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Stepping Motor Controllers manufactured by Velmex are warranted to be free from
defects for a period of two (2) years on all parts. Velmex's obligation under this
warranty does not apply to defects due, directly or indirectly, to misuse, abuse,
negligence, accidents, or unauthorized repairs, alterations, or cables/connectors that
require replacement due to wear. Claims must be authorized, and a return
authorization number issued before a product can be returned.
The warranty does not cover items which are not manufactured or constructed by
Velmex, Inc. These components are warranted by their respective manufacturer.
Under the above warranty, Velmex will, at its option, either repair or replace a
nonconforming or defective product.
The above warranty is the only warranty authorized by Velmex. Velmex shall in no
event be responsible for any loss of business or profits, downtime or delay, labor,
repair, or material costs, injury to person or property or any similar or dissimilar
incidental or consequential loss or damage incurred by purchaser, even if Velmex has
been advised of the possibility of such losses or damages.
Inasmuch as Velmex does not undertake to evaluate the suitability of any Velmex
product for any particular application, the purchaser is expected to understand the
operational characteristics of the product, as suggested in documentation supplied by
Velmex, and to assess the suitability of Velmex products for this application.
This limited warranty give you specific legal rights which vary from State to State.
Record Controller and Motor information here for future reference:
Model#: VXM-
Serial #:
Motor #1
Motor #3
Notes:
Contact Information
By Phone:
585-657-6151
and
By Fax:
585-657-6153
Email:
info@velmex.com
On the Internet:
www.velmex.com
By mail:
Velmex, Inc.
7550 State Route 5 & 20
Bloomfield, NY 14469
Copyright 2002 Velmex Inc. All rights reserved. Velmex, the Velmex logo, UniSlide, and BiSlide are trademarks of Velmex Inc. All
other trademarks are the property of their respective owners.
Warranty
Motor #2
Motor #4
800-642-6446
and
www.bislide.com
USA
Document # VXM-UM-E2
Important User Information
This information is for the end user of Velmex VXM Stepping Motor Controllers.
The end user should read this document and retain it for future reference.
This Manual explains the general and advanced operation of the VXM-1, VXM-2, VXM-
3, and VXM-4 stepping motor controllers.
Also included on the CDROM:
1.
COSMOS utility/controller software (A user friendly Windows program for easy
setup, testing, and programming of VXM controllers)
2.
Software examples and software drivers
7-29-03
VXM
Stepping Motor Controller
User's Manual
(Extended Version)
Models VXM-1,2,3,4
1
Document # VXM-UM-E2
7-29-03
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Table of Contents
Related Manuals for VELMEX VXM-1
Summary of Contents for VELMEX VXM-1
- Page 1 Software examples and software drivers Bloomfield, NY 14469 Copyright 2002 Velmex Inc. All rights reserved. Velmex, the Velmex logo, UniSlide, and BiSlide are trademarks of Velmex Inc. All other trademarks are the property of their respective owners. Document # VXM-UM-E2...
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Page 2: Table Of Contents
Commands....22 Limit Switches and Home Switches..68 Operation Commands...23 Appendix O Motors mounted to Velmex actuators/positioners will usually provide Status Request Controller Mode........70 sufficient heat dissipation. Motor surface temperature should not exceed Commands....24 152° F (70° C.) In continuous duty applications when the motor is not... -
Page 3: Features
· One and two motor versions. Three and four motor capability with two Controls linked by the VXM bus · Backward compatible with Velmex NF90 and VP9000 Step Motor controllers Motor 2 Motor 1 Circuit Breaker Limits 1... -
Page 4: Auxiliary I/O
CAUTION: Motor cable length or connectors should not be altered without consulting Logic reference ground for inputs and outputs Velmex first. Improper wiring can result in poor performance and damage to the VXM. +5VDC for Joystick power and other external logic (75mA max. output) Altered cables and resultant damage is not covered by the warranty. -
Page 5: Communication Methods
Programming of the VXM is accomplished by sending commands (ASCII characters) to the VXM through the RS-232 interface. The simplest method to send commands is with “R” the Velmex COSMOS program, or with HyperTerminal in Microsoft Windows. www.velmex.com www.velmex.com Stepping Motor Controller Stepping Motor Controller ¬... -
Page 6: Linking Vxms For 3 & 4 Motors
UniSlides and BiSlides, positive is the direction moving away from the motor. is required. On worm gear type rotary tables like the Velmex B4800 or B5990, positive is counter · Bus cables should be short and not be near other cables or electronic devices. - Page 7 Operation commands: Command Summary (Common Commands) Quit On-Line mode (return to Local mode) Run currently selected program The following are the most common commands, refer to page 14 for an additional listing Null (zero) motors 1,2,3,4 absolute position registers of commands for advanced users. Kill operation/program in progress and reset user outputs Clear all commands from currently selected program Decelerate to a stop (interrupts current index/...
