Impulse PCW-5181 manual

Indust rial Devices Corporation User ’ s Manual The Only Microst epping Drive with: Open L oop St all Dete ct TM (OLSD ™ ) Multi-S tepping TM Dyn amic Smoo th ing TM Xtr eme Sm ooth ness TM Motion N ode P/N PCW-5181 V ersion 1. 0[...]

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Revision History Version: 1. 0 April 20 01 Indust rial Device s Cor poratio n (IDC ) stri ves to m aint ain effe ctive commun icati on wi th all users and pote ntial us ers of our pro ducts. If you ha ve any qu estio ns or co ncer ns regardi ng this tec hnical m anual or the product it cov ers, pl ease co ntact: Industrial Devices Corpora tion 3925[...]

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Table of Cont ents i T able of Contents CHAPTER 1 - IMP ULSE OVERV IEW ............... ............. ............ ............. .................... ............. ......... 1-1 CHAPTER 2 - SH IPPING CO NTENTS ................... ............. ............. ............. ............. ................... ... 2-1 CHAPTER 3 - CONNE CTING AND INSTALLIN[...]

Table o f Content s ii S ECTION 1 - I NTRODUCTION TO THE FP100 I MPUL SE K EYPAD ......... ...... ....... ...... ....... ...... ....... ...... ... 5-1 S ECTION 2 - C ONFIGURING I MP ULSE WITH AN IDC K EYPAD ................... .................... .................... 5-11 Configuring Impuls e with the Keyp ad .... ............. ............ ......[...]

Chapter 1 - Impuls e Overvi ew 1-1 Chapter 1 - I mpulse Overview The Impulse is the latest microstepping drive from Industrial Devices Corporation and this innov ative dri ve will mo ve you r appl i cati ons with a combinat ion of feat ures previo us ly unhea rd of in the motion control industry . The Impulse is a self-contained micro stepping driv[...]

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Chapter 2 - Shi pping C ontents 2-1 Chapter 2 - Shipping Contents Y our Impulse will arrive equipp ed as listed in section #1. If any par ts or acces sories are m issing, please call IDC Cu stom er Su ppor t at: (8 00 ) 74 7-0 06 4. Sect ions 2 an d 3 are pro v id e d as r e fere nce mat eri al. 1 - What Y ou Will Receiv e if Y ou Ordered the Fol l[...]

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Chapter 3 - Connecti ng and Ins talling Yo ur Impuls e 3-1 Chapter 3 - Connecting and Installing Y our Impulse The purpose of this chapter is to provide information that will help you connect and install your Impulse drive in its intended application . The Impulse driv e easily interfaces with a PC, PLC, Step & Direction Motion C ontroller , or[...]

Chapte r 3 - Connect ing and Insta ll i ng Your Impul se 3-2 Read T his Pag e Bef ore Yo ur Begin! CAUTION! • Alw ays u se ca uti on when worki ng wi th mechani ca l syste ms. Gea rs and s crew- driv en cyli nde rs are c apa bl e of ex er ti ng t re m en do us fo rc e a gai ns t an o bst ruc - tion. • Alw ays en s u re th at p o w er to yo u r [...]

Chapter 3 - Connecti ng and Ins talling Yo ur Impuls e 3-3 A. Connecting a Motor to the Impulse Connecting an IDC Motor The A+, A-, B+, and B- phase outp uts power the motor wind ings. Connect motor wires to th e motor conn ector (s up plied) and plug the wired con nector into the dr ive. Drawings below provide color codes for IDC motors. GND is in[...]

Chapte r 3 - Conn ecting an d Inst alling You r Impulse 3-4 B. Serial Communication Connections Making RS-232/RS-485 Connections The standard Impulse drive uses a 3-wire implementation of RS-23 2C. The RX, TX, and CO M lines are the se rial signals supported. No hardware handshak ing is requi red. Note tha t some RS -232C devices require h andshaki[...]

Chapter 3 - Connecti ng and Ins talling Yo ur Impuls e 3-5 Daisy-Chaini ng Impulse Dri ves Y o ur I mpu lse also supp orts dais y ch ain ing. The unit ad dress (ran ge 1 -99 ) can be s et via the k eyp ad or in Application Developer . Rules for Daisy Chai n Ope ration 1. Units on a daisy chain mu st be “d evice add res sed’ (nu mber ed) in o rd[...]

Chapte r 3 - Conn ecting an d Inst alling You r Impulse 3-6 Troubleshooting RS-23 2C Communication Problems If communications between computer an d Impulse are u nsuccessful, one or more of the following procedures will usually solve the pro blem: 1. Host transmit (TX) m ust be connected to receive (RX) of the drive unit, and receive (RX) of the ho[...]

Chapter 3 - Connecti ng and Ins talling Yo ur Impuls e 3-7 C. Connecting an IDC Keypad T wo versions of IDC keyp ads can be us ed with the Impulse drive. The F P100 works only with th e Impulse, while the FP220 can be used with the Impulse as well as IDC’ s Smart Drives (see keypad-specific information b elow). The COM POR T on the front panel of[...]

