Camtasia 940

227
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation Model 940 PositionServo 1 Model 940 PositionServo Overview TRAINING

Transcript of Camtasia 940

Page 1: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo1

Model 940

PositionServo Overview

TRAINING

Page 2: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo2

What is the Model 940?

The Model 940 is a fully programmable high performance Torque, Velocity and Position brushless servo drive with powerful performance & innovative features!

Page 3: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo3

Model 940: Features, Benefits, & Specifications

A Fully Programmable Digital AC Brushless Servo Drive with:

– Sinusoidal Commutation– Digital Signal Processing (DSP)– Field-oriented Control– Encoder & Resolver Feedback– Multiple power levels– Multiple input voltages– Multiple communication options– And much more!

Page 4: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo4

What is the “940” PositionServo?

Torque, Velocity, Electronic Gearing and Programmable Motion Control

– Serves similar markets to 93xx-EP’s, 93xx-ES’s

– Registration reaction (3μS/encoder) (7 μS/resolver)

– 17 Programmable I/O– 5 separate and independent program

threads:– Deterministic “EVENT” handling

– Motion Control

– Program Control

– Fault Monitor

– Communication

Page 5: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo5

E94P020.. E94P040.. E94P080.. E94P100.. E94P120.. E94P180..

Continuous Current

2 AMP 4 AMP 8 AMP 10 AMP 12 AMP 18 AMP

Peak Current

6 AMP 12 AMP 24 AMP 30 AMP 36 AMP 54 AMP

Input Voltage

80 - 264 VAC 1 OR 3 - phase

Model 940: Power Ranges

120/240VAC

* Note: Input of 120V will result in reduced performance based upon motor Ke factor

Page 6: Camtasia 940

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Model 940

PositionServo6

E94P020S1NEM E94x040S1NEM

Cont Current 2 Amps 4 Amps

Peak Current 6 Amps 12 Amps

Input Voltage 120 VAC or 240 VAC

Voltage Doubler Units

Model 940: Power Ranges

Page 7: Camtasia 940

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Model 940

PositionServo7

Model 940: Power Ranges

E94P020.. E94P040.. E94P060.. E94P090..

Continuous Current

2 AMP 4 AMP 6 AMP 9 AMP

Peak Current

6 AMP 12 AMP 18 AMP 27 AMP

Input Voltage

328-520 VAC 3 - phase

480 VAC

Page 8: Camtasia 940

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Model 940

PositionServo8

Model 940: Part Number

94 Series

Continuous Current•020 = 2 Amps•040 = 4 Amps•060 = 6 Amps•080 = 8 Amps•090 = 9 Amps•100 = 10 Amps•120 = 12 Amps•180 = 18 Amps

Input Phase•S = 1-Phase•Y = 1- or 3-Phase•T = 3-Phase

Input Voltage•1 = 120VAC (voltage doubler)•2 = 120/200/240 VAC•4 = 400/480 VAC

Line Filter•N = No line filter•F = Integrated line filter

E94P020S1NEM

Feedback Type•E = Encoder•R = Resolver

ISO 13849-1 Safety Circuit•M = MVOB no STO•S = MVOB and STO

P = PositionServo 940 (Encoder Based)

R = PositionServo 941 (Resolver Based)

Page 9: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo9

Model 940: Part Number

94 Series

Continuous Current•020 = 2 Amps•040 = 4 Amps•060 = 6 Amps•080 = 8 Amps•090 = 9 Amps•100 = 10 Amps•120 = 12 Amps•180 = 18 Amps

Input Phase•S = 1-Phase•Y = 1- or 3-Phase•T = 3-Phase

Input Voltage•1 = 120VAC (voltage doubler)•2 = 120/200/240 VAC•4 = 400/480 VAC

Line Filter•N = No line filter•F = Integrated line filter

E94P020S1NEM

Feedback Type•E = Encoder•R = Resolver

P = PositionServo 940 (Encoder Based)

R = PositionServo 941 (Resolver Based)

ISO 13849-1 Safety CircuitM = MVOB no STO•S = MVOB and STO

Page 10: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo10

E94P vs. E94R

E94P / 940– Encoder Feedback– 15 pin D Shell Connector– E94P_ _ _ _ _ _ E_

E94R / 941– Resolver Feedback– 9 pin D Shell Connector– E94R _ _ _ _ _ _R_

Page 11: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo11

Model 940: Part Number

94 Series

Continuous Current•020 = 2 Amps•040 = 4 Amps•060 = 6 Amps•080 = 8 Amps•090 = 9 Amps•100 = 10 Amps•120 = 12 Amps•180 = 18 Amps

Input Phase•S = 1-Phase•Y = 1- or 3-Phase•T = 3-Phase

Input Voltage•1 = 120VAC (voltage doubler)•2 = 120/200/240 VAC•4 = 400/480 VAC

Line Filter•N = No line filter•F = Integrated line filter

E94P020S1NEM

Feedback Type•E = Encoder•R = Resolver

P = PositionServo 940 (Encoder Based)

R = PositionServo 941 (Resolver Based)

ISO 13849-1 Safety Circuit•M = MVOB no STO•S = MVOB and STO

Page 12: Camtasia 940

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Model 940

PositionServo12

Model 940: Part Number

94 Series

Continuous Current•020 = 2 Amps•040 = 4 Amps•060 = 6 Amps•080 = 8 Amps•090 = 9 Amps•100 = 10 Amps•120 = 12 Amps•180 = 18 Amps

Input Phase•S = 1-Phase•Y = 1- or 3-Phase•T = 3-Phase

Input Voltage•1 = 120VAC (voltage doubler)•2 = 120/200/240 VAC•4 = 400/480 VAC

Line Filter•N = No line filter•F = Integrated line filter

E94P020S1NEM

Feedback Type•E = Encoder•R = Resolver

P = PositionServo 940 (Encoder Based)

R = PositionServo 941 (Resolver Based)

ISO 13849-1 Safety Circuit•M = MVOB no STO•S = MVOB and STO

Page 13: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo13

Model 940: Part Number

94 Series

Continuous Current•020 = 2 Amps•040 = 4 Amps•060 = 6 Amps•080 = 8 Amps•090 = 9 Amps•100 = 10 Amps•120 = 12 Amps•180 = 18 Amps

Input Phase•S = 1-Phase•Y = 1- or 3-Phase•T = 3-Phase

Input Voltage•1 = 120VAC (voltage doubler)•2 = 120/200/240 VAC•4 = 400/480 VAC

Line Filter•N = No line filter•F = Integrated line filter

E94P020S1NEM

Feedback Type•E = Encoder•R = Resolver

P = PositionServo 940 (Encoder Based)

R = PositionServo 941 (Resolver Based)

ISO 13849-1 Safety Circuit•M = MVOB no STO•S = MVOB and STO

Page 14: Camtasia 940

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Model 940

PositionServo14

Model 940: Part Number

94 Series

Continuous Current•020 = 2 Amps•040 = 4 Amps•060 = 6 Amps•080 = 8 Amps•090 = 9 Amps•100 = 10 Amps•120 = 12 Amps•180 = 18 Amps

Input Phase•S = 1-Phase•Y = 1- or 3-Phase•T = 3-Phase

Input Voltage•1 = 120VAC (voltage doubler)•2 = 120/200/240 VAC•4 = 400/480 VAC

Line Filter•N = No line filter•F = Integrated line filter

E94P020S1NEM

Feedback Type•E = Encoder•R = Resolver

P = PositionServo 940 (Encoder Based)

R = PositionServo 941 (Resolver Based)

ISO 13849-1 Safety CircuitM = MVOB no STO•S = MVOB and STO

Page 15: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo15

Model 940: EMC Filters

E94PxxxS2FEx = Single-phase input with integral line filter (VDE class A)

Filters are required for CE (EMC). User can order the 1-phase Model 94 with or without the integrated EMC filters.

