INSTRUCTION MANUAL SERIES

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1 INSTRUCTION MANUAL SERIES 1300 ( single board ) Appendix E complement for interactive software Rue du Puits-Godet 16 CH-2005 NEUCHATEL SA Phone:++41 (0) Fax: ++41 (0) Mail : info@irtsa.com

2 Servo-amplifier series 1300 Appendix E

3 E. DRIVE PARAMETERS Pages : E.1 Serial link E.1.1 Technical data E.1.2 Dialog protocol E.1.3 Dialog example E.2 Getting around the user program E.3 Parameters description E.3.1 Motor parameters E.3.2 Installation parameters E.3.4 Rewriting protection of parameters.. 9 E.3.5 Status parameters (read only) E.4 Commands description. 11 Servo-amplifier series 1300 Pg 1 Appendix E

4 E.1 SERIAL LINK - The serial link is used to set an interactive dialog with the CNC. - This dialog allows to change the parameters and to send the necessary commands to the positioning. E.1.1 Technical data Bd (or depending on solder bridge BD), FULL DUPLEX. - 1 bit START, 8 bits information, no parity, 1 bit STOP. - Possibility to block the transmission with the CTS signal with RS232. The RS485 option doesn't allow it. - Connector DSUB 9 poles, male. PIN-OUT OF CONNECTOR CO600 RS 232 RS RX (I) 2 RXD - (I) 1 3 TX (O) 3 TXD - (O) 6 4 RTS (O) 5 GND 5 GND 7 TXD + (O) 9 8 CTS (I) 8 RXD + (I) 5 (I) = input (O) = output Servo-amplifier series 1300 Pg 2 Appendix E

5 E.1.2 Dialog protocol This protocol is used to exchange the datas between the CNC and one axis (RS232, min 3 wires) or several axes (max. 15, RS485, 5 wires in parallel). All axes are in listening the orders of the CNC, while the answers are given only by the concerned axis. Excepted the answers asked by the CNC, the axis transmitters are in tri-state (RS485). Orders format <STX><ADDRESS><COMMAND><PARAM1><PARAM2><PARAMn><ETX><BCC> Explanations : <STX> <ADDRESS> <COMMAND> <PARAM1> <PARAM2..n> <ETX> <BCC> Start of text. Reset the RX buffer and the BCC Axis address. The address is given in ASCII (address +48) Command to execute. Address parameter or command complement. For the address, address value +48 Optional parameters. If datas, 4 digits hexadecimal value, 2's complement ($8000<0000<$7FFF) End of text Block check 8 bits XOR of <STX>..<ETX> Servo-amplifier series 1300 Pg 3 Appendix E

6 Answers format <STX><ADDRESS><COMMAND><PARAM1><PARAM2><PARAMn><ETX><BCC> or <ACK>, or <NAK> The answers are different depending on command received : Command : NoAxis Write Address DATAs Answer : ACK if order was understood and executed NAK if BCC wrong and NoAxis OK Exception : NoAxes = 0 (Ascii 48) --> no answer. Command : NoAxis Read Address Answer : NoAxis Read Address DATAs NAK if BCC wrong and NoAxis OK No answer if BCC wrong and NoAxis wrong Exception : NoAxis = 0 (Ascii 48) --> no answer. Exception To increase the speed of the STATUS refresh, it is possible to obtain a quick one byte status with an one byte order. CNC order : NoAxis +32 (=> Ascii ) Answer byte : quick STATUS (Ascii ) E.1.3 Dialog example CNC Read parameter No 11, axis 2 {02}{50}{82}{59}{03}{90} Write 127 in the parameter 28, axis 13 {02}{61}{87}{76}{48}{48}{55}{70}{03}{86} Save the parameters of axis No 2 in EEPROM {02}{50}{83}{84}{03}{52} Servo-amplifier answer with parameter No 11 = 27, axis 2 {02}{50}{82}{59}{48}{48}{49}{66}{03}{41} ACK {06} ACK {06} Servo-amplifier series 1300 Pg 4 Appendix E

