Parker ViX250IM User Manual
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Parker ViX250IM User Manual

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Summary of Contents for Parker ViX250IM

  • Page 1 (217) 352-9330 | Click HERE Find the Parker / Compumotor XL / XL-PSU at our website:...
  • Page 2 V iX250IM V iX500IM Stepper Drives User Guide Part No: 1600.324.01b February, 2004 (For software revision 2.0 onwards)
  • Page 4 The information in this user guide, including any apparatus, methods, techniques, and concepts described herein, are the proprietary property of Parker Electromechanical Division or its licensors, and may not be copied, disclosed, or used for any purpose not expressly authorised by the owner thereof.
  • Page 5 Product Type: ViX250IM, ViX500IM The above product is in compliance with the requirements of directives • 73/23/EEC Low Voltage Directive • 93/68/EEC CE Marking Directive • 89/336/EEC Electromagnetic Compatibility Directive Provided the installation requirements described in this user guide are met, and there are no special requirements of...
  • Page 6 Contact Addresses For engineering For engineering assistance in Europe: assistance in Germany Parker Hannifin plc Parker Hannifin GmbH Electromechanical Electromechanical Automation Automation 21 Balena Close P. O. Box: 77607-1720 Poole, Dorset Robert-Bosch-Str. 22 England, BH17 7DX D-77656 Offenburg, Germany Tel: +44 (0)1202-699000...

  • Page 7: Table Of Contents

    Listing, Classification or Certification. User Guide Issue Change Summary This user guide, version 1600.324.01, is the first version of the ViX250IM/ViX500IM Microstepper Indexer Drive. When a user guide is updated, the new or changed text is differentiated with a change bar in the outside margin (this paragraph is an example).
  • Page 8 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Latest Changes Sheet This page lists important changes occurring immediately before publication or between issue updates:...

  • Page 9: Introduction

    1. INTRODUCTION 1. Introduction Product Description Available in two current ratings, these microstepper indexer drives employ an optimised digital field oriented current loop to provide low speed smoothness coupled with high speed torque. Advanced digital techniques result in reduced settling time and reduced mid speed instability when compared with similar competitive drive types.
  • Page 10 Product Code Description ViX500IM 5.6A RMS (8A peak) microstepper indexer drive with an RS232 control interface ViX250IM 2.8A RMS (4A peak) microstepper indexer drive with an RS232 control interface ViX500CM 5.6A RMS (8A peak) microstepper indexer drive with Canbus/RS485 interface ViX250CM 2.8A RMS (4A peak) microstepper indexer drive with...
  • Page 11 1. INTRODUCTION Fit Kits A fit kit is available for ViXIM drives: VIX-KIT Part Number Quantity Description 1650.937.01 Information sheet 5004.023 Plastic bag 5006.211 Product label 0405.811 10-way Flange plug strip 0405.961 9-way D-type plug 0405.962 15-way HD D-type plug 0405.963 15-way HD D-type socket...
  • Page 12 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Further Information This user guide contains all the necessary information for the effective use of this drive. However, to gain a more in-depth understanding of drive applications and motion control, consider attending one of our world-wide Customer Specific Training Workshops. Examples of previous courses that have proved to be of benefit include: Use and programming of the DIN rail H &...

  • Page 13: Mechanical Installation

    2. MECHANICAL INSTALLATION 2. Mechanical Installation Installation Requirements Environment ViX drives operate in a temperature range of 0° to 40°C with natural convection, or 50°C Max with forced-air cooling (see Hardware Reference), at normal levels of humidity (5-95% non-condensing). The drives can tolerate atmospheric pollution degree 2, which means only dry, non-conductive pollution is acceptable.
  • Page 14 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Dimensions ViX250 and ViX500 drives share the same dimensions, shown in Figure 2-1. 98.5 (with connector) HVSTFB 88,1 Figure 2-1. ViX250 & ViX500 Dimensions...
  • Page 15 2. MECHANICAL INSTALLATION Drive Mounting Options If you require a DIN-Rail mounting ViX drive use the optional DIN-Rail clip adapter bracket shown in Figure 2-2. 16mm Viewed from the back of the DIN rail Allow 10mm for release Figure 2-2. DIN-Rail Adapter Bracket Remove the panel mounting plate from the back of the drive and attach the bracket to the back of the drive using the screws provided.
  • Page 16 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Mounting Mechanical Considerations Keep motors securely fixed in position at all times. Do not test a motor/drive combination without first securing the motor – see the Safety Warning at the front of this user guide. CAUTION –...

