M CLOSED LOOP STEPPING SYSTEM. PCIF Software. For Windows SPBAIW-01. Instruction Manual

Transcription

1 M CLOSED LOOP STEPPING SYSTEM PCIF Software For Windows SPBAIW-01 Instruction Manual ENGLISH

2 *Windows 98, Windows 2000, and Windows XP are registered trademarks of Microsoft Corporation (USA). Disclaimers (1) Reproduction or transfer of this software or manual, in whole or in part, is strictly prohibited without written permission. (2) The information in this manual is subject to change without notice due to product upgrades, additions to operating procedures, and other reasons. Any changes will be incorporated in future revisions of this manual. (3) If you notice any unclear points, errors, or omissions in the information presented in this manual, please contact your nearest dealer or the Sanyo Denki headquarters listed on the back cover. (4) Before using, please read the amplifier instruction manual to ensure that operation is performed correctly. (5) This software was prepared and distributed for the purpose of assisting system startup. Sanyo Denki shall not be liable for any problems or damage that occurs in the course of using this software. Before reading this manual The PC interface software supports the amplifiers listed below. The functions, display, and other features may vary depending on the amplifier model. In this manual, the amplifier interface specifications use the following conventions. : RS Parallel I/O interface : Pulse input interface *The PB3D003M200 interface is an amplifier that is selectable based on the switch settings. Related documentation This manual is for the PC interface software provided for data editing and operation checking of the PB system. For details on amplifier functions, please refer to the respective amplifier manuals. PB1D00*R10*: PB3A003R200: PB3A003P200: PB3A003P201: PB3A003P202: PB3D003M20*: M M M M M M

3 Contents 1. Setup 1.1 Introduction Operating Environment Installation Preparation for Communication Startup Functions 2.1 Usage Notes Numerical Values Positive/Negative Signs Display Unit Selection Motor Selection Common Functions Quick Reference Function Description File Functions PBPCIFSetting.ini Input/Output Function Setting File Data File Operation 3. 1 Direct Mode Tabs Operation Procedure Direct Input Box Operation Procedure Point Function Function Overview Point Assignment and Execution Procedure Teaching Function PRG Function Basic Functions PRG Assignment and Execution Procedure PRG Application Examples Input/Output Signals, ALM History, and Amplifier Status Monitor File Operation Waveform Monitor Test Operation 4. 1 Test Operation Using PCIF Type R (PB3D003M200 Type R/PB3A003R200) PB3D003M200 Type P PB3A003P20* 47 Appendix 1 Switch Settings Appendix PB3D003M200 Appendix PB3D003R200 Appendix PB3A003P20* Appendix-3 2 Software Switches and Input/Output Function Commands Appendix PB3D003M200 TypeR Appendix PB3D003M200 TypeP Appendix PB3A003R200 Appendix PB3A003P201/202 Appendix PB3A003P200 Appendix-14

4 1.Setup 1.1 Introduction The SPBA1W software is provided for supporting data editing and operation checking of the single-axis specifications model no. PB system. This manual describes the installation and operation procedures. Note 1. Be sure to first read the amplifier instruction manual before using this software. 2. Before using this control software, be sure to first install a circuit breaker for the power supply to ensure safety before testing. 3. Be sure to exit all applications before using this control software. 4. This software was prepared and distributed for the purpose of assisting system startup. Sanyo Denki shall not be liable for any problems or damage that occurs in the course of using this software. 1.2 Operating Environment Software: Personal computer running Windows98/2000/NT/XP. Hardware: 3MB or more disk space 1.3 Installation Copy all of the files below to the same folder. File Name Description NewPIF.EXE This is an executable file. For non-japanese versions of Windows, English is automatically displayed. NewPIF.ENU This is the resource file required for displaying English. PBPCIFSetting.ini This file is used for selecting the PCIF software display function and setting the monitor interval and other parameters. Normally, these settings do not need to be changed. H16_PB3*.ini This is a data setting file for assigning the input/output functions for each amplifier model number. The amplifier default value is set initially. PB1D00*R10* and PB3A003P20* do not have a setting file. 11

5 1.Setup 1.4 Preparation for Communication Amplifier Communication Specifications Before performing communication, use Table 1 to make the settings and check the amplifier-side node address, transmission speed, and communication specifications. For details, see the respective amplifier instruction manual or the Appendix in this manual. Table 1 Amplifier Model No. Communication Specification Communication Type Communication Speed (bps) Node Address Terminal Resistance PB1D00*R10* RS line half duplex DSW selection Set at ROSW1 Set by DSW1, 2 PB3A003R200 RS line full duplex DSW selection Set at ROSW1 Set by DSW1, 2 PB3A003P20* RS-232C 2-line full duplex 9600 Fixed at 0 No setting needed PB3D003M20* RS line half duplex Selected by command 9600 Set by ROSW1 Fixed at 0 Set by DSW2 DSW2 On Communication Converter To perform communication, a dedicated communication converter unit and communication cable are required. Obtain these beforehand by referring to Table 2. Also, be sure to check the switch settings on the converter before using the amplifier. Table 2. Converter Model and Settings Amplifier Converter Model No. Model No. PB1D00*R10* PBFM-U2 PB3A003R200 PBFM-U5 PB3A003P20* PBC5C0010A (cable only) PB3D003M20* PBFM-U5 PBFM-U2 RS-232C/RS-485 converter: PBFM-P1 1 unit Communication cablepbc2t0005a (50cm) 1 cable PBFM-U5 RS-232C/RS-485 converter: CFP unit Communication cablepbc4t0005a (50cm) 1 cable *The customer must obtain the cable for connecting the PC and converter. Cable specifications: RS-232C straight cable (D-Sub 9-pin, female connector on converter insertion side) 12