7 E.2. GETTING AROUND THE USER PROGRAM - The specific program 1300I.EXE developped by IRT and installed on the PC makes it easy to set the drive parameters and to monitor the servo-amplifier status. The page displayed is changed by pressing the <TAB > key. - SELECT PARAMETERS : The up/down arrow keys < > and < > are used to select the desired parameter on each page. The selected parameter appears in reverse video. - CHANGE VALUES : The plus key < + > and terminus key < - > change the value of the selected parameter displayed in reverse video keys allows to input an absolute decimal value - SAVE SETTINGS : - The < F2 > key saves all EE-parameter in non-volatile EEPROM memory. - EXIT PROGRAM : Press < ESC > to exit the program. - NEW RELEASE For more informations on new release please read the file README. The uptodate version is listed on the next page Servo-amplifier series 1300 Pg 5 Appendix E

8 Contents of the README file : How to use 1300I.EXE, V2X ========================= How to use 1300I.EXE, V2X ========================= 1300I [/COMx] /MSGIN=MYTEXT.EXT<ENTER> /COMx : x = 1..4 to choose the serial channel of the PC This is an optional parameter. Default is COM1. /MSGOUT : create a text file MSGOUT.TXT with all program messages, but the program does not start. /MSGIN=FILE.EXT : replace all program messages with the content of FILE.EXT. FILE.EXT must have the same format as MSGOUT.TXT. This is an optional parameter. Default is the internal english text. Current features <ESC> quit the program Password authorizes to change the protected parameters + or - increment or decrement 1 unit 0..9 value direct input F1 H E L P (2 pages) F2 if OFFLINE transfer the parameters to the servoamp. if ONLINE save configuration in EEPROM F3 Load configuration from file F4 Scan for active servoamp. F5/ALT-F5 : Motor OFF/ ON F6 Save configuration in file (only in OFFLINE mode) F7 toggle STATUS ON/OFF F8 toggle ON/OFFLINE F9 toggle POSITIONNING page ON/OFF SHIFT-F1..F10,CTRL-F1..F5 Axis select ALT-F1 Toggle parameter protection (only if PASSWORD ok) ALT-F6 Reset software alarms ALT-F7 Reset hardware ALT-F10 Send special order (Ex: 1SP000000:set axis 1 abs.24 bits position to 0) IRT/PAU Servo-amplifier series 1300 Pg 6 Appendix E

9 E.3 PARAMETERS DESCRIPTION The 80 parameters of the servo-amplifier are devided as follows : : Motor parameters : Installation parameters : Internal parameters ( for tests,...) : Rewriting protection of parameters : STATUS parameters, read only. Notes : - The following parameters list is available from version 2.00 of the firmware. - The following abreviations are used : EE = stored in EEPROM S : activ after store E.3.1 Motor parameters ( Firmware version 2.00 ) Param No Definition Unity Limits Note 0 Speed proportional gain Pmax*n/ EE 1 Speed integral gain Imax*n/ EE 2 Maximum speed rpm EE 3 I max limitation Imax*n/ EE 4 I nominal limitation Imax*n/ EE 5 Pair of motorpoles 1..6 EE 6 Phase advance 6000rpm EE 7 Resolver shift angle Elect. degrees EE 8 Thermostat motor closed /open 0..1 EE,S 9 Speed offset Automatic offset control off/on 0..1 EE Servo-amplifier series 1300 Pg 7 Appendix E

