1. Manuals
  2. Brands
  3. Delta Computer Systems Manuals
  4. Control Unit
  5. TMC 188/40 Series
  6. Manual

Delta Computer Systems TMC 188/40 Series Manual

Motion control module
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
TMC 188/40 Rev 4.1
Motion Control Module
960912
Delta Computer Systems, Inc.
th
1818 SE 17
Street
Battle Ground, WA 98604
Tel: 360/254-8688
Fax: 360/254-5435
http://www.deltamotion.com
sales@deltamotion.com

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the TMC 188/40 Series and is the answer not in the manual?

Questions and answers

Related Manuals for Delta Computer Systems TMC 188/40 Series

Summary of Contents for Delta Computer Systems TMC 188/40 Series

  • Page 1 TMC 188/40 Rev 4.1 Motion Control Module 960912 Delta Computer Systems, Inc. 1818 SE 17 Street Battle Ground, WA 98604 Tel: 360/254-8688 Fax: 360/254-5435 http://www.deltamotion.com sales@deltamotion.com...
  • Page 2 Neither Delta Computer Systems, Inc. nor anyone else involved in the creation, production, or delivery of this product shall be liable for any direct, indirect, consequential injuries and or damages arising out of the use, the results of use, or the inability to use this product.

  • Page 3: Table Of Contents

    ADDER PROGRAM CANNOT ACCESS PARAMETERS OR OPERATE MODULE ACTUAL POSITION ..............53 URING A MOVE IS ERRATIC TRANSDUCER COUNTS ........53 FIELD NOT INDICATING TRANSDUCER LOCATION TRANSDUCER COUNTS ......53 FIELD CHANGES BUT OUTPUT DRIVE DOES NOT WORK Delta Computer Systems, Inc. 360/254-8688...
  • Page 4 ................87 UADRATURE NCODER PECIFIC OMMANDS TMC 188/40-(T)Q P ..................89 ARAMETER HANGES ......................... 91 EADBACK ARAMETERS ...................... 92 IMIT AND IGITAL NPUTS QSBX/40 B ......................94 OARD UMPERS ................95 UADRATURE NCODER NTERFACE XAMPLES Delta Computer Systems, Inc. 360/254-8688...
  • Page 5 SING THE IELDS .................. 101 CCELERATION AND ECELERATION ODES ..........................102 NDING ............103 XAMPLE SING ERVO ALVES WITH UTPUT APPENDIX E: SAMPLE LADDER LOGIC ..................104 TMC 188/40 WIRING DIAGRAMS ..................... 108 INDEX ..............................109 Delta Computer Systems, Inc. 360/254-8688...
  • Page 6 Delta Computer Systems, Inc. 360/254-8688...

  • Page 7: Overview

    NOTE: Increase in P/C scan times (per module installed) when using the TMC 188/40 are: 10 ms per module (not including P/C or remote overhead) 1.6 ms 0.8 ms If the TMC 188/40 is used on a remote base, the P/C scan time will degrade considerably. Delta Computer Systems, Inc. 360/254-8688...

  • Page 8: Hardware Specifications

    External Drive for axes used. Voltage mode uses zero added current per axis. All power supply voltages must be within 5% of the specified voltage. Sensor power supplies should be independent of drive power supplies. Delta Computer Systems, Inc. 360/254-8688...

  • Page 9: Getting Started And Tuning The Axis

    WY registers define the P/C's V Memory locations where the TMC 188/40 reads and writes information. The initialization can be done either with the CHART utility of TISOFT or with a ladder logic routine (see filelist.txt on the DCSMON disk for example ladder programs). Delta Computer Systems, Inc. 360/254-8688...

  • Page 10: Step 4 - Selecting The Approach

    When the TMC 188/40 Motion Control Module is first turned on, default values are used for the initialization parameters. These values are there only to give the MCM so the present position can be maintained. The parameters need to be changed to work optimally in your system. The P/C is Delta Computer Systems, Inc. 360/254-8688...
  • Page 11 OFFSET parameter is adjusted. 2) After adjusting the DIRECTION, SCALE and OFFSET, be sure to adjust the EXTEND and RETRACT LIMITS as described below. See Appendix D for more information. Delta Computer Systems, Inc. 360/254-8688...

  • Page 12: Step 6 - Moving The Axis Using Dcsmon

    DECEL 1% of SPEED DITHER SPEED 20% of maximum system HYSTERESIS speed (1000 = 1 in/sec) PRO STAT GAIN PRO EXT GAIN PRO RET GAIN INTEGRAL GAIN DIFFER GAIN EXT. FEED FWD. RET. FEED FWD. Delta Computer Systems, Inc. 360/254-8688...