6 1.Setup PBFM-P1 Basic Specifications (Settings are not needed on the converter unit.) Applicable amplifier PB1D00*R10* Power supply Supplied from amplifier (5 VDC, 0.1 A) Ambient Operation/Storage 0 to +40 C / 0 to +70 C temperature Ambient humidity Operation Storage 20 to 90% RH (no condensation) 10 to 90% RH (no condensation) Communication specifications RS-232C/RS-485 conversion 2-line half-duplex Insulation Non-insulated CFP01-01 Basic Specifications Applicable amplifier PB3A003*20*, PB3D003M200 Power supply Supplied from amplifier (5 VDC, 0.1 A) Ambient Operation/Storage 0 to +40 C / 0 to +70 C temperature Ambient humidity Operation Storage 20 to 90% RH (no condensation) 10 to 90% RH (no condensation) Communication specifications RS-232C/RS-485 conversion 2-line half-duplex, 4-line full duplex (changed by switch settings) Insulation Photocoupler insulation CFP01-01 Switch Settings DIP Switch Settings Initial setting: SW2=On Others=OFF Switch No. Function On OFF Setting PB3D003M200 PB3A003R200 1 Communication type 4-line full duplex 2-line half duplex OFF ON setting 2 Terminal resistance Terminal included No terminal ON ON setting 3 Echo back selection Echo back on Echo back off OFF OFF 4 CN1-17 pin voltage +5V output Open OFF OFF 5 CN1-18 pin voltage +5V output Open OFF OFF 6 CN1-19 pin voltage GND Open OFF *1 OFF 7 CN1-20 pin voltage GND Open OFF *2 OFF 8 No function assignment *1 To set to Teaching mode in PB3D003M200 Type R, set SW6 to On. *2 To release the brake when set to Teaching Mode and SOFF in PB3D003M200 Type R, set SW7 to On. Rotary Switch Settings Setting prohibited Initial setting: 8 Switch Communication Speed/Parity Switch Communication Speed/Parity setting Setting bps/No parity bps/Parity bps/No parity bps/Parity bps/No parity A 38400bps/Parity bps/No parity B 57600bps/Parity bps/No parity C bps/Parity bps/No parity D bps/Parity bps/No parity E bps/Parity bps/No parity F bps/Parity Match the RSW with the amplifier-side communication speed, and set to 8, A, C, or D. The amplifier initial value is 9600bps. 13

7 1.Setup 2When using RS-232C specifications (PB3A003P20*) PBC5C0010A SW1 CN3 C N 7 C N CN4 C N C N 6 C N 5 PBC5C0010A Pin Assignments (Reference) (When using D-Sub 9-pin) PC side (RS-232C) Amplifier side D-sub 9-pin (female) Wiring CN5 Signal name Pin No. Pin No. Signal name RXD 2 1 RXD TXD 3 2 TXD GND 5 5 GND *Do not connect the power supply pin and ground pin. *See the amplifier instruction manual for the amplifier-side connector specifications. 14

8 1.Setup 1.5 Startup Double-click NewPIF.EXE to start the program. The Online and Offline selection screen is displayed. Online: This mode is used to perform operations when the amplifier is connected. Offline: This mode is used to perform editing operations on the data using the PC interface only. Online 1) Preparation Refer to section 1.4 and the Appendix, and set the amplifier communication speed and node address. 2) Startup Double-click NewPIF.EXE to start PCIF. Select Online Click "NEXT" Select the amplifier address, COM Port, and Communication Speed, and then click "NEXT". The parameter reading progress bar is displayed. 3) The initial screen (Direct Mode) is displayed when parameter reading is completed normally. This completes the startup procedure. For detailed operating procedures, see Chapters 2 and 3. *The warning message shown below is displayed when communication is not performed properly. Click "OK" to exit startup of the PC interface. Check that the Wiring, COM Port, Address, Communication Speed, and other settings were made correctly. *To check the COM Port, refer to the manual for your PC. 15

9 1.Setup Offline Select Offline, and then click "Next". Select the AMP Type from the pull-down menu, and then click "NEXT". *For PB3A003P201/PB3A003P202, select PB3A003P20*. The initial screen below is displayed, and software startup is completed. In Offline, functions pertaining to amplifier startup and data transmission to and from the amplifier are not displayed. 16

10 2.Functions 2.1 Usage Notes Numerical Values All numerical values are handled in decimal format. However, the monitor screen Rev and amplifier status are displayed as hexadecimal numbers. Display of hexadecimal numbers is indicated by "Hex" Positive/Negative Signs Signed data (movement amount) is entered based on the conventions below. Positive: Numerical value is entered directly without any sign. Negative: A "-" is added before the numerical value Display Functions unavailable due to the connected amplifier model number, online/offline state, or other settings are not displayed. The data display method of a command varies depending on the selected units and command. Be aware that when the amplifier setting unit system is selected and the data length is 2 bytes or more, data is displayed in order from the lower level to the upper level. Example: Display example for data length of 2 bytes = 500 (D) DAT n=244(f4h) and DAT n+1=1 so that 1F4h=500(D) The operation command is displayed in brown, and it is shown for each data function. For other commands, the setting values are displayed in order from DAT Unit Selection In the PCIF software, a function is provided for selecting the setting unit system for the movement amount, velocity, and acceleration/deceleration. Table of Setting Units Data Rotation Type Linear Type Amplifier Setting Units PB1D00*R*** PB3A003*20* PB3D003M200 Movement amount Deg mm Pulse Pulse Velocity min -1 mm/sec min -1 /LSB 1 min -1 /LSB Acceleration/Deceleration ms mm/sec min -1 /ms 1 min -1 /ms Motor Selection Before operating the amplifier model numbers PB1D00*R10*, PB3A003R200, and PB3D003M200, the motor model number must be set at the Direct Mode System Tab CODE17. Motors for other amplifiers are selected using the switch settings. For details on the setting method, please see the Appendix or amplifier instruction manual. 21