  • Page 17: Electrical Installation

    3. ELECTRICAL INSTALLATION 3. Electrical Installation Installation Safety Requirements ViX stepper drives meet the requirements of both the European LVD & EMC directives when installed according to the instructions given within this section. It is recommended the drive be installed in an enclosure to protect it from atmospheric contaminants and to prevent operator access while it has power applied.
  • Page 18 Figure 3-1. X1 Power Connections WARNING – Possible drive damage If you use Parker XL Series stepper drives, do not attempt to use any power wiring harness taken from an XL drive. Although the same mating connector is used for both an XL and a ViX, the ViX wiring is the reverse of the XL and the wrong wiring connection will damage the drive.
  • Page 19 3. ELECTRICAL INSTALLATION 11 WARNING The drive HV supply input is not reverse polarity protected. Reverse polarity connections will damage the drive. Current and Capacitance A supply must have a minimum amount of capacitance to support a drive at peak power draw.
  • Page 20 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE ViX250 with SY561 ViX250 with SY562 Speed, revs/sec Speed, revs/sec ViX500 with SY563 ViX250 with SY871 Speed, revs/sec Speed, revs/sec ViX500 with SY872 ViX500 with SY873 Speed, revs/sec Speed, revs/sec Figure 3-2. Stepper Drive Torque/Speed Data...
  • Page 21 3. ELECTRICAL INSTALLATION 13 XL-PSU Power Supply The XL-PSU is a 250W, power factor corrected, switched mode power supply. Designed for direct operation from world wide single phase AC input voltages, the supply is capable of powering up to two ViX250 drives (see note 1) without the need for an EMC mains input filter (see note 2).
  • Page 22 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE XL-PSU Supply/Drive Connections When used to supply up to two drives the power supply can be wired as shown in Figure 3-3. Mininum spacing 10 mm between drives & PSU +DC (80V) EXT. BRAKING RES. If the supply is positioned this side of the drive +24V...
  • Page 23 3. ELECTRICAL INSTALLATION 15 XL-PSU Mounting Information Mount the supply vertically, near the drives it will supply. Both the top 4.5mm diameter fixing hole and the bottom two 4.5mm width fixing slots should be used. Allow a minimum free space of 50mm both below and above its case and 10mm free space on both sides.
  • Page 24 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE PL1100 Power Supply General Description The PL1100 is a linear power supply with a rated output of 1120W (80V/14A) for use with ViX and XL series drives. The supply requires a suitably rated transformer supplying 50V AC RMS for the HV and 20V AC RMS for the +24V DC.
  • Page 25 These EMC installation recommendations are based on the expertise acquired during the development of compliant applications, which Parker believes are typical of the way, a drive or drives may be used. Provided you have no special installation requirements or untypical operating environment requirements, ViX drives will conform to current EMC Directives, as defined at the front of this user guide.
  • Page 26 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE CABINET Lead length BACK restriction PLANE (less than 1 metre) DC Supply Star earth point to the metal backplane Transformer Located in AC Supply DC 24V Supply the base of LOAD 3VK1 the cabinet CORCOM 6FC10 LINE...
  • Page 27 3. ELECTRICAL INSTALLATION 19 Motor Connections to the Drive The recommended wire size for ViX250IM/500IM motor cables, of length less than 20m, is . For motor cable lengths greater than 20m (up to a maximum of 50m) use a wire size of 2.5mm...
  • Page 28 They therefore act like a high impedance in this waveband. Produced by Parker Chomerics, the recommended component is suitable for use with cable having an outside diameter up to 10mm. The specification is as follows: Chomerics part number H8FE-1115-NC (Parker part number 0313.020)
  • Page 29 50% that of the bipolar rating, and the motor will give improved low- speed torque, but reduced high-speed torque. The ViX250IM/ViX500IM will drive motors having an inductance as low as 0.5mH and as high as 20mH, but the recommended motor inductance range is between 0.8mH and 10mH.
  • Page 30 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Large Motors The largest recommended motor size is a 34-frame 3-stack. Please contact Parker if you wish to use a larger frame motor. Motor Connections at the Motor Motor connections should be made directly between the drive and motor, the use of any switching devices, such as contactors is not recommended.
  • Page 31 3. ELECTRICAL INSTALLATION 23 Custom Motor Set Up Within screen 2 of Guided stepper initialisation, clicking upon the Setup custom button will open the window shown in Figure 3-7. Figure 3-7. EASI-V Custom Motor Configuration Window Motor the general name/number for the motor. Phase continuous current rating of the motor in Amps RMS.
  • Page 32 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The Other Parameters Tab Selecting the Other parameters tab gives you access to the screen shown in Figure 3-8. Figure 3-8. EASI-V Custom Motor Other Parameters In-position time (IT) Digital I/O The decimal number required by the IC system variable to configure the input/output state of the drive.
  • Page 33 3. ELECTRICAL INSTALLATION 25 Figure 3-9. EASI-V Custom Motor Limits/home Parameters Limit inputs Four radio buttons used to configure the limit inputs. Limit Selection of normally closed or normally open limit switches. switches Home Enable/disable the HOME command. enabled Home Select the required edge of the home switch where you wish the home reference position to be.
  • Page 34 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Voltage Ratings Motors with a withstand voltage rating from phase to earth of 1000V AC should be used. An insulation withstand rating of 500V AC is acceptable if an isolating transformer with earthed screen is used to power the system, and X1 pin9 (0V/GND) input is earthed, as specified.
  • Page 35 3. ELECTRICAL INSTALLATION 27 A range of mating connectors Communications are supplied, depending Function upon the type of fit-kit Rx+/Tx+ (RS485)* ordered. Drive reset RS232 GND RS232 Rx RS232 Tx Rx-/Tx- (RS485)* RS232 Tx (D loop) Do not connect Protective Earth +5V output Power &...
  • Page 36 X1 is the main power and motor connector. Both HV, +24V and the motor phase connections are made to X1. Connector Type The mating connector for X1 is a Wieland 8213B/10F, part number 25.323.4053.0 (Parker part number 0405.811). An approval marked version of this connector has the part number 25.323.1053.0.
  • Page 37 3. ELECTRICAL INSTALLATION 29 X2 Connector X2 provides the primary input connections for the motor feedback device. This is the input that should be used for position maintenance and stall detection functions. Connector Type Connector type is a high-density 15-way D-type socket. Connector Pin Out Connector Primary Encoder...
  • Page 38 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Overtemperature Sensor Standard Parker stepper motors do not use an over-temperature sensor, however when using custom motors provision is made for the connection of either a thermal switch or thermistor device. The following devices are supported: •...
  • Page 39 3. ELECTRICAL INSTALLATION 31 Baud Rate Use system variable BR to alter the baud rate of serial communications. Any change made to the baud rate will only take effect following a save (SV) and system reset or power cycle. Reset to RS232 Mode To reset the drive to RS232 mode and to return to factory settings, remove power from the drive, connect X3 pin 2 to GND and restore power.
  • Page 40 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RS232 Connecting Leads RS232 cables can be ordered from Parker. Various lengths are available as listed in Table 3-9. Part Number Length RS232-EASI-0250 2. 5m RS232-EASI-0500 5.0m RS232-EASI-0750 7.5m RS232-EASI-1000 10.0m RS232-EASI-1250 12.5m RS232-EASI-1500 15.0m...
  • Page 41 3. ELECTRICAL INSTALLATION 33 Inputs Depending Upon the State of System Variable EI Connector Pin EI=0 EI=1 EI=2 STEP+ STEP- DIR+ CCW+ DIR- CCW- Outputs Depending Upon the State of System Variable EO* Connector Pin EO=0 EO=1 EO=2 STEP+ STEP- DIR+ CCW+ DIR-...
  • Page 42 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Figure 3-13 shows the input characteristic. Velocity (rps) Commanded velocity Dead band -10V Volts +10V Figure 3-13. Analogue Differential Input Characteristic An analogue deadband can be set, using system variable ‘AB’. _________ Energise/Shutdown Enable the drive by allowing the input pin to float high ‘1’...
  • Page 43 3. ELECTRICAL INSTALLATION 35 X5 Connector X5 is the user Input/Output connector. Connector Type Connector type is a high-density 15-way D-type plug. Connector Pin Out Connector Pin X5 Input/Output Output 2 Output 1 Input 5 (limit+) Input 4 (limit-) Input 3 (home) Input 2 (registration) Input 1 (stop) +24V...
  • Page 44 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Inputs Inputs can be configured using the Easi-V graphic interface or by writing directly to the IC system variable. By adjusting the user input configuration, you can set the input switching level threshold and you can set the internal input resistor to be a pull-up or a pull-down. Figure 3-14 shows the position of software switches.
  • Page 45 3. ELECTRICAL INSTALLATION 37 User Outputs User outputs can be configured using the Easi-V graphic interface or by writing directly to the IC system variable. By adjusting the user output configuration, you can set the output to source or sink current. Figure 3-15 shows the output circuit. Common IC +24V housing all...
  • Page 46 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Bits 0 to 4 control the input resistor pull-down/pull-up of inputs 1 to 5 (SWA setting). Setting a bit to a ‘1’ sets the input resistor to be a pull-up to +24V, a ‘0’ sets the resistor to be a pull-down.
  • Page 47 3. ELECTRICAL INSTALLATION 39 Fault Output The fault output is an independent NPN open-collector output which is normally ‘low’, active ‘high’. The output ratings are +30V maximum in the OFF condition and 15mA maximum in the ON condition. Figure 3-16 shows the output circuit. Drive circuit Fault...
  • Page 48 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RJ45 Interfaces Positioned beneath the drive are two RJ45 communication interfaces X6 and X7. The two interfaces provide support for Canbus, RS485 (using the Field Expansion Module) and daisy chain ports for multi-axis RS232 connections between drives. X7 RS232 daisy chain output X6 RS232 daisy...
  • Page 49 Systems using CANopen will need to terminate the final X7 output with a 120 ohms quarter watt resistor connected between X7 pins 3 and 6. A ready-made CAN bus RJ45 terminator is available as shown in Figure 3-19 (Parker part number ‘ViX-RJ45-G). 50mm pin 1 Figure 3-19.
  • Page 50 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Communication Daisy Chain Drives can be ‘daisy-chained’ for RS232/RS485* operation as shown below. Using this arrangement the drive connected to the controlling PC, via its front panel D-type connector, becomes axis #1. To automatically assign addresses, connect all power, motor, feedback and communication cables then power-up all the drives, see ‘#’...
  • Page 51 To maintain the integrity of the EMC screening, all RS232 and RS485 connections must be made via the drive’s X3 D-type connector. RJ45 Connecting Leads RJ45 link cables can be ordered from Parker. Various lengths are available as listed in Table 3-13. Part Number...
  • Page 52 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE...