Chapte r 3 - Conn ecting an d Inst alling You r Impulse 3-8 D. Connecting AC Power There is no ON/OFF switch on the Impulse. AC p ower is applied b y pluggi ng the *pow er cord (inc luded) into t he conn ect or on t op o f the I mpu lse. Input voltage must be in the range of 120 V AC ± 10%, single phase, 50 /60 Hz, 500 V A max @ 4 Amps. O peration[...]

Chapter 3 - Connecti ng and Ins talling Yo ur Impuls e 3-9 F. Connecting Inputs and Outputs Connect you r inputs an d outputs to IDC’ s 961/ 962 Indexer acc ording t o the informat ion below . Schematics fo r Impulse I/O circuits can be found in Chapter 6, Hardware Reference Applicati on Notes 1. On 961/2, ens ure that Step/Direction and D iffere[...]

Chapte r 3 - Conn ecting an d Inst alling You r Impulse 3-10 G. Mounting the Impulse Drive This section includes installatio n requ iremen ts, Im pulse d im e nsio ns, installing and removing mounting b rackets, and mo unting t he Impulse o n a DIN rail. Environmental and Installation Requirements • Operating Ambient T emperature: Max. 50º C ( 1[...]

Chapter 3 - Connecti ng and Ins talling Yo ur Impuls e 3-11 Impulse Dimensions 5.599 6.365 6.000 1.779 1.779 5.599 1.779 6.365 TS 35 DIN RAIL Impulse with Scre w-type Mounting Br acket (P/N PCS-51 10) Impulse with DIN -rail Mountin g Brack et (P/N PCS-51 1 1 10-32 screw with .305'' head ∅[...]

Chapte r 3 - Conn ecting an d Inst alling You r Impulse 3-12 Insertin g and Removing Mounti ng Brackets f rom the Impuls e Both Impulse mo unting brackets are interchan geable and each is inserted or removed accordin g to the following procedu res. No tools are req uired to insert a bracket, h owever a flat-bladed screwdriver is requ ired for remov[...]

Chapter 3 - Connecti ng and Ins talling Yo ur Impuls e 3-13 Impulse DIN-Rail Mounting The DIN-rail mounting system is a combinatio n of 1) a removable mounting bracket, which locks the driv e onto t he DIN-rai l (ins tallation on pr evious p age), plus 2) the DIN-r ail hang er on the upper rear pa rt of the ho using that suspends the weight of the [...]