11 2.Functions 2.2 Common Functions Quick Reference Example: PB3D003M200 Direct Mode Example: PB3D003M200 Pulse Type Menu buttons: The data Save/Load, Monitoring, and File functions are available here. Mode Selection buttons: The Direct, Point, or PRG function can be selected. *The Point and PRG functions are not available for the Pulse Type. Shortcut buttons: Commands for various functions can be sent directly by clicking the button. This is used to change the designated address for the target amplifier. Pulse Type is fixed at Address = 0. Amplifier status monitor: This monitors the amplifier status. The current status is indicated by. The absolute position and ALM status in the amplifier are monitored here. In Pulse Type, the command pulse counter value is monitored. The supported amplifiers are PB3D003M200 Type P and PB3A003P201/202 only. In a function unique to PB3D003M200, the Mode Input Port status can be used to monitor the status of Teaching Mode/Normal Mode. Unit Selection button: This sets the unit system used in PCIF. A teaching function is provided in PCIF. 22

12 2.Functions Function Description 1 MENU buttons Symbol Name Function Overview FilePC This loads the file data to the PC in one operation. The PC display is updated based on the file data. PCFile All data that is set on the current PC is saved to a file in one operation. AMP Rom(mode)PC The amplifier data of the currently-selected mode is loaded to the PC. Online PCAMP Rom Online After the data of the currently-selected mode is sent to the amplifier, it is saved to the nonvolatile memory. 1PRG Save The data for the currently-selected PRG No. is saved to the amplifier. Online All Clear Online FileAMP Rom Online Monitor Online Graphical Monitor Online All parameters (including Point and PRG data for R type) in the amplifier are initialized. A few seconds after execution, the data reading progress bar is displayed, and then the data after clearing is displayed. The selected file data is transferred and saved to the amplifier, and then a verify check is performed. The amplifier input/output signal status, amplifier status, alarm history, and other parameters are monitored. The display data is updated at specific intervals. This is the trace function for the motor speed, In-Position signal, and other parameters. This monitors the operation status. Data Access 23

13 2.Functions 2Mode Selection buttons The available modes are shown below. Direct mode only is available for pulse train amplifiers. Mode Online Offline Direct This enables editing and sending of command data. The transmitted data is Editing of command data Point PRG executed immediately. One direct command is assigned for each point number. Point execution is also possible over a communication connection. This enables editing and execution of programs (user-designated sequences). Step operation and execution are also possible over a communication connection. An editing function for point data is provided. An editing function for program data is provided. 3Shortcut buttons (Online) Shortcut buttons are provided for the functions shown below. The available functions vary depending on the amplifier model. Functions not supported by the amplifier model number are not displayed. DevCLR: Deviation clear ALMCLR: Alarm clear after an alarm has occurred STOP: Emergency stop Pause: Pause 4Amplifier status monitor (Online) This monitors the amplifier status. SON Servo on (red)/servo off (blue) STOP Stop status (red)/normal status (blue) Limit Hardware limit or software limit status (red)/normal status (blue) Pause When paused (red)/normal status (blue) 24

14 2.Functions 5Unit Selection button In the PCIF software, a function is provided for selecting the setting unit system of the movement amount, velocity, and acceleration/deceleration. After starting, select the suitable units for the mechanism, and then perform operation. Unit Selection: Click "UNIT" Unit Setting Select linear or rotation type from the pull-down menu, and select the unit system from the amplifier setting units. The lead pitch setting screen is displayed for the linear type, and the acceleration/deceleration setting screen is displayed for the rotation type. Enter suitable values for the mechanism. Table of Setting Units Data Rotation Type Linear Type Amplifier Setting Units PB1D00*R*** PB3A003*20* PB3D003M200 Movement amount Deg mm Pulse Pulse Velocity min -1 mm/sec min -1 /LSB 1 min -1 /LSB Acceleration/Deceleration ms mm/sec min -1 /ms 1 min -1 /ms If rotation type or linear type is selected, it may not be possible to keep the units when the setting values are converted to the amplifier unit system. In this case, the display value and command values will be rounded to the nearest value. Do not change the resolution once it is set. (The movement amount, velocity, and acceleration/deceleration that were already set are not updated by the changes in the resolution setting.) When rotation type is selected, set the acceleration/deceleration time to the arrival time at the preset velocity. 6Teaching Function (Online) A teaching function is provided in PCIF. It is enabled by selecting Point or PRG modes. There are two types of teaching available: Teaching using the Jog operation and direct teaching using manual operation. 25

15 2.Functions 2.3 File Functions PBPCIFSetting.ini This file is used for setting the display of commands and tabs on and off and setting the monitor communication interval and other parameters. The data is recognized when the PCIF software is started. Normally, these settings do not need to be changed. However, if necessary, these settings can be edited using a text editor such as Notepad or Wordpad. [COMMUNICATION_SETTING] STATUS_GET_INTERVAL=750: This sets the communication interval for monitoring the amplifier status during online operation. The setting units are ms, but the communication interval may vary depending on PC performance. If 0 is set, the monitor function on the Main screen is stopped. NOP_COUNT=16 : This recognizes the final data during reading of Point and PRG data. Reading is completed once the number of set NOP lines is recognized. COMMUNICATION_SPEED=9600: This sets the communication speed when starting PCIF for PB3D003M200 Type R. [TAB_SETTING_1] TAB_ENABLE = 1 : This turns display of the System tab on and off. 0=Display off 1=Display on *Tab No. Tab Name TAB_SETTING_No Tab name System Move Adjust Maker Parameter COMMAND_CODE_7 = 1 : This turns display of command code 7 on and off. 0=Display off 1=Display on COMMAND_CODE_9 = 1 COMMAND_CODE_10 = 1 [TAB_SETTING_POINT_PRG] COMBO_ENABLE_POINT =1 : This turns display of the combo boxes for the direct commands in Point Mode on and off. COMBO_ENABLE_PRG =1 : This turns display of the combo boxes for the direct commands in PRG Mode on and off. COMMAND_CODE_32=1 : This turns display of the individual commands in the combo boxes on and off. COMMAND_CODE_33=1 COMMAND_CODE_34=1 26