  • Page 53: Control Of Vix Drives

    4. CONTROL OF VIX DRIVES 45 4. Control of ViX Drives Overview This section introduces you to the operation of the ViX stepper drive, the implementation of motion control moves and the way commands are used. Basic controller operation is described together with the code structure.
  • Page 54 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE during up-loading/down-loading of programs. Declaring labels in the command line, before any START code, makes the most efficient use of the available memory. If you then up-load the program to a PC and later down-load the same program the declarations will have been lost.
  • Page 55 4. CONTROL OF VIX DRIVES 47 Structure The code example of an absolute positioning move shown in Figure 4-1 demonstrates how to write code that follows the block structure. Use the start code to initialise the drive: 1START: Start code and 1DECLARE(MAIN) Initialisation 1DECLARE(MOVE2)
  • Page 56 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Finally, call individual moves from the main part of the program: 1MOVE2: ; define program label “move2” 1W(PA,0) ; zero position absolute ; absolute positioning move 1USE(2) ; use motion profile 2 ; execute move 1END ;...
  • Page 57 4. CONTROL OF VIX DRIVES 49 LOOP Command The block structure of the code lends itself to performing repetitive operations, using the LOOP command. The command can be used to call a particular labelled block of code for either a specified number of times or continuously. An example using the LOOP command is given below, again the START and MAIN code blocks have been combined within the START block: 1START:...
  • Page 58 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Reserved System Labels Certain pre-defined labels are recognised by the controller as containing code used for common operations. If event triggered code is enabled (ARM1), the code entered for these common operations will be automatically run when the event occurs. System labels have the following names: START: specifies the power on code, run using the ARM1 command...
  • Page 59 4. CONTROL OF VIX DRIVES 51 The conditions under which the FAULT label is called will vary depending upon the fault itself and the condition of various other commands and command parameters. An exact description is presented in Table 4-1. However, in general, a FAULT label will be called given any one of the following conditions: •...
  • Page 60 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Example The following example shows the use of a FAULT label within a program. 1ARM11 ;enable auto-run on power-up & enable fault routine ;save the settings 1START: ;start of program 1ARM11 ;re-enable auto-run & fault in case ‘K’ command sent <initialisation commands>...
  • Page 61 4. CONTROL OF VIX DRIVES 53 Start Label The system label START: introduces the drive’s setup and initialisation code. With ARM enabled the code is automatically executed at system start-up*. Consequently the code needs to be saved with ARM1X set. If you save a program with ARM0X set, the start-up code will not run and the controller will only respond to serial input commands.
  • Page 62 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Use of the LSEL Command You can let user inputs call programmed routines by the use of special label names and associated user input numbers. By including the code you wish to action, following a pre- defined input label, will enable your code to be run when the defined user input is activated.
  • Page 63 4. CONTROL OF VIX DRIVES 55 Upon receipt of a valid numeric input pattern the controller runs the associated routine. For example, binary pattern 3 causes routine L3 to run. This routine must finish (reach the END command) before the inputs can be automatically scanned again. The state of the inputs is presented to the controller as a parallel bit pattern.
  • Page 64 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Table of System Variables Table 4-2 lists system variables in alphabetic order together with their read/write status and range of values stored. Name Range/default value Analogue 0 to +255, default = 0 Deadband Analogue Input N -2047 to +2047 Analogue Offset...
  • Page 65 4. CONTROL OF VIX DRIVES 57 Name Range/default value Fieldbus Baud Refer to CANopen user guide Fieldbus Control Refer to CANopen user guide Fieldbus Node ID Refer to CANopen user guide Fieldbus Protocol Refer to CANopen user guide Home Final Sets the final velocity of the home move velocity Range: 0.001 to 5.0 rps (default 0.1)
  • Page 66 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Name Range/default value Status of indexing See below ST1 Status of indexing First byte of 32-bit ST variable ST2 Status of indexing Second byte of 32-bit ST variable ST3 Status of indexing Third byte of 32-bit ST variable ST4 Status of indexing Fourth byte of 32-bit ST variable Trigger Timeout...
  • Page 67 4. CONTROL OF VIX DRIVES 59 CQ Command Queuing Enable command queuing in mode incremental/absolute to buffer each command waiting for the previous command to complete, before issuing the next. In certain circumstances, disable this sequential operation, for example if you need to generate a trigger pulse part way through a move.
  • Page 68 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE EI Description System parameter EI, controls encoder inputs (connector X4) as defined in Table 4-4. EI=0 EI=1 EI=2 STEP+ STEP- DIR+ CCW+ DIR- CCW- Table 4-4. Encoder Input Configuration CAUTION De-energise the drive before changing EI and EO. EQ Description Echo queuing (EQ) is a system variable that can be useful for multi-axis control programs where you need to send and receive messages from individual drives controlled from a PC.
  • Page 69 4. CONTROL OF VIX DRIVES 61 ES Description System variable ES controls the required polarity of signal on the enable/shutdown_bar input (X4 pin 11). The default value of ES is zero (ES=0), therefore to enable the drive connect X4 pin 11 to X4 pin 4 (0V). With ES=1 X4 pin11 may be left open circuit to enable the drive. To energise the drive, the drive must be enabled and the ON command issued.
  • Page 70 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE You do not have to wait for the IP flag to be set at the end of every move, but its use improves positioning accuracy. Example Use this code after each G command to improve positioning. ;...
  • Page 71 4. CONTROL OF VIX DRIVES 63 PA Description PA reports the actual position of the motor shaft, assuming a primary encoder is fitted. Although PA is marked as being read only it will accept the value 0 to be written to it for resetting purposes.
  • Page 72 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RM Description Reports a 1 if a registration move is being actioned. RV Description Reports the revision of software being used by the controller. SC S-Curve configuration To reduce the amount of jerk (rate of change of acceleration or deceleration) within a move, enable SC.
  • Page 73 4. CONTROL OF VIX DRIVES 65 SN Description reserved. ST Description See reporting of status bits in Reporting the Status of Variables. TT Description The trigger timeout can be set or read using TT. If a timeout occurs status bit 8 is set high. Note: Setting a value of 0.00 results in NO trigger timeout.
  • Page 74 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Status Information Number Tested ST1.1 Command processing paused ST1.2 Looping (command executing) ST1.3 Wait for trigger (input) ST1.4 Running program ST1.5 Going home ST1.6 Waiting for delay timeout ST1.7 Registration in progress ST1.8 Last trigger command timed out ST2.1 Motor energised...
  • Page 75 4. CONTROL OF VIX DRIVES 67 Fault Status Reporting Faults are classified into two groups: Drive Faults DF (hardware faults present in the drive) User Faults UF (user program faults) Drive Faults Hardware drive faults will cause the drive output stage to be turned OFF (de-energised). This will cause the Drive LED to turn RED.
  • Page 76 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Stop Type DF Information Tested DF 1.1 Composite fault DF 1.2 +/-15V supply rail DF 1.3 Motor HV under-voltage trip point reached DF 1.4 Motor HV over-voltage trip point reached DF 1.5 DF 1.6 Vio over-voltage trip point reached DF 1.7 Encoder / Auxiliary 5V under voltage trip...
  • Page 77 4. CONTROL OF VIX DRIVES 69 Drive Fault Byte Reporting In exactly the same way as the status variable, the drive fault status can be reported a byte at a time, using DFn within a read command. User Faults User faults can be caused by programming errors, such as issuing a GO command when the drive is de-energised.