  • Page 13: Step 7 - Jogging The Axis

    Step 7 - Jogging the Axis You can jog the axis by setting the REQUESTED POSITION to the EXTEND LIMIT or RETRACT LIMIT, then using the 'G' and 'H' commands repeatedly. This causes the MCM to GO then HALT. Delta Computer Systems, Inc. 360/254-8688...

  • Page 14: Step 8 - Tuning The Axis

    5 Hz or less. It adds a small boost while accelerating and helps stop while decelerating. Increase this number by ones. The DIFFERENTIAL GAIN should not get over 10; high values will cause oscillation. DIFFERENTIAL GAIN is of little use on systems that respond quickly. Delta Computer Systems, Inc. 360/254-8688...

  • Page 15: P/C Programming Precautions

    When the DIRECTION is -1, all positions from the transmitter to the end of the rod should be considered negative numbers. Transducer nonlinearity may be an issue when opposing axes are used. Delta Computer Systems, Inc. 360/254-8688...

  • Page 16: Wy Register And V Memory Image Descriptions

    V Memory where the initialization parameters for their respective axis are stored. You must enter the sum of the numbers in the first seven registers into the eighth register; this is the checksum used by the controller to verify the register data is valid. Delta Computer Systems, Inc. 360/254-8688...

  • Page 17: Axis Initialization Process

    TMC 188/40 reads initialization parameters from V Memory TMC 188/40 processes the initialization parameters NOTE: Once the TMC 188/40 is initialized, changes in the WY registers will not take effect until the power is cycled or the module is reset. Delta Computer Systems, Inc. 360/254-8688...

  • Page 18: Vinit Axis Initialization Parameters

    „true‟ status bit indication NEAR COMMAND POSITION Maximum position error size for a „true‟ status bit indication EXTEND LIMIT Position at Maximum position in position units power-up RETRACT LIMIT Position at Minimum position in position units power-up Delta Computer Systems, Inc. 360/254-8688...

  • Page 19: Vread - Axis Position And Status Parameters

    Measured axis position (scaled) Axis 4 Transducer Counts Transducer location in raw counts Axis 4 Status Error and status bits Axis 4 Drive Drive output in raw D/A counts Axis 4 Target Speed Calculated axis speed (scaled) Delta Computer Systems, Inc. 360/254-8688...

  • Page 20: Vwrite - Axis Dynamic Control Parameters

    Axis 4 rate or distance Deceleration Axis 4 rate or distance Speed Axis 4 requested speed during motion profile Requested Position Axis 4 destination position in position units Command Axis 4 command to be executed Delta Computer Systems, Inc. 360/254-8688...

  • Page 21: Memory Example

    'P' command was completed, the TMC 188/40 sets the COMMAND VWRITE V Memory location to 0. The P/C ladder program must monitor the COMMAND location after each command is issued to ensure it was completed. Delta Computer Systems, Inc. 360/254-8688...
  • Page 22 V Memory TMC 188/40 Motion Control Module Delta Computer Systems, Inc. 360/254-8688...

  • Page 23: Motion Control Parameters

    POSITION equals the COMMAND POSITION. This bit is latched and only cleared by a 'G' command. NOTE: This bit will not be set if the axis halts outside the AT COMMAND POSITION window. Bit 15 - NEAR COMMAND POSITION Delta Computer Systems, Inc. 360/254-8688...
  • Page 24 This bit is set when the 16-bit ACTUAL POSITION goes beyond 65500 counts. With the Q option installed this bit is set when the external limit switch is open. The POSITION OVERFLOW bit is latched, and is cleared when any new command is issued. Bit 6 - TRANSDUCER NOT RESPONDING Delta Computer Systems, Inc. 360/254-8688...
  • Page 25 This bit is set after a parameter or 'P' command is sent to the TMC 188/40. Until this bit is set the axis will not respond to any GO or „G‟ commands. This bit is reset whenever the module is reset. Delta Computer Systems, Inc. 360/254-8688...
  • Page 26 In Pressure or Home modes, can cause only an emergency stop if the corresponding bits are cleared. ** WILL cause an emergency stop no matter how the mask register is set. Delta Computer Systems, Inc. 360/254-8688...

