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Control Technology 2646 MultiPro Installation Manual

Mc dual servo automation servo automation controller
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Control
Technology
Corporation
Model 2646 MultiPro™ MC Dual
Copyright 1997 Control Technology Corporation. All rights reserved. Printed in USA.
Installation Guide
Servo Automation Controller
•
•
25 South Street, Hopkinton, MA 01748

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Summary of Contents for Control Technology 2646 MultiPro

  • Page 1 Control Installation Guide Technology Corporation Model 2646 MultiPro™ MC Dual Servo Automation Controller • • 25 South Street, Hopkinton, MA 01748 Copyright 1997 Control Technology Corporation. All rights reserved. Printed in USA.
  • Page 2 5.90 in (101.6 mm) (149.9 mm) 5.30 in (134.6 mm) MPDIMS Mounting Ear Detailed View (use 4 mounting bolts) R0.10 in (2.54 mm) Ref Point 0.30 in (7.62 mm) R0.19 in (4.83 mm) Model 2646 MultiPro™ MC Dual Servo Installation Guide...

  • Page 3: Output

    Quickstep and CTCMON. numbered 1 thought 16. Provides access to the 6 Refer to the section, dedicated inputs on the servo Setting up RS-232 Controller Communications board as well as, providing +24 for powering external for more information sensors. Control Technology Corporation...
  • Page 4 A output 5 A output 6 A input 4+ A input 4- Pin 40 Pin 39 A output 7 A output 8 A input 5+ A input 5- 2644P2 Return Return Return Return Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 5 Channel B- Index + Servo Dedicated Input Connector Wiring Pin No. Connection Pin 2 Pin1 Start Kill command Contact shape Forward limit for dedicated Reverse limit input connector Home CNT2 Registration input +24 VDC 2219P3 +24 V return Control Technology Corporation...
  • Page 6 MultiPro MC Dual Servo Specifications CPU Specifications CPU Characteristics These controllers use a 80C196 processor running at 18.432 MHz CPU Typical Performance Specifications Note: Controller Resource Summary Servo Specifications Abosolute Maximum Ratings Ω Specifications Model 2646 MultiPro™ MC Dual Servo Installation Guide...

  • Page 7: Output

    Servo Specifications (cond.) Performance Specifications Notes: Step Analog Input/Output Specifications Absolute Maximum Ratings Ω Analog Output Specifications Control Technology Corporation...

  • Page 8: Input/

    MultiPro MC Dual Servo Specifications Analog Input/Output Specifications (cond.) Analog Input Specifications Dedicated Digital Output Specifications Digital Input/Output Specifications Input/Output Absolute Maximum ratings Digital Output Specifications (Outputs 1 -16) Digital Input Specifications Notes: Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 9 RS-232 Specifications Absolute Maximum Ratings Operating Characteristics Notes: Control Technology Corporation...
  • Page 10 MultiPro MC Dual Servo Power Connections Connecting DC Power Internal External 24 VDC In Power Line Supply 300 mA + Output Load Requirements The Importance of Proper Grounding Reducing Noise Susceptibility Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 11 Status Light Description • Software fault: • Hardware fault: Control Technology Corporation...

  • Page 12: Input

    Connecting Digital Inputs Return Input Input Digital Inputs Input Using Solid State Sensors NOTE: + 24 VDC Digital Hall-Effect Input Sensor Input Return Model 2646 MultiPro™ MC Dual Servo Installation Guide...

  • Page 13: Input

    Connecting Digital Outputs Using Open-collector Outputs Power Supply Input Connector + 24 VDC Main +24 V Power Supply 1N4004 Diode Base Output Open-Collector Transistor Solenoid IMPORTANT! Control Technology Corporation...

  • Page 14: Input

    Connecting to a Second External Power Supply IMPORTANT! Power Supply Input Connector Cathode of Protection Solenoid Diode Output Main +24 V Power Supply - 1N4004 Diode Return External Power Supply Controller Outputs Model 2646 MultiPro™ MC Dual Servo Installation Guide...

  • Page 15: Output 3

    WARNING: Power Supply Input Connector +24 VDC Solenoid Output 1 1N4004 Diode Output 2 Main +24 V Controller Power Supply - Output 3 Output 4 Output 5 Return Second External Power Supply IMPORTANT! Control Technology Corporation...
  • Page 16 Connecting a Single-ended Signal Analog Input + Analog Device Analog Input - Analog Ground 2220-5 Connecting to a Potentiometer 10 VDC Reference 5 kΩ Potentiometer Analog Input + Analog Input - Analog Ground 2220-6 Model 2646 MultiPro™ MC Dual Servo Installation Guide...

