Superior Electric SLO-SYN Micro Series Manuale utente

The Only Factory Authorized Repair Center for Superior Electric Stepper Drive & Motor Repair

Motor Systems Inc.

460 Milford Parkway

Milford, OH . 45150

www.motorsystems.com

513-576-1725

PRICE:

$25.00

ecticut

060110-7488

1987

The Superlor Eleclr~c

Company

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The following are the minimumsteps necessary for the Packaged

become operational.

FAILURE TO PERFORM THESE

RESULT IN DAMAGE TO THE UNIT.

DRIVE

Connect 120volts ac, 50160 hertz to the AC input terminal strip.

The terminal labeled "H" ishot,"C" iscommonand

"G"

isground,

Check to see that the motor used is compatible with the drive. A

list of compatible motors is given in Section 3.3 of this manual.

Set the correct current level for the motor being used per the

instructions in Section 3.8 of this manual.

Wire the motor per Section 2.2, "Motor Connections" in this

manual.

Caution:

always disconnectthe ac power tothe unit when con-

nectingordisconnectingthe motorconnectororleads.

Becertain

the "PWR ON" LEDisOFFbefore unpluggingthe motorconnec-

tor, or the drive will be damaged.

Caution:

The motor and drive must always be

grounded

during

operation. Be sure to twist the wires for each motor phase. Six

twists per foot is a good guideline.

Connect parallelinterfacedatatoJ5andserialdatatoJ4.TheSSP-

100 lndexer Programmer is a parallel interface device and the

SSP-500 lndexer Programmerisaserial interfacedevice. Referto

Sections 4 and 5 of the manual for information and operating in-

structions.

This instruction manual MUST BE READ IN ITS ENTIRETY to

correctlyoperate the indexer.This ExpressStart-Up Procedure

only highlightsthe important itemsnecessaryto ensure correct

operation of the Indexer.

Be certain that your signals which communi-

cate with the lndexer meet the following specifications (moredetails

are found in Section 3.6 of this manual).

SERIAL (RS232) OPERATIO

Be certain that the following signal speci

fications are met:

RS232 s~gnalcharacterrstics:

Outputvoltage swing:

Vdc minimum:

ltlO

Vdc maximum

lnput voltage range: -30Vdc mlnimum: t30Vdc maximum

2. CONNECTIONS

The serial port (9-pin "D" connector) is

designated as follows:

Pin ssignment

Signal Common

RS232Chain Out

RS232 Receive Data

Signal Common

6232Echo

RS232 Chain In

t5Vdc

Connectthe hostcomputer or terminal as shown in Figure 2.4 of this

manualforsingle indexer interfacingoras inFigure 2.5fordaisy-chain

operation,

Use caution when connecting the indexer to the host

device as

Vdc ispresent onthe connector.

Only usethe t5Vdc for

operation with the SSP-500 hand-held pendant. This connection is

already made in the cable.

3. COMMUNICATIONS

Configure the RS232 communication

parameters to correspond to the protocolof the host device.

TheindexerutilizestheXonKoff handshakingtechnique which

should be followed to ensure proper serial communications.

The indexer must

addressed with the proper attention

character(e.g., "<")and thedevice identificationnumber (e,g.,

indexer#Ol)that iscontained inparameterL21toinitiatecom-

munications.

PROGRAMMING

Always program L70, the step resolution

parameter, first, followed bythe remainder of the parameters.

Carefully read Section 4toimplementthe powerful andvaried

instruction set. Factorydefaults have been set for your unitto

aid infirst-timeoperation.These are listed inSection4.3ofthe

manual.

EXECUTION

The indexer executes its program based onthe

present settings of the various modes. If program or manual

operations are notcorrect,verify the modeandparameterset-

tings. The Trace mode isavaluable aid inobserving program

operation.

Ifthe motor operates erratically, the motion parameters may

need adjusting.

PARALLEL OPERATION

SPECIFICATIONS-

Be certainthatyoursignalswhich commu-

nicatewiththe indexermeetthefollowingspecifications (more

details are found in Section 3.6 of the manual).

lnput Characteristics:

High Level (inactive) Voltage: 4.5Vdc minimum, t15.0 Vdc

maximum

High Level Current:

milliampere maximum leakage

Low Level (Active) Voltage: tO.O Vdc minimum, t6.5 Vdc

maximum

Low Level Current: 3.5milliamperes maximum

Output Characteristics:

High Level (inactive) Voltage: t24.0 Vdc maximum,open

collector

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High Level Leakage Current: 250 microamperes maximum

leakage

Low Level Output: t0.4 Vdc at 16milliamperes sink current

+0.7Vdc at 40 milliam~eressink current

CONNECTIONS

-The parallel signals are obtained via the 25-

pin "D" type connector. The pin assignments are as follows:

Pin Assignment

Signal Common 14

D7 Input* 15

D5 Input* 16

03 Input* 17

Dl Input* 18

Motion Busy*? 19

Strobe 7* 20

Strobe 5* 21

Strobe 3" 22

Strobe 1

Output 2*t 24

All Windings Off Output't 25

Direction Outputet

Signal Common

05 Input*

D4 Input"

D2 lnput*

DO Input*

Not Used

Strobe 6*

Strobe 4*

Strobe 2*

Strobe O*

Output

Pulse Output*t

Signals are active when low, inactive when high

Open collector output.

