Guide to Eason 2000 Family & Compumotor ibe Smart Motors
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1 Guide to Eason 2000 Family & Compumotor ibe Smart Motors Rev 1.0 P/N: This document contains: 1. Eason WinBuild 2000 application development methodology. 2. Quick explanation of hardware & software setup. 3. How to send/receive commands & data between Eason and the Compumotor ibe Smart Motors.
2 Suggested Application Development Process: 1. Construct a simple Eason WinBuild 2000 program that allows you to read/write to the smart motor. (Or start with the demo program in c:\program files\winbuild2000v4\samples\motion\.) 2. Download the program into the Eason, and verify communications to Compumotor ibe. 3. Tune your system using the Compumotor ibe development software, and create your motor control program. 4. Now expand your initial simple Eason 2000 program- use the Eason to set up the variables you wish to display/monitor/modify. 5. Create the rest of your HMI application with WinBuild Use the initial program as a base, and add your HMI and control tasks. The Eason 2000 Family product is an excellent HMI product- let the Eason handle the data storage, operator input, calculations, decision making, and communications in your application. Optimal usage of both components will create an efficient, elegant solution. Hardware Setup: Cabling Communication to the Compumotor ibe Smart Motor is accomplished using the RS232 cable supplied with the ibe Motor. Either port on the Eason 2000 Family product is capable of handling RS232 communication. To Amp RS232 Cable
3 Software Setup Communications to the Compumotor ibe requires a port on the Eason to be initialized with the proper configuration. In your Winbuild 2000 application select PROJECT SETUP DRIVERS. Click on External Serial: Compumotor ibe, and then OK. Once the driver is added, click on the driver listing, and click Properties. The driver properties sheet will then come up. Configure the driver so that it will correspond with your Compumotor ibe motor setup. Note in particular the unit ID, the serial port, and the baud rate you are using.
4 The array Tags are arrays within the smart motor you an assign an Eason variable to access. Just give them a name and then you can access those arrays in your program via the given name. To create your own tags to access other variables in the smart motor, go to the Tag Table and add your own variables. Click SETUP TAGS. Here you will see Eason Tag names, sourced to the Compumotor ibe motor. The ADDRESS column is where you specify the variable name in the smart motor you want to access. The Eason TagName is how you will refer to the tag in your Eason project. (The two can be the same for simplicity, however you can give the Eason tag name something more descriptive like Velocity rathern than just v.
5 To view variables on the screen, just create a data entry/display box and associate it with the particular tag you want to view. For example, to display variable aa. The Eason will now take care of reading the variable from the motor, and displaying it on screen when needed. If you make the data box an ENTRY box, and the user enters a new value, the Eason will then write that value back down to the motor. You can refer to any of your Compumotor ibe tags within BASIC code as well, and the driver will take care of reading/writing to the variables as needed. For example: If TEMP>500 THEN aa=238 ENDIF This code will take a look at the variable TEMP, and if it is over 500 it will take the variable aa and set it to 238. The variable aa is actually a Computmotor ibe variable, and the Eason will recognize this and send the command down to the motor. You can create tags for Position (PR) or Velocity (V). Just set up tags like they are below: Now you can put a data display box on screen, and have Position updated on screen regularly. Or, have the user enter a new maximum velocity, and send that back down the motor.
6 Sending/Receiving Commands If you run into a situation where the driver won t read/write a specific tag for you, you can always send serial commands to the Compumotor manually with the COM pseudocodes. Sending serial commands to the Compumotor ibe smart motor is simple. Just use the PUT COM pseudocodes to send out the ASCII commands. This pseudocode can be used anywhere in your program: In a button, function key, background task, or a subroutine. For example, to send out a STOP (S) command to the smart motor on a button: Click & drop a button onto the screen of your program. Double-click on the button to edit its properties, and go to Pseudocodes Click the On Press, and the code editor window will open. Below there will be a list of available pseudocodes. Select the COM: PUT COM port VALUE expression pseudocode, and then click ADD. Use the pull-down menu to select which port you would like the command to go out of, and then select the option to send out TEXT- and in the dialog box enter the text command you want to send to the ibe motor. In this case, S
7 Click OK when you are done. The BASIC code will now appear in the editor box. If you click OK to finish editing this code, you can exit back to the program. Now if you compiled & downloaded this program into your Eason unit, and then pushed the button you just created, the command S <CR> would go out the communication port. (The letter S followed by a carriage return.) To retrieve information back from the ibe smart motor, you will need to send out a command, and receive the response. To send out a command, and receive a response back from the smart motor, use the other pseudocodes that send a message out the port, and receive a response back: like COM: PUT COM 1 VALUE expression RESPONSE tag. For example, to send out a request for position. (PR) This will send out the text PR <CR> and then read the numeric response into a tag called POSITION. (You will have enter the tag POSITION into the tag table before it is available in the pull down menu here.) Now the tag POSITION can be used anywhere in your program- for calculations, scaling, decisions, or just placement on the screen. This code is handy to put WHILE OPEN on a screen to continuously request position from the motor, or into a background TASK that will poll continuously. To send a variable down to the motor- for instance to change velocity (V): Use the PUT COM port VALUE expression VALUE expression pseudocode. This allows you to send a mixture of text/variables. For instance, if you have the operator enter in a value called NewSpeed, then on enter of that data entry box, add the pseudocode to send the value to the motor:
8 This will end up sending out V=xxxxx. (Where xxxx is the current value of whatever the operator just entered for NewSpeed.