3-phase units must purchase external filter for EMC compliance

Page 16: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo16

Model 940: Part Number

94 Series

Continuous Current•020 = 2 Amps•040 = 4 Amps•060 = 6 Amps•080 = 8 Amps•090 = 9 Amps•100 = 10 Amps•120 = 12 Amps•180 = 18 Amps

Input Phase•S = 1-Phase•Y = 1- or 3-Phase•T = 3-Phase

Input Voltage•1 = 120VAC (voltage doubler)•2 = 120/200/240 VAC•4 = 400/480 VAC

Line Filter•N = No line filter•F = Integrated line filter

E94P020S1NEM

Feedback Type•E = Encoder•R = Resolver

P = PositionServo 940 (Encoder Based)

R = PositionServo 941 (Resolver Based)

ISO 13849-1 Safety Circuit•M = MVOB no STO•S = MVOB and STO

Page 17: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo17

Model 940: Part Number

94 Series

Continuous Current•020 = 2 Amps•040 = 4 Amps•060 = 6 Amps•080 = 8 Amps•090 = 9 Amps•100 = 10 Amps•120 = 12 Amps•180 = 18 Amps

Input Phase•S = 1-Phase•Y = 1- or 3-Phase•T = 3-Phase

Input Voltage•1 = 120VAC (voltage doubler)•2 = 120/200/240 VAC•4 = 400/480 VAC

Line Filter•N = No line filter•F = Integrated line filter

E94P020S1NEM

Feedback Type•E = Encoder•R = Resolver

P = PositionServo 940 (Encoder Based)

R = PositionServo 941 (Resolver Based)

ISO 13849-1 Safety Circuit•M = MVOB no STO•S = MVOB and STO

Page 18: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo18

Model 940: Communication Options

Ethernet (Standard)

– MotionView Communications– Drive to Drive Communications– Modbus TCP– Ethernet IP

Page 19: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo19

Model 940: Communication Options

CANbus (optional)

– Up to 1 Mbps– Up to 64 axis– CANopen– DS301 COM profile

RS 485 (optional)

– 38.4 kbps– Up to 32 axis– Point-to-Point Protocol (PPP)– MODBUS RTU

Page 20: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo20

Model 940: Communication Options

DeviceNet (optional)

– 500 kbps– Up to 63 axis– Group 2 Server

Profibus DP (optional)

– 12 Mbps– Up to 125 axis– RS485 ½ Duplex– DP V0

Page 21: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo21

Model 940: Additional Features

24-volt “Keep-Alive” circuit

– Apply optional external voltage to keep logic alive even without mains power applied to the drive

Thermocouple input

– PTC input at motor-power terminal block

Page 22: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo22

Model 940: Additional Features

Braking & DC Bus

• Internal regen circuitry – external braking resistors

• ± Bus for DC input or load sharing

Standard feed back

• Encoder Quadrature Incremental

Encoder (2MHz)

• Resolver 12 Bit Resolution

Page 23: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo23

Model 940: What makes us better?

Electronic Programmable Module (EPM)

– Easy to program drives in high-volume OEM production

– Ultra-easy to swap in the field– Easier and more reliable than

analog drives

Page 24: Camtasia 940

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Model 940

PositionServo24

Model 940: What makes us better?

Keypad & Display

– Monitoring and diagnostics

– 4-Digit 7-Segment Display

– 3-Button “Keypad”

Page 25: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo25

Model 940: What makes us better?

Page 26: Camtasia 940

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Model 940

PositionServo26

Keypad & Display

Page 27: Camtasia 940

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Model 940

PositionServo27

Page 28: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo28

New for Hardware Version 2

Page 29: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo29

8oot 0=Autoboot Disabled 1=Autoboot Enabled

Page 30: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo30

Fault Code Display

Page 31: Camtasia 940

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Model 940

PositionServo31

High density 50 pin SCSI Connector

PinName Function

1 MA+ Master Encoder A+ / Step+ input (2)

2 MA- Master Encoder A- / Step- input (2)

3 MB+ Master Encoder B+ / Direction+ input (2)

4 MB- Master Encoder B- / Direction- input (2)

5 GND Drive Logic Common6 +5V +5v output7 BA+ Buffered Encoder Output: Channel A+ (1)

8 BA- Buffered Encoder Output: Channel A- (1)

9 BB+ Buffered Encoder Output: Channel B+ (1)

10 BB- Buffered Encoder Output: Channel B- (1) 11 BZ+ Buffered Encoder Output: Channel Z+ (1)

12 BZ- Buffered Encoder Output: Channel Z- (1)

13-19 Empty

20 AIN2+ Positive (+) of Analog signal input 21 AIN2- Negative (-) of Analog signal input 22 ACOM Analog common23 AO1 Analog output 24 AIN1+ Positive (+) of Analog signal input 25 AIN1 - Negative (-) of Analog signal input 26 IN_A_COM Digital input group A COM terminal27 IN_A1 Digital input A128 IN_A2 Digital input A229 IN_A3 Digital input A330 IN_A4 Digital input A431 IN_B_COM Digital input group B COM terminal32 IN_B1 Digital input B133 IN_B2 Digital input B234 IN_B3 Digital input B335 IN_B4 Digital input B436 IN_C_COM Digital input group C COM terminal37 IN_C1 Digital input C138 IN_C2 Digital input C239 IN_C3 Digital input C340 IN_C4 Digital input C441 RDY+ Ready output Collector42 RDY- Ready output Emitter43 OUT1-C Programmable output #1 Collector44 OUT1-E Programmable output #1 Emitter 45 OUT2-C Programmable output #2 Collector46 OUT2-E Programmable output #2 Emitter 47 OUT3-C Programmable output #3 Collector48 OUT3-E Programmable output #3 Emitter 49 OUT4-C Programmable output #4 Collector50 OUT4-E Programmable output #4 Emitter

Field Wiring

Page 32: Camtasia 940

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Model 940

PositionServo32

Model 940: Digital I/O

Digital Inputs (5…24vdc):

– 12 Digital Inputs

– User Program accessible

– Special Purpose programmable

Digital Outputs (open-collector):

– 5 Digital Outputs

– 1 Dedicated (Ready/Enabled)

– 4 Programmable and/or User

Program accessible

Page 33: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo33

Model 940: Analog I/O

Analog Inputs:

– 2 Analog Inputs

– Accessible via the User Program:

– (±10V, 12-bit A1, 12-bit A2) (differential)

Analog Outputs:

– 1 Programmable or User Program assessable:

– (0-10V, 10-bit, single-ended)

Page 34: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo34

Model 940: Breakout Modules

Terminal Block I/O Module: E94ZATB02

Page 35: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo35

Two Meter

Model 940: Breakout Modules

:SCSI cable assembly (EWLN002SF1NA)

Page 36: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo36

Model 940: Breakout Modules

:940 Test Board (E94ZATST1)

5 Status Led’s•+5V•Ready•Outputs 1 – 4

8 Input Switches2 Analog InputsField Wiring

•Master Encoder / Step & Direction•5 Volt Ref•Output 1•External Inputs

Page 37: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo37

Model 940: Breakout Modules

Panel Saver SCSI I/O Module:

Page 38: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo38

Model 940: Breakout Modules

Motor Brake Terminal Block Module: (E94ZAHBK2)

Page 39: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo39

Model 940: Standard Feedback

Encoder Feedback (standard)

– 2.5 MHz

– Buffered Encoder Pass-Through

• Direct pass through – virtually

no delays

To Motion Controller

Encoder Feedback to Controller

Page 40: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo40

Motor Offerings

Compatible Lenze Servo Motors

MCS Series

Page 41: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo41

Motor Offerings

MCS– Synchronous AC brushless

servo motors– 250W to 10kW– 240/480 VAC– IEC Metric-mounting flange

– 60mm, 90mm, 120mm– Resolver feedback

– Encoder optional (4096 PPR)

– UL, CE– IP54

– IP65 optional– Mil-Spec connectors

Page 42: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo42

Motor OfferingsMCS Series Motors

Rated Pwr Rated Speed Max Speed Rated Torque

MCS06 / 240V 0.25 - 0.75 Kw 4050 - 6000 rpm 6500 - 8500 rpm 0.5 - 1.5 Nm

MCS09 / 240V 1.2 - 1.9 Kw 3750 - 6000 rpm 6500 - 8500 rpm 2.4 - 3.8 Nm

MCS12 / 240V 1.6 - 2.8 Kw 1500 - 3000 rpm 4000 - 6000 rpm 8 - 13.5 Nm

MCS06 / 480V 0.25 - 0.75 Kw 4050 - 6000 rpm 8000 rpm 0.5 - 1.5 Nm

MCS09 / 480V 1.2 - 1.9 Kw 3750 - 6000 rpm 7000 rpm 2.4 - 3.8 Nm

MCS12 / 480V 1.1 - 4.7 Kw 1500 - 4050 rpm 6000 rpm 4.3 - 13.5 Nm

MCS14 / 480V 1.45 - 2.8 Kw 1500 - 3600 rpm 6000 rpm 7.5 - 16 Nm

MCS19 / 480V 4 Kw 1425 rpm 4000 rpm 27 Nm

Page 43: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo43

Model 940: Additional Servo Motors

You can use third-party motors

Feedback accepted:– 5-volt Incremental Encoders

– Hall-effect feedback for commutation

– A, B, and Z channels with differential pairs (A-not, B-not and Z-not)

