Kollmorgen Servostar M-SS-005-03 Manuals

Manuals and User Guides for Kollmorgen Servostar M-SS-005-03. We have 1 Kollmorgen Servostar M-SS-005-03 manual available for free PDF download: User Manual

Kollmorgen Servostar M-SS-005-03 User Manual

Kollmorgen Servostar M-SS-005-03 User Manual (204 pages)

Brand: Kollmorgen | Category: Controller | Size: 1 MB

Table of Contents

Table of Contents
3
Overview

11
- System Hardware
  12
- Operating System
  12
- MC-Basic Language Compiler
  12
- I/O
  13
- Sercos
  13
- Api
  14
- Multi-Tasking
  14
- User Communication
  14
  - Serial Communication
    15
  - Tcp/Ip Communication
    16
  - Send /Receive Data
    18
Basic Moves Development Studio

21
- Communication
  21
- MC-Basic
  21
  - Instructions
    22
  - Type
    22
  - Constants and Variables
    24
  - Data Types
    26
  - System Elements
    29
  - Units
    30
  - Expressions
    30
  - Automatic Conversion of Data Types
    30
  - Math Functions
    33
  - String Functions
    34
  - System Commands
    35
  - Printing
    38
  - Flow Control
    40
- Program Declarations
  46
  - Program
    46
  - Subroutine
    46
  - User-Defined Functions
    47
  - Libraries
    48
  - Global Libraries
    50
- C-Functions
  50
  - Object Files
    50
  - Prototype File
    51
  - Special Considerations
    54
- Semaphores
  55
  - Mutual Exclusion Semaphores
    55
  - Synchronization Semaphores
    56
- Virtual Entry Station
  56
- Output Redirection
  57
- File Operations
  57
  - Open
    57
  - Open #, Input #, Close, Loc
    58
  - Tell
    58
  - Seek
    58
Project

59
- Project Structure
  59
- Tasks
  59
  - General Purpose Tasks
    59
  - Configuration Task
    61
  - Autoexec Task
    61
- Program Declarations
  62
  - Arrays
    63
- Multi-Tasking
  65
- Event Handler
  70
  - Onevent
    70
  - Eventon
    71
  - Eventoff
    71
  - Eventlist
    71
  - Eventdelete
    71
  - Events at Start-Up
    71
  - Program Flow and Onevent
    71
  - Setting up Axes
    72
  - Axis Definition
    72
  - Axis Name
    72
  - Axi Name
    72
  - Drive Address
    73
  - Starting Position
    73
  - Basic Moves Auto Setup Program
    73
  - User Units
    74
  - Position Units
    74
  - Velocity Units
    75
  - Acceleration Units
    75
  - Jerk Units
    76
- Acceleration Profile
  76
- Unit
  76
- Position and Velocity
  77
- Limits
  79
  - Position Limits
    80
  - Axis Velocity Limits
    83
- Velocity, Acceleration and Jerk Rate Parameters
  83
- Verify Settings
  84
  - Enabling
    84
  - Motion Flags
    84
  - Move
    84
- Sercos
  85
  - Communication Phases
    86
  - Telegrams
    86
  - Telegram Types
    87
  - Cyclic Vs. Non-Cyclic Communication
    88
  - Idns
    88
  - Position and Velocity Commands
    89
  - Sercos Support
    89
- Loops
  91
  - Standard Position Loop
    92
  - Dual-Feedback Position Loop
    92
  - Velocity Loop
    93
- Simulated Axes
  93
Single-Axis Motion

95
- Motion Generator
  95
  - Motion Conditions
    95
  - Motion Buffering
    97
  - Override Versus Permanent
    97
  - Acceleration Profile
    98
  - Jog
    98
  - Stop
    99
  - Proceed
    99
  - Move
    100
  - Velocity Override
    108
- Motion Examples
  108
  - Position Capture
    108
  - Homing
    109
  - Registration
    111
  - Gating
    112
  - Clamping
    112
  - Pipemode
    113
Master-Slave

