16 - Circular Interpolation

Objective: Move the XY axes in circular mode to form the path shown on Fig. 2.3.

Instruction Interpretation

VM XY Select XY axes for circular interpolation

VP -4000,0 Linear segment

CR 2000,270,-180 Circular segment

VP 0,4000 Linear segment

CR 2000,90,-180 Circular segment

VS 1000 Vector speed

VA 50000 Vector acceleration

VD 50000 Vector deceleration

VE End vector sequence

BGS Start motion

Getting Started SMC-2000 User's Guide

••••

R=2000

Figure 2-3 - Motion Path for Example 16

SMC-2000 User's Guide Getting Started

••••

SMC-2000 User's Guide Hardware Interface

Hardware Interface

Cable Shielding, Segregation and Noise Immunity

Yaskawa recommends the following shielding and wiring precautions to maximize the performance of the SMC2000:

a) Signal cables (encoder, communication, I/O) should be routed away from AC power/signal wiring such

as motor power and amplifier power wiring

b) Separate metal conduit should be used for running signal and power wiring from the enclosure

c) Parallel runs of signal and power wiring should be avoided. If unavoidable, parallel runs should be in a

separate wire-way spaced at least 2 inches apart.

d) Signal and power wires should cross at right angles.

e) Shielded cables should be properly terminated by grounding the shielding conductor at one end only.

f) The shield should continue throughout the cable from device to device. The shield should be

continuous across plugs/receptacles and terminal blocks, or the shields may be grounded separately by grounding one end and tying the shield back at the other (See Fig. 3-1a).

DO NOT

noise.

To improve noise immunity, all inductive loads (Brakes, Relay Coils, etc.) should have a flyback diode connected across them to absorb and back EMF produced by that load. The flyback diode should be placed as close to the load as possible (See Fig. 3.2a).

ground shields at both ends as this can create ground loops (See Fig. 3-2a).

allow the shield to remain ungrounded, this causes the shield to actually pick up and transmit

••••

Proper Shield Terminations

SMC 2000 D1 or I/O

Connector

Case

Terminal Block

SMC 2000 D1 or

/O Connector

Case

Terminal Block

ROPER

Shield t ied back at

terminal block.

Figure 3-1 – Proper shield terminations

Improper Shield Terminations

Shields tied

back at device

ROPER

Shield connected across terminal block.

Shields tied

back at device

ROPER

Sh i el ds o f f i e ld

cables grounded at

one point

SMC 2000 D1 or I/O

Connector

Case

WR O NG

Shield grounded at

more th an one point.

SMC 2000 D1 or

/O Connecto

Case

Figure 3-2 – Improper shield terminations

Termina l Block

Shields tied

back at device

Shields tied

back at device

WR O NG

Sh i e l d s o f fi e ld

cables ungrounded

Hardware Interface SMC-2000 User's Guide

••••

Encoder Interface

For each axis of motion, the SMC-2000 accepts inputs from incremental encoders with two channels in quadrature, or 90 electrical degrees out of phase. The SMC-2000 performs quadrature decoding of the two signals, resulting in bi-directional position information with a resolution of four times the number of full encoder cycles. For example, a 500 cycle encoder is decoded into 2000 quadrature counts per revolution. An optional third channel or index pulse may be used for homing or synchronization. Several types of incremental encoders may be used: linear or rotary, analog or digital, single-ended or differential. Any line resolution may be used, the only limitation being that the encoder input frequency must not exceed 2,000,000 full cycles/sec (or 8,000,000 quadrature counts/sec). The SMC-2000 also accepts inputs from an additional encoder for each axis. These are called auxiliary encoders and can be used for dual-loop applications.

The encoder inputs are not isolated

Connections for the various types of encoders are described below.

Pin # of X, Y, ... Signal

1 Channel B

2 Channel B complementary

3 Channel A

4 Channel A complementary

5 Index

6 Index complementary

Use the above table to connect the signals as needed. For example, when connecting an encoder with Channels A, B single ended, use pins 1 and 3, and ignore 2 and 4-6.

In a similar manner, the auxiliary encoders may be connected by using the pin-out for connector AE1 or AE2 found in the appendix.

The SMC-2000 can interface to incremental encoders of the pulse and direction type, instead of two channels in quadrature. In that case, replace Channel A by the pulse signal, and Channel B by the direction, and use the CE command to configure the SMC-2000 for pulse and direction encoder format. For pulse and direction format, the SMC-2000 provides a resolution of 1X counts per pulse.

Note that while TTL level signals are common, the SMC-2000 encoder inputs accept signals in the range of +/12V. If you are using a non-TTL single-ended encoder signal (no complement), to assure proper bias, connect a voltage equal to the average signal to the complementary input. For example, if Channel A varies between 2 and 12V, connect 7 volts to Channel A complement input.

Opto-isolated Inputs

The SMC-2000 provides opto-isolated digital inputs for limit, home, abort, and the uncommitted inputs. All inputs have the same common ground and are sinking inputs.

If nothing is connected to the inputs, no current flows, resulting in a logic one. A logic zero is generated when at least 1 mA of current flows through the input.

The 8-Axis SMC provides 16 isolated inputs and 8 additional TTL inputs.

SMC-2000 User's Guide Hardware Interface

••••

Figure 3-3 - Digital input diagram

Outputs

The SMC-2000 provides several output signals including eight general outputs, and four amplifier enable signals AEN. All the output signals are 24 volts and are sinking outputs. The maximum current draw is 600 mA per point, and a total of 800 mA per group of eight i.e. outputs 1-8, 9-16 ... The 8-Axis SMC provides an additional eight outputs.

WARNING: All inductive loads (Brakes, Relay Coils,...) should have a flyback diode connected across them to absorb any back EMF produced by that load. The flyback diode should be placed as close to the load as possible.

+24

VDC

SWITCH

0 V

SMC

I/O

SWITCH

0 V

+24

VDC

LOAD

0 V

Figure 3-4 - Digital output diagram

Analog Inputs

The SMC-2000 has seven analog inputs configured for the range between -10V and 10V. The inputs are decoded by a 14-bit A/D decoder. The impedance of these inputs is 10 KΩ.

SMC

I/O

LOAD

+24

VDC

Hardware Interface SMC-2000 User's Guide

••••

Amplifier Interface

The SMC-2000 generates +/-10 Volt range analog signal, ACMD, and ground for each axis. This signal is input to power amplifiers which have been sized to drive the motors and load. For best performance, the amplifiers should be configured for a current mode of operation with no additional compensation. The gain should be set such that a 10 Volt input results in the maximum required current.

The SMC-2000 also provides an AEN, amplifier enable signal, to control the status of the amplifier. This signal toggles when the watchdog timer activates, when a motor-off command is given, or when OE1 (Off-on-error is enabled) command is given and the position error exceeds the error limit. As shown in Figure 3-3, AEN can be used to disable the amplifier for these conditions.

The standard configuration of the AEN signal is 24 VDC active low.

SMC-2000

Figure 3-5 - Connecting AEN to an amplifier

Motors with Brakes

A separate 24 VDC power supply should be used to power the brakes because holding brakes typically generate large power spikes when they are de-energized.

Severe damage may result when connecting the same power supply to the SMC and the brake!

Yaskawa recommends that all inductive loads have a diode across them to absorb back EMF.

Step Motors

ACMD

AEN

GND

INPUT

ENABLE

GND

AMP

To connect step motors to the SMC 2000 you must follow this procedure:

1. For each axis that is a stepper, a jumper wire is necessary between ground pin 23 on the AE1 or AE2 connector and the axis stepper mode jumper pin on the AE connector. Newer controllers already have this jumper wire installed during assembly.

2. Connect step and direction signals from the axis connector pins with the labels, STEP (pin 12) and SEN/DIR (pin 13) to respective signals on your step motor amplifier. The signals are 5V TTL level. Consult the documentation for your step motor amplifier.

3. Configure the SMC 2000 for motor type using the MT command. You can configure the SMC 2000 for active high or active low pulses. Use the command MT 2 for active high step motor pulses and MT -2 for active low step motor pulses. See the Commands section of this manual for details.

SMC-2000 User's Guide Hardware Interface

••••

The pulse output signal has a 50% duty cycle. Step motors operate open loop and do not require encoder feedback. When a stepper is used, the auxiliary encoder for the corresponding axis is unavailable for an external connection. If an encoder is used for position feedback, connect the encoder to the main encoder input corresponding to that axis. The commanded position of the stepper can be interrogated with RP or DE. The encoder position can be interrogated with TP.

The frequency of the step motor pulses can be smoothed with the filter parameter, KS. The KS parameter has a range between 1 and 16, where 16 implies the largest amount of smoothing.

The SMC 2000 profiler commands the step motor amplifier. All SMC 2000 motion commands apply such as PR, PA, VP, CR and JG. The acceleration, acceleration, slew speed, and S-curve filtering are also used. However, since step motors run open loop, the PID filter does not function and the position error is not generated.

When configured for stepper motor operation, the SMC 2000 can accept encoder signals into the main encoder inputs. This is useful for monitoring encoder position to insure that encoder position is consistent with commanded position.

Note: When configured for step motors, the encoder inputs can not be used for closed loop position control and the auxiliary encoder inputs are not available.

Hardware Interface SMC-2000 User's Guide

••••

SMC-2000 User's Guide Communication - RS232

Communication - RS232

RS232 Ports

The SMC-2000 has two RS232 ports. The main port can be configured by the factory, and the auxiliary port can be configured with the software command CC. The auxiliary port can either be configured as a general port or for the daisy-chain communications. The auxiliary port configuration can be saved using the Burn (BN) instruction. The RS232 ports also have a clock synchronizing line that allows synchronization of motion on more than one controller.

The RS232 pin-out description for the main and auxiliary port is given below. Note, the auxiliary port is essentially the same as the main port except inputs and outputs are reversed. The SMC-2000 may also be configured by the factory for RS422. These pin-outs are also listed below.

RS232 - Main Port {COM 1}

1 CTS (-) output 6 CTS (-) output

2 Transmit Data (-) output 7 RTS (-) input

3 Receive Data (-) input 8 CTS (-) output

4 RTS (-) input 9 No connect - or - (5V or sample clock with jumpers)

5 Ground

RS232 - Auxiliary Port {COM 2}

1 CTS (-) input 6 CTS (-) input

2 Transmit Data (-) input 7 RTS (-) output

3 Receive Data (-) output 8 CTS (-) input

4 RTS (-) output 9 5V - or - (no connect or sample clock with jumpers)

5 Ground

••••

*RS422 - Main Port {COM 1}

1 CTS (-) output 6 CTS (+) output

2 Transmit Data (-) output 7 Transmit Data (+) output

3 Receive Data (-) input 8 Receive Data (+) input

4 RTS (-) input 9 RTS (+) input

5 Ground

*RS422 - Auxiliary Port {COM 2}

1 CTS (-) input 6 CTS (+) input

2 Transmit Data (-) input 7 Transmit Data (+) input

3 Receive Data (-) output 8 Receive Data (+) output

4 RTS (-) output 9 RTS (+) output

5 Ground

*Configured for RS422 by factory

Configuration

Configure your PC for 8-bit data, one start-bit, one stop-bit, full duplex and no parity. The baud rate for the RS232 communication is 19.2 K baud. A lower baud rate may be configured at the factory.

The RS232 main port is configured for handshake mode. In this mode, the RTS and CTS lines are used. The CTS line will go high whenever the SMC-2000 is not ready to receive additional characters. The RTS line will inhibit the SMC-2000 from sending additional characters. Note the RTS line goes high for inhibit.

The auxiliary port of the SMC-2000 can be configured either as a general port or for the daisy chain. When configured as a general port, the port can be commanded to send ASCII messages to another SMC-2000 controller or to a display terminal or panel.

(Configure Communication) at port 2. The command is in the format of:

CC m,n,r,p

where m sets the baud rate, n sets for either handshake or non-handshake mode, r sets for general port or the auxiliary port, and p turns echo on or off.

m - Baud Rate - 300,1200,4800,9600,19200,38400

n - Handshake - 0=No; 1=Yes

r - Mode - 0=General Port; 1=Daisy-chain

p - Echo - 0=Off; 1=On; Valid only if r=0

Note, for the handshake of the auxiliary port, the roles for the RTS and CTS lines are reversed.

Example:

Communication - RS232 SMC-2000 User's Guide

••••

CC 1200,0,0,1

Configure communication at port 2, with 1200 baud, no handshake, general port and echo turned on.

Daisy-Chaining

Up to eight SMC-2000 controllers may be connected in a daisy chain. The daisy-chain connection is straightforward. One SMC-2000 is connected to the host terminal via the RS232 at port 1, or the main port. Port 2, or the auxiliary port, of that SMC-2000 is then brought into port 1 of the next SMC-2000, and so on. The default address of the SMC-2000 is zero, if another address is required each of the SMC-2000’s must be configured by the factory. Please contact Yaskawa if your application requires daisy-chaining.

To communicate with any one of the SMC-2000s, give the command of %A, where A is the address of the SMC that you want to communicate with. All instructions following this command will be sent only to the SMC with that address. Only when a new %A command is given will the instruction be sent to another SMC. The only exception is "!" command. To talk to all the SMC-2000s in the daisy-chain at one time, insert the character "!" before the software command. All SMCs receive the command, but only address 0 will echo.

Note: The CC command must be specified to configure the port {P2} of each unit.

Example:

Problem: 6-axis motion system. Address 0 is a 4-axis SMC-2000-4. A 2-axis SMC-2000-2 is set for Address 1.

Address 0 X Axis is 500 counts

Address 1 X Axis is 700 counts

Software Command Interpretation

%0 Talk only to controller 0 (SMC-2000-4)

PR 500,1000,2000,1500 Specify X,Y,Z,W distances

%1 Talk only to controller 1 (SMC-2000-2)

PR 700,1500 Specify X,Y distances

!BG Begin motion on both controllers

Required Motion:

Y Axis is 1000 counts

Z Axis is 2000 counts

W Axis is 1500 counts

Y Axis is 1500 counts

Synchronizing Sample Clocks

It is possible to synchronize the sample clocks of all SMC-2000's in the daisy chain. This involves burning in the command, TM-1, in all SMC-2000's except for one SMC-2000, which will be the source. If it is necessary to synchronize the sample clocks please contact Yaskawa.

Operator Interface

To program an operator interface you need to select a port (either 1 or 2), If you select port 2 it must be configured by using the Configure Communication (CC) command as shown on page 26. You must also decide if the port will be a general port or an operator data entry port. NOTE: configuring a port as an operator data

SMC-2000 User's Guide Communication - RS232

••••

entry port will disable ALL commands sent to that port, see Operator Data Entry Mode in chapter 7 for a complete description. All serial commands, such as message (MG) or input variable (IN) default to port 1. To assign serial commands to port 2, you must follow the command with a “{P2}” such as:

IN {P2} “Enter a value”,VALUE

Which will send out the prompt “Enter a value” to port 2, then wait until a return or semi-colon is sent out port 2, and assign the value of the preceding characters to the variable VALUE.

