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Intelligent Motion Systems Modular LYNX System Getting Started Manual

Ims modular lynx system getting started guide
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The Modular
LYNX System
!
Getting Started
!
Connecting the LYNX System
!
Mounting the LYNX System
!
Powering the LYNX System
!
The Communications Interface
!
Configuring the Digital I/O
!
The LYNX Control Module
!
The LYNX Control Module (Combination)
!
The Isolated Digital I/O Module
!
The Differential Digital I/O Module
!
The Combination Digital I/O Module
Part I

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Summary of Contents for Intelligent Motion Systems Modular LYNX System

  • Page 1 The Modular LYNX System Getting Started Connecting the LYNX System Mounting the LYNX System Powering the LYNX System The Communications Interface Configuring the Digital I/O The LYNX Control Module The LYNX Control Module (Combination) The Isolated Digital I/O Module The Differential Digital I/O Module The Combination Digital I/O Module Part I...

  • Page 2: Table Of Contents

    Configuring The Differential I/O - The IOS Variable ... 1-32 Configuring an Input ... 1-32 Setting the Digital Input Filtering for the Differential I/O ... 1-33 Configuring an Output ... 1-33 1 - 2 Table of Contents Modular LYNX System 12.05.2003...
  • Page 3 Table 6.4: Binary State of Outputs ... 1-30 Table 6.5: The Four Clocks and Their Default Line Placement ... 1-31 Table 6.6: Digital Filter Settings for the Differential I/O ... 1-33 Modular LYNX System 12.05.2003 List of Tables 1 - 3...
  • Page 4 Figure 10.2: High Speed Differential I/O Module Connection Overview ... 1-52 Figure 10.3: LYNX Differential I/O Input Equivalent Circuit ... 1-54 Figure 10.4: LYNX Differential I/O Output Equivalent Circuit ... 1-55 1 - 4 List of Figures Modular LYNX System 12.05.2003...

  • Page 5: Section Overview

    (2) End Mounting Brackets ... (IMS P/N LX-EB100-000) (1) IMS CD ... (IMS P/N IMS-CD100-000) (1) Screw Driver ... (IMS P/N SD1) Modular LYNX System 12.05.2003 G e t t i n g S t a r t e d *See Driver Documentation...

  • Page 6: User Provided Tools And Equipment Needed

    Click the MicroLYNX icon in the upper right corner. This opens the LYNX Family Index Page. Select IMS Terminal (Win9x) or IMS Terminal (WinNT). Click SETUP in the Setup dialog box and follow the on-screen instructions. 1 - 6 Modular LYNX System 12.05.2003...

  • Page 7: Testing The Lynx Setup

    This will move the motor at a speed of 10 munits per second. If the motor does not move, verify that the wiring is in accordance with Figure 1.1. If a non IMS driver is being used, you may need to consult the user manual for that device. Modular LYNX System 12.05.2003 1 - 7...
  • Page 8 IP - Initialize Parameters This instruction will restore all of the parameters to their factory default state. After entering these instructions a SAVE instruction should be entered. 1 - 8 Modular LYNX System 12.05.2003...

  • Page 9: Section Overview

    Reinstall the end plates at the ends of the LYNX System. They are designed to fit either end. You are now ready to mount your LYNX System to a panel or DIN Rail using the optional hardware kit. STEP 1 Modular LYNX System 12.05.2003 STEP 2 Figure 2.1: Removing the End Plates WARNING!

  • Page 10: Section Overview

    Tighten to 5 - 7 lb/in. 1 - 10 DIN Rail Bracket #6 Flat Washer Figure 3.1: Installing the DIN Rail Bracket Modular LYNX System 12.05.2003 #6 Split Lock Washer # 6-32 X 7/16 Machine Screw (5 - 7 lb/in torque)

  • Page 11: Figure 3.2: Installing The Lynx System On A Din Rail

    System Away from the DIN Rail. NOTE: STATIONARY Systems. It is not designed for transport! Modular LYNX System 12.05.2003 Holding the LYNX System at an angle away from you, lower the upper slot of the DIN rail attachment onto the top edge of the DIN rail.

  • Page 12: Section Overview

    It is recommended that an input line filter be used on power supply to limit voltage spikes to the system! 1 - 12 When using an unregulated supply, ensure that the Modular LYNX System 12.05.2003...

  • Page 13: Lynx Control Module With Ims Driver

    Figure 4.1: Power Configuration. LYNX Control Module and external IMS Driver *The output current needed is dependant on the supply voltage, motor selection and load. Modular LYNX System 12.05.2003 Ensure that the DC Output of the Supply Does Not Exceed...