An example of aswitch panel interface is displayed inFigure 5.2. The

diodes must be included

for the indexer to operate successfully.

COMMUNICATIONS

Proper parallel operation mustobserve

the timing requirements as shown in Figure 5.3. The LO7

parameterdetermines the timingofthe strobesduringthe load

sequence.

PROGRAMMING

170.the step resolution parameter, must

be programmed first, after which the rest of the parameters

may be programmed. Carefully read Sections 4 and 5 of the

manual to learn how to implement the powerful and varied

instruction set. Factory default values have been set for your

unit to aid in first-time operation. These default values are

listed in Section 4.3 of the manual.

-The indexer executes based on the present

settings of the various modes. If program or manual opera-

tions are notcorrect, verify the mode and parameter settings.

General Comments

SLO-SYN MicroSerlesdrives use modernsolld-state electronics such

as microprocessors to provide the features needed for- advanced

motion control applications. In some cases, these applications pro-

duce electromagnetic interference (EMI, or electrical "noise") that

may cause inappropriate operation of the microprocessor logic used

inthe MicroSeries product, or inany other computer-type equipment

inthe user's system.

This guide is aimed toward helping users avoid such problems by

applying"good engineering practices" when designingtheir systems.

Followingthese guidelines will usually prevent EM1 noise from inter-

fering l~ithdrive operation.

Noise Sources

What causes electrical norse? Ingeneral, any equrpment that causes

arcs or sparks or that switches voltage or current at high frequencies

can cause interference. Inaddition, ac utility lines are often "polluted"

with electrical noise from sources outside a user's control (such as

equipment inthe factory next door).

The following are some of the more common causes of electrical

interference:

power from the utility ac line

relays. contactors and solenoids

hght dimmers

arc welders

motors and motor starters

induction heaters

radio controls or transmitters

sw~tch-modepower supplies

If the motor operates erratically, adjust the motion parame-

ters.

FUSE AND MOTOR CONNECTOR PART NUMBERS

FOR

3180

SERIES UNITS

FUSE:

Littelfuse part number 225005

2AG. 5 amperes. 125volts, fast acting

MOTOR CONNECTOR

(mates with female motor connector on

drive)

Male connector body: AMP part number 206434-1

Pins

required):AMP part number 66506-8

Cable clamp: AMP part number 206062-1

computer-based equipment

high frequency llghting equipment

dc servo and stepper motors and drives

Ill

Mounting Location

When selecting a mounting location ~tis preferable to keep the drive

away from obvious noise sources such as those listed above If

possible locatethe drive in rts own metalenclosure to shield itand its

wrmg from noise sources If this cannot be done keep the dr~veat

least three feet from any nolse sources

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WHEN

MOUNTING

EXER,

SURE TO

PROVIDE

SOLID,

AN CONNECTION

AND

ENCLOSU

P THESE WIRES

INPUT

SINGLE POINT

GROUND

TWI

SEE

NOTE

SEE NOTE

BE SURE TO KEEP

AND

AC POWER WIRING

CONNECTOR

TYPE

15(FEMALE)

OOPER INDUSTRIES,

USSMAN CORP.

NOTES:

Recommended Cable Types

Superior Electr~ccable part numbers

215851 007 5

feet

(1 5

meters) Ions

21 5851 008 10

feet

meters) long

Superior Electric cable part numbers

215801 216066 001 216067 001

216022 001

etc (see catalog for details

Typ~caltypes

Alpha

6073 2463 45491 451271

Belden

8767 9406 88641 88761

Carol

C1350 C1352 C1353

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Wiring Practices

"Dos and Don'ts"

the folloviing when installing or wiring your drive or indexer

keepthe drive and itswiring asfar awayfrom noisesources

as possible

provide a good solid ground connection to the ac system

earthgroundconductor Bondthedrivecase tothe system en-

closure

use a srngle-point grounding scheme for ail related corn-

ponents of a system (this looks like a hub and spokes ar-

rangement)

