Lenze PMSS1000 Simple Servo Manuel d'utilisateur

Indexer-Programmer-Manual.pdf REV 1.3 Indexing Digital Servo Drive Programmer's Manual Applied to Models: SSi1004 SSi10

Indexer-Programmer-Manual.pdf REV 1.3 After the text has been entered, select <Compile and load> from <Indexer> menu. After compilation

Indexer-Programmer-Manual.pdf REV 1.3 Faults When fault condition has been detected by the drive, the following events occur: Stat

Indexer-Programmer-Manual.pdf REV 1.3 Here is an example: ; ;This program handles faults correctly ; UNITS=1 . . . {Some initialization code} . P

Indexer-Programmer-Manual.pdf REV 1.3 1.5 Using advanced debugging features Click on <Indexer><Reset> menu to restart program from the

Indexer-Programmer-Manual.pdf REV 1.3 1.6 Inputs and Outputs Analog Input and Output SSi has one analog input and one analog output directly access

Indexer-Programmer-Manual.pdf REV 1.3 Some inputs could have additional special functionality like Travel Limit, Registration etc. Special functions

Indexer-Programmer-Manual.pdf REV 1.3 Read Digital Inputs We will now modify our test program to look for the input to go on before doing the first

Indexer-Programmer-Manual.pdf REV 1.3 Limit switches input functions Inputs A1 and A2 have secondary functions as Hard Limit Switch Negative and Har

Indexer-Programmer-Manual.pdf REV 1.3 1.7 Events Scanned Events A Scanned Event is a small program that runs independently of the main program. To e

Indexer-Programmer-Manual.pdf REV 1.3 1.8 Variables and Define statement In the previous program for programmable limit switch we used hard coded nu

Indexer-Programmer-Manual.pdf REV 1.3 TABLE OF CONTENTS 1. GETTING STARTED ...

Indexer-Programmer-Manual.pdf REV 1.3 1.9 IF/ELSE statements IF/ELSE statement allows you to execute one or more statements conditionally. You can

Indexer-Programmer-Manual.pdf REV 1.3 1.10 Motion SSi position and velocity regulator's diagram P termI termKff termI term Limit andunti wind-u

Indexer-Programmer-Manual.pdf REV 1.3 Point To Point Moves SSi supports two types of moves: absolute and incremental. The statement MOVEP (Move to Po

Indexer-Programmer-Manual.pdf REV 1.3 From the following table, write a program to execute the move profile shown, and run it. Segment Number Dista

Indexer-Programmer-Manual.pdf REV 1.3 S-Curve Acceleration Very often it is important for a move profile to be as smooth as possible. This could be t

Indexer-Programmer-Manual.pdf REV 1.3 On the other hand, MDV statement execution never suspends the program because each individual statement sets p

Indexer-Programmer-Manual.pdf REV 1.3 2. Programming 2.1 Introduction One of the most important aspects of programming is developing a structure fo

Indexer-Programmer-Manual.pdf REV 1.3 The header section of the program contains definitions of the names for user variables and constants used in t

Indexer-Programmer-Manual.pdf REV 1.3 Volatility All Sis variables are volatile i.e. they don't maintained their values after power is removed.

Indexer-Programmer-Manual.pdf REV 1.3 2.5 Bitwise operators The following bitwise operators are supported Operator Symbol AND & OR | XOR

Indexer-Programmer-Manual.pdf REV 1.3 EVENT Starts Event handler Statement ...

Indexer-Programmer-Manual.pdf REV 1.3 2.7 Comparison operators Following operators are supported: Operator Symbol more > less < Equ

Indexer-Programmer-Manual.pdf REV 1.3 2.10 System Variables and Flags Summary Below is the table of System Variables and Flags, sorted by type. Vari

Indexer-Programmer-Manual.pdf REV 1.3 NOTE 1 If 0 (Zero) value assigned to variable UNITS set USER UNITS to QUAD ENCODER COUNTS. This is default uni

Indexer-Programmer-Manual.pdf REV 1.3 NOTE 1 Flag logic is shown below : If TPOS-INPOSLIM < APOS < TPOS+INPOSLIM && F_MCOMPLETE

Indexer-Programmer-Manual.pdf REV 1.3 WHILE Structure This statement is used if you want a block of code to execute while a condition is true. The

Indexer-Programmer-Manual.pdf REV 1.3 Subroutines A subroutine is a group of SML statements that is located at the end of the main body of the progra

Indexer-Programmer-Manual.pdf REV 1.3 IF Structure The if statement is used to execute an instruction or block of instructions one time if a conditi

Indexer-Programmer-Manual.pdf REV 1.3 IF/ELSE Structure The IF/ELSE statement is used to execute an statement or a block of statements one time if a

Indexer-Programmer-Manual.pdf REV 1.3 GOTO/Label The GOTO statement can be used to transfer program execution to a new point marked by a label. This

Indexer-Programmer-Manual.pdf REV 1.3 2.12 Scanned Event Statements Scanned event statements establish conditions that are scanned on regular basis

Indexer-Programmer-Manual.pdf REV 1.3 1. Getting Started 1.1 Introduction Definitions The SimpleServo Indexer (SSI) is a digital motion controller

Indexer-Programmer-Manual.pdf REV 1.3 Scanned Event Statements Summary The following table contains a summary of instructions that relate to scanned

Indexer-Programmer-Manual.pdf REV 1.3 Incremental (MOVED) and Absolute (MOVEP) Motion MOVED and MOVEP statements are used to create incremental and

Indexer-Programmer-Manual.pdf REV 1.3 Incremental (MOVED) motion Incremental motion is defined as a move of some distance from the current position.

Indexer-Programmer-Manual.pdf REV 1.3 MDV Segments Segments are created using a sequence of MDV statements. The simplified syntax for the MDV (Move D

Indexer-Programmer-Manual.pdf REV 1.3 ;Segment moves MDV 3 , 56 MDV 3 , 12 MDV 4 , 16 MDV 2 , 57 MDV 2.5 , 57 MDV 3 , 11 MDV 5 , 20 MDV 5 , 0

Indexer-Programmer-Manual.pdf REV 1.3 Caution should be taken when using MOVED,MOVEP and MOVE statements. If any of the MOVE instructions without &q

Indexer-Programmer-Manual.pdf REV 1.3 This program starts motion and moves for maximum 100 revs. While in motion if it sees sensor (or switch) it tur

Indexer-Programmer-Manual.pdf REV 1.3 case when MDV moves are very short (take very short time to execute) use MOTION SUSPEND statement first to exec

Indexer-Programmer-Manual.pdf REV 1.3 2.15 Fault Codes (DFAULTS register) Whenever fault has occurred it will be recorded in special system variable

Indexer-Programmer-Manual.pdf REV 1.3 2.16 Limitations and restrictions Communication Interfaces usage restrictions Simultaneous connection to R

Indexer-Programmer-Manual.pdf REV 1.3 Getting started with SSi Before SSi can execute motion program it has to be properly installed and configured.

Indexer-Programmer-Manual.pdf REV 1.3 3. Language Reference Format Each statement, system variable or operand is documented using the format shown be

Indexer-Programmer-Manual.pdf REV 1.3 ASSIGN Assign Input As Index Bit Statement Purpose Assign keyword causes specific input act as particular

Indexer-Programmer-Manual.pdf REV 1.3 DISABLE Turns servo OFF Statement Purpose DISABLE turns power to the motor OFF and disables servo. Synt

Indexer-Programmer-Manual.pdf REV 1.3 ENABLE Enables servo Statement Purpose Turns power to the motor on and enables the servo Syntax ENABL

Indexer-Programmer-Manual.pdf REV 1.3 Following statements can't be used within event's handler: MOVE,MOVED,MOVEP,MOVEDR,MOVEPR,MDV, MOTIO

Indexer-Programmer-Manual.pdf REV 1.3 Example: V0=0 V1=0 EVENT InEvent INPUT 1 RISE V0 = V0+1 ;count ENDEVENT ; EVENT period TIME 1

Indexer-Programmer-Manual.pdf REV 1.3 EVENT ON/OFF Turn events on or off Statement Purpose turns events created by EVENT handler statement O

Indexer-Programmer-Manual.pdf REV 1.3 Example: EVENT Event1 IN_A1 RAISE ; switch event JUMP EventCodeProcess ENDEVENT EVENT Event2 IN_A1 RAI

Indexer-Programmer-Manual.pdf REV 1.3 GEAR ON/OFF Gearing Mode Statement Purpose GEAR ON enables gearing mode. Gear OFF disables gearing mode

Indexer-Programmer-Manual.pdf REV 1.3 GOSUB Go to subroutine Statement Purpose GOSUB transfers control to <subname> subroutine. Syn

Indexer-Programmer-Manual.pdf REV 1.3 • Group ID This parameter is used to combine different SSIs in functional groups. SSIs with the same group ID

Indexer-Programmer-Manual.pdf REV 1.3 Syntax JUMP <label> <label> any valid program label Remarks Can be used in EVENT

Indexer-Programmer-Manual.pdf REV 1.3 Example: EVENT LimitSwitch IN_A1 RAISE ; limit switch event Jump LimitSwitchHandler ; jump to proce

Indexer-Programmer-Manual.pdf REV 1.3 operands of a comparison may be user variable, system variables, analog input values, or constants. IN_A1

Indexer-Programmer-Manual.pdf REV 1.3 more stack space fault will result. Programmer should check F_MQUEUE_FULL system flag to see if there is availa

Indexer-Programmer-Manual.pdf REV 1.3 MOVEP Move to Position Statement Purpose MOVEP performs motion to specified absolute position in User

Indexer-Programmer-Manual.pdf REV 1.3 Example: {Statements…} MOVEDR 3, 2 ;moves incrementally 3 user units ;if registration was no

Indexer-Programmer-Manual.pdf REV 1.3 MDV Segment Move Statement Purpose MDV defines incremental motion segment by specifying distance and

Indexer-Programmer-Manual.pdf REV 1.3 ;program is suspended so motion ;will never ;starts You can unlock this situation only by reset or execution M

Indexer-Programmer-Manual.pdf REV 1.3 ON FAULT/ENDFAULT On Fault Statement Purpose Statement starts fault handler section. Fault handler is a

Indexer-Programmer-Manual.pdf REV 1.3 REGISTRATION ON Registration On Statement Purpose This statement arms registration input (input IN_

Indexer-Programmer-Manual.pdf REV 1.3 Indexer Program This will select the MotionView Studio section of the MotionView. Right panel is used to enter

Indexer-Programmer-Manual.pdf REV 1.3 RETURN Return from subroutine Statement Purpose Return from a subroutine to the point in the pro

Indexer-Programmer-Manual.pdf REV 1.3 STOP MOTION [QUICK] Stop Motion Statement Purpose Stop (abort) motion immediately with deceleration r

Indexer-Programmer-Manual.pdf REV 1.3 72 WAIT Wait Statement Purpose Suspend program execution until some condition(s) is met. Condit

Indexer-Programmer-Manual.pdf REV 1.3 1.3 MotionView Studio MotionView Studio screen layout MotionView Studio is a powerful tool suite used to ente

Indexer-Programmer-Manual.pdf REV 1.3 MotionView Studio toolbar Icons From Left to Right: Compile, Compile and load, Run, Reset Program, Stop and