Magnavox W-10CR Guia de Instalação

SLO-SYN® MODEL MX2000PROGRAMMABLE MULTI-AXISMOTION CONTROLLER(with VERSION 4.0 SOFTWARE)INSTALLATIONANDOPERATIONMANUALPRICE: $50.00

viii Table of ContentsHost Commands – Alphabetical Listing CONTINUEDSECTION & TITLE PAGESTOP 204STOPERR 205UNIT 205VELOCITY 206WARNING 20

84 Programming CommandsDATA Miscellaneous CommandACTION: Stores the numeric constants used by th

Programming Commands 85#DEFINE Miscellaneous CommandACTION: Defines a symbolic nam

86 Programming CommandsDELTACAPPOS Miscellaneous CommandACTION: Returns the difference between the current captu

Programming Commands 87DIM Miscellaneous CommandACTION: Dec

88 Programming CommandsDIST Trajectory ParameterACTION: Returns the distance moved from the start of the la

Programming Commands 89DONE Motion ParameterACTION: Returns the motion status of th

90 Programming CommandsDRVREADY Motion ParameterACTION: Enables or disables the checking of

Programming Commands 91ENCBAND Motion ParameterACTION: Sets or return

92 Programming CommandsENCMODE Motion ParameterACTION: Sets or retu

Programming Commands 93END Miscellaneous CommandACTION: Signifies the end of a program.P

Table of Contents ixFollowing CONTINUEDSECTION & TITLE PAGEFOLOFFSET 240FOLOFFSETDIST 242FOLSYNCDIST 2438.1.11 Follower Exercise 2449 – S

94 Programming CommandsERR Miscellaneous CommandACTION: Returns the MX controller error/warning number fo

Programming Commands 95ERR continuedIf an error or warning occurs during program execution the fault LEDwill blink the error code. If the error code

96 Programming CommandsERRAXIS Miscellaneous CommandACTION: Returns the controller axis number whic

Programming Commands 97EVENT1 Motion ParameterACTION: Return

98 Programming CommandsEVENT2 Motion ParameterACTION: Returns the state of the trigge

Programming Commands 99EXIN I/O FunctionACTION: Return

100 Programming CommandsEXOUT I/O FunctionACTION: Sets

Programming Commands 101FEEDRATE Trajectory ParameterACTION: Sets

102 Programming CommandsFOLERR Motion Parameter ACTION: Set

Programming Commands 103FOLMAXRATIO Following ParameterACTION: Sets or returns the maximum allowable following axis

x Table of Contents SECTION & TITLE PAGE12 – Debug Environment 27912.1 – Setting Project Debugging 28012.2 – Task Debugging 28012.2.1 Deb

104 Programming CommandsFOLMOVEREG Following ParameterACTION: Request a Following axis move registration cycle.PROGR

Programming Commands 105FOLRATIO Following ParameterACTION: Sets t

106 Programming CommandsFOLSYNC Following ParameterACTION: Retur

Programming Commands 107FORMAT Miscellaneous CommandACTION: Enab

108 Programming CommandsFOR ... NEXT ... STEP Program Flow ControlACTION: Repeats a

Programming Commands 109GETCHAR I/O CommandACTION: Waits for a charac

110 Programming CommandsGOTO Program Flow ControlACTION: B

Programming Commands 111HARDLIMIT Over Travel LimitACTION: Enables or D

112 Programming CommandsHARDLIMNEG Over Travel LimitACTION: Returns the -

Programming Commands 113HVAL String ManipulationACTION: Returns t

Table of Contents xiList of IllustrationsIllustration or Chart Section PagePC receiver Baud Rate Chart 3 10General Applicatio

114 Programming CommandsIF...THEN...ELSE IF... Program Flow CommandELSE...END IFACTION: Allows conditional e

Programming Commands 115IN I/O FunctionACTION: Returns the state’s of the specified digital I/O inputs.PROG

116 Programming Commands#INCLUDE Miscellaneous CommandACTION: Includes a file name with define s

Programming Commands 117INSTR String ManipulationACTION: Retu

118 Programming CommandsJOG Motion ParameterACTION: R

Programming Commands 119JOYSTICK Motion ParameterACTION: Enables

120 Programming CommandsKAFF Servo ParameterACTION: Sets

Programming Commands 121KVFF Servo ParameterACTION: Sets

122 Programming CommandsLINE Motion ParameterACTION: I

Programming Commands 123LOF Miscellaneous CommandACTION:

xii Table of ContentsIllustration or Chart Section PageMX2 & MX6 Power Supply BoardMX2 & MX6 panel 5 44AC input Descr

124 Programming CommandsMAXSPD Trajectory ParameterACTION: Se

Programming Commands 125MOD Mathematics FunctionACTION:

