Download
Share
Print this page
  1. Manuals
  2. Brands
  3. Eaton Manuals
  4. Controller
  5. Vickers SMC20
  6. Product support

Eaton Vickers SMC20 Product Support

Motion controller
Hide thumbs

Advertisement

Quick Links

Download this manual
®
Vickers
General Product Support
SMC20 Motion Controller
Released 5/95
714

Advertisement

loading

Related Manuals for Eaton Vickers SMC20

Summary of Contents for Eaton Vickers SMC20

  • Page 1 ® Vickers General Product Support SMC20 Motion Controller Released 5/95...

  • Page 2: Table Of Contents

    Contents Description ....................2 Features .

  • Page 3: Description

    Description The Vickers SMC20 is a stand-alone, two-axis precision motion controller. It has a built-in electrical power supply, and connects to several other components in a typical motion control system: D A power source. D A motion actuator for each axis: (any combination of the following) –...

  • Page 4: Front Panel

    Front Panel The SMC20 front panel provides all the Center Column Axis 1 (X) and Axis 2 (Y) connections controller’s connections to the motion each include pins for eight inputs and D Axis 1 (X) control system. Refer to Figure 1-1 to eight outputs.

  • Page 5: Specifications

    Specifications ............16MHz 80C188 and 32MHz DSP Memory: System Eprom...