16 2.Functions Input/Output Function Setting File 1 Input/output function setting methods The input/output function settings based on the amplifier model number can be defined beforehand based on a file or defined using the direct command input box in the PCIF. Amplifier model number I/O function setting method PB1D00*R10* Setting by Direct tab -- Command code 17 PB3A003R200 Setting by H16_PB3A003R200.ini PB3D003M200 Type P Setting by H16_PB3D003MR200_Pulse.ini PB3D003M200 Type R Setting by H16_PB3D003MR200_Rtype.ini PB3A003P20* Setting logic selection only by Direct tab -- Command code 22 *For the setting details, see the respective amplifier instruction manual or the Appendix in this manual. File content (example for PB3A003R200) [COMMAND_IOPORT_COUNT] PATTERN_COUNT_IN =2 : This defines the number of assignment patterns for the input function. Up to 255 can be assigned. PATTERN_COUNT_OUT=2 : This defines the number of assignment patterns for the output function. Up to 255 can be assigned. [SCTN_INPORT_PATTERN_0] PATTERN_NAME=INPORT_PATTERN_001 : The pattern name is defined after the equals sign (). DAT_3 =0 : This defines the command 22 and DAT3 function. DAT_4 =0 : This defines the command 22 and DAT4 function. DAT_5 =0 : This defines the command 22 and DAT5 function. DAT_6 =0 : This defines the command 22 and DAT6 function. DAT_7 =0 : This defines the command 22 and DAT7 function. [SCTN_OUTPORT_PATTERN_0] PATTERN_NAME=OUTPORT_PATTERN_000 : The pattern name is defined after the equals sign (). DAT_8 =0 : This defines the command 22 and DAT8 function. DAT_9 =1 : This defines the command 22 and DAT9 function. DAT_10 =4 : This defines the command 22 and DAT10 function. DAT_11 =6 : This defines the command 22 and DAT11 function. DAT_12 =6 : This defines the command 22 and DAT12 function. 27

17 2.Functions 2Input/output function setting method using a file Example: PB3D003M200 Type R Open the setting file using Notepad or other text editor. Define the number of input and output patterns as necessary. Define the pattern name of the input/output function. This step is unnecessary if the name is not changed. Refer to the instruction manual for the amplifier model or the Appendix in this manual, and set command 22: input/output function. Save the file, and start the PCIF software. In Direct Mode, go to the SYSTEM tab, and double-click Code in Command 22 or the COMMAND area to display the Setting box. Set the input/output signal logic according to the application. In the input/output function selection combo boxes of the Setting box, select the input/output functions that were just defined in the file. Press the SET button to change to the initial screen. For online operation, click the SEND button to send the data to the amplifier. To save the setting data to the amplifier, click the menu buttons PC (MODE) AMP Rom. * Do not edit the setting data for the output port in H16_PB3D003M200_Pulse.ini, which is the setting file for PB3D003M200 Type P. *To add comments, enter a colon (:) (single-byte) after the data, and then write the comments. 28

18 2.Functions Data File 1) File configuration All data is saved in decimal format based on the setting unit system. [PCIF PARAM] AMP_TYPE=5 : Amplifier type (see Table 1) RETRYMAX=2 : Normally, do not change. UNIT=1 : This saves the unit system (see Table 2). Gear Ratio=1 : This saves the deceleration ratio for the rotation type. Pitch=10 : This saves the lead pitch for the linear type. BORRATE H07=0 : This saves the communication speed for PB3D003M200 Type R. [SYSTEM+DIRECT PARAM] COMMAND_17=0,0,0,0 COMMAND_20=8, ,1 COMMAND_22=0,0,0,0,1,2,4,5,0,0 COMMAND_31=0,0,0,0,0,0,0,0 COMMAND_32=127,255,127,127 [POINT PARAM] POINT_0=66,1000.0,10.0,10.0, ,0,1.800 : Point No. 0 data (command codes, data, etc.) POINT_1=0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 POINT_2=0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 POINT_3=0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 Table 1. AMP_TYPE Stored value Amplifier model no. 0 PB1D001R1** 128 PB3A003R PB3A003P PB3A003P201,202 4 PB3D003M200 Type R 5 Pb3D003M200 Pulse Table 2. MOTION (Unit System) MOTION Unit system selection 1 Rotation type 2 Linear type 3 Amplifier setting unit system 29

19 2.Functions 2) Data editing To edit the data, use Notepad or other text editor to open the file. Change data: Directly overwrite the data in the file. Add comments: Enter a colon (:) (single-byte) after the data to enable writing of comments. Example: COMMAND_17=16,0,0,0: Motor TypePBM423 Add commands: To add commands not included in the file, use the format below. Example: COMMAND_ *,*,* *: Insert data using commas to separate data starting from data 1 : Command code (decimal format) 3) Notes (1) Do not overwrite the value for the resolution that was set by command 17. If the resolution set at the amplifier is different from the resolution saved to the file (BUNNKAINOU), the error below is displayed, and the amplifier setting resolution is given priority. (2) If the amplifier type is different in the file and PCIF, the message below is displayed, and the file cannot be loaded. (3) If the unit systems for the PCIF and file are different, the setting values in the file are given priority. Be sure to load the file after checking that the unit systems for PCIF and the file are the same. 210