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Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-1 Chapter 4 - Configuring Impulse with Application Developer™ This chapt er covers th e installat ion and use of IDC’ s Application Developer software to configure your Imp ulse driv e. Installing Applica tion Developer on Windows 95/98/2 00 0/ME/NT 1. Place the IDC CD in yo [...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-2 Using Application Deve loper Application Developer’ s graphic user interface allows y ou to configur e and program you r Impulse using an appropriately equipped computer . Upon starting Application Develop e r you will be given four op tions for beginning the configurat ion of y ou[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-3 Upload Projec t 1. Begin by clicking the U pload Project button on the Application Developer Startup window . Y o u will see the Control T ype Selection menu (shown right). 2. Conf iguration be gins by selecti ng your Impul se from the list of Steppers. Click OK. 3. Select the [...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-4 Launch Now This met hod of beg inning App licatio n Developer is typical ly used by more experi enced users o f IDC product s. S el ect yo ur Impu lse vers ion and pre ss OK. Y ou can n ow g o d irect l y to t he Main Menu or tool bar bu ttons to configure the I mpulse (see Fine-T un[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-5 Using the Project Wizard 1. Cl ick t h e Project W izard button on th e Applicati on Develop er Startup window . • Select the pr oduct you are co nfiguring, Impulse in this case, and click on Next . • The W izard Navigat or (left s ide of windo w) allows you to qu ickly loc[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-6 3. Cl ick Next and the first of three possible Mechani cs setup windows will appear . The Mechanics window th at appears depends on the selection made in the Select an IDC Mech an ical S yst em list . Mechanics window A (shown below) appears when a Motor Only is b eing configured. Th[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-7 Mechanics wind ow C will appear if you s elect Non-IDC Mechanics from the “syst em” lis t. • Enter you r T otal System Inertia (Load + Mech anics + Motor). • Select your Move U nit (st eps, revs, mm, or inches ) from the pulldown men u. • Enter you r Distance Ratio (o[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-8 Discrete In puts (see p ulldown menu ) Discrete Outputs (see p ulldown menu ) 6. When all param eters have been configured, cli ck Next and the Accept window will appear . This disp lay al low s you t o r e view the se tt ings mad e earli er, or give s yo u an op por tuni ty t o re t[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-9 7. Y our basic project file has now b een con figured b ut the f our “Finish ” steps mu st be comp leted in order to send the project file to the drive and probe the motor . • Click on Config. Comm Port (#1) and select the Port to which you are connecting the Impulse. Nex[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-10 Fine-Tuning Your Application Y our basic syst em setup par ameters have been conf igured by t he Project W izard, and thou gh the system is functional, your application will probably require further configuration and fine-tuning. The remain der of this ch apter prov ides infor matio[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-11 Motor • Motor Na me - Select your motor from the list, or click on the Ed it Moto r button to create a custom motor file or edit an existing IDC motor file. • Electric al - These text input boxes dis play the electrical characteristics of the selected m otor . If a text in[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-12 Mechani cs Move U nit and T otal Inertia (kg-cm 2 ) are disp layed on th is tab, but they are not editabl e parameters. C lick on the Ch ange Mechanica l System/U nits button to ed it your mechanical parameters. • Change Mechanical System/Units - The text inpu t-box parameters (in[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-13 Command The Command T ab allows you to configure the Command S i gn al and Jog Input parameters, and to select the level of Numeric Precision that Application Developer will use to build the project file. Command Sig nal Configuration • Drive Reso lution - Enter t he operati[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-14 • Jog Hig h (Jog High Speed) - De faul t = 2 .00 ( use r-d efi ned un its ) Numeric Precision • Select Standa rd to limit the decimal precision of accelerations, decelerations, velocities, and distances to the following: Accels and Decels: #.x (One decimal place) V elocities: #.[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-15 X-Smoothness (Xtreme Smoothing™) The X-Smoothness tab is the most advanced low-speed tuning feature cur rently available on any microst epping dr ive. The benefi ts of low-speed smoothness ar e 1) redu ced vibration, and 2) an increase in torque, which was typically lost to [...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-16 X-Smoothness #2 Recommended values for M1 and M2 have been pre-conf igured for ID C motors , but we recommend that these settings be verified and adjusted if necessary by the following procedure. 5. Press the Run T est b utton. 6. Move s lider M1 to approximatel y 8,000. 7. Move s l[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-17 Advanced (Advance d Tuning) The Advanced tab allows you to enable/d i sable and modify variou s advanced performance features of the Impulse drive. Anti-Resonanc e • Enable this feature by selecting the Enabled check box. Ensure that both Damping Gains are configured if Anti[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-18 Stall Detectio n • Select Stall Detection to enable the Open Loop Stall Detect™ encoderless stall detection feature. • Stall detection becomes active at v elocities of 0.5 RPS and gr eater . Remembe r to perform a “Send All” c ommand to s end the modi fied project file to [...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-19 Setup - Editi ng Stored Move s later in this chapter for more information on Home moves. Jog + : Activation of a Jog+ input will jog the motor at the acceleration rate specified by the Jog Accel parameter and the velocity specified by the current state of a Jog Sp eed input in[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-20 Output Descripti ons Brake: The Brake output is activated on any fault condition. This provides a cont rol sign al to engage a br ake when the Impulse los es torque du e to a fault. The Bra ke output al so provi des a polarity-conf igurable fault outpu t since the ded icated fault o[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-21 Stored Move Setup - Edi ting Stored Moves If your Impulse is equipped wi th the Motion Node option you will be able to access the Stor ed Move Setup men u shown belo w . The Impulse will st ore seven (7 ) moves whi ch can be invok ed throu gh binary inpu ts, by se rial command[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-22 Note : Homing is predicated on the assumption that the sys tem is positioned somewher e between the EOT switch es when t he home move is invoked. If the s ystem is initiall y outside th e interval between the EOT s witches, the homing rou tine will fail in one of two ways: (1) carri[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-23 File Menu • Selecting New Project will take you to the Pr oject Wizard . • The default file suffix is *.idc. • Project files may be stor ed on disk as DOS files. • All othe r selectio ns under the File menu are generic to all W ind ow s applications. Edit M enu • Sto[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-24 Communications Menu •U s e Send All to download a project file to the drive. A Send All toolbar button is also avail- able. •U s e Retrieve All to upload a project file from t he drive fo r modificat ion. • Project Update allows you to acceler ate the configuration of mu ltipl[...]

Chapter 4 - Configuri ng Imp uls e wi th Appl ic atio n Deve lop er 4-25 Run Menu •T h e Run > Stored Move menu is availab le only on drives eq uipped with the Motion Node option and can on ly be accessed f rom the menu bar . This menu allows you to v iew all stored move prof iles and to r un and stop each stored mov e. • No editing of moves[...]

Chapte r 4 - Conf iguring Impulse with App lication Developer 4-26 View M enu • Select Config uration Text File to see your syst em configuration status. All configuration p arameters are listed and may be viewed by scrolling the list. • Select Cont rol Stat us for a quick look at current I/O con figuration, motor position and veloc- ity , faul[...]