126 Programming CommandsMOVE Motion ParameterACTION: Initi

Programming Commands 127MOVEHOME Motion ParameterACTION: Runs the motor

128 Programming CommandsMOVEHOME continuedEXAMPLES: MOVEHOME(3)=1 ‘Axis 3 executes a home cycle in the positive di

Programming Commands 129MOVEREG Motion ParameterACTION: Runs the

130 Programming CommandsMOVEREG ContinuedEXAMPLE: A label is to be put down on top of the material passing by. A sen

Programming Commands 131NOT Boolean OperatorACTION: Th

132 Programming CommandsNVRBIT Miscellaneous CommandACTION: St

Programming Commands 133NVRBYTE Miscellaneous CommandACTION: Stores or returns the byte value

Table of Contents xiiiSoftware Reference Guide ContinuedIllustration or Chart Section PageANALOG input chart 7 82AND operator

134 Programming CommandsOR Boolean OperatorACTION: Th

Programming Commands 135OUT I/O FunctionACTION: Sets or

136 Programming CommandsOUTLIMIT Servo ParameterACTION: Sets or returns the servo command voltage

Programming Commands 137PATH ...PATH CLOSE ... PATH END Motion ParameterACTION: Specifies a continuous motio

138 Programming CommandsPOINT Motion ParameterACTION: Specif

Programming Commands 139POSMODE Motion ParameterACTION: Sets or

140 Programming CommandsPRINT String ManipulatingACTION: Transmits designated data via th

Programming Commands 141PRINT USING String ManipulationACTION: Prints

142 Programming CommandsPRINT USING continuedThe following special characters are used to format the numeric field:+ The sign of the number will a

Programming Commands 143PRINT USING continuedThe following example illustrates how the format string is proc-essed.Example:PRINT USING#1,"Numbers

xiv Table of ContentsIllustration or Chart Section PageData Logging EnvironmentData Logging entry screen 11 280Para

144 Programming CommandsPROFILE Trajectory ParameterACTION: Det

Programming Commands 145RADIUS Motion ParameterACTION: Sets

146 Programming CommandsREDUCE Motion ParameterACTION: Enabl

Programming Commands 147REM or ‘ Miscellaneous CommandACTION: Allows source code

148 Programming CommandsRIGHT$ String ManipulationACTION: Ret

Programming Commands 149SHIFT Miscellaneous CommandACTION: Shifts th

150 Programming CommandsSOFTLIMIT Over Travel LimitACTION: Enables/

Programming Commands 151SOFTLIMNEG Over Travel LimitACTION: Programmable software limit switch for motion in

152 Programming CommandsSOFTLIMPOS Over Travel LimitACTION: Programmable software limit switch for motion in

Programming Commands 153SPEED Trajectory ParameterACTION:

Cautions & Warnings 1Section 1ImportantSafety Information

154 Programming CommandsSQRT Mathematics FunctionACTION:

Programming Commands 155STR$ String ManipulationACTION: R

156 Programming CommandsTIMER Time FunctionACTION: Sets or read the Timer value in seconds.PROGRAM SY

Programming Commands 157TOLERANCE Miscellaneous CommandACTION: Sets a t

158 Programming CommandsVAL String ManipulationACTION: R

Programming Commands 159WAITDONE Motion ParameterACTION: Waits for moti

160 Programming CommandsWARNING Miscellaneous CommandACTION: Retur

Programming Commands 1617.5 Host Commands Grouped By FunctionsI/O Function Page ANALOG Sets or returns a numeric value

162 Programming CommandsMotion Parameter continued PageENCFOL Sets or returns the maximum position error allowed durin

Programming Commands 1637.6 Host Command Summary (alphabetical list)Page “<n” This command activates/deac

2 Cautions & Warnings1.1 – Cautions and WarningsBefore installing and operating your MX2000 motioncontrol product, it is extremely important both

164 Programming CommandsPageEVENT2 Returns the state of the trigger input labeled EVNT2 or sets the triggerpolarity an

Programming Commands 165P PagePOSERR Returns the positional error of the designated axis. 199POSMODE

166 Programming Commands7.7 Host Commands - Alphabetical Listing" <n " Miscellaneou

Programming Commands 167ABSPOS Trajectory Parameter ACTION:

168 Programming CommandsANALOG I/O Function ACTION: Sets or

Programming Commands 169AXSTAT Miscellaneous CommandACTION: Returns the Axis Drive type, Units/Rev, Dri

170 Programming CommandsBUSY Motion Parameter ACTION:

Programming Commands 171CAPTURE Miscellaneous Command ACTION:

172 Programming CommandsDECEL Trajectory Parameter ACTION:

Programming Commands 173DIR Miscellaneous Command ACTION:

Introduction 3Section 2Introduction

174 Programming CommandsENCBAND Motion ParameterACTION: Sets or returns the ma

Programming Commands 175ENCFOL Motion ParameterACTION: Sets or retur

176 Programming CommandsENCPOS Trajectory ParameterACTION: Ret

Programming Commands 177ERASE Miscellaneous Command ACTION:

178 Programming CommandsERRAXIS Miscellaneous CommandACTION: Returns the controller a

Programming Commands 179ERRM Miscellaneous CommandACTION:

180 Programming Commands"ESC" Miscellaneous Commands ACTION:

Programming Commands 181EVENT2 Motion ParameterACTION: Retu

182 Programming CommandsEXOUT I/O FunctionACTION: Sets

Programming Commands 183FOLERR Motion Parameter ACTION: Sets or

ENGINEERING CHANGESWarner Electric reserves the right to make engineering refinements on all its products. Suchrefinements may affect information giv

4 Introduction2.1 - How To Use This ManualCongratulations on the purchase of your new WarnerElectric MX2000 motion control product! Your program-

184 Programming CommandsFREEMEM Miscellaneous Command ACTION:

Programming Commands 185IN I/O FunctionACTION:

186 Programming CommandsJOG Motion ParameterACTION: R

Programming Commands 187KD Servo ParameterACTION: Set

188 Programming CommandsKP Servo ParameterACTION: S

Programming Commands 189LINE Motion ParameterACTION: Init

190 Programming CommandsMAXSPD Trajectory ParameterACTION: Se

Programming Commands 191MOVEHOME Motion ParameterACTION: Runs the motor until the home input is activated, capt

192 Programming CommandsNVRBIT Miscellaneous CommandACTION: Store or return the bit

Programming Commands 193OUTLIMIT Servo ParameterACTION: Sets or

Quick Start Installation Guide 5Section 3Quick StartInstallation Guide

194 Programming CommandsPOSMODE Motion ParameterACTION: Sets o

Programming Commands 195REGLIMIT Over Travel LimitACTION: Sets or returns the distance to be moved dur

196 Programming CommandsRUN Miscellaneous Command ACTION:

Programming Commands 197SOFTLIMNEG Over Travel LimitACTION: Programmable "software limit switch" fo

198 Programming CommandsSPEED Trajectory ParameterACTION:

Programming Commands 199STOPERR Motion ParameterACTION: Sets or returns

200 Programming CommandsVELOCITY Trajectory Parameter ACTION: S

Programming Commands 201WNDGS Motion ParameterACTION: Enab

202 Programming CommandsThis page left intentionally blank

Following for MX2000 version 4.0 203Section 8Following

6 Setup & Installation3.1 – Switch and Jumper SettingsBefore mounting and installing the MX controller, it isbest to set the switches and

204 Following for MX2000 version 4.08.1 - Following DescriptionThe controller has the ability to position follow numerousaxes from a single master dev

Following for MX2000 version 4.0 205can be used in conjunction with this variable as well.This expression specifies the velocity of the mastersource i

206 Following for MX2000 version 4.08.1.4 - Basic Following StatesThe basic following states for all motion commandsconsist of a wait for trigger stat

Following for MX2000 version 4.0 207Command Syntax:FOLDCCDIST(axis) = expFOLDCCDIST = exp, … , expFOLDCCDIST(axis, … , axis) = exp, … , expaxis specif

208 Following for MX2000 version 4.0Command Syntax:FOLOFFSETDIST(axis) = expFOLOFFSETDIST = exp, … , expFOLOFFSETDIST(axis,…, axis)=exp, … , expaxis s

Following for MX2000 version 4.0 2098.1.6 - Following program TemplateThe following template can be used as a guidelinefor writing a follower program.

210 Following for MX2000 version 4.08.1.8 - Cut to length ExampleThe cutting cycle requires that the material andcutter be in synchronization when the

Following for MX2000 version 4.0 2118.1.8.1 - Cut to Length Program Example#DEFINE MASTER 1 ‘master axis number#DEFINE FOLLOWER 2 ‘follower axis

212 Following for MX2000 version 4.08.1.9 - Rotating Knife ExamplesA knife located on the follower axis is synchronizedwith the material controlled by

Following for MX2000 version 4.0 213Advance Advance AdvanceRecede Recede RecedeMasterVelocity100%200% FOLMAXRATIOFOLMINRATIO0%Program StartProgram End

Setup & Installation 7The digital I/O board inputs and outputs can either besinking or sourcing. Two jumpers on the card controls theselection, lo

214 Following for MX2000 version 4.0Example 1: Material is cut in .7 units lengths and the knife cutting area is 72° (.2 units).FOLRATIO 1FOLSYNCDIST