– Line-driven (not open-collector)– 10 V peak to peak Resolvers

– 0.5 Transformation Ratio

– 5 kHz carrier frequency

Cannot accept– Absolute encoders

Motor Offerings

Page 44: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo44

Model 940

Wiring the Drive

TRAINING

Page 45: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo45

(A1, A2, A3, A4, Acom)}(B1, B2, B3, B4, Bcom)}(C1, C2, C3, C4, Ccom)}

The inputs on the 940 are grouped into three sets of four,

each with its own commonPin Name Function

26 IN_A_COM Digital Input group A COM terminal

27 IN_A1 Digital Input A1

28 IN_A2 Digital Input A2

29 IN_A3 Digital Input A3

30 IN_A4 Digital Input A4

31 IN_B_COM Digital Input group B COM terminal

32 IN_B1 Digital Input B1

33 IN_B2 Digital Input B2

34 IN_B3 Digital Input B3

35 IN_B4 Digital Input B4

36 IN_C_COM Digital Input group C COM terminal

37 IN_B1 Digital Input C1

38 IN_B2 Digital Input C2

39 IN_B3 Digital Input C3

40 IN_B4 Digital Input C4

Model 940: Digital I/O

Page 46: Camtasia 940

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Model 940

PositionServo46

PNP??PNP??

NPN??NPN??

Sinking??Sinking??Sourcing??Sourcing??

Positive Logic??

Positive Logic??

Negative Logic??

Negative Logic??

Active Hi??Active Hi??

Active Low??

Active Low??

Customer Connections

Page 47: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo47

Model 940: Digital Inputs

+24V

Gnd

PNP

PNP, Sourcing, Active High, Pos LogicPNP, Sourcing, Active High, Pos Logic

Page 48: Camtasia 940

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Model 940

PositionServo48

PNP

PLC

+-

Power Supply

Drive

Model 940: Digital Inputs

Page 49: Camtasia 940

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Model 940

PositionServo49

NPN

+24V

Gnd

NPN, Sinking, Active Low, Neg LogicNPN, Sinking, Active Low, Neg Logic

Model 940: Digital Inputs

Page 50: Camtasia 940

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Model 940

PositionServo50

NPN

-+

Power Supply

PLCDrive

Model 940: Digital Inputs

Page 51: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo51

Model 940: Digital I/O

Pin Name Function

41 RDY+ Ready output Collector

42 RDY- Ready output Emitter

43 OUT1-C Programmable output #1 Collector

44 OUT1-E Programmable output #1 Emitter

45 OUT2-C Programmable output #2 Collector

46 OUT2-E Programmable output #2 Emitter

47 OUT3-C Programmable output #3 Collector

48 OUT3-E Programmable output #3 Emitter

49 OUT4-C Programmable output #4 Collector

50 OUT4-E Programmable output #4 Emitter

Ready Output}Output #1}

}

There are 5 outputs on the 940. One is dedicated as a Ready Output. All the outputs Open

Collector / Emitter

}}

Output #2

Output #3

Output #4

Page 52: Camtasia 940

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Model 940

PositionServo52

Digital outputs electrical characteristicsCircuit type - Isolated Open CollectorDigital output load capability - 15 mA (100 mA for Rev 2)Digital outputs Collector-Emitter max voltage - 30V

43

44

45

46

OUT1-C

OUT1-E

OUT2-C

OUT2-E

PNP +24V

Gnd

Model 940: Digital Outputs

Page 53: Camtasia 940

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Model 940

PositionServo53

Digital outputs electrical characteristicsCircuit type - Isolated Open CollectorDigital output load capability - 15 mA (100mA for Rev 2)Digital outputs Collector-Emitter max voltage - 30V

43

44

45

46

OUT1-C

OUT1-E

OUT2-C

OUT2-E

NPN +24V

Gnd

Model 940: Digital Outputs

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Model 940

PositionServo54

Model 940: Analog I/O

Pin Name Function

20 AIN2+ Analog Input #2 [Positive (+)]

21 AIN2- Analog Input #2 [Negative (-)]

22 ACOM Analog Common

23 AO1 Analog Output

24 AIN1+ Analog Input #1 [Positive (+)]

25 AIN1- Analog Input #1 [Negative (-)]

The 940 has two Analog Inputs and one Analog Output

Analog Input #2 is 12 bit and can be wired either as single ended or differential }

The Analog Output is a 10 bit single ended, (0-10V) signal. It can be programmed to emulate parameters like motor velocity,

Phase Current, and others }

Analog Input #1 is used as the main external reference. It is 12 bit and can be

wired either as single ended or differential

}

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PositionServo55

EXTERNAL REFERENCE

(DIFFERENTIAL CONFIGURATION)

AIN+

AIN-

ACOM

P3.25

P3.22

+

-

940

P3.24Analog Command Output

ACOM

Analog Command Return

Analog Device

Ana

log

Inpu

t

Analog input +

Analog input -

Motion Controller940 Servo Drive

Model 940: Analog I/O

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PositionServo56

SINGLE-ENDED CONFIGURATION

AIN2+

AIN2-

ACOM

P3.21

P3.22

+

-

940

P3.20

As the dancer arm goes up and down a 0 – 10 volt signal is transmitted to the 940 drive

AOut

ACOM

Model 940: Analog I/O

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Model 940

PositionServo57

Software & Drive Setup

TRAINING

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PositionServo58

MVOB

Software and Drive Setup Free Programming and Configuration Software Residing in the drive

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PositionServo59

Software and Drive Setup

MVOB – MotionView On Board

– MotionView is the universal programming software used to communicate to and configure the PositionServo drive.

– This software package is not only free but resides in the drive– All that is needed is a web browser to program and configure the drive.– Simply type in the drives IP address into the web browser and MotionView will

be up loaded from the drive.

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PositionServo60

Software and Drive SetupHow do you connect and communicate to the PositionServo?

First you need to create a small network between the drive and the PC. To do this connect a Ethernet Cross Over cable between your computer and the

Ethernet port on the PositionServo Drive.

First you need to create a small network between the drive and the PC. To do this connect a Ethernet Cross Over cable between your computer and the

Ethernet port on the PositionServo Drive.

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PositionServo61

What is a Network and how does the user set up

their computer?

Individual Work Stations

Company Network

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Model 940

PositionServo62

Work Station

Local Area Network

X

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PositionServo63

From “Control Panel” select “Network Connections”

From “Control Panel” select “Network Connections”

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PositionServo64

Select your New “Local Area Connections”Select your New “Local Area Connections”

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PositionServo65

Now Select “Properties”Now Select “Properties”

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PositionServo66

Select “Internet Protocol (TCP/IP)” and click “Properties”

Select “Internet Protocol (TCP/IP)” and click “Properties”

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PositionServo67

Click “Use the following IP addressEnter in the following address and click OK.

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PositionServo68

To launch the software you need to launch your web browser.

MVOB

Software and Drive Setup

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PositionServo69

MVOB – MotionView On Board

192.168.124.120192.168.124.120

Just type the drive’s IP address into your

web browser

Just type the drive’s IP address into your

web browser

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PositionServo70

The browser will connect to the drive to

upload the software

The browser will connect to the drive to

upload the software

MVOB – MotionView On Board

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PositionServo71

You are now ready to configure and program you drive

You are now ready to configure and program you drive

MVOB – MotionView On Board

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PositionServo72

Once MotionView has been launched from the browser a MotionView Java Icon will be loaded to the desktop.

Once MotionView has been launched from the browser a MotionView Java Icon will be loaded to the desktop.

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PositionServo73

Running MVOB on Windows 7

In the “Control Panel”, select “Network and

Internet”

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PositionServo74

Then select “Network and Sharing Center”

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PositionServo75

From here you want to select

“Change Adapter Settings”

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PositionServo76

Right-click on your “Local Area Connection” or

Adapter and pick “Properties”

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Model 940

PositionServo77

Now choose “Internet Protocol

Version 4” and click “Properties”

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PositionServo78

From here you can enter your

desired IP settings and Subnet mask

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Model 940

PositionServo79

Just as before, open your

browser and enter the

PositionServo’s IP address

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Model 940

PositionServo80

MVOB – MotionView On Board

Who else offers this?

NO CD’s needed!

No Rev’s to worry about!