Controller Response to Data

Most SMC-2000 instructions are represented by two characters followed by the appropriate parameters. Each instruction must be terminated by a carriage return or semicolon.

Instructions are sent in ASCII, and the SMC-2000 decodes each ASCII character (one byte) one at a time. It takes approximately .5 msec for the controller to decode each command.

After the instruction is decoded, the SMC-2000 returns a colon (:) if the instruction was valid or a question mark (?) if the instruction was not valid or was not recognized.

For instructions requiring data, such at Tell Position (TP), the SMC-2000 will return the data followed by a carriage return, line feed and : .

It is good practice to check for : after each command is sent to prevent errors. An echo function is provided to enable associating the SMC-2000 response with the data sent. The echo is enabled by sending the command EO 1 to the controller.

Communication - RS232 SMC-2000 User's Guide

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SMC-2000 User's Guide Communication - RS232

••••

Programming Basics

Introduction

The SMC-2000 provides over 100 commands for specifying motion and machine parameters. Commands are included to initiate action, interrogate status and configure the digital filter.

The SMC-2000 instruction set is BASIC-like and easy to use. Instructions consist of two uppercase letters that correspond phonetically with the appropriate function. For example, the instruction BG begins motion, and ST stops the motion.

Commands can be sent "live" for immediate execution by the SMC-2000, or an entire group of commands can be downloaded into the SMC-2000 memory for execution at a later time. Combining commands into groups for later execution is referred to as Applications Programming and is discussed in the following chapter.

This section describes the SMC-2000 instruction set and syntax. A complete listing of all SMC-2000 instructions is included in the command reference section.

Command Syntax

SMC-2000 instructions are represented by two ASCII upper case characters followed by applicable arguments. A space may be inserted between the instruction and arguments. A semicolon or <enter> is used to terminate the instruction for processing by the SMC-2000 command interpreter.

IMPORTANT: All SMC-2000 commands are sent in upper case.

For example, the command

PR 4000 <enter> Position relative

PR is the two character instruction for position relative. 4000 is the argument which represents the required position value in counts. The <enter> terminates the instruction. The space between PR and 4000 is optional.

For specifying data for the X,Y,Z and W axes, commas are used to separate the axes and preserve axis order as X,Y,Z and W. If no data is specified for an axis, a comma is still needed as shown in the examples below. If no data is specified for an axis, the previous value is maintained. The space between the data and instruction is optional. For the SMC-2000-8, the eight axes are referred to A,B,C,D,E,F,G,H where X,Y,Z,W and A,B,C,D may be used interchangeably.

To view the current values for each command, specify the command followed by a ? for each axis requested. The SMC-2000 provides an alternative method for specifying data.

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••••

Here data is specified individually using a single axis specified such as X,Y,Z or W (or A,B,C,D,E,F,G or H for the SMC-2000-8). An equals sign is used to assign data to that axis. For example:

PRZ=1000 Sets the Z axis data as 1000

All axes data may be specified at once using the * symbol. This sets all axes to have the same data. For example:

PR*=1000 Sets all axes to 1000

Example XYZW Syntax for Specifying Data

PR*=1000 Specify data on all axes as 1000

PRY=1000 Specify Y as 1000

PR 1000 Specify X only as 1000

PR ,2000 Specify Y only as 2000

PR ,,3000 Specify Z only as 3000

PR ,,,4000 Specify W only as 4000

PR 2000,4000,6000,8000 Specify X,Y,Z, and W

PR ,8000,,9000 Specify Y and W only

PR*=? Request X,Y,Z,W values

PR ,? Request Y value only

For SMC-2000-8 only:

PR,,,,,,8000 Specify G axis data as 8000

PRG=8000 Alternative method for specifying G data

Instead of data, some commands request action to occur on an axis or group of axes. For example, ST XY stops motion on both the X and Y axes. Commas are not required in this case since the particular axis is specified by the appropriate letter X Y Z or W. If no parameters follow the instruction, action will take place on all axes. The letter S is used to specify a coordinated motion sequence. For the SMC-2000-8, the eight axes are commanded with ABCDEFGH or XYZWEFGH where XYZW is used interchangeably with ABCD.

Example XYZW syntax for Requesting Action:

BG X Begin X only

BG Y Begin Y only

BG XYZW Begin all axes

BG YW Begin Y and W only

BG Begin all axes

BG S Begin coordinated sequence

BG SW Begin coordinated sequence and W axis

Programming Basics SMC-2000 User’s Guide

••••

For the SMC-2000-8 only:

BG ABCDEFGH Begin all axes

BG D Begin D only

Controller Response to Commands

For each valid command entered, the SMC-2000 returns a colon (:). If the SMC-2000 decodes a command as invalid, it returns a question mark (?).

Note:

The SMC-2000 returns a : for valid commands.

The SMC-2000 returns a ? for invalid commands.

For example, if the command BG is sent in lower case, the SMC-2000 will return a ?.

:bg <enter> invalid command, lower case

? SMC-2000 returns a ?

The command Tell Code, TC1, will return the reason for the ? received for the last invalid command.

:TC1 <enter> Tell Code command

1 Unrecognized command Returned response

There are several coded reasons for receiving a ?. Example codes include unrecognized command (such as typographical entry or lower case), a command given at improper time, or a command out of range, such as exceeding maximum speed. A complete listing of all codes is listed in the TC command in the Command Reference section.

For interrogation instructions such as Tell Position (TP) or Tell Status (TS), the SMC-2000 returns the requested data on the next line followed by a carriage return and line feed. The data returned is in decimal format.

Tell Position X :TP X <enter>

data returned 0000000000

Tell Position X and Y :TP XY <enter>

data returned 0000000000,0000000000

The format of the returned data can be set using the Position Format (PF) and Variable Format (VF) command.

:PF 4 <enter> Position Format is 4 integers

:TP X <enter> Tell Position

SMC-2000 User's Guide Programming Basics

••••

0000 returned data

Command Summary

Each SMC-2000 command is described fully in the command reference section at the end of this manual. A summary of the commands follows.

The commands are grouped in this summary by the following functional categories:

• Motion

• Program Flow

• General Configuration

• Control Settings

• Status and Error/Limits.

Motion commands are those to specify modes of motion such as Jog Mode or Linear Interpolation, and to specify motion parameters such as speed, acceleration and deceleration, and distance.

Program flow commands are used in Application Programming to control the program sequencer. They include the jump on condition command and event triggers such as after position and after elapsed time.

General configuration commands are used to set controller configurations such as setting and clearing outputs, formatting variables, and motor/encoder type.

The control setting commands include filter settings such as KP, KD, and KI and sample time.

Error/Limit commands are used to configure software limits and position error limits.

Programming Basics SMC-2000 User’s Guide

••••

Motion

AB Abort Motion

AC Acceleration

BG Begin Motion

CD Contour Data

CM Contour Mode

CR Circle

CS Clear Motion Sequence

DC Deceleration

DT Contour Time Interval

EA Select Master CAM axis

EB Enable CAM mode

EG Start CAM motion for slaves

EM Define CAM cycles for each axis

EP Define CAM table intervals & start point

EQ Stop CAM motion for slaves

ES Ellipse Scaling

ET CAM table entries for slave axes

FE Find Edge

FI Find Index

GA Master Axis for Gearing

GR Gear Ratio

HM Home

IP Increment Position

JG Jog Mode

LE Linear Interpolation End

LI Linear Interpolation Distance

LM Linear Interpolation mode

LT Latch Target

PA Position Absolute

PR Position Relative

SP Speed

ST Stop

TN Tangent

VA Vector acceleration

VD Vector Deceleration

VE Vector Sequence End

VM Coordinated Motion Mode

VP Vector Position

VR Vector speed ratio

SMC-2000 User's Guide Programming Basics

••••

AB Abort Motion

VS Vector Speed

Program Flow

AD After Distance

AI After Input

AM After Motion Complete

AP After Absolute Position

AR After Relative Distance

AS At Speed

AT After Time

AV After Vector Distance

EN End Program

HX Halt Task

IN Input Variable

II Input Interrupt

JP Jump To Program Location

JS Jump To Subroutine

MC After motor is in position

MF After motion -- forward direction

MG Message

MR After motion -- reverse direction

NO No operation

RE Return from Error Subroutine

RI Return from Interrupt

TW Timeout for in position

WC Wait for Contour Data

WT Wait

XQ Execute Program

ZS Zero Subroutine Stack

General Configuration

AE Absolute Encoder

AF Analog Feedback

AL Arm Latch

BN Burn

BP Burn Program

Programming Basics SMC-2000 User’s Guide

••••

BV Burn Variables

CB Clear Bit

CC Configure Communications Port 2

CE Configure Encoder Type

CN Configure Switches and Stepper

DA De-Allocate Arrays

DE Define Dual Encoder Position

DL Download

DM Dimension Arrays

DP Define Position

EO Echo Off

LS List

MO Motor Off

MT Motor Type Define

OB Output Bit

OP Output Port

PF Position Format

QU Upload Array

QD Download Array

RA Record Array

RC Record

RD Record Data

RI Interrupt Mask

RS Reset

SB Set Bit

UL Upload

VF Variable Format

SMC-2000 User's Guide Programming Basics

••••

Control Filter Settings

DV Damping for dual loop

FA Acceleration Feed Forward

FV Velocity Feed Forward

GN Gain

IL Integrator Limit

IT Smoothing Time Constant - Independent

KD Derivative Constant

KI Integrator Constant

KP Proportional Constant

OF Offset

SH Servo Here

TL Torque Limit

TM Sample Time

VT Smoothing Time Constant - Vector

ZR Zero

Status

QY Query Yaskawa Encoder

RP Report Command Position

RL Report Latch

SC Stop Code

TB Tell Status

TC Tell Error Code

TD Tell Dual Encoder

TE Tell Error

TI Tell Input

TP Tell Position

TR Trace

TS Tell Switches

TT Tell Torque

TV Tell Velocity

TY Tell Yaskawa Encoder

Error And Limits

BL Reverse Software Limit

ER Error Limit

Programming Basics SMC-2000 User’s Guide

••••

FL Forward Software Limit

OE Off on Error

Arithmetic Functions

@SIN Sine

@COS Cosine

@ABS Absolute value

@ASIN Arc Sine

@ACOS Arc Cosine

@FRAC Fraction portion

@INT Integer portion

@RND Round

@SQR Square root

@COM Return 2’s Complement

@IN Return digital input

@AN Return analog input

+ Add

- Subtract

* Multiply

/ Divide

& And

| Or

( ) Parentheses

SMC-2000 User's Guide Programming Basics

••••

Instruction Set Examples

Below are some examples of simple instructions. It is assumed your system is hooked-up and the motors are under stable servo control. Note, the colon (:) is returned by the controller and appears on the screen. You do not need to type the :.

:DP*=0 <enter> Define all axis positions as 0

:PF 6,6,6,6 <enter> Define position format as 6 digits

:PR 100,200,300,400 <enter> Specify X,Y,Z,W position command

:BG <enter> Begin Motion

:TP <enter> Tell Position

00100,00200,00300,00400 Returned Position data

:PR?,?,?,? <enter> Request Position Command

00100,00200,00300,00400 Returned data

:BGX <enter> Begin X axis only

:TPX <enter> Tell X position only

00200 Returned position data

:tpx <enter> Enter invalid command

? TC1 <enter> Controller response - Request error code

1 Unrecognized command Controller response

:VM XY <enter> Specify Vector Mode for XY

:VS 10000 <enter> Specify Vector Speed

:VP 2000,3000 <enter> Specify Vector Segment

:VP 4000,5000 <enter> Specify Vector

:LE <enter> Segment End Vector

:BGS <enter> Begin Coordinated Sequence

:TPXY <enter> Tell X and Y position

004200,005200 Returned data

Programming Basics SMC-2000 User’s Guide

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SMC-2000 User's Guide Programming Basics

••••

_ERx all Axis following error limit (2.0g firmware for Erx=0

_EO all Is echo mode on? status 0=NO 1=YES 1

_EP all CAMMING interval (resolution) counts 1 32767 256

_EQx all Status of ECAM slave status 0 3 0

_ED all The last line that caused a CMDERR line number 0 999 n/a

_EGx all Is CAMMING axis engaged? status 0=NO 1=YES 0

_EMx all Cam cycle for camming (master or slave) counts 0 2147483647 0

_DT all Time interval for contour mode 2

_DVx all Is the axis using dual loop PID? status 0=NO 1=YES 0

_EB all Is CAM mode enabled? status 0=NO 1=YES 0

_DPx all Current encoder position of axis counts -2147483648 2147483647 n/a

_DM all Number of available array locations n/a 0 8000 8000

_DL all Number of available labels n/a 0 254 254

_DEx all Encoder position of the auxiliary encoder counts -2147483648 2147483647 n/a

_DA all Number of available arrays n/a 0 30 30

_DCx all Axis deceleration rate counts/sec

_CS all Current segment number for Vector Mode n/a 0 511 n/a

_CW all Port #1 data adjustment (MG from program,

_CEx all Type of encoder selected configuratio

_CM all Is the contour mode buffer full? status 0=NO 1=YES 0

_BV all Size of the EEPROM bytes 1 megabyte 4 megabyte n/a

_BN all Serial number of the SMC2000 n/a n/a

_BLx all Reverse software limit counts -2147483648 2147483647 -2147483648

_BGx all Is axis in motion? status 0=NO 1=YES n/a

_ALx all High speed position capture status status 0=TRIPPED 1=NOT YET 0

_AV all Distance from the start of vector sequence counts 0 2147483647 0

_AFx all Analog or digital feedback? status 0=DIGITAL 1=ANALOG 0

_AEx D150n19h &

Command Firmware Definition units min max default

_AB 2.0g Status of abort input status 0=Aborted 1=OK n/a

_ACx all Axis acceleration rate counts/sec

Command Interrogation List

to disable)

counts 0 32767 16384

mSec 0 8 0

characters have bit 8 set)

The last absolute encoder axis that was read axis 0,1,2 =

1024 67107840 256000

status 1=SET 2=OFF 2

0 15 0

X,Y,Z

0 7 n/a

1024 67107840 256000

(

PxST all The last strin

PxCH all The last character received from serial port (x = 1

PxNM all The last number received from serial port (x=1 or

PxCD all Status code of serial port (x = 1 or 2) status -1 3 n/a

_OPx all Entire byte or word of output port (x = output bank

_OEx all Indicates if servo enable signal will shut off if

_OFx all Axis command offset voltage -9.9988 9.9988 0

_MOx all Current state of motor, enabled or not status 0=ENABLED 1=DISABLED 0 / 1

_MTx all Type of motor configuratio

_LZ v2.0 & up Serial port leading zero removal status 0=OFF 1=ON 0

_LTx D150n19j &

_LM all Number of free locations in linear mode buffer n/a 0 511 n/a

_LRx all Reverse Limit Switch status 0=ACTIVE 1=INACTIVE n/a

_LS all Next line that will be executed after current

_KPx all Proportional Constant for PID loop constant 0 1023.875 6 / 1

_LE all Length of the vector counts 0 2147483647 0

_LFx all Forward Limit Switch status 0=ACTIVE 1=INACTIVE n/a

_JGx all Jog speed for that axis counts/sec 0 8000000 25000

_KDx all Derivative Constant for PID loop constant 0 4095.875 64 / 10

_KIx all Integrator for PID loop constant 0 2047.875 0 / 0

_ILx all Integrator limit of the axis voltage -9.9988 9.9988 9.9988

_IPX all Current encoder position of axis counts -2147483648 2147483647 n/a

_ITx all S curve smoothing function value constant 0.004 1 1

_HXx all Thread info 0=NOT

ID D150n19h &

_HMx all State of the home switch status 0=ACTIVE 1=INACTIVE n/a

_FVx all Axis velocity feed forward constant 0 8191 0

_GRx all Gear ratio of the axis constant -127.9999 127.9999 0

_ES all Ellipse scale ratio n/a 0.0001 1 1

_FAx all Axis acceleration feed forward constant 0 8191 0

_FLx all Forward software limit counts -2147483648 2147483647 2147483647

subroutine ends

or 2)

0-3)

"_ERX" is exceeded

Distance until stop after a registration mark counts 1 2147483647 ??

