Industrial Indexing Systems MSC-250 Manuale utente
IB-11B012
MOTION CONTROL SYSTEMS, MSC-250 AUGUST 1998
MSC-250
2½-AXIS
SERVO
CONTROLLER
USER’S GUIDE
INDUSTRIAL INDEXING SYSTEMS, Inc.
Revision - C
A
pproved By:
Proprietary information of Industrial Indexing Systems, Inc. furnished for customer use only.
No other uses are authorized without the prior written permission of
Industrial Indexing Systems, Inc.
ER-6013
ERRATA SHEET, IB-11B012 REV. C MARCH 2003
INDUSTRIAL INDEXING SYSTEMS, Inc.
626 Fishers Run
Tel: (585) 924-9181 Victor, New York 14564 Fax: (585) 924-2169
Date Rev. ECN No. DR CHK CHK
01/08/99 0 ECN-98-430 (See Note 1) RB
02/11/99 A ECN-99-043 (See Note 2) KY CD
03/27/03 B ECN-03-147 (See Note 3) KY WS
Notes:
1) Added Appendix C - Declaration of Conformity
2) Section 1, page 1-22, dated February 1999, supersedes Section 1, page 1-22
dated August 1998.
3) Section 1, pages 1-13, 1-15 and 1-22, dated March 2003, supersedes Section 1,
pages 1-13, 1-15 and 1-22, dated August 1998. Removed Declaration of
Conformity and U.L. Recognized Product pages.
Proprietary information of Industrial Indexing Systems, Inc. furnished for customer use only. No other uses are
authorized without the prior written permission of
Industrial Indexing Systems, Inc.
INDUSTRIAL INDEXING SYSTEMS, INC. IB-11B012
MOTION CONTROL SYSTEM, MSC-250 USER'S GUIDE
AUGUST 1998 TABLE OF CONTENTS iii
TABLE OF CONTENTS
List of Illustrations................................................................................................................. v
Introduction.......................................................................................................................... vii
SECTION 1 - DESCRIPTION
1.1 Indexing Drive System Overview ............................................................. 1 - 1
1.2 System Functions..................................................................................... 1 - 5
1.2.1 Axis Control.............................................................................. 1 - 5
1.2.1.1 Position Feedback.................................................. 1 - 6
1.2.1.2 POS OUT Signal..................................................... 1 - 8
1.2.1.3 Pseudo Axis............................................................ 1 - 8
1.2.1.4 Master Angle Buses................................................ 1 - 8
1.2.2 Analog Input/Output Channels................................................. 1 - 9
1.2.3 Input/Output Modules............................................................. 1 - 10
1.2.4 Programming.......................................................................... 1 - 12
1.3 Components ........................................................................................... 1 - 13
1.3.1 Status Indicators..................................................................... 1 - 13
1.3.2 Connectors............................................................................. 1 - 14
1.3.3 Selector Switches................................................................... 1 - 16
1.3.4 Test Points and LED Indicators.............................................. 1 - 18
1.4 Specifications.......................................................................................... 1 - 22
1.4.1 Physical Characteristics......................................................... 1 - 22
1.4.2 Performance Characteristics.................................................. 1 - 22
1.4.3 PROMs................................................................................... 1 - 23
1.4.4 Analog Input Channels........................................................... 1 - 23
1.4.5 Input/Output Modules............................................................. 1 - 24
SECTION 2 - INSTALLATION
2.1 Mounting................................................................................................... 2 - 1
2.2 Electrical Connections.............................................................................. 2 - 3
2.2.1 Input/Output Modules............................................................... 2 - 4
2.2.2 System Interconnections.......................................................... 2 - 5
IB-11B012 INDUSTRIAL INDEXING SYSTEMS, INC.
