VELMEX VXM-3 Manuale utente

Important User Information

This information is for the end user of Velmex VXM Stepping Motor

Controllers.

VXM Stepping Motor Controller User’s Manual

VXMSteppingMotorController

ThisManualexplainsthegeneralandadvancedoperationoftheVXM-1,VXM-2,VXM-

3,andVXM-4steppingmotorcontrollers.

AlsoincludedontheCDROM:

1. COSMOSutility/controllersoftware(AuserfriendlyWindowsprogramforeasy

setup,testing,andprogrammingofVXMcontrollers)

Softwareexamplesandsoftwaredrivers

User’s Manual

(ExtendedVersion)

Models VXM-1,2,3,4

Document#VXM-UM-E5 12-29-04

CAUTION:

ControllerandACpowersupplyshouldbeoperatingina

wellventilatedarea. Donotuseinawet,dirty,orexplosive

environment. Inindustrialenvironments,repackaginginto

aNEMAgradeenclosureisrequired.

Donotdisconnectmotorwhilerunning.KeepMotorand

Limitcablesminimumof2”apart.Onlyoperatewith

designatedmotor.Donotaltercablesinanywaywithout

firstconsultingVelmex

!WARNING:

TO REDUCE THE RISK OF ELECTRICALSHOCK, DO

NOTATTEMPT TO REMOVE COVERS ON POWER

SUPPLYOR CONTROLLER. THEREARE NO USER

SERVICEABLE PARTS INSIDE.Anyservicingshouldbe

donebyVelmexqualifiedservicepersonnel.

CAUTION:

THE VXM MUST BE SET TO THE EXACT

MODEL/TYPE MOTOR(S) BEFORE

OPERATING.

IMPROPER SETTINGS CAN CAUSE

SEVERE DAMAGE TO MOTORSAND

CONTROLLER.

UseVelmexCOSMOSsoftwareto

configureVXMbeforeuse.

CAUTION:

MOTOR(S) GET HOT WHEN RUNNING.

Motor(s) must be mounted to a metal surface

to dissipate internal heat.

Precautions

!!

CAUTION

Mismatched Motor

Settings Damage

Motor & Controller

:KHQ&RQQHFWLQJ

0RWRU6HW&RQWUROOHUWR

WKHH[DFWPRWRUPRGHO

W\SHEHIRUHRSHUDWLQJ

Motors mounted to Velmex actuators/positioners will usually provide

sufficient heat dissipation. Motor surface temperature should not exceed

152F (70°C.) In continuous duty applications when the motor is not

mounted to a suitable heat dissipating device, motor surface temperature

could exceed

152F (70°

°C.)

Table of Contents

Precautions.........................2

Features..............................4

Front VXM...........................5

Back.VXM...........................5

RS-232Port........................5

AuxiliaryI/O.........................6

Motorwiring........................6

LimitSwitchwiring..............6

Setup...................................7

JogMode............................7

OptionalJoystick.................7

CommunicationMethods....8

LinkingVXMsfor 3 & 4

Motors...............................10

Units&Directions..............11

CommandSummary

(CommonCommands)......12

CommandSummary

(AdvancedCommands)....14

CommandReference

(CommonCommands)......16

.........16

...................19

...................20

...................22

...23

....................24

.........25

Examples..........................26

Troubleshooting................30

Specifications....................31

COSMOSSoftware...........31

Warranty...........................

ContactInformation..........

MotorCommands

ProgramManagement

Commands

Looping/Branching

Commands

Pausing&I/O

Commands

OperationCommands

StatusRequest

Commands

SetupCommands

AppendixA

AppendixB

AppendixC

AppendixD

AppendixE

AppendixF

AppendixG

ComplexProfiles&CoordinatedMotion...4

AppendixH

AppendixI

AppendixJ

AppendixK

AppendixL

AppendixM

AppendixN

AppendixO

AppendixP

AppendixQ

AppendixR

AppendixS

AppendixT

Editing/DebuggingTools.........................32

AdvancedInput/Output...........................34

TheMultifunctionUserInputs.................38

ProducingTriggerOutputs.......................

GettingMotorPositionWhenMoving......4

MoreFeedback/Precision.......................4

AdvancedJogMode................................

TheAnalogInput.....................................5

TheAnalogJoystickOption.....................5

I/OElectricalSpecifications.....................

