Intelligent Motion Systems Modular LYNX System manuale d’uso

Par t I The Modular L YNX System Modular L YNX ! Getting Star ted ! Connecting the L YNX System ! Mounting the L YNX System ! Powering the L YNX System ! The Communications Interface ! Configuring the Digital I/O ! The L YNX Control Module ! The L YNX Control Module (Combination) ! The Isolated Digital I/O Module ! The Differential Digital I/O Modu[...]

1 - 2 Modular LYNX System 12.05.2003 T able of Contents Section 1: Getting Started ..................................................................................................... .............................................. 1- 5 Section Overview ................................................................................................[...]

1 - 3 Modular L YNX System Modular LYNX System 12.05.2003 T ypical Functions of the Differential I/O ...................................................................................... .............................................. 1-34 Connecting and Using an Encoder ..............................................................................[...]

1 - 4 Modular LYNX System 12.05.2003 T able 7.1: Power Requirements for the L Y NX Control Module ....................................................................... ...................... 1-40 T able 7.2: L YNX Control Module LED Indicators ................................................................................... ....................[...]

1 - 5 Modular L YNX System Modular LYNX System 12.05.2003 Section 1 Getting Started Section Overview The purpose of this section is to get you up and running quickly . This section will help you do the following: ! Connect power to the L YNX Control Module. ! Connect and establish communications in single mode. ! W rite a simple test program. Getti[...]

1 - 6 Modular LYNX System 12.05.2003 User Provided T ools and Equipment Needed ! Serial Cable ! IM483 or equivalent step motor driver ! ISP200-4 or equivalent power supply ! M-22XX or equivalent stepping motor ! W ire Cutters/Strippers ! 22 gauge wire for logic level signals ! 18 gauge wire for power supply and motor wiring ! PC with a free serial [...]

1 - 7 Modular L YNX System Modular LYNX System 12.05.2003 Once the IMS T erminal is installed you may run the Setup. 1 ) Open the IMS T erm by clicking Start>Programs>IMS T erminal>IMS T erm. 2 ) Select or verify the Communications Port that you will be using with your L YNX. a ) Click in the T erminal W indow to activate it. b) Right clic[...]

1 - 8 Modular LYNX System 12.05.2003 Once you have been able to move the motor , the next step is to write a simple program to illustrate one of the dynamic features of the L YNX: the ability to convert motor steps to a dimension of linear or rotary distance. Let’ s begin by discussing the relationship between the MUNIT variable and user units. T[...]

1 - 9 Modular L YNX System Modular LYNX System 12.05.2003 Section 2 Connecting the L YNX System Section Overview Each module of the L YNX System is a closed unit with a header of pins and locking tabs to connect it to another module in the system. Optional I/O modules are connected on the RIGHT side of the Control Module. This section covers: ! Rem[...]

1 - 10 Modular LYNX System 12.05.2003 Section 3 Mounting the L YNX System Section Overview This section covers the two basic methods of mounting the L YNX System. ! Panel Mount. ! DIN Rail Mounting Option. Panel Mount Using the panel mount option, the L YNX is designed to use #10 hardware (not included). Details such as screw length and threads are[...]

1 - 11 Modular L YNX System Modular LYNX System 12.05.2003 3 . Holding the L YNX System at an angle away from you, lower the upper slot of the DIN rail attachment onto the top edge of the DIN rail. Snap L YNX system into place. Figure 3.2. 4 . Insert #6 X .250 L set screw (provided) into the TOP threaded insert located between the #6 screws on each[...]

1 - 12 Modular LYNX System 12.05.2003 Section 4 Powering the L YNX System Section Overview This section covers the two basic power configurations for your L YNX System. ! Basic rules of wiring and shielding. ! L YNX Control Module with IMS Drivers. ! L YNX Control Module as Stand-alone or with Optional I/O Module. W iring and Shielding Noise is alw[...]

1 - 13 Modular L YNX System Modular LYNX System 12.05.2003 L YNX Control Module with IMS Driver In this example, power is connected to the L YNX Control Module via connector P1. All optional plug-on modules are then powered from the L YNX Control Module. In this configuration, pins 5 and 6 on connector P2 of the Control Module become +5VDC (150mA, [...]

