Parker Hannifin VIX250IM manual

Pa r t No: 1600.324.01b February , 2004 ( F or s oftwa r e r e v i s i on 2.0 onwa r d s ) V i X250IM V i X500IM Stepper Drives User Guide[...]

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IMPORTANT INFORMATION FOR USERS Installation and Operation of Motion Control Equipment It is important that motion contr ol equipment is installed and operated in s uch a way that all applic able safety requirements ar e met. It is your r esponsibility as an installer to ensur e that you identify the relev ant safety standards and c omply with them[...]

Product Type: ViX250IM, ViX500IM The above product is in compliance with the requirements of directives • 73/23/EEC Low Voltage Directive • 93/68/EEC CE Marking Directive • 89/336/EEC Electromagnetic Compatibilit y Directive Provided the installation requirements described in this user guide are met, and there are no special requirem ents of [...]

Contact Addresses For engineering For engineering assistance in Euro pe: assistance in German y Parker Hannifin plc Parker Hannifin GmbH Electromechanical Elect romechanical Automation Automation 21 Balena Close P. O. Box: 77607-1720 Poole, Dorset Robert-Bosc h-Str. 22 England, BH17 7DX D - 77656 O ff enbu r g, G e r m any Tel: +44 (0) 1202-699000 [...]

CONTENTS i Contents 1. Introduction............................................................................................................. 1 2. Mechanical Installation ........................................................................................... 5 3. Electrical Installation .......................................................[...]

ii VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Latest Chang es Sheet This page lis ts important changes occur ring imm ediately before publ ication or betw een issue updates:[...]

1. INTRODUCTI ON 1 1. Intr oduction Product Description Available in tw o current rati ngs, these microstepper indexer driv es employ an optimi sed digital fiel d oriented current loop to provi de low speed smoothness coupled w ith high speed torque. Advanced digital techniques result in r educed settling time and reduced mid speed instability when[...]

2 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Product Variants Digital m icrostepper indexer driv es are available i n two current ratings with tw o interface options. Table 1-1 li sts the possible combinations: Product Code Description ViX500IM 5.6A RMS (8A peak) microstepper indexer driv e with an RS232 control inter face ViX250IM 2.8A RMS (4A p[...]

1. INTRODUCTI ON 3 Fit Kits A fit kit is avai lable for ViXIM drives: VIX-KIT Part Number Quantity Description 1650.937.01 1 Information sheet 5004.023 1 Plastic bag 5006.211 1 Product label 0405.811 1 10-way Flange plug strip 0405.961 1 9-way D- type plug 0405.962 2 15-way HD D-type plug 0405.963 1 15-way HD D-type socket 0409.530 4 9-way D- type [...]

4 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Further In formation This user guide contai ns all the necessary i n formation for the effective use of this dr ive. However, to gai n a more in-depth under standing of drive applicati ons and motion control, cons i der attend i ng one of our w o r l d - wi de C usto m er Spec i f i c T r a i n i ng W [...]

2. MECHANICAL INSTALLATION 5 2. Mec hanical Installation Installation Requirements Environment ViX drives oper ate in a temperature range of 0 ° to 40 ° C wi th natural convection, or 50 ° C Max with for ced-air cool ing (see Har dware Reference) , at normal level s of humidity (5-95% non-condensing). The dr ives can tolerate atm o spheric pollu[...]

6 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Dimensions ViX250 and ViX500 dri ves share the same dim ensions, shown in Figure 2-1. 4,5 98.5 (with connector) 21 4,5 88,1 42 3 10.1 124.7 135 145 5 X1 X3 X4 X5 X2 HV ST FB Figure 2-1. ViX250 & ViX500 Dimensions[...]

2. MECHANICAL INSTALLATION 7 Drive Mounti ng Opti ons If you require a D IN-Rai l mounting Vi X drive use the optional DIN-Rail clip adapter bracket shown in Figure 2- 2. Viewed from the back of the DIN rail Allow 10mm for release 57.2mm 131.2mm 16mm Figure 2-2. DIN-R ail Adapter Bracket Remove the panel mounti ng plate from the back of the drive a[...]

8 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Mounting Mechani cal Considerati ons Keep motors securel y fixed in position at al l times. Do not test a motor/driv e combination without fir st securing the motor – see the Safety Warning at the front of thi s user guide. CAUTION – risk of equipme nt da mage Do not back drive the mot or, th[...]

3. ELECTRICAL INSTALLATION 9 3. Electrical Installation Installati on Safety Requi rements ViX stepper dri ves meet the requir ements of both the European LVD & EMC directi ves when installed accordi ng to the instructions given w ithin this secti on. It is recomm ended the drive be installed in an encl osure to protect it fr om atmospheric con[...]

10 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Power Supply Connections Power dri ves from a DC supply derived from an isol ating transformer or a DC power supply (See Power Supply Options later in this section). Note: Pin 10 is at the top of the connector X1 and pin 1 at the bottom. X1 +HV -HV GND MOTOR CONNECTIONS PE +24V DC 9 8 7 6 5 4 3 2 0V ([...]

3. ELECTRICAL INSTALLATION 11 WARNING The drive HV supply input is not reverse polarity protected. Reverse polarity connections will damage the drive. Current and Capaci tance A supply must have a mi nimum amount of capaci tance to support a drive at peak power draw. Drive Type DC Supply Current Supply Capacitance ViX500 5.6A RMS 6600 µ F ViX250 2[...]

12 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 0 0 0.5 1.0 1.5 10 20 30 40 50 ViX500 with SY563 0 0 0.2 0.4 0.6 0.8 10 20 30 40 50 ViX250 with SY562 0 0 1.0 2.0 3.0 4.0 10 20 30 40 50 ViX500 with SY873 0 0 0.1 0.2 0.3 0.4 10 20 30 40 50 ViX250 with SY561 0 0 1.0 2.0 3.0 10 20 30 40 50 ViX500 with SY872 0 0 0.5 1.0 1.5 10 20 30 40 50 ViX250 with SY[...]

3. ELECTRICAL INSTALLATION 13 XL-PSU Power Supply The XL-PSU is a 250W , power factor corrected, switched m ode power supply. Designed for direct operati on from worl d wide single phase AC input voltages, the suppl y is capable of powering up to tw o ViX250 drives ( see note 1) without the need for an EMC mains input fil ter (see note 2). The use [...]

14 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE XL-PSU Supply/Dr i ve Connections When used to supply up to two dr ives the power suppl y can be wired as show n in Figure 3-3. -DC +24V P1 P2 N L MAINS INPUT 1 10V-230V~ 50/60 Hz 250V A Power Supply Unit XL GND EXT . BRAKING RES. +DC (80V) HV ST ATUS BRAKING RES. 24V ST ATUS X2 X3 X1 X4 X5 ST HV FB 1[...]

3. ELECTRICAL INSTALLATION 15 XL-PSU Mounting Information Mount the supply vertically, near the drives it will supply. Both the top 4.5mm diameter fixing hole and the bottom two 4.5m m width fixi ng slots should be used. Allow a mi nimum free space of 50mm both below and above its case and 10mm free space on both sides. Do not mount the supply abov[...]

16 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE PL1100 Power Supply General Description The PL1100 is a linear power supply with a rated output of 1120W (80V/14A) for use w ith ViX and XL series dr ives. The supply requir es a suitably rated transformer suppl ying 50V AC RMS for the HV and 20V AC RM S for the +24V DC. The use of the PL1100 offers t[...]

3. ELECTRICAL INSTALLATION 17 EMC Installatio n These EMC instal lation recomm endations are based on the expertise acquired duri ng the development of compl iant applications, w hich Parker believes are typi cal of the way, a driv e or drives m ay be used. Provided you have no special installation r equirements or untypi cal operating environment [...]

18 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Input (line) Output (load) LOAD LINE + - Star earth point to the metal backplane Power wiring conduit DC Supply Lead length restriction (less than 1 metre) 3VK1 6FC10 CORCOM AC Supply Located in the base of the cabinet T ransformer DC 24V Supply CABINET BACK PLANE X2 X3 X1 X4 X5 ST HV FB 10 1 Figure 3[...]

3. ELECTRICAL INSTALLATION 19 Motor Connections to the Dr i ve The recommended w ire size for Vi X250IM/500IM motor cables, of length less than 20m , is 1mm 2 . For m otor cable lengths greater than 20m (up to a m a ximum of 50m) use a wir e size of 2.5mm 2 . Use a cabl e containing five conductors plus the brai ded screen (such as Lapp 34805), the[...]

20 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Note that the motor cabl e routing wit hin the equipment cabinet shoul d be kept at least 300mm away from I/O cables car rying control signals. All motor connections must be made using a hi gh quality braided-screen cable. C ables using a metallised plastic bandage for an earth screen are unsuitable a[...]