Chapter 4 - Config ur ing Impu ls e with Applica t ion Devel ope r 4-27 Up dating Y our Impu lse Op eratin g Syst em: Y our Impulse drive contains FLASH memory te chno logy allowing th e flexib ility and conv enienc e of upgra ding the operatin g sys tem u s ing Applica tion Developer and a PC RS232 or RS485 se rial connec tion. The late st rele a [...]

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Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-1 Chapter 5 - Configuring Impulse with an IDC Keypad Section 1 of this chapter is intended primarily to familiarize new IDC keypad users with the FP100 Impulse K eypad, and we recommend this section be revi ewed by those expe rienced with the F P220 keypad as well. If yo u are using an FP 220[...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-2 Keypad Ha rdware Features Adjusting Contr ast On the back of the keypad there is a plastic potentiometer , adjustable with a flathead screwdriver . This is used to adjust the contrast on the LCD display . If the Impulse dr ive and keypad were purchased together , this adjustment has been ma[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-3 Functions of the FP10 0 Keypad Keys DECIMAL POINT Used to enter fixed-point numbers. . RUN - R uns a program, jogs an axis, or accesses T est/ Debug functions. EDIT - Edits S etup parame- ters and programs, lists pro- grams, & res ets position counter . HELP - Provides help on keys, men[...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-4 Keypad Menu Structure Most op erations using t he keypad are menu-dri ven. A menu consists of a title bar on the top di splay line and as many as t hree options (or sub-m enus) at a time on th e bottom displ ay line. Each option is displayed above one of the function keys , F1, F2, or F3. P[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-5 Apply Power to the Ke ypad Power is suppli ed to th e FP100 keyp ad thro ugh its con nection t o the Impul se COM P OR T . Note: If you are us ing an FP100-RS4 85, see Chapter 3, Section C for connection proced ure. When power is first ap plied to the keypad (pr ior to any menu being s elec[...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-6 Using the RUN Menus Press the R UN key to di splay the MOVE , PROBE, JOG, WMBOOT , and SH TDWN menus . Run Stored Move (MOVE) Note: The MOVE feature is available only if you purchased the optional Motion Node version of the Impulse RUN > MOVE al lows you to s elect and run one of the s e[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-7 Using the EDIT Menus Press the ED IT key to di splay the F ILE, SETUP , MOVE, and UNIT# menus. File Menu (FILE OPTIONS) The FILE m enu allows y ou to select, save, and name or rename y our proj ect files. Opening a Proj ect File This option allows you to select one of eight (8) s tored proj[...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-8 Renaming an Open Pr oject Fil e This option allows you to ren ame (or name) the currently-open p roject file. Project file names ar e entered u sing a combination of the ALPHA and numeric keys. Project file name s consist of numeri c digits and alphabet letters and are limited to 10 charact[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-9 Using the HELP Menu V ersions •P r e s s t h e HELP > VERSN (F2) for access to Operating System, Hardware, an d Keypad vers ions (see examples on the right) . • Press F1, F2, or F3 for r espective version displays . •P r e s s t h e ESC key to exit the HELP menu. Status •P r e s [...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-10 Using the COPY Menu Downloading project fi les between k eypads and I mpulse or betw een keypad an d PC can save a signif icant amount of time when configur ing your drive wit h an FP100 k eypad. Press COPY for the following two op tions: FROM PAD This option allows y ou to sen d the curre[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-11 Section 2 - Configuring Impulse with an IDC Keypad This chapt er contains information and step s for develop ing an Im pulse proj ect file wi th the FP100 keypad. Configuring all parameters in th e EDIT menu will ensure that your project file is setup correctly . The task of confi guring y[...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-12 Configuring Impulse with the Ke ypad Open a File Using the EDIT > FILE menu, open a project file. Using the EDIT > SETUP Menus to Configure the Impulse The EDIT > SETUP m enus allow y ou to con figure yo ur motor , mechanical units, I/O, op erating characteristics, and p erform ad[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-13 To Probe the Motor: 1. Return to the initi al keypad display ( no menu sel ected). 2. Press RUN > PR OBE (F2). At the end of the 1 kHz tone, the motor has been probed. 3. Pre ss E SC. 4. Continue configuring the EDIT Menu parameters if they have not been completely configur ed, or go to[...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-14 Configuring Dri ve Re solut ion 1. Using the n umeric keys, enter the op erating step resolution. The v alid range for drive resolution is 200 to 100,000 in increments of 200 (divisible integer of 4X the tooth count of the motor). 2. Pre ss E SC. Configuring Sto p Rate This option allows y[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-15 MECHANICAL SETUP The MECH SETUP menu allows yo u to configure (enter) the mec hanical units and gear ratio for your application. Once configured, your keypad will use these u nit s in all display and position repor ting modes . Configuring Mechani cal Unit s (User Units) This option allows[...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-16 MOTOR TUNING SETUP (X-Smoothness) Fine-tuning of the motor is recommend ed for all applications and should be accomplis hed before the motor load is connected. Fine-tuning produces extrem ely smooth performance at 2 rps and below and is accomplish ed by configuring the three X-Smooth ness [...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-17 4. Pre ss E SC. 5. Press YES (F1) to save t he new set tings , or pr ess NO (F3) to restore the original settings. Configur e X-SM2 and X-S M3 using the s ame procedures as X-SM1 (i. e. V ALUE, TEST S PEED, and FINE). ADVANCED SETUP The f oll owi ng par ame ter s mus t be c onf i gu red i [...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-18 Configuring Prof iling Parameters MUL T I (Mu lti -Ste ppi ng™ ) This option allows you to enable or disable Multi-Stepping™ feature. 1. Pr ess M UL TI ( F1) . 2. Using arrow k eys, select ENABLED or DISABLED. 3. Pre ss E SC. DYNSM (Dynamic Smo othing™) This option allows you to enab[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-19 Configuring Idle Mode Cur rent Reductio n Parameters Use this option to set the Idle Mode current-reduction parameters (TIMEOUT and %RED). TIMEOUT s ets the Idl e Mode current reduction p eriod in seconds. W hen the TIMEOU T period has elapsed, the com manded motor current wi ll be reduce [...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-20 I/O S E TUP This opti on al low s yo u to c onf igur e u p t o (4 ) dig i tal i np ut s a nd one (1) d igit al ou tp ut. Configuring I nputs The input number (#1 - #4) is s elected by usi ng the righ t or left arro w key . The input fun ction is selected by scrolling the lis t using the up[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-21 Configuring Output s The outpu t function is selected by using the up or dow n arrow key . The OUTPUT menu consis ts of the outputs described in the table below . 1. Pr ess O UT PUT (F2). 2. Using th e up or d own arrow key , selec t the desired output function. 3. Pre ss E SC Configuring [...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-22 Move Menus - Using Store d Moves This feature is only available of your Impulse is equipped with the optio nal Motion Node. The MOVE menu allows you to edit the Stored-Move parameters (also see Edit > Stored Move menu in Appli cation D eveloper). Stored-Move Pr ofiles The PROFLE (profil[...]

