Delta MMC120 Manual de usuario

MMC120Linear Motion Control ModuleRev 1.00991221Delta Computer Systems, Inc.11719 NE 95th Street, Suite DVancouver, WA 98682-2444Tel: 360/254-8688Fax:

Overview MMC120 Linear Motion Control Module10 Delta Computer Systems, Inc. 360/254-8688Drive Outputs• Two optically isolated ±10 volt outputs• 12 bit

Appendix B: Event Control MMC120 Linear Motion Control Module100 Delta Computer Systems, Inc 360/254-8688ExampleIn the following example three steps a

MMC120 Linear Motion Control Module Appendix B: Event ControlDelta Computer Systems, Inc 360/254-8688 101Using DCS120Step information for the MMC120 i

Appendix B: Event Control MMC120 Linear Motion Control Module102 Delta Computer Systems, Inc 360/254-8688Reading Step files from disk and moduleTo rea

MMC120 Linear Motion Control Module Appendix B: Event ControlDelta Computer Systems, Inc 360/254-8688 103NotesReading the Current StepThe Step field v

Index MMC120 Linear Motion Control Module104 Delta Computer Systems, Inc 360/254-8688IndexAACCELERATION, 14, 15, 24, 25, 26, 32, 34, 35, 37, 50,53, 54

MMC120 Linear Motion Control Module IndexDelta Computer Systems, Inc 360/254-8688 105RRequested Position, 14, 30, 34, 42, 55, 85Restore Null, 57, 81RE

MMC120 Linear Motion Control Module OverviewDelta Computer Systems, Inc. 360/254-8688 11SPECIFICATIONSTemperatureOperating: 0oCto+60oCStorage: -40oCto

Overview MMC120 Linear Motion Control Module12 Delta Computer Systems, Inc. 360/254-8688Bus CompatibilityModConnect® Certified partnersQuantum Automat

MMC120 Linear Motion Control Module DescriptionDelta Computer Systems, Inc. 360/254-8688 13DESCRIPTIONPrinciple Of OperationPosition MeasurementThe MM

Description MMC120 Linear Motion Control Module14 Delta Computer Systems, Inc. 360/254-8688Control LoopThe MMC120 is a targeting controller; each mill

MMC120 Linear Motion Control Module DescriptionDelta Computer Systems, Inc. 360/254-8688 15In addition to the closed loop drive, the MMC120 has two fe

Front Panel Indicators MMC120 Linear Motion Control Module16 Delta Computer Systems, Inc. 360/254-8688FRONT PANEL INDICATORSThere are 14 green and red

MMC120 Linear Motion Control Module Setup ChecklistDelta Computer Systems, Inc. 360/254-8688 17SETUP CHECKLISTWiring (Pages 18 and 19)Wire magnetostri

Preparing For Installation MMC120 Linear Motion Control Module18 Delta Computer Systems, Inc. 360/254-8688PREPARING FOR INSTALLATIONWiring NotesUse sh

MMC120 Linear Motion Control Module Preparing For InstallationDelta Computer Systems, Inc. 360/254-8688 19Temposonics I transducer users:For the negat

Although great effort has been taken to ensure the accuracy of the information in this document, it is intendedto be used only as a guide. Knowledge o

Preparing For Installation MMC120 Linear Motion Control Module20 Delta Computer Systems, Inc. 360/254-8688Serial PortThe communication cable attached

MMC120 Linear Motion Control Module Preparing For InstallationDelta Computer Systems, Inc. 360/254-8688 21Hydraulic System NotesHydraulic systems must

Startup MMC120 Linear Motion Control Module22 Delta Computer Systems, Inc. 360/254-8688STARTUPCAUTION: Do not connect the drive outputs to the drives

MMC120 Linear Motion Control Module StartupDelta Computer Systems, Inc. 360/254-8688 23SCALE Parameter (Default: 30300) Range: -32767 to 32767, exclud

Startup MMC120 Linear Motion Control Module24 Delta Computer Systems, Inc. 360/254-8688Open Loop ProcedureCAUTION - OPEN LOOP OPERATION IGNORES ALL LI