3. ELECTRICAL INSTALLATION 21 Motor Selection Usually optimum performance will be obtained when the current rating of the motor is between 1 and 1.5 times the dr ive rating. D rives can be de-r ated to accommodate motors with lower current ratings (using vari able MC wi thin the MOTOR command), how ever the high speed torque will be reduced. Do not[...]

22 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Large Motors The l a r gest r e co mm ended m o tor s i ze i s a 34 - f r a m e 3 - stack. P l ease contact Pa r k er i f you wish to use a lar ger frame motor. Motor Connections at the Motor Motor connections shoul d be made directl y between the drive and m otor, the use of any switching devic es, s[...]

3. ELECTRICAL INSTALLATION 23 Custom Motor Set Up Within screen 2 of Guided stepper initialisation , clicking upon the Setup custom button will open the window show n in Figure 3-7. Figure 3-7. EASI-V Custom Motor Configuration Window Motor the general name/num ber for the motor. Phase current (paralle l) continuous current r ating of the motor in [...]

24 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The Other Parameters Tab Selecting the Other param eters tab gives you access to the screen shown in Figure 3- 8. Figure 3-8. EASI-V Custom Motor Other Parameters In-position time (IT) Digital I/O The decimal number required by the IC system variable to configure the input/output state of the drive.[...]

3. ELECTRICAL INSTALLATION 25 Figure 3-9. EASI-V Custom Motor Limits/home Parameters Limit i nputs Four radi o buttons used to configure the lim it inputs. Limit switches Selection of normally closed or normal ly open limit switches. Home enabled Enable/disabl e the HOME comm and. Home referenc e edge Select the requir ed edge of the home switch w [...]

26 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Voltage Ratings Motors wi th a withstand voltage rating from phase to earth of 1000V AC should be used. An insulation wi thstand rating of 500V AC is acceptable if an i solating transfor mer wi th earthed screen is used to power the system, and X1 pin9 (0V/GND) input is earthed, as specified. Mo[...]

3. ELECTRICAL INSTALLATION 27 X2 X3 X1 X4 X5 ST HV FB 24-80V DC +HV 0V / GND -HV Earth PE 24V DC 10 9 8 7 6 5 4 3 2 1 X1 Power & Motor 0V (GND 24v DC) Motor Gnd Motor phase (A+) Motor phase (A-) Motor phase (B+) Motor phase (B-) 15 15 10 10 10 10 11 11 9 6 15 11 6 6 6 1 1 1 1 1 5 5 5 5 RS232 9-way socket Control/Aux I/O 15-way socket User I/O 1[...]

28 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Terminal Description X1 Connector X1 is the main pow er and motor connector . Both HV, +24V and the motor phase connections are made to X1. Connector Type The mating connector for X1 is a Wiel and 8213B/10F, part number 25.323.4053.0 (Parker part number 0405.811) . An approval marked versi on of this [...]

3. ELECTRICAL INSTALLATION 29 X2 Connector X2 provides the pri mary input connections for the motor feedback device. This is the input that should be used for positi on maintenance and stall detecti on functions. Connector Type Connector type is a hi gh-density 15-way D -type socket. Connector Pin Out Connector Pin X2 Primary Encoder 1 Feedback enc[...]

30 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Overtemperat ure Sensor Standard Parker stepper motors do not use an over -temperature sensor, however when using custom motor s provision i s made for the connection of either a therm al switch or thermistor device. The follow ing devices are suppor ted: • Thermik SNM 130ES • Cantherm F11 1[...]

3. ELECTRICAL INSTALLATION 31 Baud Rate Use system variable BR to alter the baud rate of serial communications. Any change made to the baud rate will only take effect following a save (SV) and system reset or power cycle. Reset to R S232 Mode To reset the drive to R S232 mode and to return to factory setti ngs, remove power from the drive, connect [...]

32 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RS232 Connecting Leads R S232 cab l es can be o r de r ed f r om Pa r k er. Va r i ous l engths a r e ava il ab l e as li s ted i n Table 3-9. Part Number Length RS232-EASI-0250 2. 5m RS232-EASI-0500 5.0m RS232-EASI-0750 7.5m RS232-EASI-1000 10.0m RS232-EASI-1250 12.5m RS232-EASI-1500 15.0m Table 3-9.[...]

3. ELECTRICAL INSTALLATION 33 Inputs Depending Upon the State of System Variable EI Connector Pin X4 EI=0 EI=1 EI=2 12 STEP+ CW+ A+ 7 STEP- CW- A- 13 DIR+ CCW+ B+ 8 DIR- CCW- B- Outputs Depending Upon the State of System Variable EO* Connector Pin X4 EO=0 EO=1 EO=2 14 STEP+ CW+ A+ 9 STEP- CW- A- 15 DIR+ CCW+ B+ 10 DIR- CCW- B- *Requires encoder fee[...]

34 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Figure 3-13 show s the input characteristi c. +10V -10V Commanded velocity Volts Velocity (rps) Dead band Figure 3-13. Analogue Differential Input Characteristic An analogue deadband can be set, using system variable ‘ AB ’ . _________ Energise/Shutdown Enable the drive by al lowing the input pin [...]

3. ELECTRICAL INSTALLATION 35 X5 Connector X5 is the user Input/Output connector. Connector Type Connector type is a hi gh-density 15-w ay D-type plug. Connector Pin Out Connector Pin X5 Input/Output 10 V 20 V 30 V 4 Output 2 5 Output 1 6 Input 5 (li mit+) 7 Input 4 (li mit-) 8 Input 3 (home) 9 Input 2 (regi stration) 10 Input 1 (stop) 11 +24V 12 +[...]

36 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Inputs Inputs can be configured using the Easi- V graphic interface or by wri ting directly to the IC system variable. By adjusting the user input configuration, you can set the input switching level threshold and you can set the i nternal input resistor to be a pull -up or a pull -down. Figure 3[...]

3. ELECTRICAL INSTALLATION 37 User Outputs User outputs can be configur ed using the Easi-V graphic interface or by writing directly to the IC system variable. By adjusting the user output configuration, you can set the output to source or sink cur rent. Figure 3-15 show s the output circuit. +24V 0V Output '1' = Current source '0&ap[...]

38 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Bits 0 to 4 control the input r esistor pull-down/pull- up of inputs 1 to 5 (SWA setting). Setting a bit to a ‘ 1 ’ sets the input r e sistor to be a pull-up to +24V, a ‘ 0 ’ sets the resistor to be a pull-dow n. Bits 5 to 7 controls the sour ce/sink operation of outputs 1 to 3. Setting a bit [...]

3. ELECTRICAL INSTALLATION 39 Fault Output The fault output is an independent N PN open-coll ector output which i s normall y ‘ low ’ , active ‘ high ’ . The output ratings ar e +30V maximum in the OFF condition and 15m A maximum in the ON condition. Figur e 3-16 shows the output circuit. Fault Output Drive circuit 0V Figure 3-16. Fault Out[...]

40 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RJ45 Interfaces Positioned beneath the dri ve are two RJ45 com munication interfaces X6 and X7. The two interfaces provi de support for Canbus, RS485 ( using the Field Expansion Module) and dai sy chain ports for m ulti-axis RS232 connections between dri ves. X7 RS232 daisy chain output 1 8 1 8 X6 RS2[...]

3. ELECTRICAL INSTALLATION 41 FEM1 CAT5 cable colours X6 CANopen/RS485 1 RX+ /TX+ RS485 White/Orange 2 RX- /TX- RS485 Orange 3 CAN H White/Green 4 RS232 Gnd Blue 5 RS232 Gnd Whi te/Blue 6 CAN L Green 7 RS232 Tx White/Brow n 8 RS232 R x Brown X7 1 RX+ /TX+ RS485 White/Orange 2 RX- /TX- RS485 Orange 3 CAN H White/Green 4 RS232 sense Blue 5 RS232 Gnd [...]

42 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Communication Daisy Chain Drives can be ‘ daisy-chained ’ for RS232/RS485* operation as show n below. Using this arrangement the drive connected to the controlling PC, via its front panel D-type connector, becomes axis #1. To automati cally assign addr esses, connect all power, motor, feedback and[...]

3. ELECTRICAL INSTALLATION 43 To maintain the integr ity of the EMC screeni ng, all RS232 and RS485 connections must be made via the dri ve ’ s X3 D-type connector. RJ45 Connecting Leads R J 45 li nk cab l es can be o r de r ed f r om Pa r k er. Va r i ous l engths a r e ava il ab l e as li s ted i n Table 3-13. Part Number Length VIX-RJ45- 0025 [...]

44 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE[...]

4. CONTROL OF VIX DRIVES 45 4. Contr ol of ViX Drives Overview This section intr oduces you to the operation of the ViX stepper drive, the im plementation of motion control m oves and the way commands are used. Basi c controller oper ation is described together with the code structure. How system information is signalled via system variables and th[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 46 during up-l oading/down-l oading of program s. Declari ng labels in the comm and line, before any START code, makes the most effici ent use of the available mem ory. If you then up-load the program to a PC and later down-load the same program the declarations will have been lost. To retain declared l [...]