Following for MX2000 version 4.0 2158.1.9.2 - Rotating Knife Program Example 1 (advance cycle)#DEFINE MASTER 1 ‘master axis number#DEFINE FOLLOWER 2 ‘

216 Following for MX2000 version 4.08.1.9.3 - Rotating Knife Program Example 2 (recede cycle)#DEFINE MASTER 1 ‘master axis number#DEFINE FOLLOWER 2 ‘f

Following for MX2000 version 4.0 2178.1.10 - Gear Box Following ExampleThis type of application only requires a ratio between 2 axes that must be sync

218 Following for MX2000 version 4.08.1.11 – Following Command ListingACTSPD Trajectory ParameterACTION: Ret

Following for MX2000 version 4.0 219FOLINPUT Following ParameterACTION: This command specifies the follower axe

220 Following for MX2000 version 4.0FOLTRIG Following ParameterACTION: Defines the follower starting trigger

Following for MX2000 version 4.0 221FOLSTARTDIST Following ParameterACTION: Specifies a master distance that is used as a delay distance forstarting

222 Following for MX2000 version 4.0FOLACCDIST Following ParameterACTION: Specifies the master distance travel

Following for MX2000 version 4.0 223FOLDCCDIST Following ParameterACTION: Specifies the master distance traveled for the follower to attain avelocity

8 Setup & Installationdefault). When finished click the Done button. Nowmake the motor move by clicking the Move Re-sponse button. The

224 Following for MX2000 version 4.0FOLRATIO Following ParameterACTION: Sets the ratio of the following axis

Following for MX2000 version 4.0 225FOLRATIOINC Following ParameterACTION: Specifies the acceleration rate f

226 Following for MX2000 version 4.0 FOLJOG Following MotionACTION: Requests a Following axis jog cycle.PROGR

Following for MX2000 version 4.0 227FOLMOVE Following MotionACTION: Request a Following axis move.PROGRAM SYN

228 Following for MX2000 version 4.0FOLMOVEREG Following MotionACTION: Request a Following axis move registr

Following for MX2000 version 4.0 229STOP Motion ParameterACTION: Stops any motion with a control stop.PROGRAM SY

230 Following for MX2000 version 4.0MOTIONSTATE Trajectory ParameterACTION: Returns the motion state for an

Following for MX2000 version 4.0 231MOTIONSTATE continuedMotion state 0 (Done) No following motion is taking place or being commanded.Motion state

232 Following for MX2000 version 4.0FOLMAXRATIO Following ParameterACTION: Sets or returns the maximum allow

Following for MX2000 version 4.0 233FOLMINRATIO Following ParameterACTION: Sets or returns the minimum allow

Setup & Installation 93.3 - InstallationIt is important to select a mounting location for you con-troller that will meet the environmental specifi

234 Following for MX2000 version 4.0FOLOFFSET Following ParameterACTION: Defines a following incremental off

Following for MX2000 version 4.0 235FOLOFFSET continuedEXAMPLES: FOLOFFSET(1,3)=1,-1advance axis 1 one unit and re

236 Following for MX2000 version 4.0FOLOFFSETDIST Following ParameterACTION: Sets or returns the master dist

Following for MX2000 version 4.0 237FOLSYNCDIST Following ParameterACTION: Specifies the master distance to travel when a FOLOFFSETcommand is issued.

238 Following for MX2000 version 4.08.1.11 - Follower Exercise1) Fill in the Motion states and Following Commands on the following sheet. Put the Fol

Following for MX2000 version 4.0 239 Following Commandsa) FOLACCDISTb) FOLDCCDISTc) FOLJOGd) FOLMAXRATIOe) FOLMINRATIOf) FOLOFFSETg) FOLOFF

240 Following for MX2000 version 4.0Program answer:‘********************* Follower will follow the Master axis speed at 100% ************************

Following for MX2000 version 4.0 241 Following CommandsA) FOLACCDISTB) FOLDCCDISTC) FOLJOGD) FOLMAXRATIOE) FOLMINRATIOF) FOLOFFSETG) FOLOFF

242 Following for MX2000 version 4.0This page left intentionally blank

Servo Drive 243Section 9Servo Drive

10 Setup & Installation(This page intentionally left blank)

244 Servo Drive9.1 - Servo ControlA servo is a closed loop system. The loop is closed bytaking a measurement of the actual output (usually a po-sition

Servo Drive 2459.1.1.2 - Encoder FolderThis folder defines the Servo Encoder direction and En-coder resolution.Encoder type must be set to quadrature.