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PositionServo81

Once MotionView is open select the “Connect” button from the Tool Bar

Once MotionView is open select the “Connect” button from the Tool Bar

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Model 940

PositionServo82

From the Connection screen, select the “Discover” button to ping the network and

detect all PositionServo drives on the network

From the Connection screen, select the “Discover” button to ping the network and

detect all PositionServo drives on the network

Select the drives you wish to connect to and select the “Connect” button

Select the drives you wish to connect to and select the “Connect” button

If the no drives where discovered then type the IP

address in for the desired drive and select “Connect”

If the no drives where discovered then type the IP

address in for the desired drive and select “Connect”

192.168.124.120

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PositionServo83

Select “Save Connection”Select “Save Connection”

“Save Connection” allows the user to save the connection to a

drive or multiple drives under one name, for example (XAxis)

“Save Connection” allows the user to save the connection to a

drive or multiple drives under one name, for example (XAxis)

XAxis

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PositionServo84

The next time you need to connect to a drive or group of drives you can click on the “Load Connection”

button to connect to all the saved connections.

The next time you need to connect to a drive or group of drives you can click on the “Load Connection”

button to connect to all the saved connections.

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PositionServo85

We can now Program and Configure the drive. Click on the drive folderWe can now Program and Configure the drive. Click on the drive folder

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PositionServo86

Parameter View WindowParameter View Window

Message WindowMessage Window

Parameter Tree WindowParameter Tree Window

The programming environment is segmented into three windowsThe programming environment is segmented into three windows

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PositionServo87

Select the “Motor” file from the Parameter Tree

Select the “Motor” file from the Parameter Tree

The Motor’s Parameter will be displayed in the “Parameter View Window”

The Motor’s Parameter will be displayed in the “Parameter View Window”

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PositionServo88

When you select the drive node drive information is displayed in the

Parameter View Window

When you select the drive node drive information is displayed in the

Parameter View Window

This is also where the drive can be assigned a name “XAxis”This is also where the drive can be assigned a name “XAxis”

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PositionServo89

To select a motor from the Motor data base, click here

To select a motor from the Motor data base, click here

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Click here to choose a VendorClick here to choose a Vendor Click here to select motor model Click here to select motor model

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PositionServo91

If the users motor isn’t in the database then a Custom Motor File can be created.

If the users motor isn’t in the database then a Custom Motor File can be created.

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Model 940

PositionServo92

Feedback

Command Output

Model 940: Auto Tuning

Lab

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PositionServo93

These settings are used for Autotuning

These settings are used for Autotuning

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PositionServo94

Deselect “Disable High Performance Mode”

for best Autotuning results

Deselect “Disable High Performance Mode”

for best Autotuning results

Select “Autotuning”Select “Autotuning”

Select “Position Tuning” to tune both Velocity and Position loops at

the same time

Select “Position Tuning” to tune both Velocity and Position loops at

the same time

Turn on IN_A3 and select “Start” to Autotune the drive

Turn on IN_A3 and select “Start” to Autotune the drive

Select “Yes” to accept the tuning gains and complete Autotuning

Select “Yes” to accept the tuning gains and complete Autotuning

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PositionServo95

Advanced AutoTuning Options

Feedback Filter to compensate for noise in motor feedback

Feedback Filter to compensate for noise in motor feedback

Two available filters for tuning response

Two available filters for tuning response

Low Pass for noncompliant transmission (i.e. belt drive)

Low Pass for noncompliant transmission (i.e. belt drive)

Resonator for ResonanceResonator for Resonance

Notch for non-uniform load distribution

Notch for non-uniform load distribution

You need to run Autotune again after enabling a filter. For most applications these filters are not

required

You need to run Autotune again after enabling a filter. For most applications these filters are not

required

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PositionServo96

Select the “Parameter” file from the Node tree to view & edit the drive’s parameters

Select the “Parameter” file from the Node tree to view & edit the drive’s parameters

The following are some of the more commonly used properties

The following are some of the more commonly used properties

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PositionServo97

Drive Mode: can be set to Torque, Velocity or Position

Drive Mode: can be set to Torque, Velocity or Position

Reference: can be set to Internal or External

Reference: can be set to Internal or External

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PositionServo98

Servo Torque Control

Up to 1.5 kHz bandwidth in Torque (Current) mode

– 65 μs current loop

– 100:1 torque range

– Accuracy is 1% of Imax

LOAD

Velocity TorquePosition

ComputedSet point

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PositionServo99

Servo Torque Control

Controls current to motor

– Adjusts (torque) out of the motor

Accepts torque command from controller

– Analog or frequency signal

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PositionServo100

Torque Control

T o rqu e

Speed

R u n a w a y co n d itio no ccu rs w h en th e lo a d

to rq u e a p p ro ch es Z ero

Speed-Torque Speed-Torque CharacteristicsCharacteristics

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PositionServo101

Torque Control

Torque Control Applications

– Nut Runners– Web Tension– Labelers– Velocity and Position loop are closed in controller (if applicable)

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PositionServo102

Torque Control

Nut Nut RunnerRunner

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Model 940

PositionServo103

Servo Velocity Control

Up to 200 Hz bandwidth in Velocity mode– 512 μs velocity loop– 5000:1 velocity range*– Regulation ±1 RPM

*With 4096 PPR encoder

LOAD

Velocity TorquePosition

ComputedSet point

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PositionServo104

Servo Velocity Control

Monitors and regulates speed

Also monitors current to motor

Accepts velocity command from controller

– Analog or frequency signal

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PositionServo105

Servo Velocity Control

T im e

Speed

T h e D riv e w ill co m m a n d a s m u chto rq u e a s req u ired to k eep th e m o to r a tth e co m m a n d ed sp eed . H o w ev er , if th eL o a d T o rq u e b eco m es g rea ter th a n th ea v a ila b le to rq u e , th e m o to r w ill s to p .

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PositionServo106

Servo Velocity Control

Velocity Control Applications

– Conveyors– Spinning wafers– Position loop closed in master controller

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Model 940

PositionServo107

Servo Velocity Control

Wafer SpinnerWafer Spinner

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Model 940

PositionServo108

Servo Position Control

Up to 200 Hz bandwidth in Position mode– 512 μs position loop– Follows frequencies up to 2 MHz

High-speed execution of motion program– Trajectory calculations– Deterministic EVENTs

LOAD

Velocity TorquePosition

ComputedSet point

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PositionServo109

Servo Position Control

Controls motor for correct position at correct time

Also monitors torque and velocity

Time / Position

Spe

ed

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PositionServo110

Servo Position Control

In a P o sitio n L o o p , th e D riv e w ill p u t o u t en o u g hto rq u e so th a t th e m o to r w ill b e a t th e co rrectp o sitio n a t th e co rrect tim e. I f th ere is a to rq u ed istu rb a n ce , th e m o to r w ill n eed to g o fa ster th a n th eco m m a n d ed sp eed to m a k e u p fo r lo st p o sitio n .

T im e

Speed

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PositionServo111

Servo Position Control

Position Control Applications

– Case Packer– Point to point motion– Pick and Place machines– Flying Shear

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PositionServo112

Servo Position Control

Case Case PackerPacker

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PositionServo113

Drive Mode, can be set to Torque, Velocity or Position.

Drive Mode, can be set to Torque, Velocity or Position.

Reference, Can be set to Internal or external

Reference, Can be set to Internal or external

Drive Frequency can be set to 8 KHZ or 16 KHZ

Drive Frequency can be set to 8 KHZ or 16 KHZ

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PositionServo114

High Efficiency

High Carrier Frequency

– Selectable 8, 16 kHz switching frequency– Out of the audible range

Space-Vector Modulated

– Greater DC-bus utilization

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PositionServo115

Master Encoder Input type can be set to Master Encoder or Step and Direction

Master Encoder Input type can be set to Master Encoder or Step and Direction

Set ratio to follow a Master Encoder

Set ratio to follow a Master Encoder

User units defined the moveUser units defined the move

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PositionServo116

There are 4 selections under Communications - Ethernet - RS485 - Can - Profibus

There are 4 selections under Communications - Ethernet - RS485 - Can - Profibus

Ethernet tab allows you to view and change the drives Ethernet IP address

Ethernet tab allows you to view and change the drives Ethernet IP address

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PositionServo117

Select the “Digital IO” file from the Node tree to view/edit and program the drives IO

Select the “Digital IO” file from the Node tree to view/edit and program the drives IO