  • Page 17: Output 4

    Specifying Digital Filter Length NOTE: Setting Up Input Thresholds Output On 6.000 VDC Register 19501 = 6,000,000 Hysteresis Area Register 19001 = 4,000,000 4.000 VDC Output Off 2220-2 Control Technology Corporation...
  • Page 18 ;;; threshold for analog input 1 as 3.000000. ------------------------------------------ <NO CHANGE IN DIGITAL OUTPUTS> ------------------------------------------ store 2500000 to Reg_19001 store 3000000 to Reg_19501 goto next [56] CHECK_DEDICATED_OUTPUT ------------------------------------------ <NO CHANGE IN DIGITAL OUTPUTS> ------------------------------------------ if Reg_18001=1 goto next Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 19 [446] CHANGE_DEDICATED_OUTPUTS —————————————————————————————————————- <NO CHANGE IN DIGITAL OUTPUTS> —————————————————————————————————————- store 1 to Reg_18004 store 0 to Reg_18008 goto next Disabling the Thresholding Feature Alternate Access to Analog Inputs if Reg_8504>9150000 goto next Control Technology Corporation...
  • Page 20 Connecting and Programming Analog Outputs Connecting Analog Outputs Analog Output Analog Device Analog Ground 2220-7 NOTE: Alternate Access to Analog Outputs if Reg_8001 > 1259 goto TURN_OFF_VALVE store 4500 to Reg_8006 Model 2646 MultiPro™ MC Dual Servo Installation Guide...

  • Page 21: Connector

    OUTPUTS +24V STAT INPUTS OUTPUTS KILL FLIM RLIM COMM STOP RS-232 KILL FLIM RLIM ANALOG I/O STOP MultiPro MC Dual Servo D-Connector to Modular Jack Adapter: Model 2880A for DB25 connectors Model 2880B for DB9 connectors 2646COM Control Technology Corporation...

  • Page 22: Connector

    Setting-up RS-232 Controller Communications DB-9 Connector Modular Jack Black Comm Common Yellow DB9-232 DB-25 Connector Modular Jack Green Common Black Comm Comm Yellow Common DB25-232 Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 23 Programming a Servo Setting Up Servo Motor Operating Parameters ROFILE ERVO Setting Acceleration and Deceleration Parameters • ROFILE ERVO ERVO ERVO ROFILE ERVO ROFILE ERVO Control Technology Corporation...
  • Page 24 Servo Output = (position_error * User_Proportional) + [(position_error - last_position_error) * User_Differential)] + (cumulative_error * User_Integral) PAV Filter Servo Output = (position_error * User_Proportional) + (change_in_velocity * User_AccelFF) + (current_velocity * User_VelocityFF) Direct Mode Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 25 ;;; servo error, if you include such a task in your ;;; program. —————————————————————————————————————- <NO CHANGE IN DIGITAL OUTPUTS> —————————————————————————————————————- store servo_1:error to reg_515 store servo_1:position to reg_516 if servo_1:error > 4000 goto STOP_SERVO if servo_1:error < -4000 goto STOP_SERVO goto SERVO_ERROR Control Technology Corporation...

  • Page 26: Return

    [6] DELAY_STEP —————————————————————————————————————- <NO CHANGE IN DIGITAL OUTPUTS> —————————————————————————————————————- delay 1 sec goto next [7] REVERSE_DIRECTION ;;; This step reverses direction of the servo and returns ;;; it to the starting position. Model 2646 MultiPro™ MC Dual Servo Installation Guide...

  • Page 27: Return

    ;;; change the P, I, D parameters to optimize motor ;;; performance. —————————————————————————————————————- <NO CHANGE IN DIGITAL OUTPUTS> —————————————————————————————————————- delay 1 sec goto RUN_SERVO Setting Acceleration and Deceleration Values ROFILE ERVO profile servo_1 max=50000 accel=100000 store 20000 to reg_15006 NOTE: Searching for Home Control Technology Corporation...
  • Page 28 Programming a Servo Specifying the Homing Direction • Turning a Servo turn servo_12 to 50000 instruction turn servo_1 cw 12340 steps turn servo_1 cw ERVO ONITOR ERVO NOTE: • • Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 29 Monitoring and Changing Other Servo Parameters Monitoring Dedicated Inputs Register 14701 Weight in Decimal TEST_FOR_HOME_AXIS1 ;;; Home = 2 —————————————————————-——————————————————— <NO CHANGE IN DIGITAL OUTPUTS> ————————————————————————————————————————— store reg_14701 and 2 to reg_10 if reg_10 = 2 goto FOUND_HOME goto TEST_FOR_HOME_AXIS1 Control Technology Corporation...

  • Page 30: Index

    Registration window ends at at starting position registration begin + 5000 steps + 2000 steps End position is Starting starting position + position index steps for move Registration Move Programmed Move SVR1 Model 2646 MultiPro™ MC Dual Servo Installation Guide...