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Page 8: Command Summary (Advanced Commands)
Operation commands: Command Summary (Advanced Commands) Enable On-Line mode with echo off Grouping a <cr> with "^", ":", "W", "O" responses; Also Go after waiting or holding The following commands are for advanced VXM users. For more information on these Put Controller on Hold (stop after each command and wait for go) commands refer to Appendices in this User’s Manual Record motor positions for later recall with “x”,”y”... -
Page 9: Command Reference (Common Commands)
IAmMx Command Reference (Common Commands) Set an Index to an Absolute position, the distance and direction for the move from the present position is calculated by the VXM based on absolute zero This section gives detailed explanations of the most common VXM commands. For the position, m= motor# (1,2,3,4), x= ±1 to ±16,777,215. -
Page 10: Program Management Commands
NOTE: motor torque decreases as speed increases, and some motors have Index command. Users that have only a one motor VXM (Model VXM-1) do not have to limited torque above 2000 steps/sec. If the motor torque is below the needed use the motor designation in a command. -
Page 11: Looping/Branching Commands
LA-x Looping/Branching Commands Loop Always from beginning or Loop-to-marker of the current program x-1 times alternating direction of motor 1 indexes (x=2 to 65,535). A maximum of 10 nested loop commands can be used per run. Loop continually from the beginning or Loop-to-marker of the current program. Memory usage = 3 bytes. -
Page 12: Commands
Pausing and Input/Output Commands User output 1 "low". The user output 1 (I/O,14) will go to 0V. This is the state of the user output 1 on power-up. This command is used in conjunction with the "U5" command. Pause x tenths of a second ( x=0 to 65,535 ). Memory usage = 2 bytes. -
Page 13: Status Request Commands
Enable On-Line mode with echo on. The single character "E" is used to put the Send position of motor 3 to the host. When the VXM (Master) receives the VXM in the On-Line mode after power-up. All characters the VXM receives will single character "Z"... -
Page 14: Examples
The following examples can be keyed into the VXM with a terminal program like Index HyperTerminal in Microsoft Windows, or the Velmex COSMOS software. Another method to send commands is with commercially available languages such as VisualBASIC, C, LabVIEW, etc. - Page 15 Function Function Example #10 Motors run RAM used Example #8 Motors run RAM used Two Different Raster Scans Raster Scan Raster scan with 1 sec. pauses and Raster Scans using Loop-to-marker waiting for “G” at the end; then run backwards through raster scan I1M2000,I2M300,L-4,LM0,I2M600,I1M3000,L-3,IA2M0<cr>...
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Page 16: Troubleshooting
Symptom Possible Cause Electrical Requirements: Physical: AC Power Supply..100-240VAC 2A 50- Weight.(VXM-1)...2.6 lbs (1.2 kg) Power (Green LED) light does not come on Power supply not connected or AC cord not 60Hz Weight.(VXM-2)...2.9 lbs (1.3 kg) attached. Power switch not on. Circuit breaker VXM Controller .. -
Page 17: Editing/Debugging Tools
Appendix A Editing/Debugging Tools Get State of User Inputs, Motor 1 and Motor 2 Jog Inputs. Each input represents one bit of a binary value. The value the VXM sends is represented in the table below. Decimal Decimal Put the Controller on Hold (single step mode). When the VXM receives the Value Value single character "H"... -
Page 18: Appendix B Advanced Input/Output
Appendix B Wait for the Jog 1- button to be pressed and debounced. Advanced Input/Output Memory usage = 2 bytes. Input commands: Wait for the Jog 1+ button to be pressed and debounced. Send "W" to the host and wait for a "G" to continue. The VXM sends the Memory usage = 2 bytes. - Page 19 Using the I/O on Slave (Bussed VXMs) Output commands: Most of the inputs and outputs on a Slave VXM (in a Master/ Slave bussed configuration) are available through the Master. To access the user I/O on the second VXM (Slave) from User output 2 "low".