  • Page 27: Initialization Parameters (Vinit)

    FEED FORWARD ADVANCE is implemented by delaying the TARGET POSITION and TARGET SPEED of the axis with respect to the feed forward portion of the drive output by the FEED FORWARD ADVANCE time. This can compensate for an axis with a slow response time so the Delta Computer Systems, Inc. 360/254-8688...
  • Page 28 DRIVE variation. For example, if the DRIVE varies from 2030 to 2060, the variation is 30. Half of 30 is 15, so put 15 in the HYSTERESIS field. When you finish, set the NULL UPDATE to its original value. CAUTION: The drive will oscillate if the HYSTERESIS value is too large. Delta Computer Systems, Inc. 360/254-8688...
  • Page 29 10,000 position units per second. EXTEND FEED FORWARD drive is added to the drive output only when the axis is extending. The drive provided by the EXTEND FEED FORWARD is determined as follows: Delta Computer Systems, Inc. 360/254-8688...
  • Page 30 Linear transducers have a calibration number (typically 9.1 s per inch) and the TMC 188/40 has a 27.75 MHz oscillator for transducer position measurement counters. To determine length per transducer count for a linear transducer use the following formula: Delta Computer Systems, Inc. 360/254-8688...
  • Page 31 Position Reading 1 = 10873 Measured Position 2 = 2 meters = 20,000 position units Position Reading 2 = 20805 10000 - 20000 -10000 SCALE = 33285(Old SCALE) x x 33285 = 33513 10873 - 20805 -9932 Delta Computer Systems, Inc. 360/254-8688...
  • Page 32 AT COMMAND POSITION specifies the size of a window around COMMAND POSITION. When the ACTUAL POSITION gets within this window, and the TARGET POSITION equals the COMMAND POSITION, the STATUS word‟s AT COMMAND POSITION bit is set. Delta Computer Systems, Inc. 360/254-8688...

  • Page 33: Dynamic Control Commands (Vwrite)

    1000, the axis will ramp to zero speed in 1 inch. The acceleration or deceleration rate is defined as: Rate = SPEED for SPEED > 0 2000 x Distance Where SPEED is the requested speed and Distance is the acceleration or deceleration parameter. Delta Computer Systems, Inc. 360/254-8688...
  • Page 34 C) If any axis is halted by an error condition, all axes will halt together. BIT 11 - SYNCB (SYNCHRONIZATION BIT B) This bit has the same effect as bit 12 above. It is used when a second pair of axes must be synchronized on the same module. Delta Computer Systems, Inc. 360/254-8688...
  • Page 35 (Sum of TARGET SPEED - ACTUAL SPEED) x PROPORTIONAL GAIN 50000 BIT 1 - Graph Disable When this bit is set the controller will not log graph data during a move. This is useful for troubleshooting long sequences of moves. Delta Computer Systems, Inc. 360/254-8688...
  • Page 36 / / / / / / / / Simulation Mode ---------- 13 ----------------/ / / / Reserved ----------------- 14 -----------------/ / / Accel and Decel Mode ----- 15 ------------------/ / Accel and Decel Mode ----- 16 -------------------/ Delta Computer Systems, Inc. 360/254-8688...
  • Page 37 The REQUESTED POSITION is the position the axis is to move to. This value is bounds-checked by the TMC 188/40 using the EXTEND LIMIT and RETRACT LIMIT and is then used as the COMMAND POSITION value. It is also used as a parameter for other commands (E, O, and C). Delta Computer Systems, Inc. 360/254-8688...
  • Page 38 Module will ramp to the new speed at the rate specified by the ACCELERATION and DECELERATION parameters. If you have issued a Shift-@ command (quadrature HOME command), do not issue a „G‟ until the axis arrives at the HOME position (status bit 16 = 1). Delta Computer Systems, Inc. 360/254-8688...
  • Page 39 To command the TMC 188/40 to output 10% negative drive, you would enter -205 in the REQUESTED POSITION field and 79 (O) in the COMMAND field. A 5 in the Delta Computer Systems, Inc. 360/254-8688...
  • Page 40 When the axis is moving, the „Z‟ command sets the ACTUAL POSITION to the REQUESTED POSITION, does not change the COMMAND POSITION, and updates the TARGET POSITION as follows: new TARGET = old TARGET - (ACTUAL POSITION - REQUESTED POSITION) Delta Computer Systems, Inc. 360/254-8688...
  • Page 41 C) The axis is obstructed 2) The axis then extends until the condition clears, reduces speed by half, then repeats Step 1. 3) Steps 1 and 2 repeat until the axis stops exactly on the HOME position. Delta Computer Systems, Inc. 360/254-8688...
  • Page 42 The external HOME input causes the counters to be loaded with the preset value determined from the last „@‟ command. If a new SCALE or OFFSET is issued with a „P‟ command, an „@‟ command must be issued to update the preset value of the external HOME. Delta Computer Systems, Inc. 360/254-8688...

  • Page 43: How It Works

    P15 select the mode. Jumpers P16, P17, P18 and P19 select the full scale range (±10 volts, ±5 volts, ±2.5 volts or ±100mA, ±50mA, ±25mA). For best resolution use as much of the output‟s range Delta Computer Systems, Inc. 360/254-8688...

  • Page 44: Closing The Loop

    When the axis starts ramping down, the accumulator is decremented at a rate calculated to bring the value to zero when the axis stops. The drive provided by the integrator is given by: Delta Computer Systems, Inc. 360/254-8688...

  • Page 45: Feed Forward

    If the DIFFERENTIAL GAIN is set to a value greater than zero, the differentiator will influence the drive when the axis is at rest. See page 29 for more information about the differentiator. NOTE: Axes will oscillate if the error gains are too high. Delta Computer Systems, Inc. 360/254-8688...

  • Page 46: Module Hardware

    (also see NOTE below) NOTE: If either the quadrature or analog position options are used, the axis indicators (1,2,3,4) will be off unless an axis error occurs. If an axis error condition occurs, they will flash red. Delta Computer Systems, Inc. 360/254-8688...

  • Page 47: Module Jumpers And External Wiring

    The wiring information later in this manual has wire color code data for the Temposonics® brand of magnetostrictive transducers and cables supplied by Delta Computer Systems, Inc. NOTE: Noise problems with magnetostrictive transducers may be reduced by connecting a 220 Ohm resistor between the interrogation pulse and common.
  • Page 48 Temposonics® I and Temposonics® II neuter types, connect the transducer power leads to the TMC 188/40 to take advantage of these resistors. For all other types of magnetostrictive transducers connect the power leads directly to the power supplies. Delta Computer Systems, Inc. 360/254-8688...
  • Page 49 Longest Measurement Time = Transducer Length(mm) x Cal Number x Recirculations 1 mm Maximum Resolution = Counts per mm Number of Maximum Measurement Maximum Recirculations Linear Time @ 1.5M Usable Transducer Transducer Length Resolution 6586mm 537us .100mm 3293mm 1075us .0502mm 1647mm 2150us .0251mm Delta Computer Systems, Inc. 360/254-8688...

  • Page 50: Fail-Safe Timers

    15 milliseconds. If the software restart fails, a hardware restart will occur which has the same effect on the TMC 188/40 as executing a system reset. Delta Computer Systems, Inc. 360/254-8688...

  • Page 51: System Reset

    When the TMC 188/40 is held in the reset state the 15 microsecond timer will disable the drive circuits. Cable & Connector Information Delta Computer Systems' wire color codes (PART # MCCBS-02, DB25 to transducer). Function Color...
  • Page 52 Drive Out 2 YELLOW Common RED/BLACK Drive Out 4 RED/YELLOW Common RED/GREEN Common Drive Out 3 PINK Common GRAY Common VIOLET NOTE: Output polarity must be set so linear position increases when the voltage or current increases. Delta Computer Systems, Inc. 360/254-8688...

  • Page 53: Common Problems And Solutions

    C) Terminate the shield at module end, the transducer end, or both. D) Install a pair of Delta Computer Systems' AMP/10 RS-422 converter cards. If a Temposonics® II transducer is used, use the RPM option and one Delta AMP/10 card.

  • Page 54: Axis Indicator Is Constant Red

    P/C sees it. In this case, the axis will remain stopped with the HALTED bit (bit 14) set. The axis will be in open loop and will drift if the valve null is off. Delta Computer Systems, Inc. 360/254-8688...

  • Page 55: Hydraulic System Problems

    (imagine trying to control the position of one end of a Slinky™ by moving the other end!). The lines between the valves and cylinders must be as short and rigid as possible. Delta Computer Systems, Inc. 360/254-8688...

  • Page 56: Pumps And Accumulators

    Graph the move with DCSMON. The graph (ignoring the Position terms) should show: Drive (green) Target Speed (purple) Actual Speed (blue) If the actual speed and target speed show: Your valve probably has overlap. Replace the valve with a linear one or try increasing the HYSTERESIS. Delta Computer Systems, Inc. 360/254-8688...
  • Page 57 If the speeds show: You may have too much hose between the valve and the cylinder. Reduce the amount of hose or add differential gain (usually less than 5). Delta Computer Systems, Inc. 360/254-8688...
  • Page 58 With normal gain values, if the graph shows: Your pump and/or accumulator may be inadequate (you are running out of oil). Reduce speed, increase pump pressure, add accumulator volume, or get a bigger pump. Delta Computer Systems, Inc. 360/254-8688...

  • Page 59: Repairs And Returns

    Returned items (in new condition and less than 120 days after shipment from Delta) must be approved by Delta and are subject to a 25% restocking fee. An RMA number must be issued before items can be returned for restocking. Delta Computer Systems, Inc. 360/254-8688...

  • Page 60: Glossary

    Target - A calculated or preset value used to determine the amount of position or speed error. Transducer - A general term that refers to a device which converts a physical parameter to an electrical signal. Transducer Counts - See Counts. Delta Computer Systems, Inc. 360/254-8688...

  • Page 61: Appendix A: Maps, Tips, And Commands

    In Pressure or Home modes, can cause only an emergency stop if the corresponding bits are cleared. ** WILL cause an emergency stop no matter how the mask register is set. Delta Computer Systems, Inc. 360/254-8688...

  • Page 62: Mode Word Bit Map

    / / / / / / / / Simulation Mode ---------- 13 ----------------/ / / / Reserved ----------------- 14 -----------------/ / / Accel and Decel Mode ----- 15 ------------------/ / Accel and Decel Mode ----- 16 -------------------/ Delta Computer Systems, Inc. 360/254-8688...

  • Page 63: Examplev Memory Map

    TMC 188/40 Motion Control Module Appendix A: Maps, Tips, and Commands Example V Memory Map Delta Computer Systems, Inc. 360/254-8688...

  • Page 64: Quick-Start Guide

    TMC 188/40 Motion Control Module Quick-Start Guide This quick-start guide is an aid to setting up the Delta Computer Systems family of TMC 188/40 (TMC) Motion Control Modules using magnetostrictive transducers. These instructions are not comprehensive; we assume you are familiar with programming and operating your Siemens SIMATIC TI505 P/C.
  • Page 65 Ctrl-T to toggle the mode). Enter the ACTUAL POS. reading as the value of the EXTEND LIMIT parameter. 2) Now move the axis close to the physical retract limit and set the RETRACT LIMIT parameter equal to the ACTUAL POS. Delta Computer Systems, Inc. 360/254-8688...
  • Page 66 PRO RET GAIN INTEGRAL GAIN DIFFER GAIN EXT. FEED FWD. RET. FEED FWD. Profile terms: MODE 00001 ACCEL 1% of SPEED DECEL 1% of SPEED SPEED 20% of maximum system speed (1000 = 1 in/sec) Delta Computer Systems, Inc. 360/254-8688...
  • Page 67 TMC module in your system. If you have more than one module in the system, DCSMON knows which one you are tuning so it inserts the proper number in the .bdn file extension. Delta Computer Systems, Inc. 360/254-8688...
  • Page 68 When the DIRECTION is 0 and the REQUESTED POSITION is more negative than the OFFSET, the axis will extend (increasing transducer counts). When the DIRECTION is -1 and the REQUESTED POSITION is more positive than the OFFSET, the axis will extend. Delta Computer Systems, Inc. 360/254-8688...

  • Page 69: Axis Tuning Tips

    5 Hz or less. It adds a small boost while accelerating and helps stop while decelerating. Increase this number by ones. The DIFFERENTIAL GAIN should not get over 10; high values will cause oscillation. Delta Computer Systems, Inc. 360/254-8688...
  • Page 70 Appendix A: Maps, Tips, and Commands TMC 188/40 Motion Control Module Delta Computer Systems, Inc. 360/254-8688...

  • Page 71: Dcsmon Command Summary

    General help file 89D,59H Yank plot data to VMEM 90D,5AH Zero quadrature counts 61D,3DH Copy step program from VMEM to MCM 94D,5EH Pressure command 92D,5CH Pressure ramp rate 95D,5FH Pressure low Event Control Firmware (ECF) Delta Computer Systems, Inc. 360/254-8688...
  • Page 72 Toggle Auto move - when on, DCSMON cycles through Automove file Ctrl A Edit Automove file using Table Editor Ctrl F Edit F1-F10 keys using Table Editor Ctrl F1-F10 Move using predetermined positions and profiles Delta Computer Systems, Inc. 360/254-8688...