20 3.Operation 3.1 Direct Mode This section describes the procedures for editing and sending data in Direct mode. In online operation, the transmitted data is executed immediately Tabs SYSTEM: Commands that must be set before operation such as the input/output functions, compatible motor, and resolution *HOME indicates the stored home return, and ORG indicates the direct home return. *When starting the system, be sure to always check the resolution, selected motor, and other software switches (command 17). MOVE: Operation command Adjust: Command for adjusting the gain and other parameters Maker Parameter: This is primarily a command for Sanyo Denki adjustment and is usually not used. Direct Input Box: This function is for entering and sending commands not having standard support in PCIF Operation Procedure 1) Commands not saved to nonvolatile memory Example: When executing continuous rotation commands (Online) Click the MOVE tab. Align the cursor with the Code for the command you want to issue or with the COMMAND display area, and then double-click to display the data setting box. (The selected command is displayed in yellow.) *The data setting box is not displayed for commands that do not need setting data. Proceed to step. Set the data in the setting box. If there are multiple data fields, use the Tab key to change to different fields. Press the "SET" button in the setting box to finalize the setting data on the PC and change to the standard screen. Click the "SEND" button to send data and start motor operation. 31

21 3.Operation 2) When saving to nonvolatile memory is necessary To save the setting data to the amplifier for commands saved to the nonvolatile memory, the Save to Amplifier command must be executed after the data is sent. For details on the parameters, see the amplifier instruction manual. Saving Procedure Make the selected data settings using the same procedure in steps (1) to (4) in item 1) above. To set multiple data items, use the same procedure to set the data. After setting the data, click the Tool button "PC (MODE) AMP Rom" to send all the parameters on the direct screen and save them to the amplifier. 32

22 3.Operation Direct Input Box Operation Procedure This procedure is used to send commands not having standard support and to check the contents of the reply data. All numerical values use decimal format. Operation Procedure Set the command code and address. Enter the data into the data input boxes in order starting from DAT1. *If the data length is 2 bytes or more because of the command, enter the data in single bytes in order from the lower level to the upper level. Example: When data500(d) = 1F4(h), DAT1244(F4h) and DAT21 Click the Send button to send the data. The reply data is displayed in the return value section. Return value These are displayed in the following order: Packet length + Address + Reply status + Reply data (Starting from DAT1). If a command without reply data is sent, the data is not added. *When commands supported by the PCIF are entered in the direct input box, the data display for the corresponding command is not updated. *For details on the reply status, see the instruction manual of the respective amplifier. Example: When the servo parameter (command 33) is set to the amplifier at address 0 4: Packet length 0: Address 11: Reply status = Bh 33

23 3.Operation 3.2 Point Function Type R is provided with a function for executing selected commands pre-stored in the amplifier as a point function using I/O or communication Function Overview Basic operation buttons: (1) to (7) Teaching buttons: (8) to (11) Basic Operation Buttons CUT: This deletes the selected point data. Click the desired line to select it, and then use the CUT button to delete it. Operation Command Selection combo box: This is used to select an operation command and assign it to a point. Parameter Selection combo box: This is used to assign a command other than an operation commands to a point. START: This executes the selected point command over a communication connection. HOME: This starts the home return operation that was saved in HOME STORE under the SYSTEM tab in Direct mode. VEL: This sets the velocity for the operation commands INC.MOV1 and ABS.MOV1 in. (The direct command 54 is issued.) When Save to Amplifier is executed, this velocity and the acceleration/deceleration are saved to the amplifier. ACC/DEC: This sets the acceleration/deceleration for the operation commands INC.MOV1 and ABS.MOV1 in. (The direct command 55 is issued.) When Save to Amplifier is executed, the velocity and this acceleration/deceleration are saved to the amplifier. Jog Teach: This is the mode selector button for performing teaching using the jog operation in the PCIF. Direct: This is the mode selector button for performing teaching using manual operation. ABS SET: This assigns the position for teaching. This is the job operation execution button that is enabled when Jog Teach is selected by. Edit Function: Data editing is possible by selecting the number, Code, or COMMAND section of the point data and right-clicking it to open a menu. COPY: This copies the selected area. The point data is pasted using the INSERT command. CUT: This cuts the selected area. After pasting with the INSERT command, the selected area is deleted. INSERT: The point data that was copied or cut is pasted to the specified point. DELETE: This deletes the selected point data. 34

24 3.Operation Point Assignment and Execution Procedure Click "POINT" under MODE selection to open the Edit Point screen. Click the number, CODE, or COMMAND for the point, and then specify the point number. The selected point is displayed in yellow. Select the command that you want to assign from the combo box, and then click it to display the data setting box. Assignments other than operations commands can also be made for the point data. Set the data. Press the "SET" button to switch to the standard screen and display the assigned command details. If the data for multiple points will be assigned, repeat the procedure in steps to. For online operation, click the menu button PC(MODE)AMP Rom to save the point data. To start the point data in PCIF, click the point number to select the point, and then click the "START" button to execute. To change and edit the point data that was set, double-click the point number to display the data setting box. After setting the data, be sure to execute the Save command. If the Save command is not executed, the modified data will not be validated. Example: Assigning INC.MOV to Point No.6 35

25 3.Operation Teaching Function 1) Basic Function Teaching includes a Jog teaching and Direct teaching function. Jog Teach: The motor performs jog operation for teaching the stop positions. Direct Teach: The motor is set to a non-excitation state for teaching by manually determining the positions. JogVel: This is enabled when Jog Teaching is selected. Enter the jog velocity directly into the blank box. ABS SET: This assigns the current position to the designated point. Absolute position commands are assigned for all teaching. JogTeach: This selects the teaching function using jog operation (toggle switch). Direct: This sets the motor to a non-excitation state and releases the holding brake (toggle switch). Operation Buttons: These are used to control jog operation during Jog Teach. : Forward jog operation : Forward one-step operation : Jog stop : Backward jog operation : Backward one-step operation 2) Jog Teaching Procedure Click the JogTeach button. Set the JogVel. If the home position has not been set, execute the HOME command to set the home position. Click the point number to specify the point number to be assigned. Use the operation buttons to control jog operation and set the teaching position. Use the ABSSET button to display the data setting box. Except for Position, set the parameters as desired, and then click the "SET" button. *In the PB3D003M200 (Type R), the Direct -- System-9 (T initial) command can be used to display the preset velocity and acceleration/deceleration data on the initial screen. Click the JogTeach button to return to the normal status. Click the menu button PC(MODE)AMP Rom to save the point data. 36