4. CONTROL OF VIX DRIVES 47 Structure The code example of an absolute posi tioning move shown i n Figure 4-1 demonstrates how to write code that fol lows the block structur e. Use the start code to initialise the dr ive: Start code and Initialisation 1START: 1DECLARE(MAIN) 1DECLARE(MOVE2) 1LIMITS(3,0,0) 1GOTO(MAIN) 1END 1MAIN: 1PROFILE2(40,10,-4800[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 48 Finally, cal l individual moves from the mai n part of the program : 1MOVE2: ; define progr am label “ move2 ” 1W(PA ,0) ; zero position absolute 1MA ; absolute positi oning move 1USE(2) ; use moti on profile 2 1G ; execute move 1END ; end of program move 2 definition Note: PROFILE2 defined in the[...]

4. CONTROL OF VIX DRIVES 49 LOOP Command The block structure of the code l ends itself to perfor ming repetiti ve operations, using the LOOP command. The comm and can be used to call a parti cular labell ed block of code for either a specifi ed number of tim es or continuously. An example using the LOOP com mand is given bel ow, again the START and[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 50 Reserved System Labels Certain pr e-defined label s are recognised by the control ler as containing code used for common operati ons. If event triggered code i s enabled (ARM 1), the code entered for these common operations will be automatically run when the event occurs. System labels have the fol lo[...]

4. CONTROL OF VIX DRIVES 51 The conditions under which the FAULT label is called will vary depending upon the fault itself and the condition of vari ous other commands and com mand parameter s. An exact description is presented in Table 4-1. However, in general, a FAULT label will be called given any one of the followi ng conditions: • An attempt[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 52 Example The following exam ple shows the use of a FAULT label withi n a program. 1ARM11 ;enable auto-run on power- up & enable fault routine 1SV ;save the settings 1START: ;start of program 1ARM11 ;re-enable auto-run & faul t in case ‘ K ’ command sent . <initi alisation com mands> .[...]

4. CONTROL OF VIX DRIVES 53 Start Label The system label START: introduces the drive ’ s setup and initi alisation code. W ith ARM enabled the code is automatically executed at system start-up*. Consequently the code needs to be saved with ARM 1X set. If you save a program wi th ARM0X set, the start- up code will not run and the controller will o[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 54 Use of the LSEL Command You can let user inputs call programmed routines by the use of special label names and associated user input num bers. By including the code you w ish to action, foll owing a pre- defined input label, will enable your code to be run when the defined user input is activated. For[...]

4. CONTROL OF VIX DRIVES 55 Upon receipt of a vali d numeric i nput pattern the controller runs the associated routine. For example, binar y pattern 3 causes routine L3 to run. Thi s routine must finish (reach the EN D command) befor e the inputs can be automatically scanned again. The state of the i nputs is presented to the controll er as a paral[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 56 Table of System Variables Table 4-2 lists system variables in alphabetic order together with their read/write status and range of values stored. Var Name R W Range/default value AB Analogue Deadband Y Y 0 to +255, default = 0 AI Analogue Input Y N -2047 to + 2047 AO Analogue Offset Y Y -2047 to +2047,[...]

4. CONTROL OF VIX DRIVES 57 Var Name R W Range/default value FB Fieldbus Baud Refer to CANopen user guide FC Fieldbus Control Refer to CANopen user guide FN Fieldbus Node ID Refer to CANopen user guide FP Fieldbus Protocol Y Y Refer to C ANopen user guide HF Home Fin al velocity Y Y Sets the final veloci ty of the home move Range: 0.001 to 5.0 rps [...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 58 Var Name R W Range/default value ST Status of indexing Y N See below ST1 Status of indexing Y N First byte of 32-bit ST vari able ST2 Status of indexing Y N Second byte of 32-bit ST variable ST3 Status of indexing Y N Third byte of 32-bit ST vari able ST4 Status of indexing Y N Fourth byte of 32-bit S[...]

4. CONTROL OF VIX DRIVES 59 CQ Command Queuing Enable command queui ng in mode incr emental/absolute to buffer each command wai ting for the previous comm and to complete, before issui ng the next. In certain circ umstances, disable this sequenti al operation, for example if you need to generate a trigger pulse part way through a move. Nor mally, t[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 60 EI Description System parameter EI, controls encoder i nputs (connector X4) as defined in Table 4-4. X4 EI=0 EI= 1 EI=2 12 STEP+ CW+ A+ 7 STEP- CW- A- 13 DIR+ CCW+ B+ 8 DIR- CCW- B- Table 4-4. Encoder Input Configuration CAUTION De-energise the drive before changing EI and EO. EQ Description Echo queu[...]

4. CONTROL OF VIX DRIVES 61 ES Description System variabl e ES controls the requi red polarity of signal on the enable/shutdow n_bar input (X4 pin 11). The defaul t value of ES is zero ( ES=0), therefore to enable the dri ve connect X4 pin 11 to X4 pin 4 (0V) . With ES=1 X4 pi n11 may be left open circ uit to enable the driv e. To energise the dri [...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 62 You do not have to wait for the IP flag to be set at the end of ever y move, but its use improves positi oning accuracy. Example Use thi s code after each G command to improve posi tioning. 1MI ; mode incem ental 1W(CQ,0) ; turn off comm and queuing 1G ; start the move 1T0.1 ; wait 100ms 1IF(MV,=,1) 1[...]

4. CONTROL OF VIX DRIVES 63 PA Description PA reports the actual position of the motor shaft, assum ing a primary encoder is fitted. Although PA is marked as being read only it will accept the value 0 to be written to it for resetting purposes. If you per form a W(PA,0) system variables PF, PE and PT will also be set to 0. PE Description PE reports[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 64 RM Description Reports a 1 if a r egistration m ove is being actioned. RV Description Reports the revisi on of software being used by the controller. SC S-Curve configuration To reduce the amount of jerk (rate of change of acceler a tion or deceleration) wi thin a move, enable SC. When enabl ed, this [...]

4. CONTROL OF VIX DRIVES 65 SN Description reserved . ST Description See reporting of status bi ts in Reporting the Status of Variables . TT Description The trigger ti meout can be set or read using TT. If a ti meout occurs status bit 8 is set high. Note: Setting a value of 0.00 resul ts in NO trigger timeout. Example: 1W( TT,1.5) ;timeout after 1.[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 66 Bit Number Bit Tested Status Information 1 ST1.1 C ommand processi ng paused 2 ST1.2 Loopi ng (command executing) 3 ST1.3 W ait for trigger (input) 4 ST1.4 Running program 5 ST1.5 Goi ng home 6 ST1.6 W aiting for delay timeout 7 ST1.7 R egistration in progress 8 ST1.8 Last tr igger command timed out 9[...]

4. CONTROL OF VIX DRIVES 67 Fault Status Reporting Faults are classifi ed into two groups: Drive Faul ts DF (har dware faults present i n the drive) or User Faults UF (user pr ogram faults) Drive Faults Hardware drive faults will cause the drive output stage to be turned OFF (de-energised). This will cause the Drive LED to turn RED. Once the fault [...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 68 Bit Bit Tested Stop Type DF Information 1 DF 1.1 Composite faul t 2 DF 1.2 K T +/-15V suppl y rail 3 DF 1.3 K R Motor HV under -voltage trip point reached 4 DF 1.4 K R Motor HV over -voltage tri p point reached 5D F 1 . 5 6 DF 1.6 CD R Vio over -voltage trip point reached 7 DF 1.7 K T Encoder / Auxili[...]

4. CONTROL OF VIX DRIVES 69 Drive Fault Byte Reporting In exactly the same way as the status vari able, the drive faul t status can be reported a byte at a time, using DFn wi thin a read command. User Faults User faults can be caused by pr ogramming errors , such as issuing a GO comm and when the drive is de-energised. They ar e reported in a 32-bi[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 70 User Fault Byte Reporting In exactly the same way as the status vari able, the user fault status can be repor ted a byte at a time, using UFn wi thin a read command. For example to r ead or test the first 8 bits (fir st byte) of the UF vari able status word, use UF1. Si nce the status word consists of[...]

4. CONTROL OF VIX DRIVES 71 Reporting System Information During Code Development Whilst developing a program using EASI-Tools, it is likely that certain blocks of code when downloaded to the drive will return an *E error code. To anal yse the cause of the error you can make use of EASI-Tools Status report window which, when read, will report back t[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 72 Conditional Code The flow of a motion control program will depend upon the position of the motor in combination wi th the value of particular inputs and comm ands. System variables ar e used to continuously moni tor the state of a drive ’ s indexer and are abl e to report such things as ‘ status o[...]