115
- Master Sources
  115
- Gearing
  116
  - Enable Gearing
    116
  - Disable Gearing
    116
  - Incremental Moves
    117
- Camming
  118
  - Key Features
    118
  - Gearratio
    119
  - Incremental Moves
    119
  - Cam Tables
    119
  - Cam Cycles
    121
  - Create Cam Tables
    123
  - Operating Cams
    125
- Simulated and Master-Slave Axes
  129
  - Fixed-Speed Masters
    129
  - Monitor Physical Axes
    129
  - Synchronize Slave Axes
    129
Groups

131
- Set up
  131
- Deletegroup
  131
- Acceleration Profiles
  131
  - Acceleration and Deceleration
    131
- Position
  132
  - Vector
    132
  - Scalar
    132
  - Velocity
    133
  - Limits
    133
  - Generator
    133
  - Realtime
    133
  - Position
    133
  - Velocity
    134
- Acceleration
  134
- Velocity, Acceleration, Deceleration and Jerk Rates
  134
- Motion
  135
  - Attach Task and Axis
    135
  - Enable
    135
  - Motion Flags
    136
  - Stop
    136
  - Proceed
    137
  - Move
    137
  - Circle
    138
  - Chain Commands
    139
  - Blending
    139
- Move Control
  141
  - Settling Time
    142
  - Start Moves
    142
  - Chain Moves
    143
  - Multi-Step Moves
    143
  - Synchronize Multiple Axes
    144
  - Cleara Pending Move
    145
- Velocity Override
  145
Compensation Tables

147
- Specification
  147
- Access Data
  148
- Acces Data
  148
- Define
  148
- Load/Save from a File
  149
- Set and Query Values
  149
- Activate
  149
- Query Actual Positions
  149
- Multi-Dimensional Correction
  149
Phaser

151
- Profiler
  151
- Execute
  152
Cancel

152
- Serial Phaser
  152
  - Generic Elements
    153
  - Elementid
    153
  - Declaration
    154
  - Assignment
    154
    
    Limitations
    155
    
    Functions
    156
  - With
    158
Input/Output

159
- Standard I/O
  159
- Software I/O
  159
  - Bit-Oriented Software I/O
    159
  - Long-Word-Oriented Software I/O
    160
- Pls (Programmable Limit Switch)
  160
  - Enable and Disable
    160
  - Switch Positions
    161
  - Repetition Interval
    162
  - Polarity
    162
  - Hysteresis
    162
  - Enable and Disable
    162
  - Pls Output State
    163
  - Set up
    163
- External Encoders
  164
- S 10. 4 External Encoders
  164
- Pc104
  165
  - Configuring Pc104 Cards
    165
  - Installation
    165
  - Commands
    166
Error Handling

167
- Context
  167
  - Task Context
    167
  - System Context
    169
  - Terminal Context
    170
- Watchdog
  170
  - Watchdog Setup
    171
  - Cycle the Watchdog
    171
  - Reset the Watchdog
    171
- Uea (User Error Assertion)
  172
- Exceptions
  172
  - Declaration
    172
  - Deletion
    173
  - Assertion
    173
  - Log
    174
  - Query
    174
  - Print
    174
  - Limitations
    174
- Sample Nesting Program
  175
Appendix A

175
- Subroutine Example
  176
- Sample Autosetup Program
  177
Appendix B

181
- Non-Homogenous Groups
  181
  - Kinematics
    181
- Coupling
  183
  - Joints
    184
  - Robot Models
    185
  - Interpolation
    186
    
    Artesian P
    186
    
    Nterpolation
    188
  - Cartesian Profile
    189
    
    Nterpolation
    189
    
    Artesian P
    189
  - Working Envelope
    190
  - Robot Configurations
    191
- Points
  191
  - Declaration
    192
  - Variables
    192
  - Constant Points
    192
  - Vectors
    193
  - Properties
    193
  - Point Dimension
    193
  - Point Assignment
    194
  - Single Coordinate Point Assignment
    194
  - Point Query
    194
  - Single Coordinate Point Query
    194
  - Operators
    194
  - Points in Functions
    196
  - Motion Commands
    197
  - Analog Behavior
    197
  - Point as an Expression
    197
  - Group Point Properties
    198
  - In Functions
    198
  - Query
    199
  - Operators
    199
  - Pass Structure
    199
  - Limitations
    200
  - Conveyer Tracking
    200
  - Window Declaration
    201
  - Tracking
    201
    
    Moving Frame
    201
    
    T Racking P Rocess
    202
    
    Customer Support
    204

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