  • Page 73: Control Equations

    Proportional Drive = (TARGET POSITION - ACTUAL POSITION) x PROPORTIONAL GAIN Feed Forward Drive = TARGET SPEED x FEED FORWARD 10000 Integral Drive = INTEGRAL GAIN x Accumulated error 10000 Differentiator Drive = (TARGET SPEED - ACTUAL SPEED) x DIFFERENTIAL GAIN Delta Computer Systems, Inc. 360/254-8688...

  • Page 74: Ascii Code Chart

    TMC 188/40 Motion Control Module ASCII Code Chart This is a list of all the standard ASCII control characters, listing the keyboard character, hex value, and decimal value of the character. ‘ < > space ” & ’ Delta Computer Systems, Inc. 360/254-8688...

  • Page 75: Appendix B: Asbx/40 Analog Module

    1) READ parameters are increased from 28 to 40 (from 7 to 10 per axis) 2) VINIT parameters are increased from 24 to 34 per axis 3) Bit 10 of the MODE word is defined 4) Bits 10 through 13 of the STATUS word are redefined VREAD V Memory Delta Computer Systems, Inc. 360/254-8688...
  • Page 76 COMMAND POSITION Axis 4 TARGET POSITION Axis 4 ACTUAL POSITION Axis 4 TRANSDUCER COUNTS Axis 4 STATUS Axis 4 DRIVE Axis 4 TARGET SPEED Axis 4 NULL DRIVE Axis 4 PRESSURE ACTUAL Axis 4 PRESSURE COUNTS Delta Computer Systems, Inc. 360/254-8688...

  • Page 77: New Vread Parameter Definitions

    STATIC GAIN EXTEND GAIN RETRACT GAIN INTEGRAL GAIN DIFFERENTIAL GAIN 0 EXTEND FEED FORWARD RETRACT FEED FORWARD SCALE 32768 OFFSET DIRECTION MAXIMUM POSITION ERROR AT COMMAND POSITION NEAR COMMAND POSITION EXTEND LIMIT Position on power up Delta Computer Systems, Inc. 360/254-8688...

  • Page 78: New Vinit Parameter Definitions

    PRESSURE COMMAND after the latter has been changed. The PRESSURE RAMP is specified in units of PRESSURE ACTUAL per 2 millisecond interval. PRESSURE RAMP can be changed at any time without a “P” or “G” command. Delta Computer Systems, Inc. 360/254-8688...

  • Page 79: Mode And Status Word Changes

    This command sets the rate at which the pressure target ramps to a new command pressure. The units are 0.01 pressure units per 2 milliseconds. A value of 200 will ramp the pressure target by 1,000 pressure units in 1 second. Delta Computer Systems, Inc. 360/254-8688...

  • Page 80: Asbx/40 Setup

    PRESSURE COUNTS are zero. The figure below shows the location of the jumpers: 16-Pin analog input connector Jumper pins for analog position signals 1 •• 2 •• 3 •• 4 •• P5 - iSBX Connector Delta Computer Systems, Inc. 360/254-8688...

  • Page 81: Setting The Pressure Scale And Pressure Offset

    A PID loop is implemented on the pressure control. The integral and differential terms allow the controller to accurately maintain pressure while following a moving target. This is useful in applications where an object is being simultaneously clamped and moved. Delta Computer Systems, Inc. 360/254-8688...

  • Page 82: Pressure Plots

    Shell Shield Analog Common BLACK pair 5 N.C. YELLOW pair 5 BLACK pair 6 Digital Common BROWN pair 6 BLACK pair 7 ORANGE pair 7 RED pair 8 WHITE pair 8 9-19 N.C. 28-37 N.C. Delta Computer Systems, Inc. 360/254-8688...

  • Page 83: Appendix C: Qsbx/40 Quadrature Module

    3.25 VDC minimum Active Input Current Threshold 5 mA typical., 9.5 mA max. Maximum Input Voltage 24 VDC 24 bit - A scaled 16 bit count is used by the Position Resolution Hardware Counters Programmable Controller Delta Computer Systems, Inc. 360/254-8688...