  • Page 14: Stand-Alone Or With Optional I/O Modules

    SCK- SCK+ CGND +12 to +75VDC Power Supply (IMS ISP 200-4 Shown) It is +5VDC ±5% Regulated Supply (Up to 800mA) Figure 4.3: Stand-alone Power Configuration: 5 VDC AC Line ISP200-4 DIR- DIR+ SCK- SCK+ CGND Modular LYNX System 12.05.2003...

  • Page 15: Power Requirements

    WARNING! all modules are included in the power calculation! WARNING! System can be used! Modular LYNX System 12.05.2003 * ) t * ) t * ) t ± y l l y l l Table 4.1: Power Requirements...

  • Page 16: Section Overview

    4800, 9600, 19200 or 38400 bits/sec. WARNING! Failure to connect communications ground as shown may result in damage to the Control Module and/or Host! If using the RS-232 Interface Option, the Host PC MUST RS-232 and RS-485. For both channels, Modular LYNX System 12.05.2003...

  • Page 17: Multiple Control Module System

    (configuration switch #3, labeled PT) to the ON position, or setting the to True (1), in software. It is necessary for all of the controllers in a system to have this configuration selected. When operating in Modular LYNX System 12.05.2003 t n I l a i...

  • Page 18: Table 5.2: Party Mode Address Configuration Switch Settings

    If using the RS-232 Interface Option, the Host PC MUST be less than 50 feet from the Control Module. If your system will be greater than 50 feet from the Host PC you must use the RS-485/RS485 Interface. Modular LYNX System 12.05.2003...

  • Page 19: Table 5.3: Connections And Settings Multiple Control Module System, Rs-232 Interface

    Figure 5.2. For systems with Data Cables 15 feet (4.5 meters) or less, the termination resistors are generally not required. For more information and other RS-232 termination techniques, search the Internet for "RS-232 Application Notes". Modular LYNX System 12.05.2003 t n I t l u...

  • Page 20: Connecting The Rs-485 Interface

    RS-232 To RS-485 Converter Recommended IMS Part # CV-3222* Host PC CGND Figure 5.3: RS-485 Interface, Single Controller System 1 - 20 Table 5.4: RS-485 Interface Connections CGND LYNX Control Module DIR- DIR+ SCK- SCK+ CGND Modular LYNX System 12.05.2003...

  • Page 21: Multiple Controller System

    Rename and save the new name. Remove power. Repeat the last two steps for each additional control module in the system. Modular LYNX System 12.05.2003 The HOST switch MUST be off to communicate with the Table 5.5: Party Mode Address Configuration Switch Settings...

  • Page 22: Table 5.6: Rs-485 Interface Connections And Settings, Multiple Control Module System

    Data Lines when cable length exceeds 15 feet. To Other LYNX Modules in System. Always place resistors at last unit. c t i c t i Host PC CGND Modular LYNX System 12.05.2003...

  • Page 23: Lynx Control Module Modes Of Operation

    The mnemonics for Control Module instructions, variables, flags and keywords are given in Part III Software Reference of this manual. White space is at least one space or tab character. CR/LF represent the Modular LYNX System 12.05.2003 parameter>, <ASCII data for 2 parameter>, …...

  • Page 24: Binary

    > < parameter><CTRL-J> parameter><0EH><Field type parameter><0EH> … l l a l l a f f u . y t < > > parameter>, <ASCII data for 2 o l f Table 5.8: Binary Hex Codes Modular LYNX System 12.05.2003 param-...

  • Page 25: Section 6: Configuring The Digital I/O

    The LYNX System offers designers the ability to custom-tailor the LYNX System for their individual application needs. Below is a table illustrating the available configurations and the I/O set which would be present with each configuration. & Table 6.1: System I/O Availability by Module Modular LYNX System 12.05.2003 & & & &...

  • Page 26: The Isolated Digital I/O

    The active state of the line or group may also be set. All of these possible functions are accomplished with of the IOS variable. 1 - 26 Sensors Switches PLC Outputs INPUTS Module Relays Solenoids LED’s PLC Inputs OUTPUTS Figure 6.1: Isolated I/O Applications Modular LYNX System 12.05.2003...

  • Page 27: The Ios Variable

    15 = Status Output NOTE: second parameter of the IOS Variable MUST match the func- tion, either input or output, or an error will occur. Modular LYNX System 12.05.2003 Define Line or Group As Input or Output 0 = Input...