246 Servo DriveVelocity feed forwardThis term is multiplied by the commanded velocity tocontribute to the output torque command. It has noeffect on ge

Servo Drive 247Step 1: MeasureServo axis selects the servo axis.Output – volts selects the stimulus voltage for meas-uring system gain. The default is

248 Servo DriveStep 1: MeasureThe system gain is a measure of the overall responsive-ness of the system. Higher inertia and/or lower torqueyields lowe

Servo Drive 249Step 4A: Response Fine TuningIntegrate During MotionThis feature allows you to select whether the integrationgain is used during the pr

250 Servo Drive9.1.1.6 - Manual Tuning AdjustmentMost applications work acceptably using the results of theauto tuning procedure. However, if the resu

Servo Drive 251Ki:Integral gain. The reciprocal (1/Ki) of this term ismultiplied by the sum of the position error over time.The effect of Ki is thus t

252 Servo Drive11) Continue lowering Kp until the overshoot is close toacceptable.12) Now we can try to reduce the error during the mo-tion.13) Set

Servo Drive 253Apply voltageMeasuresystem gain!! Motor may turn !!Execute moveusing updatedcontroller gainsSHUTDOWNUpdate controllerwith calculatedser

Overview 11SECTION 4OVERVIEW OF SYSTEM OPERATION

254 Servo DriveApply voltageMeasuresystem gain!! Motor may turn !!Execute moveusing updatedcontroller gainsSHUTDOWNUpdate controllerwith calculatedser

Servo Drive 2559.1.2 Excessive Duty Cycle ShutdownAs the servo system responds to shaft displacementdue to move commands or reaction torque’s, theserv

256 Servo Drive9.2 – Servo Drive Command ListingFOLERR Motion ParameterACTION: Sets or returns the maximum pos

Servo Drive 257INTLIM Servo ParameterACTION: Sets the Integral limit for the servo output. This is the limit

258 Servo DriveIXT Servo ParameterACTION:Sets or returns the Excessive Duty Cycle Shutdown time in seconds.PROGRAM SYNTAX:IXT(axis) = expressionIXT(ax

Servo Drive 259KAFF Servo ParameterACTION: Sets or returns the acceleration feed forward gain for a servo axi

260 Servo DriveKI Servo ParameterACTION: Sets or returns the integral gain of a servo axis.PROGRAM SYNTAX:KI

Servo Drive 261KP Servo ParameterACTION: Sets or returns the proportional gain of the servo axis.PROGRAM SYN

262 Servo DriveKVFF Servo ParameterACTION: Sets or returns the velocity feed forward gain for the servo axis

Servo Drive 263STOPERR Motion ParameterACTION: Sets or returns the maximum position error allowed when motio

12 Overview4.1 – Features and FunctionsThe controller is based on the Texas InstrumentsTMS320C31 32 bit, 33MHZ Digital Signal Processor(DSP). It can c

264 Servo DriveWNDGS Motion ParameterACTION: Enables or disable a servo drive.PROGRAM SYNTAX:WNDGS(axis)=expressionWN

Stepper Drive 265Section 10Stepper Drive

266 Stepper Drive10.1 – Stepper FeaturesThe MX2000 provides some additional stepper drivecontrols features.• Allows a starting speed for the stepper t

Stepper Drive 26710.3 – Closed Loop Stepper FolderThis folder sets the Steps per motor revolution,Starting speed, Motor standstill current, Motorboost

268 Stepper Drive10.5 - Special Programming Notes for Closed-Loop Stepper OperationThe parameters for closed loop are set in the projectconfiguration

Stepper Drive 26910.6 - Stepper Command ListingBOOST Stepper ParameterACTION: Enables or disables the Boost

270 Stepper DriveENCMODE Closed Loop Stepper ParameterACTION: Sets or returns the operating mode of a closed loop stepper axis.PROGRAM SYNTAX:ENCMODE(

Stepper Drive 271FOLERR Closed Loop Stepper ParameterACTION: Sets or returns the maximum position error allo

272 Stepper DriveREDUCE Stepper ParameterACTION: Enables, disables the Reduce current or returns the enable

Stepper Drive 273STOPERR Closed Loop Stepper ParameterACTION: Sets or returns the maximum position error allow

Overview 134.2 - General Overview The Programmable Motion Controller is a powerful, DSP-based machine controller that is capable of far more thansimp

274 Stepper DriveWNDGS Stepper ParameterACTION: Enables or disables a stepper motor drive, winding current c

Data Logging for Mx2000 revision 275Section 11Data Logging

276 Data Logging for Mx2000 revision 4.011.1 - Data LoggingThe controller has the capability to perform datalogging of eight items when the sel

Data Logging for Mx2000 revision 277Command Velocity is the commanded velocity ofthe axis. This waveform is in units/sec.11.1.2 - Data TransferAfter t