4. CONTROL OF VIX DRIVES 73 Conditional Code Example The following code i s a good example of how the conditional IF statem ent can be used for fault diagnosis w ithin the FAULT label . 1FAULT: ;define check label 1IF(UF2,=,XXXXXX1X) ;deceler ation error 1 ” Decel_Err ” 1IF(DF1,< >,00000000) ;warni ng of a drive fault 1 ” Drive_Flt ” [...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 74 Motion Control Using the EASI Command Set Move Types Mechanical movement results from the motion of a motor shaft. By controlling the velocity, acceleration, distance and di rection of the motor, di fferent move profiles can be created for particular applications. M ove types can be preset, meaning a [...]

4. CONTROL OF VIX DRIVES 75 Motor Direction & Positiv e Motion A positive dir e ction command usually produces clockw ise (CW) rotati on of the motor shaft when viewed fr om the shaft end*. However, when l imit switches are used i t is impor tant that the positive dir ection produces motion towards the posi tive lim it switch (s ee sub-section [...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 76 Trapezoi dal Pr ofile A trapezoidal m ove profile resul ts when the defined velocity, you have pr ogrammed, i s attained before the motor shaft has moved half of the specified di stance. This is due to a defined velocity that is low, a defined acceler ation that is high, a move di stance that is long,[...]

4. CONTROL OF VIX DRIVES 77 Once a valid registr ation mark has been detected the registration m ove is performed using the move parameter s taken from the previ ously defined profi le* (profil e_number in the command param eters). At the end of the regi stration move the user pr ogram GOSUBs to the code immedi ately followi ng the REG label. If no[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 78 A successful registration will cause the code, following the registration move, to jump to the REG label, fr om which nor mal program operati on can continue. Before you can perform a registrati on move, the followi ng code elements must be in pl ace: 1. Enable the registr ation function. 2. Completel[...]

4. CONTROL OF VIX DRIVES 79 Homing The term ‘ hom ing ’ refers to an autom atic return to a mechanical r eference position whi ch is usually performed when the system is first powered up. All subsequent moves will then be relative to this reference positi on. The home position is usually determ ined by an optical or proximi ty switch, though a [...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 80 Homing Configur ati on Command The command all ows you to define the mechani cal edge of the home switch at w h ich you wish home to be. The com mand also allows you a choice of home sw itch type, that is normall y closed or norm ally open, however if you change the switch type this does not change th[...]

4. CONTROL OF VIX DRIVES 81 Go Home Command The go home command ( GH) is used to return to the refer ence home position. Issuing a GH command will cause motion in a direction defined by the HOME configuration command. Figure 4-8 show s the path taken if motion was star ted between the positive edge of the home switch and the posi tive lim it (posit[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 82 If the negative edge of the home swi tch is selected in the homing configur ation command a simil ar motion path woul d be followed, but finishing on the other si de of the home switch, as shown in Figure 4- 9. POSITIVE LIMIT Start (from positive side of home) GH GH GH negative GH positive Positive ed[...]

4. CONTROL OF VIX DRIVES 83 Final Direction of Travel Note that no matter wher e motion starts from, that is fr om positive si de of the home switch, in the home switch r egion or from the negative side of the home sw itch, or in which dir ection it goes from its star ting point (positi ve or negative), its final di rection of travel tow ards a nom[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 84 system will respond as if a limit has been hit in the ‘ normal ’ manner, that is, whi lst not performi ng a homing move. In the second case, where home and l imit ar e wired together , the following i nteraction is possible: If the load is comm anded to go home in a direction away from the home sw[...]

4. CONTROL OF VIX DRIVES 85 associated flags are cleared. The program will also be aborted if you are already on a limit and you request motion i n a direction whi ch takes you further on to that li mit. If the LIMIT command has been set to ‘ stop m otion when a limit is hit but continue the program ’ and you hit a limi t or request motion in a[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 86 Limit Switches The drive has two l imit inputs, the positive l imit i nput and the negative lim it input. When wiring the l imit switches it is essenti a l to check that a positive direction comm and produces motion towards the posi tive lim it switch. If this is not the case, interchange the m otor c[...]

4. CONTROL OF VIX DRIVES 87 Using Closed Loop Operation Closed loop r efers to the operation of a stepper motor/drive wher e the position of the stepper motor shaft is m easured and compared with the comm anded position. This i s normally arranged using an encoder attached to the motor ’ s shaft and electricall y connected to the stepper drive ?[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 88 position using the 1R (PA) comm and. Now, rotate the encoder shaft i n the same positive direction by about hal f a turn. Again read the encoder position, whic h should be greater than the first readi ng, indicating that the encoder count is increasi ng for positive m o tion. If the second count is le[...]

4. CONTROL OF VIX DRIVES 89 At the end of the main move the control ler waits unti l the in position time delay and the settle time (i f programm ed) have timed out, at this point the encoder count is r ead. A calculation is performed w hich compares the encoder count with the target position, if the di fference between these two readi ngs is less [...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 90 Settle Time When Position Maintenance is enabled all moves will track actual position against commanded positi on. Position Maintenance al lows the in-position signal to be held off for a settle-tim e, the value of which can be pr ogrammed i n the command param eters. Speed Of Correction Once a move h[...]

4. CONTROL OF VIX DRIVES 91 Stall Detection Stall detection is only possible if an encoder is fitted to the motor or load. A stal l is repor ted when the error between the commanded posi tion and the actual positi on, determined by the encoder, exceeds the value set in the er ror window of the STALL command. Stall Detection Set -up A stall conditio[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 92 Scaling Using scale a llows ‘ user-fri endly ’ settings of distance, velocity and acceleration to be defi ned in user units, r ather than units requir ed by the drive. For example, using a ViXIM to control a linear table, i t is possible to program distance uni ts directly in mm, veloci ty in mm p[...]

4. CONTROL OF VIX DRIVES 93 You can use SCALE in combinati on with other com mands such as LOADENC, STALL or POSMAIN. The exact mi x of commands together wi th the source of the feedback, and the type of programm ing steps used are presented in Table 4-9. In the comm and columns 0 = disabled and 1 = enabled. In the feedback source column Motor = mo[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 94[...]

5. EASI-V SOFTWARE 95 5. Easi-V Software Computer Requir ements To be able to run Easi- V software, necessary for the control and programming of the Vi X, you will require an IBM ™ compatibl e PC running W indows 95/98/2000/XP ™ , NT4 or M E. The PC needs to be specified to r un Windows ™ w ith at least 16MB of R AM, a VGA monitor , Windows ?[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 96 Installati on Procedure This procedure takes you qui ckly through the steps necessary to i nstall Easi-V on your PC. The entire install ation process takes less than 10 mi nutes. Before starting the instal lation, terminate al l applicati ons currently running. A step by step installation of Easi- V s[...]

5. EASI-V SOFTWARE 97 6. Once you have selected a destination for Easi -V or have decided to use the default directory, sel e ct NEXT to begin file transfer. 7. Once Easi-V has been loaded, the screen will display a message dialogue box, stating ‘ Setup is com plete. You may run the instal led program by double-clicki ng on the program i con. ’[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 98 Figure 5-3. Easi-V Product Selection Selecting Product fr om the U tilities menu will also display the product selection screen. Selecting OK will display the main application window, entitled ‘ Parker H annifin EMD – Easi-V ’ , and seven pull-dow n menus become available: File, E dit, S earch, [...]

5. EASI-V SOFTWARE 99 Menu Overview File Fili ng Operations Creates a new edi tor file, or .pr g program file Opens an existing editor file or program Save an editor fil e Save an editor fil e specifing the file nam e Print the editor fi le or contents of terminal buffer Close current acti ve window Exit Easi-V Edit Editing Operati ons Undo a previ[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 100 Terminal Terminal on-l ine operations Configure the ser ial comm unications Open/close the termi nal (after testing the connecti on) Configure test buttons Edit buffer Create an editor file window or term inal buffer Log to file Open/close file loggi ng terminal buffer actions Utilities Specifi c too[...]

5. EASI-V SOFTWARE 101 Utilities Menu Options Selecting Options displ ays a single screen wi th three tabs: • General • Drive setti ngs • Country Use General to select the following set-up opti ons: • Prompt to save term inal emulator contents on closure • Test communicati ons before upload/download of pr ograms • Display 3 r o ws of bu[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 102 Terminal Menu Sel ecti ons Terminal menu selections control the setup and configuration of communication betw een a PC and driv e. Communicating wi th a Dr i ve The default settings of a new dr ive from pow er-up are R S232 communicati ons with an address setting of #1. Wi re the RS232 communi cation[...]

5. EASI-V SOFTWARE 103 Select the required confi guration and, click OK. Then, again from the Ter minal m enu select Connect to start communi cations. Every time C onnect is issued the comm unications link i s tested to establish it i s working cor rectly and the message box ‘ Testing communi cations integrity ’ is flashed on the screen, follow[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 104 Utilities Men u Selections Utilities menu selections control the way drives are setup and configured for use with a particular motor type. The menu offers two levels of setup, depending upon the skill and experience of the operator . • Guided drive setup ( guides you through setup for a particular [...]

