NSC-G SERIES MOTION CONTROLLER

Transcription

1 NSC-G SERIES MOTION CONTROLLER NSC-G Series Overview The NSC-G Series controller incorporate a 32-bit microcomputer and provide such advanced features as PID compensation with velocity and acceleration feedforward, program memory with multitasking for simultaneously running up to eight programs, and uncommitted I/O for synchronizing motion with external events. Modes of motion include point-topoint positioning, position tracking, jogging, linear and circular interpolation, contouring, electronic gearing and ECAM. The controller is configurable to run up to four stepper motors or servo motors. These controllers use a simple, intuitive command language which makes them easy to program. The controller has RS-232 and Ethernet communication ports. Communication drivers are available for Windows,.NET, Mac OSX, and Linux

2 NSC-G Series Specifications System Processor Communications Interface Motorola 32-bit microcomputer Ethernet 10BASE-T, RS kbuad, Commands are sent in ASCII. A binary communication mode is also available as a standard feature. Modes of Motion Point-to-point, Position Tracking, Jogging, 2D Linear and Circular Interpolation, Linear Interpolation, Helical, Contouring Memory Program memory size lines x 80 characters, 510 variables, 8000 array elements in up to 30 arrays Filter Kinematic Ranges PID (proportional-integral-derivative) with velocity and acceleration feedforward Position: 32 bit (±2.15 billion counts per move), Velocity: Up to 12 million counts/sec for servo motors, Acceleration: Up to 67 million counts Digital I/O Dedicated Inputs (per axis) 4 inputs, 4 TTL outputs Encoder inputs - Channel A, A-, B, B-, I, I- (12 MHz Max) Forward and reverse limit inputs, Home input Minimum Servo Loop Update Time 1-2 axes: 250 µsec, 3-4 axes: 375 µsec Operating Temperature 0 C to 50 C Humidity: 20-95% RH, non-condensing Stepper Motor Driver Supply Voltage: 24 VDC Up to 3 Amps output current, Up to 256 microsteps, 2 MHz maximum step rate Servo Amplifier Supply Voltage: 48 VDC Brush/Brushless trans-conductance PWM, 7 Amps Continuous, 10 Amps Peak, 60 khz Switching Frequency, 0.5 mh Minimum Load Inductance, 120 Commutation angle Power Input Universal VAC, Hz

