SLO-SYN® MODEL MX2000PROGRAMMABLE MULTI-AXISMOTION CONTROLLER(with VERSION 4.0 SOFTWARE)INSTALLATIONANDOPERATIONMANUALPRICE: $50.00
viii Table of ContentsHost Commands – Alphabetical Listing CONTINUEDSECTION & TITLE PAGESTOP 204STOPERR 205UNIT 205VELOCITY 206WARNING 20
84 Programming CommandsDATA Miscellaneous CommandACTION: Stores the numeric constants used by th
Programming Commands 85#DEFINE Miscellaneous CommandACTION: Defines a symbolic nam
86 Programming CommandsDELTACAPPOS Miscellaneous CommandACTION: Returns the difference between the current captu
Programming Commands 87DIM Miscellaneous CommandACTION: Dec
88 Programming CommandsDIST Trajectory ParameterACTION: Returns the distance moved from the start of the la
Programming Commands 89DONE Motion ParameterACTION: Returns the motion status of th
90 Programming CommandsDRVREADY Motion ParameterACTION: Enables or disables the checking of
Programming Commands 91ENCBAND Motion ParameterACTION: Sets or return
92 Programming CommandsENCMODE Motion ParameterACTION: Sets or retu
Programming Commands 93END Miscellaneous CommandACTION: Signifies the end of a program.P
Table of Contents ixFollowing CONTINUEDSECTION & TITLE PAGEFOLOFFSET 240FOLOFFSETDIST 242FOLSYNCDIST 2438.1.11 Follower Exercise 2449 – S
94 Programming CommandsERR Miscellaneous CommandACTION: Returns the MX controller error/warning number fo
Programming Commands 95ERR continuedIf an error or warning occurs during program execution the fault LEDwill blink the error code. If the error code
96 Programming CommandsERRAXIS Miscellaneous CommandACTION: Returns the controller axis number whic
Programming Commands 97EVENT1 Motion ParameterACTION: Return
98 Programming CommandsEVENT2 Motion ParameterACTION: Returns the state of the trigge
Programming Commands 99EXIN I/O FunctionACTION: Return
100 Programming CommandsEXOUT I/O FunctionACTION: Sets
Programming Commands 101FEEDRATE Trajectory ParameterACTION: Sets
102 Programming CommandsFOLERR Motion Parameter ACTION: Set
Programming Commands 103FOLMAXRATIO Following ParameterACTION: Sets or returns the maximum allowable following axis
x Table of Contents SECTION & TITLE PAGE12 – Debug Environment 27912.1 – Setting Project Debugging 28012.2 – Task Debugging 28012.2.1 Deb
104 Programming CommandsFOLMOVEREG Following ParameterACTION: Request a Following axis move registration cycle.PROGR
Programming Commands 105FOLRATIO Following ParameterACTION: Sets t
106 Programming CommandsFOLSYNC Following ParameterACTION: Retur
Programming Commands 107FORMAT Miscellaneous CommandACTION: Enab
108 Programming CommandsFOR ... NEXT ... STEP Program Flow ControlACTION: Repeats a
Programming Commands 109GETCHAR I/O CommandACTION: Waits for a charac
110 Programming CommandsGOTO Program Flow ControlACTION: B
Programming Commands 111HARDLIMIT Over Travel LimitACTION: Enables or D
112 Programming CommandsHARDLIMNEG Over Travel LimitACTION: Returns the -
Programming Commands 113HVAL String ManipulationACTION: Returns t
Table of Contents xiList of IllustrationsIllustration or Chart Section PagePC receiver Baud Rate Chart 3 10General Applicatio
114 Programming CommandsIF...THEN...ELSE IF... Program Flow CommandELSE...END IFACTION: Allows conditional e
Programming Commands 115IN I/O FunctionACTION: Returns the state’s of the specified digital I/O inputs.PROG
116 Programming Commands#INCLUDE Miscellaneous CommandACTION: Includes a file name with define s
Programming Commands 117INSTR String ManipulationACTION: Retu
118 Programming CommandsJOG Motion ParameterACTION: R
Programming Commands 119JOYSTICK Motion ParameterACTION: Enables
120 Programming CommandsKAFF Servo ParameterACTION: Sets
Programming Commands 121KVFF Servo ParameterACTION: Sets
122 Programming CommandsLINE Motion ParameterACTION: I
Programming Commands 123LOF Miscellaneous CommandACTION:
xii Table of ContentsIllustration or Chart Section PageMX2 & MX6 Power Supply BoardMX2 & MX6 panel 5 44AC input Descr
124 Programming CommandsMAXSPD Trajectory ParameterACTION: Se
Programming Commands 125MOD Mathematics FunctionACTION:
126 Programming CommandsMOVE Motion ParameterACTION: Initi
Programming Commands 127MOVEHOME Motion ParameterACTION: Runs the motor
128 Programming CommandsMOVEHOME continuedEXAMPLES: MOVEHOME(3)=1 ‘Axis 3 executes a home cycle in the positive di
Programming Commands 129MOVEREG Motion ParameterACTION: Runs the
130 Programming CommandsMOVEREG ContinuedEXAMPLE: A label is to be put down on top of the material passing by. A sen
Programming Commands 131NOT Boolean OperatorACTION: Th
132 Programming CommandsNVRBIT Miscellaneous CommandACTION: St
Programming Commands 133NVRBYTE Miscellaneous CommandACTION: Stores or returns the byte value
Table of Contents xiiiSoftware Reference Guide ContinuedIllustration or Chart Section PageANALOG input chart 7 82AND operator
134 Programming CommandsOR Boolean OperatorACTION: Th
Programming Commands 135OUT I/O FunctionACTION: Sets or
136 Programming CommandsOUTLIMIT Servo ParameterACTION: Sets or returns the servo command voltage
Programming Commands 137PATH ...PATH CLOSE ... PATH END Motion ParameterACTION: Specifies a continuous motio
138 Programming CommandsPOINT Motion ParameterACTION: Specif
Programming Commands 139POSMODE Motion ParameterACTION: Sets or
140 Programming CommandsPRINT String ManipulatingACTION: Transmits designated data via th
Programming Commands 141PRINT USING String ManipulationACTION: Prints
142 Programming CommandsPRINT USING continuedThe following special characters are used to format the numeric field:+ The sign of the number will a
Programming Commands 143PRINT USING continuedThe following example illustrates how the format string is proc-essed.Example:PRINT USING#1,"Numbers
xiv Table of ContentsIllustration or Chart Section PageData Logging EnvironmentData Logging entry screen 11 280Para
144 Programming CommandsPROFILE Trajectory ParameterACTION: Det
Programming Commands 145RADIUS Motion ParameterACTION: Sets
146 Programming CommandsREDUCE Motion ParameterACTION: Enabl
Programming Commands 147REM or ‘ Miscellaneous CommandACTION: Allows source code
148 Programming CommandsRIGHT$ String ManipulationACTION: Ret
Programming Commands 149SHIFT Miscellaneous CommandACTION: Shifts th
150 Programming CommandsSOFTLIMIT Over Travel LimitACTION: Enables/
Programming Commands 151SOFTLIMNEG Over Travel LimitACTION: Programmable software limit switch for motion in
152 Programming CommandsSOFTLIMPOS Over Travel LimitACTION: Programmable software limit switch for motion in
Programming Commands 153SPEED Trajectory ParameterACTION:
Cautions & Warnings 1Section 1ImportantSafety Information
154 Programming CommandsSQRT Mathematics FunctionACTION:
Programming Commands 155STR$ String ManipulationACTION: R
156 Programming CommandsTIMER Time FunctionACTION: Sets or read the Timer value in seconds.PROGRAM SY
Programming Commands 157TOLERANCE Miscellaneous CommandACTION: Sets a t
158 Programming CommandsVAL String ManipulationACTION: R
Programming Commands 159WAITDONE Motion ParameterACTION: Waits for moti
160 Programming CommandsWARNING Miscellaneous CommandACTION: Retur
Programming Commands 1617.5 Host Commands Grouped By FunctionsI/O Function Page ANALOG Sets or returns a numeric value
162 Programming CommandsMotion Parameter continued PageENCFOL Sets or returns the maximum position error allowed durin
Programming Commands 1637.6 Host Command Summary (alphabetical list)Page “<n” This command activates/deac
2 Cautions & Warnings1.1 – Cautions and WarningsBefore installing and operating your MX2000 motioncontrol product, it is extremely important both
164 Programming CommandsPageEVENT2 Returns the state of the trigger input labeled EVNT2 or sets the triggerpolarity an
Programming Commands 165P PagePOSERR Returns the positional error of the designated axis. 199POSMODE
166 Programming Commands7.7 Host Commands - Alphabetical Listing" <n " Miscellaneou
Programming Commands 167ABSPOS Trajectory Parameter ACTION:
168 Programming CommandsANALOG I/O Function ACTION: Sets or
Programming Commands 169AXSTAT Miscellaneous CommandACTION: Returns the Axis Drive type, Units/Rev, Dri
170 Programming CommandsBUSY Motion Parameter ACTION:
Programming Commands 171CAPTURE Miscellaneous Command ACTION:
172 Programming CommandsDECEL Trajectory Parameter ACTION:
Programming Commands 173DIR Miscellaneous Command ACTION:
Introduction 3Section 2Introduction
174 Programming CommandsENCBAND Motion ParameterACTION: Sets or returns the ma
Programming Commands 175ENCFOL Motion ParameterACTION: Sets or retur
176 Programming CommandsENCPOS Trajectory ParameterACTION: Ret
Programming Commands 177ERASE Miscellaneous Command ACTION:
178 Programming CommandsERRAXIS Miscellaneous CommandACTION: Returns the controller a
Programming Commands 179ERRM Miscellaneous CommandACTION:
180 Programming Commands"ESC" Miscellaneous Commands ACTION:
Programming Commands 181EVENT2 Motion ParameterACTION: Retu
182 Programming CommandsEXOUT I/O FunctionACTION: Sets
Programming Commands 183FOLERR Motion Parameter ACTION: Sets or
ENGINEERING CHANGESWarner Electric reserves the right to make engineering refinements on all its products. Suchrefinements may affect information giv
4 Introduction2.1 - How To Use This ManualCongratulations on the purchase of your new WarnerElectric MX2000 motion control product! Your program-
184 Programming CommandsFREEMEM Miscellaneous Command ACTION:
Programming Commands 185IN I/O FunctionACTION:
186 Programming CommandsJOG Motion ParameterACTION: R
Programming Commands 187KD Servo ParameterACTION: Set
188 Programming CommandsKP Servo ParameterACTION: S
Programming Commands 189LINE Motion ParameterACTION: Init
190 Programming CommandsMAXSPD Trajectory ParameterACTION: Se
Programming Commands 191MOVEHOME Motion ParameterACTION: Runs the motor until the home input is activated, capt
192 Programming CommandsNVRBIT Miscellaneous CommandACTION: Store or return the bit
Programming Commands 193OUTLIMIT Servo ParameterACTION: Sets or
Quick Start Installation Guide 5Section 3Quick StartInstallation Guide
194 Programming CommandsPOSMODE Motion ParameterACTION: Sets o
Programming Commands 195REGLIMIT Over Travel LimitACTION: Sets or returns the distance to be moved dur
196 Programming CommandsRUN Miscellaneous Command ACTION:
Programming Commands 197SOFTLIMNEG Over Travel LimitACTION: Programmable "software limit switch" fo
198 Programming CommandsSPEED Trajectory ParameterACTION:
Programming Commands 199STOPERR Motion ParameterACTION: Sets or returns
200 Programming CommandsVELOCITY Trajectory Parameter ACTION: S
Programming Commands 201WNDGS Motion ParameterACTION: Enab
202 Programming CommandsThis page left intentionally blank
Following for MX2000 version 4.0 203Section 8Following
6 Setup & Installation3.1 – Switch and Jumper SettingsBefore mounting and installing the MX controller, it isbest to set the switches and
204 Following for MX2000 version 4.08.1 - Following DescriptionThe controller has the ability to position follow numerousaxes from a single master dev
Following for MX2000 version 4.0 205can be used in conjunction with this variable as well.This expression specifies the velocity of the mastersource i
206 Following for MX2000 version 4.08.1.4 - Basic Following StatesThe basic following states for all motion commandsconsist of a wait for trigger stat
Following for MX2000 version 4.0 207Command Syntax:FOLDCCDIST(axis) = expFOLDCCDIST = exp, … , expFOLDCCDIST(axis, … , axis) = exp, … , expaxis specif
208 Following for MX2000 version 4.0Command Syntax:FOLOFFSETDIST(axis) = expFOLOFFSETDIST = exp, … , expFOLOFFSETDIST(axis,…, axis)=exp, … , expaxis s
Following for MX2000 version 4.0 2098.1.6 - Following program TemplateThe following template can be used as a guidelinefor writing a follower program.
210 Following for MX2000 version 4.08.1.8 - Cut to length ExampleThe cutting cycle requires that the material andcutter be in synchronization when the
Following for MX2000 version 4.0 2118.1.8.1 - Cut to Length Program Example#DEFINE MASTER 1 ‘master axis number#DEFINE FOLLOWER 2 ‘follower axis
212 Following for MX2000 version 4.08.1.9 - Rotating Knife ExamplesA knife located on the follower axis is synchronizedwith the material controlled by
Following for MX2000 version 4.0 213Advance Advance AdvanceRecede Recede RecedeMasterVelocity100%200% FOLMAXRATIOFOLMINRATIO0%Program StartProgram End
Setup & Installation 7The digital I/O board inputs and outputs can either besinking or sourcing. Two jumpers on the card controls theselection, lo
214 Following for MX2000 version 4.0Example 1: Material is cut in .7 units lengths and the knife cutting area is 72° (.2 units).FOLRATIO 1FOLSYNCDIST
Following for MX2000 version 4.0 2158.1.9.2 - Rotating Knife Program Example 1 (advance cycle)#DEFINE MASTER 1 ‘master axis number#DEFINE FOLLOWER 2 ‘
216 Following for MX2000 version 4.08.1.9.3 - Rotating Knife Program Example 2 (recede cycle)#DEFINE MASTER 1 ‘master axis number#DEFINE FOLLOWER 2 ‘f
Following for MX2000 version 4.0 2178.1.10 - Gear Box Following ExampleThis type of application only requires a ratio between 2 axes that must be sync
218 Following for MX2000 version 4.08.1.11 – Following Command ListingACTSPD Trajectory ParameterACTION: Ret
Following for MX2000 version 4.0 219FOLINPUT Following ParameterACTION: This command specifies the follower axe
220 Following for MX2000 version 4.0FOLTRIG Following ParameterACTION: Defines the follower starting trigger
Following for MX2000 version 4.0 221FOLSTARTDIST Following ParameterACTION: Specifies a master distance that is used as a delay distance forstarting
222 Following for MX2000 version 4.0FOLACCDIST Following ParameterACTION: Specifies the master distance travel
Following for MX2000 version 4.0 223FOLDCCDIST Following ParameterACTION: Specifies the master distance traveled for the follower to attain avelocity
8 Setup & Installationdefault). When finished click the Done button. Nowmake the motor move by clicking the Move Re-sponse button. The
224 Following for MX2000 version 4.0FOLRATIO Following ParameterACTION: Sets the ratio of the following axis
Following for MX2000 version 4.0 225FOLRATIOINC Following ParameterACTION: Specifies the acceleration rate f
226 Following for MX2000 version 4.0 FOLJOG Following MotionACTION: Requests a Following axis jog cycle.PROGR
Following for MX2000 version 4.0 227FOLMOVE Following MotionACTION: Request a Following axis move.PROGRAM SYN
228 Following for MX2000 version 4.0FOLMOVEREG Following MotionACTION: Request a Following axis move registr
Following for MX2000 version 4.0 229STOP Motion ParameterACTION: Stops any motion with a control stop.PROGRAM SY
230 Following for MX2000 version 4.0MOTIONSTATE Trajectory ParameterACTION: Returns the motion state for an
Following for MX2000 version 4.0 231MOTIONSTATE continuedMotion state 0 (Done) No following motion is taking place or being commanded.Motion state
232 Following for MX2000 version 4.0FOLMAXRATIO Following ParameterACTION: Sets or returns the maximum allow
Following for MX2000 version 4.0 233FOLMINRATIO Following ParameterACTION: Sets or returns the minimum allow
Setup & Installation 93.3 - InstallationIt is important to select a mounting location for you con-troller that will meet the environmental specifi
234 Following for MX2000 version 4.0FOLOFFSET Following ParameterACTION: Defines a following incremental off
Following for MX2000 version 4.0 235FOLOFFSET continuedEXAMPLES: FOLOFFSET(1,3)=1,-1advance axis 1 one unit and re
236 Following for MX2000 version 4.0FOLOFFSETDIST Following ParameterACTION: Sets or returns the master dist
Following for MX2000 version 4.0 237FOLSYNCDIST Following ParameterACTION: Specifies the master distance to travel when a FOLOFFSETcommand is issued.
238 Following for MX2000 version 4.08.1.11 - Follower Exercise1) Fill in the Motion states and Following Commands on the following sheet. Put the Fol
Following for MX2000 version 4.0 239 Following Commandsa) FOLACCDISTb) FOLDCCDISTc) FOLJOGd) FOLMAXRATIOe) FOLMINRATIOf) FOLOFFSETg) FOLOFF
240 Following for MX2000 version 4.0Program answer:‘********************* Follower will follow the Master axis speed at 100% ************************
Following for MX2000 version 4.0 241 Following CommandsA) FOLACCDISTB) FOLDCCDISTC) FOLJOGD) FOLMAXRATIOE) FOLMINRATIOF) FOLOFFSETG) FOLOFF
242 Following for MX2000 version 4.0This page left intentionally blank
Servo Drive 243Section 9Servo Drive
10 Setup & Installation(This page intentionally left blank)
244 Servo Drive9.1 - Servo ControlA servo is a closed loop system. The loop is closed bytaking a measurement of the actual output (usually a po-sition
Servo Drive 2459.1.1.2 - Encoder FolderThis folder defines the Servo Encoder direction and En-coder resolution.Encoder type must be set to quadrature.
246 Servo DriveVelocity feed forwardThis term is multiplied by the commanded velocity tocontribute to the output torque command. It has noeffect on ge
Servo Drive 247Step 1: MeasureServo axis selects the servo axis.Output – volts selects the stimulus voltage for meas-uring system gain. The default is
248 Servo DriveStep 1: MeasureThe system gain is a measure of the overall responsive-ness of the system. Higher inertia and/or lower torqueyields lowe
Servo Drive 249Step 4A: Response Fine TuningIntegrate During MotionThis feature allows you to select whether the integrationgain is used during the pr
250 Servo Drive9.1.1.6 - Manual Tuning AdjustmentMost applications work acceptably using the results of theauto tuning procedure. However, if the resu
Servo Drive 251Ki:Integral gain. The reciprocal (1/Ki) of this term ismultiplied by the sum of the position error over time.The effect of Ki is thus t
252 Servo Drive11) Continue lowering Kp until the overshoot is close toacceptable.12) Now we can try to reduce the error during the mo-tion.13) Set
Servo Drive 253Apply voltageMeasuresystem gain!! Motor may turn !!Execute moveusing updatedcontroller gainsSHUTDOWNUpdate controllerwith calculatedser
Overview 11SECTION 4OVERVIEW OF SYSTEM OPERATION
254 Servo DriveApply voltageMeasuresystem gain!! Motor may turn !!Execute moveusing updatedcontroller gainsSHUTDOWNUpdate controllerwith calculatedser
Servo Drive 2559.1.2 Excessive Duty Cycle ShutdownAs the servo system responds to shaft displacementdue to move commands or reaction torque’s, theserv
256 Servo Drive9.2 – Servo Drive Command ListingFOLERR Motion ParameterACTION: Sets or returns the maximum pos
Servo Drive 257INTLIM Servo ParameterACTION: Sets the Integral limit for the servo output. This is the limit
258 Servo DriveIXT Servo ParameterACTION:Sets or returns the Excessive Duty Cycle Shutdown time in seconds.PROGRAM SYNTAX:IXT(axis) = expressionIXT(ax
Servo Drive 259KAFF Servo ParameterACTION: Sets or returns the acceleration feed forward gain for a servo axi
260 Servo DriveKI Servo ParameterACTION: Sets or returns the integral gain of a servo axis.PROGRAM SYNTAX:KI
Servo Drive 261KP Servo ParameterACTION: Sets or returns the proportional gain of the servo axis.PROGRAM SYN
262 Servo DriveKVFF Servo ParameterACTION: Sets or returns the velocity feed forward gain for the servo axis
Servo Drive 263STOPERR Motion ParameterACTION: Sets or returns the maximum position error allowed when motio
12 Overview4.1 – Features and FunctionsThe controller is based on the Texas InstrumentsTMS320C31 32 bit, 33MHZ Digital Signal Processor(DSP). It can c
264 Servo DriveWNDGS Motion ParameterACTION: Enables or disable a servo drive.PROGRAM SYNTAX:WNDGS(axis)=expressionWN
Stepper Drive 265Section 10Stepper Drive
266 Stepper Drive10.1 – Stepper FeaturesThe MX2000 provides some additional stepper drivecontrols features.• Allows a starting speed for the stepper t
Stepper Drive 26710.3 – Closed Loop Stepper FolderThis folder sets the Steps per motor revolution,Starting speed, Motor standstill current, Motorboost
268 Stepper Drive10.5 - Special Programming Notes for Closed-Loop Stepper OperationThe parameters for closed loop are set in the projectconfiguration
Stepper Drive 26910.6 - Stepper Command ListingBOOST Stepper ParameterACTION: Enables or disables the Boost
270 Stepper DriveENCMODE Closed Loop Stepper ParameterACTION: Sets or returns the operating mode of a closed loop stepper axis.PROGRAM SYNTAX:ENCMODE(
Stepper Drive 271FOLERR Closed Loop Stepper ParameterACTION: Sets or returns the maximum position error allo
272 Stepper DriveREDUCE Stepper ParameterACTION: Enables, disables the Reduce current or returns the enable
Stepper Drive 273STOPERR Closed Loop Stepper ParameterACTION: Sets or returns the maximum position error allow
Overview 134.2 - General Overview The Programmable Motion Controller is a powerful, DSP-based machine controller that is capable of far more thansimp
274 Stepper DriveWNDGS Stepper ParameterACTION: Enables or disables a stepper motor drive, winding current c
Data Logging for Mx2000 revision 275Section 11Data Logging
276 Data Logging for Mx2000 revision 4.011.1 - Data LoggingThe controller has the capability to perform datalogging of eight items when the sel
Data Logging for Mx2000 revision 277Command Velocity is the commanded velocity ofthe axis. This waveform is in units/sec.11.1.2 - Data TransferAfter t
278 Data Logging for MX2000 version 4.0This page left intentionally blank
Debug Environment 279Section 12DEBUGEnvironment
280 Debug Environment12.1 - Setting Project DebuggingTo set the debug mode click on the Compile menuand then on the Debug mode item. The project mustb
Debug Environment 28112.2.1 - Debug program executionA program can be executed in different ways fromthe Debug Environment. Single line executio
282 Debug EnvironmentThis page left intensionally blank
Application Examples 283Section 13Application Examples
Table of Contents iTable of ContentsSECTION & TITLE PAGE1 – Important Safety Information 11.1 – Cautions and Warnings 22 – Introducti
14 Overview4.3 - Use of the Serial Ports, "HOST" and "AUXILIARY"The controller has two serial ports, which are identified a
284 Application Examples13.1 – Using a Joystick to teach an Arbitrary shape program13.1.1 - MX2000 Joystick connectionA joystick is easily interfaced
Application Examples 28513.1.2 - Example DescriptionThe example program allows an arbitrary shape to betaught, printed or executed. Four inputs on the
286 Application Examples************************* EXAMPLE PROGRAM ********************************‘***** This example program allows a two axis arbitr
Application Examples 287prt_program:PRINT#2,”#DEFINE AX1 1”PRINT#2,”#DEFINE AX2 2”PRINT#2,PRINT#2,”POSMODE(AX1,AX2) = 1,1”PRINT#2,”MOVEHOM
288 Application Examples‘****** debounce Register Inputdebounce_E1_2:cnt = DCNT ‘debounce delay in msecDOIF EVENT1(AX2) = state THENRETURN ‘return if
Application Examples 289teach:JOYSTICK(AX1,AX2) ‘ enable 2 axis joystickNVR(1)=0 ‘ default starting positionNVR(2)=0 ‘ default starting positionNVR(3)
290 Application Examples13.2 - Arbitrary Continuous MotionThis program illustrates the simplicity of using an arbi-trary continuous motion path in any
Application Examples 29113.2.1 – EXAMPLE PROGRAMPOSMODE =1,1 'enable absolute modeDO : LOOP UNTIL IN(101)=1 'loop until input 101 is highMOV
292 Application Examples13.3 - Changing Velocity during motionThis program illustrates changing velocity of an axisduring a path motion and the veloci
Application Examples 29313.4 -Glue application on a GasketThis program generates a complex continuous motionpath for applying glue on a gasket.An ope
Overview 15Figure 4.1, General Application Overview
294 Application Examples‘********* Main Program ***************************************BEGIN:DODO : LOOP WHILE EXIN(111)=0 'wait for cycle start
Application Examples 29513.5 - Spring Winding MachineIn this application two motors must be moved simultane-ously to wind a spring. An expansion I/O
296 Application Examples13.5.1 – Example Program‘******************** PARAMETER SETUP ****************************WIND=145 'number of steps to wi
Troubleshooting Guide 297SECTION 14TROUBLESHOOTING GUIDE
298 TroubleshootingHigh voltages are present inside theunit. Always disconnect the powerbefore performing any work on theunit. An electrical shock ha
Glossary 299SECTION 15GLOSSARY
300 GlossaryABSOLUTE MODE - Motion mode in which all motormovements are specified in reference to an electricalhome position.ABSOLUTE POSITION - A da
Glossary 301DEVICE ADDRESS - A unique number used to assignwhich Motion Controller in a multi-drive stepper systemis to respond to commands sent by a
302 GlossaryNESTING - The ability of an active subroutine to callanother subroutine. The Motion Controller can nest upto 16 levels.NONVOLATILE MEMORY
Glossary 303ASCII TableASCIICharDecCodeASCIICharDecCodeASCIICharDecCodeASCIICharDecCodeNull 0 Space 32 @ 64 ` 96SOH 1 ! 33 A 65 a 97STX 2A34 B 66 b 98
16 OverviewThis page left intentionally blank
304 GlossaryThis page left intentionally blank
WARRANTY AND LIMITATION OF LIABILITYSuperior Electric (the "Company"), Bristol, Connecticut, warrants to the first end user purchaser (the &
Distribution Coast-To-Coast and InternationalSuperior SLO-SYN products are available worldwide through anextensive authorized distributor network. Th
Specifications 17Section 5SpecificationsAndEquivalent Circuits
18 Specifications5.1 – Mechanical SpecificationMX2000-2Size: 5.34” X 10.63” X 7.48”135.6 mm X 270 mm X 190 mmWeight: 8.25 lbs 3.75 KgMX2000-6Size: 9.3
Specifications 19A list of the part numbers for the discrete part of the system has been provided for your convenience.Dual-Axis Interface board 22242
20 Specifications5.5 -Dual Axis Interface CardThis card contains the interfaces necessary to connect 2motor drives to the MX2000 controller. A stepper
Specifications 215.5.3 –Encoder ConnectorsThe Encoder connector provides a means to interface anencoder or pulse and direction input to the controller
22 Specifications5.5.4 – Axis I/O ConnectorsThe Axis I/O connectors provides a means of interfacing4 dedicated digital signals and an analog input for
Specifications 235.5.5 – Stepper Drive ConnectorsThe stepper drive connector provides a means of con-necting the controller to a stepper drive. There
ii Table of ContentsSECTION & TITLE PAGE5.6 – 32 bit DSP Controller Card 305.6.1 Auxiliary Serial Port 305.6.2 Host Serial Port 315.6.3
24 Specifications5.5.6 – Analog Drive ConnectorThe Analog drive connector provides a means of con-necting a servo drive to the controller. There are t
Specifications 255.5.7 – Dual Axis Interface Card Sink/Source Select Jumpers Board
26 Specifications5.6 – 32 bit DSP Controller CardThis card contains the interfaces to serially communicatewith a host port and auxiliary port, and con
Specifications 275.6.2 – Host Serial PortThis serial port is used to program the unit or communi-cate with the host device. There are two serial inter
28 SpecificationsDaisy Chaining MX2000 Controllers120HOSTCONTROLLERRS485120TX+TX+TX+TX+TX+TX-TX-TX- TX- TX-RX+RX+RX+ RX+ RX+RX-RX-RX- RX- RX-GNDGNDGND
Specifications 295.6.3 – DSP Card InputsThere are four optically isolated inputs to the DSP card.These inputs can either be sinking or sourcing and th
30 Specifications4852329.619.238.4HOSTBAUDRATE8012456793UNIT IDGNDRX+RX-TX+TX-SHLDHOST RS485GNDRX+RX-TX+TX-SHLDAUXILIARYFAULT SLO-SYN
Specifications 315.7 – Expansion I/O BoardThe Expansion I/O-BCD board has been designed tointerface to BCD switches and/or to an OPTO 22 mod-ule rack.
32 SpecificationsPIN 1 I/O EXPANSION 25 - 48 PIN 1 I/O EXPANSION 1 - 24 BCD INTERFACE 1 - 4 BCD INTERFACE 5 - 8I/O EXPA
Specifications 33OPTO-22Manufacturer Part NumberCrydom PB-24Gordos PB-24Grayhill 7ORCK24, 7OMRCQ24 seriesPotter & Brumfield ZIO24, ZIOM24 seriesOP
Table of Contents iiiSECTION & TITLE PAGE6.3.7 Configuration & Setup Folders 596.3.7.1 Controller type Folder 596.3.7.2 System Folde
34 Specifications
Specifications 35I/O Expansion BoardPins Description Specification41,43,45,47BCD 4 or BCD 8 strobesEXIN/EXOUT B03/27 to B00/24Input: On state 0 to +1.
36 Specifications5.8 – Digital I/O BoardThe Digital I/O-BCD board has been designed to inter-face to switches and/or relays. There are 24 opticallyiso
Specifications 375.8.2 – Output ConnectorThis connector has 16 optically isolated outputs that canbe configured for current sinking or sourcing. The s
38 Specifications5.8.3 – Internal Power SupplyThis connector has 4 terminals for +24V @ .75 amps and4 terminals for COM. These terminals are used as s
Specifications 39 UserLabel SLO-SYN 2000 Dual Axis InterfaceBABUSYSLO-SYN 2000Digital I/OCOM24V24VCOM24
40 Specifications5.9 – MX2 and MX6 Power Supply BoardThis board contains the AC input terminals and interface for 24 non-isolated bi-directionalI/O. T
Specifications 415.10 – MX2A and MX6A Power Supply BoardThis board contains the AC input terminals, interface for 16 optically isolated input and 8 op
42 Specifications5.11 – MX8 Power Supply BoardThis board contains the AC input terminals with no I/O connections. The inputvoltage range is 90 to 132
Specifications 435.12 – MX2 Outline0.379.357.48189.889.84250.03OVER CONNECTORS10.63269.880.93[23.74]0.219[5.56] TYP3.250[82.55]5.14[130.58]0.50[12.70]
iv Table of ContentsAlphabetical List of Programming Commands with Syntax and Examples CONTINUEDSECTION & TITLE PAGEATN2 85BCD 86BOOST
44 Specifications5.13 – MX6 Outline5.14 – MX8 Outline0.379.357.48189.889.84250.03OVER CONNECTORS10.63269.887.54[191.6]AUXILIARY SLO-SY
Specifications 455.15 – MX & SERVO AMPLIFIER CONNECTION DIAGRAM
46 SpecificationsThis page left intentionally blank
Motion Controller Programming Interface 47SECTION 6Motion ControllerProgramming Interface
48 Motion Controller Programming Interface6.1 - Programming6.1.1 - General Description of ProgrammingThis section provides an overview to the process
Motion Controller Programming Interface 49ble Read-Only Memory), or a BBRAM (Battery BackedRAM). The electrical codes stored in this type of memorya
50 Motion Controller Programming Interface6.2.1 – Multi-Tasking timingThe Tasks are switched by the interrupt routine every 256micro-seconds. The numb
Motion Controller Programming Interface 51Note 3: The Terminal Emulation Mode should be set toTTY on the Configure Com Port screen.Selecting the Termi
52 Motion Controller Programming InterfaceItems and Actions for the Edit menu are listed be-low.Edit MenuOn the menu above:Undo (Ctrl+Z) undoes the la
Motion Controller Programming Interface 536.3.5.2 - Editor Tool BoxThe Editor Tool Box can be used to modify the text on the Editor Screen. The Font,
Table of Contents vAlphabetical List of Programming Commands with Syntax and Examples CONTINUEDSECTION & TITLE PAGEGOSUB … RETURN 115GOTO
54 Motion Controller Programming Interfacenal settings item. Click on the Fonts and colors item. Se-lect the desired Font, Style, Font size, Backgroun
Motion Controller Programming Interface 556.3.7.3 – Profile FolderThis folder selects the motion profile, maximum accelera-tion rate, maximum speed an
56 Motion Controller Programming Interface6.3.7.9 - Travel Limit FolderThe hardware limits and software limits are controlled fromthis folder.Hardware
Motion Controller Programming Interface 576.3.8.2 – Compiling a ProjectWhether the project is new, or changes have been made tothe task or configurati
58 Motion Controller Programming InterfaceAdd task is used to add a file to a current project. Up toseven tasks may be added to one project.Configurat
Programming Commands 59Section 7.0Software ReferenceGuide
60 Programming Commands7.1 SEBASIC ConventionsA basic-like language conforms to most of the rules andconventions of modern implementations of the BAS
Programming Commands 617.1.6 Program LimitsWhen writing an MX program please observe the follow-ing maximum values; otherwise the project will not com
62 Programming Commandsstants any expression regardless of complexity can beused.The following are all valid expression lists:5.3 no comma, s
Programming Commands 637.2 Programming Commands Grouped By FunctionsBitwise Operator Page& Returns the bitwise AND
vi Table of ContentsAlphabetical List of Programming Commands with Syntax and Examples CONTINUEDSECTION & TITLE PAGEREDUCE 152REGLIMIT 152
64 Programming CommandsMathematical Function PageABS Returns the absolute value of an expression. 79ATN
Programming Commands 65Motion Parameter continued PageENCBAND Sets or returns the maximum position error allowed when moti
66 Programming CommandsServo Parameter PageINTLIM Sets the integral limit for a servo axis. 123IXT Sets or returns th
Programming Commands 677.3 Programming Command Summary (alphabetical list)Page& Returns the bitwise AND o
68 Programming CommandsPageEENCBAND Sets or returns the maximum position error allowed when motion isstopped. Same as STOP
Programming Commands 69PageGGETCHAR Waits for a character on the selected serial port and returns the ASCIIcode of the cha
70 Programming CommandsPageMMAXSPD Sets or returns the maximum allowed speed of an axis. 130MID$
Programming Commands 71PageSSETCOM Sets the baud rate and data format for the Auxiliary serial port. 154SHIFT
72 Programming Commands7.4 Alphabetical List of Programming Commands with Syntax and Examples&
Programming Commands 73>> Bitwise OperatorACTION: Returns the bitwise shift right of the argument.PR
Table of Contents viiHost Commands – Alphabetical Listing CONTINUEDSECTION & TITLE PAGEENCERR 180ENCFOL 181ENCMODE 181ENCPOS 182ENCRES 18
74 Programming CommandsABSPOS Trajectory ParameterACTION: Sets or returns the commande
Programming Commands 75ACCEL Trajectory ParameterACTION: Sets or r
76 Programming CommandsANALOG I/O FunctionACTION:
Programming Commands 77AND Boolean OperatorACTION: The logical AND operator is used in Boolean
78 Programming CommandsARC Motion ParameterACTION: Initiates a coordinated motion to move in an arc.PR
Programming Commands 79ASC String ManipulationACTION: Returns the ASCII code for the first charact
80 Programming CommandsBCD I/O FunctionACTION:
Programming Commands 81CAPPOS Miscellaneous CommandACTION: Returns the last captured absolute position of an
82 Programming CommandsCAPTURE Miscellaneous CommandACTION: Sets the position capture trigger condition o
Programming Commands 83CHR$ String ManipulationACTION:
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