Chapte r 5 - Configu ring Im pulse with an IDC Key pad 5-23 Configuring Stor ed-Move Profiles There are five ( 5) stored move p arameters to be con figured: Acceleration, Deceleration, V elocity , Distance, and Mo ve T y pe. 1. Press PROFLE (F1). 2. U sing the u p or down arr ow ke y , sele ct t he M ove # ( 1 - 7 ) to configured. 3. Using th e rig[...]

Chapte r 5 - Conf iguring Im pulse with an ID C Keypad 5-24 UNIT# This menu al lows you to conf igure the unit num ber for use in RS2 32C daisy chains or RS485 buses . The valid range for un it numbers i s 1 - 99. 1. Using the numeric keys, enter the desired unit number for the drive. Very Impo rtant! - Send the Fi le to the Drive When all setup pa[...]

Chapter 6 - Hardware Refere nce 6-1 Chapter 6 - Hardware Refere nce Impulse Spec ifications Electric al Charac ter isti cs Power Requirements 120 V AC ±10% single phase, 50/60 Hz, 500 V A max @ 4 A Current Output Range 0.75 - 4.0 Amps Motor Inductance Range 2 - 80 mH Motor Reso lution 25,600 Steps/R ev internal. Pre-scaled for the range 200 - 100,[...]

Chapter 6 - Hardware Reference 6-2 Remote Mounting Your Keypad The keypad can eas ily be mounted an d sealed to NEMA 4 specification s by using the included mount ing gasket and 6-foot communicatio n cable. Wa r n i n g : Do not attac h the gasket to the keypad. Attach the gasket with the adh esive side toward the mounting enclosure. A pressure-s e[...]

Chapter 6 - Hardware Refere nce 6-3 Keypad Mounting *Template *CAU TION - this is scaled-down versi on of the keypad template. Use this drawing only for dimensions and locations of mounting holes. The actual templ ate is included with your keypad and may also be found at: http://www .idcmotion.com /su p port/index.html KEYP A D MOUN TING TEM PLA TE[...]

Chapter 6 - Hardware Reference 6-4 Impulse I/O Schematic s Digital Input s Digital Out put +5V 1K 1K 4.99K TO COMMON COM AM26LS32 IN1_BUF COM IN1/IN2 +5V Inputs 1, 2 Inputs 3, 4 external external Impulse inter nal Impulse int ernal +5V 1K CMPD914 4.02k COM IN3/IN4 COM LIMIT SWITCH external Impulse int ernal +ANA OUT 2.43K MMBT2222A L T1 COM TO P UL[...]

Chapter 6 - Hardware Refere nce 6-5 Step, Direction, and Shutdown Input s Fault Output 2.2 n 50V COM COM 237 4.9 9K 4.9 9K +5V 4.9 9K AM26LS 32 DIFFERENT IAL DRIVER STEP- DIR- SD- STEP+ DIR+ SD+ Single-Ended Installatio n Application Notes: 1. When wiring TTL signals to oth er manufact urer’s indexers, the Step TTL comm and signals from the contr[...]