1 - 14 Modular LYNX System 12.05.2003 Stand-alone or with Optional I/O Modules +12 to +75VDC Supply A +12 to +75VDC unregulated supply connected to P1 provides power to the L YNX Control Module and any optional I/O modules. As in the L YNX Controller with Driver (s) Configuration, pins 5 (Ground) and 6 (+5VDC) on connector P2 of the Control Module [...]

1 - 15 Modular L YNX System Modular LYNX System 12.05.2003 Power Requirements ! W ARNING! When using an unregulated supply , ensure that the output voltage does not exceed the maximum driver input voltage due to variations in line voltage! It is recommended that an input line filter be used on power supply to limit voltage spikes to the system! ! W[...]

1 - 16 Modular LYNX System 12.05.2003 Section 5 The Communications Interface Section Overview The L YNX Control Module features two communication interfaces: RS-232 and RS-485 . For both channels, the BAUD rate is software configurated, using the BAUD variable, to 4800, 9600, 19200 or 38400 bits/sec. The factory default is set to 19200 bits/sec. De[...]

1 - 17 Modular L YNX System Modular LYNX System 12.05.2003 Figure 5.1: Connecting the RS-232 Interface, Single Control Module System T able 5.1: Wiring Connections: RS-232 Interface Single Control Module System Multiple Control Module System When connecting multiple control modules in a system using the RS-232 interface, it is necessary to establis[...]

1 - 18 Modular LYNX System 12.05.2003 name, to identify it in the system. This can be done using configuration switches A0-A2, or by using the software command SET DN . For example, to set the name of a controller to "A" you would use the following command: SET DN = "A". The factory default name is "!". T o set the add[...]

1 - 19 Modular L YNX System Modular LYNX System 12.05.2003 Figure 5.2: RS-232 Interface, Multiple Control Module System T able 5.3: Connections and Settings Multiple Control Module System, RS-232 Interface s e d o N X N Y L e l p i t l u M r o f s n o i t c e n n o C d n A g n i r i W : e c a f r e t n I 2 3 2 - S R e l u d o M l o r t n o C t s o [...]

1 - 20 Modular LYNX System 12.05.2003 Connecting the RS-485 Interface Single Controller System In a Single Controller System, the RS-485 interface option would be used if the Control Module is located at a distance greater than 50 feet from the Host PC. Since most PC’ s do not come with an RS-485 board pre- installed, you will have to install an [...]

1 - 21 Modular L YNX System Modular LYNX System 12.05.2003 Multiple Controller System When using the RS-485 interface in a Multiple Control- ler System, the Host PC as well as all of the control modules communicate on the RS-485 interface. In this case, there is no Host Interface Control Module, so all control modules in the system should have thei[...]

1 - 22 Modular LYNX System 12.05.2003 T able 5.6: RS-485 Interface Connections and Settings, Multiple Control Module System Figure 5.4: RS-485 Interface, Multiple Control Module System It is also possible to communicate with a controller in the system in single mode by sending it a command (with address) to clear the party flag and then communicate[...]

1 - 23 Modular L YNX System Modular LYNX System 12.05.2003 L YNX Control Module Modes of Operation There are three modes of operation for the L YNX control module. These are Immediate Mode, Program Mode, and EXEC Mode. Immediate Mode In this mode, the control module responds to instructions from the user that may be a result of the user typing inst[...]

1 - 24 Modular LYNX System 12.05.2003 carriage return line feed characters that are transmitted in response to the Enter key on the keyboard provided the ASCII setup specifies “Send line feeds with line ends”. Note that there need not be a space between the data for the last parameter and the CR/LF . Also note that if there is only one paramete[...]

1 - 25 Modular L YNX System Modular LYNX System 12.05.2003 Section 6 Configuring the Digital I/O Section Overview This section covers the usage of the Isolated Digital and High Speed Differential I/O Modules which are available on the L YNX System. ! System I/O A vailability by Module. ! The Isolated Digital I/O: ! Configuring an Input ! Setting th[...]