Outputs can be set to come on at preprogrammed times

Outputs can be set to come on at preprogrammed times

Input debounce time can be set for mechanical Inputs

Input debounce time can be set for mechanical Inputs

Inputs A1 and A2 can be preset to be used as end of travel limit switches

Inputs A1 and A2 can be preset to be used as end of travel limit switchesEnable Switch Function can be

set to Run for external reference or Inhibit for internal reference

Enable Switch Function can be set to Run for external reference or Inhibit for internal reference

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PositionServo118

Select the “Analog IO” file from the Node tree to view/edit and program the drives IO

Select the “Analog IO” file from the Node tree to view/edit and program the drives IO

The Analog output can be configured to various values

The Analog output can be configured to various values

Analog Output (Current Scale) – Scale Analog output for Phase currentAnalog Output (Velocity Scale) – Scale Analog output VelocityAnalog Input (Current Scale) – Scale Analog input for torqueAnalog Input (Velocity Scale) – Scale the motor RPM vs. analog input

Analog Output (Current Scale) – Scale Analog output for Phase currentAnalog Output (Velocity Scale) – Scale Analog output VelocityAnalog Input (Current Scale) – Scale Analog input for torqueAnalog Input (Velocity Scale) – Scale the motor RPM vs. analog input

Analog Input Dead-Band configures where and when the analog input will take control

Analog Input Dead-Band configures where and when the analog input will take control

Analog Input Offset cancels out noise on the lineAnalog Input Offset cancels out noise on the line

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PositionServo119

When an output is preprogrammed to come on these parameters are used

When an output is preprogrammed to come on these parameters are used

Select the “Velocity Limits” folderSelect the “Velocity Limits” folder

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PositionServo120

These parameters are used in conjunction with the drives Position Error

These parameters are used in conjunction with the drives Position Error

Select the “Position Limits” folderSelect the “Position Limits” folder

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PositionServo121

Select the “Compensation” folderSelect the “Compensation” folder

These parameters are used in conjunction with the tuning of the drive

These parameters are used in conjunction with the tuning of the drive

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PositionServo122

Select the “Indexer program” folderSelect the “Indexer program” folder

This is where the user can write there own User program for there application

This is where the user can write there own User program for there application

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PositionServo123

Select Oscilloscope to-do motor and drive diagnostics

Select Oscilloscope to-do motor and drive diagnostics

Select the “Tools” folderSelect the “Tools” folder

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Model 940

PositionServo124

Select “Parameter & IO View” to monitor IO and read / write to

drive parameters.

Select “Parameter & IO View” to monitor IO and read / write to

drive parameters.

Select the “Tools” folder.Select the “Tools” folder.

Select “Add” to select variables.Select “Add” to select variables.Expand to view selections.Expand to view selections.

Select variables to read/write.Select variables to read/write.

Select “Add” to select variables.Select “Add” to select variables.

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PositionServo125

Select the “Monitor” folderSelect the “Monitor” folder

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PositionServo126

Select “Load Faults” to display the fault history

Select “Load Faults” to display the fault history

Select the “Faults” folderSelect the “Faults” folder

Select “Clear Faults” to clear the fault history

Select “Clear Faults” to clear the fault history

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PositionServo127

“Print” prints a file containing all of the drives

settings as well as the user program

“Print” prints a file containing all of the drives

settings as well as the user program

“Save Configuration” Allows the user to save all

the settings as a configuration file

“Save Configuration” Allows the user to save all

the settings as a configuration file

“Load Configuration” Allows the user to load the configuration saved file to a

new drive

“Load Configuration” Allows the user to load the configuration saved file to a

new drive

“Stop/Reset”Stops the Indexer program

and resets the drive

“Stop/Reset”Stops the Indexer program

and resets the drive

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PositionServo128

External Reference Labs

Torque, Velocity & Position

TRAINING

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PositionServo129

Model 940: Reference Input

The 940’s Reference Input can be sourced in multiple ways

From an external devices (Centralized Control System)

– PLC / Motion Controller – Master Encoder

From it’s internal User Program

– Index Moves– Position Moves– Gearing– Segment Moves

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PositionServo130

ReferenceInput

Pass Through Feedback

Motion Controller

Computer w/PC Card

““External” Motion ControllerExternal” Motion Controller

Command Output

Feedback

Centralized ControlExternal Reference Input

Torque Reference Lab

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PositionServo131

Enable Input (IN_A3)

940 Test Board(E94ZATST01)

Input (IN_A1)

Inputs (IN_A4 – IN_B4)

Status LED’s (+5V, Rdy, Out1 – Out4)

Field Inputs Master Enc / Step Dir

Field Wiring Out1

5 Volt RefAnalog Output

Field Wiring InputsIN_A1, IN_C1- IN_C4

Analog Input 2Analog Input 1 Input (IN_C3)

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PositionServo132

Select “Parameters” from the node tree

Open the Drive Mode pull down window and select “Torque” Mode

Open the Drive Mode pull down window and select “Torque” Mode

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PositionServo133

Set the drive up for External ReferenceSet the drive up for External Reference

Select “Parameters” from the node tree

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PositionServo134

Set the “Enable switch function” to RunSet the “Enable switch function” to Run

Select “Digital IO” from the node tree

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PositionServo135

Turn on the “Enable” InputTurn on the “Enable” Input

Use the pot on the test board to simulate an analog input from a Motion Controller

Use the pot on the test board to simulate an analog input from a Motion Controller

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PositionServo136

Torque Control

T o rqu e

Speed

R u n a w a y co n d itio no ccu rs w h en th e lo a d

to rq u e a p p ro ch es Z ero

Speed-Torque Speed-Torque CharacteristicsCharacteristics

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PositionServo137

Adjusting the Analog input (current scale) will determine how much torque is put

out per analog voltage coming in

Adjusting the Analog input (current scale) will determine how much torque is put

out per analog voltage coming in

Select “Analog IO” from the node tree

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PositionServo138

External Reference Input (Centralized Control System):

ReferenceInput

Pass Through Feedback

Motion Controller

Computer w/PC Card

““Centralized” ControlCentralized” Control

Command Output

Feedback

Analog Reference Lab

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PositionServo139

Select “Parameters” from the node tree

Open the Drive Mode pull down window and select “Velocity” Mode

Open the Drive Mode pull down window and select “Velocity” Mode

Reference remains as “External”Reference remains as “External”

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PositionServo140

Turn on the “Enable” InputTurn on the “Enable” Input

Use the pot on the test board to simulate an analog input from a Motion Controller

Use the pot on the test board to simulate an analog input from a Motion Controller

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PositionServo141

Change the value for Analog Input (velocity scale) and note how the speed of the motor changes

Change the value for Analog Input (velocity scale) and note how the speed of the motor changes

Select “Analog IO” from the node tree

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PositionServo142

Select “Parameters” from the node tree

Change the Velocity Mode Accelerationsetting from Enabled to Disabled

Change the Velocity Mode Accelerationsetting from Enabled to Disabled

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PositionServo143

Adjust the Pot to about half speed and click on the “<<“ button next to “Analog Input Offset”.

Turn the pot and notice direction change

Adjust the Pot to about half speed and click on the “<<“ button next to “Analog Input Offset”.

Turn the pot and notice direction change

Select “Analog IO” from the node tree

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PositionServo144

Lower the Pot all the way to Zero volts. If the motor still rotates click on the “<<“ button next to “Analog Input Offset” to cancel out any noise.

Lower the Pot all the way to Zero volts. If the motor still rotates click on the “<<“ button next to “Analog Input Offset” to cancel out any noise.

Select “Analog IO” from the node tree

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PositionServo

Select “Oscilloscope” from the Tools folderSelect “Oscilloscope” from the Tools folder

Set channel 1 to “Motor velocity” and channel 2 to “Analog Input 1”, select the “Run” button and turn the Pot to turn the

motor.

Set channel 1 to “Motor velocity” and channel 2 to “Analog Input 1”, select the “Run” button and turn the Pot to turn the

motor.