MotorTorqueCurves...............................6

AdvancedMotorSetup.............................6

LimitSwitchesandHomeSwitches.........6

ControllerMode.......................................

VXMComparisontoNF90/VP9000........

OutlineDimensions...................................7

ModelConfigurations................................

Pick-and-PlacewithJM-x..........................

Stand-aloneMethodstoSelect/Alter

Program......................................................

Features

TheVXMisahighperformance,advanceddesignsteppingmotorcontroller.

Highreliability,andconsistentperformanceareachievedbythesedesign

features:

Singlechipmicrocontroller(MCU)digitallycontrolsthemotorphaseswitching

andallotherinterfacefunctions(noisesensitivestepanddirectiontranslation

circuitryareeliminated)

PulsewidthmodulatedtimingispresetbytheMCU,eliminatingerrorprone

analogfeedbackcircuits

Regulatedpowersupplywitha100to240VACinputrangeassuresconsistent

motoroutputtorque

4Xoversizemotordrivesforlonglifeandoverloadtolerance

AsingleVXMcanacceptandexecutecommandsforoperating4motors

CompleteController/Indexer/Driver/ACPowerSupplywithRS-232interface

Modulatedcurrentcontroldrivehaslesslowspeedvibrationthantypical400

step/revcontrollers

Nonvolatilememoryforuserprogramstorage

IncludedexternaldesktoptypepowersupplyisUL,CE,CSA,andTUVsafety

agencycompliant

Oneandtwomotorversions.Threeandfourmotorcapabilitywithtwo

ControlslinkedbytheVXMbus

BackwardcompatiblewithVelmexNF90andVP9000StepMotorcontrollers

Userprogrammableinputsandoutputs

10bitanaloginputforexternalsensor,settingspeed,orforanalogjoystick

control

Runs6or8leadpermanentmagnetstepmotorsratedfrom0.4to4.7amps

Jog,Run,andStopinputbuttonsonfrontpanel

UseinteractivelywithaPCorrunstandalone

Opticallyisolatedlimitswitchinputs

Userresettablecircuitbreakerprotected

Softwaresettablemotorpowerandmotormodelselection

Lowvoltage24VDCoperation

Energysavingdesign,automaticallyde-energizesmotorsatastandstill,

consumingonly1.4watts

FIFObuffertocapturemotorpositionsonexternaltrigger

Specialcommandsformatrix/arraypatternsandpick-and-placeapplications

Conditionalcommandstoskipornottoskipnextcommandoninputstate

CoordinatedmotionwithtwoVXMs

Complexmotionprofileswith“continuousindexmode”

RS-232 Port

RS-232

9876

TheRS-232portwillconnectdirectlytoaCOM

portofaPCwithastraightthrough9pinserial

cable(10footcableincludedwiththeVXM.)

PinAssignments:

1N/C

2Tx

3Rx

5Gnd

9N/C

N/C=NoConnection

OverCurrent

Protection

ExternalDCPowerSupply

InputConnection

(ToLambda

DT60PW240P)

SerialRS-232Port

CabletoMotor1

CabletoMotor2

CabletoLimit

SwitchesforMotor1

CabletoLimit

SwitchesforMotor2

AuxiliaryInputs

andOutputs

Rear

HostComputer

ControlledIndicating

LED

PowerSwitch

(Pressrightside

isOn)

Power

IndicatingLED

StartInternal

Program

Stop/Interrupt

Program

Busconnectionto

secondVXMfor

3and4motoroperation

MovesMotor1

CCW

MovesMotor2

CCW

MovesMotor1

MovesMotor2

VXM

Stepping



Motor



Controller

www.velmex.com

VXM

Bus

On-LineJog 1Jog 2

StopRunLocal

-+-+

Front

9DSUBSocket

DC24V 2.5A

Motor 2 Motor 1Circuit BreakerLimits 1 Limits 2

IOIOI

RS-232 I/O

Bloomfield,

NY, USA

Model VXM-2

Serial # 020835

2.5

Pin 6ZLWFK Cable

InnerSwitch

(MotorEnd)*

1 C W

2 R

OuterSwitch

(EndPlate)

3Gn

CBk

Pin# Name

PinMotorCable

(6wire)