Chapter 6 - Hardware Reference 6-6 Using IDC Posi tion Sensors as EOT Limit Switche s with the Impulse Four IDC position sensors m a y be used as EOT limit swit ches with the Impu lse. Co n nection information f or all four sen sors is p rovided below . +5V COM COM N.C. Reed Swit ch RPS-2 Onl y INPUT external Impulse internal external Impulse int e[...]

Chapter 6 - Hardware Refere nce 6-7 Optional Accessories for Y our Impulse Impulse I/O Access ories Accessory (P/N & Des cription) DB25BO Screw T erminal Breakout Boa rd See page nex t pa ge f or conn ectio n informati on. SS-IO SS-IO -6 25-pin D -Shell I/O cable t hat conne cts Impu lse to other d evices or PL C SS- IO i s 2 ft. SS-IO-6 is 6 f[...]

Chapter 6 - Hardware Reference 6-8 DB25BO Screw Terminal Breakout Board When conn ected to the Imp ulse, the DB 25BO terminals will matc h the pino uts of th e 25-pin connecto r as shown below . SS-IO/SS-IO- 6 Cables 25- pin Con nect or DB25BO on Impulse Drive DB25BO Screw T erminal Breakout Board IDC Cable P/N: SS-IO/SS-I O-6 Pin Impulse Sig nal W[...]

Chapter 6 - Hardware Refere nce 6-9 Impulse-Appl icable IDC Moto rs S12 Hy brid Step Motor Electr ical Spe cs. S12T Continuous Stall T orque oz-in [N-m] 35 [ 0.25] Recommended Current /Phase Amps 1.0 Winding Resistance @ Amb ient Ohms 5.52 Inductance mH 8.8 Max. Winding T emperature °F [°C] 212 [ 100] Mecha ni cal Spec s. S12T Rot or Inert ia o z[...]

Chapter 6 - Hardware Reference 6-10 S21, S2 2, S23 Hybrid Step Motor Specificat ions Elec tri cal Spec s. S21 T S21V S22T S22V S23T S23V Continuous Stall T orque oz-in [N-m] 65 [0. 46] 100 [0.71] 125 [0.88] Recommended C urrent/Phase Amps 1.05 2.1 1.5 3.0 1 .75 3.5 Winding Resistance @ A mbient Ohms 5.4 1.35 4.8 1.2 4.4 1.1 Inductance m H 18 4.5 18[...]

Chapter 6 - Hardware Refere nce 6-11 S32, S3 3 Hybrid St ep Motor S pecifications 1/ 2-14N PS ON A 3.875 B.C. 0.23/0.2 1 THR U ( 4 ) .001 A A .003 Electrica l Specs. S32T S33T Continuous Stall T orque oz -in [N-m] 300 [7.1] 400 [5.3] Recommended Current /Phase Amps 2. 8 3.5 Winding Resistance @ Ambient O hms 1.03 .96 Inductance mH 10 10 Max. Windin[...]

Chapter 6 - Hardware Reference 6-12 P21, 22 Hybrid Step Mo tor Specific ations 90 .02 1.11 2.22 EQ SP AS SH OW N 2.625 .02 ON A .010 BC AB 3X .02 2.22 1.11 .0 2 45 .205 4X .010 THRU A C .03 .02 .70 .81 BC ON A P22: 3 .090 MAX 1.812 A .010 C 30 CABLE X 144. 0 LONG MIN WITH FOIL SHIEL D A ND DRAIN 8X #24 A WG CONDUC TOR CE .75 .06 .20 .02 .02 2X 4-40[...]

Chapter 6 - Hardware Refere nce 6-13 P/K 31, 3 2, 33Step M otor Specif ications EQ and EM Encoder Cables Quick Disconnect Motor Cable Motor Dimensions Signal *P in Color Wi re Col or Si gn al Motor D K T X LM AX A+ B Red Red w/ B lack B - P31 . 5000 .1250 .555 (3.70) 4 .44 A- C Pin k/P urp l e Red w/ Whit e B+ P32 . 500 0 .1250 .555 (5. 22) 5 .96 B[...]

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Chapter 7 - Troubles hooting th e Impuls e 7-1 Chapter 7 - T roubleshooting the Impulse This chapter covers common faults , their possible causes and remedies. Also include in this chapter are Impulse Limits T ables for a variety o f operational parameter s, e.g. the Acceleration/ Deceleration/V elocity Limits T able. The Impulse drive detects and [...]

Chapte r 7 - Troubl eshoot ing Your Im pulse 7-2 The keypad is blank, but the backlight is on. You have an older keypad that r e- quires new firmware. The I mpulse requires a keypad w ith Version 3.00 firmware or higher. Call IDC for a free firmware upgrade to your ke ypad. The keypad is blank and the backlight is off. The keypad is not receiving a[...]

