TPM Utility User Manual v2 - Taiwan Pulse Motion€¦ · 5. Update Pulse Slave : 108-P120,...

MyLink Operation Manual

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TPM Software Utility


Version: V2.0 2016 Sep21

Part No.: 81-08MLINK-020


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Revision History

Date Revision Description

2012/04/09 1.0 Document creation.

2012/07/20 1.1 1. Append settings for SPC-5000.

2. Update ring status display format.

3. Append single axis operation illustration.

4. Update local DI/O operation.

2016/09/21 2.0 1. Master introduction

2. Update DI/O introduction : 16Ch, 32Ch, 64Ch

3. Update Analog I/O Slave : 180-A122, 106-A104, 106-A180

4. Temperature Slave :108-T140

5. Update Pulse Slave : 108-P120, 108-P144, 108-C144

6. 1-Axis Connector : 102-M1A1-GEN, 102-M171-PA4

7. 1-Axis Driver : STP-M112A

8. Update Grouped Axes : STP-M112A, 102-M1A1-GEN

9. 4-Axis Module : 106-M304T

10.Installation of MyLink


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© Copyright 2010 TPM

The product, including the product itself, the accessories, the software, the manual and the software

description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted,

transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except

the documentation kept by the purchaser for backup purposes.

The names of products and corporations appearing in this manual may or may not be registered trademarks,

and may or may not have copyrights of their respective companies. These names should be used only for

identification or explanation, and to the owners’ benefit, should not be infringed without any intention.

The product’s name and version number are both printed on the product itself. Released manual visions for

each product design are represented by the digit before and after the period of the manual vision number.

Manual updates are represented by the third digit in the manual vision number.

Trademark

MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered

trademarks of Microsoft.

BCB (Borland C++ Builder) is registered trademark of Borland.

Other product names mentioned herein are used for identification purposes only and may be trademarks

and/or registered trademarks of their respective companies.


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Electrical safely

To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating

the system.

When adding or removing devices to or from the system, ensure that the power cables for the devices are

unplugged before the signal cables are connected. Disconnect all power cables from the existing system

before you add a device.

Before connecting or removing signal cables from motherboard, ensure that all power cables are

unplugged.

Seek professional assistance before using an adapter or extension card. These devices could interrupt the

grounding circuit.

Make sure that your power supply is set to the voltage available in your area.

If the power supply is broken, contact a qualified service technician or your retailer.

Operational safely

Please carefully read all the manuals that came with the package, before installing the new device.

Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect

and damage, contact the dealer immediately.

To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and

circuitry.

Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may

become wet.

If you encounter technical problems with the product, contact a qualified service technician or the dealer.


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Contents

1. Operational Principles .......................................................................................................................................... 6

2. Master ................................................................................................................................................................ 7

2.0. Introduction ................................................................................................................................................. 7

2.1. Controller ..................................................................................................................................................... 7

2.2. Card ............................................................................................................................................................. 7

2.3. Login of MyLink ............................................................................................................................................ 7

3. Slave ................................................................................................................................................................. 14

3.0 Introduction ................................................................................................................................................ 14

3.1. DIGITAL ...................................................................................................................................................... 17

3.1.1. Digital I/O Slave .............................................................................................................................................. 17

3.2. AIOTP......................................................................................................................................................... 21

3.2.1. Analog I/O Slave ............................................................................................................................................. 21

3.2.2. Temperature Slave ........................................................................................................................................... 26

3.2.3. Pulse Slave ....................................................................................................................................................... 29

3.3. MOTION ..................................................................................................................................................... 39

3.3.1. 1-Axis Connector ............................................................................................................................................. 39

3.3.2. 1-Axis Driver ................................................................................................................................................... 53

3.3.3. Grouped Axes .................................................................................................................................................. 56

3.3.4. 4-Axis Module ................................................................................................................................................. 58

Appendix A Installation of MyLink ......................................................................................................................... 67

Appendix B Login of Remote type .......................................................................................................................... 69

Appendix C Detailed Mode of 108-P120 ................................................................................................................. 71

Appendix D Detailed Parameter Setting of 102-M1A1-GEN/STP-M112A ................................................................. 74

Appendix E Detailed Parameter Setting of 106-M304T ........................................................................................... 76

Appendix F Backup and Recovery with EEPROM .................................................................................................... 78

Appendix G Backup and Recovery for Grouped Axes .............................................................................................. 82

Appendix H Local 4-Axis Motion ............................................................................................................................ 95


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1. Operational Principles

Before hands on programming the controller to control the Motionnet modules, usually we would like to

test the communication interface, accessibility and the functionalities of the chained modules. TPM

provides a software utility named MyLink to test, diagnose and verify the status of the Motionnet

connection and the functions of the remote Motionnet modules. As long as all the modules are working

correctly, the next step would be starting programming the logic of the modules.

The TPM MyLink is a utility for users to manage TPM Motionnet Master and Slaves devices. Users do not

have to write the program to run the Master and Slaves instead. It provides simple and convenient interface

to test the Master and Slave devices.

MyLink execution is divided into two types of execution methods. The first one is to execute MyLink from

the controller or PC with control card inserted directly. The second one is that MyLink is executed from the

remote PC connected to the target controller running MyLink server. Users would feel almost the same at

operation even with different MyLink running methods. This manual will focus on MyLink from the

controller or PC with control card.

MyLink operation instructions will be introduced in the following sections separated with Master and Slave.

After successful installation the TPM utility, MyLink.exe with icon could be found in the remote

PC/controller.

Recommended Hardware Requirement

PC Hardware: PC or laptop with Intel Centrino or better CPU

Memory: 1GB RAM

OS: Windows 2000/XP/Win7

LAN card: RJ-45 10/100/1000 Mbps


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2. Master

2.0. Introduction

Master device offers users perfect solutions on industrial and automation control system according to variety

requirements. The Motionnet masters could be separated into two groups on the basis of installation in this

manual for MyLink. There are two different groups: Controller and Card. Both Controller and Card can be

operated by MyLink.

Figure 2-1: Controller and Card

2.1. Controller

MyLink in the controllers are all pre-installed, except remote type. Users only have to use cables to connect

the monitor with controllers. Click “MyLink.exe”, users can launch the program to operate.

2.2. Card The system of MyLink has to be installed in the Card. Please refer to Appendix A for the detail of installation.

After the installation, click “MyLink.exe” and the interface will be as same as the controller.

2.3. Login of MyLink

After executing the MyLink.exe to launch the program, users can follow the steps to login. Also, following

will introduce the interface of MyLink.

The controllers would be classified into two types according to the IP address. There are Remote type and

Local type. Here will only introduce Local type. For Remote type, please refer to Appendix B.