The part number of an SMC-2000 n/a

received from serial

ort

x = 1 or string 6 chars max n/a

number -2147483648 2147483647 n/a

character 0 255 n/a

byte or word 0 65535 0

status 0=NO 1=YES 0

line number 0 999 n/a

RUNNING

-2.5 2.5 1

1=RUNNING 2=AT

TRIPPOINT

n/a

_VA all acceleration value for vector mode counts/sec

_VD all Deceleration value for vector mode counts/sec

_VE all Length of vector (all moves in coordinated move

_UL all Number of variables available n/a 0 254 254

_TWx all Time limit that program will wait for axis to get to

_TVx all Velocity of axis (averaged over 256 servo cycles) counts/sec 0 8000000 n/a

_TYx D150n19h &

_TPx all Current encoder position of axis counts -2147483648 2147483647 n/a

_TSx all Status of switches for axis byte 0 255 n/a

_TTx all Current output voltage to amplifier voltage -9.9988 9.9988 0

_TLx all Torque limit of axis voltage 0 9.9988 9.9988

_TM all Servo update cycle for all axes

_TN all Position of first tangent point counts -2147483648 2147483647 0

_TIx all 8 inputs as a decimal or hex value (x = input bank

TIME all Counter since SMC2000 powered on milliseconds 0 2147483647 0

_TDx all Current auxiliary encoder position counts -2147483648 2147483647 n/a

_TEx all Difference between commanded & actual axis

_SPx all Speed parameter of the axis counts/sec 0 8000000 25000

_TB all Status information from controller byte 0 255 1

_TC1 all Error code and message from controller number 0 150 0

_RLx all Encoder value of last latched position counts -2147483648 2147483647 0

_RPx all Current commanded position of the motor counts -2147483648 2147483647 0

_SCx all The Stop Code of the axis code 0 150 1

_RC all Status of record mode status 0= NOT

_RD all Array index that record mode will use next index 0 7999 0

_PRx all Current incremental distance to move (Even if

QY D150n19h &

_PF all Encoder position format digits before

_PAx all Last commanded absolute position if moving,

sequence)

counts 0 2147483647 0

The position of an absolute encoder at time of

reading

target position (MCx)

counts -2147483648 2147483647 -2147483648

milliseconds -1 32766 32766

move set by PA)

The last ASCII string received from an absolute

position

0-7)

counts -2147483648 2147483647 n/a

µSec

byte 0 255 n/a

encoder

counts -2147483648 2147483647 0

string 6 chars max n/a

otherwise current position

& after

counts -2147483648 2147483647 0

1024 68431360 256000

375 20000 1000

RECORDING

-8.4 10.4 10.4

1=RECORDING 0

_ZS all Current subroutine depth number 0 16 n/a

_XQx all Current line number being executed (x = thread #) line number -1 999 n/a

_VT all S curve smoothing value for vector mode constant 0.004 1 1

_VS all Vector Speed counts/sec 2 8000000 25000

_VR all Vector speed ratio n/a 0 10 1

_VF all Setting of variable formatting n/a 0 10.4 10.4

_VM all Number of free locations in vector mode buffer n/a 0 511 511

_VPx all Absolute coordinate of the axis in the last

segment

counts -2147483648 2147483647 0

Programming Motion

Overview

The SMC-2000 provides several modes of motion, including independent positioning and jogging of any axis, coordinated motion, and electronic gearing. Each one of these modes is discussed in the following sections. Please note the SMC-2000-2 uses X and Y, the SMC-2000-4 uses X, Y, Z and W.

The SMC-2000-8 uses the axes A, B, C, D, E, F, G, and H. For SMC-2000-8, the axes A, B, C, D can be referred to interchangeably as X,Y,Z,W.

The example applications described below will help guide you to the appropriate mode of motion.

Example Application Mode of Motion Commands

Absolute or relative positioning where each axis is independent and follows prescribed velocity profile.

Velocity control where no final endpoint is prescribed. Motion stops on Stop command.

Motion Path described as incremental position points versus time.

2,3 or 4 axis coordinated motion where path is described by linear segments.

2-D motion path consisting of arc segments and linear segments, such as engraving or quilting.

Independent Axis Positioning PA,PR

Independent Jogging JG

Contour Mode CM

Linear Interpolation LM

Coordinated Motion VM

SP,AC,DC

AC,DC

LI,LE

VA,VD

SMC-2000 User’s Guide Programming Motion

••••

Third axis must remain tangent to 2-D motion path, such as knife cutting.

Electronic gearing where slave axes are scaled to master axis which can move in both directions.

Master/slave where slave axes must follow a master such as conveyer speed.

Moving along arbitrary profiles or mathematically prescribed profiles such as sine or cosine trajectories.

Teaching or Record and Play Back Contour Mode with Automatic Array

Backlash Correction Dual Loop DE

Motion Smoothing Applies to all independent modes of

Coordinated motion with tangent axis specified

Electronic Gearing GA

Contour Mode CM

Capture

motion i.e. PR, PA, JG. Smoothes motion to eliminate vibrations due to jerk (discontinuities in acceleration)

VS,VA,VD

Independent Axis Positioning

In this mode, motion between the specified axes is independent, and each axis follows its own profile. The user specifies the desired absolute (PA) or relative position (PR), slew speed (SP), acceleration ramp (AC), and deceleration ramp (DC), for each axis. On begin (BG), the SMC-2000 profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory. A new command position along the trajectory is generated every sample period. Motion is complete when the last position command or target position is generated by the SMC-2000 profiler. The actual motor motion may not be complete at this point, however, the next motion command may be specified.

The Begin (BG) command can be issued for all axes either simultaneously or independently. XYZ or W axis specifiers are required to select the axes for motion. No axes specifier implies motion on all the axes. For the SMC-2000-8, ABCDEFGH axes specifiers are used where XYZ and W may be interchanged with ABCD.

The speed (SP) and the acceleration (AC) can be changed at any time during motion, however, the deceleration (DC) and position (PR or PA) cannot be changed until motion is complete. Remember, motion is complete when the profiler is finished, not when the actual motor is in position. The Stop command (ST) can be issued at any time to decelerate the motor to a stop before it reaches its final position.

Programming Motion SMC-2000 User's Guide

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A new position target (IP) may be specified during motion as long as the additional move is in the same direction. Here, the user specifies the desired position increment, n. The new target is equal to the old target plus the increment, n. Upon receiving the IP command, a revised profile will be generated for motion towards the new end position. The IP command does not require a begin. Note: If the motor is not moving, the IP command is equivalent to the PR and BG command combination.

Independent Axis Command Summary

PR x,y,z,w Specifies relative distance

PA x,y,z,w Specifies absolute position

SP x,y,z,w Specifies slew speed

AC x,y,z,w Specifies acceleration rate

DC x,y,z,w Specifies deceleration rate

BG XYZW Starts motion

ST XYZW Stops motion before end of move

IP x,y,z,w Changes position target

AM XYZW Trippoint for profiler complete

MC XYZW Trippoint for "in position"

For the SMC-2000-8:

Use a,b,c,d,e,f,g,h to specify axis data above.

Example - Absolute Position

PA 10000,20000 Specify absolute X,Y position

AC 1000000,1000000 Acceleration for X,Y

DC 1000000,1000000 Deceleration for X,Y

SP 50000,30000 Speeds for X,Y

BG XY Begin motion

Example - Multiple Move Sequence

Required Motion Profiles

X-Axis 500 counts Position

10000 count/sec Speed

500000 counts/sec2 Acceleration

Y-Axis 1000 counts Position

15000 count/sec Speed

500000 counts/sec2 Acceleration

Z-Axis 100 counts Position

5000 counts/sec Speed

500000 counts/sec2 Acceleration

SMC-2000 User’s Guide Programming Motion

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Start X and Y motion at the same time. After 20 msec, start Z motion. If input 1 is high, stop Y motion.

#A Begin Program

PR 500,1000,100 Specify position

SP 10000,15000,5000 Specify speed

AC 500000,500000,500000 Specify acceleration

DC 500000,500000,500000 Specify deceleration

BG XY Begin X and Y

WT 20;BG Z Wait 20 msec and begin

JP #B,@IN[1]=0 Jump if input 1 is low

STY Stop Y

#B;EN End Program

Fig. 6.1 shows the velocity profiles for the X,Y and Z axis.

VELOCITY (COUNTS/SEC)

10000

5000

INPUT 1

Figure 6.1 - Velocity Profiles of XYZ

10 20 30 40 50 60

Independent Jogging

In this mode, the user specifies the jog speed (JG), acceleration (AC), and the deceleration (DC) rate for each axis. On begin (BG), the motor accelerates up to speed and continues to jog at that speed until a new speed or stop (ST) command is issued. The direction of motion is specified by the sign of the JG parameters.

The jog mode of motion is very flexible because the speed, direction, and acceleration can be changed during motion. The IP command can also be used to instantly change the motor position. Upon receiving this command, the motor will instantly try to servo to a position, which is equal to the specified increment plus the current position. This command is useful when trying to synchronize the position of two motors while they are moving.

It should be noted that the controller operates as a closed-loop position controller even while in the jog mode. The SMC-2000 converts the velocity profile into a position trajectory where a new position target is generated every sample period. This method of control results in precise speed regulation with phase lock accuracy.

TIME (MS)

Programming Motion SMC-2000 User's Guide

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Jogging Command Summary

JG +/-x,y,z,w Specifies jog speed and direction

AC x,y,z,w Specifies acceleration rate

DC x,y,z,w Specifies deceleration rate

BG XYZW Begins motion

ST XYZW Stops motion

IP x,y,z,w Increments position instantly

For the SMC-2000-8:

Use a,b,c,d,e,f,g,h to specify axis data above.

Example - Jog in X only

Jog X motor at 50000 count/s. After X motor is at its jog speed, begin jogging Z in reverse direction at 25000 count/s.

AC 20000,,20000 Specify X,Z acceleration

DC 20000,,20000 Specify X,Z deceleration

JG 50000,,-25000 Specify X,Z speed and direction

BG X Begin X motion

AS X After X at speed

BG Z Begin Z motion

Example - Joystick Jogging

The jog speed can also be changed using an analog input such as a joystick. Assume that for a 10 Volt input the speed must be 50000 counts/sec. Therefore, the calibration factor is 50000/8191 since the SMC-2000 uses a 14bit ADC resulting in 8191 counts for 10 Volts.

#JOY Label

JG0 Set in Jog Mode

BGX Begin motion

#B Label for loop

V1 =@AN[1] Read analog input

VEL=V1*50000/8191 Compute speed

JG VEL Change JG speed

JP #B Loop

SMC-2000 User’s Guide Programming Motion

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Linear Interpolation Mode

The SMC-2000 provides a linear interpolation mode for 2,3 or 4 axes (up to 8 axes for the SMC-2000-8). Here, motion between the axes is coordinated to maintain the prescribed vector speed, acceleration, and deceleration along the specified path. The motion path is described in terms of incremental distances for each axis. Several incremental segments may be given in a continuous move sequence, making the linear interpolation mode ideal for following a piece-wise linear path. There is no limit to the total move length.

The LM XYZW command selects the Linear Interpolation mode and axes for interpolation. For example, LM YZ selects only the Y and Z-axes for linear interpolation. For the SMC-2000-8, use ABCDEFGH axis specifies where XYZW may be used interchangeably with ABCD.

The LM command only needs to be specified once unless the axes for linear interpolation change, or another mode such as VM is given.

The LI x,y,z,w or LI a,b,c,d,e,f,g,h command specifies the incremental move distance for each axis. This means motion is prescribed with respect to the current axis position. Up to 511 incremental move segments may be given prior to the Begin Sequence (BGS) command. Once motion has begun, additional LI segments may be specified.

The clear sequence (CS) command can be used to remove LI segments stored in the buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB. The ST command causes a decelerated stop, while the AB command gives an instantaneous stop and aborts the program, while AB1 aborts the motion only.

The Linear End (LE) command must be used to specify the end of a linear move sequence. This command tells the controller to decelerate to a stop following the last LI command. If an LE command is not given, an Abort AB1 must be used to abort the motion sequence.

It is the responsibility of the user to keep enough LI segments in the SMC-2000 sequence buffer to ensure continuous motion. If the controller receives no additional LI segments and no LE command, the controller will stop motion instantly at the last vector. There will be no controlled deceleration. LM? or _LM returns the available spaces for LI segments that can be sent to the buffer. 511 returned means the buffer is empty and 511 LI segments can be sent. A zero means the buffer is full and no additional segments can be sent. As long as the buffer is not full, LI segments can be sent at the COM port baud rate.

The instruction _CS returns the segment counter. As the segments are processed, _CS increases, starting at zero. This function allows the host computer to determine which segment is being processed.

Additional commands for linear interpolation are VS n, VA n, and VD n for specifying the vector speed, acceleration and deceleration. The AV n command is the After Vector trippoint, which waits for the vector distance of n to occur.