keep the ground connection short and direct

use

line filter on the ac input (Corcorn type

10B1 10S1

lOK1

or eqwalent)for noisy ac lines Particularly bad ac

lines inay need tobe conditioned with a ferroresonant type

isolation transformer to provide clean powerto the drive or

indexer

keep signal and drive wiring well separated If the wires

inustcross they should dosoat rightanglesto minimizecou-

pling Powerwiring includes ac wiring motor wiring etc and

srgnal wiring includes inputsand outputs (110) serialcoinrnu-

nicatrons

(RS232

lines) etc

use separate conduits or ducts for signal and I10 wiring

Keep all power wiring out of these signal line conduits

use shielded twisted-pair cables for indexer

110

lmes

ground shields only at

one end

the indexeridri~eend

use twisted-pair shielded cable for the motorwiring

use solid-state relays insteadof electromechanical contact

types wherever possible to minimize noise generat~on

suppress all relays to prevent noise generation Typical

suppressors are capacitors or MOVs See manufacturers

lrterature for complete

information

Do not

do the following when installing your drive or indexer:

Do not

install sensitive computer-based equipment (such as

an indexer1drive) near a source of

electromagnetic

noise.

Do not

bundle power and signal lines together.

Do not

bundle motor cables and signal lines together.

Do not

fail to use shielded. twisted-pair cables for signals.

Do not

fail to properly connect the system grounds.

Do not

use "daisy-chained" grounds.

Do not

fail to ground signal cable shields at only one end.

Do not

assume that power from the ac line is adequately

"clean".

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Line Filter

Use of anAC lhnefilter on

and

Ser~esdrlves

isrecommended.

Asuitable filter isincludedwitheach unitsupplied forsale inNorthAmerica.

Proper installation of the

Line Filter is essential

WARNING: Improper installationof the ac linefilter may cause electrical shock, which could result indeath, serious bodily

injury or property damage. To avoid electrical shock:

*The ac line filter must be installed by qualified personnel. Typical methods of locating and installing the line filter are

shown in Figures

and

*The ac line filter must be firmly fastened near the Indexer. Failureto do so may result indamage to the filter andsystem.

*The installer must properly insulate and protect the ac connections to assure that the wires are not exposed. Exposed

wires could cause electrical shock, resutting in death, bodily injury or property damage.

If you have any questions regarding installation of the line filter, contact an electrician before installingthe device.

For best performance:

The wlre between the Filter and the Drive should be less than two feet

(0.61

meter) long

Proper AC Line Filter Connections

Troubleshooting Guide

Electricalinterference problemsare common with today's computer-based controls, and such problemsare often difficult to diagnose and cure.

If such a problem occurs with your system. it is recommended that the following checks be made to locate the cause of the problem.

Check the quality of the ac line voltage using an oscilloscopeand a line monitor. such as the Superior Electric

VMS

series. Iflinevolt-

age problems exist, use appropriate line conditioning, such as line filters or isolationtransformers.

Be certaln all of the previous Do's and Don'ts are followed for location, grounding, wring and relay suppression

Double check the grounding connections to be sure they are good electrical connections and are as short and direct as possible.

Try

operating the drive wlth all suspected noise sources switched off Ifthe drlve functions properly switch the noise sources onagain

one at a time and try to Isolate whlch ones are causingthe Interference problems When a noise source is located try rerouting wirlng