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Login

Local Type

Except EPC-1000, EPC-1800 series, and SPC-2000, the other controllers, for example, SPC-3000

series, can use local type MyLink. The figures below show the login dialog for local type of MyLink.

Take LPE-L122 as an example.

Step 1: Click “Scan” to find the Master in the PC.

Figure 2-2: Scan the Master

Step 2: Choose the Master and click “OK”.

Figure 2-3: Choose the Master


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Step 3: After clicking “OK”, users will enter into the Master Interface.

Figure 2-4: The Master Interface

Note that if users want to know further information of installation of MyLink, please refer to

Appendix A.

Tool Bar

Figure 2-5: MyLink main functions

There are 4 main functions in the tool bar. Functions are introduced below.

File

This is used for file access. Also this is used to set and save of axes module parameters or copy the

parameters for other axes. The function “System Configuration” is designed for KW

MULTIPROG of EasyPAC, the SPC-2000 has not supported this function so far.


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Figure 2-6: Functions under File option

Tools

Provide functions for setting system parameters and initializing the system. There are 2 sub-functions:

Figure 2-7: Functions under Tools option

1. Edit Path…:

This option is only available when two axis modules are grouped up. Later we will discuss

about the “Group” function. Note that “Edit Path…” is for KW MULTIPROG development

environment only (EasyPAC). For detailed information, please refer to Appendix D.

2. Refresh:

This function provides users to rescan all the devices connected to MyLink server after adding,

removing or replacing Motionnet slave modules without the need of restarting MyLink.

3. GetRingCount:

The Motionnet connection quality is displayed on the status bar of the MyLink main frame which is

in percentage format. The more detailed connection loss log could be retrieved in the

“GetRingCount” function option. The detailed connection loss log dialog will be popped up when

GetRingCount option is selected. The dialog is shown in the following figure.


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Figure 2-8: GetRingCount dialog box

List:

- Index: the order of error count.

- Time: the time when error happens.

- Count: it will list all the connection error count. The upper limit of the error count value is

65535. Once the count value reaches 65535, it will be reset to 0.

- Difference: it is a shift value between the accumulated error counts of two consecutive time

stamps.

Save:

It will export the above listed records of the Ring_0 and Ring_1 to a .csv file which could be

opened with Microsoft Excel.

4. Property Type:

- Alphabetical: the property will be listed by alphabetical list.

- Categorized: the property will be listed by its categorization.

- CategorizedAlphabetical: the property will be listed by its categorization and alphabetical list

for each property.

- NoSort: the property type will not be sorted.


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Windows

When multiple slave modules are displayed in the same time, the related menu will be re-arranged

accordingly.

Figure 2-9: Functions under Window option

Help

This shows the information of TPM and the update for MyLink.

Figure 2-10: Functions under Help option

Figure 2-11: Update version interface


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Ring Status

The Ring status shows the ring connection quality in percentage format. The font in green means the

data package loss rate is less than 20%, which is a good to go status. In orange means the loss rate is in

between 20% to 50%, users are supposed to check the connection status. If the font is in red means the

data package loss rate is larger than 50%. The modules will stop working and connection checking is

necessary.

If the ring status is in red, the entire opened dialog will be disabled and not able to operate any module.

Users need to check the connection of all modules and take two actions:

1. Make sure the cable connections are well connected. After this checking and ensuring the

connection, click on the ring in red to reset the communication quality checking.

2. If the status is still bad, please check the wiring status again and press the “Refresh” button to reset

and rescan the entire modules.

Figure 2-12: Ring status

Message

There is a block above the ring status displaying responses from MyLink. The responses include time

stamp the event occurred and error or hint messages.

Figure 2-13: Message box information


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3. Slave 3.0 Introduction

Slave device provides various functions for users to choose. The Motionnet slaves would be divided into

three groups according to the property in this manual for MyLink. There are 3 different groups: DIO, ATP

and MOTION.

DIGITAL Group:

DIGITAL group includes Digital Input and Output slaves. It is not necessary to click on the property for

DIGITAL slaves.

AIOTP Group:

AIOTP group includes Analog, Temperature and Pulse I/O slaves. It is necessary to select parameters on the

properties of AIOTP slaves.

MOTION Group:

MOTION group includes 1-axis motion connector, 1-axis step driver and 4-axis module. It is necessary to

adjust parameters to the properties of Motion slaves.

Before operating MyLink, users have to set the IP address and Baud rate. Different slave has different IP

address. Therefore, MyLink can detect the slave by different IP address. The default Baud rate is 10 MHz.

Users can check if the Baud rate is correct on the slaves.

After clicking the initial button, the found and identified slave modules will be shown accordingly. Click the

checkbox in front of the slave module and the corresponding dialog will pop up. If the master is EasyPAC,

MyLink could save the profile according to data type designated for KW.

Check the slave device at the checkbox will appear the corresponding control dialog at the main frame, and

the properties dialog will be shown at the left bottom corner.

Figure 3-1: Motionnet Slave devices found by the Motionnet Master


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Figure 3-2: Motionnet Slave devices provided by TPM


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Properties

The related item will be shown according to the selected slave module type. If the property is grayed out, it means it is

read only.

Figure 3-3: The property window

If the parameter comes with a combo box means the input options are pre-arranged. If the input is a text box,

users could input a value needed within the acceptable range. The combo box for a parameter is shown as the

following figure.

Figure 3-4: Screenshot of updating properties

Description

This is located below the property page. The main purpose is illustration and suggestion.

Figure 3-5: Property description


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3.1. DIGITAL

3.1.1. Digital I/O Slave

The Digital I/O Slave could be divided into three categories in accordance with I/O port umbers. There are

three groups: 16Ch, 32Ch, and 64 Ch. The following will show 16Ch, 32Ch, and 64Ch respectively.

16Ch.

Figure 3-6: Wiring of 16Ch. - 106-D511-NNT

Figure 3-7: MyLink Interface of 16Ch. - 106-D511-NN

Baud rate: 10 MHz

IP address: 0

Green: input

Red: output


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32Ch.

Figure 3-8: Wiring of 32Ch. – 107-D122-NNT

Figure 3-9: MyLink Interface of 32Ch. - 107-D122-NNT

Baud rate: 10 MHz

IP address: 4


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64Ch.

Figure 3-10: Wiring of 64Ch. - 107-D144-NNT

Figure 3-11: MyLink Interface of 64Ch. - 107-D144-NNT

Baud rate: 10 MHz

IP address: 20 Baud rate: 10 MHz

IP address: 34


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Module Status

As shown in the above menu, a DIO module is identified in Ring 0.

Property

BitOrder

- Low to High: from left to right is in ascending order.

- High to Low: from left to right is in descending order.