Select “Tools” from the node tree

Page 146: Camtasia 940

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PositionServo146

Model 940: Reference Input

The 940’s Reference Input can be sourced in multiple ways

From an external devices (Centralized Control System)

– PLC / Motion Controller – Master Encoder

From it’s internal User Program

– Index Moves– Position Moves– Gearing– Segment Moves

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PositionServo147

Feedback

Output can follow master encoder, ratio set by user

Master EncoderOr

Step and Direction

You can set your ratio from 1 to ± 32767

Up to 2MHz, 0-5VDC

Model 940: Electronic Gearing

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PositionServo148

PinName Function

1 MA+ Master Encoder A+ / Step+ input (2)

2 MA- Master Encoder A- / Step- input (2)

3 MB+ Master Encoder B+ / Direction+ input (2)

4 MB- Master Encoder B- / Direction- input (2)

5 GND Drive Logic Common6 +5V +5v output7 BA+ Buffered Encoder Output: Channel A+ (1)

8 BA- Buffered Encoder Output: Channel A- (1)

9 BB+ Buffered Encoder Output: Channel B+ (1)

10 BB- Buffered Encoder Output: Channel B- (1) 11 BZ+ Buffered Encoder Output: Channel Z+ (1)

12 BZ- Buffered Encoder Output: Channel Z- (1)

13-19 Empty

20 AIN2+ Positive (+) of Analog signal input 21 AIN2- Negative (-) of Analog signal input 22 ACOM Analog common23 AO1 Analog output 24 AIN1+ Positive (+) of Analog signal input 25 AIN1 - Negative (-) of Analog signal input 26 IN_A_COM Digital input group A COM terminal27 IN_A1 Digital input A128 IN_A2 Digital input A229 IN_A3 Digital input A330 IN_A4 Digital input A431 IN_B_COM Digital input group B COM terminal32 IN_B1 Digital input B133 IN_B2 Digital input B234 IN_B3 Digital input B335 IN_B4 Digital input B436 IN_C_COM Digital input group C COM terminal37 IN_C1 Digital input C138 IN_C2 Digital input C239 IN_C3 Digital input C340 IN_C4 Digital input C441 RDY+ Ready output Collector42 RDY- Ready output Emitter43 OUT1-C Programmable output #1 Collector44 OUT1-E Programmable output #1 Emitter 45 OUT2-C Programmable output #2 Collector46 OUT2-E Programmable output #2 Emitter 47 OUT3-C Programmable output #3 Collector48 OUT3-E Programmable output #3 Emitter 49 OUT4-C Programmable output #4 Collector50 OUT4-E Programmable output #4 Emitter

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PositionServo149

5 GND Drive Logic Common6 +5V +5v output7 BA+ Buffered Encoder Output:8 BA- Buffered Encoder Output:9 BB+ Buffered Encoder Output:

10 BB- Buffered Encoder Output:11 BZ+ Buffered Encoder Output:12 BZ- Buffered Encoder Output:

13-19 Empty20 AIN2+ Positive (+) of Analog input 21 AIN2- Negative (-) of Analog input 22 ACOM Analog common23 AO1 Analog output 24 AIN1+ Positive (+) of Analog input 25 AIN1 - Negative (-) of Analog input 26 IN_A_COM Digital input group A COM27 IN_A1 Digital input A128 IN_A2 Digital input A229 IN_A3 Digital input A330 IN_A4 Digital input A4

First we need to wire the Enable Input

(In_A3)

Run a jump wire from +5V (pin 6) to input A3 (pin 29)

Run a jump wire from +5V (pin 6) to input A3 (pin 29)

Run a jump wire from A COM (pin

26) to GND (pin 5)

Run a jump wire from A COM (pin

26) to GND (pin 5)

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PositionServo150

Pin Name Function1 MA+ Master Encoder A+ /

Step+ input (2)

2 MA- Master Encoder A- / Step- input (2)

3 MB+ Master Encoder B+ / Direction+ input (2)

4 MB- Master Encoder B- / Direction- input (2)

5 GND Drive Logic Common6 +5V +5v output

Now we need to wire up the Master

Encoder

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PositionServo151

Select “Parameters” from the node tree

Open the Drive Mode pull down window and select “Position” Mode

Open the Drive Mode pull down window and select “Position” Mode

Reference remains as “External”Reference remains as “External”

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PositionServo152

Select “Parameters” from the node tree

Open the “Master Encoder Input Type” pull down window and select “Master Encoder”

Open the “Master Encoder Input Type” pull down window and select “Master Encoder”

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PositionServo153

Change the Master and System ratio as you spin the encoder

Change the Master and System ratio as you spin the encoder

Lab

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PositionServo154

Model 940

Internal Reference (Indexer Program)

Programming Overview and Command structure

TRAINING

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PositionServo155

Model 940: Reference Input

The 940’s Reference Input can be sourced in multiple ways

From an external devices (Centralized Control System)

– PLC / Motion Controller – Master Encoder

From it’s internal User Program

– Index Moves– Position Moves– Gearing– Segment Moves

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PositionServo156

Feedback

Command Output

Motion is derived internally from the drive’s user program

Internal Reference Input:

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PositionServo157

Programming Language

Definitions and Assignments

– DEFINE any constant or variable– ASSIGN names to any constant,

variable, input, output and EVENT– LABEL any section of code

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PositionServo158

Programming Language

Program Control

– HALT, RESET– EVENT <name>; END EVENT;

EVENT ON; EVENT OFF– ON FAULT, RESUME– WAIT UNTIL, WAIT WHILE,

WAIT TIME– WAIT MOTION COMPLETE– WHILE, END WHILE– DO WHILE, DO UNTIL– GOTO; JUMP; GOSUB, RETURN– IF ELSE ENDIF

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PositionServo159

Programming Language

Motion Control

– MOVE UNTIL, MOVE BACK UNTIL, MOVE WHILE, MOVE BACK WHILE

– MOVEP, MOVED, MOVEPR, MOVEDR

– MDV– MOTION SUSPEND, MOTION

RESUME– STOP MOTION [QUICK]– VELOCITY (ON/OFF)– ENABLE, DISABLE

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PositionServo160

System Variables

– UNITS– APOS, TPOS, RPOS– MAXV, VEL– ACCEL, DECEL, QDECEL– PGAIN_P, PGAIN_I, PGAIN_D,

PGAIN_VFF, PGAIN_ILIM– VGAIN_P, VGAIN_I– INPUTS, OUTPUTS, INDEX– PHCUR, DSTATUS, DFAULTS– AIN, AOUT

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PositionServo161

System Operators

Arithmetic Operators:

– Add– Subtract– Multiply– Divide

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PositionServo162

System Operators

Comparative Operators:

– Greater-Than– Less-Than– Greater-Than-or-Equal-To– Less-Than-or-Equal-To– Equal– Not Equal

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PositionServo163

System Operators

Boolean Operators:

– AND– OR– NOT

Bit-Wise Operators:

– AND– OR– XOR– NOT

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PositionServo164

System Flags

– IN_A1-4, IN_B1-4, IN_C1-4– OUT1-4– F_IN_POSITION– F_MCOMPLETE– F_MQUEUE_FULL,

F_MQUEUE_EMPTY– F_FAULT, F_ARITHMETIC_FLT– F_REGISTRATION– F_MSUSPENDED

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PositionServo165

Select the “Indexer Program” file from the Node Tree

Select the “Indexer Program” file from the Node Tree

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PositionServo166

The User’s Program will be displayed in the “Parameter View Window”

The User’s Program will be displayed in the “Parameter View Window”

Select the “Indexer Program” file from the Node Tree

Select the “Indexer Program” file from the Node Tree

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PositionServo167

The “User Program Area”, has it’s own set of control buttons

The “User Program Area”, has it’s own set of control buttons

Select the “Indexer Program” file from the Node Tree

Select the “Indexer Program” file from the Node Tree

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PositionServo168

Compile ProgramCompile Program

Compile and download ProgramCompile and download Program

Start ProgramStart Program

Reset ProgramReset Program

Stop ProgramStop Program

Step through ProgramStep through Program

Save Pgm to fileSave Pgm to fileDownload Program without Source code

Download Program without Source code

Upload Program from the driveUpload Program from the drive

Load Pgm from fileLoad Pgm from file

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PositionServo169

Program Structure

Header, I/O List, Define Variables:

Contains:

– Commented Header and Program Title– Commented Software Revision Number / Date– I/O listing for machine– Definitions of User Variables– Definitions of Constants

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PositionServo170

Program HeaderProgram Header

PGM I/O ListPGM I/O List

Initialize & Set VariablesInitialize & Set Variables

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PositionServo171

Program Structure Events

– Contains:– Example:

– ; Events

– Event Check_swt IN_A4

– …statements

– End Event

– Event Input_Check Time 1

– …statements

– End Event

– ; Main Program

– Event Home ON

– …statements

– Event Home OFF

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PositionServo172

Program Structure

Events

– Event Scan time 512µs– (Independent of Main Program Execution)– Code Prohibited in Events:

– Goto

– Goto statements are prohibited in Events. However the ‘Jump’ statement can be used to exit the event.