Slo-SynVexta Pacific

Scientific*

1BC W W W W/Y&W/R

2B2 Gn Bu R

3AC Bk YW/Bk&W/O

4A2 W/R Bk O

5A1 RGn Bk

6B1

Bu W/Gn R Y

Motor Wiring(forVelmexinstalledstepmotors)

*8leadmotorwithwirescombinedatACandBC

for6leadconfiguration

B1BCB2

StepMotor

Amp1-480705-0

(mateswith:1-480704-0onCable)

Connector

onMotor

Limit Switch Wiring

*NegativedirectiononVXMcontrollers

Connectoron

SwitchHarness

Amp1-480703-0(mateswith:1-480702-0)

Switchesarewiredonthenormallyclosed(NC)terminals.

CAUTION: The VXM puts 24VDC on the limit switches,

do not connect limit inputs to any +5V logic devices

Auxiliary I/O Connection

I/O

1112

1314

10 9876

TheI/Oconnectionscanbeusedforsignalingexternal

equipmentorwaitingforanexternalsignal.Thefront

panelbuttoninputsarealsoavailableontheI/O

connectorforremotejog,run,andstop.

+5V

Ain

Run

J1-

J1+

J2-

J2+

Function

Logicreferencegroundforinputsandoutputs

+5VDCforJoystickpowerandotherexternallogic(75mAmax.output)

AnaloginputforJoystick,speedsetting,oranalogsensor.

Runinputtostartprogram,sameinputasRunbutton(activelow)

Input1(activelow)

Input2(activelow)

Input3(activelow)

Input4andStop(SameasStopbuttononfrontpanel)(activelow)

Logicreferencegroundforinputsandoutputs

JogMotor1CCW(Sameasfrontpanelbutton)(activelow)

JogMotor1CW(Sameasfrontpanelbutton)(activelow)

JogMotor2CCW(Sameasfrontpanelbutton)(activelow)

JogMotor2CW(Sameasfrontpanelbutton)(activelow)

Output1(normallylow)

Output2(normallylow)

NOTE:All inputs and outputs are TTLlevels (0 to +5VDC.) Inputs have resistive

pull-ups, and are activated by connecting to 0V. Outputs are normally low, and can

sink and source 20 mAmax.FormoreinformationrefertoAppendixK.

15DSUBHDSocket

WhentheOn-Line(yellow)lightisnotlit,theVXMisintheLocal/Jogmode.Usingthe

frontpaneljogbuttons,eachmotorcanbejoggedasinglesteporslewedto2000sps(5

revs/sec.)ineitherdirection.

WhenaJogbuttonispressedthemotormoves1step(1/400rev.)Ifthebuttonisheld

for>0.3secondthemotorwillaccelerateto2000sps.PressingStopwhileusingthe

Jogbuttonswillholdthespeedat39sps.

Refertothe“setj”and“setJ”commandsinAppendixHformoreinformationabout

settingjogspeedstodifferentvalues.

Setup

Jog Mode

Optional Joysticks

TherearetwotypesofexternaljoysticksavailablefortheVXM.Oneisdigitalthat

functionslikethefrontpaneljogbuttons,andthesecondisananalogproportionalspeed

typethatcanoperateupto4motorswith2VXMsFormoreinformation/configuration

refertoAppendixHandJ.

1. Connectthecablestomotorsandlimitswitches(ifactuatorhaslimitswitches.)

Connectthe9pinserialcablefromtheVXM’srearpanelconnectorlabeled"RS-232"and

yourcomputer'sserialport(usuallylabeled“COM”or“|O|O|”.)Forcomputerswithonly

USBports,useaUSBtoRS-232adapter.

Motorcablesshould neverbebundledtogetherwiththeLimitSwitch,orany

I/Ocabling. putanyoftheVXM'scableswithpowercablesinacommonelectrical

keepLimit SwitchandI/Ocablesatleast2inchesfromMotorconduitorducting.

andPowercables.

CAUTION:Motorcablelengthorconnectorsshouldnotbealteredwithoutconsulting

Velmexfirst.ImproperwiringcanresultinpoorperformanceanddamagetotheVXM.

Alteredcablesandresultantdamageisnotcoveredbythewarranty.