278 Data Logging for MX2000 version 4.0This page left intentionally blank

Debug Environment 279Section 12DEBUGEnvironment

280 Debug Environment12.1 - Setting Project DebuggingTo set the debug mode click on the Compile menuand then on the Debug mode item. The project mustb

Debug Environment 28112.2.1 - Debug program executionA program can be executed in different ways fromthe Debug Environment. Single line executio

282 Debug EnvironmentThis page left intensionally blank

Application Examples 283Section 13Application Examples

Table of Contents iTable of ContentsSECTION & TITLE PAGE1 – Important Safety Information 11.1 – Cautions and Warnings 22 – Introducti

14 Overview4.3 - Use of the Serial Ports, "HOST" and "AUXILIARY"The controller has two serial ports, which are identified a

284 Application Examples13.1 – Using a Joystick to teach an Arbitrary shape program13.1.1 - MX2000 Joystick connectionA joystick is easily interfaced

Application Examples 28513.1.2 - Example DescriptionThe example program allows an arbitrary shape to betaught, printed or executed. Four inputs on the

286 Application Examples************************* EXAMPLE PROGRAM ********************************‘***** This example program allows a two axis arbitr

Application Examples 287prt_program:PRINT#2,”#DEFINE AX1 1”PRINT#2,”#DEFINE AX2 2”PRINT#2,PRINT#2,”POSMODE(AX1,AX2) = 1,1”PRINT#2,”MOVEHOM

288 Application Examples‘****** debounce Register Inputdebounce_E1_2:cnt = DCNT ‘debounce delay in msecDOIF EVENT1(AX2) = state THENRETURN ‘return if

Application Examples 289teach:JOYSTICK(AX1,AX2) ‘ enable 2 axis joystickNVR(1)=0 ‘ default starting positionNVR(2)=0 ‘ default starting positionNVR(3)

290 Application Examples13.2 - Arbitrary Continuous MotionThis program illustrates the simplicity of using an arbi-trary continuous motion path in any

Application Examples 29113.2.1 – EXAMPLE PROGRAMPOSMODE =1,1 'enable absolute modeDO : LOOP UNTIL IN(101)=1 'loop until input 101 is highMOV

292 Application Examples13.3 - Changing Velocity during motionThis program illustrates changing velocity of an axisduring a path motion and the veloci

Application Examples 29313.4 -Glue application on a GasketThis program generates a complex continuous motionpath for applying glue on a gasket.An ope

Overview 15Figure 4.1, General Application Overview

294 Application Examples‘********* Main Program ***************************************BEGIN:DODO : LOOP WHILE EXIN(111)=0 'wait for cycle start

Application Examples 29513.5 - Spring Winding MachineIn this application two motors must be moved simultane-ously to wind a spring. An expansion I/O

296 Application Examples13.5.1 – Example Program‘******************** PARAMETER SETUP ****************************WIND=145 'number of steps to wi

Troubleshooting Guide 297SECTION 14TROUBLESHOOTING GUIDE

298 TroubleshootingHigh voltages are present inside theunit. Always disconnect the powerbefore performing any work on theunit. An electrical shock ha

Glossary 299SECTION 15GLOSSARY

300 GlossaryABSOLUTE MODE - Motion mode in which all motormovements are specified in reference to an electricalhome position.ABSOLUTE POSITION - A da

Glossary 301DEVICE ADDRESS - A unique number used to assignwhich Motion Controller in a multi-drive stepper systemis to respond to commands sent by a

302 GlossaryNESTING - The ability of an active subroutine to callanother subroutine. The Motion Controller can nest upto 16 levels.NONVOLATILE MEMORY

Glossary 303ASCII TableASCIICharDecCodeASCIICharDecCodeASCIICharDecCodeASCIICharDecCodeNull 0 Space 32 @ 64 ` 96SOH 1 ! 33 A 65 a 97STX 2A34 B 66 b 98

16 OverviewThis page left intentionally blank

304 GlossaryThis page left intentionally blank

WARRANTY AND LIMITATION OF LIABILITYSuperior Electric (the "Company"), Bristol, Connecticut, warrants to the first end user purchaser (the &

Distribution Coast-To-Coast and InternationalSuperior SLO-SYN products are available worldwide through anextensive authorized distributor network. Th

Specifications 17Section 5SpecificationsAndEquivalent Circuits

18 Specifications5.1 – Mechanical SpecificationMX2000-2Size: 5.34” X 10.63” X 7.48”135.6 mm X 270 mm X 190 mmWeight: 8.25 lbs 3.75 KgMX2000-6Size: 9.3

Specifications 19A list of the part numbers for the discrete part of the system has been provided for your convenience.Dual-Axis Interface board 22242

20 Specifications5.5 -Dual Axis Interface CardThis card contains the interfaces necessary to connect 2motor drives to the MX2000 controller. A stepper