For example, note the following program:

DP 0,0 Define position

LMXY Specify axes for linear interpolation

LI 5000,0 Specify XY distances

LI 0,5000 Specify XY distances

LE Specify end move

VS 4000 Specify vector speed

BGS Begin sequence

AV 4000 After vector distance 4000

VS 1000 Specify vector speed

AV 5000 After vector distance 5000

VS 4000 Specify vector speed

Programming Motion SMC-2000 User's Guide

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EN End program

Here the XY system is required to perform 90° turn. In order to slow the speed around the corner, we use the AV 4000 trippoint, which slows the speed to 1000 count/s. Once the motors reach the corner, we can increase the speed, back to 4000 cts/s, with the trippoint AV 5000.

The instruction AV can be used as an operand. _AV returns the distance along the motion sequence.

The instruction _VP returns the absolute coordinate of the last data point along the trajectory. This enables the host to command motion backward in case of tool break.

For example, note the program shown above. Consider the first motion segment, where the X-axis moves toward the point X=5000. Now suppose that when X=3000, the controller is interrogated.

The response to _AV will be 3000. The response to _CS is 0 and the responses to _VPX and _VPY are zeros for both.

Now suppose that the interrogation is repeated at the second segment when Y=2000. The response to _AV at this point is 7000, _CS equals 1, _VPX=5000 and _VPY=0.

It should be noted that the SMC-2000 computes the vector speed based on the axes specified in the LM mode. For example, LM XYZ designates linear interpolation for the X, Y, and Z-axes. The speed of these axes will be computed from VS

=XS2+YS2+ZS2, where XS, YS and ZS are the speed of the X, Y and Z-axes. If the LI command specifies only X and Y, the speed of Z will still be used in the vector calculations. The controller always uses the axis specifications from LM, not LI, to compute the speed.

Command Summary - Linear Interpolation

LM XYZW Specify axes for linear interpolation

LM ABCDEFGH Specify axes for linear interpolation (SMC-2000-8)

LI x,y,z,w

LI a,b,c,d,e,f,g,h

_LM or LM? Returns number of available spaces for linear segments in

VS n Specify vector speed

VA n Specify vector acceleration

VD n Specify vector deceleration

BGS Begin Linear Sequence

CS Clear sequence

_CS Segment counter

_VPm Return coordinate of last point, where m=X,Y,Z or W or

LE Linear End- Required at end of LI command sequence

_LE or LE? Returns length of vector (resets after 2147483647)

AMS Trippoint for After Sequence complete

AV n Trippoint for After Relative Vector distance ,n

_AV Return distance traveled

Specify incremental distances relative to current position

SMC-2000 sequence buffer. Zero means buffer full. 511 means buffer empty.

A,B,C,D,E,F,G or H

SMC-2000 User’s Guide Programming Motion

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Example - Linear Move

SVZVW

Make a coordinated linear move in the ZW plane. Move to coordinates 40000,30000 counts at a vector speed of 100,000 counts/sec and vector acceleration of 1000000 counts/sec

LM ZW Specify axes for linear interpolation

LI,,40000,30000 Specify ZW distances

LE Specify end move

VS 100000 Specify vector speed

VA 1000000 Specify vector acceleration

VD 1000000 Specify vector deceleration

BGS Begin sequence

Note that the above program specifies the vector speed, VS, and not the actual axis speeds VZ and VW. The axis speeds are determined by the SMC-2000 from:

The resulting profile is shown in Figure 6.2.

POS W

30000

POS Z

40000

FEEDRATE

0 0.1 0.5 0.6

VELOCITY

V Z

VELOCITY

V W

Figure 6.2 - Linear Interpolation

Programming Motion SMC-2000 User's Guide

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Example - Multiple Moves

Make a coordinated linear move in the XY plane. The Arrays VX and VY are used to store 750 incremental distances that have been filled by the program #LOAD.

#LOAD Load Program

DM VX [750],VY [750] Define Array

COUNT=0 Initialize Counter

N=0 Initialize position increment

#LOOP LOOP

VX [COUNT]=N Fill Array VX

VY [COUNT]=N Fill Array VY

N=N+10 Increment position

COUNT=COUNT+1 Increment counter

JP #LOOP,COUNT<750 Loop if array not full

#A Label

LM XY Specify linear mode for XY

COUNT=0 Initialize array counter

#LOOP2;JP#LOOP2,_LM=0 If sequence buffer full, wait

JS#C,COUNT=500 Begin motion on 500th segment

LI VX[COUNT],VY[COUNT] Specify linear segment

COUNT=COUNT+1 Increment array counter

JP #LOOP2,COUNT<750 Repeat until array done

LE End Linear Move

AMS After Move sequence done

MG "DONE" Send Message

EN End program

#C;BGS;EN Begin Motion Subroutine

Coordinated Motion Sequences

The SMC-2000 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion along the path is continuous at the prescribed vector speed even at transitions between linear and circular segments. The SMC-2000 performs all the complex computations of linear and circular interpolation, freeing the host PC from this time intensive task.

The coordinated motion mode is similar to the linear interpolation mode. Here, any pair of two axes may be selected for coordinated motion consisting of linear and circular segments. In addition, a third axis can be controlled such that it remains tangent to the motion of the selected pair of axes.

The VM m,n,p command specifies the axes. m,n are the coordinated pair and p is the tangent. For example, VM X, W, Z selects the XW axes for coordinated motion and the Z-axis as the tangent. Commas are not required.

SMC-2000 User’s Guide Programming Motion

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The motion segments are described by two commands, VP for linear and CR for circular segments. The VP x,y

θ, δ

command specifies the end point coordinate of the linear segment, in reference to the starting point. CR r,

define a circular arc with a radius r, starting angle of

corresponds to the positive horizontal direction and for both

θ, and a traversed angle δ. The notation for θ is that zero

θ and δ, the counter-clockwise (CCW) rotation is

positive.

Up to 511 segments of CR or VP may be given prior to the Begin Sequence (BGS) command. Once motion starts, additional segments may be added.

The Clear Sequence (CS) command can be used to remove VP and CR stored in the buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB1. ST stops motion at the specified deceleration. AB1 aborts the motion instantaneously.

The Vector End (VE) command must be used to specify the end of the coordinated motion. This command requires the controller to decelerate to a stop following the last motion requirement. If a VE command is not given, an Abort (AB1) must be used to abort the coordinated motion sequence.

It is the responsibility of the user to keep enough motion segments in the SMC-2000 sequence buffer to ensure continuous motion. If the controller receives no additional motion segments and no VE command, the controller will stop motion instantly at the last vector. There will be no controlled deceleration. LM? or _LM returns the available spaces for motion segments that can be sent to the buffer. 511 returned means the buffer is empty and 511 segments can be sent. A zero means the buffer is full and no additional segments can be sent. As long as the buffer is not full, additional segments can be sent at the COM port baud rate.

The instruction _CS returns the segment counter. It allows the host to determine the motion segment being executed.

Additional commands for coordinated motion are VS n, VA n and VD n for specifying the vector speed, acceleration, and deceleration. The AV n command is the After Vector trippoint, which waits for the vector relative distance of n to occur.

The AV trippoint is useful in changing the parameters, such as the vector speed along the sequence.

When AV is used as an operand, _AV returns the distance traveled along the sequence.

The instruction _VPX and _VPY can be used to return the coordinates of the last point specified along the path.

Example:

Traverse the path shown in Fig. 6.3. Feed rate is 20000 counts/sec. Plane of motion is XY.

VM XY Specify motion plane

VS 20000 Specify vector speed

VA 1000000 Specify vector acceleration

VD 1000000 Specify vector deceleration

VP -4000,0 Segment AB

CR 1500,270,-180 Segment BC

VP 0,3000 Segment CD

CR 1500,90,-180 Segment DA

VE End of sequence

BGS Begin Sequence

Programming Motion SMC-2000 User's Guide

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The resulting motion starts at the point A and moves toward points B, C, D, A. Suppose that we interrogate the controller when the motion is halfway between the points A and B.

_AV returns 2000

_CS returns 0

_VPX and _VPY return the absolute coordinate of the point A

Next, suppose that the interrogation is repeated at a point, halfway between the points C and D.

_AV returns 4000+1500

_CS returns 2

_VPX,_VPY return the coordinates of the point C

C (-4000,3000)

R = 1500

B (-4000,0)

Figure 6.3 - The Required Path

Tangent Motion

π+2000=10,712

D (0,3000)

A (0,0)

Several applications, such as cutting, require a third axis (i.e. a knife blade), to remain tangent to the coordinated motion path. To handle these applications, the SMC-2000 allows one axis to be specified as the tangent axis. The VM command provides parameter specifications for describing the coordinated axes and the tangent axis.

VM m,n,p m,n specifies coordinated axes p specifies tangent axis such

as X,Y,Z,W or A,B,C,D,E,F,G,H. p=N turns off tangent axis

Before the tangent mode can operate, it is necessary to assign an axis via the VM command and define its offset and scale factor via the TN m,n command. m defines the scale factor in counts/degree and n defines the tangent position that equals zero degrees in the coordinated motion plane. The _TN can be used to return the initial position of the tangent axis.

Example:

Assume an XY table with the Z-axis controlling a knife. The Z-axis has a 2000 quad counts/rev encoder and has

been initialized after power-up to point the knife in the +Y direction. A 180 radius of 3000, center at the origin and a starting point at (3000,0). The motion is CCW, ending at (-3000,0).

SMC-2000 User’s Guide Programming Motion

circular cut is desired, with a

••••

Note that the 0° position in the XY plane is in the +X direction. This corresponds to the position -500 in the Zaxis, and defines the offset. The motion has two parts. First, X,Y and Z are driven to the starting point, and later, the cut is performed. Assume that the knife is engaged with output bit 1.

#EXAMPLE Example program

VM XYZ XY coordinate with Z as tangent

TN 2000/360,-500 2000/360 counts/degree, position -500 is 0 degrees in XY

plane

CR 3000,0,180 3000 count radius, start at 0 and go to 180 CCW

VE End vector

CB1 Disengage knife

PA 3000,0,_TN Move X and Y to starting position, move Z to initial

tangent position

BG XYZ Start the move to get into position

AM XYZ When the move is complete

SB1 Engage knife

WT50 Wait 50 msec for the knife to engage

BGS Do the circular cut

AMS After the coordinated move is complete

CB1 Disengage knife

MG "ALL DONE"

EN End program

Coordinated Motion Sequence Instructions - Summary

VM m,n,p Specifies plane for the motion sequence such as X,Y or

Z,W. p specifies tangent axis.

VP m,n Return coordinate of last point, where m=X,Y,Z or W.

_VPm Specifies the end point of a segment in reference to the

starting point of the sequence.

CR r,Θ, ±∆Θ Specifies arc segment where r is the radius, Θ is the starting

angle and ∆Θ is the travel angle. Positive direction is CCW.

VS n Specifies vector speed or feed rate of sequence.

VA n Specifies vector acceleration along the sequence.

VD n Specifies vector deceleration along the sequence.

BGS Begin motion sequence.

AV n Trippoint for After Relative Vector distance, n.

_AV Return distance traveled.

AMS Holds execution of the next command until the Motion

Sequence is completed.

Programming Motion SMC-2000 User's Guide

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_LM or LM? Return number of available spaces for linear and circular

TN m,n Tangent scale and offset.

ES m,n Ellipse scale factor.

CS Clear sequence.

_CS Segment counter.

Electronic Gearing

This mode allows 1,2 or 3 axes (or 4,5,6,7 axes for the SMC-2000-8) to be electronically geared to one driven master axis, or all axes to be geared to an auxiliary encoder. The master may rotate in both directions and the geared axes will follow at the specified gear ratio. The gear ratio may be different for each axis and changed during motion.

The command GAX or GAY or GAZ or GAW (or GAA or GAB or GAC or GAD or GAE or GAF or GAG or GAH for SMC-2000-8) specifies the master axis. There may only be one master. GR x,y,z,w specifies the gear ratios for the slaves where the ratio may be a number between +/-127.9999 with a fractional resolution of .0001. GR 0,0,0,0 turns off electronic gearing for any set of axes. A limit switch will also disable electronic gearing for that axis. GR causes the specified axes to be geared to the actual position of the master. The master axis is commanded with motion commands such as PR, PA or JG.

segments in SMC-2000 sequence buffer. Zero means buffer is full. 511 means buffer is empty.

An alternative gearing method is to synchronize the slave motor to the commanded vector motion of several axes performed by GAS. For example, if the X and Y motor form a circular motion, the Z axis may move in proportion to the vector move. Similarly, if X,Y and Z perform a linear interpolation move, W can be geared to the vector move.

Electronic gearing allows the geared motor to perform a second independent or coordinated move in addition to the gearing. For example, when a geared motor follows a master at a ratio of 1:1, it may be advanced an additional distance with PR, or JG, commands, or VP, or LI.

Command Summary - Electronic Gearing

GA n Specifies master axis for gearing where n = X,Y,Z or W or

A,B,C,D,E,F,G,H for main encoder as master

n = XC,YC,ZC or WC or AC, BC, CC, DC, EC,

FC,GC,HC for commanded position as master

n=S vector move for master

GR x,y,z,w Sets gearing mode and gear ratio for slave axes. 0 disables

electronic gearing for specified axis.

GR a,b,c,d,e,f,g,h Sets gearing mode and gear ratio for slave axes. 0 disables

electronic gearing for specified axis.

MR x,y,z,w Trippoint for motion past assigned point in reverse

direction. Only one field may be used.

MF x,y,z,w Trippoint for motion past assigned point in forward

direction. Only one field may be used.

SMC-2000 User’s Guide Programming Motion

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Example - Simple Master Slave

Master axis moves 10000 counts at slew speed of 100000 counts/sec. Y is defined as the master. X,Z,W are geared to master at ratios of 5,-.5 and 10 respectively.

GAY Specify master axes as Y

GR 5,,-.5,10 Set gear ratios

PR ,10000 Specify Y position

SP ,100000 Specify Y speed

BGY Begin motion

Example - Electronic Gearing

Run two geared motors at speeds of 1.132 and -0.045 times the speed of an external master. The master motor is driven externally at speeds between 0 and 1800 RPM (2000 counts/rev encoder).

Solution: Use a SMC-2000-4 controller, where the Z-axis is the master and X and Y are the geared axes.

M0 Z Turn Z off, for external master

GA Z Specify master axis

GR 1.132,-.045 Specify gear ratios

Now suppose the gear ratio of the X-axis is to change on the fly to 2. This can be achieved by commanding:

GR 2

In several applications where both the master and the follower are controlled by the SMC-2000 controller, it may be desired to synchronize the follower with the commanded position of the master, rather than the actual position. This eliminates the coupling between the axes that may lead to oscillations.