1 - 26 Modular LYNX System 12.05.2003 The Isolated Digital I/O The L YNX CM100 Control Module has a standard set of twelve +5 to +24VDC I/O lines and the L YNX CM200 Combination Control Module has a standard set of six +5 to +24VDC I/O lines. These I/O lines may be programmed individually as either general purpose or dedicated inputs or outputs, or[...]

1 - 27 Modular L YNX System Modular LYNX System 12.05.2003 T able 6.2: IOS V ariable Settings IOS = , , X XX X X T o configu re an e nti r e I/O Grou p e nte r the Group # ( 2 0, 3 0 , 40 or 50 ) h ere! T o configu re a n ind i vidu a l I/O Line ente r t he Line # (21- 26, 31-36, 41- 46, or 51-5 6) he re ! Ent e r I /O Li n e T yp e # He re 0 = Gen[...]

1 - 28 Modular LYNX System 12.05.2003 Configuring an Input Figure 6.2 below illustrates the Input Equivalent Circuit of the Isolated I/O being used with a switch. T o illustrate the usage of an input you will go through the steps to configure this switch to start a simple program at Line 1000 to index a motor 200 user units. First you must configur[...]

1 - 29 Modular L YNX System Modular LYNX System 12.05.2003 Configuring an Output Figure 6.3 illustrates the Output equivalent circuit of the Isolated I/O. When used as an output the I/O line is able to sink 350mA continuous for each output, or a total of 1.5A for the entire I/O Group. See Section 9: The Isolated Digital I/O Module for detailed spec[...]

1 - 30 Modular LYNX System 12.05.2003 Read/Write an I/O Group When using the IO variable to read the state of a group of inputs/outputs, or write to a group of outputs you would first want to configure the entire I/O group to be general purpose inputs or outputs using the IOS variable. In this case the response or input won’t be a logic state of [...]

1 - 31 Modular L YNX System Modular LYNX System 12.05.2003 The Differential I/O The Clock Interface The L YNX has four clock pairs that are used by the high speed I/O. One of these, clock pair 11 and 12, is fixed as an output and is used internally to provide step clock and direction pulses to Step Clock and Direction outputs located on Connector P[...]

1 - 32 Modular LYNX System 12.05.2003 Configuring The Differential I/O - The IOS V ariable The high speed differential I/O is configured by means of the IOS variable, and is used in the the same fashion in which the isolated I/O is configured. The main difference lies in that there are three additional parameters which need to be set in configuring[...]

1 - 33 Modular L YNX System Modular LYNX System 12.05.2003 is demonstrated in T ypical Functions of the Differ ential I/O: Connecting and Using an Encoder . Clocks 2, 3 and 4 are set up as Quadrature inputs by default. The defaults for each I/O Line Pair are: IOS 13 = 3, 0, 1, 0, 1, 0 IOS 14 = 4, 0, 1, 0, 1, 0 IOS 15 = 5, 0, 1, 0, 1, 0 IOS 16 = 6, [...]

1 - 34 Modular LYNX System 12.05.2003 T ypical Functions of the Differential I/O Connecting and Using an Encoder The differential I/O module can be set up to receive encoder feedback using either a differential or a single ended output encoder . A dif ferential output encoder would typically be connected to dif ferential input pairs 13 and 14 (P1, [...]

1 - 35 Modular L YNX System Modular LYNX System 12.05.2003 Figure 6.8: Connecting and Using an Encoder DIR + DIR - SCK- SCK+ GND +5V RX- RX+ TX - TX + CG ND RX TX 22 21 23 24 25 26 31 32 33 34 35 36 IG 123 456 123 456 123 45 6 22 21 23 24 25 26 31 32 33 34 35 36 GND V+ A1 A0 A2 PT HI UG TM Mot or D river ZN42 9D GP5962 7A ZN 429D GP59627A +5VDC Opt[...]

1 - 36 Modular LYNX System 12.05.2003 Half Axis Operation (Follower) In half axis mode the master clock is taken from a clock input 2, 3 or 4 (line pairs 13-14, 15-16 or 17-18) which have been set for input, clock type and ratio enabled. This is the factor at which the count rate out to the primary drive will follow the external clock in half axis [...]