5. EASI-V SOFTWARE 105 From the drop- down menu select your motor type or perform a custom set-up. Press ‘ Next ’ to select Motor Standby current and In-position settling Time values. This screen allow s the selection of the motor standby current (MS ) and the In-position settling time (IT). Press ‘ Next ’ to allow selectio n of stall detec[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 106 Encoder feedback must be selected to allow stall detection or position maintenance. Press ‘ Next ’ to select the required limits. This screen allow s the selection of the + & - li mits and the type of limit switch used. You may also control the li mit mode and the deceleration val ue used to [...]

5. EASI-V SOFTWARE 107 This screen allow s the configuration of the home switch. Press ‘ Next ’ to configure the dri ve ’ s user inputs and outputs. Configure the drive ’ s user inputs and outputs and setup the following encoder inputs or the simulated encoder outputs. Press ‘ Next ’ to configure the dri ve ’ s general settings.[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 108 This screen allow s the setup of all the drive ’ s contr o ls not available on other screens. Press ‘ Next ’ to complete the setup process and to generate a setup program . This screen signals the end of the guided setup process. Checking the ‘ Append a test routi ne ’ box will include a si[...]

5. EASI-V SOFTWARE 109 NOTE ANY CHANGES TO THE MOTOR TYPE NUMBER MUST BE FOLLOWED BY A SAVE (SV) AND RESET (Z) OR CYCLING POWER TO THE DRIVE. TIP Create a setup progr am first, r ather than download immediatel y, because if changes are required i t ’ s easier to edit a saved program. CANopen Drives If you are setting up a CANopen dri ve an extra [...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 110 Drive settings / Setup This facility gives easy access to setting system variables in a more direct manner than Guided Driv e Setup. Figure 5-6 show s a sample screen. Figure 5-6. Axis Setup Tab The buttons displayed along the base of this screen can be used as follows : Upload retrieves the current [...]

5. EASI-V SOFTWARE 111 Status The Utilities menu axis Status provides a convenient method of examining the double word status bits. The tool gives access to the status of User Faults, Status bits and Drive Faults using a series of tabs, as shown i n Figure 5-7. Figure 5-7. Status Reporting The Status Report can be perm anently displayed dur ing pro[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 112 Downloading and Upl oadi ng Pr ograms A drive pr ogram that exists w ithin an active edi t window can be downl oaded to the drive by selecting Download from the Utilities menu. Following the usual communication checks, the program will download to the drive ’ s internal mem ory. Function key F4 pro[...]

5. EASI-V SOFTWARE 113 A program may also be uploaded from a drive, a useful facility if a drive needs to be swapped between axes. To upload a program select Upload from the Utilities menu. An upload dialogue box will be displayed, allowing you to specify the name and address of the program to be upl oaded. A shortcut upload is pr ovided by functio[...]

VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 114 Confirming Drive Operation With the dri ve and motor correctly wi red and the serial connection made to a PC running Easi-V softwar e, the operation of a dri ve may be confirm ed by creating and downloading the followi ng code: Before running this code return the driv e to its factory settings and sa[...]

6. COMMAND REFERENCE 115 6. Command Reference Command Description Each command has a sim ple 1 to 7 character name usual ly an abbreviation of its full descriptive titl e. Listed commands are in alphabetic or der with any non-alphabetic symbol s appearing last. Each individual description will include a one-line header giving the abbreviated name f[...]

116 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE aGOSUB(label) Label parameter Command name Address prefix aLIMITS(parameter1,2,3, parameter4 ) Parameters 1,2,3 & optional parameter 4 Command name Address prefix Figure 6-2. Parameter Commands Attention [1] Terminate al l commands wi th a carriage return. A space is not vali d . [2] A command mu[...]

6. COMMAND REFERENCE 117 Immediate Only Immediate onl y commands are: C, K, S, R(RB) , R(UF), R(DF ) and R(ST) The controller acts upon these com mands as soon as they are received. Immediate or Buffered Immediate or buffered commands ar e immediate unless command executi on is being delayed or comm and queuing is enabled w hilst movi ng, in which [...]

118 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Can’t be used in labelled block Means it is not possi ble to include the command withi n a labelled pr ogram block. Saved by SV A command that has the proper ty of being ‘ saved by SV ’ means data associated with that command is capable of being stored in non-volatile memory. The saved value wi[...]

6. COMMAND REFERENCE 119 A Acceleration/Deceleration Syntax Units Range of ‘ n ’ D e fault See also aAn see SCALE 0.01 to 99999.99 10 AA AD SCALE Description This command will set both the acceleration and deceleration rates of the motor to the same value. Values set for the AA and AD commands are over-wr itten, if previousl y set. Properties I[...]

120 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE AD Deceleration Syntax Units Range of ‘ n ’ D e fault See also aADn See SCALE 0.01 to 99999.99 10 A AA SCALE Description The AD command will set or report the programmed linear deceleration rate of the motor. The deceler ation value assigned to the AD com mand is over- written, if pr eviously set[...]

6. COMMAND REFERENCE 121 ARM Enable label triggered code Syntax Units Range of ‘ n & m ’ Default See also aARMnm - 0 or 1 01 START label FAULT label The ARM command allows you to enable (arm) or disable the START l abel. It also enables/disabl es the FAULT label. n=1 : start label is enabled n=0 : start label is disabled ( default condition[...]

122 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Example The code following the START label will be run at power up: 1START: ;start label 1T0.5 ;delay 1ON 1LIMITS(3,0,0) ;disable limits 1PROFILE1(100,100,4000,25) ;define pr ofile 1 1USE(1) ;use profi le 1 1G ;execute profile 1 1END 1ARM1 ;arm the start label 1SV ;save the code Note If you save the [...]

6. COMMAND REFERENCE 123 C Continue Syntax Units Range of ‘ n ’ D e fault See also aC - - - PS Description The C (conti nue) command causes a user command to r esume execution followi ng a pause command. Properties Immediate onl y, can ’ t be used in labelled bl ock, not saved by SV Example 1PS ;pause commands 1A100 ;acceleration 100r ps 2 1V[...]

124 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE D Distance Syntax Units Range of ‘ n ’ Default See also aDn See SCALE -2,147,483,647 to 2,147,483,647 - M SCALE Description The D command will set or report the programmed move distance. The value program med is only used for preset moves. In MC ( Move Continuous), the direction is observed. Prop[...]

6. COMMAND REFERENCE 125 Declare Declare Syntax Units Range of ‘ n ’ Def a ult See also aDeclare(label) - - - CLEAR Description All l abels, apart from STAR T, REG, NOREG & FAULT need to be decl ared at the beginning of the progr am using a DECLARE command. Label s consist of up to 5 upper case alphanum eric characters term inated with a co[...]

126 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE E Enable/Disable Communications Syntax Units Range of ‘ n ’ D e fault See also aEn - 0 or 1 1 - Description The E comm and disables or re- enables serial communicati ons. E1 turns command comm unications ON, whilst E0 turns it OFF. In E0 m ode the only command seen by the contr oller is E1. Prope[...]

6. COMMAND REFERENCE 127 EXIT Exit from loop Syntax Units Range of ‘ n ’ Default See also aEXIT - - - LOOP Description The EXIT command will terminate a loop function at the end of a label. Properties Immediate or buffered, can be used in labell ed block, not saved by SV Example 4START: ; signifies this is the pow er on sequence 4DECLARE(GRIP) [...]

128 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE FOLLOW Configure following Syntax aFOLLOWon/off(source,mode,scale) Description The Configur e Following command is used to setup fol lowing, allowing an axis to copy movement fr om another drive. The source parameter speci fies the device to follow. The only option i s: E – encoder input The mode p[...]

6. COMMAND REFERENCE 129 Note Only mode 1 is implemented at present. Do not use mode absolute (MA) while following. Do not perform a go home (GH) while following. If you hit a limit whilst following, movement is immediately stopped and following disabled*. Do not use POSMAIN while following. Refer to X4 Connector in Electrical Installation section.[...]

130 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE FRATE Feed Rate Override Syntax Units Range of ‘ n ’ D e fault See also aFRATEn - 0 or 1 0 M Description Feed Rate Overr ide, the FRATE command, is used together with the analogue input to scale the peak veloci ty of the drive (V) . The purpose of the command is to al low the speed of the process[...]

6. COMMAND REFERENCE 131 G Go Syntax Units Range of ‘ n ’ D e fault See also aG - - - PS S K M Description Issuing a G comm and starts motion using the parameters speci fied by the V, A or AA/AD, and D com mands or via the PROFILE and U SE commands. The mode of motion m ust have been previously set as this determines whi ch parameters ar e used[...]

132 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE GH Go Home Syntax Units Range of ‘ n ’ D e fault See also aGH - - - HOME S K Description The go home comm and instructs the controller to search for the hom e position as defined by the hom e input switch. For thi s command to function correctly, the hom e function must define the homing paramete[...]