For example, assume that a gantry is driven by two axes, X,Y, on both sides. The X-axis is the master and the Y-axis is the follower. To synchronize Y with the commanded position of X, use the instructions:

GACX Specify master as commanded position of X

GR,1 Set gear ratio for Y as 1:1

PR 3000 Command X motion

BG X Start motion

You may also perform profiled position corrections in the electronic gearing mode. Suppose, for example, that you need to advance the slave 10 counts. Simply command

IP,10

which is equivalent to PR,10; BGY.

Often the correction is quite large. Such requirements are common on synchronizing cutting knives or conveyor belts.

Programming Motion SMC-2000 User's Guide

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Example - Synchronize two conveyor belts with trapezoidal velocity correction.

GAX Define master axis as X

GR,2 Set gear ratio 2:1 for Y

PR,300 Specify correction distance

SP,5000 Specify correction speed

AC,100000 Specify correction acceleration

DC,100000 Specify correction deceleration

BGY Start correction

Contour Mode

The SMC-2000 also provides a contouring mode. This mode allows any arbitrary position curve for 1,2,3 or 4 (5,6,7 or 8 axes for SMC-2000-8) axes to be prescribed which is ideal for following computer generated paths such as parabolic, spherical or user-defined profiles. Here, the path is not limited to straight line and arc segments. Also, the path length may be infinite.

The Contour Mode (CM) command specifies which axes are to be contoured. Any combination of 1,2,3 or 4 axes (5,6,7 or 8 axes for SMC-2000-8) may be used. For example, CMXZ specifies contouring on the X and Zaxes. Axes non-contouring may be operated in other modes.

The contour is described by position increments, CD x,y,z,w over a time interval, DT n. For the SMC-2000-8, the contour is described by CD a,b,c,d,e,f,g,h.

The time interval must be 2n ms, where n is a number between 1 and 8. The controller performs linear interpolation between the specified increments, where one point is generated for each millisecond.

Consider, for example, the trajectory shown in Fig. 6.4. The position X may be described by the points.

Point 1 X=0 at T=0ms

Point 2 X=48 at T=4ms

Point 3 X=138 at T=12ms

Point 4 X=302 at T=28ms

The same trajectory may be represented by the increments

Increment 1 DX=48 Time=4 DT=4

Increment 2 DX=90 Time=8 DT=8

Increment 3 DX=164 Time=16 DT=16

When the controller receives the command to generate a trajectory along these points, it interpolates linearly between the points. The resulting interpolated points include the position 12 at 1 msec, position 24 at 2 msec, etc.

The programmed commands to specify the above example are:

CMX Specifies X axis for contour mode

DT 2 Specifies first time interval, 22

SMC-2000 User’s Guide Programming Motion

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CD 48;WC Specifies first position increment

DT 3 Specifies second time interval, 23

CD 90;WC Specifies second position increment

DT 4 Specifies the third time interval, 24

CD 164;WC Specifies the third position increment

DT0;CD0 Exits contour mode

POSITION

302

138

0 4 12 28

Figure 6.4 - The Required Trajectory

TIME (MS)

The command, WC, is used as a trippoint "When Complete". This allows the SMC-2000 to use the next increment only when it is finished with the previous one. Zero parameters for DT or CD exit the contour mode.

If no new data record is found and the controller is still in the contour mode, the controller waits for new data. No new motion commands are generated while waiting. If bad data is received, the controller responds with a ?.

The command _CS, the segment counter, returns the number of the segment being processed. This information allows the host computer to determine when to send additional data.

Summary of Commands for Contour Mode:

CM XYZW Specifies which axes for contouring mode. Any non-

contouring axes may be operated in other modes.

CM ABCDEFGH Contour axes for SMC-2000-8

CD x,y,z,w Specifies position increment over time interval. Range is

+/-32,767. Zero ends contour mode.

CD a,b,c,d,e,f,g,h Position increment data for SMC-2000-8

Programming Motion SMC-2000 User's Guide

••••

DT n Specifies time interval 2n msec for position increment,

where n is an integer between 1 and 8. Zero ends contour mode. If n does not change, it does not need to be specified with each CD.

WC Waits for previous time interval to be complete before next

data record is processed.

_CS Return segment number

General Velocity Profiles

The Contour Mode is ideal for generating any arbitrary velocity profiles. The velocity profile can be specified as a mathematical function or as a collection of points.

The design includes two parts: Generating an array with data points and running the program.

Generating an Array

Consider for example the velocity and position profiles shown in Fig. 6.5. The objective is to rotate a motor a distance of 6000 counts in 120 ms. The velocity profile is sinusoidal to reduce the jerk and the system vibration. When the position displacement is A counts in B milliseconds, the general expression for the velocity and position profile, where T is the time in milliseconds, is:

ωπ

In the given example, A=6000 and B=120, the position and velocity profiles are:

=−

()

ATBA

=−

sin( )

Β12cos( )

X = 50T - (6000/2

Note that the velocity,

VELOCITY

POSITION

Figure 6.5 - Velocity Profile with Sinusoidal Acceleration

The SMC-2000 can compute trigonometric functions. However, the argument must be expressed in degrees. Accordingly, the equation of X is written as:

ω = 50 [1 - cos 2π T/120]

CCELERATION

π) sin (2π T/120)

, in count/ms, is

SMC-2000 User’s Guide Programming Motion

••••

X = 50T - 955 sin 3T

To generate an array, we compute the position value at intervals of 8 ms. This is stored at the array POS. Later, the difference between the positions is computed and is stored in the array DIF.

The program for storing the values is given below.

Instruction Interpretation

#POINTS Program defines X points

DM POS[16] Allocate memory

DM DIF[15]

C=0 Set initial conditions, C is index

T=0 T is time in ms

V1=50*T

V2=3*T Argument in degrees

V3=-955*@SIN[V2]+V1 Compute position

V4=@INT[V3] Integer value of V3

POS[C]=V4 Store in array POS

T=T+8

C=C+1

JP #A,C<16

#B Program to find position differences

C=0

D=C+1

DIF[C]=POS[D]-POS[C] Compute the difference and store

C=C+1

JP #C,C<15

EN End first program

#RUN Program to run motor

CMX Contour Mode

DT3 4 millisecond intervals

C=0

CD DIF[C] Contour Distance is in DIF

WC Wait for completion

C=C+1

JP #E,C<15

DT0

CD0 Stop Contour

EN End the program

Programming Motion SMC-2000 User's Guide

••••

Teach (Record and Play-Back)

Several applications require teaching the machine a motion trajectory. Teaching can be accomplished by using the SMC-2000 automatic array capture feature to capture position data. The captured data may then be played back in the contour mode. The following array commands are used:

DM C[n] Dimension array

RA C[] Specify array for automatic record (up to 8)

RD _TPX Specify data for capturing (such as _TPX or _TPZ)

RC n,m Specify capture time interval where n is 2n msec, m is

RC? or _RC Returns a 1 if recording

Example:

#RECORD Begin Program

DM XPOS[501] Dimension array with 501 elements

RA XPOS[] Specify automatic record

RD _TPX Specify X position to be captured

MOX Turn X motor off

RC2 Begin recording; 4 msec interval

#A;JP#A,_RC=1 Continue until done recording

#COMPUTE Compute DX

DM DX[500] Dimension Array for DX

C=0 Initialize counter

#L Label

D=C+1

DELTA=XPOS[D]-XPOS[C] Compute the difference

DX[C]=DELTA Store difference in array

C=C+1 Increment index

JP #L,C<500 Repeat until done

#PLAYBCK Begin Playback

CMX Specify contour mode

DT2 Specify time increment

I=0 Initialize array counter

#B Loop counter

CD DX[I];WC Specify contour data

I=I+1 Increment array counter

JP #B,I<500 Loop until done

DT 0;CD0 End contour mode

EN End program

number of records to be captured

For additional information about automatic array capture, see Chapter 7, Arrays.

SMC-2000 User’s Guide Programming Motion

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Dual Loop (Auxiliary Encoder)

The SMC-2000 provides an interface for a second encoder per axis. The second encoder may be mounted on the motor, the load or in any position.

The second encoder may be of the standard quadrature type, or it may be of the pulse and direction type. The controller also offers the provision for inverting the direction of the encoder rotation.

The configuration of the auxiliary encoder is done by the CE (Configure Encoder) command. This command configures both the main and the second encoder.

The command form is CE x,y,z,w or a,b,c,d,e,f,g,h for SMC-2000-8 where the parameters x,y,z,w each equals the sum of two integers m and n. m configures the main encoder and n configures the second encoder.

m= Main Encoder n= Second Encoder

0 Normal quadrature 0 Normal quadrature

1 Pulse & direction 4 Pulse & direction

2 Reverse quadrature 8 Reversed quadrature

3 Reverse pulse & direction 12 Reversed pulse & direction

For example, to configure the main encoder for reversed quadrature, m=2, and a second encoder of pulse and direction, n=4, the total is 6, and the command for the X axis is

CE 6

The DE x,y,z,w command can be used to define the position of the auxiliary encoders. For example,

DE 0,500,-30,300

sets their initial values.

The positions of the auxiliary encoders may be interrogated with DE?. For example

DE ?,,?

returns the value of the X and Z auxiliary encoders.

The auxiliary encoder position may be assigned to variables with the instructions

V1=_DEX

Backlash Compensation

The dual loop methods can be used for backlash compensation. This can be done by two approaches:

Continuous dual loop

Sampled dual loop

To illustrate the problem, consider that the coupling between the motor and the load has a backlash. The approach is to mount position encoders on both the motor and the load.

The continuous dual loop combines the two feedback signals to achieve stability. This method requires careful system tuning, and depends on the magnitude of the backlash. However, once successful, this method compensates for the backlash continuously.

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The second method, the sampled dual loop, reads the load encoder only at the end point and performs a correction. This method is independent of the size of the backlash. However, it is effective only in point-topoint motion systems which require position accuracy only at the endpoint.

Continuous Dual Loop - Example

Connect the load encoder to the main encoder port and connect the motor encoder to the dual encoder port. The dual loop method splits the filter function between the two encoders. It applies the KP (proportional) and KI (integral) terms to the position error, based on the load encoder, and applies the KD (derivative) term to the motor encoder. This method results in a stable system.

The dual loop method is activated with the instruction DV (Dual Velocity), where

DV 1,1,1,1

activates the dual loop for the four axes and

DV 0,0,0,0

disables the dual loop.

Note that the dual loop compensation depends on the backlash magnitude, and in extreme cases will not stabilize the loop. The proposed compensation procedure is to start with KP=0, KI=0 and to maximize the value of KD under the condition DV1. Once KD is found, increase KP gradually to a maximum value, and finally, increase KI, if necessary.

Sampled Dual Loop - Example

Run a linear slide by a rotary motor via a lead screw. As the lead screw has a backlash, it is necessary to use a linear encoder to monitor the position of the slide. In addition, for stability reasons, it is best to use a rotary encoder on the motor.

Connect the rotary encoder to the X-axis and connect the linear encoder to the auxiliary encoder of X. Let the required motion distance be one inch, and assume that this corresponds to 40,000 counts of the rotary encoder and 10,000 counts of the linear encoder.

The design approach is to drive the motor a distance, which corresponds to 40,000 rotary counts. Once the motion is complete, the controller monitors the position of the linear encoder and performs position corrections.

This is done by the following program.

Instruction Interpretation

#DUALOOP Label

CE 0 Configure encoder

DE0 Set initial value

PR 40000 Main move

BGX Start motion

#CORRECT Correction loop

AMX Wait for motion completion

V1=10000-_DEX Find linear encoder error

V2=-_TEX/4+V1 Compensate for motor error

JP#END,@ABS[V2]<2 Exit if error is small

PR V2*4 Correction move

BGX Start correction

JP#CORRECT Repeat

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EN #END

Motion Smoothing (S curve profiling)

The SMC-2000 controller allows the smoothing of the velocity profile to reduce the mechanical vibration of the system. The resulting velocity profile is known as S curve.

Trapezoidal velocity profiles have acceleration rates that change abruptly from zero to maximum value. The discontinuous acceleration results in infinite jerk that causes vibration. The smoothing of the acceleration profile leads to a continuous acceleration profile and a finite jerk, which reduces the mechanical shock and vibration.

The smoothing is accomplished by filtering the acceleration profile. The degree of the smoothing is specified by the commands:

IT x,y,z,w Independent time constant

VT n Vector time constant

IT is used for smoothing independent moves of the type JG, PR, PA, whereas VT is used to smooth vector moves of the type VM and LM.

The smoothing parameters, x,y,z,w and n are numbers between 0 and 1 and determine the degree of filtering, where the maximum value of 1 implies no filtering, resulting in trapezoidal velocity profiles. Smaller values of the smoothing parameters imply heavier filtering and smoother moves.

The following diagrams illustrate the effect of the smoothing. Fig. 6.6 shows the trapezoidal velocity profile and the modified acceleration and velocity.

Also note that the smoothing process results in longer motion time.

Example - Smoothing

PR 20000 Position

AC 100000 Acceleration

DC 100000 Deceleration

SP 5000 Speed

IT .5 Filter for S-curve

BG X Begin

Programming Motion SMC-2000 User's Guide

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CCELERATION

VELOCITY

ACCELERATION

VELOCITY

Figure 6.6 - Trapezoidal velocity and smooth velocity profiles

Homing

The Find Edge (FE) and Home (HM) instructions may be used to home the motor to a mechanical reference. This reference is connected to the Home input line. The HM command initializes the motor to the encoder index pulse in addition to the Home input. The configure command (CN) is used to define the polarity of the home input.

The Find Edge (FE) instruction is useful for initializing the motor to a home switch. The home switch is connected to the Homing Input. When the Find Edge command and Begin is used, the motor will accelerate up to the slew speed and slew until a transition is detected on the Homing line. The motor will then decelerate to a stop. A high deceleration value must be input before the find edge command is issued for the motor to decelerate rapidly after sensing the home switch. The velocity profile generated is shown in Fig. 6.7.

The Home (HM) command can be used to position the motor on the index pulse after the home switch is detected. This allows for finer positioning on initialization. The HM command and BG command cause the following sequence of events to occur.

1. Upon begin, motor accelerates to the slew speed. The direction of its motion is determined by the state of the homing input. A zero (GND) will cause the motor to start in the forward direction; +24V will cause it to start in the reverse direction. The CN command is used to define the polarity of the home input.