USER'S GUIDE MOTION CONTROL SYSTEM, MSC-250
iv TABLE OF CONTENTS AUGUST 1998
SECTION 3 - OPERATION
3.1 Control Program ....................................................................................... 3 - 1
3.1.1 Programming Considerations .................................................. 3 - 1
3.1.2 Load Macroprogram To Memory............................................. 3 - 2
3.1.2.1 Load Program From MSC Tool Kit......................... 3 - 3
3.1.2.2 Load Program From PROM ................................... 3 - 5
3.2 Controller Use and Status ........................................................................ 3 - 6
SECTION 4 - MAINTENANCE AND TROUBLESHOOTING
4.1 Component Replacement......................................................................... 4 - 1
4.1.1 Battery Replacement................................................................ 4 - 1
4.1.2 Firmware Replacement............................................................ 4 - 2
4.2 Troubleshooting........................................................................................ 4 - 4
4.2.1 Basic System Checks .............................................................. 4 - 4
4.2.2 System Tests............................................................................ 4 - 6
4.2.2.1 Velocity Loop Test.................................................. 4 - 6
4.2.2.2 Position Loop Test.................................................. 4 - 8
4.2.2.3 Encoder Test........................................................... 4 - 9
4.2.2.4 Encoder and Power Supply Test.......................... 4 - 10
4.2.2.5 Fiber Optic Light Transmission Test..................... 4 - 13
SECTION 5 - APPENDIX
APPENDIX A - Glossary
APPENDIX B - Macroprogram Commands
INDUSTRIAL INDEXING SYSTEMS, INC. IB-11B012
MOTION CONTROL SYSTEM, MSC-250 USER'S GUIDE
AUGUST 1998 LIST OF ILLUSTRATIONS v
LIST OF ILLUSTRATIONS
SECTION 1 - DESCRIPTION
Figure 1.1 - Basic Indexing System ....................................................... 1 - 1
Figure 1.2 - Position Loop...................................................................... 1 - 2
Figure 1.3 - Velocity Loop...................................................................... 1 - 3
Figure 1.4 - Typical Encoder Pulse Patterns.......................................... 1 - 7
Figure 1.5 - Analog Input and Output Channel Block Diagrams........... 1 - 10
Figure 1.6 - Input/Output Module Locations......................................... 1 - 11
Figure 1.7 - Connectors and Status Indicators..................................... 1 - 13
Figure 1.8 - ADDRESS and MODE Selector Switches ........................ 1 - 16
Figure 1.9 - Circuit Board Test Points.................................................. 1 - 18
Figure 1.10 - Axis 1 Test Points and Indicators...................................... 1 - 19
Figure 1.11 - Axis 1 and Axis 2 Test Points and Indicators.................... 1 - 19
Figure 1.12 - Voltage Test Contacts ...................................................... 1 - 20
Figure 1.13 - Low Input Line Power Indicator......................................... 1 - 21
SECTION 2 - INSTALLATION
Figure 2.1 - Mounting Dimensions ......................................................... 2 - 2
Figure 2.2 - Input and Output Module Connections ............................... 2 - 4
Figure 2.3 - Programmable Input/Output Connections Label................. 2 - 5
Figure 2.4 - Typical System Interconnections........................................ 2 - 6
Figure 2.5 - Encoder Cable Connector Pinouts...................................... 2 - 7
Figure 2.6 - Command Line Connector Pinouts..................................... 2 - 7
Figure 2.7 - PORT 1 Pinouts.................................................................. 2 - 8
Figure 2.8 - PORT 2 Pinouts.................................................................. 2 - 9
Figure 2.9 - PORT 3 Pinouts.................................................................. 2 - 9
Figure 2.10 - Analog Channel Connections ............................................. 2 - 9
Figure 2.11 - Typical Analog Input/Output Channel Connections .......... 2 - 10
SECTION 3 - OPERATION
Figure 3.1 - ADDRESS and MODE Selector Switches .......................... 3 - 3
Figure 3.2 - Main System Status and Fault Codes................................. 3 - 7
Figure 3.3 - Axis Status and Fault Codes............................................... 3 - 8
IB-11B012 INDUSTRIAL INDEXING SYSTEMS, INC.
USER'S GUIDE MOTION CONTROL SYSTEM, MSC-250
vi LIST OF ILLUSTRATIONS AUGUST 1998
SECTION 4 - MAINTENANCE
Figure 4.1 - Battery Holder................................................................... 4 - 2
Figure 4.2 - Firmware Locations .......................................................... 4 - 3
Figure 4.3 - Controller Circuit Board Test Points................................. 4 - 5
Figure 4.4 - Controller Connectors....................................................... 4 - 6
Figure 4.5 - Typical System Interconnections.................................... 4 - 12
SECTION 5 - APPENDIX
APPENDIX A - Glossary
APPENDIX B - Macroprogram Commands
INDUSTRIAL INDEXING SYSTEMS, INC. IB-11B012
MOTION CONTROL SYSTEM, MSC-250 USER'S GUIDE
AUGUST 1998 INTRODUCTION vii
INTRODUCTION
The Industrial Indexing Systems Motion Control System MSC-250 is a microprocessor-
based, position-loop controller. It is a dual 32-bit technology, 2½-axis, closed-loop
controller that works with separate servo drives, motors, and encoder feedback devices to
accurately fix the position of the motor shafts.