IMPORTANT:TheVXMcanautomaticallydetectlimitswitchinputsthatarewired

normallyclosedtooperate(motorstopsonopencircuit.)Normallyclosedisthestandard

usedonallVelmexproducts.However,Velmexrotarytableswiththehomeswitchoption

requiresthatthelimitswitchinputsbereconfiguredinsetup.Refertothe“setL”

commandinAppendixN.

Neverconnectordisconnectmotorswiththepoweron,thiscanresultin

severedamagetomotordriveelectronics.

2. ConnectcablefromDCpowersupplytoVXM

3. PlugtheDCpowersupplyintoaACoutlet.

4. TurnontheVXMbypushingtherightsideoftherockerswitchlocatedonthefront

panel.

5. InitiallytheVXMissetfornomotorsselected(verylowpower,motorsbuzzbutwill

CAUTION:

Never

Always

CAUTION:

notmove.)Use the COSMOS software included on the CDROM to set VXM for the

proper motors.IfyourcomputerisnotaWindowsbasedsystem,refertothe“setM”

commandinthereferencesectionofthismanual.

BothOn-LineandPowerLEDswilllightfor1second,theOn-Linewillgoout,

thenthePowerLEDwillflash6times.

9; 0

Stepping



MotorController

www

.velmex.com

Bus

VXM

Stop Run

On-Line

Local - -

+ +

Jog 1 Jog 2

Windowsrunning

VelmexCOSMOS,

orWindows

HyperTerminal

E“”

command

R“”

waitfor“^”

C“”

RS-232 Interactive Mode

TheVXMcanbecontrolledinaninteractivemode.Interactivemodeiswhenahost

computersendsonlythecommandsnecessarytoperformasingleoperation(usuallyan

Index),thenthehostwillwaitfortheVXMtofinishbeforesendinganyadditionalcommands.

ThefollowingprocedurewouldbeusedforrunningtheVXMinaninteractivemode:

ThehostputstheVXMOn-Linebysendingan"F"

Thehostsendsa"N"tozeropositionregistersifnecessary

Thehostsendsspeed,andaccelerationifnecessary

ThehostsendsanIndex("I"command)

Thehostsendsa"R"tostarttheIndex

6. Thehostthenwillwaituntilitreceivesareadyprompt("")fromtheVXM

:TheVXMdoesnotsendacarriagereturnorlinefeedfollowingthe"^",refer

tothe"G"commandin$SSHQGL[2IRUPRUHLQIRUPDWLRQ

7. Theuser'sroutineforoutputting,measuring,etc.wouldbeexecutedbythehost

8. A"C"wouldbesentfromthehosttoclearthepreviousIndexcommandfromthe

VXM'smemory

Theprocessisrepeatedfromstep#3

NOTE

Communication Methods

ProgrammingoftheVXMisaccomplishedbysendingcommands(ASCIIcharacters)to

theVXMthroughtheRS-232interface.Thesimplestmethodtosendcommandsiswith

theVelmexCOSMOSprogram,orwithHyperTerminalinMicrosoftWindows.

Anothermethodtosendcommandsiswithcommerciallyavailablelanguagessuchas

VisualBASIC,C,LabVIEW,etc.

ToputtheVXMintheOn-Linemode/programmingmode,thehostmustsendeitheran

(RU):KHQWKH&RQWUROOHUUHFHLYHVDQ(RU)WKH2QOLQHOLJKWZLOOOLJKWDQGWKH

-RJLQSXWVZLOOEHGLVDEOHG

The"E"putstheVXMon-linewithecho"on"(echoesallcharactersreceivedbacktothe

host).The"F"putstheVXMon-linewithecho"off".IfyouareusingHyperTerminalto

communicatetotheVXMusethe"E"sotypedcharacterswillbedisplayed.Whenusinga

softwarelanguagetosendcommands, usethe"F"sothehost’sinputbufferwillnotbe

burdenedwithechoedcharactersfromtheVXM.

NOTE:All command characters are case sensitive

Index Motor 1 Example

VXMStepping Motor Controller

www.velmex.com

VXM On-line -- Jog 1 -- -- Jog 2 --

Bus Stop Run Local - + - +

VXM

Stepping

SteppingMotor

Motor

Controller

www

.velmex.com

Bus

VXM

Stop Run

On-Line

Local - -

+ +

Jog 1

Jog 1 Jog 2

VXM

Stepping

SteppingMotor

Motor

Controller

www.velmex.com

Bus

VXM

Stop Run

On-Line

Local - -

+ +

Jog 1 Jog 2

VisualBASIC,C,

LabVIEW,etc.