26 3.Operation 3Manual Teaching Procedure (1) If the home position was not set using the home return operation, execute the HOME command to set the home position. (2) Click the Drct Teach button. The screen below is displayed. Check for safety, and then click "Yes". This sets the motor to a non-excitation state and releases the holding brakes if there are any. (3) Specify the point number to be assigned. (4) Perform manual positioning of the workpiece to set the teaching position. (5) Click the ABSSET button to display the data setting box. Except for Position, set the parameters as desired, and then click the "SET" button to display the teaching data. * In the PB3D003M200 (Type R), the Direct -- System-9 (T initial) command can be used to display the preset data on the initial screen. (6) Click the DIRECT button to display the screen below. Click "Yes" to return to the normal status. (7) Click the menu button PC(MODE)AMP Rom to save the point data. 37

27 3.Operation 3.3 PRG Function The Type R is provided with a function for executing selected sequences pre-stored in the amplifier as a PRG using I/O or communication Basic Functions Basic operation button PRG number display and selection bar Teaching buttons INSERT: This inserts a blank line to the selected line number. CUT: This deletes the selected line and fills the space by moving the lines up. Operation Command Selection combo box: This is used to select an operation command. Parameter Selection combo box: This is used to select a command other than an operation command. PRG Command Selection combo box: This is used to select a PRG command. START: This executes the selected PRG over a communication connection. STEP: This executes step operation of the specified line only. After execution, the selected line for step operation moves to the next execution line. *Timer Wait is not executed. *Do not perform step operation at some point within a loop counter. PRGSTOP: This stops PRG operation. Blank space: This monitors the PRG operation stop line during PRGSTOP. VEL: This sets the velocity for the operation commands INC.MOV1 and ABS.MOV1 in. (The direct command 54 is issued.) When Save to Amplifier is executed, this velocity and the acceleration/deceleration are saved to the amplifier. ACC/DEC: This sets the acceleration/deceleration for the operation commands INC.MOV1 and ABS.MOV1 in. (The direct command 55 is issued.) When Save to Amplifier is executed, the velocity and this acceleration/deceleration are saved to the amplifier. HOME: This starts the home return operation that was saved in HOME STORE under the SYSTEM tab in Direct mode. Program No: These are the PRG number selection tabs. Jog Teach: This is the mode selector button for performing teaching using the jog operation in the PCIF. Direct: This is the mode selector button for performing teaching using manual operation. ABSSET: This assigns the teaching position to a specified line. JogVel: This sets the operation velocity during Jog Teach. Jog Operation buttons: These control jog operation. Edit FunctionData editing is possible by selecting the number, Code, or COMMAND section of the PRG data and right-clicking it to open a menu. COPY: This copies the selected area. The PRG data is pasted using the INSERT command. CUT: This cuts the selected area. After pasting with the INSERT command, the selected area is deleted. INSERT: The PRG data that was copied or cut is pasted to the specified point. DELETE: This deletes the selected PRG data. 38

28 3.Operation PRG Assignment and Execution Procedure In the PRG function, the number of PRGs that can be set varies depending on the amplifier model. Be sure to check the number of PRGs and PRG lines before selecting the PRGs with the Direct command System Command 27 (PRG), and then save. Click "PRG" under MODE selection. Use the PRG number tab to select the PRG number to be edited. Click the PRG number, CODE, or COMMAND to specify the line number. The selected line is displayed in yellow. Select the command that you want to assign from the combo box, and then click. The data setting box is displayed for commands with data, and so make the data settings. Press the "SET" button in the setting box to switch to the standard screen and display the assigned command details. Repeat the procedure in steps to to create the PRG. For online operation, click the menu button PC(MODE)AMP Rom (batch save of all PRG numbers), or execute 1PRG Save (saving of the currently-selected PRG numbers only) to save the PRG data. To start the PRG data in PCIF, click the "START" button to execute. To perform debugging of the PRG, check operation by using the "STEP" button execute in one-line steps from a specified line. *Do not perform step operation from a specified command in the loop counter. To change and edit the data that was set, double-click the line number to display the data setting box. After setting the data, be sure to execute the Save command. If the Save command is not executed, the modified data will not be validated. 39

29 3.Operation PRG Application Examples 1) Positioning example: Home return (C phase detection type) Point A positioning Point B PRG Details Line No. Description 0 Home return command for C phase detection type (Counter preset value=0) 1 Waiting for completion of home return operation (Wait for operation complete if the line itself was specified by MstopJMP) 2 Timer wait (50ms) 3 Absolute position movement command (moves to 3600 degree position) 4 Operation complete wait 6 Absolute position movement command (return to 0 position) 7 PRG complete (If P.END is not specified, the blank line is executed as NOP.) Operation Waveform Example 310

30 3.Operation 2) Subroutine call/loop counter Example: Home return Motor 5-time continuous operation (subroutine call + loop counter) PRG Details Line No. Description 0 Gain=3 setting 1 C phase detection home return start 2 Wait for home return completion 3 Subroutine call 4 PRG end 5 6 Loop counter (variable specified=1, 5 repeat) degree relative movement command 8 Operation complete wait 9 Repeat FOR statement 10 Return statement Operation Waveform Example Home return 311