  • Page 6: Installation

    Installation Receiving the Package Connections CAUTION When you receive the package that The SMC20 front panel contains all This controller is used in motion contains the SMC20 motion controller, it connections to other components in the control systems which involve should contain the following parts: motion control system;...
  • Page 7 Power Supply To connect power, use the power supply Signal Function screw–type terminal on the upper left Enabl e opt i c al l y The SMC20 is available in two AC ENBL corner of the SMC20 front panel. i s ol a t e d i n put Must power input versions.
  • Page 8 Name Description/ WARNING Function ` E NBL' si g nal shoul d Analog output (differ- connect e d ext e r n al emer g ency ential) enti l) st o p ci r c ui t . Loss t h i s i n put ( o r l o w...
  • Page 9 Digital Input/Output Name Description/ Name Description/ Function Function All digital input/output (I/O) are optically isolated and require a power supply Output –– drive torque Output –– drive torque (either user-supplied power at 10 to 30 (current) enable (current) enable VDC or isolated DC supply at 24 VDC Output ––...
  • Page 10 Analog Input/Output AGND (Z24, Z18, Z12, and Z2) pins provide analog signal ground. DO+ and DO– Together, the voltage output DO+ (Z32) and DO– (Z30) signals constitute a differential analog output with a range of +10 VDC full scale. The output typically drives a servo.
  • Page 11 Digital Outputs: D28 (MTN You can affect the jog speed by how long you push on the jog button on the The D28 (MTN – Motion) output remains control console: ‘On’ when the system executes any D One push causes the axis to move motion.
  • Page 12 D4 (RUN) Incremental Encoder Name Description/ Connections Function The D4 (RUN) input, when received, P osi t i v e vol t a ge suppl y causes the system to run the currently The SMC20 interfaces with f o r encoder .
  • Page 13 SMC20 Resolver Feedback Board 8 pole resolvers. User selectable checks the jumper settings. Table 2-5B resolutions of 16, 14, 12 and 10 bits are shows the maximum RPM and number The SMC20 resolver feedback board provided via jumpers (see Table 2-5A). of the counts per revolution for each provides direct interface between the The SMC20 software automatically...
  • Page 14 Communications Name Description Inspect controller for damage or missing parts. If there is any diffi- Connections culty, contact your supplier. Not used The standard SMC20 provides two Be sure the controller is mounted communication connections: Serial data input. in accordance with mounting and D An RS232C-compatible port for printer.
  • Page 15 Initial Set-Up Introduction to When power is turned on, the screen and completely re-entered. To delete a displays the hardware version numbers character or a digit, position the cursor Programming and a message: “Hit <Clear Entry> Key” (blinking square) to the right of the as shown below: character to be deleted and use the To operate the SMC20 you must have a...
  • Page 16 Profile Typically this type of data applies to the Other types of data are changed SYSTEM or an AXIS. Examples of this frequently. For example, the position A profile is a description of a set of type of data are Maximum Axis Speed, that an axis is to move to in a given motions and associated input and/or Jog Speed, Maximum Acceleration, etc.
  • Page 17 Set–Up Axis Configurations Axis 2 CFG-System Parameters section (page ##) describes input and output address POS2 – actual position Perform the installation and check-list in assignment. You can monitor the state the Installation section (page ##). (ON = 1, OFF = 0) of any address by PER2 –...
  • Page 18 Any of F1 through F4 not listed for a CAUTION particular screen is not active with that screen. The first time a new controller is CONFIGURATION ↑ EDIT powered up (with no previous The following sections explain in detail programming), the axis gains are set how to use the CFG mode screens.
  • Page 19 ↑ QUIT ↑ QUIT ↑ QUIT AXIS[ 1] AXIS[ 1] AXIS[ 1] POSITION AXIS MAXIMUM POS AXIS MAXIMUM AXIS ENG UNIT SAVE ERROR (EU) SAVE ACCEL (EU/S^2) SAVE ↓ <EDT ↓ <EDT ↓ <EDT [1.0000 [2000.0000 [199743.1951 ] ↑ QUIT ↑...
  • Page 20 Axis Parameter Screens For each above, Quit, Go to These screens are identical except for previous the parameter name. screen Axis, Selects POSITION ENG UNIT Position 1 or 2 feedback counts per measurement Save, Saves length. (Depends on Transducer and newly entered units used).
  • Page 21 CFG–Axis Gains ↑ QUIT ↑ QUIT AXIS[ 1] AXIS[ 1] In the CFG mode, use Up/Down arrows INTEGRATOR AXIS to show Configuration Axis Gains SAVE DELAY (SEC) SAVE ↓ <EDT ↓ <EDT screen. Push Edit–F1. Use Up/Down [0.0000 [0.0999 arrow keys to obtain any of the screens of Figure 3-7.