  • Page 78 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Fault Byte Reporting In exactly the same way as the status variable, the user fault status can be reported a byte at a time, using UFn within a read command. For example to read or test the first 8 bits (first byte) of the UF variable status word, use UF1.
  • Page 79 4. CONTROL OF VIX DRIVES 71 Reporting System Information During Code Development Whilst developing a program using EASI-Tools, it is likely that certain blocks of code when downloaded to the drive will return an *E error code. To analyse the cause of the error you can make use of EASI-Tools Status report window which, when read, will report back the cause of the error.
  • Page 80 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Conditional Code The flow of a motion control program will depend upon the position of the motor in combination with the value of particular inputs and commands. System variables are used to continuously monitor the state of a drive’s indexer and are able to report such things as ‘status of indexing’...
  • Page 81 4. CONTROL OF VIX DRIVES 73 Conditional Code Example The following code is a good example of how the conditional IF statement can be used for fault diagnosis within the FAULT label. 1FAULT: ;define check label 1IF(UF2,=,XXXXXX1X) ;deceleration error 1”Decel_Err” 1IF(DF1,<>,00000000) ;warning of a drive fault 1”Drive_Flt”...
  • Page 82 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motion Control Using the EASI Command Set Move Types Mechanical movement results from the motion of a motor shaft. By controlling the velocity, acceleration, distance and direction of the motor, different move profiles can be created for particular applications.
  • Page 83 4. CONTROL OF VIX DRIVES 75 Motor Direction & Positive Motion A positive direction command usually produces clockwise (CW) rotation of the motor shaft when viewed from the shaft end*. However, when limit switches are used it is important that the positive direction produces motion towards the positive limit switch (see sub-section on HOMING).
  • Page 84 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Trapezoidal Profile A trapezoidal move profile results when the defined velocity, you have programmed, is attained before the motor shaft has moved half of the specified distance. This is due to a defined velocity that is low, a defined acceleration that is high, a move distance that is long, or a combination of all three.
  • Page 85 4. CONTROL OF VIX DRIVES 77 Once a valid registration mark has been detected the registration move is performed using the move parameters taken from the previously defined profile* (profile_number in the command parameters). At the end of the registration move the user program GOSUBs to the code immediately following the REG label.
  • Page 86 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE A successful registration will cause the code, following the registration move, to jump to the REG label, from which normal program operation can continue. Before you can perform a registration move, the following code elements must be in place: 1.
  • Page 87 4. CONTROL OF VIX DRIVES 79 Homing The term ‘homing’ refers to an automatic return to a mechanical reference position which is usually performed when the system is first powered up. All subsequent moves will then be relative to this reference position. The home position is usually determined by an optical or proximity switch, though a mechanical switch can also be used.
  • Page 88 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Homing Configuration Command The command allows you to define the mechanical edge of the home switch at which you wish home to be. The command also allows you a choice of home switch type, that is normally closed or normally open, however if you change the switch type this does not change the edge you are homing to.
  • Page 89 4. CONTROL OF VIX DRIVES 81 Go Home Command The go home command (GH) is used to return to the reference home position. Issuing a GH command will cause motion in a direction defined by the HOME configuration command. Figure 4-8 shows the path taken if motion was started between the positive edge of the home switch and the positive limit (positive side of home).
  • Page 90 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE If the negative edge of the home switch is selected in the homing configuration command a similar motion path would be followed, but finishing on the other side of the home switch, as shown in Figure 4-9.
  • Page 91 4. CONTROL OF VIX DRIVES 83 Final Direction of Travel Note that no matter where motion starts from, that is from positive side of the home switch, in the home switch region or from the negative side of the home switch, or in which direction it goes from its starting point (positive or negative), its final direction of travel towards a nominated home switch edge is always the same.
  • Page 92 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE system will respond as if a limit has been hit in the ‘normal’ manner, that is, whilst not performing a homing move. In the second case, where home and limit are wired together, the following interaction is possible: If the load is commanded to go home in a direction away from the home switch and hits a limit, then the move will be automatically started in the opposite direction.
  • Page 93 4. CONTROL OF VIX DRIVES 85 associated flags are cleared. The program will also be aborted if you are already on a limit and you request motion in a direction which takes you further on to that limit. If the LIMIT command has been set to ‘stop motion when a limit is hit but continue the program’...
  • Page 94 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Limit Switches The drive has two limit inputs, the positive limit input and the negative limit input. When wiring the limit switches it is essential to check that a positive direction command produces motion towards the positive limit switch.
  • Page 95 4. CONTROL OF VIX DRIVES 87 Using Closed Loop Operation Closed loop refers to the operation of a stepper motor/drive where the position of the stepper motor shaft is measured and compared with the commanded position. This is normally arranged using an encoder attached to the motor’s shaft and electrically connected to the stepper drive’s encoder input, as shown in Figure 4-12.
  • Page 96 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE position using the 1R(PA) command. Now, rotate the encoder shaft in the same positive direction by about half a turn. Again read the encoder position, which should be greater than the first reading, indicating that the encoder count is increasing for positive motion. If the second count is less than the first, cross over the A- and A+ signals on the encoder connector, and repeat the test until an increasing count is obtained.
  • Page 97 4. CONTROL OF VIX DRIVES 89 At the end of the main move the controller waits until the in position time delay and the settle time (if programmed) have timed out, at this point the encoder count is read. A calculation is performed which compares the encoder count with the target position, if the difference between these two readings is less than the defined dead-band then the move is complete and the next user program command is executed.
  • Page 98 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Settle Time When Position Maintenance is enabled all moves will track actual position against commanded position. Position Maintenance allows the in-position signal to be held off for a settle-time, the value of which can be programmed in the command parameters. Speed Of Correction Once a move has been completed and the controller decides position maintenance correction is required, it will move the motor at a fixed speed of 1rps.
  • Page 99 4. CONTROL OF VIX DRIVES 91 Stall Detection Stall detection is only possible if an encoder is fitted to the motor or load. A stall is reported when the error between the commanded position and the actual position, determined by the encoder, exceeds the value set in the error window of the STALL command.
  • Page 100 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Scaling Using scale allows ‘user-friendly’ settings of distance, velocity and acceleration to be defined in user units, rather than units required by the drive. For example, using a ViXIM to control a linear table, it is possible to program distance units directly in mm, velocity in mm per second (mms ) and acceleration in mm per second/per second (mms ).
  • Page 101 4. CONTROL OF VIX DRIVES 93 You can use SCALE in combination with other commands such as LOADENC, STALL or POSMAIN. The exact mix of commands together with the source of the feedback, and the type of programming steps used are presented in Table 4-9. In the command columns 0 = disabled and 1 = enabled.
  • Page 102 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE...