Specifications 215.5.3 –Encoder ConnectorsThe Encoder connector provides a means to interface anencoder or pulse and direction input to the controller

22 Specifications5.5.4 – Axis I/O ConnectorsThe Axis I/O connectors provides a means of interfacing4 dedicated digital signals and an analog input for

Specifications 235.5.5 – Stepper Drive ConnectorsThe stepper drive connector provides a means of con-necting the controller to a stepper drive. There

ii Table of ContentsSECTION & TITLE PAGE5.6 – 32 bit DSP Controller Card 305.6.1 Auxiliary Serial Port 305.6.2 Host Serial Port 315.6.3

24 Specifications5.5.6 – Analog Drive ConnectorThe Analog drive connector provides a means of con-necting a servo drive to the controller. There are t

Specifications 255.5.7 – Dual Axis Interface Card Sink/Source Select Jumpers Board

26 Specifications5.6 – 32 bit DSP Controller CardThis card contains the interfaces to serially communicatewith a host port and auxiliary port, and con

Specifications 275.6.2 – Host Serial PortThis serial port is used to program the unit or communi-cate with the host device. There are two serial inter

28 SpecificationsDaisy Chaining MX2000 Controllers120HOSTCONTROLLERRS485120TX+TX+TX+TX+TX+TX-TX-TX- TX- TX-RX+RX+RX+ RX+ RX+RX-RX-RX- RX- RX-GNDGNDGND

Specifications 295.6.3 – DSP Card InputsThere are four optically isolated inputs to the DSP card.These inputs can either be sinking or sourcing and th

30 Specifications4852329.619.238.4HOSTBAUDRATE8012456793UNIT IDGNDRX+RX-TX+TX-SHLDHOST RS485GNDRX+RX-TX+TX-SHLDAUXILIARYFAULT SLO-SYN

Specifications 315.7 – Expansion I/O BoardThe Expansion I/O-BCD board has been designed tointerface to BCD switches and/or to an OPTO 22 mod-ule rack.

32 SpecificationsPIN 1 I/O EXPANSION 25 - 48 PIN 1 I/O EXPANSION 1 - 24 BCD INTERFACE 1 - 4 BCD INTERFACE 5 - 8I/O EXPA

Specifications 33OPTO-22Manufacturer Part NumberCrydom PB-24Gordos PB-24Grayhill 7ORCK24, 7OMRCQ24 seriesPotter & Brumfield ZIO24, ZIOM24 seriesOP

Table of Contents iiiSECTION & TITLE PAGE6.3.7 Configuration & Setup Folders 596.3.7.1 Controller type Folder 596.3.7.2 System Folde

34 Specifications

Specifications 35I/O Expansion BoardPins Description Specification41,43,45,47BCD 4 or BCD 8 strobesEXIN/EXOUT B03/27 to B00/24Input: On state 0 to +1.

36 Specifications5.8 – Digital I/O BoardThe Digital I/O-BCD board has been designed to inter-face to switches and/or relays. There are 24 opticallyiso

Specifications 375.8.2 – Output ConnectorThis connector has 16 optically isolated outputs that canbe configured for current sinking or sourcing. The s

38 Specifications5.8.3 – Internal Power SupplyThis connector has 4 terminals for +24V @ .75 amps and4 terminals for COM. These terminals are used as s

Specifications 39 UserLabel SLO-SYN 2000 Dual Axis InterfaceBABUSYSLO-SYN 2000Digital I/OCOM24V24VCOM24

40 Specifications5.9 – MX2 and MX6 Power Supply BoardThis board contains the AC input terminals and interface for 24 non-isolated bi-directionalI/O. T

Specifications 415.10 – MX2A and MX6A Power Supply BoardThis board contains the AC input terminals, interface for 16 optically isolated input and 8 op

42 Specifications5.11 – MX8 Power Supply BoardThis board contains the AC input terminals with no I/O connections. The inputvoltage range is 90 to 132

Specifications 435.12 – MX2 Outline0.379.357.48189.889.84250.03OVER CONNECTORS10.63269.880.93[23.74]0.219[5.56] TYP3.250[82.55]5.14[130.58]0.50[12.70]

iv Table of ContentsAlphabetical List of Programming Commands with Syntax and Examples CONTINUEDSECTION & TITLE PAGEATN2 85BCD 86BOOST

44 Specifications5.13 – MX6 Outline5.14 – MX8 Outline0.379.357.48189.889.84250.03OVER CONNECTORS10.63269.887.54[191.6]AUXILIARY SLO-SY

Specifications 455.15 – MX & SERVO AMPLIFIER CONNECTION DIAGRAM

46 SpecificationsThis page left intentionally blank

Motion Controller Programming Interface 47SECTION 6Motion ControllerProgramming Interface