10 E.3.2 Installation parameters Param No Definition Limits Note 11 Endswitches normally open/closed 0..3 EE,S 0 : endswitches normally open 1 : endswitch 1 normally closed 2 : endswitch 2 normally closed 3 : endswitches 1 and 2 normally closed 12 direction stop OFF,-,+, EE,S Bit 0 : negative direction stop 1 : positive direction stop 13 Relay contact Alarm, Enable 0..1 EE 0 : relay on if no alarm 1 : relay on if enable 14 Display normal, inverted 0,1 EE,S 1 : display 180 degrees rotated 15 Interface: 0= RS485, address of selector EE,S = RS232, no = address 16 = RS232 address of selector 17..= RS485, address 1 16 High speed low resolution / low speed high resolution 0, 1 EE,S. for encoder simulation 0: 6000 max 512 inc/r 1: 3500 max 1024 inc/r 17 Encoder resolution in ppr EE,S 18 Zeroimpuls Width 0= 1/4, 1= 1/2, 2= 1 inc EE,S 19 Zeroimpuls Shift -180º to +180º EE,S 20 Enable hard/flank/serial 0,1,2 EE,S 0 : Hardware enable 1 : Hardware enable dynamic After power on or a hardware reset, the enable should be disabled and reactivated. 2: Enable by serial link. The hardware enable should be on. 21 Software watchdog 1ms EE 0 : Watchdog disable. The software watchdog supervises the serial link. If no valid telegram is received in the interval time defined by this parameter, the alarm 9 is activated. The software watchdog is only active in enable mode by the serial link and when enabled. Servo-amplifier series 1300 Pg 8 Appendix E

11 Param No Definition Limits Note 22 Latch of alarms 2 and EE,S Bit 0 : I2t is considered as an alarm and is latched. Bit 1 : The alarms on- and under-voltage are latched. 23 Optional Speed Modul 0..3 EE Standard : modul 0 max rpm Optional : modul rpm modul rpm modul rpm 24 Optional digital speed command off/on 0..1 EE E.3.4 Rewriting protection of parameters - To modify the parameters , introduce the passeword "MOTOR" in the user program or write the equivalent into parameters ( $4D4F, $544F, $5220 or in decimal 19791, 21583, ). The following 4 parameters are a "BITMAP" of all the preceding parameters, it means that each bit of the following parameters represents a parameter to write protect. When the bit is at 1, the corresponding parameter can be read but not modified. Param No Definition Limits Note 60 Write protect parameter EE Bit 0 : protection param No 0 1 : protection param No 1 15 : protection param No Write protect parameters EE Bit 0 : protection param No 16, etc 62 Write protect parameters EE 63 Write protect parameters EE Servo-amplifier series 1300 Pg 9 Appendix E

12 E.3.5 STATUS Parameters (read only) Param No Definition 64 Status : Status of internal signals. Bit 0 8 resolver fault 1 9 RDC fault 2 no motor link 10 I2t reached 3 OPTION input 11 enable input 4 Speed command + 12 thermostat motor 5 Speed command - 13 thermostat heatsink 6 endswitch endswitch 2 15 power fault 65 Status 2 : working status Bit 0 Alarm active 1 Enable active 2 Coordinates ok Alarms : status of internal alarms Display Display Bit 0 earth default D 8 resolver fault 6 1 EEPROM fault E 9 RDC fault 5 2 no motor link C 10 I2t alarm thermostat motor 3 5 Software watchdog 9 13 thermostat heatsink power fault Instantaneous speed rpm.. 74 Servo-amplifier max. current A RMS EE 75 Servo-amplifier max. nominal current A RMS EE 76 Manufacturing week EE 77 Manufacturing year EE 78 Hardware version EE 79 Software version Servo-amplifier series 1300 Pg 10 Appendix

13 E.4 COMMANDS DESCRIPTION Symbol Command ASCII Parameter READ parameter R address WRITE parameter W address + parameter (4 digits) Torque Enable TE Torque Disable TD Clear Software alarms CS Clear Hardware alarms CH Store in EEPROM ST Not implemented in the version 2.01 : Read 24 bits position P Set 24 bits position SP position (6 digits) ( Set Position ) ==> coordinates ok Servo-amplifier series 1300 Pg 11 Appendix

14 Special binary commands These one-byte commands allow one bit answer, to accelerate the detection of certains events. Command Byte Quick status Axis address + 32 Answer : 8 bits quick status Bit 0 Alarm active 1 Enable active 2 Coordinates ok End of appendix E. Servo-amplifier series 1300 Pg 12 Appendix

Communication. Outline of Communication. Merits

Communication. Outline of Communication. Merits Communication Outline of Communication You can connect up to MINAS-A series with your computer or NC via serial communication based on RS and RS, and can execute the following functions. () Change over