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PositionServo173

Program EventsProgram Events

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PositionServo174

Program Structure Main Program

Contains:

– Main Body of Program Code– Can Include any Motion Commands, Maths Statements, Labels, I/O Commands or Subroutines – Has to be Finished by an ‘End’ Statement

– Example:– ; Main Program

– …statements

– …statements

– …statements

– End

– ; Main Program

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PositionServo175

If / Else / EndIf

Do / Until

While / EndWhile

Goto / Label

Wait

Halt / Reset

Control StructuresWait Statement

Used to Suspend Program Execution Until or While a condition is true. Includes statement for waiting a fixed time period, or waiting for a motion to be completed.

Simplified Syntax:

Wait Until <Condition>

Wait While <Condition>

Wait Time <Time>

Wait Motion Complete

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PositionServo176

Control StructuresGoto / Label Statement

Used to Transfer Program execution to a new point in the program marked by a Label. The Label may be above or below the GOTO Statement. Labels are a maximum of 64 characters. Labels must end with a Colon (:)

There is no automatic record of the point at which the GOTO was initiated.

Simplified Syntax– Goto <Label Name>

– … Statements

– <Label Name>:

If / Else / EndIf

Do / Until

While / EndWhile

Goto / Label

Wait

Halt / Reset

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PositionServo177

A B

MoveD

MoveP

Move Until

MoveDR

MovePR

MDV

Move Modifiers

Move While

Motion Commands

Motion Statements:(How to get from point A to point B)

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PositionServo178

Start Current EndMoveD

MoveD

MoveP

Move Until

MoveDR

MovePR

MDV

Move Modifiers

Move While

Motion Commands

MoveD Command:

Move Distance Performs Incremental Move to the

distance specified (in User Units) Example:

– MoveD 3– MoveD –5– MoveD Back 4

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PositionServo179

Start Current EndMoveP

MoveD

MoveP

Move Until

MoveDR

MovePR

MDV

Move Modifiers

Move While

Motion Commands

MoveP Command:

(Move to Position) Performs Positional Move to the

Position specified (in User Units)

– Example:– MoveP 3

– MoveP –5

– Absolute Position set to Zero at Enable

– Absolute Position can be set with APOS Command

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PositionServo180

Program EventsProgram Events

Main ProgramMain Program

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PositionServo181

Program Structures

Subroutines:

Subroutine Stack

– Subroutine Stack is 16 Level (Subroutines can be nested 16 times)

– Only the Main Program may contain a GOSUB statement

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PositionServo182

Program Structure

Subroutines: Contains:

– Routines Separate from the Main Program that are ‘called’ when required– Very useful for structuring programs and multiple calls of common code

– Example:– ; Main Program

– …statements – Gosub Button_Press – …statements

– End

– ; Subroutines – Button_press: – …statements– …statements– Return

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PositionServo183

Program EventsProgram Events

Main ProgramMain Program

Sub RoutinesSub Routines

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PositionServo184

Model 940: Simple Motion Program

Feedback

Command Output

Lab

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PositionServo185

Pick and Place Application

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PositionServo186

Move to Home(MoveP 0)

Page 187: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo187

Extend arm(Out1 = 1)

Page 188: Camtasia 940

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Model 940

PositionServo188

Turn on Gripper(Out2 = 1)

Page 189: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo189

Retract arm(Out1 = 0)

Page 190: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo190

Move to Place Position(MoveP 100)

Page 191: Camtasia 940

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Model 940

PositionServo191

Extend arm(Out1 = 1)

Page 192: Camtasia 940

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Model 940

PositionServo192

Release Gripper(Out2 = 0)

Page 193: Camtasia 940

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Model 940

PositionServo193

Retract Pick Arm(Out1 = 0)

Page 194: Camtasia 940

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Model 940

PositionServo194

Move back to Pick Position(MoveP 0)

Page 195: Camtasia 940

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Model 940

PositionServo195

Select “Parameters” from the node tree

Open the Drive Mode pull down window and select “Position” Mode

Open the Drive Mode pull down window and select “Position” Mode

Set the drive up for Internal ReferenceSet the drive up for Internal Reference

Page 196: Camtasia 940

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Model 940

PositionServo196

Set the Enable switch function to InhibitSet the Enable switch function to Inhibit

Select “Digital IO” from the node tree

Page 197: Camtasia 940

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Model 940

PositionServo197

Select the “Indexer Program” file from the Node Tree.Select the “Indexer Program” file from the Node Tree.

Click on the “Import” Control ButtonClick on the “Import” Control Button

Navigate to the “Programming Examples” folder

Navigate to the “Programming Examples” folder

Open the “Pick and Place” program

Open the “Pick and Place” program

Page 198: Camtasia 940

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Model 940

PositionServo198

Select “Load W Source” to compile the program and load it to the drive.

Select “Load W Source” to compile the program and load it to the drive.

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Model 940

PositionServo199

Use the “Step” button to step through the program.

Use the “Step” button to step through the program.

The “>>” keys point to the line of code next to be executed.

The “>>” keys point to the line of code next to be executed.

Page 200: Camtasia 940

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Model 940

PositionServo200

UNITS = 1ACCEL = 75DECEL =75MAXV = 10APOS = 0;************************************************ Events ***********************************************;Set Events handling here;******************************************* Main Program ********************************************

RESET_DRIVE:WAIT UNTIL IN_A3 ;Make sure that the Enable / Inhibit switch is madeENABLE PROGRAM_START:MOVEP 0 ;Move to Pick positionOUT1 = 1 ;Turn on output 1 on to extend Pick armWAIT TIME 1000 ;Delay 1 sec to extend armOUT2 = 1 ;Turn on output 2 to Engage gripperWAIT TIME 1000 ;Delay 1 sec to Pick partOUT1 = 0 ;Turn off output 1 to Retract Pick armMOVEP 100 ;Move to Place positionOUT1 = 1 ;Turn on output 1 on to extend Pick armWAIT TIME 1000 ;Delay 1 sec to extend armOUT2 = 0 ;Turn off output 1 to Disengage gripperWAIT TIME 1000 ;Delay 1 sec to Place partOUT1 = 0 ;Retract Pick armGOTO PROGRAM_START

>>

>>Use the “Step” buttons to step

through the program.

Use the “Step” buttons to step through the program.

>>>>

>>>>

>>>>>>>>>>>>>>>>>>>>>>>>>>

>>

>>

Page 201: Camtasia 940

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Model 940

PositionServo201

Pick and Place Application with Homing

Page 202: Camtasia 940

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Model 940

PositionServo202

Move to Home – Where is Home?Home Prox Switch

Page 203: Camtasia 940

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Model 940

PositionServo203

UNITS = 1ACCEL = 75DECEL =75MAXV = 10VAR_HOME_FAST_VEL = 10 ;Sets speed in rps for 1st move towards home sensorVAR_HOME_SLOW_VEL = 1 ;Sets speed in rps for 2nd move towards home sensorVAR_HOME_ACCEL = 100 ;Sets all accel values for homing routine in rps^2VAR_HOME_OFFSET = 0 ;Sets distance to move from home sensor for zero position VAR_HOME_SWITCH_INPUT = 0 ;Select which input to use for home input(0-A1,1-A2…11-C4)VAR_HOME_METHOD = 21 ;Select which homing routine to use;************************************************ Events ***********************************************;Set Events handling here;******************************************* Main Program ********************************************

RESET_DRIVE:WAIT UNTIL IN_A3 ;Make sure that the Enable / Inhibit switch is madeENABLE HOME ;;Start the Homing Procedure

PROGRAM_START:PROGRAM_START:MOVEP 0 ;Move to Pick positionOUT1 = 1 ;Turn on output 1 on to extend Pick armWAIT TIME 1000 ;Delay 1 sec to extend armOUT2 = 1 ;Turn on output 2 to Engage gripperWAIT TIME 1000 ;Delay 1 sec to Pick part

Add the following code to your program

Add the following code to your program

Page 204: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo204

Fault Occurs!

Program StructureFault Routines

Contains:– Specific Routine that handles any fault occurring during normal program flow– Several drive functions suspended until exit from Fault Handler

– Example:– ; Main Program

– …statements– …statements– …statements

– End

– ; Subroutines – …statements

– ; Fault Handler – ON FAULT

…statements – END FAULT

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Model 940

PositionServo205

Program StructureFault Routines

When a fault is detected Motion will be suspended and drive will be disabled.

If no Fault Routine is Specified then program Execution will end as soon a fault is detected.

Exit of the Fault Handler and Return to Main Program Execution can be done with either a ‘Reset’ or ‘Resume’ statement.