Chapter 7 - Troubles hooting th e Impuls e 7-3 Limits Tabl es V elocity Limits at ALL RESOLUTIONS are: Min = 0 .0000 2 RPS Max = 100 R PS Acceleration and Deceleration Limits are the following: 6 LED flashes (Over Te mperature Fault) I nter nal Fan or Heatsink Tunnel is clogged or r estricted (internal temp. has exceeded 68° C (154° F). Remove ob[...]

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Chapter 8 - Pro duct Suppo rt & Warranty Information 8-1 Chapter 8 - Product Support Factory Aut horized Dist ributors IDC has mo re than 45 factory-train ed and authorized automation techn ology distributors located througho ut North America, W estern Europe, and the Pacific Rim. Each has been selected f or their technical expertise, their loc[...]

Chapte r 8 - Product Support & Warranty I nformation 8-2 W arranty & Repairs Industrial Dev ices Corporation (IDC) warr ants this product to be fr ee of defects in mater ial and workmansh ip for a p eriod of two (2) year s from th e date of shi pment to the end us er . Products t hat have been i mproperly u sed or damage d, in the opi nion [...]

Appendix A - Rec ommende d Wiring Pra ctices A-1 Appendix A: Recommended Wiring Practices for IDC Controls When co nfiguring your Imp ulse pl ease follo w the w iring pr actices lis ted below : • Earth groun d your machine at one poin t using a s tar config uration (s hown at righ t). Multiple earth grounds can cause a gr ound loop (see Prev enti[...]

Appendix A - Reco mmended Wiring Prac tices A-2[...]

Appendix B - Impulse Ad vanced Programming B-1 Appendix B - Impulse Advanced Programming The purpo se of this section is to provide th e information necessary for the user to communicate with an Impulse driv e over a serial con nection without using IDC Applica tion Developer . Since the Impulse commun ications protocol is not ASCII character b ase[...]

Appendix B - Impuls e Advanc ed Progr amming B-2 Byte Receive Time Out Since there is no end o f transmission frame deliminator , the Impuls e assumes if no bytes are received for 60 ms, the transmission is comp lete. The receive time out is reset on every byte r eceived therefore, the host s ystem must insure that the latency between transmitted b[...]

Appendix B - Impulse Ad vanced Programming B-3 Write Requests The following example illustrates a write request of zero to parameter index #1 13 (Commanded Positi on) to un it #1. By tes are sh own in hex adecimal fo rmat. After sending the write request, the host system would need to wait for the drive to respond before sending a nother read query[...]

Appendix B - Impuls e Advanc ed Progr amming B-4 User Ac cessible Paramet ers Serial Jog Velocit y (RAM Only) Descriptio n : V e locity val ue for the s erial jog v elocity i n RPS. Parameter Pa rameter Description Default V alue SerJogV_H Serial Jog V elocity Upper Word 0 (0h) SerJogV_L Serial Jog V elocity Lower Word 0 (0h) Parameter Formula SerJ[...]

Appendix B - Impulse Ad vanced Programming B-5 Jog Acceler ation Rate Description: Determines the acce leration rate value in RPS 2 . Parameter Pa rameter Description Default V alue JogAcel_H Jog Acceleration R ate Upper Word 81 (51h) JogAcel_L J og Acceleration R ate Lower Word 60210 (EB32h) Parameter Formu la JogAcel_H JogAcel _H = INT [(AccelRPS[...]

Appendix B - Impuls e Advanc ed Progr amming B-6 Stored Mo ve Profiles # 1 - #7 for Ac celeration, Velocity, Dec eleration Description: Determin es M ove P rofiles # 1 thr ough # 7 (acc elerati on, velo city and d eceler ation) for the inter nal move engine as s electe d by the m ove s elect ion in puts or o ver RS2 32/485. Parameter Parameter Desc[...]

Appendix B - Impulse Ad vanced Programming B-7 Stored M ove Profile #1 - #7 for Move Type, Mov e Dist ance, De celerati on Dist ance Description: Determines Move Profi les #1 thr ough #7 ( move type, mov e accel eration and decelerati on dis tance s) for the intern al move e ngine as se lecte d by the m ove s elect ion in puts or over RS2 32/485. P[...]

Appendix B - Impuls e Advanc ed Progr amming B-8 Serial P ort Stored Move Selecti on (RAM Only) Description: Sele cts store d moves 1 -7. Parameter P aram eter De scri ption Default V alue SerMvSel Stored M ove Selec tion 0 (0h) Parameter Formu la SerMvSel Ser MvSel = St ored Move Number Index Par ame ter D esc ri ptio n 75 SerMvSel T r ans mis sio[...]

Appendix B - Impulse Ad vanced Programming B-9 Commanded Veloci ty (RAM O nly) Description: Determines the co mmande d veloc ity base d on the input s tep freq uency . Parameter Parameter Description Default V alue CmdV el Commanded V elocity N/A Parameter Formula CmdV el Veloci tyRP S CmdVel 0.0064 -----------------------   25600 -----[...]