MMC120 Linear Motion Control Module StartupDelta Computer Systems, Inc. 360/254-8688 25TuningThere is no substitute for experience when tuning an axis

Startup MMC120 Linear Motion Control Module26 Delta Computer Systems, Inc. 360/254-8688increased. If the FOLLOWING ERROR occurs on an extend move, inc

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 27MOTION CONTROL PARAMETERSSixteen Parameter re

Motion Control Parameters MMC120 Linear Motion Control Module28 Delta Computer Systems, Inc. 360/254-8688go negative if the motion controller overshoo

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 29CONFIGURATION Word Bit MapThe axis CONFIGURAT

ContentsDelta Computer Systems, Inc. 360/254-8688 3OVERVIEW...

Motion Control Parameters MMC120 Linear Motion Control Module30 Delta Computer Systems, Inc. 360/254-8688SCALE (Default: 30300) Range: -32767 to 32767

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 319.0110(µs/in) x 120 (MHz)Example 2For a syste

Motion Control Parameters MMC120 Linear Motion Control Module32 Delta Computer Systems, Inc. 360/254-8688PROPORTIONAL GAIN = 0.1 millivolt per unit of

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 33EXTEND ACCELERATION FEED FORWARD (Default: 0)

Motion Control Parameters MMC120 Linear Motion Control Module34 Delta Computer Systems, Inc. 360/254-8688set in the STATUS word. During a Hard Stop, t

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 35Motion Control CommandsThe motion control com

Motion Control Parameters MMC120 Linear Motion Control Module36 Delta Computer Systems, Inc. 360/254-8688Bits 15 and 16 - Acceleration and Deceleratio

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 37MODE Word Bit MapThe axis MODE word contains

Motion Control Parameters MMC120 Linear Motion Control Module38 Delta Computer Systems, Inc. 360/254-8688DECELERATION (Default: 1000)This parameter is

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 39Move ProfilesThe module stores 16 user-progra

Contents MMC120 Linear Motion Control Module4 Delta Computer Systems, Inc. 360/254-8688SAVING PARAMETERS AND PROFILES...

Motion Control Parameters MMC120 Linear Motion Control Module40 Delta Computer Systems, Inc. 360/254-8688MMC120 Initial Move ProfilesA 'Go'

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 41Readback ParametersACTUAL POSITIONThe ACTUAL

Motion Control Parameters MMC120 Linear Motion Control Module42 Delta Computer Systems, Inc. 360/254-8688Bit 6 - Position OverflowThis bit is set when

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 43For example, to detect when an axis' tar

Motion Control Parameters MMC120 Linear Motion Control Module44 Delta Computer Systems, Inc. 360/254-8688When the axis is moving, the TARGET POSITION

MMC120 Linear Motion Control Module Motion Control ParametersDelta Computer Systems, Inc. 360/254-8688 45STATUS Word Bit MapThe axis Status word conta

Flash Memory MMC 120 Motion Control Module46 Delta Computer Systems, Inc. 360/254-8688FLASH MEMORYThe MMC120 contains FLASH memory that has two user-a

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 47COMMUNICATING WITH THE MMC120Quantum Bus

Communicating with the MMC120 MMC120 Linear Motion Control Module48 Delta Computer Systems, Inc. 360/254-8688In addition to the parameter storage bloc

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 49Output RegistersFour 16-bit registers are

MMC120 Linear Motion Control Module ContentsDelta Computer Systems, Inc. 360/254-8688 5Command Type 9 - Open Loop Using Profile (0000 XXXX 1001 NNNN)

Communicating with the MMC120 MMC120 Linear Motion Control Module50 Delta Computer Systems, Inc. 360/254-8688Command TypesThe Command Types available

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 51Command Type 1 - Go Using Profile (0000 X

Communicating with the MMC120 MMC120 Linear Motion Control Module52 Delta Computer Systems, Inc. 360/254-8688Command Type 2 - Set Profiles (0000 XXXX