1 - 37 Modular L YNX System Modular LYNX System 12.05.2003 DIR+ DIR- SCK- SCK+ GND +5V RX- RX+ TX- TX+ CGND RX TX 22 21 23 24 25 26 31 32 33 34 35 36 IG 123 456 123 456 123 45 6 22 21 23 24 25 26 31 32 33 34 35 36 GND V+ A1 A0 A2 PT HI UG TM Mot or D river ZN42 9D GP59 627A ZN429D GP59 62 7A +5VDC Op to Suppl y Step Cl ock Input Direction Input SCL[...]

1 - 38 Modular LYNX System 12.05.2003 NOTE: The RA TIO variable must be set to less than 2 or -2 or Error Code 9004, “Ratio Out of Range” will occur . N DIR + DIR - SCK- SCK+ GND +5V RX- RX+ TX - TX + CG ND RX TX 22 21 23 24 25 26 31 32 33 34 35 36 IG 123 456 123 456 12345 6 22 21 23 24 25 26 31 32 33 34 35 36 GND V+ A1 A0 A2 PT HI UG TM Mot or[...]

1 - 39 Modular L YNX System Modular LYNX System 12.05.2003 Section 7 The L YNX Contr ol Module (LX-CM100-000) Section Overview This section will cover: ! Hardware Specifications ! Environmental Specifications ! Mechanical Specifications ! Power Requirements ! Connection Overview ! LED Indicators ! Pin Assignments ! Switch Assignments Hardware Speci[...]

1 - 40 Modular LYNX System 12.05.2003 Power Requirements Connection Overview Figure 7.2: LYNX Control Module, Switches and Connections T able 7.1: Power Requirements for the LYNX Control Module s n o i t a c i f i c e p S d n a s t n e m e r i u q e R r e w o P e g a t l o V t u p n I% 5 ± C D V 5 + r o d e t a l u g e r n U C D V 5 7 + o t 2 1 + [...]

1 - 41 Modular L YNX System Modular LYNX System 12.05.2003 Pin Assignment and Description LED Indicators r o l o C D E L g n i n a e M n e e r Gn O r e w o P d e R e h t g n i t t e s y b r o t a c i d n i e h t e l b a s i d r o e l b a n e o t e s o o h c n a c r e s u e h T . d e t c e t e d t l u a f e r a w t f o s r o m e t s y S T L U A F n [...]

1 - 42 Modular LYNX System 12.05.2003 Switch Assignments O / I l a t i g i D d e t a l o s I : r o t c e n n o C l a n i m r e T e l b a e v o m e R n o i t i s o P 3 1 - 3 P # n i P n o i t c n u F n o i t p i r c s e D 8 - 1 0 2 p u o r G O / I 6 2 - 1 2 s e n i L e h t f o n o i t p i r c s e d e e s ( s t u p t u o r o s t u p n i s a e l b a m[...]

1 - 43 Modular L YNX System Modular LYNX System 12.05.2003 Section 8 The L YNX Contr ol Module (Combination) Section Overview The Control Module (Combination) (IMS Part # LX-CM200-000) offers the user of purchasing a L YNX Control Module with 3 differential I/O Channels and 6 Isolated I/O lines instead of the standard 2 Isolated I/O groups. This se[...]

1 - 44 Modular LYNX System 12.05.2003 Power Requirements Connection Overview Figure 8.2: LYNX Control Module (Combination) Connections and Switches T able 8.1: Power Requirements for the L YNX Control Module (Combination) s n o i t a c i f i c e p S d n a s t n e m e r i u q e R r e w o P e g a t l o V t u p n I% 5 ± C D V 5 + r o d e t a l u g e [...]

1 - 45 Modular L YNX System Modular LYNX System 12.05.2003 Pin Assignment and Description LED Indicators r o l o C D E L g n i n a e M n e e r Gn O r e w o P d e R e h t g n i t t e s y b r o t a c i d n i e h t e l b a s i d r o e l b a n e o t e s o o h c n a c r e s u e h T . d e t c e t e d t l u a f e r a w t f o s r o m e t s y S T L U A F n [...]