F“”

command

R“”

waitfor“^”

C“”

command

rsm“”

RS-232 Download/ Stand-alone Mode

EntireprogramscanbetransferredtotheVXMovertheRS-232interface.Whena

program(s)hasbeendownloadedtotheVXM,itwillkeeptheprogram(s)inmemoryuntila

clear(”C”)commandisused.Topreventlossofprogramdatawhenpoweristurnedoff,

programmemorycanbepermanentlysavedbyusingthe“rsm”command.Theabilityto

retainprogramsallowstheVXMtobeusedinastand-alonemode.Inastand-alonemode

theoperatorstartstheprogrambyRunbuttonlocatedonthefrontpanel,orbyusingtheRun

inputontheI/Oconnector.

Sendcommands

andpermanently

savethemin

VXMwith“rsm”

command

VXMholdsprogram(s)thatcanbeactivatedwiththe

Runinput.Thedefaultprogramtorunisprogram0.

Inputs2and3canconfiguredtobinaryselectandrun

programs0to3.

*.

&*.3

&OBCMF



0O-JOF



NPEFXJUIFDIPPO

*ODSFNFOUBM



*OEFY



.PUPS







TUFQTSFW

*.

EnableOn-Linemodewithechoon

IncrementalIndexMotor#1+400steps(1rev.)

RunIndex

Commentscanbeincludedusingasemicolon:(Never use comments after“R”)

Commandscanbeonthesameline,separatedbycommas,spacesareoptional:

Graphic Representation: ®

start end

TwocontrolslinkedtogetherbytheVXMbusmakeitpossibletorun3or4motorswith

allprogramsresidinginoneVXM,andallcommunicationfromahostwiththisoneVXM.

(Input4.)

TheVXMbusisaserialbusconformingtotheICspecification.Thisbusisusedto

transferdatabackandforthbetweentwoVXMcontrolsthatareconfiguredasMaster

andSlave.

UseonlyaVelmexapprovedcableforthebusconnection,telephonehandsetcables

willnotwork.Telephonecablesreversethe1and4connection,astraightthroughcable

isrequired.

Buscablesshouldbeshortandnotbenearothercablesorelectronicdevices.

BydefaultallVXMsareSlaves.

TolinkVXMs,onecontrolshouldbesettobeaMaster(seeControlModeFRPPDQG

"setDM"intheAppendixO.)TheVelmexCOSMOSprogramwillconfiguretheVXMs

forMaster/Slaveoperation.

AdesignatedMasterwillattempttoestablishcommunicationstoaSlaveonpower-up.

IftheMastercannotfindtheSlaveitwilltryagainwhenitisrequiredtosendamotor3

ItisnormalfortheSlavenottoflashitspowerlight(greenLED)

atpower-up.

Abuserrorwilloccur(”ËB”senttohostandVXMresets)iftheMastercannotfindthe

Slave,eitherbecausethereisnotoneconnected,oritisnotpowered.

TheMasteristheVXMthatrunsmotors1and2,communicateswithahost,andcan

bestartedwiththeRuninputandstoppedwiththeStopinput

TheSlaverunsmotors3and4(TheMasterassignsmotors3and4tomotors1and2

ontheSlave)andreceivesallcommandsovertheVXMbusfromtheMaster.

·TheMasterdisablestheRun,Stop,andRS-232inputsontheSlave.

Considerations when linking VXM controls together:

or4command.NOTE:

·

Linking VXMs for 3 & 4 Motors (VXM-3,4)

VX M

Stepping

SteppingMotor

Motor

Controller

www.velmex.com

Bus

VXM

Stop

Run

On-Line

Local

- -

+ +

Jog 1 Jog 2

VX M

Stepping

SteppingMotor

Motor

Controller

www

.velmex.com

Bus

VXM

Stop Run

On-Line

Local - -

+ +

Jog 1

Jog 2

M2 M4

M1 M3

L2L1 L4L3

Master Slave

VXMBusCable

Part#4-2122

$*.3

Index Motor 3 Example

Graphic Representation: ®

start end

¬Clearpreviousentries,IndexMotor3+400steps

NOTE:SlaveRS-232portisnotused

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