  • Page 28: Configuring An Input

    1 of program memory. Therefore, to run a program at line 1000 you must do the following: < > < ( > s i l s i l Modular LYNX System 12.05.2003...

  • Page 29: Configuring An Output

    Writing to an output is accomplished by entering the following into a terminal or program: IO 21=1 IO 21=0 This would change the state of I/O line 21. Modular LYNX System 12.05.2003 4.5V Internal Pullup 7.5kΩ Figure 6.3: Isolated I/O Output...

  • Page 30: Read/Write An I/O Group

    I/O 21 I/O 25 I/O 24 I/O 23 I/O 22 BINARY STATE OF I/O GROUP 20 IO 20 = 49 I/O 21 I/O 25 I/O 24 I/O 23 I/O 22 Table 6.4: Binary State of Outputs Modular LYNX System 12.05.2003...

  • Page 31: The Differential I/O

    The up/down clock type would typically be used as an output function where a secondary axis is being driven by a stepper or servo drive with dual-clock direction control circuitry. Table 6.5: The Four Clocks and Their Default Line Placement Modular LYNX System 12.05.2003 Quadrature Step/Direction Up/Down &...

  • Page 32: Configuring The Differential I/O - The Ios Variable

    0 = Not A Clock 1 = Quadrature 2 = Step/Direction 3 = Up/Down Differential Encoder Input (+) Channel A (+) Input (-) Channel A (-) Channel B (+) Channel B (-) Index (+) Index (-) Modular LYNX System 12.05.2003...

  • Page 33: Setting The Digital Input Filtering For The Differential I/O

    Line Pair 17/18 is limited to 1MHz Reference Out (17) and 10MHz Reference Out (18). Clock User Defined Function Figure 6.7: Differential I/O Output Equivalent Circuit Modular LYNX System 12.05.2003 < > < ) t l Table 6.6: Digital Filter Settings for the Differential I/O +5VDC 10kΩ...

  • Page 34: Typical Functions Of The Differential I/O

    1 - Edge Triggered. 2 - Sets the Clock Type to Step/Direction. 0 - No Ratio. MUNIT, EUNIT, MOVR will be used. The block diagram to the left illustrates a LYNX CTR2, and POS. The Encoder Modular LYNX System 12.05.2003...

  • Page 35: Translating The Eunit Variable To A Dimension Of Distance

    By setting the state of EE, the master encoder function enable flag, to a true state you will monitor the position of an axis based upon the actual position of the motor shaft as it is fed back to the Control Module Modular LYNX System 12.05.2003 HSIO...

  • Page 36: Half Axis Operation (Follower)

    HAS = .5 1 - 36 CTR2, (if the encoder is connected to I/O line pair 13 &14) with the MUNIT = 400/16 EUNIT = 800/16 HAE flag EUNIT must be set to true (1). For example, Modular LYNX System 12.05.2003...

  • Page 37: One And A Half Axis Operation (Ratioe)

    The sequence of commands used to make this setup function would be as follows: ‘Set IOS 15 to step/direction clock IOS 15 = 5,0,1,0,2,1 ‘Set IOS 16 to step/direction clock IOS 16 = 6,0,1,0,2,1 ‘Set Ratio Mode Enable Flag to Modular LYNX System 12.05.2003 DIR- DIR+ SCK- +5VDC Opto Supply Step Clock Input...

  • Page 38: Figure 6.10: One And A Half Axis Operation

    Figure 6.10: One and a Half Axis Operation The RATIO variable must be set to less than 2 or -2 or DRIVE #2 Step Clock Direction Stepping Motor #2 Motor Drive #2r Stepping Motor Power Connections Not Shown For Simplification Modular LYNX System 12.05.2003...

  • Page 39: Section 7: The Lynx Control Module (Lx-Cm100-000)

    M e c h a n i c a l S p e c i f i c a t i o n Dimensions in Inches (mm) 2.71 max (68.8) 1.52 max (38.6 0.29 2.13 (7.4) (54.1) Modular LYNX System 12.05.2003 0.39 (9.9) 0.41 (10.5) 2.93 (74.4) Figure 7.1: LYNX Control Module Dimensions 4.39 max (111.5) 3.75 max...

  • Page 40: Table 7.1: Power Requirements For The Lynx Control Module

    C o n n e c t i o n O v e r v i e w Figure 7.2: LYNX Control Module, Switches and Connections 1 - 40 * ) t * ) t * ) t ± y l l DIR- DIR+ SCK- SCK+ CGND ± ) y l Modular LYNX System 12.05.2003...