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Page 20: The Multifunction User Inputs
Appendix C The program select feature of inputs 2 and 3 can be used to select programs 0 to 3 for The Multifunction User Inputs stand-alone applications. A rotary type binary switch would be attached to inputs 2 and 3 for program selection. -
Page 21: Producing Trigger Outputs
Appendix D U7 Command Examples: This example makes an index on motor 1, producing a pulse at positions Producing Trigger Outputs 1000,1100,1150,1250, and then runs motor 1 back to the start position: S1M1500,U7,I1M1000,I1M100,I1M50,I1M100,U9,IA1M0<cr> There are three different methods to produce a pulse at an exact position: This example will Index motor 2 and pulse 100 times: Index to a position, then while stopped use “PA”, “U1”, or “U5”/”U4”... - Page 22 Pulse Every “n” Steps Example: This example is will pulse on output 2 for every 3 steps of Motor 2 setP2M3 The following command makes it possible to produce a repeating pulse for any number of motor steps from 1 to 32,767. Motor position zeroed or command set Graphic Representation: setPmMn...
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Page 23: Getting Motor Position When Moving
Appendix E Getting Motor Position When Moving Request captured motor 1 positions from FIFO buffer (all 4 positions.) NOTE: buffer data is automatically zeroed at the start of every run. It is possible to read motor position directly while motor is in motion using the “X” and “Y” commands. -
Page 24: More Feedback/ Precision
Use Limit Switch for Home Stop program if hit The limit switch on a typical Velmex slide assembly can provide a repeatability of better Limit than 0.0004” (0.010 mm.) Using a limit switch on initial power-up to set a home is a good... -
Page 25: Complex Profiles & Coordinated Motion
Coordinated Motion Appendix G The most common method to move is one axis at a time. Using one VXM controller this is Complex Profiles & Coordinated Motion the only option available. However, with two VXMs connected together with the VXM bus two axes at a time can be run. -
Page 26: Advanced Jog Mode
Appendix H Advanced Jog Mode Optional Digital Joystick When the On-Line (yellow) light is not lit, the VXM is in the Local/Jog mode. Using the front panel jog buttons, each motor can be jogged a single step or slewed to a default The optional digital joystick allows remote jog control of a one or two axis VXM controller. - Page 27 Enabling Jog When a Program is Running Enable Jog while waiting for an input. This command will allow motor jogging, with the jog button/inputs, during the following wait commands: U0,U1,U30,U31,U50,U51, or U90. Memory usage = 2 bytes. Disable Jog while waiting for an input (default setting on power-up.) This command will disable motor jogging during a wait command.
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Page 28: The Analog Input
Appendix I NOTE: When a “ SmM-x” is stored in a program, the original x value will be kept with the command. However, when the “lst” command is used to list the program, the x value The Analog Input displayed will be the steps/sec speed converted from reading Ain. This feature allows viewing the actual derived speed the VXM is going to use. -
Page 29: The Analog Joystick Option
Appendix J setDAx Set Joystick Deadband value. x= 20 to 100 (default=40) The Analog Joystick Option NOTE: Setting x to a low value makes it difficult to move just one axis The VXM Proportional Speed Joystick provides a precise efficient one, two, three, or four without inducing motion on the opposite axis. - Page 30 The joystick provides analog outputs for two VXM controls. A connection to each VXM is The joystick provides analog outputs for two VXM controls. With a single VXM one output accomplished with a special Velmex “Y” cable. is not connected resulting in “no function” in the one direction of the joystick.