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 53Fourth Scan 4TTTTT + 0 0X2Bh (Set profile

Communicating with the MMC120 MMC120 Linear Motion Control Module54 Delta Computer Systems, Inc. 360/254-8688Command Type 3 - Set Parameters (0000 XXX

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 55CommandTypes4,5,6,and7-ASCIICommands(0000

Communicating with the MMC120 MMC120 Linear Motion Control Module56 Delta Computer Systems, Inc. 360/254-8688NOTE: When issued by the PLC, these comma

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 57'K' - Disable Drive Output (4Bh

Communicating with the MMC120 MMC120 Linear Motion Control Module58 Delta Computer Systems, Inc. 360/254-8688'S' - Save Null (53h)The Save N

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 59Command Type 9 - Open Loop Using Profile

Contents MMC120 Linear Motion Control Module6 Delta Computer Systems, Inc. 360/254-8688Function Keys...

Communicating with the MMC120 MMC120 Linear Motion Control Module60 Delta Computer Systems, Inc. 360/254-8688The 4 output registers are defined as fol

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 61Second Scan:Returns: 3TTTTT + 0 xxxx (Axi

Communicating with the MMC120 MMC120 Linear Motion Control Module62 Delta Computer Systems, Inc. 360/254-8688Command Type B - Get Parameters (0000 XXX

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 63Command Type E - Event Step Edit (0000 XX

Communicating with the MMC120 MMC120 Linear Motion Control Module64 Delta Computer Systems, Inc. 360/254-8688Extended Command Type E - Event Step Tran

MMC120 Linear Motion Control Module Communicating with the MMC120Delta Computer Systems, Inc. 360/254-8688 65Input RegistersStatus Information can be

Quantum Programming Hints MMC120 Linear Motion Control Module66 Delta Computer Systems, Inc. 360/254-8688QUANTUM PROGRAMMING HINTSThe Programmable Con

MMC120 Linear Motion Control Module TroubleshootingDelta Computer Systems, Inc. 360/254-8688 67TROUBLESHOOTINGProblems and SolutionsLadder program can

Troubleshooting MMC120 Linear Motion Control Module68 Delta Computer Systems, Inc. 360/254-8688The System is unresponsive and hard to tuneThis problem

MMC120 Linear Motion Control Module Hydraulic System ProblemsDelta Computer Systems, Inc. 360/254-8688 69HYDRAULIC SYSTEM PROBLEMSThese hydraulic syst

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Hydraulic System Problems MMC120 Linear Motion Control Module70 Delta Computer Systems, Inc. 360/254-8688Pumps and AccumulatorsInsufficient pump and/o

MMC120 Linear Motion Control Module Hydraulic System ProblemsDelta Computer Systems, Inc. 360/254-8688 71If the speeds show:Your valve is probably cur

Hydraulic System Problems MMC120 Linear Motion Control Module72 Delta Computer Systems, Inc. 360/254-8688If the speeds show:Your valve may have slow r

MMC120 Linear Motion Control Module Repairs and ReturnsDelta Computer Systems, Inc. 360/254-8688 73REPAIRS AND RETURNSWarrantyThe MMC120 shall be free

Glossary MMC120 Linear Motion Control Module74 Delta Computer Systems, Inc. 360/254-8688GLOSSARY OF TERMSActual Position - The scaled measured axis po

MMC120 Linear Motion Control Module ASCII TableDelta Computer Systems, Inc. 360/254-8688 75ASCII TABLEThis is a list of all the standard ASCII control

Description Motion Controller Diagnostic and Setup Program76 Delta Computer Systems, Inc. 360/254-8688Appendix A: DCS120 Diagnostic and Setup ProgramD

MMC120 Linear Motion Control Module Appendix A: DCS120Delta Computer Systems, Inc. 360/254-8688 77Initial Startup Using Display-Only ModeFor a quick d

Appendix A: DCS120 MMC120 Linear Motion Control Module78 Delta Computer Systems, Inc. 360/254-8688You can also display graphic information previously