6. COMMAND REFERENCE 133 1END 1MOVE1: 1USE(1) ; use the move pr ofile 1 1G 1O(XX1) ; turn output 3 on 1T0.1 ; wait for 100m S 1O(XX0) ; turn output 3 off 1END 1MOVE2: 1USE(2) ; use the move pr ofile 2 1G 1T1 ; pause for settle time 1TR(IP,=,1) 1END Note If you exceed the number of nesting levels the program will halt and return a *E . R(UF) will re[...]

134 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE GOTO GO TO routine Syntax Units Range of ‘ n ’ Default See also aGOTO(label) - - - GOSUB Description The GOTO comm and continues user program execution from the label specified. Program executi on does not return to the ori ginal place in the pr ogram (use GOSUB if comm and execution is requi red[...]

6. COMMAND REFERENCE 135 H Change direction Syntax Units Range of ‘ n ’ D e fault See also aHn - + - or blank + D, LOOP Description The H comm and changes the direction of moti on. Specifying H+ sets the direction to clockw ise, H- counter clockwise, and H al one reverses the current dir ection. This command has no effect i n Mode Absolute. In [...]

136 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Note CAUTION The USE command or the D command will re-define the move direction each time it is executed. To set up a loop to go CW ( clockwise) then CCW (counter clockw ise), make sur e the D or USE comm and is outside of the LOOP otherwise the direction will be the same each time around the loop.[...]

6. COMMAND REFERENCE 137 HOME Configure Homing Syntax aHOMEon/off(reference_edge,home_type,direction_&_velocity, acceleration/deceleration,mode) Description The Configur e Homing command is used to setup hom ing prior to the use of the GH (Go Home) command. See also system variable HF. Use on/off to arm and disarm homing. The reference edge par[...]

138 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE In mode 0, when the home posi tion is reached, the absol ute position of the controller i s set to 0. The incremental position reports the di stance moved to reach the home position. (system variable PI). Typing aHOME on its own will return the cu rrent para met er values for th e nominated axis. For[...]

6. COMMAND REFERENCE 139 IF Test condition Syntax aIF(system_variable,relat ion,value) Description The IF comm and compares the specified system variable wi th the specified value using the specified relation . If the condi tion is met, the next line of code is executed otherwi se it is ski pped. Refer to the table of system variables that can be u[...]

140 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE IS Input Status Syntax Units Range of ‘ n ’ D e fault See also aIS - - - O Description The IS command r eports the status of the configurable user inputs when configured as pull -down (non- inverting) inputs. When used to report the state of any i nput switch, regar dless of how the switch is w i[...]

6. COMMAND REFERENCE 141 K Kill Syntax Units Range of ‘ n ’ D e fault See also aK - - - S, PS, KILL Description Issuing a KILL will command motion to stop at limit deceleration rate. The command will then zero the position error to remove torque from a stalled load. Carefully consider the use of this com mand in applications wher e a load with [...]

142 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LIMITS Configure limit inputs Syntax aLIMITS(mask,type,mode, LD ) Description The LIMITS command al lows the user to define whether the LIM +/- inputs are used as lim it inputs or user i nputs via the LIM_ MASK . The mask field takes the foll owing values: 0 Enable limi ts (default setting) 1 Disable[...]

6. COMMAND REFERENCE 143 To report the curr ent configuration of the li mits, type ................................................................... 3LIMITS The response, using the above example .......... *LM1 TP1 M0 LD100.0 See also IS AD KILL Notes The default value of LIMITS type field i s 1, that is normally closed. Hitting a li mit stops mo[...]

144 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LOADENC LoadEnc settings Syntax aLOADENCon/off Description This command al lows a user to specif y di stances in load mov ement steps when used w ith a load mounted encoder connected to X2. It can be used in combination w ith position maintenance or any application wher e you need to specify distance[...]

6. COMMAND REFERENCE 145 LOOP Repeat user code Syntax aLOOP(label,cycles) Description The LOOP comm and repeatedly calls a labelled block of code a number of times specified by the cycles par ameter, the range bei ng 0 to 65000. Note: If the number of cycles is set to 0 the loop will continue indefinitely. Nesting of loops up to 5 level s is perm i[...]

146 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LSEL Label Select Syntax aLSELon/off(code,inputs,execution, type ) Description The label sel ect command all ows the code follow ing a label having the nam e Lnn (where nn i s the detected input code) to be per formed when a cer tain user input pattern i s detected on a number of inputs i n the range[...]

6. COMMAND REFERENCE 147 The range of input code patterns i s given below. Selecti ng a BCD code restricts the number of input codes detected (1 to 9 and 11 to 19). Inputs Code type/Execution label 1 2 3 4 5 BCD code Binary code 00 0 0 0 - - 10 0 0 0 1 1 01 0 0 0 2 2 11 0 0 0 3 3 00 1 0 0 4 4 10 1 0 0 5 5 01 1 0 0 6 6 11 1 0 0 7 7 00 0 1 0 8 8 10 0[...]

148 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Example The main code configures the l abel select command to detect a binary code on 5 inputs ( all high gives deci mal 31), and i f detected, to continuously run the code at l abel L31. Use binary m ode for PLC control and BCD for contr o l via a thumwheel. 1START: 1DECLARE( L31) 1LSEL1(1,5,0) 1ARM[...]

6. COMMAND REFERENCE 149 M Mode Syntax Units Range of ‘ n ’ D e fault See also aMn - see below - FRAT E Description The mode comm and sets up the mode of operation of the controller. The values of n are: A – indexed move wi th absolute positioni ng B – continuous move wi th velocity controll ed from the analogue input C – continuous move [...]

150 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Summary of m icrostepper modes Mode Source Enable/Energise Limits MA TG Enable Local MB ANA I/P Enable Local MC TG Enable Local MI TG Enable Local MP ENC I/P Energise/Shutdown Remote Key: TG – Trajectory Gener ator (internal command r eference) ANA I/P – ANA1+, ANA1- analogue input on X4. See als[...]

6. COMMAND REFERENCE 151 MOTOR Motor Settings Syntax aMOTOR(T ype,Current,Resolution,M ax_vel,%thirdharmonic,Resistance, Inductance) Description This comm and describes the characteristics of the motor being used to the rest of the drive. The par ameters used are: Type – 0 to 1023 number code Current – RMS continuous m otor current ( 0.1 to 5.6[...]

152 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Properties Immediate or buffered, can be used in labell ed block, saved by SV Note [1] The motor command can take up to 12 seconds to finish execution. [2] When changing motor type the fault and status informati on may not be valid until the m otor has been defined, saved and the drive re-i nitialise[...]

6. COMMAND REFERENCE 153 OFF Shutdown motor power Syntax Units Range of ‘ n ’ D e fault See also aOFF - - OFF ON Description Issuing an OFF com mand de-energi ses the drive to shutdown the m otor power. The controll er responds to move commands that are issued after an OFF with *E. If you check th e fault variable UF, yo u will see the ‘ Driv[...]

154 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE ON Turn ON motor power Syntax Units Range of ‘ n ’ D e fault See also aON - - - OFF Description Issuing an ON com mand energises the drive and clear s the current state of the drive fault r egisters. The command all ows execution of moves pr ovided the motor is not on a limit. ON will clear the U[...]

6. COMMAND REFERENCE 155 POSMAIN Position maintenance Syntax aP OSMAINon/off(dead_band_ range, output , settletime ) Description POSMAIN must use an encoder connected to X2 to monitor the system ’ s actual position. The com mand enables position m aintenance. The on/off parameter takes the val ues of 1 for ON and 0 for OFF. W ith position mainten[...]

156 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Properties Immediate or buffered, can be used in labell ed block, saved by SV Example 1POSMAIN1( 10,3) ; Enable position m aintenance. Allow ; a 10 step dead band window and set o/p 3 ; when withi n the desired range 1POSMAIN1( 20) ; Enable position m aintenance. Allow a ; 20 step dead band window. O[...]

6. COMMAND REFERENCE 157 PROFILE Define move profile Syntax aPROFILEnumber(AA,AD,D,V) Description The PROFILE command sets up a tabl e of move profiles i n the controller memory. These pr ofiles can be recall ed at any time by the USE command. The PROFILE command param eters are: Acceleration AA Decelera tion AD Distance D Velocity V Ranges for the[...]

158 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Profile number 12 Acceleration 200 150 Deceleration 200 200 Distance 1500 4800 Velocity 25 45 The move parameter s specified by Profil e 2 may be used (that is, copied to profile 0) with the statement ........ 4USE(2) Note A profile command will overwrite any individually programmed values of acceler[...]

6. COMMAND REFERENCE 159 PS Pause Syntax Units Range of ‘ n ’ D efault See also aPS - - - C Description The PS (pause) command causes imm ediate command execution to cease until a C (c ontinue) comm and is issued. The comm and is useful as a debug aid when testing small trial code blocks. The PS command cannot be used whi lst running a pr ogram[...]