  • Page 84: Qsbx/40 Block Diagram

    See pages 88 and 89 for examples of the SCALE parameter. With quadrature encoders: ACTUAL POSITION = (Transducer COUNTS x 1000 / SCALE) + OFFSET With Magnetostrictive Transducers: ACTUAL POSITION = (Transducer COUNTS x SCALE / 32768) XOR DIRECTION + OFFSET Delta Computer Systems, Inc. 360/254-8688...
  • Page 85 An overdrive error during a move could indicate the quadrature encoder signal has been lost. We recommend clearing the overdrive bit (bit 4, 0EFFF) in both the HALT and ESTOP masks so the drive output is disabled immediately when an overdrive error occurs. Delta Computer Systems, Inc. 360/254-8688...

  • Page 86: Quadrature Encoder Position Measurement

    ±2,147,483,648 counts. NOTE: The highest usable number of quadrature encoder counts is 4,294,836 because of the 16 bit limitation of the SCALE parameter: 65,535 maximum counts x 65,535 maximum SCALE value = 4,294,836 1000 position units Delta Computer Systems, Inc. 360/254-8688...

  • Page 87: Quadrature Encoder-Specific Commands

    Preset Value = (Requested Position - Offset) x SCALE / 1000 rather than the default value of 100. The next time the Home input is active this preset value will be transfered to the transducer counts value. Z Command (5AH, 90D) Delta Computer Systems, Inc. 360/254-8688...
  • Page 88 NOTE: When issuing a Z command, the REQUESTED POSITION should be greater than the OFFSET parameter. The REQUESTED POSITION must also fall between the EXTEND and RETRACT limits. See the modified OFFSET parameter definition in this appendix for more information. Delta Computer Systems, Inc. 360/254-8688...

  • Page 89: Tmc 188/40-(T)Q Parameter Changes

    NOTE: A SCALE of 800 could be used, resulting in a unit of measurement of 0.0002 inches and a usable resolution of 5,000 parts per inch. This increased resolution may be helpful conceptually, but the real system resolution is still limited to the 4,000 parts per inch of the mechanical system. Delta Computer Systems, Inc. 360/254-8688...
  • Page 90 REQUESTED POSITION values. OFFSETS are always negative, and the minimum limit of the range is the OFFSET. The maximum limit is the OFFSET value plus 65,535. Example: OFFSET Position Range -10,000 -10,000 to 55,535 Delta Computer Systems, Inc. 360/254-8688...

  • Page 91: Readback Parameters

    Bit 7 equals zero (0) when the Limit input is Active (Within-Limits). It is one (1) when the Limit is inactive (Out-of-Limit). Since the Limit input is designed to be fail-safe, an inactive input is taken as an 'Out-of-Limit' condition. Delta Computer Systems, Inc. 360/254-8688...

  • Page 92: Limit And Home Digital Inputs

    Programmable Controller's responsibility to make sure the requested positions are within the correct limits before another move is made. CAUTION: The HALT MASK bit must be enabled (set to zero) to use the ESTOP MASK. Delta Computer Systems, Inc. 360/254-8688...
  • Page 93 While the Home input is active, the counter is held at the preset value even if the axis moves (i.e., it is not edge sensitive). CAUTION: The hardware Home input must be deactivated when the axis is given a G command; otherwise the drive output could become large. Delta Computer Systems, Inc. 360/254-8688...

  • Page 94: Qsbx/40 Board Jumpers

    The jumpers used to qualify the Home input are located at P2. Installation of the jumper will inhibit the Home input if the Limit input is Active (normal fail-safe condition). With the jumper removed, only the Home input needs to be Active to preset the TMC 188/40-(T)Q to the home position. Delta Computer Systems, Inc. 360/254-8688...

  • Page 95: Quadrature Encoder Interface Examples

    NOTE : Practical line lengths may be limited by noise. In demanding environments differential receivers should be used. Line Res. 28AWG 24AWG 5.5 Ohm 75 ft 175 ft 7.5 Ohm 100 ft 250 ft 22 Ohm 300 ft 700 ft Delta Computer Systems, Inc. 360/254-8688...

  • Page 96: Front Panel Indicators

    Quadrature - OFF; MDT - green when transducer OK The TMC 188/40 Q (no magnetostrictive transducers) LEDs work as follows: Jumper P4 not installed on QSBX/40 Flashing Red Control error detected or no Limit input Green Quadrature status OK Delta Computer Systems, Inc. 360/254-8688...

  • Page 97: Front Panel Db 37 Female Connector

    BLUE pair 15 Axis 4 LIMIT + input GREEN pair 16 Axis 4 LIMIT - input YELLOW pair 16 N.C. GREEN pair 17 N.C. BROWN pair 17 N.C. GREEN pair 18 N.C. ORANGE pair 18 Delta Computer Systems, Inc. 360/254-8688...