The entire DIO ordering sequence will change as this property changes.

Operation

The DO is connected with DI in the illustrated DIO module accordingly. When turn on the DO channel,

both the DO and corresponding DI are ON.


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3.2. AIOTP 3.2.1. Analog I/O Slave

108-A122

108-A122 has an EEPROM storage device. The operation is almost the same as 106-A104/106-A180, which

will be illustrated later.

Figure 3-12: Wiring of 108-A122

Figure 3-13: 108-A122 slave module

Module Status

The property sub-frame shows the information of 108-A122 with an EEPROM. The Mode is

SingleEnded.

Baud rate: 10 MHz

IP address: 3


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Property

The extensions of 108-A122 are inputs – Mode, Gain, ValueType and PowerOnValue. All parameter

values could be stored in the EERPOM except the ValueType.

1. Mode:

Select the input mode SingleEnded or DifferentialEnded.

2. Gain:

Select the input voltage range. It is separated into 8 grades: +/-80mV, +/-160mV, +/-320mV,

+/-640mV, +/-1.28V, +/-2.56V, +/-5.12V, +10.24/-5.12V. It is not recommended that the input voltage

is smaller than -5.12V.

Figure 3-14: Properties of 108-A122

3. ValueType:

Set the view of input/output as transformed voltage or the raw data. The rules to transform to the

voltage value by calling APIs.

4. PowerOnValue:

When users supply the power on 108-A122, this is the initial value of 108-A122. The default value is

0.


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Operation

The demo program is cross-connection from 1 output to 1 input separately (ex. AO1 – A1+ ).

Figure 3-15: Screenshot of the example of operation

The program keeps polling of the analog input data. There are only a few options users could change –

Input Setting-1.Mode (SingleEnded or DifferentialEnded), Input Setting-2.Gain (voltage) and the

ValueType (voltage output or raw data).

Users could change the output value by inputting the voltage value directly or by scrolling the slide bar.

Select the checkbox to choose which to output.

Note: please remember to save parameters that have been set to EEPROM in case the set parameters are

gone after reboot. Please go through Appendix C for reference.


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106-A104 and 106-A180

106-A104/106-A180 do not have EEPROM. In this example, 1 AO (A104) channel is connected to the 1 AI

(106-A180) channel.

Figure 3-16: Wiring of 106-A104 and 106-A180

Figure 3-17: MyLink Interface of 106-A104 and 106-A180

Baud rate: 10 MHz

IP address: 61

Baud rate: 10 MHz

IP address: 62


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Module Status

AO module with IP61 and AI module with IP62 are identified.

Property

The property of AO module is similar to DIO module. The input range property can be set here. There are

8 channels with 4 ranges (±1.25/ ±2.50/ ±5.0/ ±10.0).

Figure 3-18: Properties of 106-A104 Figure: 3-19: Properties of 106-A180

Operation

Move the track bar to change the output value of AO module and the value will also be shown in the AI

module.


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3.2.2. Temperature Slave

108-T140 is a slave that detects the surrounding temperature. It can also be used to detect current.

Figure 3-20: 108-T40 slave module

Figure 3-21: Wiring of 108-T140

Baud rate: 10 MHz

IP address: 24

K-type sensor


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Module Status

108-T140 can detect the surrounding temperature by sensor. Also, it can receive electric current from

sensor of electric current. Here will show the test of testing surrounding temperature by K-type sensor.

Property

The parameters of 108-T140 are inputs – Mode, Temperature, Gain and Temperature Adjust.

1. Mode:

LowSpeed: the input speed is slow.

HighSpeed: the input speed is fast.

2. Temperature:

Select the temperature type, ℃ or℉.

3. Gain:

Select the thermocouple type of each input type – J-type, T-type, E-type, or K-type – for detecting

temperature. Select “ma” for detecting current.

4. Temperature Adjust: Shift the temperature value.

Figure 3-22: Properties of 108-T140


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Operation

The figure below shows the value after detecting the temperature of each input.

Figure 3-23: Screenshot of the example of operation


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3.2.3. Pulse Slave

The PIO counter module operation is illustration in this chapter.

108-P120

A signal generator is connected to channel 0 and channel 1 of a counter module. 108-P120 can also receive

the frequency of pulse from the pulse generator. In this manual, frequency mode will be told here.

Figure 3-24: Wiring of 108-P120

Figure 3-25: 108-P120 with Pulse generator

Baud rate: 10 MHz

IP address: 7


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Figure 3-26: Electric circuit of 108-P120 with Pulse generator

Module Status

Displays counter modules found with corresponding IP address. There are five modes of counter

configurable.

Property

The 108-P120 extension properties include: Mode, Time, AlarmOut, Average, Edge, PowerOn,

SafeValue, UpperLimit and LowerLimit. Except the options of Mode and Time are set with Group as a

unity, other are set with each channel independently.

1. Cycle Time:

It is the time period between two sampling times. The default value is 2ms and maximum at 200ms.

2. Mode:

5 modes are available: Counter, Frequency, Period, GT and GC. Please refer to Appendix C for

detailed information.


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Figure 3-27: Properties of 108-P120

Operation

In this example, IN0 and IN1 are connected with a signal generator.

Set Mode to Frequency.

Set Time with default value.

Set Average to 1

Press StartChannel to get the measured value.


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Figure 3-28: MyLink Interface of 108-P120

Note: please remember to save parameters that have been set to EEPROM in case the set parameters are gone

after reboot. Please go through Appendix C for reference.


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108-P144

Figure 3-29: Wiring of 108-P144

Figure 3-30: 108-P144 with Pulse generator

Baud rate: 10 MHz

IP address: 21


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Module Status

The property sub-frame shows the information of 108-P144.

Property

The 108-P144 properties include: DO Out Compare Value, DO Mode, Filter, and Pulse Level.

1. DO Out Compare Value:

Set the value for comparing with the counter. If the counter is more than or equal to the compare

value, then the output will be recorded when it is forward. However, if the counter is less than or equal

to the compare value, then the output will be recorded when it is backward.

2. DO Mode:

There are three modes – <=, Manual, >= – to set. This function is connected with Filter.

3. Filter:

To use filter, set duty into 50%. The value of the filter is compare with Pulse Width. The counter will

stop when the value of the filter is less than or equal to or more than or equal to the value of Pulse

Width.

4. Pulse Level:

There are two modes – get + Width and get – Width – to set. Users set get + Width if the counter is

wished to be forward with positive pulse width; set get – Width if the counter is wished to be

backward with negative pulse width.

Figure 3-31: Properties of 108-P144


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Operation

108-P144 has to connect with pulse generator. The pulse generator will give the pulse to the counter, and

the counter can start to count automatically.