Reset Statement:

Will re-commence Main Program Execution from the first Program Statement.

Resume Statement:

Will re-commence Main Program Execution from the point (label) specified in the resume statement.

Page 206: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo206

Program StructureFault Routines

Fault code is written to the DFAULTS Register Event Scanning is Terminated until Main Program execution is resumed. Detection of further Faults is Suspended.

Code Prohibited in Fault Routine:– Move Statements– Motion Suspend– Motion resume– Goto– Gosub– Jump– Enable– Gear On/Off– Velocity On/Off

Page 207: Camtasia 940

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Model 940

PositionServo207

Program EventsProgram Events

Main ProgramMain Program

Sub RoutinesSub Routines

Fault HandlingFault Handling

Page 208: Camtasia 940

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Model 940

PositionServo208

!

Start the program and driveStart the program and drive

While the motor is running turn off the Enable Switch

While the motor is running turn off the Enable Switch

diSrUnF_36

How do we recover from the fault?

How do we recover from the fault?

Model 940: Fault Handling

Lab

Page 209: Camtasia 940

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Model 940

PositionServo209

OUT1 = 0 ;Retract Pick armGOTO PROGRAM_STARTEND

;******************************************* Sub-Routines ******************************************; Enter Sub-Routine code here

;************************************ Fault Handler Routine ****************************************ON FAULT ;Statement starts fault handler routine, motion is

;stopped, drive is disabled, and events are no longer ;scanned.

OUT2 = 0 ;Output 2 is turned off to disengage the gripper;the releasing part.

OUT1 = 0 ;Output 1 is turned off to retract Pick & Place armRESUME FPROCESS ;Sends code execution to the FPROCESS routine.ENDFAULT

FPROCESS: ;This is a place holder for the FAULT HANDLERWAIT UNTIL !IN_A3 ;Wait for enable switch to be turned offGOTO RESET_DRIVE

Page 210: Camtasia 940

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Model 940

PositionServo210

OUT1 = 0 ;Retract Pick armGOTO PROGRAM_STARTEND

;******************************************* Sub-Routines ******************************************; Enter Sub-Routine code here

;************************************ Fault Handler Routine ****************************************ON FAULT ;Statement starts fault handler routine, motion is

;stopped, drive is disabled, and events are no longer ;scanned.

OUT2 = 0 ;Output 2 is turned off to disengage the gripper;the releasing part.

OUT1 = 0 ;Output 1 is turned off to retract Pick & Place armRESUME FPROCESS ;Sends code execution to the FPROCESS routine.ENDFAULT

FPROCESS: ;This is a place holder for the FAULT HANDLERWAIT UNTIL IN_A1 ;Wait for reset switch to be madeWAIT UNTIL !IN_A1 ;Wait for reset switch to be releasedGOTO RESET_DRIVE

ON FAULT :Statement starts fault handler routine, motion is

OUT2 = 0 :Output 2 is turned off to disengage the gripper

OUT1 = 0 :Output 1 is turned off to retract Pick & Place arm RESUME FPROCESS :Sends code execution to FPROCESS routine.

WAIT UNTIL IN_A1 :Wait for reset switch to be made. WAIT UNTIL !IN_A1 :Wait for reset switch to be released. GOTO RESET_DRIVE

Page 211: Camtasia 940

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Model 940

PositionServo211

Feedback

Command Output

Model 940: Adding I/O

Lab

Page 212: Camtasia 940

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Model 940

PositionServo212

Prox SensorsProx Sensors

Extend arm

Page 213: Camtasia 940

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Model 940

PositionServo213

;******************************************* Main Program ******************************************RESET_DRIVE:WAIT UNTIL IN_A3 ;Make sure that the Enable / Inhibit switch is madeENABLEPROGRAM_START:MOVEP 0 ;Move to Pick positionOUT1 = 1 ;Turn on output 1 on to extend Pick armWAIT UNTIL IN_A4 ; Arm extendOUT2 = 1 ;Turn on output 2 to Engage gripperWAIT TIME 1000 ;Delay 1 sec to Pick partOUT1 = 0 ;Turn off output 1 to Retract Pick armWAIT UNTIL !IN_A4 ;Make sure Arm retractedMOVEP 100 ;Move to Place positionOUT1 = 1 ;Turn on output 1 on to extend Pick armWAIT UNTIL IN_A4 ; Arm is extendOUT2 = 0 ;Turn off output 2 to Disengage gripperWAIT TIME 1000 ;Delay 1 sec to Place partOUT1 = 0 ;Retract Pick armWAIT UNTIL !IN_A4 ;Arm retractedGOTO PROGRAM_STARTEND

Replace the “Wait TIME 1000”

with “Wait Until In_A4”

And“Wait Until !In_A4”

Replace the “Wait TIME 1000”

with “Wait Until In_A4”

And“Wait Until !In_A4”

Page 214: Camtasia 940

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Model 940

PositionServo214

Feedback

Command Output

Model 940: Events

Lab

Page 215: Camtasia 940

AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation

Model 940

PositionServo215

Move to Home

Page 216: Camtasia 940

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Model 940

PositionServo216

Extend Arm

Page 217: Camtasia 940

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Model 940

PositionServo217

Turn on Gripper

Page 218: Camtasia 940

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Model 940

PositionServo218

Retract Arm

Page 219: Camtasia 940

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Model 940

PositionServo219

Move to Place Position

Page 220: Camtasia 940

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Model 940

PositionServo220

Extend Arm

Page 221: Camtasia 940

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Model 940

PositionServo221

Release Gripper

Page 222: Camtasia 940

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Model 940

PositionServo222

Retract Pick Arm

Page 223: Camtasia 940

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Model 940

PositionServo223

Move Back to Pick Position

Page 224: Camtasia 940

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Model 940

PositionServo224

EVENT SPRAY_GUNS_START APOS>25OUT3=1ENDEVENTEVENT SPRAY_GUNS_STOP APOS>75OUT3=0ENDEVENT;******************************************* Main Program ********************************************RESET_DRIVE: ;Place holder for Fault MonEVENT SPRAY_GUNS_START ON ;Activate EventEVENT SPRAY_GUNS_STOP ON ;Activate EventWAIT UNTIL IN_A3 ;Make sure that the Enable / Inhibit switch is madeENABLEPROGRAM_START:WAIT UNTIL IN_A4 == 1 ;Make sure Arm is retractedMOVEP 0 ;Move to Pick positionOUT1 = 1 ;Turn on output 1 on to extend Pick armWAIT UNTIL IN_A4 == 0 ; Arm extendOUT2 = 1 ;Turn on output 2 to Engage gripperWAIT TIME 1000 ;Delay 1 sec to Pick partOUT1 = 0 ;Turn off output 1 to Retract Pick armWAIT UNTIL IN_A4 ;Make sure Arm retractedMOVEP 100 ;Move to Place positionMOVEP 100 ;Move to Place position

Page 225: Camtasia 940

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Model 940

PositionServo225

Feedback

Command Output

Model 940: Continue command

Page 226: Camtasia 940

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Model 940

PositionServo226

WAIT UNTIL IN_A4==0 ;Make sure Arm is retracted before starting the programMOVEP 0 ;Move to position 0 to pick partOUT1 = 1 ;Turn on output 1 to extend Pick armWAIT UNTIL IN_A4 == 1 ;Check input to make sure Arm is extendedOUT2 = 1 ;Turn on output 2 to Engage gripperWAIT TIME 1000 ;Delay 1 sec to Pick partOUT1 = 0 ;Turn off output 1 to Retract Pick armWAIT UNTIL IN_A4==0 ;Check input to make sure Arm is retractedMOVEP 100,C ;Move to Place position and continue code executionWAIT UNTIL APOS >25 ;Wait until pos is greater than 25OUT3 = 1 ;Turn on output 3 to spray partWAIT UNTIL APOS >=75 ;Wait until pos is greater than or equal to 75OUT3 = 0 ;Turn off output 3 to shut off spray gunsWAIT UNTIL F_MCOMPLETE ;Wait until move is done before extending armOUT1 = 1 ;Turn on output 1 to extend Pick armWAIT UNTIL IN_A4 == 1 ;Check input to make sure Arm is extendedOUT2 =0 ;Turn off output 1 to Disengage gripperWAIT TIME 1000 ;Delay 1 sec to Place partOUT1 = 0 ;Retract Pick armWAIT UNTIL IN_A4 == 0 ;Check input to make sure Arm is retracted

Page 227: Camtasia 940

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Model 940

PositionServo227

Model 940 Thank You

TRAINING