  • Page 103: Easi-V Software

    Note: The information contained within this section applies to Easi-V software version 2.0 or greater. If you have an earlier version of Easi-V software please request the latest version from Parker using the contact numbers given at the beginning of this user guide or download a copy from our web-site (www.parker-eme.com).
  • Page 104 EASI-V in the directory of your choice. The default directory is c:\program files\parker\easi-v in the UK, but the exact path name is country dependent, other buttons are described within the dialogue box, see Figure 5-1.
  • Page 105 5. EASI-V SOFTWARE 97 6. Once you have selected a destination for Easi-V or have decided to use the default directory, select NEXT to begin file transfer. 7. Once Easi-V has been loaded, the screen will display a message dialogue box, stating ‘Setup is complete.
  • Page 106 Selecting Product from the Utilities menu will also display the product selection screen. Selecting OK will display the main application window, entitled ‘Parker Hannifin EMD – Easi-V’, and seven pull-down menus become available: File, Edit, Search, Terminal, Utilities, Windows, Help The majority of options available within each menu are familiar to Window™...
  • Page 107 5. EASI-V SOFTWARE 99 Menu Overview Filing Operations File Creates a new editor file, or .prg program file Opens an existing editor file or program Save an editor file Save an editor file specifing the file name Print the editor file or contents of terminal buffer Close current active window Exit Easi-V Editing Operations...
  • Page 108 Program help facilities Help Open help file at the main contents (start) Prompt for topic string and search help file Open help for individual EASI-V commands Visit Parker web-site E-mail Parker technical support E-mail Parker sales support EASI-V version number and copyright...
  • Page 109 • Test communications before upload/download of programs • Display 3 rows of buttons in terminal window Use Drive settings allows the following selection: • Automatically upload parameters on address change Use Country to select your preferred Parker contact: • Germany • Italy • United Kingdom...
  • Page 110 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Terminal Menu Selections Terminal menu selections control the setup and configuration of communication between a PC and drive. Communicating with a Drive The default settings of a new drive from power-up are RS232 communications with an address setting of #1.
  • Page 111 5. EASI-V SOFTWARE 103 Select the required configuration and, click OK. Then, again from the Terminal menu select Connect to start communications. Every time Connect is issued the communications link is tested to establish it is working correctly and the message box ‘Testing communications integrity’...
  • Page 112 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Utilities Menu Selections Utilities menu selections control the way drives are setup and configured for use with a particular motor type. The menu offers two levels of setup, depending upon the skill and experience of the operator.
  • Page 113 5. EASI-V SOFTWARE 105 From the drop- down menu select your motor type or perform a custom set-up. Press ‘Next’ to select Motor Standby current and In-position settling Time values. This screen allows the selection of the motor standby current (MS) and the In-position settling time (IT).
  • Page 114 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Encoder feedback must be selected to allow stall detection or position maintenance. Press ‘Next’ to select the required limits. This screen allows the selection of the + & - limits and the type of limit switch used.
  • Page 115 5. EASI-V SOFTWARE 107 This screen allows the configuration of the home switch. Press ‘Next’ to configure the drive’s user inputs and outputs. Configure the drive’s user inputs and outputs and setup the following encoder inputs or the simulated encoder outputs. Press ‘Next’...
  • Page 116 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE This screen allows the setup of all the drive’s controls not available on other screens. Press ‘Next’ to complete the setup process and to generate a setup program. This screen signals the end of the guided setup process.
  • Page 117 5. EASI-V SOFTWARE 109 NOTE ANY CHANGES TO THE MOTOR TYPE NUMBER MUST BE FOLLOWED BY A SAVE (SV) AND RESET (Z) OR CYCLING POWER TO THE DRIVE. Create a setup program first, rather than download immediately, because if changes are required it’s easier to edit a saved program.
  • Page 118 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive settings / Setup This facility gives easy access to setting system variables in a more direct manner than Guided Drive Setup. Figure 5-6 shows a sample screen. Figure 5-6. Axis Setup Tab The buttons displayed along the base of this screen can be used as follows: Upload retrieves the current settings for the selected axis Download updates the current axis with your latest changes...
  • Page 119 5. EASI-V SOFTWARE 111 Status The Utilities menu axis Status provides a convenient method of examining the double word status bits. The tool gives access to the status of User Faults, Status bits and Drive Faults using a series of tabs, as shown in Figure 5-7. Figure 5-7.
  • Page 120 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Downloading and Uploading Programs A drive program that exists within an active edit window can be downloaded to the drive by selecting Download from the Utilities menu. Following the usual communication checks, the program will download to the drive’s internal memory.
  • Page 121 5. EASI-V SOFTWARE 113 A program may also be uploaded from a drive, a useful facility if a drive needs to be swapped between axes. To upload a program select Upload from the Utilities menu. An upload dialogue box will be displayed, allowing you to specify the name and address of the program to be uploaded.
  • Page 122 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Confirming Drive Operation With the drive and motor correctly wired and the serial connection made to a PC running Easi-V software, the operation of a drive may be confirmed by creating and downloading the following code: Before running this code return the drive to its factory settings and save those settings –...