160 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE REG Registration move Syntax aREG on/off(edge,profile_numbe r, hold_off_distance , registration window,output ) Description The REG command, once tur ned ON, defines a registration move. After a number of steps, determ ined by the optional hold off distance , the controller will begin to search for a[...]

6. COMMAND REFERENCE 161 Example 2START: 2PROFILE1(10,10,40000,5) 2PROFILE2(20,20,20000,10) 2REG1(1,1,10000) 2USE(2) 2G 2END 2REG: 2O(XX1) ; Turn output 3 on : increm ent batch counter 2T0.5 ; Delay execution for 500m S 2O(XX0) ; Turn off output 3 2END 2NOREG: ; if w e come here we didn ’ t have a val id reg mark 2O(X1X) ; Turn op2 on :push unlab[...]

162 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RFS Return to factory settings Syntax Units Range of ‘ n ’ D e fault See also aRFS - - - SV Description Issuing an RFS comm and initialis es the controller to factor y default settings. The drive must be de- energised (OFF) for RFS to be executed. Factory settings must be saved using the SV com m[...]

6. COMMAND REFERENCE 163 S Stop Syntax Units Range of ‘ n ’ D e fault See also aS - - - PS, K Description Use the S command to bring motion to a controlled stop. The command will use the current value of decel eration as specifi ed by either the imm ediate A or AD comm ands or the current pr ofile being used. This com mand also aborts label exe[...]

164 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE SCALE Scale settings Syntax aSCALEon/off(SCLA,S CLD,S CLV , PEU) Description This comm and allows a user to specify Acceleration, D istance and Velocity in their own chosen uni ts. The drive fir mware needs to know how many comm anded position steps there are in a user unit and then how many fr actio[...]

6. COMMAND REFERENCE 165 Exampl e: Suppose we hav e a motor attached to a linear table. The motor r esolution has been set to 4000 steps per rev . The linear table has a load mounted 10um encoder and is 0.5m long . It takes 80 motor revs to mov e the table its complete length. The motor has to position the table in 100 distinct li near positions at[...]

166 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE STALL Stall detect Syntax aSTALLon/off(error_ window,mode, output ) Description The STALL comm and is used to enable stall detect. To use thi s command an encoder must be connected to X2 to monitor the system ’ s actual positi on. The on/off parameter takes the values of 1 for ON and 0 for OFF and [...]

6. COMMAND REFERENCE 167 Note [1] The error w indow is m easured in motor steps w ith LOADENC and SCALE disabled, load steps w ith LOADENC enabled, and user steps wi th SCALE enabled. [2] If scaling is enabled, the value given in the error window will remain the same, but is now i n user units. [3] Drive status LED will turn red after a stall occur[...]

168 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE STATUS STATUS of Drive Syntax Units Range of ‘ n ’ D e fault See also aSTATUS - - - Description Use this command to check the state of a dri ve. It is intended for set- up purposes rather than for use when a program is runni ng. Properties Immediate or buffered, can ’ t be used in a label led b[...]

6. COMMAND REFERENCE 169 STOP STOP Input Syntax aS TOPon/off(mode) Description The STOP Input comm and determines the ‘ stop input ’ functionality of input 1. When input 1 is acti ve, IS = 1XXXX. The on/off parameter enables/disables the stop input taking the values 1 for ON and 0 for OFF and has a default value of OFF. The mode can be set as f[...]

170 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE SV Save configuration Syntax Units Range of ‘ n ’ D e fault See also aSV - - - Z Description When the SV command is issued, the current controller system variables and user programs are stored in non volatile memory. Any data saved, will be restored following the next power-ON cycle. The number o[...]

6. COMMAND REFERENCE 171 T Time delay Syntax Units Range of ‘ n ’ D e fault See also aTn seconds 0.05 to 10 none IF Description The T comm and pauses program executi on for the time specifi ed by the delay parameter. Tim ing resolution is to within 50m s increments. Any time value specified within the range 0.05 to 10 seconds will be rounded do[...]

172 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE TR Wait for trigger Syntax aTR(system_variable,relat ion,value) Description The TR comm and pauses command execution unti l the trigger condi tion is met. The trigger condi tion is met i f the relation between system_variable and value is true. Valid relati ons for the comparison are: = Equals <&g[...]

6. COMMAND REFERENCE 173 USE Use Syntax Units Range of ‘ n ’ Default See also aUSE(profile) - 1 to 8 - PROFILE Description The USE command copi es the pre-defined profile to the curr ent move parameters. Properties Immediate or buffered, can be used in labell ed block, not saved by SV Example 1PROFILE1(200,20,1500,25) ;define pr ofile 1 1PROFIL[...]

174 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE W Write system variable Syntax aW(syst em_variable,value) Description The W comm and allows you to set a specified system variable to a particular value . Refer to the table of system variables for more information. Properties Immediate or buffered, can be used in labell ed block, saved by SV Example[...]

6. COMMAND REFERENCE 175 # Set comms address remotely Syntax Units Range of ‘ n ’ Default See also a#n - 1 to 255 0 - Description This com mand ( # ) all o ws you to set the unit address via software. It all ows addresses up to 255 to be used. Upon recei pt of the command, the controller will send a #n+1 command along the daisy chain provided t[...]

176 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE “ “ Quote command Syntax Units Range of ‘ n ’ Default See also a “ “ -- - - Description Use QUOTE to send m essages to other drives or displays. Usi ng the RS232 link, up to 20 ASCII character s are available to transmi t the required command or m essage in exactly the way in whic h it wa[...]

6. COMMAND REFERENCE 177 System Variables Var Name R W Range/default value AB Analogue Deadband Y Y 0 to +255, default = 0 AI Analogue Input Y N -2047 to + 2047 AO Analogue Offset Y Y -2047 to +2047, default = 0 BR BAU D rate Y Y 9600 or 19200 bits per second (9600 default) BU Buffer usage Y N 0 to 100% of progr am buffer used CQ Command queui ng Y[...]

178 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Var Name R W Range/default value FB Fieldbus Baud Refer to CANopen user guide FC Fieldbus Control Refer to CANopen user guide FN Fieldbus Node ID Refer to CANopen user guide FP Fieldbus Protocol Y Y Refer to C ANopen user guide HF Home Fin al velocity Y Y Sets the final veloci ty of the home move Ran[...]

6. COMMAND REFERENCE 179 Var Name R W Range/default value ST Status of indexing Y N See below ST1 Status of indexing Y N First byte of 32-bit ST variable ST2 Status of indexing Y N Second byte of 32-bit ST variable ST3 Status of indexing Y N Third byte of 32-bit ST variable ST4 Status of indexing Y N Fourth byte of 32-bit ST variable TT Trigger Tim[...]

180 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faul ts Bit Bit Tested Stop Type DF Information 1 DF 1.1 Composite faul t 2 DF 1.2 K T +/-15V supply rail 3 DF 1.3 K R Motor HV under -voltage trip point reached 4 DF 1.4 K R Motor HV over -voltage tri p point reached 5D F 1 . 5 6 DF 1.6 CD R Vio over -voltage trip point reached 7 DF 1.7 K T En[...]

6. COMMAND REFERENCE 181 Status Bits Bit Number Bit Tested Status Information 1 ST1.1 C ommand processi ng paused 2 ST1.2 Loopi ng (command executing) 3 ST1.3 W ait for trigger (input) 4 ST1.4 Running program 5 ST1.5 Goi ng home 6 ST1.6 W aiting for delay timeout 7 ST1.7 R egistration in progress 8 ST1.8 Last tr igger command timed out 9 ST2.1 M ot[...]

182 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Faults Bit Number Bit Tested UF Information 1 UF1.1 Val ue is out of range 2 UF1.2 Incor rect command syntax 3 UF1.3 Last l abel already in use 4 UF1.4 Label of this name not defined 5 UF1.5 M issing Z pulse when hom ing 6 UF1.6 H oming failed - no signal detected 7 UF1.7 H ome signal too narr o[...]

6. COMMAND REFERENCE 183 Command List Command Description A Acceleration /Decelera tion AA Acceleration AD Decelera tion ARM Enable event trigger ed code C Continue CLEAR Clear user code D Distance DECLARE Declare E Enable/disable com munications EXIT Exit from l oop FOLLOW Configure fol lowing FRATE Feed rate overri de G Go GH Go home GOSUB Go to [...]

184 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Command Description POSMAIN Position mai ntenance PROFILE Define move profi le PS Pause R Report system parameter REG Registration m ove RFS Return to factory settings S Stop SCALE Scale settings STALL Stall detect STATUS Report status of dri ve STOP Stop input SV Save configuration T Time delay TR W[...]

7. MAINTENANCE & TROUBLESHOOTING 185 7. ViX Maintenance and T r oubleshooting Maintenance ViX drive systems do not require any routine maintenance, but occasional checking of the following poi nts is recommended. Motor inspection Periodical ly check the motor to ensur e that the mounting bolts and coupli ngs are tight. Check that the motor cabl[...]