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Page 31: I/O Electrical Specifications
Appendix K I/O Electrical Specifications Optional Auxiliary I/O Breakout Module The optional auxiliary I/O breakout module is a convenient method to interface to the VXMs auxiliary I/O. Wire connections can be made to all 15 I/O connections using the All User I/O inputs and outputs are TTL levels (0 to +5VDC.) screw type terminal blocks. -
Page 32: Appendix L Motor Torque Curves
Appendix L Motor Torque Curves (Torque measured at 100% power settings) Vexta PK245 1.2A Slo-Syn M061 3.8A rev/sec rev/sec 1.25 12.5 1.25 12.5 500 1000 2000 3000 4000 5000 6000 500 1000 2000 3000 4000 5000 6000 Speed Speed steps/sec steps/sec Slo-Syn M062 4.7A Slo-Syn M063 4.6A... - Page 33 Motor Torque Curves (continued) (Torque measured at 100% power settings) Vexta PK264-03 rev/sec 1.25 12.5 500 1000 2000 3000 4000 5000 6000 Speed steps/sec Vexta PK266-03 rev/sec 1.25 12.5 500 1000 2000 3000 4000 5000 6000 Speed steps/sec Vexta PK268-03 rev/sec 1.25 12.5...
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Page 34: Appendix M Advanced Motor Setup
Appendix M Advanced Motor Setup Setting for other Motors The VXM applies energy to the motors based on the size of the motor. The physical size is the important aspect that determines the amount energy the VXM will apply. The size The VXM can be used with motors not listed in the table on the previous page. -
Page 35: Limit Switches And Home Switches
Procedure to configure the VXM for use with a home switch: Appendix N (For rotary tables only, see page 27 & 46 for linear actuator homing example) 1. Determine which axis (axes) will be connected to a home switch and connect motor, Limit Switches and Home Switches limit cables, and set VXM for motor type/model attached. -
Page 36: Controller Mode
Appendix O The VXM can be set back to factory defaults with the “setD0” command. This command will erase all programs, modes, and motor settings. Controller Mode The VXM has a main mode register that can be set with the “setDMx” command. setD0 Set VXM back to factory defaults CAUTION:... -
Page 37: Vxm Comparison To Nf90/ Vp9000
Appendix P Pausing and input output commands: Pause x tenths of a second, (x=0 to 65,5350) tenths of a millisecond when x is VXM Comparison to NF90/ VP9000 negative Pause x tenths of a second (x=0 to 65,535, 10 µsec pause when x=0) Altering output 1 high for duration of the pause, tenths of a millisecond when x is negative Wait for a "... - Page 38 Operation commands: Commands for two controls connected by VXM bus: Quit On-Line mode (return to Local mode) (i3,i1...) Combine Index commands to run simultaneously on two VXM controllers Run currently selected program connected by VXM bus Null (zero) motors 1,2,3,4 absolute position registers [i1,i2...] Send data to Slave through Master Kill operation/program in progress and reset user outputs...
- Page 39 Feature VP9000*** NF90*** Addressable Axes/ Control 1,2,3*,4* 1,2,3,4 1,2,3 * By 2nd VXM linked with VXM bus Motor Compatibility Size 17 to size 34 (0.4 to 4.7 amp) Size 17 to size 34 (1.2 to 5 amp) Size 17 to size 34 (0.8 to 4.7 amp) Motor output torque as percent of NF90 185% @ 0.2 rev/sec 185% @ 0.2 rev/sec...
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Page 40: Appendix Q Outline Dimensions
Appendix Q Outline Dimensions Power Supply... -
Page 41: Appendix R Model Configurations
Appendix R Model Configurations Rack Panel 1 Motor 1 Motor 2 Motor Rack Panel 2 Motor 3 Motor Rack Panel 3 Motor 4 Motor Rack Panel 4 Motor... - Page 42 Appendix S Pick and Place Using JM-x* Function Example #12 Motors run There are applications that require moving objects from a common pick location to an Pick from common point and place Pick and Place array of placement locations (or vice of versa.) One way to accomplish this would be to in row write individual moves to every array position followed by a move to the absolute pick position.
- Page 43 Function Example #14 Motors run Pick and Place Using JM-x (continued) Pick from common point and place Pick and Place in rows, Y axis moves tray of parts to next row ;This Pick and Place example moves X,Y ;This Pick and Place example moves X,Y Function Example #13 Motors run...
- Page 44 Function Example #16 Motors run Pick and Place Using JM-x (continued) Pick from rows and place at common location, Pick and Place Y axis moves tray of parts to next row The following example is the similar to example 14 except for a third axis (Z) moves part up from pick location and down at place location, there are 3 rows instead of 2, The ;This Pick and Place example moves X,Y,Z ;This Pick and Place example moves X,Y,Z...
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How do you utilize the home switch in a B48 series rotary table