31 3.Operation 3.4 Input/Output Signals, ALM History, and Amplifier Status Monitor Clicking the Monitor The monitor is updated at fixed intervals. button in the menu displays the monitor screen shown below. (1) REV: This displays the amplifier software Rev. It is displayed in hexadecimal format. (2) ALM History: The top box displays the current amplifier status, and the bottom box displays the past 9 events in the alarm history from the newest to oldest. (3) Communication Error History: This displays the communication error history. (4) Operation Complete Factor: This monitors the stop factors of the previous operation command. (5) AMP Status: This monitors the amplifier status defined by command 131. It is displayed in hexadecimal format. (6) INPUT/OUTPUT: This monitors the input/output signal status. 312

32 3.Operation 3.5 File Operation FilePC This loads all of the specified file data into the PC and displays it. (1) The screen shown below is displayed. Select the file, and then click the "Open" button. * The error message shown below is displayed if the deceleration ratio and lead pitch do not match in PCIF and the file. Clicking "Yes" gives priority to the setting values in the file. * If the setting units for the PCIF and file are different, the setting values in the file are given priority. Be sure to load the file after checking that the unit systems for PCIF and the file are the same PCFile This saves all data on the PC to the file in one operation. The screen shown below is displayed. Specify the storage location and file name, and then click the "Save" button. 313

33 3.Operation FileAMP ROM All data for the specified file is sent to the amplifier, saved, and then the amplifier data is read, and a verify is conducted with the file data. (1) Click the menu button FileAMP ROM. (2) Select the file, and then click the "Open" button. (3) The progress bar for writing data to the amplifier is displayed. After writing, this changes to the progress bar for reading amplifier data. Once the verify results are completed normally, the screen below is displayed. Click "OK" to return to the standard screen. *Before executing, check that the resolution and setting units match for the file data and amplifier. 314

34 3.Operation 3.6 Waveform Monitor The operation procedures for the velocity, current command, In-Position signal, and position deviation (pulse input only) monitor functions are shown below. Note that the availability of these functions and the details displayed in the waveform monitor vary depending on the amplifier model number. Amplifier model number Velocity In-Posi Current command Position deviation PB1D00*R1** PB3A003P200 Note 1 PB3A003P20* PB3D003M20* Type P PB3D003M20* Type R Note 1: Support is provided starting from Rev G. A communication error occurs in earlier versions. Note 2: The current command monitor is 0 when stopped Function Overview Veloc Pos. Dev. Cur. Command In-Position Velocity Monitor: This is a signed velocity waveform monitor. * The velocity monitor is displayed using F/V conversion based on the encoder signals. Note that the velocity also includes velocity fluctuations due to encoder resolution at slower speeds. In-Position: This monitors the In-Position signal. LOOut-Position HIIn-Position * Normally, make adjustments to the deceleration, gain, and In-Position width to prevent chattering of the In-Position signal. Current Command: This monitors the absolute current command using amplifier PI control. In PB, the maximum value is 100%. * There is no instantaneous region such as a typical servo. Also, the PB has T-N characteristics that are drooping, and so calculation of current command = torque is not possible. Position Deviation Monitor: For PB3A003P201/202 and PB3D003M200 (Type P), the position deviation monitor displays in absolute values. The display is fixed at 0 to 6 rotations. 315

35 3.Operation Operation buttons (1) Trigger: This sets the trigger conditions for the waveform monitor. MOVE: The motor operation start serves as the trigger. However, for pulse input, the trigger is not applied in open control operation. Position: The trigger is applied upon reaching the specified absolute position. The settings are based on the basic unit settings. (2) START: This specifies starting of the monitor. The start status is highlighted in the Waiting Trigger display section. (3) CANCEL: This cancels starting of the monitor. (4) Vertical Axis: This sets the display units for the vertical axis. Velocity: Velocity units (min -1 /Div) Torque: Current command monitor units (%/Div) (5) Horizontal axis: This sets the units for the time axis. (6) Measure: The cursor is used to select the measurement item. The measurement results are displayed. OFF: Cursor function disabled Time: Time measurement between cursors Frequency: Frequency calculation between cursors Velocity: Velocity measurement between cursors Torque: Current command measurement (7) Output/Input: This function saves and loads the measurement results. Save: File saving (CSV format) Load: File loading PRINT: Printout (8) EXIT: Exits the monitor (9) The Velocity, Torque, In-Position, and Position Deviation check boxes are used to enable/disable the waveform displays for each item. 316

36 3.Operation Operation Procedure This section shows the operation procedure using Type R as an example. During pulse input, the trigger condition is pulse input. (1) Click the menu button Graphical Monitor to start the waveform monitor function. (2) Set the trigger conditions. (3) This sets the units for the velocity, torque, and time axis. Set the suitable values for the operation pattern. As the time setting gets longer, the data acquisition time also becomes longer. (4) Click the START button. (5) Operation is started. To perform startup from PCIF in Type R, click the Main screen to start the selected operation. For a pulse, input the pulse command. (6) Once amplifier data acquisition is completed, the data reading progress bar from PCIF is displayed. (7) The waveform after completing data acquisition is displayed. (8) If necessary, set the other unit to change the display. (9) If necessary, use the cursor to perform measurement and save data. File Save Printout 317

37 4. Test Operation 4.1 Test Operation Using PCIF This section shows an overview of the test operation procedures using the PCIF software. For the detailed operation procedures, see Chapters 2 and Type R (PB3D003M200 Type R/PB3A003R200) 1) Amplifier unit and communication converter switch settings For the PB3D003M200, confirm that DIP switch 1 on the amplifier top is set to ON. Set the communication speed and node address for the amplifier unit by referring to the Appendix. Set the DIP switches of the communication converter by referring to Section ) Parameter settings (1) Communication preparation Connect the amplifier power supply, communication unit, and PC to the amplifier. *Do not connect the motor at this time. (The motor can be damaged if the setting for the motor model number is not correct.) (2) Turn on the power, and start the PCIF software. (The encoder disconnection ALM is activated.) Select Online Click "NEXT" COM Port setting Select ADDRESSROSW Select the communication speed, and transfer method Click "NEXT" The parameter reading progress bar is displayed. 41