  • Page 98: Sample Limit And Home Configuration

    The Home/Limit detector has two independent NPN open collector outputs. The normally closed output is used for the Limit function and is connected so either detector will operate the Limit input. The normally open output of the Home/Limit detector generates the Home (reset) signal. Delta Computer Systems, Inc. 360/254-8688...

  • Page 99: Appendix D: Application Notes

    RETRACT LIMIT is 27 inches. Since we want the position to increase as the axis retracts it is necessary to set the DIRECTION field to -1 or 65535. When the DIRECTION field changes, the other positions must change as follows: END OF ROD 42000: 65536 - 42000 = 23536 Delta Computer Systems, Inc. 360/254-8688...
  • Page 100 To update DCSMON's files, you must save the parameters to the module's BDn (board) file. After you have adjusted them so the axes move correctly, enter 'S <CR>' at DCSMON's main screen to save the parameters in the module's BDn file. Delta Computer Systems, Inc. 360/254-8688...

  • Page 101: Acceleration And Deceleration Modes

    The parameters might look like this: ------ ----- ACCEL 2000 1500 DECEL 2000 1500 SPEED 12000 9000 REQ POS 4000 3000 The two axes will draw a straight line between 0,0 and 4,3. Delta Computer Systems, Inc. 360/254-8688...

  • Page 102: Even Ending

    The 'R' (restore null) command will retrieve the saved null value. There are two limitations to using the STOPPED bit: 1) The axis must be moving 1 inch/second or greater 2) It takes 10 milliseconds to detect the obstruction. Delta Computer Systems, Inc. 360/254-8688...

  • Page 103: Example Using 20 M A Servo Valves With 100 M A Output

    To find what wattage of resistor to use, calculate the power dissipation: Power = I Power = (5 mA) x 640 Ohms = 0.016 Watts A quarter Watt resistor would be a good choice. Delta Computer Systems, Inc. 360/254-8688...

  • Page 104: Appendix E: Sample Ladder Logic

    │ ├───┤ ├───┬─│ Parameters │───────────────────────────────( │ │ │ A:V241 │ │Always On│ │ │ │ │ │ │ │ │ │ │ │ │ │ B:WY201 │ ├───┤/├───┘ │ N=8 │ │ └─────────────┘ │ │ Delta Computer Systems, Inc. 360/254-8688...
  • Page 105 │ │ Command │ │ │ │ ├────┤/├─────:O:───│ Axis 1 │────────────────────────( │ │ A:V456 │ │ │ │ │ │ N=72 │ │ │ │ │ │ │ │ │ │ │ └─────────────┘ │ │ Delta Computer Systems, Inc. 360/254-8688...
  • Page 106 State 4 │ │ X2 │ Command │ ├─┤ ├───:O:───│ │─────────────────────────────( │ │ A:V119 │ │ │ Mode Words │ │ │ │ │ │ Axis 1 │ │ │ B:V451 │ │ │ N=6 │ Delta Computer Systems, Inc. 360/254-8688...
  • Page 107 │ X3 │ Command │ ├─┤ ├───:O:───│ │─────────────────────────────( │ │ A:V125 │ │ │ Mode Words │ │ │ │ │ │ Axis 1 │ │ │ B:V451 │ │ │ N=6 │ │ └─────────────┘ Delta Computer Systems, Inc. 360/254-8688...

  • Page 108: Tmc 188/40 Wiring Diagrams

    Appendix E: Sample Ladder Logic TMC 188/40 Motion Control Module TMC 188/40 Wiring Diagrams 1) Motion Control Module Wiring Diagram 2) Magnetostrictive Transducer Wiring Diagram 3) TMC 188/40 Typical Wiring Delta Computer Systems, Inc. 360/254-8688...

  • Page 109: Index

    EXTEND FEED FORWARD • 14, 29, 45, 69 EXTEND GAIN • 14, 29, 69 NEAR COMMAND POSITION • 24, 33 EXTEND LIMIT • 11 - 13, 33, 43, 98, 99 NEW NULL • 27 External Wiring • 47 Delta Computer Systems, Inc. 360/254-8688...
  • Page 110 RETRACT LIMIT • 11 - 13, 33, 43, 98, 99 WRITPC • 9 WY registers • 7, 9 - 11, 15 - 17, 46, 53 Save Null • 40 SBX • 60 Z Command• 87 Delta Computer Systems, Inc. 360/254-8688...

This manual is also suitable for:

Tmc 188/40-taTmc 188/40-tq

Table of Contents