  • Page 123: Command Reference

    6. COMMAND REFERENCE 6. Command Reference Command Description Each command has a simple 1 to 7 character name usually an abbreviation of its full descriptive title. Listed commands are in alphabetic order with any non-alphabetic symbols appearing last. Each individual description will include a one-line header giving the abbreviated name followed by its full name.
  • Page 124 116 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE aGOSUB(label) Label parameter Command name Address prefix aLIMITS(parameter1,2,3,parameter4) Parameters 1,2,3 & optional parameter 4 Command name Address prefix Figure 6-2. Parameter Commands Attention [1] Terminate all commands with a carriage return. A space is not valid. [2] A command must not contain any space characters.
  • Page 125 6. COMMAND REFERENCE Immediate Only Immediate only commands are: C, K, S, R(RB), R(UF), R(DF) and R(ST) The controller acts upon these commands as soon as they are received. Immediate or Buffered Immediate or buffered commands are immediate unless command execution is being delayed or command queuing is enabled whilst moving, in which case the command is buffered.
  • Page 126 118 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Can’t be used in labelled block Means it is not possible to include the command within a labelled program block. Saved by SV A command that has the property of being ‘saved by SV’ means data associated with that command is capable of being stored in non-volatile memory.
  • Page 127 6. COMMAND REFERENCE Acceleration/Deceleration Syntax Units Range of ‘n’ Default See also see SCALE 0.01 to AA AD SCALE 99999.99 Description This command will set both the acceleration and deceleration rates of the motor to the same value. Values set for the AA and AD commands are over-written, if previously set.
  • Page 128 120 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Deceleration Syntax Units Range of ‘n’ Default See also aADn See SCALE 0.01 to A AA SCALE 99999.99 Description The AD command will set or report the programmed linear deceleration rate of the motor. The deceleration value assigned to the AD command is over- written, if previously set.
  • Page 129 6. COMMAND REFERENCE Enable label triggered code Syntax Units Range of Default See also ‘n & m’ aARMnm 0 or 1 START label FAULT label The ARM command allows you to enable (arm) or disable the START label. It also enables/disables the FAULT label. n=1 : start label is enabled n=0 : start label is disabled (default condition) The second parameter ‘m’...
  • Page 130 122 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The code following the START label will be run at power up: Example 1START: ;start label 1T0.5 ;delay 1LIMITS(3,0,0) ;disable limits 1PROFILE1(100,100,4000,25) ;define profile 1 1USE(1) ;use profile 1 ;execute profile 1 1END 1ARM1 ;arm the start label...
  • Page 131 6. COMMAND REFERENCE Continue Syntax Units Range of ‘n’ Default See also Description The C (continue) command causes a user command to resume execution following a pause command. Immediate only, can’t be used in labelled block, not saved by SV Properties Example ;pause commands...
  • Page 132 124 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Distance Syntax Units Range of ‘n’ Default See also See SCALE -2,147,483,647 M SCALE to 2,147,483,647 Description The D command will set or report the programmed move distance. The value programmed is only used for preset moves. In MC (Move Continuous), the direction is observed.
  • Page 133 6. COMMAND REFERENCE Declare Declare Syntax Units Range of ‘n’ Default See also aDeclare(label) CLEAR All labels, apart from START, REG, NOREG & FAULT need to be declared Description at the beginning of the program using a DECLARE command. Labels consist of up to 5 upper case alphanumeric characters terminated with a colon (:), but a label must begin with an alpha character.
  • Page 134 126 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Enable/Disable Communications Syntax Units Range of ‘n’ Default See also 0 or 1 Description The E command disables or re-enables serial communications. E1 turns command communications ON, whilst E0 turns it OFF. In E0 mode the only command seen by the controller is E1.
  • Page 135 6. COMMAND REFERENCE EXIT Exit from loop Syntax Units Range of ‘n’ Default See also aEXIT LOOP Description The EXIT command will terminate a loop function at the end of a label. Immediate or buffered, can be used in labelled block, not saved by SV Properties Example 4START:...
  • Page 136 128 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE FOLLOW Configure following Syntax aFOLLOWon/off(source,mode,scale) The Configure Following command is used to setup following, allowing an Description axis to copy movement from another drive. The source parameter specifies the device to follow. The only option is: E –...
  • Page 137 6. COMMAND REFERENCE Note Only mode 1 is implemented at present. Do not use mode absolute (MA) while following. Do not perform a go home (GH) while following. If you hit a limit whilst following, movement is immediately stopped and following disabled*.
  • Page 138 130 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE FRATE Feed Rate Override Syntax Units Range of ‘n’ Default See also aFRATEn 0 or 1 Description Feed Rate Override, the FRATE command, is used together with the analogue input to scale the peak velocity of the drive (V). The purpose of the command is to allow the speed of the process being performed by the drive to be controlled by a single external analogue signal.
  • Page 139 6. COMMAND REFERENCE Syntax Units Range of ‘n’ Default See also PS S K M Description Issuing a G command starts motion using the parameters specified by the V, A or AA/AD, and D commands or via the PROFILE and USE commands. The mode of motion must have been previously set as this determines which parameters are used and which are ignored.
  • Page 140 132 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Go Home Syntax Units Range of ‘n’ Default See also HOME S K The go home command instructs the controller to search for the home Description position as defined by the home input switch. For this command to function correctly, the home function must define the homing parameters.
  • Page 141 6. COMMAND REFERENCE 1END 1MOVE1: 1USE(1) ; use the move profile 1 1O(XX1) ; turn output 3 on 1T0.1 ; wait for 100mS 1O(XX0) ; turn output 3 off 1END 1MOVE2: 1USE(2) ; use the move profile 2 ; pause for settle time 1TR(IP,=,1) 1END Note...
  • Page 142 134 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE GOTO GO TO routine Syntax Units Range of ‘n’ Default See also aGOTO(label) GOSUB Description The GOTO command continues user program execution from the label specified. Program execution does not return to the original place in the program (use GOSUB if command execution is required to return).
  • Page 143 6. COMMAND REFERENCE Change direction Syntax Units Range of ‘n’ Default See also + - or blank D, LOOP Description The H command changes the direction of motion. Specifying H+ sets the direction to clockwise, H- counter clockwise, and H alone reverses the current direction.
  • Page 144 136 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE CAUTION Note The USE command or the D command will re-define the move direction each time it is executed. To set up a loop to go CW (clockwise) then CCW (counter clockwise), make sure the D or USE command is outside of the LOOP otherwise the direction will be the same each time around the loop.
  • Page 145 6. COMMAND REFERENCE HOME Configure Homing Syntax aHOMEon/off(reference_edge,home_type,direction_&_velocity, acceleration/deceleration,mode) Description The Configure Homing command is used to setup homing prior to the use of the GH (Go Home) command. See also system variable HF. Use on/off to arm and disarm homing. The reference edge parameter is used to select the required edge of the home switch (+ for edge nearest the CW (positive movement) limit or - for edge nearest the CWW (negative movement) limit), see Homing section.
  • Page 146 138 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE In mode 0, when the home position is reached, the absolute position of the controller is set to 0. The incremental position reports the distance moved to reach the home position. (system variable PI). Typing aHOME on its own will return the current parameter values for the nominated axis.
  • Page 147 6. COMMAND REFERENCE Test condition Syntax aIF(system_variable,relation,value) Description The IF command compares the specified system variable with the specified value using the specified relation. If the condition is met, the next line of code is executed otherwise it is skipped. Refer to the table of system variables that can be used for conditional control.
  • Page 148 140 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Input Status Syntax Units Range of ‘n’ Default See also Description The IS command reports the status of the configurable user inputs when configured as pull-down (non-inverting) inputs. When used to report the state of any input switch, regardless of how the switch is wired, that is as a pull-up or as a pull-down: 0 represents an open contact switch input 1 represents a closed contact switch input...
  • Page 149 6. COMMAND REFERENCE Kill Syntax Units Range of ‘n’ Default See also S, PS, KILL Description Issuing a KILL will command motion to stop at limit deceleration rate. The command will then zero the position error to remove torque from a stalled load.
  • Page 150 142 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LIMITS Configure limit inputs Syntax aLIMITS(mask,type,mode,LD) Description The LIMITS command allows the user to define whether the LIM+/- inputs are used as limit inputs or user inputs via the LIM_MASK. The mask field takes the following values: Enable limits (default setting) Disable limit + Disable limit -...
  • Page 151 6. COMMAND REFERENCE To report the current configuration of the limits, type..............3LIMITS The response, using the above example..*LM1 TP1 M0 LD100.0 See also IS AD KILL Notes The default value of LIMITS type field is 1, that is normally closed. Hitting a limit stops motion, which cannot be re-started until you drive the load back off the limit switch.
  • Page 152 144 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LOADENC LoadEnc settings Syntax aLOADENCon/off This command allows a user to specify distances in load movement steps Description when used with a load mounted encoder connected to X2. It can be used in combination with position maintenance or any application where you need to specify distance in load mounted encoder steps, such as feed-to-length.
  • Page 153 6. COMMAND REFERENCE LOOP Repeat user code Syntax aLOOP(label,cycles) Description The LOOP command repeatedly calls a labelled block of code a number of times specified by the cycles parameter, the range being 0 to 65000. Note: If the number of cycles is set to 0 the loop will continue indefinitely. Nesting of loops up to 5 levels is permitted.
  • Page 154 146 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LSEL Label Select Syntax aLSELon/off(code,inputs,execution,type) The label select command allows the code following a label having the name Description Lnn (where nn is the detected input code) to be performed when a certain user input pattern is detected on a number of inputs in the range 1 to 5.
  • Page 155 6. COMMAND REFERENCE The range of input code patterns is given below. Selecting a BCD code restricts the number of input codes detected (1 to 9 and 11 to 19). Inputs Code type/Execution label BCD code Binary code...
  • Page 156 148 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The main code configures the label select command to detect a Example binary code on 5 inputs (all high gives decimal 31), and if detected, to continuously run the code at label L31. Use binary mode for PLC control and BCD for control via a thumwheel.
  • Page 157 6. COMMAND REFERENCE Mode Syntax Units Range of ‘n’ Default See also see below FRATE The mode command sets up the mode of operation of the controller. Description The values of n are: A – indexed move with absolute positioning B –...