  • Page 22 System Parameters Quit, Return to previous screen ↑ EDIT RS232 Save, Saves to RAM Memory These affect system operation, both Edit, Edits the value BAUD RATE SAVE axes. ↓ EDT Use arrow keys to get to another screen. [9600 Security Code 1 (Access Modes Baud Rate Default = 9600, Available: Past Monitor) 300, 600, 1200, 2400, 4800,...
  • Page 23 Address Name Description/Function Out p ut dr i v e t o r q ue ( c ur r e nt ) enabl e Out p ut dr i v e speed enabl e Out p ut mot i o n pr o gr e ss Out p ut posi t i o n...
  • Page 24 AXIS 1 AXIS 2 Default Address Default Address Function Assignment Function Assignment Torque Enable Torque Enable Velocity Enable Velocity Enable In Motion In Motion In Position In Position Home Complete Home Complete Error Error Program Select Program Select Program Select Bit # Program Select Bit # ”...
  • Page 25 The purpose of each function is FLASH Memory ↑ QUIT AXIS[ ] described in the Programming FLASH Memory is the memory segment MAXIMUM AXIS Reference Manual. where user programs are saved. It is POSITION (IN) SAVE non–volatile memory, thus it is saved Suppose your application does not ↓...
  • Page 26 D Enter a ‘Kp’ proportional gain of about Testing Initial Set–Up WARNING 1000 – 5000 to start. After you have entered and checked the If one or both axes begin to move, configuration parameters, operation of ↑ QUIT quickly remove power from actuators AXIS[ ] the controller can be tested by using the to prevent machine damage or...
  • Page 27 From the main screen, press F4 key to ↑ QUIT AXIS[ ] go to Jog function. HOME AXIS Then press F4 key or F3 key to jog the SPEED (EU/SEC) SAVE axis in the ‘–’ or ‘+’ direction. Press ↓ <EDT [199999 9694 AXIS–F2 to change axis.
  • Page 28 Manual Home Function 4. Limit+ and Limit– connected if CAUTION being used. Another method for changing the Use of Limit+ and Limit– travel limits, position reference is the ‘DREF’ 5. Jog motion has been operated depend on a correctly operating command (Define Reference).
  • Page 29 3. Press Move–F3 key. The axis 4. If homing sequence is 5. If Limit+ and/or Limit– functions should move to the position implemented, perform the are used, perform the following entered above. following check: check: If the axis motion is unstable or Go to Run mode main screen and Go to Jog screen and move axis exact position is not reached or...
  • Page 30 5. Now start programming the segments preceding segment. A zero value which can be a series of equations of the first profile. When a program is usually applies to all but the last evaluated from top to bottom, as finished (and more often if the task is segment of motion in one entered from the Hand-Held long) save to FLASH Memory.
  • Page 31 b) Conditional Jump. Defined by a Sequence of Execution 6. And finally, any Jump Conditions are logic equation evaluated after the executed –– direct jumps are those When the SMC20 executes a segment, Exit Conditions are satisfied. For with no conditions attached, such as example, from the Jump Event it does not do all of the operations at the jumping directly to a particular...
  • Page 32 ↑ NEW PROGRAM MODE PROGRAM#( QUIT PROGRAM#( QUIT AXIS[ 1] AXIS PROGRAM#[ <SEL PROG PARAMETERS EDIT AXIS SAVE ↓ EDIT DOES NOT EXIST PROGRAM SEGMENTS EDIT [ 1 ] <SEL ↑ COPY F1 ↑ QUIT PROGRAM MODE PROGRAM#( AXIS[ 1] MAXIMUM PROGRAM#[ <DEL...
  • Page 33 A) For existing programs: F4 Edit, Program Segments PROGRAM#( QUIT A program consists of one or more segments. Remember, a program F1 New, Not Used consists of the instructions needed AXIS SAVE to carry out one motion profile. A F2 Axis, Select Axis 1 or 2 [ 1 ] <SEL motion profile is divided into...
  • Page 34 The next several screens all operate the F3 INS, Inserts a segment ahead of the ↑ QUIT F1 segment shown. The new segment PROGRAM#[ same. uses the number on the screen and SEGMENT#[ MAXIMUM POSITION (EU) the segment which previously had VARIABLES MINIMUM POSITION (EU) that number and all higher number...
  • Page 35 Profile and Segment Mechanical stops: –5.0, +40.0 For this example, the program Configuration: Maximum Position parameters can be the same as the axis Programming Example 35.0 parameters, except that we will change Motion parameters: Min. Position –4.5 the acceleration and deceleration to 100 The following example shows how to Max.
  • Page 36 Press ’Program Segments’ Edit–F4. Press F2 to select Relative or Absolute Press Quit–F1, then use the same The following screen will appear: position. procedure as above for Segment 1 to program or verify the motion parameters Press <EDT–F4, then ‘CLEAR ENTRY’. for Segment 2: ↑...