186 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Communication Pr obl ems When attempting a C onnect from the Term inal menu, if the connection fails w ith the followi ng error m essage: Figure 7-1. Communications Failure Error M essage Check the followi ng: 1. Ensure the serial por t configuration is set correctly i n EASI-V and you select the cor[...]

7. MAINTENANCE & TROUBLESHOOTING 187 Drive LED I ndi cators X3 X1 X4 ST HV FB 10 10 11 9 6 15 6 1 1 1 5 5 Red Feedback fault with no HV Orange HV OK and feedback fault Green HV OK Colour Function Red Drive fault Orange Drive OK but de-energised Green Ready (energised) Colour Function Red Comms fault Orange Comms status Green Comms OK Colour Fun[...]

188 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Complete LED Diagnosti cs An EASI-V version of this table is available for quick on-line viewing. LED Colour(s) Flash rate Functional description HV green none motor supply OK HV orange none motor supply under vol tage (<16V) HV red none motor supply over voltage (>98V) HV off - no motor suppl [...]

7. MAINTENANCE & TROUBLESHOOTING 189 Forcing a Har dwar e RFS Pin 2 of serial communications D -type connector X3 is for use as a hardwar e method of forcing a retur n to factory settings. It may be used when i t is not possible to per form an OFF or RFS com mand. Such a situation may be sw itching to RS485 mode but having no RS485 interface on[...]

190 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faul ts The followi ng notes give you a better understanding of w hat is happening within the dri ve when a particul ar drive faul t is reported. The expl anations assume a ViX drive indexer firmwar e revision of V2.0. Composite fault This flag indicates that a drive fault has occurred and that[...]

7. MAINTENANCE & TROUBLESHOOTING 191 Vio over-voltage Over-voltage will mean that the 24V supply is out of tolerance. Indexed motion will be stopped instantly and the drive will then de-energise. If there is a user program running and the fault label is armed it will be run. Encoder/Auxiliary 5V under voltage This 5V supply is r ead every 500uS[...]

192 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Incompatible firmware revision The FPGA firmw are code contained in FLASH m emory is not com patible with the controller hardware and the dr ive cannot be used. This message is l ikely if in future, customers update ol d hardware wi th the latest FPGA firmw are, which m ay require specifi c hardware [...]

7. MAINTENANCE & TROUBLESHOOTING 193 A note about “ Controll ed stop ” . A controlled stop will be attempted if the trajectory generator was commanding motion at the time of the fault. If the commanded motion was due to following, then the indexer will disable following, th at is there will b e no ramp d own of velo city. If the drive was f[...]

194 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Returning the System If a drive modul e is found to be faulty, you should contact your Parker Autom ation Technology Centre or the machinery manufactur er who supplied the product. Equipment for repair should NOT be returned directly to Parker without prior authorisation. Repairs will be carried out [...]

8. HARDWARE REFERENCE 195 8. Har dware Ref erence Drive Specification – ViX250IM, ViX500IM Functional Specifi cation Parameter Value Amplifier type MOSFET chopper User r esolution Freely progr ammable between 200 and 51,200 steps/rev Nominal chopping frequency 16kHz Protection circ uits Short circui t (phase-to-phase, acr oss phases and phase to [...]

196 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Indexer Specification Parameter Value Command Inter face Position range +/- 2,147,483,647 steps Velocity range 0.001 to 50 revs/sec Acceleration/deceler ation range 0.1 to 99999.99 rev/sec 2 Positioning m odes Incremental, absol ute, registration, continuous run Communi cation Data format 8 data bits[...]

8. HARDWARE REFERENCE 197 Drive Environment Specification Parameters All drive types Environment Pollution degree 2, Instal lation category II Operating temper ature range 0 to 50 ° C ambient 0 to 40 ° C natural convection 40 ° C to 50 ° C airfl ow is requi red through the drive at better than 0.5m /s air velocity entering the dri ve. Storage t[...]

198 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE[...]

APPENDIX A 199 Appendix A Discrete Power Suppl y Recommendati ons If the XL_PSU is not being used i ndividual Vi X drives can be power ed from transformer /bridge rectifi e r power supplies of the type shown in Figur e A-1. This design suggests suitable component val ues for poweri ng particular dr ive types, but can be adapted to power mor e than [...]

200 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The size of transform er required for a stepper drive installation depends ver y much on the application and on the m aximum shaft power deliv ered by individual motors. It is worth noti ng that in a one-off or low volume appl ication it i s usually pr eferable to be slightly gener ous in sizing the [...]

APPENDIX B Motor Wiring Identification Tables The following tables supply serial and parallel connection information for a range of different motor types. MAKE TYPE A+ A- B- B+ NOTES Parker SY Series 8-Lead Blue Green Red Brown Link White & Black Link Grey & Yellow 56-T.Box 2 1 3 4 SY56_T Only T.Box 5 8 4 1 Link 2 & 3 Link 6 & 7 Par[...]

APPENDIX B MAKE TYPE A+ A- B- B+ NOTES Parker SY Series 8-Lead Blue Green Red Brown Link Brown & White Link Black & Red Link Blue & Grey Link Yellow & Green 56-T.Box 2 1 3 4 SY56_T Only T.Box 5 8 4 1 Link 1 & 2, Link 3 & 4 Link 5 & 6, Link 7 & 8 Parker VS Series 8-Lead Red & Yel/ Wh Yellow & Red/ Wh Orange &a[...]

INDEX 20 3 Inde x # # set address remotely , 175 + +24V fuse rating, 17 +24V supply connections, 17 +24V supply lead l ength restrictions, 17 A A acceleration deceler ation, 119 A to D converter, 33 AA acceleration, 119 AB, AI & AO system variables, 58 Absolute preset moves, 74 Absorber ferrite, 20 AD decelerati on, 120 AI system variable, 33 A[...]

INDEX 20 4 Drive cooling, 5 dissipation, 5 fault reporti ng, 68 Driv e fault byte reporting, 69 Drive faul ts, 67, 190 Drive i nspection, 185 Drive setti ngs / setup, 110 Drive types, 2 E E enable/disable com ms, 126 Earth arrangem ents, 9 Easi-V communicati ng with dri ve, 102 downloading, 112 help, 113 installation di rectory, 97 menu overview , [...]

INDEX 20 5 mode 1, 80 mode selection, 80 modes, 80 switch considerati ons, 79 HOME, 137 definition of ter ms, 79 Home switch too narrow, 81 Homing operations, 79 Housing mater ial, 197 Humidity, 197 I I/O command, 37 I/O configuration limitations, 38 IC default setting, 38 example, 38 system variable, 37 IF command, 72 IF test, 139 Immediate com ma[...]

INDEX 20 6 Motor mounti ng precautions, 8 MOTOR settings, 151 Motors 4 lead, 21 6 lead, 21 8 lead, 21 voltage rating, 21, 26 Move types, 74 Moves absolute preset, 74 continuous, 74 incremental pr eset, 74 preset, 74 MS system variable, 62 MV system variable, 61 N NOREG, 50 NOREG label , 77 Not saved by SV, 118 O O output, 152 OFF shutdown motor, 15[...]

INDEX 20 7 Registration exam ple, 78 Registration output, 77 Report comm ands that can be saved, 71 Reset to RS232 mode, 31 Returning the system, 194 RFS return to factory settings, 162 RJ45 connecting leads, 43 RJ45 patch cables, 43 RM system variable, 64 RS232 cables, 32 RS232 connecting leads, 32 RS232 mode forc ed reset, 31 RS485 connections, 4[...]

INDEX 20 8 U UF byte, 69 Uploading pr ograms, 112 USE, 173 USE command, 55 User fault byte reporting, 70 clear conditions, 70 test example, 70 User fault descr iptions, 69 User fault r eporting, 69 User faults, 67 User faults list, 182 User outputs , 37 Utilities menu, 100 V V velocity, 173 ViX supply current, 11 supply volts, 10 ViX250/500 driv e [...]

CUSTOMER FEEDBACK 20 9 Customer Feedbac k If you have spotted any errors, om issions or inconsistent inform ation within thi s user guide please let us know. Either use this page (or a photocopy) to describe the err or and Fax. it to the number given bel ow. Alternativ ely, you may phone or em ail the corr ection. Name of user guide: Part number: 1[...]

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X2 X3 X1 X4 X5 ST HV FB 24-80V DC +HV 0V / GND -HV Earth PE 24V DC 10 9 8 7 6 5 4 3 2 1 X1 Power & Motor 0V (GND 24v DC) Motor Gnd Motor phase (A+) Motor phase (A-) Motor phase (B+) Motor phase (B-) 15 15 10 10 10 10 11 11 9 6 15 11 6 6 6 1 1 1 1 1 5 5 5 5 RS232 9-way socket Control/Aux I/O 15-way socket User I/O 15-way plug Power & motor 1[...]