  • Page 158 150 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Summary of microstepper modes Mode Source Enable/Energise Limits Enable Local ANA I/P Enable Local Enable Local Enable Local ENC I/P Energise/Shutdown Remote Key: TG – Trajectory Generator (internal command reference) ANA I/P – ANA1+, ANA1- analogue input on X4. See also AO and AB. ENC I/P –...
  • Page 159 6. COMMAND REFERENCE MOTOR Motor Settings Syntax aMOTOR(Type,Current,Resolution,Max_vel,%thirdharmonic,Resistance, Inductance) Description This command describes the characteristics of the motor being used to the rest of the drive. The parameters used are: Type – 0 to 1023 number code Current – RMS continuous motor current (0.1 to 5.6 A in 0.1 A increments for ViX500).
  • Page 160 152 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Immediate or buffered, can be used in labelled block, saved by SV Properties Note [1] The motor command can take up to 12 seconds to finish execution. [2] When changing motor type the fault and status information may not be valid until the motor has been defined, saved and the drive re-initialised.
  • Page 161 6. COMMAND REFERENCE Shutdown motor power Syntax Units Range of ‘n’ Default See also aOFF Description Issuing an OFF command de-energises the drive to shutdown the motor power. The controller responds to move commands that are issued after an OFF with *E. If you check the fault variable UF, you will see the ‘Drive disabled’...
  • Page 162 154 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Turn ON motor power Syntax Units Range of ‘n’ Default See also Description Issuing an ON command energises the drive and clears the current state of the drive fault registers. The command allows execution of moves provided the motor is not on a limit.
  • Page 163 6. COMMAND REFERENCE POSMAIN Position maintenance Syntax aPOSMAINon/off(dead_band_range,output,settletime) Description POSMAIN must use an encoder connected to X2 to monitor the system’s actual position. The command enables position maintenance. The on/off parameter takes the values of 1 for ON and 0 for OFF. With position maintenance enabled, if the motor shaft stops within the dead band range for the optionally specified settle time then the indexer will regard the move as having been completed.
  • Page 164 156 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Properties Immediate or buffered, can be used in labelled block, saved by SV Example 1POSMAIN1(10,3) ; Enable position maintenance. Allow ; a 10 step dead band window and set o/p 3 ; when within the desired range 1POSMAIN1(20) ;...
  • Page 165 6. COMMAND REFERENCE PROFILE Define move profile Syntax aPROFILEnumber(AA,AD,D,V) Description The PROFILE command sets up a table of move profiles in the controller memory. These profiles can be recalled at any time by the USE command. The PROFILE command parameters are: Acceleration Deceleration Distance...
  • Page 166 158 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Profile number Acceleration Deceleration Distance 1500 4800 Velocity The move parameters specified by Profile 2 may be used (that is, copied to profile 0) with the statement ..4USE(2) A profile command will overwrite any individually programmed values of Note acceleration, deceleration, distance and velocity once the USE command is issued.
  • Page 167 6. COMMAND REFERENCE Pause Syntax Units Range of ‘n’ Default See also Description The PS (pause) command causes immediate command execution to cease until a C (continue) command is issued. The command is useful as a debug aid when testing small trial code blocks. The PS command cannot be used whilst running a program.
  • Page 168 160 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Registration move Syntax aREGon/off(edge,profile_number,hold_off_distance,registration window,output) Description The REG command, once turned ON, defines a registration move. After a number of steps, determined by the optional hold off distance, the controller will begin to search for a valid registration signal. Once a valid registration mark has been detected the registration move is performed using the move parameters taken from the previously defined profile* (profile_number in the command parameters).
  • Page 169 6. COMMAND REFERENCE Example 2START: 2PROFILE1(10,10,40000,5) 2PROFILE2(20,20,20000,10) 2REG1(1,1,10000) 2USE(2) 2END 2REG: 2O(XX1) ; Turn output 3 on : increment batch counter 2T0.5 ; Delay execution for 500mS 2O(XX0) ; Turn off output 3 2END 2NOREG: ; if we come here we didn’t have a valid reg mark 2O(X1X) ;...
  • Page 170 162 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Return to factory settings Syntax Units Range of ‘n’ Default See also aRFS Description Issuing an RFS command initialises the controller to factory default settings. The drive must be de-energised (OFF) for RFS to be executed. Factory settings must be saved using the SV command before they take effect.
  • Page 171 6. COMMAND REFERENCE Stop Syntax Units Range of ‘n’ Default See also PS, K Description Use the S command to bring motion to a controlled stop. The command will use the current value of deceleration as specified by either the immediate A or AD commands or the current profile being used.
  • Page 172 164 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE SCALE Scale settings Syntax aSCALEon/off(SCLA,SCLD,SCLV, PEU) This command allows a user to specify Acceleration, Distance and Velocity in Description their own chosen units. The drive firmware needs to know how many commanded position steps there are in a user unit and then how many fractions of a unit there are for an A, D or V of 1.
  • Page 173 6. COMMAND REFERENCE Example: Suppose we have a motor attached to a linear table. The motor resolution has been set to 4000 steps per rev. The linear table has a load mounted 10um encoder and is 0.5m long. It takes 80 motor revs to move the table its complete length.
  • Page 174 166 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE STALL Stall detect Syntax aSTALLon/off(error_window,mode,output) Description The STALL command is used to enable stall detect. To use this command an encoder must be connected to X2 to monitor the system’s actual position. The on/off parameter takes the values of 1 for ON and 0 for OFF and has a default value of OFF.
  • Page 175 6. COMMAND REFERENCE [1] The error window is measured in motor steps with LOADENC and Note SCALE disabled, load steps with LOADENC enabled, and user steps with SCALE enabled. [2] If scaling is enabled, the value given in the error window will remain the same, but is now in user units.
  • Page 176 Immediate or buffered, can’t be used in a labelled block, not saved by SV Properties Example 1STATUS ;checking the configuration and state of a drive 1STATUS *ViX500IM-Stepper Copyright 2003 Parker-Hannifin *Firmware: REV 2.1bD- *Serial number: ..541935.00.1.1.CcD-ViX500IM *Control card revision 2 Stepper drive *Power card revision 3 Power stage E500 *FPGA_ID (read)..
  • Page 177 6. COMMAND REFERENCE STOP STOP Input Syntax aSTOPon/off(mode) Description The STOP Input command determines the ‘stop input’ functionality of input 1. When input 1 is active, IS = 1XXXX. The on/off parameter enables/disables the stop input taking the values 1 for ON and 0 for OFF and has a default value of OFF.
  • Page 178 170 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Save configuration Syntax Units Range of ‘n’ Default See also Description When the SV command is issued, the current controller system variables and user programs are stored in non volatile memory. Any data saved, will be restored following the next power-ON cycle.
  • Page 179 6. COMMAND REFERENCE Time delay Syntax Units Range of ‘n’ Default See also seconds 0.05 to 10 none Description The T command pauses program execution for the time specified by the delay parameter. Timing resolution is to within 50ms increments. Any time value specified within the range 0.05 to 10 seconds will be rounded down to the nearest 0.05 second increment.
  • Page 180 172 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Wait for trigger Syntax aTR(system_variable,relation,value) Description The TR command pauses command execution until the trigger condition is met. The trigger condition is met if the relation between system_variable and value is true. Valid relations for the comparison are: Equals <>...
  • Page 181 6. COMMAND REFERENCE Syntax Units Range of ‘n’ Default See also aUSE(profile) 1 to 8 PROFILE Description The USE command copies the pre-defined profile to the current move parameters. Immediate or buffered, can be used in labelled block, not saved by SV Properties Example 1PROFILE1(200,20,1500,25)
  • Page 182 174 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Write system variable Syntax aW(system_variable,value) Description The W command allows you to set a specified system variable to a particular value. Refer to the table of system variables for more information. Properties Immediate or buffered, can be used in labelled block, saved by SV Example Set system variable DC to 1...
  • Page 183 6. COMMAND REFERENCE Set comms address remotely Syntax Units Range of ‘n’ Default See also 1 to 255 Description This command (#) allows you to set the unit address via software. It allows addresses up to 255 to be used. Upon receipt of the command, the controller will send a #n+1 command along the daisy chain provided the echo mode is set.
  • Page 184 176 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE “ “ Quote command Syntax Units Range of ‘n’ Default See also a“ “ Use QUOTE to send messages to other drives or displays. Using the RS232 Description link, up to 20 ASCII characters are available to transmit the required command or message in exactly the way in which it was entered.
  • Page 185 6. COMMAND REFERENCE System Variables Name Range/default value Analogue 0 to +255, default = 0 Deadband Analogue Input N -2047 to +2047 Analogue Offset -2047 to +2047, default = 0 BAUD rate 9600 or 19200 bits per second (9600 default) Buffer usage N 0 to 100% of program buffer used Command queuing Y...
  • Page 186 178 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Name Range/default value Fieldbus Baud Refer to CANopen user guide Fieldbus Control Refer to CANopen user guide Fieldbus Node ID Refer to CANopen user guide Fieldbus Protocol Refer to CANopen user guide Home Final Sets the final velocity of the home move velocity...
  • Page 187 6. COMMAND REFERENCE Name Range/default value Status of indexing See below ST1 Status of indexing First byte of 32-bit ST variable ST2 Status of indexing Second byte of 32-bit ST variable ST3 Status of indexing Third byte of 32-bit ST variable ST4 Status of indexing Fourth byte of 32-bit ST variable Trigger Timeout...
  • Page 188 180 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faults Stop Type DF Information Tested DF 1.1 Composite fault DF 1.2 +/-15V supply rail DF 1.3 Motor HV under-voltage trip point reached DF 1.4 Motor HV over-voltage trip point reached DF 1.5 DF 1.6 Vio over-voltage trip point reached...
  • Page 189 6. COMMAND REFERENCE Status Bits Status Information Number Tested ST1.1 Command processing paused ST1.2 Looping (command executing) ST1.3 Wait for trigger (input) ST1.4 Running program ST1.5 Going home ST1.6 Waiting for delay timeout ST1.7 Registration in progress ST1.8 Last trigger command timed out ST2.1 Motor energised ST2.3...
  • Page 190 182 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Faults Bit Number Bit Tested UF Information UF1.1 Value is out of range UF1.2 Incorrect command syntax UF1.3 Last label already in use UF1.4 Label of this name not defined UF1.5 Missing Z pulse when homing UF1.6 Homing failed - no signal detected...
  • Page 191 6. COMMAND REFERENCE Command List Command Description Acceleration/Deceleration Acceleration Deceleration Enable event triggered code Continue Clear user code CLEAR Distance Declare DECLARE Enable/disable communications Exit from loop EXIT FOLLOW Configure following FRATE Feed rate override Go home GOSUB Go to subroutine GOTO Go to routine Change direction...
  • Page 192 184 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Command Description Position maintenance POSMAIN Define move profile PROFILE Pause Report system parameter Registration move Return to factory settings Stop SCALE Scale settings STALL Stall detect STATUS Report status of drive STOP Stop input Save configuration Time delay...