  • Page 31: Index

    <NO CHANGE IN DIGITAL OUTPUTS> ————————————————————————————————————— if Reg_16004=1 goto GOT_REGISTRATION delay Reg_100 sec goto REGISTRATION_MOVE [4] GOT_REGISTRATION ————————————————————————————————————— <NO CHANGE IN DIGITAL OUTPUTS> ————————————————————————————————————— store Reg_16002 to Reg_10 Using Registration to Change the End Position of a Move Control Technology Corporation...
  • Page 32 Starting Programmed position end position for move Registration Window New end position Registration Registration is registration position window ends window begins + offset Programmed Move SVR2 • • • Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 33 Servo_1:stopped goto Next [3] REGISTRATION_CHECK ————————————————————————————————————— <NO CHANGE IN DIGITAL OUTPUTS> ————————————————————————————————————— if Reg_16004=1 goto GOT_REGISTRATION delay Reg_100 min goto REGISTRATION_MOVE [4] GOT_REGISTRATION ————————————————————————————————————— <NO CHANGE IN DIGITAL OUTPUTS> ————————————————————————————————————— store Reg_16002 to Reg_10 Overshooting the End Position Control Technology Corporation...
  • Page 34 Starting New end end position and then decelerate to the position position new end position. for move Registration Window Registration Registration window begins window ends Programmed Move SVR4 Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 35 Guidelines and Rules for Setting up Registration TORE Control Technology Corporation...
  • Page 36 RLIM ANALOG I/O STOP MultiPro MC Dual Servo Follower Follower (Register 16005) (Range +/- 32767) Leader (Register 16006) Range 1 to 32767) = 1 to 2 Ratio Leader Encoder 10,000 Drive SVF1 Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 37 Configuring Electronic Following ROFILE ERVO Notes: Ending Electronic Following ERVO Control Technology Corporation...
  • Page 38 <NO CHANGE IN DIGITAL OUTPUTS> —————————————————————————————————————————————————————————— profile Follower_Servo_1 servo at position maxspeed= Max accel=Accel P=Pval I=Ival D=Dval store 1000 to Numerator_r16005 store 10000 to Denominator_r16006 Specifying Encoder Following store 133 to register 17001 Model 2646 MultiPro™ MC Dual Servo Installation Guide...

  • Page 39: Home

    Servo Hardware Considerations Dedicated Inputs • • • Enabling a Servo Drive • Searching for Home • ERVO TART ERVO • Using the Registration Input NOTE: ONITOR ERVO TOPPED • • • • ERVO TART • Control Technology Corporation...
  • Page 40 To Servo Amplifier Enable Relay Common Pin 2 Relay No Contact Axis 2 Pin 3 To Servo Amplifier Enable Relay Common Pin 2 SVA1 ROFILE ERVO ERVO AT OSITION • ROFILE ERVO OTOR ROFILE ERVO Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 41 ;;; This program will commence a velocity move on axis one ;;; based on the parameters in the profile instruction. ————————————————————————————————————— <NO CHANGE IN DIGITAL OUTPUTS ————————————————————————————————————— profile servo_1 maxspeed=50000 accel=100000 turn servo_1 cw monitor servo_1:stopped goto next Control Technology Corporation...
  • Page 42 ;;; axes based on the parameters in the profile instructions. ————————————————————————————————————— <NO CHANGE IN DIGITAL OUTPUTS> ————————————————————————————————————— profile servo_1 maxspeed=50000 accel=100000 profile servo_2 maxspeed=25000 accel=50000 turn servo_1 to 100000 if servo_1:position >= 50000 goto next Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 43 500000 if servo_1:position >= 50000 goto next [2] SECOND_PROFILE ;;; Re-profile the motor for the a new velocity. ————————————————————————————————————— <NO CHANGE IN DIGITAL OUTPUTS> ————————————————————————————————————— profile servo_1 maxspeed=20000 if servo_1:position >= 70000 goto next Control Technology Corporation...
  • Page 44 <NO CHANGE IN DIGITAL OUTPUTS> ————————————————————————————————————— profile servo_1 servo at position maxspeed=reg_501 accel=reg_502 P=reg_503 I=reg_504 D=reg_505 profile servo_2 servo at position maxspeedmaxspeed=reg_501 accel=reg_502 P=reg_503 I=reg_504 D=reg_505 store 5000 to reg_16005 store 10000 to reg_16006 goto next Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 45 ;;; to 1. From this point on, axis 1 follows all leader posi- ;;; tions and velocity activities using the ratio specified. ————————————————————————————————————— <NO CHANGE IN DIGITAL OUTPUTS> ————————————————————————————————————— profile servo_1 servo at position maxspeed store 5000 to reg_16005 store 10000 to reg_16006 goto next Control Technology Corporation...
  • Page 46 Special Purpose Registers for Servos NOTE: Group Access Leader On-Start Feature Axis Status and Feed Forward Parameters Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 47 Individual Access Axis Status and Feed Forward Parameters Axis No. 1 Control Technology Corporation...
  • Page 48 Special Purpose Registers for Servos Registration Feature Axis No. 1 Axis Following Feature Axis No. 1 Model 2646 MultiPro™ MC Dual Servo Installation Guide...
  • Page 49 Special Registers for Additional Features Axis No. 1 Control Technology Corporation...
  • Page 50 This page is intentionally left blank. Model 2646 MultiPro™ MC Dual Servo Installation Guide...

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