3 NSC-G Series Instruction Set Ethernet HS IA IH IK MB MW SA Handle switch Set IP address Open IP handle Ethernet port blocking Modbus Modbus wait Send command Servo Motor AF AG* AU* AW* DV FA FV IL KD KI KP NB NF NZ OF PL SH TK TL TM Analog feedback Set AMP gain Set current loop gain Report AMP bandwidth Dual velocity Acceleration feedforward Velocity feedforward Integrator limit Derivative constant Integrator constant Proportional constant Notch bandwidth Notch frequency Notch zero Offset Pole Servo here Peak torque Continuous torque limit Sample time Stepper Motor AG KS LC QS YA YB YC YR YS Set SDM gain Stepper motor smoothing Low current Error magnitude Step drive resolution Step motor resolution Encoder resolution Error correction Stepper position maintenance Internal Sine Commutation BA BB BC BD BI BM BO BS BZ I/O AL AQ CB CO II OB OC OP SB Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Brushless zero For use with SDM * For use with AMP Arm latch Analog configuration Clear bit Configure I/O points Input interrupt Define output bit Output compare function Output port Set bit @OUT[x] Value of analog input x State of digital input x State of digital output x System Configuration AE BN BP BR* BV CC CE CF CI CN CW DE DP DR EO IT LO LZ MO MT PF QD RS ˆRˆS VF Amplifier error Burn parameters Burn program Brush motor enable Burn variables and arrays Configure communications port Configure encoder type Configure unsolicited messages handles Configure communication interrupt Configure switches Data adjustment bit Define dual encoder position Define position Data record update rate Echo Independent smoothing Lockout handle Leading zeros format Motor off Motor type Position format Download array Reset Master reset Variable format Interrogation LA LL LS LV MG QH* QR QU QZ RL RP ˆRˆV SC TA* Absolute value of x Arc cosine of x Arc sine of x Arc tangent of x 1 s complement of x Cosine of x Fraction portion of x Integer portion of x Round of x Sine of x Square root of x Tangent List arrays List labels List program List variables Message command Query hall state Data record Upload array Return data record info Report latch Report command position Firmware revision information Stop code Tell AMP status Interrogation (cont.) TB TC TD TE TH TI TP TR TS TT TV TZ WH Tell status Tell error code Tell dual encoder Tell error Tell handle Tell input Tell position Trace program Tell switches Tell torque Tell velocity Tell I/O configuration Which handle Programming BK Breakpoint DA Deallocate variables/arrays DL Download program DM Dimension arrays ED Edit program ELSE Conditional statement ENDIF End of cond. statement EN End program HX Halt execution IF If statement IN Input variable JP Jump JS Jump to subroutine NO No-operation for comments RA Record array RC Record interval RD Record data RE Return from error routine REM Remark program RI Return from interrupt routine SL Single step UL Upload program XQ Execute program ZS Zero stack Comment Error Control BL ER FL OE TW Trippoint AD AI AM AP AR AS AT AV MC MF Backward software limit Error limit Forward software limit Off-on-error function Timeout for in-position After distance After input After motion profiler After absolute position After relative distance At speed After time After vector distance Motion complete After motion forward Independent Motion Commands MR WC WT AB AC BG DC FE FI HM IP IT JG PA PR PT SP ST After motion reverse Wait for contour data Wait for time Abort motion Acceleration Begin motion Deceleration Find edge Find index Home Increment position Smoothing time constant Jog mode Position absolute Position relative Position tracking Speed Stop Contour Mode CD CM DT WC Contour data Contour mode Contour time interval Wait for contour data ECAM/Gearing EA EB EC EG EM EP EQ ET EW GA GD GM _GP GR ECAM master Enable ECAM ECAM table index ECAM go ECAM modulus ECAM interval Disengage ECAM ECAM table entry ECAM widen Master axis for gearing Engagement distance for gearing Gantry mode Correction for gearing Gear ratio for gearing Vector/Linear Interpolation CA CR CS ES LE LI LM ST TN VA VD VE VM VP VR VS VT Define vector plane Circular interpolation move Clear motion sequence Elliptical scaling Linear interpolation end Linear interpolation segment Linear interpolation mode Stop motion Tangent Vector acceleration Vector deceleration Vector sequence end Coordinated motion mode Vector position Vector speed ratio Vector speed Smoothing time constant vector

4 NSC-G Series Dimensions

5 NSC-G Series Motor - Signals Pin Assignment Stepper Motor Version Motor Connector DB-9 Female Description 1. Phase A 2. Phase A 3. Phase B 4. Phase B Signals Connector DB-9 Male Description 1. Forward Limit 2. Reverse Limit 3. Ground 4. Home Input VDC Output Signals Connector (Encoder Version) HD-15 Male Description 1. Forward Limit 2. Reverse Limit 3. Limit Ground 4. Encoder Ground 5. +5V Encoder Power 6. Ch. A 7. Ch. A- 8. Ch. B 9. Ch. B- 10. Index Index Home Input Servo Motor Version Motor Connector DB-9 Female Description 1. Phase A 2. Phase B 3. Phase C Signals Connector HD-15 Male Description 1. Ch. A- 2. Ch. A 3. Ch. B+ 4. Ch. B- 5. Index + 6. Index - 7. Hall A 8. Hall B 9. Hall C 10. Ground VDC Output 12. Home Input 13. Reverse Limit 14. Forward Limit

6 NSC-G Series Digital I/O - RS-232 Pin Assignment Digital I/O Connector DB-9 Male Description 1. Ground 2. Input 1 3. Input 2 4. Input 3 5. Input 4 6. Output 1 7. Output 2 8. Output 3 9. Output 4 RS-232 Connector DB-9 Female Description 1. Carrier Detect 2. RxD 3. TxD 4. Data Terminal Ready 5. Ground 6. Data Set Ready 7. Request to Send 8. Clear to Send 9. Ring Indicator

7 Ordering Information Part Number Configuration: NSC-GX-X-X Servo Version: Leave blank for stepper motor version S for servo motor version Encoder Option: Leave blank for no encoder input, E for encoder inputs (Stepper Motor Only) Number of Axis: 1-4 Example Part Number: NSC-G2-E This is a NSC-G Series controller with 2 axes of motion and encoder feedback for stepper motors.