Camtasia 940
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Transcript of 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
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!
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!
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
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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)
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
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_
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
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
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
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
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
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
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
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
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
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo24
Model 940: What makes us better?
Keypad & Display
– Monitoring and diagnostics
– 4-Digit 7-Segment Display
– 3-Button “Keypad”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo25
Model 940: What makes us better?
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo26
Keypad & Display
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo27
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo28
New for Hardware Version 2
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo30
Fault Code Display
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
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)
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
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)
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
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:
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)
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
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
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
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
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo44
Model 940
Wiring the Drive
TRAINING
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo48
PNP
PLC
+-
Power Supply
Drive
Model 940: Digital Inputs
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo49
NPN
+24V
Gnd
NPN, Sinking, Active Low, Neg LogicNPN, Sinking, Active Low, Neg Logic
Model 940: Digital Inputs
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo50
NPN
-+
Power Supply
PLCDrive
Model 940: Digital Inputs
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
}
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo57
Software & Drive Setup
TRAINING
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo58
MVOB
Software and Drive Setup Free Programming and Configuration Software Residing in the drive
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo61
What is a Network and how does the user set up
their computer?
Individual Work Stations
Company Network
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo62
Work Station
Local Area Network
X
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo63
From “Control Panel” select “Network Connections”
From “Control Panel” select “Network Connections”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo64
Select your New “Local Area Connections”Select your New “Local Area Connections”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo65
Now Select “Properties”Now Select “Properties”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo66
Select “Internet Protocol (TCP/IP)” and click “Properties”
Select “Internet Protocol (TCP/IP)” and click “Properties”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo67
Click “Use the following IP addressEnter in the following address and click OK.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo68
To launch the software you need to launch your web browser.
MVOB
Software and Drive Setup
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo73
Running MVOB on Windows 7
In the “Control Panel”, select “Network and
Internet”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo74
Then select “Network and Sharing Center”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo75
From here you want to select
“Change Adapter Settings”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo76
Right-click on your “Local Area Connection” or
Adapter and pick “Properties”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo77
Now choose “Internet Protocol
Version 4” and click “Properties”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo78
From here you can enter your
desired IP settings and Subnet mask
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo79
Just as before, open your
browser and enter the
PositionServo’s IP address
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo80
MVOB – MotionView On Board
Who else offers this?
NO CD’s needed!
No Rev’s to worry about!
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo89
To select a motor from the Motor data base, click here
To select a motor from the Motor data base, click here
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo90
Click here to choose a VendorClick here to choose a Vendor Click here to select motor model Click here to select motor model
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo92
Feedback
Command Output
Model 940: Auto Tuning
Lab
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo93
These settings are used for Autotuning
These settings are used for Autotuning
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo99
Servo Torque Control
Controls current to motor
– Adjusts (torque) out of the motor
Accepts torque command from controller
– Analog or frequency signal
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo101
Torque Control
Torque Control Applications
– Nut Runners– Web Tension– Labelers– Velocity and Position loop are closed in controller (if applicable)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo102
Torque Control
Nut Nut RunnerRunner
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo104
Servo Velocity Control
Monitors and regulates speed
Also monitors current to motor
Accepts velocity command from controller
– Analog or frequency signal
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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 .
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo106
Servo Velocity Control
Velocity Control Applications
– Conveyors– Spinning wafers– Position loop closed in master controller
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo107
Servo Velocity Control
Wafer SpinnerWafer Spinner
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo109
Servo Position Control
Controls motor for correct position at correct time
Also monitors torque and velocity
Time / Position
Spe
ed
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo111
Servo Position Control
Position Control Applications
– Case Packer– Point to point motion– Pick and Place machines– Flying Shear
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo112
Servo Position Control
Case Case PackerPacker
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo114
High Efficiency
High Carrier Frequency
– Selectable 8, 16 kHz switching frequency– Out of the audible range
Space-Vector Modulated
– Greater DC-bus utilization
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo123
Select Oscilloscope to-do motor and drive diagnostics
Select Oscilloscope to-do motor and drive diagnostics
Select the “Tools” folderSelect the “Tools” folder
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo125
Select the “Monitor” folderSelect the “Monitor” folder
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo128
External Reference Labs
Torque, Velocity & Position
TRAINING
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo133
Set the drive up for External ReferenceSet the drive up for External Reference
Select “Parameters” from the node tree
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo134
Set the “Enable switch function” to RunSet the “Enable switch function” to Run
Select “Digital IO” from the node tree
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo153
Change the Master and System ratio as you spin the encoder
Change the Master and System ratio as you spin the encoder
Lab
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo154
Model 940
Internal Reference (Indexer Program)
Programming Overview and Command structure
TRAINING
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo156
Feedback
Command Output
Motion is derived internally from the drive’s user program
Internal Reference Input:
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo161
System Operators
Arithmetic Operators:
– Add– Subtract– Multiply– Divide
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo162
System Operators
Comparative Operators:
– Greater-Than– Less-Than– Greater-Than-or-Equal-To– Less-Than-or-Equal-To– Equal– Not Equal
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo163
System Operators
Boolean Operators:
– AND– OR– NOT
Bit-Wise Operators:
– AND– OR– XOR– NOT
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo165
Select the “Indexer Program” file from the Node Tree
Select the “Indexer Program” file from the Node Tree
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo170
Program HeaderProgram Header
PGM I/O ListPGM I/O List
Initialize & Set VariablesInitialize & Set Variables
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo173
Program EventsProgram Events
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo180
Program EventsProgram Events
Main ProgramMain Program
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo183
Program EventsProgram Events
Main ProgramMain Program
Sub RoutinesSub Routines
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo184
Model 940: Simple Motion Program
Feedback
Command Output
Lab
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo185
Pick and Place Application
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo186
Move to Home(MoveP 0)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo187
Extend arm(Out1 = 1)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo188
Turn on Gripper(Out2 = 1)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo189
Retract arm(Out1 = 0)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo190
Move to Place Position(MoveP 100)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo191
Extend arm(Out1 = 1)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo192
Release Gripper(Out2 = 0)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo193
Retract Pick Arm(Out1 = 0)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo194
Move back to Pick Position(MoveP 0)
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo196
Set the Enable switch function to InhibitSet the Enable switch function to Inhibit
Select “Digital IO” from the node tree
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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.
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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.
>>>>
>>>>
>>>>>>>>>>>>>>>>>>>>>>>>>>
>>
>>
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo201
Pick and Place Application with Homing
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo202
Move to Home – Where is Home?Home Prox Switch
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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.
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo207
Program EventsProgram Events
Main ProgramMain Program
Sub RoutinesSub Routines
Fault HandlingFault Handling
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo211
Feedback
Command Output
Model 940: Adding I/O
Lab
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo212
Prox SensorsProx Sensors
Extend arm
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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”
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo214
Feedback
Command Output
Model 940: Events
Lab
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo215
Move to Home
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo216
Extend Arm
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo217
Turn on Gripper
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo218
Retract Arm
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo219
Move to Place Position
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo220
Extend Arm
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo221
Release Gripper
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo222
Retract Pick Arm
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo223
Move Back to Pick Position
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo225
Feedback
Command Output
Model 940: Continue command
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
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
AC Variable Frequency Drives | Servo Drives & Motors | Electro-Mechanical Drives & Gearmotors | Clutches & Brakes | Machine Automation
Model 940
PositionServo227
Model 940 Thank You
TRAINING