2. Upon detecting the home switch changing state, the motor begins decelerating to a stop.

3. The motor then traverses very slowly back until the home switch toggles again.

4. The motor then traverses forward until the encoder index pulse is detected.

5. The SMC-2000 defines the home position (0) as the position at which the index was detected.

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Example:

#HOME Label

AC 1000000 Acceleration Rate

DC 1000000 Deceleration Rate

SP 5000 Speed for Home Search

HM X Home X

BG X Begin Motion

AM X After Complete

MG "AT HOME" Send Message

EN End

#EDGE Label

AC ,2000000 Acceleration rate

DC ,2000000 Deceleration rate

SP ,8000 Speed

FE Y Find edge command

BG Y Begin motion

AM Y After complete

MG "FOUND HOME" Print message

DP,0 Define position as 0

EN End

Programming Motion SMC-2000 User's Guide

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MOTION BEGINS TOW ARD HOME DIRECTION

MOTION REVERSE TOW ARD HOME DIRECTION

MOTION TOWARD INDEX DIRECTION

INDEX PULSES

POSITION

HOME SWITCH

Figure 6.7 - Motion intervals in the Home sequence

High Speed Position Capture

Often it is desirable to capture the position precisely for registration applications. The SMC-2000 provides a position latch feature. This feature allows the position of X,Y,Z or W to be captured within 25 microseconds of an external signal. The external signal is input at inputs 1 through 4, and 9 through 12 on the SMC-2000-8.

IN1 X-axis latch IN 9 E-axis latch

IN2 Y-axis latch IN10 F-axis latch

IN3 Z-axis latch IN11 G-axis latch

IN4 W-axis latch IN12 H-axis latch

The SMC-2000 software commands, AL, LT, and RL, are used to arm the latch and report the latched position. The steps to use the latch are as follows:

POSITION

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1. Give the AL XYZW command, or ABCDEFGH for SMC-2000-8, to arm the latch for the specified axis or axes.

2. Test to see if the latch has occurred (Input goes low) by using the _AL X or Y or Z or W command. Example, V1=_ALX returns the state of the X latch into V1. V1 is 1 if the latch has not occurred.

3. After the latch has occurred, read the captured position with the RL XYZW command or _RL XYZW.

Note: The latch must be re-armed after each latching event.

Example:

#LATCH Latch program

JG,5000 Jog Y

BG Y Begin Y

AL Y Arm Latch

#WAIT Loop for Latch=1

JP #WAIT,_ALY=1 Wait for latch

RESULT=_RLY Report position

RESULT= Print result

EN End

Electronic Cam

The electronic cam is a motion control mode which enables the periodic synchronization of several axes of motion when one of the axes is independent and is not necessarily driven by the motion controller.

The electronic cam is a more general type of electronic gearing which allows a table based relationship between the axes. It allows synchronizing all the controller axes. Therefore, the SMC-2000-8 may have one master and up to seven slaves. To simplify the presentation, we will limit the description to a 4-axis controller.

EAp where p=X,Y,Z,W

p is the selected master axis

To illustrate the procedure of setting cam mode the master position M slave axis Y, when the master is X. Such a graphic relationship is shown in Figure 6.8.

, consider the cam relationship for the

Programming Motion SMC-2000 User's Guide

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Slave

Positio

Figure 6.8 - Electronic Cam Cycle

Master

Positio

The cam cycle starts at the master position M

and ends at the master position M1. This implies that the cycle

for the master, CM is

CM=M

1 -M0

The slave axis must equal S0 . When the master position is M0 and S1 when the when the master position equals

. Over one cycle, the change in slave position, CS, equals

- S

CS=S

In the cam mode, the positions of the master and the slave are redefined to fit the values shown in Figure 6.8. This implies that if the master axis position increases beyond M

, the master position is decreased by CM and

the slave position is decreased by CS. On the other hand, if the master axis moves in the negative direction through the point M

, the master position is increased by CM and the slave position is increased by CS. To

specify the values of CM and CS, we use the instruction

EM x,y,z,w

where the values x,y,z,w are the CM or CS values for the corresponding axes.

The range of CM is an integer between 1 and 8,388,607 and the range of CS is an integer between 0 and 2,147,483,647. If CS is negative, its absolute value is specified.

For example, suppose that the cam relationship is as expressed in Fig 6.9.

3000

1500

Figure 6.9 - Electronic Cam Example

SMC-2000 User’s Guide Programming Motion

4000

••••

Since the cycles are 4000 and 1500 for X and Y respectively, the command is

EP m,n

For example, EP 100,500 indicates that the table starts at the master position of 500 and that the following master points are 600, 700, etc.

Finally, the table parameters are defined with the instruction

ET[n]=x,y,z where n starts at 0 and may go up to 256

For example,

ET[7]=100,300,-200

defines a row in the table. It indicates that the position X=100, Y=300, and Z=-200 must be synchronized.

The table generated with ET[n] can be stored in the SMC-2000 with the BN command.

Note that only the slave points must be given. The master points are defined by the EP instruction.

To illustrate the process, consider the simple example where X, the master, has a cycle of 4000 counts and Y, the slave, must be synchronized with a gear ratio of 1 during the first half of the cycle and a zero ratio during the second half.

To construct the table we start by selecting the X axis as the master.

EAX

Define the cycles as

EM 4000,2000

Since the table is quite simple, it can be defined by a few points with an interval of 1000.

EP 1000,0

The first point, when X=0 is

ET[0]=,0

It is followed by:

ET[1]=,1000

ET[2]=,2000

ET[3]=,2000

ET[4]=,2000

Once the cam mode is defined, it can be enabled or disabled with the instruction

EB n where n=1 enables the cam mode and n=0 disables it.

When the cam mode is enabled, the position of the mater is monitored and is re-defined as a value within the cycle.

To engage the slave axes at a programmed point, we use the command

EG x,y,z,w where x,y,z,w are the master positions at which the corresponding

slave axes must be engaged.

If the value of any parameter is outside the range specified by the master cycle, the cam engages that axis immediately. When a slave motor is engaged, its position is redefined to fit with the cycle.

To stop a slave axis, use the instruction

Programming Motion SMC-2000 User's Guide

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EQ x,y,z,w where x,y,z,w are the master positions at which the corresponding

slave axes must be disengaged.

This disengages the slave axis at a specified master position. If the parameter is outside the master cycle, the stopping is instantaneous.

Programmed start and stop can be used only when the master moves forward.

To illustrate the complete process, consider the cam relationship described by the equation:

Y=0.5 * 100sin(0.18 * X)

where X is the master, with a cycle of 2000 counts.

The cam table can be constructed manually, point by point, or automatically by a program. The following program includes the set-up.

The instruction EAX defines X as the master axis. The cycle of the master is CM=2000. Over that cycle, X varies by CS=1000. This leads to the instruction EM 2000,1000.

Suppose we want to define a table with 100 segments. This implies increments of 20 counts each. If the master points are to start at zero, the required instruction is EP 20,0.

The following routine computes the table points. As the phase equals 0.18X and X varies in increments of 20, the phase varies by increments of 3.6

. The program then computes the values of X according to the equation

and assigns the values to the table with the instruction ET[N]=,Y.

#SETUP Label

EAX Select X as master

EM 2000,1000 Cam cycles

EP 20,0 Master position increments

N=0 index

#LOOP Loop to construct table from equation

P=N*3.6 Note 3.6 = 0.18*20

S=@SIN[P]*10 Define sine position

Y=N*10+S Define slave position

ET[N]=,Y Define table

N=N+1

JP #LOOP,N<=100 Repeat the process

Now suppose that the slave axis is engaged with a start signal, input 1, but that both the engagement and disengagement points must be done at the center of the cycle: X=1000 and Y=500. This implies that Y must be driven to that point to avoid a jump.

This is done with the program:

#RUN Label

SMC-2000 User’s Guide Programming Motion

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EB1 Enable Cam

PA,500 Starting position

SP,5000 Y Speed

BGY Move Y Motor

AM After Y moved

AI1 Wait for start signal

EG,1000 Disengage slave

AI-1 Wait for stop signal

EQ,1000 Disengage slave

EN End

The following example illustrates a cam program with a master axis, Z, and two slaves, X and Y.

#A;V1=0 Label; Initialize variable

PA 0,0; BGXY; AMZXY Go to position 0,0 on X and Y axes

EAZ Z axis as the Master for ECAM

EM0,0,4000 Change for Z is 4000, zero for X,Y

EP400,0 ECAM interval is 400 counts with zero start

ET[0]=0,0 When master is at zero position; first point

ET[1]=40,20 2nd point in the ECAM table

ET[2]=120,60 3rd point in the ECAM table

ET[3]=240,120 4th point in the ECAM table

ET[4]=280,140 5th point in the ECAM table

ET[5]=280,140 6th point in the ECAM table

ET[6]=280,140 7th point in the ECAM table

ET[7]=240,120 8th point in the ECAM table

ET[8]=120,60 9th point in the ECAM table

ET[9]=40,20 10th point in the ECAM table

ET[10]=0,0 Starting for the next cycle

EB1 Enable ECAM mode

JGZ=4000 Set Z to jog at 4000

EG 0,0 Engage both X and Y when Master=0

BGZ Begin jog on Z axis

#LOOP; JP#LOOP,V1=0 Loop until the next variable is set

EQ2000,2000 Disengage X and Y when Master = 2000

MF 2000 Wait until the master goes to 2000

ST Z Stop the Z axis motion

EB 0 Exit the ECAM mode

EN End of the program

The above example shows how the ECAM program is instructed and how the commands can be given to the controller.

Programming Motion SMC-2000 User's Guide

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Application Programming

Introduction

The SMC-2000 programming language is a powerful language that allows users to customize a program to handle their particular application. Complex programs can be downloaded into the SMC-2000 memory for later execution. Utilizing the SMC-2000 to execute sophisticated programs frees the host computer for other tasks. However, the host computer can still send commands to the controller at any time, even while a program is being executed.

In addition to standard motion commands, the SMC-2000 provides several commands that allow the SMC-2000 to make its own decisions. These commands include conditional jumps, event triggers, and subroutines. For example, the command JP#LOOP, N<10 causes a jump to the label #LOOP if the variable N is less than 10.

For greater programming flexibility, the SMC-2000 provides 254 user-defined variables, arrays and arithmetic functions. For example, the length in a cut-to-length operation can be specified as a variable in a program and then be assigned by an operator.

The following sections in this chapter discuss all aspects of creating applications programs.

Program Format

A SMC-2000 program consists of several SMC-2000 instructions combined to solve a machine control application. Action instructions, such as starting and stopping motion, are combined with Program Flow instructions to form the complete program. Program Flow instructions evaluate real-time conditions, such as elapsed time or motion complete, and alter program flow accordingly.

A delimiter must separate each SMC-2000 instruction in a program. Valid delimiters are the semicolon (;) or carriage return. The semicolon is used to separate multiple instructions on a single program line. A carriage return enters the final command on a program line.

All SMC-2000 programs must begin with a label and end with an End (EN) statement. Labels start with the pound (#) sign followed by a maximum of seven characters. The first character must be a letter; after that, numbers are permitted. Spaces are not permitted. NOTE: All letter must be UPPER CASE.

The maximum number of labels that may be defined is 254.

Valid labels

#BEGIN

#SQUARE

#X1

#BEGIN1

Invalid labels

#1Square

#123

Special Labels

There are also some special labels, which are used to define input interrupt subroutines, limit switch subroutines, error handling subroutines, and command error subroutines.

#LIMSWI Label for Limit Switch subroutine

#POSERR Label for excess Position Error subroutine

#ININT Label for Input Interrupt subroutine

#CMDERR Label for incorrect command subroutine

#COMINT Label for communication interrupt

#MCTIME Label for timeout if encoder is not in-position within time

#AUTO Label for automatic program start

specified by TW.

Example Program:

#AUTO Beginning of the Program

SH Turn motors on

PR 10000,20000;BG XY Specify relative distances on X and Y axes; Begin Motion

AM Wait for motion complete

WT 2000 Wait 2 sec

JP # AUTO Jump to label AUTO

EN End of Program

The above program will execute automatically at power up and move X and Y 10000 and 20000 units. After the motion is complete, the motors rest for 2 seconds. The cycle repeats indefinitely until the stop command is issued.

Executing Programs - Multitasking

Up to four programs can run independently. The programs, called threads, are numbered 0 through 3, where 0 is the main thread.

The main thread differs from the others in the following points:

1. Only the main thread may use the input command, IN.

Application Programming SMC-2000 User’s Guide

••••

2. In a case of interrupts, due to inputs, limit switches, position errors or command errors, it is the program in thread 0 which jumps to those subroutines.

The execution of the various programs is done with the instruction:

XQ #A, n

Where n indicates the thread number. To halt the execution of any thread, use the instruction

HX n

where n is the thread number.

Note that both the XQ and HX functions can be performed by an executing program.

Multitasking is useful for executing independent operations such as PLC functions that occur independently of motion. The example below produces a waveform on Output 1 independent of a move.

#TASK1 Task1 label

AT0 Initialize reference time

CB1 Clear Output 1

#LOOP1 Loop1 label

AT 10 Wait 10 msec from reference time

SB1 Set Output 1

AT -40 Wait 40 msec from reference time, then initialize reference

CB1 Clear Output 1

JP #LOOP1 Repeat Loop1

#TASK2 Task2 label

XQ #TASK1,1 Execute Task1

#LOOP2 Loop2 label

PR 1000 Define relative distance

BGX Begin motion

AMX After motion done

WT 10 Wait 10 msec

JP #LOOP2,@IN[2]=1 Repeat motion unless Input 2 is low

HX Halt all tasks

The program above is executed with the instruction XQ #TASK2,0 which designates TASK2 as the main thread. #TASK1 is executed within TASK2.

Debugging Programs

The SMC-2000 provides trace and error code commands which are used in debugging programs. The trace command may be activated using the command, TR1. This command causes each line in a program to be sent out to the communications port immediately prior to execution. The TR1 command is useful for debugging programs. TR0 disables the trace function. The TR command may also be included as part of a program.

If there is a program error, the SMC-2000 will halt program execution at the line number at which an error occurs and display the line. The user can obtain information about the type of error condition that occurred by using the command, TC1. This command reports back a number and error condition as follows:

Error Codes:

1 Unrecognized command

2 Command only valid from program

3 Command not valid in program

4 Operand error

5 Input buffer full

6 Number out of range

7 Command not valid while running

8 Command not valid while not running

9 Variable error

10 Empty program line or undefined label

11 Invalid label or line number

12 Subroutine more than 16 deep

13 JG only valid when running in jog mode

14 EEPROM check sum error

15 EEPROM write error

16 IP incorrect sign during position move or IP given during forced deceleration

17 ED, BN and DL not valid while program running

18 Command not valid when contouring

19 Application program/strand already executed

20 Begin not valid with motor off

21 Begin not valid while running

22 Begin not possible due to Limit Switch

24 Begin not valid because no sequence defined

25 Variable not given in IN command

28 S operand not valid

29 Not valid during coordinated move

30 Sequence segment too short

31 Total move distance in a sequence > 2 billion

32 More than 511 segments in a sequence

41 Contouring record range error

42 Contour data being sent too slowly

46 Gear axis both master and follower

50 Not enough fields

51 Question mark not valid

52 Missing “ or string too long

53 Error in {}

54 Question mark part of string

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55 Missing [ or []

56 Array index invalid or out of range

57 Bad function or array

58 Unrecognized command in a command response (i.e._TPQ)

59 Mismatched parentheses

60 Download error - line too long or too many lines

61 Duplicate or bad label

62 Too many labels

65 IN command must have a comma

66 Array space full

67 Too many arrays or variables

71 IN only valid in task #0

80 Record mode already running

81 No array or source specified

82 Undefined array

83 Not a valid number

84 Too many elements

90 Only X,Y,Z,W or A,B,C,D,E,F,G,H valid operand

96 SM jumper needs to be installed for stepper motor operation

100 Not valid when running ECAM

101 Improper index to ET (must be 0-256)

102 No master axis for ECAM

103 Master axis modulus greater than 256*EP value

104 Not valid when axis performing ECAM

105 EB1 command must be given first

114 Absolute Encoder option not installed

115 Motor must be in MO for this comment

116 Absolute Encoder responded with an alarm

117 Absolute Encoder did not respond

118 Controller has GL1600, not GL1800

: TC0 or TC will return the error code only without the text message.