Appendix B - Impuls e Advanc ed Progr amming B-10 Stored Driv e Faults ( Reserved EEPROM Parame ter) Description: Determin es the las t 8 driv e faul ts. Commanded Position Counter (RAM Only) Descriptio n : Determi nes th e accumu lated com manded positio n in mo tor steps . Parameter Parameter De scription Default V alue StoredFlt1 Store Faults # [...]

Appendix B - Impulse Ad vanced Programming B-11 EEPROM E nable Switch Description: Determines if param eter wri tes are u pdated to the E EPROM o r are on ly altered in RAM. If EEPROM is disa bled, all para meter ch anges are los t on powe r cyc le or sys tem re set. Parameter Parameter Description Defaul t V alue EE_Enable EEPROM Ena ble V alue 1 [...]

Appendix B - Impuls e Advanc ed Progr amming B-12 Syste m Status (RAM Only) Descriptio n : Determi nes the op erationa l stat us of the d rive. Parameter Para meter Description Default V alue SysStatus System Operational Status 0 (0000h) Index Parameter Description 1 16 SysS tatus T ransmission Frame Unit Addre ss 1 16 SysS tatus LSB SysStatus MSB [...]

Appendix B - Impulse Ad vanced Programming B-13 Unit Address Description: Sets the unit ad dress f or RS232 / RS485 commu nicat ions. Para met er Param ete r Des cri pti on Default V alue UnitAddr Unit Address Number 1 (1h) Map Index Parameter De scription 1 18 UnitAddr T r ans mis sion Fra me Unit Address 1 18 UnitAddr LSB UnitAddr MSB CkSum LSB C[...]

Appendix B - Impuls e Advanc ed Progr amming B-14 Software Shutdown (RAM Only) Descriptio n : Softw are overr ide of the shutdo wn inpu t. Parameter Parameter Description Defaul t V alue ShutDwn Shutdown Override 0 (0h) Index Parameter Description 1 19 ShutDwn T ra nsm is sion F rame Unit Address 1 19 ShutDwn LSB ShutDwn MSB CkSum LSB CkSum MSB For[...]

Appendix C - Using Non-IDC Motors with the Impulse C-1 Appendix C - Using Non-IDC Motors with the Impulse The Impulse driv e is an advanced microstepper that employs special digital control techniqu es to effect Op en Loop Stall Detect™, Mu lti-Stepping™, Dynamic Smo othing™, Extreme Smoothing™, and anti resonance control. Althou gh these f[...]

Appendix C - Usin g Non-IDC M otors wi th the Imp ulse C-2 Custom or User-Def ined Mo tors This section applies to users o f non-IDC m otors or th ose who wou ld like to modify an existi ng motor fil e. Note: All motor characteristics must be enter ed in the text input boxes before the Advan ced tunin g feature will be available. • Click on the A[...]

Appendix C - Using Non-IDC Motors with the Impulse C-3 cult, requir ing special test equi pment and fixtures . Contact your distri butor or IDC Appli ca- tions Engineerin g for assistance. Press Sa ve if you intend to use the Advanced Tuning feature building a custom motor file. Press OK if you want to save the file and return to the Project W izar[...]

Appendix C - Usin g Non-IDC M otors wi th the Imp ulse C-4 Anti -Resonan ce • Damping G ain 1 - Enter the reco mmended value. • Damping G ain 2 - If a valu e is present you may leave it as is or enter a value accor ding to the table: Note: B oth Damping G ains ( 1 and 2) mus t be conf igured. • Click OK and you will return to the Motor Editor[...]

Index I-1 Index A AC power requirements 3- 8 acceleration limits 17 accessories for the Impulse - I /O connection 6-7 address of unit 4- 24 anti-resonance - en abling 4-17 anti-resonance settings - keypad 5-17 Applicatio n Developer command se tup paramet ers 4-13 file loading o ptions 4-2 installation 4-1 mechanics setup parameters 4-12 motor setu[...]

Index I-2 motor wiring co lor codes 3-3 motors compatible with Impulse 6-9 mountin g brackets 3-12 Mult i-Ste ppi ng - k eypa d 5- 1 8 N nume ric prec isi on (A pp. D evel o pe r vs. keyp ad) 4 -14 O output s Brake 4-20 In Motion 4-20 Stall 4- 20 outputs - keypad 5 -21 P profiling 4-17 Project Wizard parameter s finishing the setup 4-9 I/O 4-7 mech[...]

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Industrial Devi ces Corpora tion 3925 C ypress Drive Petaluma, CA USA 9495 4 TEL: (800) 747-006 4 • F AX: (707) 789-01 75 • OUTSIDE THE U.S. CALL (707) 789-100 0 E-mail: info@idcmotion.com Web Site: ww w .idcmotion.com[...]