  • Page 41: Led Indicators

    P i n A s s i g n m e n t a n d D e s c r i p t i o n Table 7.3: LYNX Control Module Connector P1 Pin Configuration Table 7.4: LYNX Control Module Connector P2 Pin Configuration Modular LYNX System 12.05.2003 t l u u l l Table 7.2: LYNX Control Module LED Indicators...

  • Page 42: Switch Assignments

    I e l l l l o l l i t n I a l f , f f " " " e l i t s i e l i Modular LYNX System 12.05.2003...

  • Page 43: Section Overview

    M e c h a n i c a l S p e c i f i c a t i o n Dimensions in Inches (mm) 2.71 max (68.8) 1.52 max (38.6) 0.29 2.13 (7.4) (54.1) Figure 8.1: LYNX Control Module (Combination) Dimensions Modular LYNX System 12.05.2003 0.39 (9.9) 0.41 (10.4) 2.93 (74.4) 4.39 max (111.5) 3.75 max (95.3)

  • Page 44: Connection Overview

    C o n n e c t i o n O v e r v i e w Figure 8.2: LYNX Control Module (Combination) Connections and Switches 1 - 44 * ) t * ) t * ) t ± y l l DIR- DIR+ SCK- SCK+ CGND ± ) y l Modular LYNX System 12.05.2003...

  • Page 45: Led Indicators

    P i n A s s i g n m e n t a n d D e s c r i p t i o n Table 8.3: LYNX Combination Control Module Connector P1 Pin Configuration Table 8.4: LYNX Combination Control Module Connector P2 Pin Configuration Modular LYNX System 12.05.2003 t l u u l l Table 8.2: LYNX Control Module LED Indicators...

  • Page 46: Switch Assignments

    I e l l l l o l l i t n I a l f , f f " " " t s i e l i Modular LYNX System 12.05.2003 . n i c t i...

  • Page 47: Section Overview

    M e c h a n i c a l S p e c i f i c a t i o n Dimensions in Inches (mm) 0.9 max (22.9) Figure 9.1: LYNX Isolated I/O Module Dimensions Modular LYNX System 12.05.2003 4.39 max (111.5) 0.39 (9.9) 3.75 max...

  • Page 48: Connection Overview

    . ) l a l i i g i l a t t l i f l l u i g i Modular LYNX System 12.05.2003...

  • Page 49: Switch Assignments And Description

    Logic Polarity Digital Level Filter Group Filter Setting Figure 9.3: LYNX Isolated I/O Input Equivalent Circuit Modular LYNX System 12.05.2003 c t i e l l v i t c t i e l l v i t < >...

  • Page 50: Input Filtering

    µ 80 A Isolated Ground < > < ( > s i l ) t l s i l ° 5 PULL-UP SWITCH = Clamp Diode (See Note) LOAD Output Load Supply 28VDC Max Isolated Ground Modular LYNX System 12.05.2003...

  • Page 51: Section Overview

    M e c h a n i c a l S p e c i f i c a t i o n Dimensions in Inches (mm) 0.9 max (22.9) Figure 10.1 : LYNX Differential I/O Module Dimensions Modular LYNX System 12.05.2003 4.39 max (111.5) 0.39 (9.9) 3.75...

  • Page 52: Connection Overview

    P o w e r R e q u i r e m e n t s Power is supplied through the LYNX Control Module. Table 10.1: High Speed Differential I/O Module Power Requirements 1 - 52 Group 10 High Speed I/O Ground PGND Modular LYNX System 12.05.2003...

  • Page 53: Pin Assingments And Description

    I n p u t S p e c i f i c a t i o n s l a i t i u t i u Table 10.3: High Speed Differential I/O Module Input Specifications Modular LYNX System 12.05.2003 y l l s l i i r c y l l...

  • Page 54: Input Filtering

    < > < ( > ) t l Differential Encoder Input (+) Channel A (+) Input (-) Channel A (-) Channel B (+) Channel B (-) Index (+) Index (-) Modular LYNX System 12.05.2003...

  • Page 55: Output Specifications

    Table 10.5: LYNX Differential I/O Output Specifications Clock User Defined Function Figure 10.4: LYNX Differential I/O Output Equivalent Circuit Modular LYNX System 12.05.2003 +5VDC 10kΩ 3.3kΩ 20kΩ 4kΩ Secondary Drive Output (+)

  • Page 56: Modular Lynx System 12.05.2003

    Intentionally Left Blank 1 - 56 Modular LYNX System 12.05.2003...

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