Note

Example:

#A Program Label

PR1000 Position Relative 1000

BGX Begin

PR5000 Position Relative 5000

EN End

:XQ #A Execute #A

?003 PR5000 Error on Line 3

:TC1 Tell Error Code

AMX;PR5000;BGX Add After Motion Done

:XQ #A Execute #A

Program Flow Commands

The SMC-2000 provides several instructions that control program flow. Normally, the SMC-2000 program sequencer executes instructions in a program sequentially. Program Flow commands, however, may be used to redirect program flow. A summary of these commands is given below and they are detailed in the following sections.

Program Flow Command Summary

JP Conditional Jump

JS Conditional Jump to Subroutine

AD After Distance Trigger

AI After Input Trigger

AM After Motion Complete Trigger

AP After Absolute Position Trigger

AR Relative Distance Trigger

AS After Speed Trigger

AT Wait for time with respect to reference

AV After Vector Distance Trigger

MC Trigger "In position" trigger (TW x,y,z,w sets timeout for

MF Trigger Forward motion

MR Trigger Reverse motion

WC Wait for Contour Data

WT Wait for time to elapse

in-position)

Event Triggers & Trippoints

To function independently from the host computer, the SMC-2000 can be programmed to make decisions based on the occurrence of an event. Such events include waiting for motion to be complete, waiting for a specified amount of time to elapse, or waiting for an input to change logic levels.

The SMC-2000 provides several event triggers that cause the program sequencer to halt until the specified event occurs. Normally, a program is automatically executed sequentially one line at a time. When an event trigger instruction is decoded, however, the actual program sequence is halted. The program sequence does not continue until the event trigger is "tripped". For example, the motion complete trigger can be used to separate two move sequences in a program. The commands for the second move sequence will not be executed until the motion is complete on the first motion sequence. In this way, the SMC-2000 can make decisions based on its own status or external events without intervention from a host computer.

Application Programming SMC-2000 User’s Guide

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SMC-2000 Event Triggers

Command Function

AM X Y Z W or S

(A B C D E F G H)

AD X or Y or Z or W

(A or B or C or D or E or F or G or H)

AR X or Y or Z or W

(A or B or C or D or E or F or G or H)

AP X or Y or Z or W

(A or B or C or D or E or F or G or H)

AI +/-n Halts program execution until after specified input is at

AS X Y Z W S

(A B C D E F G H)

AT +/-n Halts program execution until n msec from reference time.

AV n Halts program execution until specified distance along a

MC X or Y or Z or W

(A or B or C or D or E or F or G or H)

MF X or Y or Z or W

(A or B or C or D or E or F or G or H)

MR X or Y or Z or W

(A or B or C or D or E or F or G or H)

WT n Halts program execution until specified time in msec has

Halts program execution until motion is complete on the specified axes or motion sequence(s). AM with no parameter tests for motion complete on all axes. This command is useful for separating motion sequences in a program.

Halts program execution until position command has reached the specified relative distance from the start of the move. Only one axis may be specified at a time.

Halts program execution until after specified distance from the last AR or AD command has elapsed. Only one axis may be specified at a time.

Halts program execution until after absolute position occurs. Only one axis may be specified at a time.

specified logic level. n specifies input line. Positive is high logic level, negative is low level.

Halts program execution until specified axis has reached its slew speed.

AT 0 sets reference. AT n waits n msec from reference. AT -n waits n msec from reference and sets new reference after elapsed time.

coordinated path has occurred.

Halt program execution until after the motion profile has been completed and the encoder has entered or passed the specified position. TW x,y,z,w sets timeout to declare an error if not in position. If timeout occurs, then the trippoint will clear and the stop code will be set to 99. An application program will jump to label #MCTIME.

Halt program execution until after forward motion reached absolute position. Only one axis may be specified. If position is already past the point, then MF will trip immediately.

Halt program execution until after reverse motion reached absolute position. Only one axis may be specified. If position is already past the point, then MR will trip immediately.

elapsed.

Event Trigger Examples:

Event Trigger - Multiple Move Sequence

The AM trippoint is used to separate the two PR moves. If AM is not used, the controller returns a ? for the second PR command because a new PR cannot be given until motion is complete.

#TWOMOVE Label

PR 2000 Position Command

BGX Begin Motion

AMX Wait for Motion Complete

PR 4000 Next Position Move

BGX Begin 2nd move

EN End program

In the above example, the AM trippoint is used to separate the two PR moves. If AM is not used, the controller returns a ? for the second PR command because a new PR cannot be given until motion is complete.

Event Trigger - Set Output after Distance

Set output bit 1 after a distance of 1000 counts from the start of the move. The accuracy of the trippoint is the speed multiplied by the sample period.

#SETBIT Label

SP 10000 Speed is 10000

PA 20000 Specify Absolute position

BGX Begin motion

AD 1000 Wait until 1000 counts

SB1 Set output bit 1

EN End program

The above example sets output bit 1 after a distance of 1000 counts from the start of the move. The accuracy of the trippoint is the speed multiplied by the sample period.

Event Trigger - Repetitive Position Trigger

To set the output bit every 10000 counts during a move, the AR trippoint is used as shown in the next example.

#TRIP Label

JG 50000 Specify Jog Speed

BGX;N=0 Begin Motion

#REPEAT # Repeat Loop

AR 10000 Wait 10000 counts

TPX Tell Position

SB1 Set output 1

WT50 Wait 50 msec

CB1 Clear output 1

N=N+1 Increment counter

JP #REPEAT,N<5 Repeat 5 times

STX Stop

EN End

Event Trigger - Start Motion on Input

This example waits for input 1 to go low and then starts motion. Note: The AI command actually halts execution of the program until the input occurs. If you do not want to halt the program sequences, you can use the Input Interrupt function (II) or use a conditional jump on an input, such as JP #GO,@IN[1] = 0.

Application Programming SMC-2000 User’s Guide

••••

#INPUT Program Label

AI-1 Wait for input 1 low

PR 10000 Position command

BGX Begin motion

EN End program

Event Trigger - Set output when At speed

#ATSPEED Program Label

JG 50000 Specify jog speed

AC 10000 Acceleration rate

BGX Begin motion

ASX Wait for at slew speed 50000

SB1 Set output 1

EN End program

Event Trigger - Change Speed along Vector Path

The following program changes the feed rate or vector speed at the specified distance along the vector. The vector distance is measured from the start of the move or from the last AV command.

#VECTOR Label

VMXY;VS 5000 Coordinated path

VP 10000,20000 Vector position

VP 20000,30000 Vector position

VE End vector

BGS Begin sequence

AV 5000 After vector distance

VS 1000 Reduce speed

EN End

Event Trigger - Multiple move with wait

#MOVES Label

PR 12000 Distance

SP 20000 Speed

AC 100000 Acceleration

BGX Start Motion

AD 10000 Wait a distance of 10,000 counts

SP 5000 New Speed

AMX Wait until motion is completed

WT 200 Wait 200 ms

PR -10000 New Position

SP 30000 New Speed

AC 150000 New Acceleration

BGX Start Motion

EN End

Define Output Waveform Using AT

The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle repeats every 50 msec.

#OUTPUT Program label

AT0 Initialize time reference

SB1 Set Output 1

#LOOP Loop

AT 10 After 10 msec from reference,

CB1 Clear Output 1

AT -40 Wait 40 msec from reference and reset reference

SB1 Set Output 1

JP #LOOP Loop

Conditional Jumps

The SMC-2000 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions for branching to a new program location based on a specified condition. Unlike event triggers, the conditional jump instruction does not halt the program sequence. Instead, it tests to see if a condition is satisfied and then branches to a new location or subroutine. (A subroutine is a group of commands defined by a label and EN command. After all the commands in the subroutine are executed, a return is made to the main program). If the condition is not satisfied, the program sequence continues to the next program line.

The JP and JS instructions have the following format:

Format: Meaning

JS destination, logical condition Jump to subroutine if logical condition is satisfied

JP destination, logical condition Jump to location if logical condition is satisfied

The destination is a program line number or label. The destination is where the program sequencer jumps to if the specified condition is satisfied. The comma designates "IF". The logical condition tests two operands with logical operators. The operands can be any valid SMC-2000 numeric operand, including variables, array elements, numeric values, functions, keywords, and arithmetic expressions.

Logical operators:

< less than

> greater than

= equal to

<= less than or equal to

>= greater than or equal to

<> not equal

Operands:

Type Examples

Application Programming SMC-2000 User’s Guide

••••

Number V1=6

Numeric Expression V1=V7*6

@ABS[V1]>10

Array Element V1<Count[2]

Variable V1<V2

Internal Variable _TPX=0

_TVX>500

I/O V1>@AN[2]

@IN[1]=0

The jump statement may also be used without a condition.

Example conditional jump statements are given below:

Conditional Meaning

JP #LOOP,COUNT<10 Jump to #LOOP if the variable, COUNT, is less than 10

JS #MOVE2,@IN[1]=1 Jump to subroutine #MOVE2 if input 1 is logic level high.

After the subroutine MOVE2 is executed, the program sequencer returns to the main program location where the subroutine was called.

JP #BLUE,@ABS[V2]>2 Jump to #BLUE if the absolute value of variable, V2, is

greater than 2

JP #C,V1*V7<=V8*V2 Jump to #C if the value of V1 times V7 is less than or equal

to the value of V8*V2

JP#A Jump to #A

Conditional jumps are useful for testing events in real-time. They allow the SMC-2000 to make decisions without a host computer. For example, the SMC-2000 can decide between two motion profiles based on the state of an input line. Or, the SMC-2000 can keep track of how many times a motion profile is executed.

NOTE: Conditions may NOT be grouped using the AND (&) or OR (|) operators.

Example:

Move the X motor to absolute position 1000 counts and back to zero ten times. Wait 100 msec between moves.

#BEGIN Begin Program

COUNT=10 Initialize loop counter

#LOOP Begin loop

PA 1000 Position absolute 1000

BGX Begin move

AMX Wait for motion complete

WT 100 Wait 100 msec

PA 0 Position absolute 0

BGX Begin move

AMX Wait for motion complete

WT 100 Wait 100 msec

COUNT=COUNT-1 Decrement loop counter

JP #LOOP,COUNT>0 Test for 10 times through loop

EN End Program

Subroutines

A subroutine is a group of instructions beginning with a label and ending with an END (EN). Subroutines are called from the main program with the jump subroutine instruction JS, followed by a label or line number, and conditional statement. Up to 16 subroutines can be nested. After the subroutine is executed, the program sequencer returns to the program location where the subroutine was called unless the subroutine stack is manipulated as described in the following section.

Example:

An example of a subroutine to draw a square 500 counts per side is given below. The square is drawn at vector position 1000,1000.

#M Begin Main Program

CB1 Clear Output Bit 1 (pick up pen)

VP 1000,1000;LE;BGS;AMS Define vector position; move pen

SB1 Set Output Bit 1 (put down pen)

JS #SQUARE;CB1 Jump to square subroutine

EN End Main Program

#SQUARE Square subroutine

V1=500;JS #L Define length of side

V1=-V1;JS #L Switch direction

EN End subroutine

#L;PR V1,V1;BGX Define X,Y; Begin X

AMX;BGY;AMY After motion on X, Begin Y

EN End subroutine

Stack Manipulation

It is possible to manipulate the subroutine stack by using the ZS command. Every time a JS instruction, interrupt or automatic routine (such as #POSERR or #LIMSWI) is executed, the subroutine stack is incremented by 1. Normally the stack is restored with an EN instruction. Occasionally it is desirable not to return back to the program line where the subroutine or interrupt was called. The ZS1 command clears 1 level of the stack. This allows the program sequencer to continue to the next line. The ZS0 command resets the stack to its initial value. For example, if a limit occurs and the #LIMSWI routine is executed, it is often desirable to restart the program sequence instead of returning to the location where the limit occurred. To do this, give a ZS command at the end of the #LIMSWI routine.

Automatic Subroutines for Monitoring Conditions

Often it is desirable to monitor certain conditions continuously without tying up the host or SMC-2000 program sequences. The SMC-2000 can monitor several important conditions in the background. These conditions include checking for the occurrence of a limit switch, a defined input, position error, or a command error. Automatic monitoring is enabled by inserting a special, predefined label in the applications program. The predefined labels are:

#LIMSWI Limit switch on any axis goes low

Application Programming SMC-2000 User’s Guide

••••

#POSERR Position error exceeds limit specified by ER

#ININT Input specified by II goes low

#CMDERR Bad command given

#COMINT Communication interrupt occurred

#MCTIME Timeout for In-position trippoint, MC

#AUTO Auto start program on power-up

For example, the #POSERR subroutine will automatically be executed when any axis exceeds its position error limit. The commands in the #POSERR subroutine could decode which axis is in error and take the appropriate action. In another example, the #ININT label could be used to designate an input interrupt subroutine. When the specified input occurs, the program will be executed automatically.

Note: An application program must be running for automatic monitoring to function.

Example - Limit Switch:

This program prints a message upon the occurrence of a limit switch. Note, for the #LIMSWI routine to function, the SMC-2000 must be executing an applications program from memory. This can be a very simple program that does nothing but loop on a statement, such as #LOOP;JP #LOOP;EN. Motion commands, such as JG 5000 can still be sent from the PC even while the "dummy" applications program is being executed.

#LOOP Dummy Program

JP #LOOP;EN Jump to Loop

#LIMSWI Limit Switch Label

MG "LIMIT OCCURRED" Print Message

RE Return to main program

:XQ #LOOP Execute Dummy Program

:JG 5000 Jog

:BGX Begin Motion

Now, when a forward limit switch occurs on the X axis, the #LIMSWI subroutine will be executed.

Note: The RE command is used to return from the #LIMSWI subroutine.

Note: The #LIMSWI will continue to be executed until the limit switch is cleared (goes high).