The MSC-250 controller is part of the MSC family of controllers and peripheral equipment
produced by Industrial Indexing Systems. It uses the same Macroprogram control
language already familiar to users of the MSC-850 family of controllers and is fully
compatible with this family of controllers.
This manual describes proper installation, operation, and troubleshooting procedures for
the MSC-250 controller. The manual assumes no prior knowledge of Industrial Indexing
System equipment. It does assume knowledge of proper mechanical, electrical, and
electronic maintenance and safety procedures. If the equipment is used in a manner not
specified in this manual, the protection provided by the equipment may be impaired.
Information in this manual is subject to change without prior notification.
The manual uses a variety of highlighted blocks to emphasize important information.
Always pay careful attention to this information. The types of highlighted blocks used are:
WARNING
USED TO ALERT THE READER TO ACTIONS OR CONDITIONS
WHICH MIGHT PRESENT HAZARDS OR CAUSE INJURY TO
PERSONNEL.
CAUTION
USED TO ALERT THE READER TO ACTIONS WHICH MIGHT CAUSE
LOSS OF MATERIALS OR DAMAGE TO EQUIPMENT.
NOTE
Used to identify unusual or unexpected conditions or to point out the
need for alternate procedures. It is also used for emphasis when a
CAUTION or WARNING is not required.
This manual describes the controller and some related devices. For completeness, this
manual also describes various aspects of related feedback devices and drives. However,
as sold, the MSC-250 controller only includes the controller, a line cord, and manual. All
other items are optional ⎯and must be specified separately ⎯to allow total design
flexibility. Connecting cables can be specified with any desired length (although there are
IB-11B012 INDUSTRIAL INDEXING SYSTEMS, INC.
USER'S GUIDE MOTION CONTROL SYSTEM, MSC-250
viii INTRODUCTION AUGUST 1998
some limits on communication and feedback cable lengths) or with just connectors and no
cable for user assembly.
Industrial Indexing Systems fully supports all equipment it manufactures and supplies. If
there are any problems with this equipment or if assistance is required for installation or
operation, contact our Integrated Technical Services Department.
Assistance and training is available in our factory, for a fee. In addition, Industrial Indexing
Systems can custom configure controllers for O.E.M. applications.
INDUSTRIAL INDEXING SYSTEMS, INC. IB-11B012
MOTION CONTROL SYSTEM, MSC-250 USER'S GUIDE
MARCH 2003 DESCRIPTION 1 - 1
SECTION 1 −DESCRIPTION
The Industrial Indexing Systems MSC-250 is a microprocessor-based, position-loop servo
controller. It is a dual 32-bit technology, 2½-axis, closed-loop servo controller that works
with separate servo drives, motors, and encoder feedback devices to accurately fix the
position of the motor shaft.
1.1 INDEXING DRIVE SYSTEM OVERVIEW
An indexing drive system (or indexing system) may be used in a variety of applications
where accurate movement or positioning is required. A basic single-axis system consists
of eight main components as illustrated in Figure 1.1.
1. Input Device: The input device provides data to the controller. It is the
interface between the operator (or system computer or
programmable logic controller) and the indexing system. In
a given system, there may actually be several input devices.
2. Controller: The controller receives data from the input device and issues
commands to the drive. It also accepts information from the
feedback device. The programming and settings of the
controller determine what types of commands are issued to
the drive in response to the data inputs and feedback.
Figure 1.1 - Basic Indexing System
IB-11B012 INDUSTRIAL INDEXING SYSTEMS, INC.
USER'S GUIDE MOTION CONTROL SYSTEM, MSC-250
1 - 2 DESCRIPTION MARCH 2003
3. Actuator: The actuator supplies the signal which causes the controller
to initiate the specified sequences. It may be a separate
device or part of a computer program from the Input Device.
4. Power Supply: The power supply converts AC input power into DC power
and conditions this secondary power so it can be used by
the drive.
5. Drive: The drive (also called a servo-amplifier) amplifies a low
voltage velocity command signal from the controller into the
necessary voltage and current to cause the motor shaft to
rotate. The amount of power and polarity (positive or
negative) of the voltage supplied to the motor is determined
by the command signals from the controller.
6. Motor: The motor is the device being controlled by the indexing
system. The system controls the amount and speed of
motor shaft rotation.
Figure 1.2 - Position Loop
Indice
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