9 EASON and Compumotor ibe MULTIDROP Connecting Use the Compumotor ibe multidrop cable that came with your system. Connect the 9-pin d-shell connector to an available COM port on the back of the Eason unit. In our examples here we used COM1. It also helps to have the smart motors previously setup using the iware interface software, uniquely addressed, enabled, and all setup to communicate via multidrop. Configuring Drivers In Winbuild 2000, click to SETUP PROJECT DRIVERS. Click ADD and select the Compumotor ibe driver. Add multiple instances of the driver, onto the same communication port. Then set each unit with a unique ID. Set echo mode on
10 Setup Tags Under the SETUP TAGS menu click ADD to add a new tag. When setting up tags to read from your motors, just add them into the tag table, and select the SOURCE to each particular motor. In the address column, use the command to perform whatever read/write you wish to use. No need to add a P to the address column command, the driver will do this for you. For instance, to read position PP just add create a tag: To read other variables from the smart motor, just type the variable name in the ADDRESS column. (To specify the data type, use a period then abbreviation of data type) In this example, we ve added a user variable named user, and put it into the tag table. Now whenever the programmer wants to display is Compumotor IBE variable user on the screen of the Eason, he can just click and put a display box up, and source it to the Eason variable uservariable and the Eason will take care of doing the reads/writes. This variable will also automatically be available in BASIC code just by referring to it by name. The Compumotor ibe driver variables and commands are pretty open-ended, thus we did not place many restrictions on the tag names or types. The user is left to ensure the variable names and tags are entered correctly. Sending Commands To send a command to a particular motor, the motor address needs to be pre-pended to the command. This is where the Eason s BASIC scripting comes in handy. Just create an OUTPUT$ string variable to assemble the transmission first, and then use a PUT COM code to send it out the port. To create the motor address, add a value of 128 to the decimal address. For instance to send a G command to motor number 1: OUTPUT$=CHR$(129)+"G"
11 Or to send a stop command to ALL motors, use address zero: OUTPUT$=CHR$(128)+"K" To send a request and read a value back from a particular motor- create your OUTPUT$ command string, send it out the port, and receive response back with the PUT COM/RESPONSE code. OUTPUT$=CHR$(130)+"PW" RESPONSE STATUS2 In the above example, the command request status word PW was sent to motor number two. Then, the response was read back into a tag called STATUS2. This next example taken from the Compumotor ibe documentation initializes all the motors on your daisy chain, address them sequentially, and then reinitialize the drivers. (This example uses two motors, for more add to the sequence.) This code might be handy at the beginning of your Eason boot-up sequence, or on a separate button in a maintenance screen where the user can set up the motors. OUTPUT$=CHR$(128)+"SADDR1" OUTPUT$=CHR$(129)+"ECHO" OUTPUT$=CHR$(129)+"SLEEP" OUTPUT$=CHR$(128)+"SADDR2" OUTPUT$=CHR$(130)+"ECHO" OUTPUT$=CHR$(130)+"SLEEP" OUTPUT$=CHR$(128)+"WAKE" SET DRIVER "Compumotor ibe [1] on 1 (0)" 2 SET DRIVER "Compumotor ibe [2] on 1 (1)" 2
12 Troubleshooting If you cant communicate: 1. Use Compumotor ibe software to establish communication to motor to verify port is working. 2. Use Hyperterminal to examine the outgoing strings from the Eason to ensure that they are of proper format.
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