1 - 46 Modular LYNX System 12.05.2003 s t u p n I g n i s i c r e x E r o f e l b a s U , e m i T y n a t a d e g n a h C e B n a C : s e h c t i w S p U - l l u P O / I 0 2 p u o r G # h c t i w S n o i t c n u F n o i t p i r c s e D 6 - 1 s e h c t i w S l a u d i v i d n I 0 2 p u o r G O / I r o f . s p U - l l u P n a C . C D V 5 o t r o t s [...]

1 - 47 Modular L YNX System Modular LYNX System 12.05.2003 Section 9 The Isolated Digital I/O Module Section Overview The Isolated I/O Module (IMS Part # LX-DI100-000) offers the user an additional 12 Isolated +5 to 24VDC General Purpose I/O lines in two groups of six each (Groups 40 and 50) for a total of 24 individually program- mable I/O when us[...]

1 - 48 Modular LYNX System 12.05.2003 Pin Assignments And Description Connection Overview 12 3 456 42 41 43 44 45 46 123 45 6 51 52 53 54 55 56 ISOLA TED I/ O M ODU L E 42 41 43 44 45 46 51 52 53 54 55 56 IG TM Gr oup 4 0 Is ola ted I/O Gr oup 5 0 Is ola ted I/O +5V Pullu p Enab le Switches for I/O Group 50 +5V Pullu p Enab le Switches for I/O Grou[...]

1 - 49 Modular L YNX System Modular LYNX System 12.05.2003 Switch Assignments And Description Input Specifications Figure 9.3: LYNX Isolated I/O Input Equivalent Circuit s t u p n I g n i s i c r e x E r o f e l b a s U , e m i T y n a t a d e g n a h C e B n a C : s e h c t i w S p U - l l u P O / I 0 4 p u o r G # h c t i w S n o i t c n u F n o [...]

1 - 50 Modular LYNX System 12.05.2003 Input Filtering User definable Digital filtering makes the L YNX well suited for noisy industrial environments. The filter setting is software selectable using the IOF V ariable with a minimum guaranteed detectable pulse width of 18 microseconds to 2.3 millisec- onds. The table at right illustrates the IOF sett[...]

1 - 51 Modular L YNX System Modular LYNX System 12.05.2003 Section 10 The Differential Digital I/O Module Section Overview A L YNX system may contain an optional Differential I/O Module (IMS Part# LX-DD100-000) which provides six (6) high speed differential I/Os. These I/Os can be used as clock inputs or outputs or general purpose I/O. Along with t[...]

1 - 52 Modular LYNX System 12.05.2003 Power Requirements Power is supplied through the L YNX Control Module. DI FFERENTIAL I/ O MODULE 13+ 13- 14- 14+ 15- 15+ 16- 16+ 17- 17+ 18- 18+ PGND TM Grou p 10 H igh Sp eed I /O P1 Grou nd Connection Overview Figure 10.2: High Speed Differential I/O Module Connection Overview t n e m e r i u q e R r e w o P [...]

1 - 53 Modular L YNX System Modular LYNX System 12.05.2003 Pin Assingments And Description Input Specifications s n o i t a c i f i c e p S t u p n I O / I l a i t n e r e f f i D d e e p S h g i H d l o h s e r h T t u p n I l a i t n e r e f f i DV 2 . 0 + o t V 2 . 0 - s i s e r e t s y H t u p n I l a c i p y T V m 0 6 e g n a R e d o M n o m m[...]

1 - 54 Modular LYNX System 12.05.2003 Input Filtering User definable Digital filtering makes the L YNX well suited for noisy industrial environments. The filter setting is software selectable using the IOF V ariable with a minimum guaranteed detectable pulse width of 18 microseconds to 2.3 milliseconds. The table below illustrates the IOF settings.[...]

1 - 55 Modular L YNX System Modular LYNX System 12.05.2003 Output Specifications Figure 10.4: LYNX Differential I/O Output Equivalent Circuit s n o i t a c i f i c e p S t u p t u O O / I l a i t n e r e f f i D d e e p S h g i H d a o L o N d a o L A m 6 0 c i g o L - e g a t l o V t u p t u OV 5 . 0V 8 . 0 1 c i g o L - e g a t l o V t u p t u O [...]

1 - 56 Modular LYNX System 12.05.2003 Intentionally Left Blank[...]