Example - Position Error

#LOOP Dummy Program

JP #LOOP;EN Loop

#POSERR Position Error Routine

V1=_TEX Read Position Error

MG "EXCESS POSITION ERROR" Print Message

MG "ERROR=",V1= Print Error

RE Return from Error

:XQ #LOOP Execute Dummy Program

:JG 100000 Jog at High Speed

:BGX Begin Motion

Now, if the position error on the X axis exceeds that specified by the ER command, the #POSERR routine will execute.

Note: The RE command is used to return from the #POSERR subroutine

Note: The #POSERR routine will continue to be executed until the position error is cleared (is less than the ER

limit).

Input Interrupt Example:

#A Label

II1 Input Interrupt on 1

JG 30000,,,60000 Jog

BGXW Begin Motion

#LOOP;JP#LOOP;EN Loop

#ININT Input Interrupt

ST;AM Stop Motion

#TEST;JP #TEST, @IN[1]=0 Test for Input 1 still low

BGXW;RI Begin motion and Return to Main Program

NOTE: Use the RI command to return from #ININT subroutine.

Bad Command Example

#BEGIN Begin main program

IN "ENTER SPEED", SPEED Prompt for speed

JG SPEED;BGX; Begin motion

JP #BEGIN Repeat

EN End main program

#CMDERR Command error utility

JP#DONE,_TC<>6 Check if out of range

MG "SPEED TOO HIGH" Send message

MG "TRY AGAIN" Send message

ZS1 Adjust stack

JP #BEGIN Return to main program

#DONE End program if other error

ZS0 Zero stack

EN End program

The above program prompts the operator to enter a jog speed. If the operator enters a number out of range (greater than 8 million), the #CMDERR routine will be executed prompting the operator to enter a new number.

Application Programming SMC-2000 User’s Guide

••••

Mathematical and Functional Expressions

For manipulation of data, the SMC-2000 provides the use of the following mathematical operators:

Operator Function

+ Addition

- Subtraction

* Multiplication

/ Division

& Logical And (Bit-wise)

| Logical Or (On some computers, a solid vertical line

appears as a broken line)

( ) Parenthesis

The numeric range for addition, subtraction and multiplication operations is +/-2,147,483,647.9999. The precision for division is 1/65,000.

Mathematical operations are executed from left to right. Parentheses can be used and nested four deep. Calculations within a parentheses have precedence.

Examples:

SPEED=7.5*V1/2 The variable, SPEED, is equal to 7.5 multiplied by V1 and

divided by 2

COUNT=COUNT+2 The variable, COUNT, is equal to the current value plus 2.

RESULT=_TPX-(@COS[45]*40) Puts the position of X - 28.28 in RESULT. 40 * cosine of

45° is 28.28

TEMP=@IN[1]&@IN[2] TEMP is equal to 1 only if Input 1 and Input 2 are high

The SMC-2000 also provides the following functions:

Function Command Meaning

@ABS Absolute Value

@SIN Sine

@COS Cosine

@COM 2's Complement

@FRAC Fraction

@INT Integer

@RND Rounds number .5 and up to next integer

@IN[n] Read digital input n

@AN[n] Read analog input n

@SQR[n] Square Root Function; Accuracy is +/-.0004

Functions may be combined with mathematical expressions. The order of execution is from left to right. The units of the SIN and COS functions are in degrees with resolution of 1/128 degrees. The values can be up to +/4 billion degrees.

Example:

V1=@ABS[V7] The variable, V1, is equal to the absolute value of variable

V2=5*@SIN[POS] The variable, V2, is equal to five times the sine of the

V3=@IN[1] The variable, V3, is equal to the digital value of input 1.

V4=@AN[5] The variable, V4, is equal to the digital value of analog

Variables

Many motion applications include parameters that are variable. For example, a cut-to-length application often requires that the cut length be variable. The motion process is the same, however the length is changing.

To accommodate these applications, the SMC-2000 provides for the use of both numeric and string variables. A program can be written in which certain parameters, such as position or speed, are defined as variables. The variables can later be assigned by the operator or determined by the program calculations.

Example:

PR POSX Assigns variable POSX to PR command

JG RPMY*70 Assigns variable RPMY multiplied by 70 to JG command.

V7.

variable, POS.

input 5.

Application Programming SMC-2000 User’s Guide

••••

Programmable Variables

The SMC-2000 allows the user to create up to 254 variables. Each variable is defined by a name which can be up to eight characters. The name must start with an alphabetic character, however, numbers are permitted in the rest of the name. Spaces are not permitted. Examples of valid and invalid variable names are:

Valid Variable Names

POSX

POS1

SPEEDZ

Invalid Variable Names

1POS

123

SPEED Z

It is recommended that variable names not be the same as SMC-2000 instructions. For example, PR is not a good choice for a variable name.

The range for numeric variable values is 4 bytes of integer followed by two bytes of fraction (+/2,147,483,647.9999).

String variables can contain up to six characters which must be in quotation. Example: VAR="STRING".

Numeric values can be assigned to programmable variables using the equal sign. Assigned values can be numbers, internal variables and keywords, and functions. String values can be assigned to variables using quotations.

Any valid SMC-2000 function can be used to return a value such as V1=@ABS[V2] or V2=@IN[1]. Arithmetic operations are also permitted.

Example:

POSX=_TPX Assigns returned value from TPX command to variable

POSX.

SPEED=5.75 Assigns value 5.75 to variable SPEED

INPUT=@IN[2] Assigns logical value of input 2 to variable INPUT

V2=V1+V3*V4 Assigns the value of V1 plus V3 times V4 to the variable

V2.

VAR="CAT" Assign the string, CAT, to VAR

Variable values may be assigned to controller parameters such as GN or PR. Here, an equal is not used. For example:

PR V1 Assign V1 to PR command

SP VS*2000 Assign VS*2000 to SP command

Example - Using Variables for Joystick

The example below reads the voltage of an X-Y joystick and assigns it to variables VX and VY to drive the motors at proportional velocities, where

10 Volts = 8191 counts --> 3000 rpm = 200000 c/sec

Speed/Analog input = 200000/8191 = 24.4

#JOYSTICK Label

JG 0,0 Set in Jog mode

BGXY Begin Motion

#LOOP Loop

VX=@AN[1]*24.4 Read joystick X

VY=@AN[2]*24.4 Read joystick Y

JG VX,VY Jog at variable VX,VY

JP#LOOP Repeat

EN End

Internal Variables & Keywords

Internal variables allow motion or status parameters from SMC-2000 commands to be incorporated into programmable variables and expressions. Internal variables are designated by adding an underscore (_) prior to the SMC-2000 command. SMC-2000 commands which can be used as internal variables are listed in the Command Reference as "Used as an Operand".

Most SMC-2000 commands can be used as internal variables. Status commands such as Tell Position return actual values, whereas action commands such as GN or SP return the values in the SMC-2000 registers. The X,Y,Z or W or A,B,C,D,E,F,G,H for the SMC-2000-8, axis designation is required following the command.

Examples:

POSX=_TPX Assigns value from Tell Position X to the variable POSX.

GAIN=_GNZ*2 Assigns value from GNZ multiplied by two to variable,

GAIN.

JP #LOOP,_TEX>5 Jump to #LOOP if the position error of X is greater than 5

JP #ERROR,_TC=1 Jump to #ERROR if the error code equals 1.

Internal variables can be used in an expression and assigned to a programmable variable, but they cannot be assigned a value. For example: _GNX=2 is invalid.

The SMC-2000 also provides a few keywords which give access to internal variables that are not accessible by standard SMC-2000 commands.

Keyword Function

_BGX or _BGY or _BGW Motion Done if 1. Moving if 0.

_LFX or _LFY or _LFZ or_LFW Forward Limit (equals 0 or 1)

_LRX or _LRY or _LRZ or LRW Reverse Limit (equals 0 or 1)

TIME Free-Running Real Time Clock* (off by 2.4% - Reset on

power-on). Note: TIME does not use _.

_HMX or _HMY or _HMZ or HMW Home Switch (equals 0 or 1)

Examples:

V1=_LFX Assign V1 the logical state of the Forward Limit Switch on

the X-axis

V3=TIME Assign V3 the current value of the time clock

V4=_HMW Assign V4 the logical state of the Home input on the W-

axis

Application Programming SMC-2000 User’s Guide

••••

Example Program:

#TIMER Timer

INITIME=TIME Initialize time variable

PR50000;BGX Begin move

AMX After move

ELAPSED=TIME-INTIME Compute elapsed time

EN End program

#LIMSWI Limit Switch Routine

JP #FORWARD,_LFX=0 Jump if Forward Limit

AMX Wait for Motion Done

PR 1000;BGX;AMX Move Away from Reverse Limit

JP #END Exit

#FORWARD Forward Label

PR -1000;BGX;AMX Move Away from Forward Limit

#END Exit

RE Return to Main Program

Arrays

For storing and collecting numerical data, the SMC-2000 provides array space for 8000 elements in up to 30 arrays. Arrays can be used to capture real-time data, such as position, torque and analog input values. In the contouring mode, arrays are convenient for learning a position trajectory and later playing it back.

Defining Arrays

An array is defined by a name and number of entries using the DM command. The name can contain up to eight characters, starting with an uppercase alphabetic character.

The number of entries in the defined array is enclosed in [ ].

Up to 30 different arrays may be defined. The arrays are one dimensional.

Example:

DM POSX[7] Defines an array named POSX with seven entries

DM SPEED[100] Defines an array named speed with 100 entries

DM POSX[0] Frees array space

Each array element has a numeric range of 4 bytes of integer (231)followed by two bytes of fraction (+/2,147,483,647.9999).

Array space may be de-allocated using the DA command followed by the array name. DA*[0] de-allocates all the arrays.

Assignment of Array Entries

Like variables, each array element can be assigned a value. Assigned values can be numbers or returned values from instructions, functions and keywords.

Values are assigned to array entries using the equal sign. Assignments are made one element at a time by specifying the element number with the associated array name.

NOTE: Remember to define arrays using the DM command before assigning entry values.

Examples:

DM SPEED[10] Dimension Speed Array

SPEED[1]=7650.2 Assigns the first element of the array, SPEED the value

7650.2

SPEED[1]= Returns array element value

POSX[10]=_TPX Assigns the 10th element of the array POSX the returned

value from the tell position command.

CON[2]=@COS[POS]*2 Assigns the second element of the array CON the cosine of

the variable POS multiplied by 2.

TIMER[1]=TIME Assigns the first element of the array timer the returned

value of the TIME keyword.

An array element number can also be a variable. This allows array entries to be assigned sequentially using a counter.

For example:

#A Begin Program

COUNT=0;DM POS[10] Initialize counter and define array

#LOOP Begin loop

WT 10 Wait 10 msec

POS[COUNT]=_TPX Record position into array element

POS[COUNT]= Report position

COUNT=COUNT+1 Increment counter

JP #LOOP,COUNT<10 Loop until 10 elements have been stored

EN End Program

The above example records 10 position values at a rate of one value per 10 msec. The values are stored in an array named POS. The variable, COUNT, is used to increment the array element counter. The above example can also be executed with the automatic data capture feature described below.

Arrays may be uploaded and downloaded using the QU and QD commands.

QU array[],start,end,comma

QD array[],start,end

where array is an array name such as A[].

Start is the first element of array (default=0)

End is the last element of array (default=last element)

Comma -- if comma is a 1, then the array elements are separated by a comma. If not a 1, then the elements are separated by a carriage return.

The file is terminated using <control>Z, <control>Q, <control>D or \.

Application Programming SMC-2000 User’s Guide

••••

Automatic Data Capture into Arrays

The SMC-2000 provides a special feature for automatic capture of data such as position, position error, inputs or torque. This is useful for teaching motion trajectories or observing system performance. Up to eight types of data can be captured and stored in eight arrays. The capture rate or time interval may be specified.

Commands used:

RA n[],m[],o[],p[] Selects up to four arrays (eight arrays for SMC-2000-8) for

data capture. The arrays must be defined with the DM command.

RD_TI,_TPX,_SCZ,_TSY Selects the type of data to be recorded. See the table below

for the various types of data. The order of data type is important and corresponds with the order of n,m,o,p arrays in the RA command. In this example, the _TI input data is stored in the first array selected by the RA command.

RC n,m The RC command begins data collection. Sets data capture

time interval where n is an integer between 1 and 8 and designates 2n msec between data. m is optional and specifies the number of elements to be captured. If m is not defined, the number of elements defaults to the smallest array defined by DM. n=0 stops recording.

RC? or V=_RC Returns a 0 or 1 where, 0 denotes not recording, 1 specifies

recording in progress

Data Types for Recording

_DEX 2nd encoder position (dual encoder)

_TPX Encoder position

_TEX Position error

_RPX Commanded position

_RLX Latched position

_TI Inputs

_OP Output

_TSX Switches (only bit 0-4 valid)

_SCX Stop code

_TBX Status bits

_TTX Torque (reports digital value +/-32703)

Note: X may be replaced by Y,Z or W for capturing data on other axes, or A,B,C,D,E,F,G,H for SMC-2000-8.

Example - Recording into An Array

During a position move, store the X and Y positions and position error every 2 msec.

#RECORD Begin program

DM XPOS[300],YPOS[300] Define X,Y position arrays

DM XERR[300],YERR[300] Define X,Y error arrays

RA XPOS[],XERR[],YPOS[],YERR[] Select arrays for capture

RD _TPX,_TEX,_TPY,_TEY Select data types

Yaskawa SMC-2000 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Overview

Introduction

SMC-2000 Functional Elements

System Elements

Getting Started

Elements You Need

Installing the SMC-2000

Motion Examples

Hardware Interface

Cable Shielding, Segregation and Noise Immunity

Proper Shield Terminations

Improper Shield Terminations

Encoder Interface

Opto-isolated Inputs

Outputs

Analog Inputs

Amplifier Interface

Motors with Brakes

Step Motors

Communication - RS232

RS232 Ports

Configuration

Daisy-Chaining

Synchronizing Sample Clocks

Operator Interface

Controller Response to Data

Programming Basics

Introduction

Command Syntax

Controller Response to Commands

Command Summary

Command Interrogation List

Programming Motion

Overview

Independent Axis Positioning

Independent Jogging

Linear Interpolation Mode

Coordinated Motion Sequences

Tangent Motion

Coordinated Motion Sequence Instructions - Summary

Electronic Gearing

Contour Mode

Teach (Record and Play-Back)

Dual Loop (Auxiliary Encoder)

Backlash Compensation

Motion Smoothing (S curve profiling)

Homing

High Speed Position Capture

Electronic Cam

Application Programming

Introduction

Program Format

Special Labels

Executing Programs - Multitasking

Debugging Programs

Program Flow Commands

Mathematical and Functional Expressions

Variables

Arrays