38 4. Test Operation (3) Command settings (PB3D003M200 Command 17 setting example) If necessary, the software switches, input/output functions, and other commands are set. i) Double-click Command 17 in the System tab. ii) Set the motor type and resolution, and then click the SET button to return to the MAIN screen. Display example: PBM282, 2000P/R settings *Be sure to always set the motor type. The motor can be damaged if the wrong motor type is set. iii) Click the SEND button in the Main screen to send the data to the amplifier. Next, click the menu button "PC Amp ROM" and save the transmitted parameters to the nonvolatile memory. * Be sure to execute the Save command. Otherwise, the transmitted data is not saved. *If necessary, set parameters other than Command 17 (11h) using the same procedure as above. *To assign the IO functions, see Section and edit the input/output function setting file, and then set Command

39 4. Test Operation 3) Test operation i) After setting of parameters is completed, shut off the power supply, and then connect the wiring for the motor power and encoder. *Use the amplifier instruction manual to check that the wiring is correct. *After checking for safety, attach the motor to the stationary plate. Also, install an emergency stop circuit, and perform operation after checking for safety. ii) Turn on the power. Operation is normal if the 7-segment LED displays "8" (PB3D03M200) or the ALM LED turns off (PB3A003R200), and the servo on status is started. iii) Test operation of the motor is performed. A motor operation example using an absolute movement command (Command 42h) in Direct mode is shown below. (1) Select Move in the menu selection tab. (2) Double-click Command 66 to display the operation pattern setting screen. (3) Set the desired data, and then click the SET button to return to the Main screen. (4) The preset parameters are sent using the "SEND" button in the Main screen, and then the motor starts operation. iv) After checking the above operation, connect the load, and determine the gain and operation profile by referring to the amplifier instruction manual. v) To monitor the operation waveform, see Chapter 3.6. Also, to perform Point or RPG operation, see Sections 3.2 and

40 4. Test Operation PB3D003M200 Type P 1) Amplifier unit and communication converter switch settings Confirm that DIP switch 1 on the amplifier top is set to OFF. Set the DIP switches of the communication converter by referring to chapter ) Parameter settings (1) Wiring Connect the amplifier power supply, communication unit, and PC to the amplifier. *Do not connect the motor at this time. (The motor can be damaged if the setting for the motor model number is not correct.) (2) Turn on the power, and start the PCIF software. (The encoder disconnection ALM is detected.) Select Online Click "NEXT". COM Port setting ADDRESS0 Select 9600bps, Half Duplex Click "Next" The parameter reading progress bar is displayed. 44

41 4. Test Operation (3) Command settings (PB3D003M200 Command 17 setting example) If necessary, the software switches, input/output functions, and other commands are set. i) Double-click Command 17. ii) Set the motor type, pulse input type, and resolution, and then click the SET button. *Be sure to always set the motor type. The motor and amplifier can be damaged if the wrong motor type is set. iii) Clikc the SEND button to send the data to the amplifier. Click the menu button "PC Amp ROM" and save the transmitted parameters to the nonvolatile memory. * Be sure to execute the Save command. Otherwise, the transmitted data is not saved. *In Save to Amplifier, all commands are transferred and saved in one operation, and so this operation needs to be performed only once after parameter setting. *If necessary, set parameters other than Command 17 (11h) using the same procedure as above. 45

42 4. Test Operation 3) Operation i) After setting of parameters is completed, shut off the power supply, and then connect the wiring for the motor power, encoder, and I/O. *Use the amplifier instruction manual to check that the wiring is correct. *After checking for safety, attach the motor to the stationary plate. Also, install an emergency stop circuit, and perform operation after checking for safety. ii) Check that the stop input signal is cleared, and then turn on the power. Operation is normal if the 7-segment LED displays "8". iii) Input the pulse, and check that the motor is operating. iv) After checking the above operation, connect the load, and determine the gain and operation profile by referring to the amplifier instruction manual. v) To monitor the operation waveform, see Section

43 4. Test Operation PB3A003P20* 1) Switch settings Use the DIP switches on the amplifier top to set the motor model number, pulse input type, resolution, and other parameters by referring to the Appendix. 2) Parameter settings (1) Communication preparation Connect the amplifier power supply, communication unit, PC, motor, encoder, and I/O to the amplifier. (2) Turn on the power, and start the PCIF software. When the ALM LED turns off and the STOP input is set to OFF, operation is normal if the servo is on. Select Online Click "NEXT". COM Port setting ADDRESS0 Select 9600bps, Half Duplex Click "Next". The parameter reading progress bar is displayed. 47

44 4. Test Operation (3) Command settings (Command 17 setting example) If necessary, the software switches, input/output functions, and other commands are set. a) Double-click Command 17. b) After setting the desired data, click the SET button. c) Click the SEND button to send the data to the amplifier. Click the menu button "PC Amp ROM" and save the transmitted parameters to the nonvolatile memory. * Be sure to execute the Save command. Otherwise, the transmitted data is not saved. * In Save to Amplifier, all commands are transferred and saved in one operation, and so this operation needs to be performed only once after parameter setting. If necessary, set parameters other than Command 17 (11h) using the same procedure as above. 3) Operation i) Check that the stop input signal is cleared, and then check that the pulse is input and that the motor is operating. ii) After checking the above operation, connect the load, and determine the gain and operation profile by referring to the amplifier instruction manual. iii) To monitor the operation waveform, see Section