  • Page 193: Vix Maintenance And Troubleshooting

    7. MAINTENANCE & TROUBLESHOOTING 7. ViX Maintenance and Troubleshooting Maintenance ViX drive systems do not require any routine maintenance, but occasional checking of the following points is recommended. Motor inspection Periodically check the motor to ensure that the mounting bolts and couplings are tight. Check that the motor cables are not being damaged by moving parts and are not being pulled or forced into tight bends during machine operation.
  • Page 194 186 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Communication Problems When attempting a Connect from the Terminal menu, if the connection fails with the following error message: Figure 7-1. Communications Failure Error Message Check the following: 1. Ensure the serial port configuration is set correctly in EASI-V and you select the correct serial COM port.
  • Page 195 7. MAINTENANCE & TROUBLESHOOTING Drive LED Indicators Colour Function Green HV OK Orange HV OK and feedback fault Feedback fault with no HV Colour Function Green Ready (energised) Orange Drive OK but de-energised Drive fault Colour Function Green Comms OK Orange Comms status Comms fault Figure 7-2.
  • Page 196 188 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Complete LED Diagnostics An EASI-V version of this table is available for quick on-line viewing. Colour(s) Flash rate Functional description green none motor supply OK orange none motor supply under voltage (<16V) none motor supply over voltage (>98V) no motor supply...
  • Page 197 7. MAINTENANCE & TROUBLESHOOTING Forcing a Hardware RFS Pin 2 of serial communications D-type connector X3 is for use as a hardware method of forcing a return to factory settings. It may be used when it is not possible to perform an OFF or RFS command.
  • Page 198 190 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faults The following notes give you a better understanding of what is happening within the drive when a particular drive fault is reported. The explanations assume a ViX drive indexer firmware revision of V2.0. Composite fault This flag indicates that a drive fault has occurred and that the fault is still present.
  • Page 199 7. MAINTENANCE & TROUBLESHOOTING Vio over-voltage Over-voltage will mean that the 24V supply is out of tolerance. Indexed motion will be stopped instantly and the drive will then de-energise. If there is a user program running and the fault label is armed it will be run. Encoder/Auxiliary 5V under voltage This 5V supply is read every 500uS.
  • Page 200 192 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Incompatible firmware revision The FPGA firmware code contained in FLASH memory is not compatible with the controller hardware and the drive cannot be used. This message is likely if in future, customers update old hardware with the latest FPGA firmware, which may require specific hardware to function.
  • Page 201 7. MAINTENANCE & TROUBLESHOOTING A note about “Controlled stop”. A controlled stop will be attempted if the trajectory generator was commanding motion at the time of the fault. If the commanded motion was due to following, then the indexer will disable following, that is there will be no ramp down of velocity.
  • Page 202 194 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Returning the System If a drive module is found to be faulty, you should contact your Parker Automation Technology Centre or the machinery manufacturer who supplied the product. Equipment for repair should NOT be returned directly to Parker without prior authorisation. Repairs will be carried out by Parker but will be processed via your supplier.

  • Page 203: Hardware Reference

    8. HARDWARE REFERENCE 8. Hardware Reference Drive Specification – ViX250IM, ViX500IM Functional Specification Parameter Value Amplifier type MOSFET chopper User resolution Freely programmable between 200 and 51,200 steps/rev Nominal chopping frequency 16kHz Protection circuits Short circuit (phase-to-phase, across phases and phase to ground), motor overcurrent, over/under voltage, logic supply fault, over temperature, ext.
  • Page 204 196 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Indexer Specification Parameter Value Command Interface Position range +/- 2,147,483,647 steps Velocity range 0.001 to 50 revs/sec Acceleration/deceleration range 0.1 to 99999.99 rev/sec Positioning modes Incremental, absolute, registration, continuous run Communication Data format 8 data bits, 1 start bit, 1 stop bit, no parity, optional echoback, Xon/Xoff supported Baud rate...
  • Page 205 8. HARDWARE REFERENCE Drive Environment Specification Parameters All drive types Environment Pollution degree 2, Installation category II Operating temperature range 0 to 50°C ambient 0 to 40°C natural convection 40°C to 50°C airflow is required through the drive at better than 0.5m/s air velocity entering the drive.
  • Page 206 198 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE...
  • Page 207 APPENDIX A Appendix A Discrete Power Supply Recommendations If the XL_PSU is not being used individual ViX drives can be powered from transformer/bridge rectifier power supplies of the type shown in Figure A-1. This design suggests suitable component values for powering particular drive types, but can be adapted to power more than one drive provided component power ratings are not exceeded.
  • Page 208 200 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The size of transformer required for a stepper drive installation depends very much on the application and on the maximum shaft power delivered by individual motors. It is worth noting that in a one-off or low volume application it is usually preferable to be slightly generous in sizing the transformer, rather than spend a great deal of engineering effort trying to calculate the minimum possible rating.
  • Page 209 Appendix B Motor Wiring Identification Tables The following tables supply serial and parallel connection information for a range of different motor types. MAKE TYPE NOTES Parker Link White & Black 8-Lead Blue Green Brown SY Series Link Grey & Yellow 56-T.Box...
  • Page 210 APPENDIX B MAKE TYPE NOTES Parker Link Brown & White 8-Lead Blue Green Brown SY Series Link Black & Red Link Blue & Grey Link Yellow & Green 56-T.Box SY56_T Only Link 1 & 2, Link 3 & 4 T.Box Link 5 &...

  • Page 211: Index

    INDEX Index address requirements, 115 label & multi parameter syntax, 116 # set address remotely, 175 presentation, 115 reference, 115 simple syntax, 115 +24V fuse rating, 17 Command checking, 118 +24V supply connections, 17 Command defaults, 162 +24V supply lead length restrictions, 17 Command list, 183 Command properties, 116 Command queuing, 59, 73...
  • Page 212 INDEX Drive code example, 54 cooling, 5 EW system variable, 61 dissipation, 5 EX system variable, 61 fault reporting, 68 EXIT from loop, 127 Drive fault byte reporting, 69 FAULT, 50 Drive faults, 67, 190 Fault label, 50 Drive inspection, 185 call conditions, 51 Drive settings / setup, 110 conditions of execution, 50...
  • Page 213 INDEX mode 1, 80 execution, 46 mode selection, 80 naming, 48 modes, 80 number available, 46 switch considerations, 79 predefined list, 46 HOME, 137 select command, 46 definition of terms, 79 specification, 48 Home switch too narrow, 81 system, 50 Homing Labelled block properties, 117 operations, 79...
  • Page 214 INDEX Motor mounting precautions, 8 PM system variable, 63 MOTOR settings, 151 Pollution degree, 197 Motors Port configuration, 102 4 lead, 21 Position flags, 61 6 lead, 21 Position maintenance, 88 8 lead, 21 Position Maintenance voltage rating, 21, 26 correction velocity, 90 Move output, 89...
  • Page 215 INDEX Registration example, 78 Status bits list, 181 Registration output, 77 Status report example, 111 Report commands that can be saved, 71 Status reporting Reset to RS232 mode, 31 immediate, 71 Returning the system, 194 Status variable RFS return to factory settings, 162 byte reporting, 66 RJ45 connecting leads, 43 Status variable reporting, 65...
  • Page 216 INDEX Wire size of motor earth, 22, 26 Withstanding voltage rating, 199 UF byte, 69 Uploading programs, 112 USE, 173 X1 connector, 28 USE command, 55 X1 connector pin-out, 28 User fault X1 mating connector type, 28 byte reporting, 70 X2 connector, 29 clear conditions, 70 X2 connector pin-out, 29...
  • Page 217 Found on the title page in the bottom left corner. Your name: Contact number or email address: Description of the error: (Please include page number) Errors can be reported By phone, via a technical Or by email: by Fax: support engineer: +44 (0)1202 695750 +44 (0)1202 699000 support.digiplan@parker.com...
  • Page 219 A range of mating connectors Communications are supplied, depending Function upon the type of fit-kit Rx+/Tx+ (RS485)* ordered. Drive reset RS232 GND RS232 Rx RS232 Tx Rx-/Tx- (RS485)* RS232 Tx (D loop) Do not connect Protective Earth +5V output Power & Motor *requires CAN option 24-80V DC +HV 0V / GND -HV...

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Vix500imVix500cmVix250cm

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