  • Page 37 Programming Example START ↑ QUIT F1 SELECT SYM OR OUTPUT TO VAL TO INSERT ACPT F2 The previous example is now expanded to include some I/O events. ↓ EDT OUTPUT TO IO# [06] Example 1: It is desired that an output turn ‘On’...
  • Page 38 Push <SEL–F4 to select Segment #1. Select the program to run by pressing CAUTION <SEL–F3, until the desired program 1. Pressing F4 now should cause number is displayed. (Program must ↑ QUIT F1 SEGMENT#[2 motion. Be sure the machine or have been previously programmed).
  • Page 39 Troubleshooting D If the CPU fault LED is ‘On’, contact a Introduction Gains Not Set Properly Vickers service representative. D Make sure the Kp gain is set to at least If you experience a problem with the D Verify that the Hand-Held Terminal is 1000.
  • Page 40 Conflicting Parameters General Faults The cause of error can be quickly viewed in the Monitor mode – Alarm D If the commanded velocity is too high The following addresses are dedicated screen: and/or the Maximum Position Error is to error tracking in the SMC20 and other set too low, it is possible to trip the versions utilizing the Hand-Held ‘Maximum Position Error’...
  • Page 41 Setting the PID Gains PID Parameters, Install If only proportional gain (Kp) is used, constant SMC20 output corresponds to Conditions a constant position error. This required Position Error is called “Following Error” At startup, the PID gain settings are and is the amount by which measured zero.
  • Page 42 Jumper Settings Factory Jumper Settings The encoder interface card has jumper selectable ouput voltages for the encoder power. Refer to Figure B–1, Position Interface Card Encoder Jumpers. Figure B-1. Position Interface Card Encoder Jumpers...
  • Page 43 The Main Board (CPU) has many factory set jumpers, no user configurable jumpers are provided on this board. The factory jumper positions are shown in FigureB-2 – SMC BD Jumpers. Figure B-2. SMC Bd Jumpers...
  • Page 44 Index ”Hit <Clear Entry> Key”3–2 <EDT3–3 A/D3–11 Absolute Jump4–26, 4–27 Absolute or Relative Target Position4–4, 4–6, 4–20 Absolute Position3–34, 3–38, 4–20, 4–21, Fig. 3–10 Acceleration3–5, 3–34, 4–1, 4–5, 4–14, 4–17, 4–18, 5–5, Fig. 3–2B Acceleration/Deceleration4–4, 4–20, 4–21 Active High1–6, 2–19, 2–20 Active Low1–6, 2–19, 2–20 ADO+2–11 ADO–2–11...
  • Page 45 Configuring vs. Programming3–6, Fig. 3–2B Connections1–1, 1–4, 2–4 Control AlgorithmFig. A–1 CPU1–4, 1–6, 2–7, 5–3, B–1 Creep Speed3–15, Fig. 3–2B CTS2–31 Current Output2–11, 2–18 D/A3–11, A–1, Fig. 3–2B, Fig. 3–5 D/A Offset3–15, A–3 Data Bits1–7, 3–18, 5–8 DC I/O ConnectionsFig. 1–1 DC I/O LED IndicatorsFig.
  • Page 46 Error Reset3–31 EU3–15, 3–16, 4–11, A–2 Event Condition4–11, 4–15, Fig. 3–5, Fig. 4–2, Fig. 4–3 Event Programming4–22 Exit Condition4–4, 4–5, 4–6, 4–23, 4–25, Fig. 4–2, Fig. 4–5 Exit Event4–5, 4–22 Fault Protection2–8 Features1–3 FLASH Memory3–3, 3–26, 3–29, 3–34, 4–2, 4–20, 4–21, 4–25, Fig. 3–4 Following Error3–11, 4–5, A–2 FS3–16, A–2 Function References3–20...
  • Page 47 Input Status3–8, 3–10 Installation Checklist2–32, 3–8, 3–38 Integrator3–16, A–2 Integrator Band3–16, A–2, Fig. 3–7 Integrator Delay3–16, A–2, Fig. 3–7 Integrator Gain3–16, A–2 Integrator Limit3–16, A–2, Fig. 3–7 Internal Address 2533–20, 3–22, 3–23 Internal Address 2543–20, 3–22, 3–23 Internal Address 2553–20, 3–22, 3–23 Internal Flag4–5, 4–7, 4–22 Internal Watchdog2–8 Iout+2–11, 2–18...
  • Page 48 Maximum Deceleration3–13, 3–15, 3–28, 4–11, 4–15, Fig. 3–2B, Fig. 3–5, Fig. 4–2, Fig. 4–3 Maximum Move Velocity3–13, 3–37 Maximum Position3–15, 3–27, 4–1, 4–11, 4–15, Fig. 3–2B, Fig. 3–5, Fig. 4–2, Fig. 4–3 Maximum Position Error3–15, 3–27, 3–28, 3–37, 4–11, 4–15, 5–2, 5–5, 5–6, 5–7, A–3 Fig.
  • Page 49 Position Sensor ConnectorFig. 1–1 Position Sensor Error5–6 Position Sensor ModuleFig. 1–1 Power ’On’3–38 Power ’On’ LED Indicators1–4, 5–3, Fig. 1–1 Power Input Connections1–7, Fig. 1–1 Power Supply 1–1, 1–3, 1–7, 2–4, 2–6, 2–7, 2–9, 2–13, 2–26, Fig. 1–1, Fig. 2–2 PRG3–1, 3–2, 3–8 Printer1–1, 1–5, 2–30, 2–31, 3–31, 4–30, 5–8 Printer Interface1–5...
  • Page 50 Segment3–1, 3–5, 3–6, 4–19, 4–22, Fig. 3–2B Segment Definitiion4–4 Segment Edit Screen4–13 Segment Gains4–7, Fig. 4–2, Fig. 4–5 Segment Parameters4–10, 4–13, Fig. 3–2B, Fig. 4–5 Set Open/Closed Loop ControlFig. 3–10 Set Position Reference3–22, 3–23, 3–35 Set–Up Axis Configurations3–8 Set–Up Checklist3–37 Silkscreen LabelFig.
  • Page 51 E Vickers, Incorporated, 1995 All Rights Reserved...
  • Page 52 Eden Prairie, MN 55344 Hampshire PO9 2NB Telephone: 612 937-7254 England Fax: 612 937-7130 Telephone: (44) 170-548-6451 www.eatonhydraulics.com Fax: (44) 170-548-7110 Form No. 00-000 Copyright Eaton Corporation, 0000 All rights reserved. Printed in U.S.A 714 (Released 5/95) Printed in U.S.A.