Figure 3-32: MyLink Interface of 108-P144


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108-C144

Figure 3-33: Wiring of 108-C144

Figure 3-34: Wiring of 108-C144 and DB-T141-DUME

Baud rate: 10 MHz

IP address: 0


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Module Status

The major function of 108-C144 is to compare the position and trigger output.

Property

The 108-C144 properties include: Count, EncoderMode, FIFO, Interval, Level, Source, StartPosition,

Width.

Function Description

Count The maximum trigger count will invoke.

EncoderMode Set the source of encoder signal.

FIFO Set any distance to trigger.

Interval The interval for regularly Auto Compare trigger.

Level Trigger level, normal high or normal low.

Source The input source.

StartPosition The position that Auto Compare trigger begins.

Width The width of trigger duration.

Value: 3 ~ 65535 micro-second.

Figure 3-35: Properties of 108-C144


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Operation

Four axes can be tested by MyLink. Users can test two axes simultaneously. After setting the properties,

users can start 108-C144 and operate the Master to compare the position and trigger output.

Figure 3-36: MyLink Interface of 108-C144

Figure 3-37: MyLink Interface of 108-C144


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3.3. MOTION 3.3.1. 1-Axis Connector The Motionnet 1-Axis Motion Slave is a motion connector. It could be categorized into two sorts based on whether it is

general or not. These two sorts are General Type and Specific Type.

General Type

General Type could adapt to every different kinds of servo drive. Take 102-M1A1-GEN as an example.

Figure 3-38: Wiring of 102-M1A1-GEN and 102-T1A1-DUM

E-CON


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Figure 3-39: Detailed wiring of testing

Figure 3-40: Detailed wiring of EMG and Power

Power

EMG

1A

2A

3A

4A

1B

2B

3B

4B


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Figure 3-41: 102-M1A1-GEN slave module

Module status

102-M1A1-GEN module is a device that can Pulse_in and Pulse_out by itself. It is equipped with

EEPROM. The functions of motion slave modules without EEPROM will be limited: No grouped axes

motion; SA_LoadConfigFile is needed to download parameter.

Generally speaking, the wiring of EMG is connected with safety switch in order to keep safety of

operator. However, for testing, EMG has to connect with GND, otherwise, 102-M1A1-GEN could not be

started.

Note: please remember to save parameters that have been set to EEPROM in case the set parameters are gone

after reboot. Please go through Appendix C for reference. Property “Operation” would NOT be stored in

the EEPROM.

Property

There are four categories of setting: Home Configuration, Interface I/O, Operation, and Pulse I/O. Each

function of parameters can refer to Appendix D.


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Figure 3-42: Properties of 102-M1A1-GEN


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Operation

When users successfully connect 102-M1A1-GEN with correct wiring, the interface will be as same as the

Figure 3-38. Note that if the wiring of EMG is inaccurate, the color of EMG button will turn into red.

When EMG is in red, this means “EMG is on(active)”. However, when EMG is green, this means “EMG

is off(inactive)”.

Figure 3-43: Inactive of EMG Figure3-44: Active of EMG

Since 102-M1A1-GEN can Pulse_in and Pulse_out by itself, users can adjust the parameters just like Figure 3-40.

Hence, users can test 102-M1A1-GEN by pressing “Backward”, “Stop”, and “Forward”.

Figure 3-45: Adjust the parameters Figure 3-46: Screenshot of the example of operation


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Specific Type

Specific Type is a motion connector which is only suitable for specific servo drive. Take 102-M171-PA4

as an example. It is only for Panasonic A4/A5/A6 series servo drive.

Module status

M171 module is identified and displayed in the above and is equipped with EEPROM. The functions of

motion slave modules without EEPROM will be limited: No grouped axes motion; and

SA_LoadConfigFile is needed to download parameter.

Property

There are three categories of setting: Homing mode, Driver I/O interface, Machine I/O interface. Each

function of parameter can refer to the user manual of 102-M1A1-GEN.

Operation

Before operating MyLink, users have to follow the steps below first.


45

Step 1: Confirm the type of servo drive. Take Panasonic A4/A5/A6 series as an example.

Figure 3-47: Panasonic A4/A5/A6 series


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Step 2: Confirm the type of 1-Axis Motion Connector. Users have to use specific type to fit Panasonic

A4/A5/A6 series. Therefore, besides 102-M1A1-GEN, 102-M171-PA4 is also accepted.

Figure 3-48: 102-M171-PA4

Step 3: 102-M171-PA4 has to connect with 102-M101-DUM.

Figure 3-49: 102-M101-DUM

EMG


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Step 4: Plug 102-M171-PA4 into Panasonic A4/A5/A6. And turn it on.

Figure 3-50: 102-M171-PA4 and Panasonic A4/A5/A6

Step 5: Before executing MyLink, users have to match the parameters on Panasonic A4/A5/A6 with 102-

M171-PA4. Please follow the manual of Panasonic A4/A5/A6 about PR_41 and PR_42.

Figure 3-51: The manual of Panasonic A4/A5/A6 about PR_41 and PR_42

E-CON


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1) Press .

2) Press .

3) Press to PR_41.

4) Press . The value of PR_41 is 0. Then users can check the value of

PR_42.

5) Press and to PR_42.


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6) Press . The value of PR_42 is 3. According to Page 89, the value

of Pulse is OutDir.

Step 6: Please execute MyLink.exe. Figure 3-471 is the interface of 102-M171-PA4.

If users discover that 102-M171-PA4 does not work, please check if button “ALM”, “EMG” and “EL”

are red. Remove “ALM” red button, please refer to “Step 7”. For “EMG” red button, please check the

wiring of EMG and shorted to ground. As for “EL” red button, please check the switch and turn it to

“Off”. If it still does not work, please check the wiring of End Limit.

Figure 3-52: Screenshot of beginning MyLink of 102-M171-PA4


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Step 7: In order to remove “ALM” red button, find “ALM_Logic” on the property and set it into

“HighActive”.

Figure 3-53: Remove “ALM” red button


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Step 8: Adjust the parameter of Pulse I/O. Set “PulseOut_Mode” into “OutDir0”. Please refer to Step 5

for detailed information.

Figure 3-54: Set PulseOut_Mode


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Step 9: Press “Forward”. Users can start 102-M171-PA4 successfully.

Figure 3-55: Screenshot of example of operation


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3.3.2. 1-Axis Driver

The Motionnet 1-Axis Driver Slave is a microstep driver. It could be divided into two kinds in accordance

with phase number. These two kinds are two-phase and three-phase. Here will introduce one of the two-

phase driver, STP-M112A.

Figure 3-56: Wiring of STP-M112 and step driver

Figure 3-57: STP-M112 slave module

Baud rate: 10 MHz

IP address: 5

EMG

Pin 5: EMG

Pin 9: GND


54

Module status

STP-M112A module is a motion controller for driving step motor.

Property

There are four categories of setting: Home Configuration, Interface I/O, Operation, and Pulse I/O. Each

function of parameters can refer to Appendix D.

Figure 3-58: Properties of STP-M112A


55

Operation

When users successfully connect STP-M112A with correct wiring, the interface will be as same as the Figure 3-54.

Users can test STP-M112A by pressing “Backward”, “Stop”, and “Forward”. Note that the wiring of EMG is

necessary. Without EMG, the color of EMG button will turn into red.

Figure 3-59: Inactive wiring of EMG Figure3-60: Active wiring of EMG

Figure 3-61: Screenshot of example of operation


56

3.3.3. Grouped Axes

When users prefer to operate multiple axes simultaneously, MyLink provides Grouped Axes function to

fulfill it. Multiple axes can be grouped up together automatically by MyLink.

Figure 3-62: Grouped axes of M112 and M1A1

In this example, STP-M112A and 102-M1A1-GEN is under AxisGroup1 instead of an independent axis.

Before Grouped Axes

When users only check the box of “Slave5: M112” and “Slave9: M1A1”, and need to let STP-M112A and

107-M1A1-GEN move to the distance that is commanded, users have to operate the slaves individually.

Figure 3-63: Operate STP-M112A and 107-M1A1-GEN individually


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After Grouped Axes

However, when users check the checkbox of “AxisGroup1” only, STP-M112A and 107-M1A1-GEN can move to

the assigned distance simultaneously.

Figure 3-64: Grouped axes

Figure 3-65: Operate STP-M112A and 107-M1A1-GEN simultaneously


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3.3.4. 4-Axis Module

106-M304T is a general purpose 4-Axis module. Through different cables, 106-M304T can connect with

different servo drives. From Figure 3-61, the Axes only shows the name of 4-Axis module, 106-M304T, and

index 0 to 3, instead of showing the name of model name such as 1-Axis connector. Therefore, users have to

be careful with choosing the specific cable, DB26-SCSI50, which is correspondent with the specific servo

drive.

In this manual, Panasonic A4/A5/A6 (PA4) and Mitsubishi J3(MJ3) can match with 106-M304T through the

cables, SCB-193-PA4 and SCB-193-MJ3.

Figure 3-66: 106-M304T slave module

Module status

106-M304T module can simultaneously start or stop on multiple motion control modules. There are four

axes for users to connect with.

Property

There are six categories of setting: Home Configuration, Information, Interface I/O, Jog I/O, Operation,

Pulse I/O. Each function of parameter can refer to Appendix E.


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Figure 3-67: Properties of 106-M304T

Operation

Before operating MyLink, users have to follow the steps below first.


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Step 1: Confirm the type of servo drive. Take Panasonic A4/A5/A6 series and Mitsubishi J3 as examples.

Figure 3-68: Panasonic A4/A5/A6 (left) and Mitsubishi J3 (right)

Step 2: Confirm the type of servo drive. Since users would like to control Panasonic A4/A5/A6 and

Mitsubishi J3 simultaneously, 106-M304T can fulfill the situation, even other kinds of servo drives can

be controlled simultaneously.

Figure 3-69: 106-M304T with EMG

M304T_1-Axis(0)

M304T_1-Axis(1)


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Step 3: Connect 106-M304T and Panasonic A4/A5/A6 (left) and Mitsubishi J3 (right) with DB 26-SCSI

50 pin, SCB-193-PA4 and SCB-193-MJ3.

Figure 3-70: Panasonic A4/A5/A6, Mitsubishi J3, and 106-M304T

DB-26

SCSI50-

PA4

SCSI50-

MJ3

Figure 3-71: DB-26 pin corresponds to SCSI50-PA4 and SCSI50-MJ3


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Step 4: Turn on the power of servo drives, and execute “MyLink.exe”. “Slave0: M304T_1-Axis(0)”

controls Panasonic A4/A5/A6, and “Slave0: M304T_1-Axis(1)” controls Mitsubishi J3.

Step 5: From the picture below, there are four red buttons on the interface of operation of “Slave0:

M304T_1-Axis(0)”. Except “RDY”, “EZ” and “INP” button, “ALM” has to be green to execute

Panasonic A4/A5/A6.

Note that “RDY” is ready. Hence, it is correct to be red. However, if “RDY” exist, “ALM” would

disappear.

Figure 3-72: Screenshot of beginning MyLink of Panasonoic A4


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Step 6: In order to remove “ALM” red button, find “ALM_Logic” on the property and set it into

“LowActive”.

Figure 3-73: Remove “ALM” red button from M304T_1-Axis(0)


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Step 7: Adjust the parameter of Pulse I/O. Set “PulseOut_Mode” into “ABPhase_BLag”. Press

“Forward”. Users can start Panasonic A4/A5/A6 successfully.

For finding PulseOut_Mode, please refer to 3.3.1 1-Axis Connector: Specific Type.

Figure 3-74: Set PulseOut_Mode, and start Panasonic A4/A5/A6


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Step 8: From the picture below, there are two red buttons on the interface of operation of “Slave0:

M304T_1-Axis(1)”. Except and “EZ” button, “ALM” have to be green to execute Mitsubishi J3.

In order to remove “ALM” red button, find “ALM_Logic” on the property and set it into “LowActive”.

Figure 3-75: Remove “ALM” red button from M304T_1-Axis(1)


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Step 9: Adjust the parameter of Pulse I/O. Set “PulseOut_Mode” into “OutDir0”. Press “Forward”. Users

can start Mitsubishi J3 successfully.

Note that if the number of “Command” and “Position” are not the same, please refer to the manual of

Mitsubishi J3 and adjust the parameter.

Figure 3-76: Set PulseOut_Mode


67

Appendix A

Installation of MyLink

Step 1: Click the icon “PCI(E)_L122_Setup32” for 32bit.

Figure A-1: Icon “PCI(E)_L122_Setup32”

Step 2: Install MyLink.

Figure A-2: Start installing


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Step 3: Click “Finish”.

Figure A-3: Finish installing

Step 4: Users can see the icon “MyLink” on the desktop.

Figure A-4: Icon “MyLink”


69

Appendix B

Login of Remote type

Start “MyLink Server” in SPC. Double click on the executable file “MyLink.exe” from remote PC to launch

the program.

Login

Remote type

The target controllers include SPC-2000 and EasyPAC for remote type MyLink. Users need to specify the

IP address of the target controller before operation. After selecting the master device, users need to select

the baud rate of the master device as well.

The figures below show the login steps for remote of MyLink respectively. Take EasyPAC EPC-1000 and

102-M171-PA4 as an example.

Step 1: Click “Assign PAC”, choose the IP address and click it.

Figure B-1: Assign PAC


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Step 2: Click “Scan”, choose the Master and click it.

Figure B-2: Scan Master

Step 3: Click “OK”, and the interface will be shown like the figure.

Figure B-3: MyLink interface of EPC-1000 and 102-M171-PA4


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Appendix C

Detailed Mode of 108-P120

Mode Name Parameter Description

Counter

– Counter mode

Connector

Time 0: up-count

1: down-count

Average Unused

Edge Trigger type: Rise/Fall

Upper Limit 0 to 4,294,967,295

Maximum number for up-count and initial number for down-count.

Lower Limit 0 to 4,294,967,295.

Initial number for up-count and minimum number for down-count.

AlarmOut Measured Value < Lower Limit or Measured value >

Upper Limit

Frequency

– Frequency mode

Connector

Time

0.1s/1s/10s/100s the sampling period.

1s: INx gets 1000 pulses within 1 second, the measured frequency is

1KHz.

Average unused

Edge Trigger Type: Rise/Fall

Upper Limit Hz (0 ~ 4,294,967,295)

Lower Limit Hz (0 ~ 4,294,967,295)

AlarmOut Measured Value < Lower Limit or Measured value > Upper Limit

Period

–

Period measurement mode, this is used to measure the ON-OFF time of the

incoming pulses, the max measured time is 800ms.

Connector


72


Time

2ms/20m/200ms/800ms

Set the max measure time for INx input pulse.

Example: The period of INx input pulse is 1.5ms. The most accurate

measure value can be obtained by 2ms. If the input pulse period ranges

from 1.5ms to 500ms, please use 800ms to measure the period.

Average

Calculate the value with different number for average. “2” means the

period is averaged with 2 samples.


Upper Limit ms (0 ~ 4,294,967,295)

Lower Limit ms (0 ~ 4,294,967,295)

AlarmOut When value < Lower Limit or value > Upper Limit

GT

–

Gate Time. To measure the Gate ON or OFF time with sampling period

0.1ms.

Connector

Time Unused

Average Unused


Upper Limit Sec (0 ~ 4,294,967,295)

Lower Limit Sec (0 ~ 4,294,967,295)


GC

–

Gate Counter is used to measure the number of pulses on the gate.

Example: The input pulse source is 1mm/pulse encoder. When the

measured gate count is 1000, the length is 1 meter. Only 2 channels are

available in this mode


73


Connector

Time Unused

Average Unused


Upper Limit (0 ~ 4,294,967,295)

Lower Limit (0 ~ 4,294,967,295)



74

Appendix D

Detailed Parameter Setting of 102-M1A1-GEN/STP-M112A

Home Configuration

Mode name Description

Home_Mode Set the mode of Home.

Please refer to “Motionnet_Programming_Manual_1.91” P.125.

ORG_Logic Active logic configuration for ORG signal.


EZ_Logic Active logic configuration for EZ signal.


EZ_Count Count the times of encountering EZ. Only for some Home_Mode that include EZ.


ERC_Out Output ERC signal after Home_Mode.


ORG_Offset Escape ORG offset. Only for Home_Search in Home_Mode.


Interface I/O


ALM_Logic Set active logic for ALARM signal.


ALM_Mode React modes when receiving ALARM signal.


INP_Logic Set active logic for INP signal.


INP_Enable INP function enable/disable.


ERC_Logic Set active logic for ERC signal.


ERC_On_Time Set time length of ERC active.


ERC_Off_Time Specify the pulse width of ERC output signal.


SD_Enable Enable/disable the SD signal.


SD_Logic Set the active logic for SD signal.


SD_Mode Set the reacting mode of SD signal.


SD_LTC Set latch control for SD signal.


LTC_Logic Latch logic.



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Operation


MoveMode

Set the moving mode.

Relative: relative move

Absolute: absolute move according to Dist setting.

Continuous: continue moving unless click Stop.

Home_Move: move according to Home_Mode.

Home_Search: search Home according to ORG_Offset.

Home_Escape: escape Home.

StopMode

Set the stopping mode.

SdStop: slow down to stop.

EmgStop: immediately stop.

Please refer to “Motionnet_Programming_Manual_1.91” P.151 and P.152.

VelProfile

Set the type of velocity profile.

TCurve: set a trapezoidal velocity profile.

SCurve: set an S-curve velocity profile move.


Dist Relative distance.

Dist2 Only for Absolute distance.

StrVel Start velocity in unit of pulse per second.

MaxVel Maximum velocity in unit of pulse per second.

Tacc Time of acceleration.

Tdec Time of deceleration.

Ratio Position counter divided by command counter.

Pulse I/O


PulseOut_Mode Output mode of pulse.


PulseIn_Source Input source of pulse.

PulseIn_Mode Input mode of pulse.


PulseIn_Dir Input direction of pulse.



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Appendix E

Detailed Parameter Setting of 106-M304T

Home Configuration


Home_Mode Set the mode of Home.

Please refer to “106-M304T-PM-EN_012” P.33.

ORG_Logic Active logic configuration for ORG signal.


EZ_Logic Active logic configuration for EZ signal.


EZ_Count Count the times of encountering EZ. Only for some Home_Mode that include EZ.


ERC_Out Output ERC signal after Home_Mode.


ORG_Offset First escape distance. Only for Home_Search in Home_Mode.


Interface I/O


EL_Logic Active logic configuration for EL signal.


EL_Mode Active mode for EL signal.


ALM_Logic Set active logic for ALARM signal.


ALM_Mode React modes when receiving ALARM signal.


INP_Logic Set active logic for INP signal.


INP_Enable INP function enable/disable.


ERC_Logic Set active logic for ERC signal.


ERC_On_Time Set time length of ERC active.


ERC_Off_Time Specify the pulse width of ERC output signal.


SD_Enable Enable/disable the SD signal.


SD_Logic Set the active logic for SD signal.


SD_Mode Set the reacting mode of SD signal.



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SD_LTC Set latch control for SD signal.


LTC_Logic Latch logic.


Operation


MoveMode

Set the moving mode.

Relative: relative move

Absolute: absolute move according to Dist setting.

Continuous: continue moving unless click Stop.

Home_Move: move according to Home_Mode.

Home_Search: search Home according to ORG_Offset.

Home_Escape: escape Home.

StopMode

Set the stopping mode.

SdStop: slow down to stop.

EmgStop: immediately stop.

VelProfile

Set the type of velocity profile.

TCurve: set a trapezoidal velocity profile.

SCurve: set an S-curve velocity profile move.

Please refer to “106-M304T-PM-EN_012” P.44 and 45.

Dist Relative distance.

Dist2 Only for Absolute distance.

StrVel Start velocity in unit of pulse per second.

MaxVel Maximum velocity in unit of pulse per second.

Tacc Time of acceleration.

Tdec Time of deceleration.

Ratio Position counter divided by command counter.

Pulse I/O


PulseOut_Mode Output mode of pulse.


PulseIn_Source Input source of pulse.

PulseIn_Mode Input mode of pulse.


PulseIn_Dir Input direction of pulse.


Abs_Reference Set the absolute moving function reference counter. Only for Absolute MoveMode.



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Appendix F

Backup and Recovery with EEPROM

Retain Parameters

As mentioned above, 108-A122 is a module with an EEPROM for data storage and MyLink is a

parameter setting utility. It is very important to save the setting in the EEPROM so that users do not have

to set the parameters every time when system is launched. Moreover, users, who do not thoroughly

understand the settings, could also use this module with the preset parameters.

Users could write the configuration in the EEPROM through File Backup Config to… as following

shown figure.

Figure F-1: Save parameters to EEPROM

If the Backup Config to… option is hit, a new dialog will be popped up as figure below.


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Figure F-2: Save configuration dialog

There are two targets of configuration storage –EEPROM and PAC (EasyPAC)

1. PAC (KW device only):

This option is saving the configuration as an AI.kwcfg file and then transferring to EasyPAC for

KW use. It is not necessary to select devices from device list if the PAC checkbox is checked.

Press the “Save” button to finish saving.

Note that the each AI IP address is supposed to be within 48 to 63. It will not be in the list if the IP

address is out of range.

2. EEPROM:

Users need to take few steps to save the configuration in the EEPROM as follows:

1. Check the EEPROM option, and all the modules with EEPROM will show up in the list.

2. Select modules which are needed to be stored to EEPROM by checking the checkbox.

3. Press “Save” button.


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The status window displays the saving result with time stamps and messages.

Figure F-3: Saving status window

Duplication

This function is made to efficiently duplicate configuration profiles among the same type of modules.

For example, users could duplicate the configuration profile to other 108-A122 from the settings of the

previous identical type product. The steps of duplicating are as follows:

Select “File Recovery Config From…” from file option.

Figure F-4: Duplicate configuration option

If the Recovery Config From… option is hit, a new dialog will pop up as the figure below.


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Figure F-5: Recover profile dialog

Here is the duplicating sequence:

i. Select “Other Axis” from the radio button as the recovery source.

ii. Select the copy source from the module list.

iii. Select the destinations. Users could select multiple devices by multi-checking devices or check

the Ring to select all devices under the Ring.

iv. Press the “LoadAll” to finish the recovery.

The status window displays the recovery result with time stamps and messages.

Figure F-6: Recovery status window

Note that the recovery is just recovering to the specified devices, not saving to EEPROM. If the profile

needs to be saved eternally, users still need to save it to the EERPOM.


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Appendix G

Backup and Recovery for Grouped Axes

Save and Recover Configurations

The reading and writing of configuration profile are almost the same as AI/O in the previous section

except one more place to save the configuration profile – PC.

Figure G-1: File options

Save

As mentioned above, a saving dialog will pop up if the “Backup Config to…” option is hit. There are

three options – PC, Local (Only for PAC and Card with axis) and EEPROM.

Figure G-2: Saving dialog for group axes


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Figure G-3: Saving dialog for grouped axes

1. PC:

Users could select the axes to be saved in the tree diagram. Take Figure G-2 for example.

The filename extension is .ini. Click “Ring 0” and users can save the information of STP-

M112A and 107-M1A1-GEN. Click one slave, and users can save the information of the

slave only. The “File Path” button let users change storage path at will. Press “Save” to

save the information including information, interface I/O, pulse I/O and Operation in the

PC.

2. PAC (KW device only):

If the PAC checkbox is checked, all the modules to be saved would be in the list without

selection needed. If a DI module is not in this list, it means the IP address is not within the

illegal range, 0 to 47.If an AI module is not in this list, it means the IP address is not within

the illegal range, 48 to 63. If the IP address of an axis module is not within the illegal range,

1 to 32 would not be in the list. Modules within legal IP range will be saved as .kwcfg file in

the PAC.

3. EEPROM:

Modules with EEPROM are in the list. Users could select modules needed to be saved in the


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EEPROM and then press “Save” to save the configuration profile in the EEPROM.

Recovery

The recovery dialog will show up if enters “File Recovery Config From…”.

Figure G-4: Recovery dialog with file source

1. File:

The recovery source could be stored as a file. Users could recover from the file to targets in the

target list.

2. Self EEPROM:

Targets could be multi selected to be recovered from self EEPROM.

3. Other Axis:

It is to duplicate the axis configuration profile from one source axis to the designated target

axes.

Press “Load” to recover the configuration profile.

Edit Path File (KW device only)

Users could edit the interpolation motion path and save it as a .kwpts file under “Tool Edit Path”

option.


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[Path]

Figure G-5: Screenshot of the editing interpolation motion path

This is the very first step to edit the motion path should be done before settings of the segments. Edit

the parameters and press the “Edith Path Parameters” button to update the file content at the right side.

The parameter will be described later.

[Segments]

Two axes say X and Y are supposed to be selected to form a segment. The X and Y need to be grouped

already. The corresponding IP of Y-axis will be removed if the X-axis has selected the one in advance.

Figure G-6: Pick IP of X and Y axis


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Figure G-7: Parameters of a segment

After setting of IP addresses of X and Y axis, users could edit the parameters of the segment. The first

parameter is “Type” with options “Line” and “Arc”. It needs DistX and DistY for type Line. With

respect to type Arc, it takes five parameters. Input all the necessary parameters then press “Add

Segment” to add the settings as a new segment in the path file at right hand side. Users could press “>>”

to start a new segment or press “<<” to modify the previous added segment.

If all the segments are finished, the “Save” button in the “Save Path to PAC” area will be enabled to

save the path to EasyPAC as shown below.


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Figure G-8: Motion profile formed by segments

Here is an example that two axes form a round-angle rectangular with interpolation.

Figure G-9: Motion path of two axes interpolation


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[Path]

Count=8

StrVel=100

MaxVel=6000

Tacc=0.1

Tdec=0.1

Curve: T

[Segments]

Seg1.Type=Line

Seg1.Dist8=0

Seg1.Dist9=1000

Seg2.Type=Arc

Seg2.Ax=8

Seg2.Ay=9

Seg2.Cx=1000

Seg2.Cy=0

Seg2.Ex=1000

Seg2.Ey=1000

Seg2.Dir=Cw

Seg3.Type=Line

Seg3.Dist8=2000

Seg3.Dist9=0

Seg4.Type=Arc

Seg4.Ax=8

Seg4.Ay=9

Seg4.Cx=0

Seg4.Cy=-1000

Seg4.Ex=1000

Seg4.Ey=-1000

Seg4.Dir=Cw

Seg5.Type=Line

Seg5.Dist8=0

Seg5.Dist9=-1000


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Seg6.Type=Arc

Seg6.Ax=8

Seg6.Ay=9

Seg6.Cx=-1000

Seg6.Cy=0

Seg6.Ex=-1000

Seg6.Ey=-1000

Seg6.Dir=Cw

Seg7.Type=Line

Seg7.Dist8=-2000

Seg7.Dist9=0

Seg8.Type=Arc

Seg8.Ax=8

Seg8.Ay=9

Seg8.Cx=0

Seg8.Cy=1000

Seg8.Ex=-1000

Seg8.Ey=1000

Seg8.Dir=Cw

The path file stores each segment motion of each axis as a .kwpts file. Rules for motion path file editing

are listed below.

[Path]

Count = 8 No. of path segments, max. 100

StrVel = 100 Start velocity, unit is pps. Value is 0~6666666

MaxVel = 6000 Maximum velocity, unit is pps. Value is 0~6666666, must be > StrVel

Tacc = 0.1 Acc. time unit is sec, data type is float

Tdec = 0.1 Dec. time unit is sec, data type is float

Curve: T Velocity profile is T curve or S curve

Segment description: Start Point is (0, 1000)

Seg1.Type = Line Path type is line

Seg1.Dist8 = 0 Axis with IP8 is grouped, 0 pulses. Range: Dist1~Dist32



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Seg2.Type = Arc Path type is circle

Seg2.Ax = 8 Axis with IP8 is assigned as X-Axis. Range: 1~32

Seg2.Ay = 9 Axis with IP9 is assigned as Y-Axis. Range: 1~32

Seg2.Cx = 1000 Center of circle is 1000 relative to X-Axis.

Range: -134217728 ~ 134217727

Seg2.Cy = 0 Center of circle is 0 relative to Y-Axis.

Range: -134217728 ~ 134217727

Seg2.Ex = 1000 End point in X-Axis is 1000. Range: -134217728 ~ 134217727

Seg2.Ey = 1000 End point in Y-Axis is 1000. Range: -134217728 ~ 134217727

Seg2.Dir = Cw Clockwise circle

Seg3.Type = Line Path type is line



Seg4.Type = Arc Path type is circle

Seg4.Ax = 8 Axis with IP8 is assigned as X-Axis. Range: 1~32

Seg4.Ay = 9 Axis with IP9 is assigned as Y-Axis. Range: 1~32

Seg4.Cx = 0 Center of circle is 0 relative to X-Axis.

Range: -134217728 ~ 134217727

Seg4.Cy = -1000 Center of circle is 1000 relative to Y-Axis.

Range: -134217728 ~ 134217727

Seg4.Ex = 1000 End point in X-Axis is 1000. Range: -134217728 ~ 134217727

Seg4.Ey = -1000 End point in Y-Axis is 1000. Range: -134217728 ~ 134217727

Seg4.Dir = Cw Clockwise circle

The sequence of Seg5 ~ Seg8 are similar to which of Seg1 ~ Seg4 which are skipped here.

Operation

All the signals are displayed in green background after the hardware properties are set. The single axis motion

window is shown in the following figure.


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Figure G-10: Screenshot of axis control window

Before testing the axis, it is necessary to make the motor servo on. The “SVON” signal will become from

green to red. If the “Servo Drive Alarm Reset” is connected to the output signal, the “RALM” must be pressed

and the corresponding signal turns red. If the “Repeat” option is checked, the motion will go back and forth

infinitely with the pre-defined position. The “DIR” signal will toggle as well.

If there are errors terminate the motion, the “Error” light would be on and press the exclamation mark will pop

the error message as shown below.

Figure G-11: Motion in error status


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After the exclamation mark being pressed, the system will restore from error to normal and display the error

messages in the message window as shown below.

Figure G-12: Restore from error state

With respect to the group axes, the “SVON” action should be done as mentioned. Users could check the group

folder to bring up the axis group option.

Figure G-13: Check the group folder to update axis parameters


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The window of grouped axes properties is as the following figure.

Figure G-14: Axis group properties

Before running the axis, please make sure the properties are set correctly.

Figure G-15: Axis properties window

- MoveMode: the options are Relative or Absolute move.

- StopMode: the options are Relative or Absolute move.

- VelProfile: the options are TCurve or SCurve.

- InterpolationMode: the options are Line or Arc.

The group operation depends on the VelProfile (Line/Arc). More than two axes could be joined together as a

group in line interpolation mode.


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Figure G-16: More than two axes are possible to run together in line interpolation mode

Users could only choose exactly two axes to do arc interpolating motions. More than two or less than two axes

will cause an error message in the message window.

Figure G-17: Error message if not two axes are doing arc interpolating motion


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Appendix H

Local 4-Axis Motion

The 4-axis motion control on SPC-2000 and SPC-5000 are quite similar to Motionnet motion control modules

in operation without the grouped motion function. The control interfaces are described in the following. The

“Local” means the on-board motion control module.

Figure H-1: On-board 4-axis motion control interface

The single motion control dialog is shown as the below figure. The “Local” means the axis belonging to on-

board 4-axis. The IP for on-board 4 axes are IP0 to IP3 correspondingly. Notice that the reset button works for

all of the 4 axes at a time.

Before motion tests, check the machine I/O status is necessary. Users could see the machine I/O status at the

“Status” panel on the right-hand side of the dialog just like Figure H-3. Make sure the entire statuses are

shown in green. If there is a status in red, please adjust the motion properties in the property panel.

As long as all the statuses are in green, users can start simple motion tests after the motor and driver are

connected. Please notice that the pulse input/output would matter the encoder consistency.

The operation on the single axis motion on the 4-axis module is similar to Motionnet single axis motion

module except that the 4-axis module does not have EEPROM for saving motion properties.

Figure H-2: One of the Local series, M114 Series


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Figure H-3: Motion control dialog window

The motion control window is similar to Motionnet motion control modules. The Ring checkbox is replaced

by the term “local”.

Figure H-4: Selection of control of the 4-axis motion module

As long as the “Axes” is selected, there will be a pop-up window as the figure below. The on-board 4-axis

module does not need to specify as a group since it is defined as a group already. The operation is like the

grouped Motionnet motion modules, users could select any one axis to do single axis motion or any 2 axes to

do linear or arc interpolation. Check any 3 or 4 axes could also perform linear interpolation as well. With

respect to the grouped motion control operation, please refer to section 3.3.3.

Figure H-5: Multiple axes operating window

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