suppressing

relays or other measures to eliminate the problem

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FIGURE

Filter installed On Fabricated Plate Mounted On Indexer

FIGURE

Filter Mounted Adjacent To Indexer

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PAGE PAGE

PRECAUTIONS

4.1.3 Programming Chart

-.-

4.2 Immediate Commands

Clear 19

WARNINGS CAUTIONS. LIMITS OF USE. ETC 9

SECTION

INTRODUCTION

1.1 Features Overview 10 Freehold 19

1.2 Inspection parts list 10 Device Attention Character 19

1.3 Usingthis manual 10 Cycle Stop 19

1.3.1 Organization

Backspace and Delete 19

1.3.2 Logic voltage and programming conventions 10 Delete Line 19

1.3.3 Indicator lights and AC fuse 10 4.3 L Codes: Indexer Parameters 19

SECTION

MOUNTING, CONNECTIONS

PIN ASSIGNMENTS

L06, Program Execution Format

2.1 Mounting 11 107, Strobe Delay Time 20

2.2 Motor connections 11 L08, Mechanical Home Direction 20

2.3 Connection Diagrams 13 L09, Jog Speed 20

2.3.2 J2: Motor 13 L12. Low Speed 21

2.3.3 J3: Power lnuut

L14, Home Speed 2

2.3.4 34: Parallel

110

2.3.5 J5: Serial

110

117,Offset Direction and Distance from

Mechanical Home 21

L18, Clockwise Software Travel Limit 21

2 4 Serial Communication Connection Diagrams

2 4

Single lndexer System 119. Counterclockwise Software Travel Limit

2 4 2 Multiple lndexer System

2 5 Memory Protect Switch

L21. Assign Device Identification Number

L22, Baud Rate 22

SECTION

SPECIFICATIONS

L23, Character Length 22

3 1 Drive Description

3 2 Drive Performance

3 3 Motor Compatibility

---

3 4 Drive Mechanical Specifications 15

L25, Parity 22

126, Indexer Ready Acknowledge 22

141,Auto Start Line Number 2

L44 Program Line Delay

L45 Limit Switch Enable 23

3.5 Electrical Specifications 15

351

lnput

3 5 2 Output to Motor

L48. Program Line Transfer Count 23

L49, Parameter Transfer Designation

170,Translator Resolution 23

3 6 Micro-Series-Indexer 110 Signal Interfaces

3 6 1 Parallel I10 4 4 Codes Commands for Modes of Operation

HI Cycle Start

3 6 1 1 Parallel Output Characteristics 16

3 6 1 2 Parallel lnput Characteristics

3 6 2 Serial I10 16

H2 Step Mode

H3 Jog Mode

3.7 Environmental Specifications 16 H4. High Speed Mode 24

8 Current Settings

GUIDE

General Programming Comments 17

H5. Low Speed Mode 24

H6. Turn in CW Direction

Hi.turn in CCW Direction

H8 Return to Electrical Home 24

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G36 Strobe

Code Data PAGE

---

H9,Set Electr~calHome

HI0 Return to Mechanical Home 24 G37 Strobe N Code Data 31

HI1,Clear Present Program Line 25 G47 Set Output 32

HI2. Clear Program 25 G64 Enable Reduced Current

---

G65 Cancel Reduced Current 32

H13. Transmit Contents of Present Program L~ne 25

HI4 Transm~tProgram

H15, Transmit The Current Program Line Number 25

G66 Enable Boost Currerlt 32

G67 Cancel Boost Current 32

H16, Transmit Parameters 25 G68 Enable All Wmdings Off

G69 Cancel All Windings Off 32

H17, Transmit Absolute Position 26

HI8, Transmit Motion Status 26 G76 Return to Electrical Home

G77 Set Electrical Home 32

HI9,Transmit Mode Status 27

H20,Transmit I/O Status 28

H23, Transmit Software Revision Date 28

G78 Return to Mechanical Home

G90 Absolute Mode 32

H24, Enable Trace Mode 28 G91, Incremental Mode 32

H25, Disable Trace Mode 28 4.6 Sample Program 33

4 5 Programming Codes

N Codes Line Number 28

4.7 Code Assignment Tables 34

SECTION

OPERATING INSTRUCTIONS 36

Codes, Move Direction and Distance 28

1 Overview

5 2 Operation from a Sw~tchPanel

Codes, Feedrate

5.3 Operation from a Remote Terminal 41

GCodes ProgrammableCommands

GO4 Dwell Time 29

GI1 Call a Subrout~ne

G20 Conditional Branch

G22 Wait for Input 30

5.4 Operation from a Host Computer

SECTION

SPEEORORQUECURVES

6.1 Motor Performance 49

SECTION

TROUBLESHOOTING

G30, Returnfrom Subroutine ProgramLine 31 Summary of Codes

Program Worksheet 54

G31. Program Stop 31

*Do not connect or disconnect motor or signal cables while AC

power is applied.

00not use J1 connector (15-pin "0" connector).

Do notexceed specified input voltage.

*Do not operate unit without the enclosures in place, as high

voltages are present.

WARNINGS

Voltagespresent inthisunitcancauseserious orfatalinjury. Only

qualified personnel should install or perform servicing proce-

dures onthis equipment.

Voltage ispresent on unprotectedpins when unit is operational.

No short circuit protection for motor outputs is provided in this

unit. The AC input is internally fused.

Before makingchanges to the motor or controlwiring, turn off all

power to the unit, and disconnect itsAC power source.

Allowat leastten minutesforcapacitors to discharge as they will

remain at high voltages for several minutes after power is re-

moved.

LIMITS OF USE:

Reconfiguration of the circuit in any fashion not shown in this

manualwill void the warranty.

NOTES:

Clockwise and counterclockwise directions are properly ori-

ented when viewing the motor from the label end.

2. Whenconnectingthe unitto aterminalor hostcomputer, besure

to make note of the RS232 configuration and Micro-Series

Indexer device address.

Care mustbe taken when connecting this unitto a host computer

or remoteterminal as a +5VDC voltage source is present on the

RS232 connector. Follow instructions carefully.

The

connector (15pin"D" connector) isnotto beusedfor any

purpose.

*Assure motor compatibility before using the unit.

*Observe all cooling and temperature limitations. Heat sink

temperaturemustbemaintainedbetween Oand80degrees C. (32

and

176

degrees F). Unit must not be operated in ambient tern

peraturebelow 0 degrees C(32 degrees F) or above 50degrees

(122 degrees F).

AllWindings Off shouldbeusedwithcaution, asallholdingtorque

is lost.

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