MMC120 Linear Motion Control Module Appendix A: DCS120Delta Computer Systems, Inc. 360/254-8688 79Initial Startup Using Motion Control ModuleBefore DC

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Appendix A: DCS120 MMC120 Linear Motion Control Module80 Delta Computer Systems, Inc. 360/254-8688The DCS120 ScreenThe DCS120 main screen is divided i

MMC120 Linear Motion Control Module Appendix A: DCS120Delta Computer Systems, Inc. 360/254-8688 81Summary of Keyboard CommandsWhen the Shift, Ctrl or

Appendix A: DCS120 MMC120 Linear Motion Control Module82 Delta Computer Systems, Inc. 360/254-8688Alt Key CommandsAlt A Change ACCELERATIOND Change DE

Motion Controller Diagnostic and Setup Program GraphsDelta Computer Systems, Inc. 360/254-8688 83Diagnostic GraphsYou can see a diagnostic graph after

Appendex A: DCS120 MMC120 Linear Motion Control Module84 Delta Computer Systems, Inc. 360/254-8688Keyboard CommandsGetting HelpTo display the help fil

MMC120 Linear Motion Control Module Appendix A: DCS120Delta Computer Systems, Inc. 360/254-8688 85Open Loop CommandCAUTION: OPEN LOOP MODE DISABLES AL

Appendex A: DCS120 MMC120 Linear Motion Control Module86 Delta Computer Systems, Inc. 360/254-8688Moving Axes SimultaneouslyAxes can be moved simultan

MMC120 Linear Motion Control Module Appendix A: DCS120Delta Computer Systems, Inc. 360/254-8688 87Advanced FeaturesDOS Command Line OptionsSyntax: MMC

Appendix A: DCS120 MMC120 Linear Motion Control Module88 Delta Computer Systems, Inc. 360/254-8688Initialization FileTo operate, DCS120 must have a fi

MMC120 Linear Motion Control Module Appendix A: DCS120Delta Computer Systems, Inc. 360/254-8688 89[READBACK]The [READBACK] parameter determines whethe

MMC120 Linear Motion Control Module OverviewDelta Computer Systems, Inc. 360/254-8688 9OVERVIEWThe MMC120 Motion Control Module is a complete two-axis

Appendix A: DCS120 MMC120 Linear Motion Control Module90 Delta Computer Systems, Inc. 360/254-8688Project FilesThe project files are used to set the i

MMC120 Linear Motion Control Module Appendix A: DCS120Delta Computer Systems, Inc. 360/254-8688 91.FNn (Function Key) example:KEY# AXIS MODE ACCEL DEC

Appendix A: DCS120 MMC120 Linear Motion Control Module92 Delta Computer Systems, Inc. 360/254-8688PRn (Profile) example:PROF# MODE ACCEL DECEL SPEED[P

DCS120 Diagnostic and Setup Program User NotesDelta Computer Systems, Inc. 360/254-8688 93User NotesNegative OffsetDCS120 displays both positive and n

User Notes DCS120 Diagnostic and Setup Program94 Delta Computer Systems, Inc. 360/254-8688MMC120 Communication CableDCS120 communicates with the MMC12

MMC120 Linear Motion Control Module Appendix B: Event ControlDelta Computer Systems, Inc 360/254-8688 95Appendix B: Event ControlIntroductionThe Event

Appendix B: Event Control MMC120 Linear Motion Control Module96 Delta Computer Systems, Inc 360/254-8688MODEACCELDECELSPEEDCOMMAND VALUECOMMANDLINK NE

MMC120 Linear Motion Control Module Appendix B: Event ControlDelta Computer Systems, Inc 360/254-8688 97Linking StepsLink NextLink Next is the number

Appendix B: Event Control MMC120 Linear Motion Control Module98 Delta Computer Systems, Inc 360/254-8688Link Type b - Status bit offThis Link Type cau

MMC120 Linear Motion Control Module Appendix B: Event ControlDelta Computer Systems, Inc 360/254-8688 99Enhanced Link TypesEnhanced Link Types provide