48 Motion Controller Programming Interface6.1 - Programming6.1.1 - General Description of ProgrammingThis section provides an overview to the process

Motion Controller Programming Interface 49ble Read-Only Memory), or a BBRAM (Battery BackedRAM). The electrical codes stored in this type of memorya

50 Motion Controller Programming Interface6.2.1 – Multi-Tasking timingThe Tasks are switched by the interrupt routine every 256micro-seconds. The numb

Motion Controller Programming Interface 51Note 3: The Terminal Emulation Mode should be set toTTY on the Configure Com Port screen.Selecting the Termi

52 Motion Controller Programming InterfaceItems and Actions for the Edit menu are listed be-low.Edit MenuOn the menu above:Undo (Ctrl+Z) undoes the la

Motion Controller Programming Interface 536.3.5.2 - Editor Tool BoxThe Editor Tool Box can be used to modify the text on the Editor Screen. The Font,

Table of Contents vAlphabetical List of Programming Commands with Syntax and Examples CONTINUEDSECTION & TITLE PAGEGOSUB … RETURN 115GOTO

54 Motion Controller Programming Interfacenal settings item. Click on the Fonts and colors item. Se-lect the desired Font, Style, Font size, Backgroun

Motion Controller Programming Interface 556.3.7.3 – Profile FolderThis folder selects the motion profile, maximum accelera-tion rate, maximum speed an

56 Motion Controller Programming Interface6.3.7.9 - Travel Limit FolderThe hardware limits and software limits are controlled fromthis folder.Hardware

Motion Controller Programming Interface 576.3.8.2 – Compiling a ProjectWhether the project is new, or changes have been made tothe task or configurati

58 Motion Controller Programming InterfaceAdd task is used to add a file to a current project. Up toseven tasks may be added to one project.Configurat

Programming Commands 59Section 7.0Software ReferenceGuide

60 Programming Commands7.1 SEBASIC ConventionsA basic-like language conforms to most of the rules andconventions of modern implementations of the BAS

Programming Commands 617.1.6 Program LimitsWhen writing an MX program please observe the follow-ing maximum values; otherwise the project will not com

62 Programming Commandsstants any expression regardless of complexity can beused.The following are all valid expression lists:5.3 no comma, s

Programming Commands 637.2 Programming Commands Grouped By FunctionsBitwise Operator Page& Returns the bitwise AND

vi Table of ContentsAlphabetical List of Programming Commands with Syntax and Examples CONTINUEDSECTION & TITLE PAGEREDUCE 152REGLIMIT 152

64 Programming CommandsMathematical Function PageABS Returns the absolute value of an expression. 79ATN

Programming Commands 65Motion Parameter continued PageENCBAND Sets or returns the maximum position error allowed when moti

66 Programming CommandsServo Parameter PageINTLIM Sets the integral limit for a servo axis. 123IXT Sets or returns th

Programming Commands 677.3 Programming Command Summary (alphabetical list)Page& Returns the bitwise AND o

68 Programming CommandsPageEENCBAND Sets or returns the maximum position error allowed when motion isstopped. Same as STOP

Programming Commands 69PageGGETCHAR Waits for a character on the selected serial port and returns the ASCIIcode of the cha

70 Programming CommandsPageMMAXSPD Sets or returns the maximum allowed speed of an axis. 130MID$

Programming Commands 71PageSSETCOM Sets the baud rate and data format for the Auxiliary serial port. 154SHIFT

72 Programming Commands7.4 Alphabetical List of Programming Commands with Syntax and Examples&

Programming Commands 73>> Bitwise OperatorACTION: Returns the bitwise shift right of the argument.PR

Table of Contents viiHost Commands – Alphabetical Listing CONTINUEDSECTION & TITLE PAGEENCERR 180ENCFOL 181ENCMODE 181ENCPOS 182ENCRES 18

74 Programming CommandsABSPOS Trajectory ParameterACTION: Sets or returns the commande

Programming Commands 75ACCEL Trajectory ParameterACTION: Sets or r

76 Programming CommandsANALOG I/O FunctionACTION:

Programming Commands 77AND Boolean OperatorACTION: The logical AND operator is used in Boolean

78 Programming CommandsARC Motion ParameterACTION: Initiates a coordinated motion to move in an arc.PR

Programming Commands 79ASC String ManipulationACTION: Returns the ASCII code for the first charact

80 Programming CommandsBCD I/O FunctionACTION:

Programming Commands 81CAPPOS Miscellaneous CommandACTION: Returns the last captured absolute position of an

82 Programming CommandsCAPTURE Miscellaneous CommandACTION: Sets the position capture trigger condition o

Programming Commands 83CHR$ String ManipulationACTION: