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KOLLMORGEN
www.DanaherMotion.com
®
SERVOSTAR MC
M-SS-005-03
Revision E
Firmware Version 5.0.0
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Record of Manual Revisions Revision Date Description of Revision 0 3/1/1999 Preliminary issue for review 1 5/14/1999 Initial release 2 6/5/2000 New PCI and stand-alone models, new firmware features 3 8/31/2001 New firmware features D 5/11/2005 Update examples E 6/20/2005 Updated firmware version and dates ©1999 – 2005 Danaher Motion. All rights reserved. Printed in the USA. ® DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt
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Danaher Motion 06/2005 Table of Contents Table of Contents 1. OVERVIEW ................................................................................................................................ 1 1. 1 SYSTEM HARDWARE ......................................................................................................... 2 1. 2 OPERATING SYSTEM......................................................................................................... 2 1. 3 MC-BASIC LANGUAGE COMPILER....
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Table of Contents 06/2005 Danaher Motion 2. 5 C-FUNCTIONS...................................................................................................................40 2.5.1. OBJECT FILES ....................................................................................................40 2.5.2. PROTOTYPE FILE ...............................................................................................41 2.5.3. SPECIAL CONSIDERATIONS ................................................
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Danaher Motion 06/2005 Table of Contents 3.6.4. STARTING POSITION ......................................................................................... 63 3.6.5. BASIC MOVES AUTO SETUP PROGRAM.......................................................... 63 3.6.6. USER UNITS...................................................................................................... 64 3.6.7. POSITION UNITS .............................................................................................
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Table of Contents 06/2005 Danaher Motion 4.1.8. MOVE ................................................................................................................90 4.1.9. VELOCITY OVERRIDE........................................................................................98 4. 2 MOTION EXAMPLES ........................................................................................................98 4.2.1. POSITION CAPTURE .............................................................
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Danaher Motion 06/2005 Table of Contents 6.6.3. POSITION......................................................................................................... 123 6.6.4. VELOCITY....................................................................................................... 124 6. 7 ACCELERATION............................................................................................................. 124 6. 8 VELOCITY, ACCELERATION, DECELERATION AND JERK RATES....................
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Table of Contents 06/2005 Danaher Motion 9.1.3. LIMITATIONS ...................................................................................................145 9.1.4. FUNCTIONS......................................................................................................146 9. 2 WITH .................................................................................................................................148 10. INPUT/OUTPUT ...................................................
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Danaher Motion 06/2005 Table of Contents APPENDIX A ................................................................................................................................... 165 SAMPLE NESTING PROGRAM............................................................................................... 165 SUBROUTINE EXAMPLE........................................................................................................ 166 SAMPLE AUTOSETUP PROGRAM ..................................
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Table of Contents 06/2005 Danaher Motion MOVING FRAME ................................................................................................................191 TRACKING PROCESS..........................................................................................................192 CUSTOMER SUPPORT ............................................................................................................194 viii Rev E M-SS-005-03
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Danaher Motion 06/2005 Overview 1. OVERVIEW ® This manual describes how to use the SERVOSTAR MC (Multi-axis Controller) product. To execute the examples described in this manual, you must at least have a SERVOSTAR MC and BASIC Moves Development ® Studio installed on your host computer. Some examples further require that you have a drive installed and connected to the MC using the SERCOS TM ® Interface cables. The SERVOSTAR MC Installation Manual describes the procedures for all the neces
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Overview 06/2005 Danaher Motion 1. 1 SYSTEM HARDWARE The MC hardware is available in two types of implementation: a plug-in circuit board for a host computer, and a stand-alone model. The PCI plug-in board hardware installs in a host computer (typically a PC), running the Windows NT 4.0, Windows 2000/XP operating systems. The MC contains a fully-independent computer system., so it does not compete with the host processor system for resources. The MC uses Pentium 233 MHz or faster micropr
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Danaher Motion 06/2005 Overview Camming links master and slave axes by a cam table. Camming has all the features of gearing, plus the cam table can have any number of points. The cam points are in x-y format so spacing can be provided independently. Multiple tables can be linked together, allowing you to build complex cam profiles from simpler tables. There is a cycle counter that lets you specify how many cycles to run a cam before ending. The MC supports multi-tasking with up to 256 tas
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Overview 06/2005 Danaher Motion Because SERCOS is digital, it can transmit signals such as velocity and ® position commands with high resolution. The SERVOSTAR MC and accompanying drives ( SERVOSTAR CD series), support 32-bit velocity commands. This provides a much higher resolution than can be achieved with the analog interface. The most common SERCOS functions are provided in such a way that you do not have to be an expert to gain the benefits. 1. 6 API ® DanaherMotion's Kollmorgen AP
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Danaher Motion 06/2005 Overview 1.8.1. Serial Communication The MC has two RS-232 ports, which can be used for user communication. When COM1 is used for communication with BASIC Moves over API, tasks cannot access it to eliminate interference with BMDS communications. Use DIPswitch bit #8 to configure this port: DIP Switch bit #8 state ON (default) COM1 is reserved for communication with the host and cannot be used by any other application OFF COM1 is available for user communication W
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Overview 06/2005 Danaher Motion 1.8.1.2. OPEN SERIAL PORT Configurate the serial port with OPEN. Set the following port properties: BaudRate - baud rate of the device set to a specified value. Parity – enable/disable parity detection. When enabled, parity is odd or even. DataBits - number of data bits. StopBit - number of stop bits. Xonoff – sets raw mode or ^S/^Q flow control protocol mode (optional parameter disabled by default). For example: OPEN COM2 BUADRATE=9600 PARITY=0 DATABIT
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Danaher Motion 06/2005 Overview There are several ways to set the IP address of the controller. By default, the MC boots without a valid IP address. The following options are available to set the IP address of the controller: Static IP address setting Use SYS.IPADDRESSMASK in the Config.prg file to assign the IP address and Subnet mask: SYS.IPADDRESSMASK=”212.25.84.109:255.255.255.128” Dynamic address setting by Windows API API assigns an IP address to the MC when it establishes TCP co
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Overview 06/2005 Danaher Motion The MC requests a connection from a remote host, according to a specific IP address and port. CONNECT blocks task execution until the connection is established or until the command fails. To unblock a task waiting in CONNECT, close the corresponding socket using CLOSE. In addition, killing a task (KILLTASK) blocked by CONNECT closes the socket to release the task. CONNECT may fail due to the following reasons: 1. Invalid socket descriptor 2. Remote host ha
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Danaher Motion 06/2005 Overview If INPUT$ requests reading a data length larger than available data, the command returns only the available data: -->?LOC(1) 11 -->STRING_VAR = INPUT$(20, #1) -->?STRING_VAR Hello World LOC can be used within the INPUT$: STRING_VAR = INPUT$(LOC(1), #1) A partial read of the input buffer is allowed. This way, several calls to INPUT$ empty the input-buffer: -->?LOC(1) 11 -->STRING_VAR = INPUT$(3, #1) -->?STRING_VAR Hel -->?LOC(1) 8 -->STRING_VAR =
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Overview 06/2005 Danaher Motion 1.8.3.3. SEND DATA BLOCK PRINTTOBUFF # and PRINTUSINGTOBUFF # allows buffering of data before actually being sent. This eliminates inter-character delays. printtobuff #handle,chr$(0); chr$(message_length); chr$(0);send=false printtobuff #handle,chr$(request[ii]);send=false printtobuff #handle,chr$(request[ii]);send=true 1.8.3.4. SEND/RECEIVE NULL CHARACTER When using a specific protocol over Serial or TCP/IP ModBus RTU or ModBus TCP), the NULL character
