Document Outline

• 1 Introduction
  • Part Numbers
  • Start-up
  • Front Panel Description
  • Axis Connector (20-pin)
  • I/O Connections (50-pin CN5)
  • Cable Shielding, Segregation and Noise Immunity
  • Digital I/O
    • Digital Input
    • Digital Output
  • Emergency Stop Chain
  • Serial Communication
  • External Encoder Specifications
  • Dedicated Inputs
  • Physical Specifications
  • Hardware Specifications
  • Dimensional Drawings
    • I/O Cable with Terminal Block JUSP-TA50P
• 2 Theory of Operation
  • Overview
  • Elements of Servo Systems
  • Levels
  • Velocity and Position Profiles
  • Operation of Closed-Loop Systems
  • System Modeling
    • Basic Block Diagram
    • Controller
    • Motor-Amplifier
    • Current Drive
    • Encoder
    • DAC
    • Digital Filter
    • ZOH
  • System Analysis
  • System Design and Compensation
    • The Analytical Method
    • Notch Filter
• 3 Communications
  • Introduction
    • Controller Response to Data
    • RS232 Port
  • SMC Communication Protocol Guidelines
  • Ethernet Configuration
    • Communication Protocols
    • Addressing
    • Ethernet Handles
    • Ethernet Communication Between Controllers
    • Handling Communication Errors
    • Modbus Support
    • Using Third Party Software
• 4 Command Reference
  • Command Description
  • Command Usage
  • AB (Abort)
  • @ABS (Absolute Value)
  • AC (Acceleration)
  • @ACOS (Arc Cosine)
  • AD (After Distance)
  • AE (Absolute Encoder)
  • AI (After Input)
  • AL (Arm Latch)
  • AM (After Motion)
  • AO (Analog Out)
  • AP (After Absolute Position)
  • AR (After Relative)
  • AS (At Speed)
  • @ASIN (Arc Sine)
  • AT (After Time)
  • @ATAN (Arc Tangent)
  • AV (After Vector Distance)
  • BG (Begin)
  • BK (Breakpoint)
  • BL (Backward Limit)
  • BN (Burn Parameters)
  • BP (Burn Program)
  • BV (Burn Variables)
  • CA (Coordinate Axes)
  • CB (Clear Bit)
  • CD (Contour Data)
  • CE (Configure Encoder)
  • CF (Configure Messages)
  • CM (Contour Mode)
  • CN (Configure Limit Switches)
  • @COM (2’s Complement)
  • @COS (Cosine)
  • CR (Circle)
  • CS (Clear Sequence)
  • CW (Copyright)
  • DA (De-allocate Variables)
  • DC (Deceleration)
  • DE (Dual (Auxiliary) Encoder)
  • DL (Download)
  • DM (Dimension Array)
  • DP (Define Position)
  • DT (Delta Time)
  • DV (Dual Velocity (Dual Loop))
  • EA (ECAM Master)
  • EB (ECAM Enable)
  • EC (ECAM Counter)
  • ED (Edit Mode)
  • EG (ECAM Engage)
  • ELSE
  • EM (ECAM Cycle)
  • EN (End)
  • ENDIF
  • EO (Echo)
  • EP (ECam Table Intervals and Start Point)
  • EQ (ECam Quit (Disengage))
  • ER (Error Limit)
  • ES (Ellipse Scale)
  • ET (ECam Table)
  • FA (Acceleration Feedforward)
  • FE (Find Edge)
  • FI (Find Index)
  • FL (Forward Limit)
  • @FRAC (Fraction)
  • FV (Velocity Feedforward)
  • GA (Master Axis for Gearing)
  • GM (Gantry Mode)
  • GR (Gear Ratio)
  • HM (Home)
  • HS (Handle Switch)
  • HX (Halt Execution)
  • IA (Internet Address)
  • IF
  • IH (Internet Handle)
  • II (Input Interrupt)
  • IL (Integrator Limit)
  • IN (Input Variable)
  • @IN (Input)
  • @INT (Integer)
  • IP (Increment Position)
  • IT (Independent Time Constant)
  • JG (Jog)
  • JP (Jump to Program Location)
  • JS (Jump to Subroutine)
  • KD (Derivative Constant)
  • KI (Integrator)
  • KP (Proportional Constant)
  • KS (Step Motor Smoothing)
  • LA (List Arrays)
  • LC (Lock Controller)
  • LE (Linear Interpolation End)
  • _LF* (Forward Limit)
  • LI (Linear Interpolation Distance)
  • LL (List Labels)
  • LM (Linear Interpolation Mode)
  • _LR* (Reverse Limit)
  • LS (List Program)
  • LT (Latch Target)
  • LV (List Variables)
  • LZ (Leading Zeros)
  • MB (Modbus)
  • MC (Motion Complete)
  • MF (Motion Forward)
  • MG (Message)
  • MO (Motor Off)
  • MR (Motion Reverse)
  • MT (Motor Type)
  • MW (Modbus Wait)
  • ~n (Variable Axis Designator)
  • NB (Notch Bandwidth)
  • NF (Notch Filter)
  • NO (No Operation)
  • NZ (Notch Zero)
  • OB (Output Bit)
  • OE (Off On Error)
  • OF (Offset)
  • OP (Output Port)
  • @OUT (Output)
  • PA (Position Absolute)
  • PF (Position Format)
  • PL (Pole)
  • PR (Position Relative)
  • PW (Password)
  • QA (Query Auxilliary Encoder Unmodularized Position)
  • QD (Download Array)
  • QP (Query Unmodularized Position)
  • QR (Data Record)
    • Explanation of Status Information and Axis Switch Information
    • Bytes 2, 3 of Header:
  • QU (Upload Array)
  • QY (Query Yaskawa Absolute Encoder Alarm)
  • QZ (Return Data Record Information)
  • RA (Record Array)
  • RC (Record)
  • RD (Record Data)
  • RE (Return from Error)
  • RI (Return from Interrupt)
  • RL (Report Latch)
  • @RND (Round)
  • RP (Reference Position)
  • RS (Reset)
  • <control>R<control>S (Master Reset)
  • RU (Unmodularized Latch Position)
  • <control>R<control>U (Firmware Revision)
  • SA (Send Command)
  • SB (Set Bit)
  • SC (Stop Code)
  • SH (Servo Here)
  • @SIN (Sine)
  • SL (Single Step)
  • SP (Speed)
  • @SQR (Square Root)
  • ST (Stop)
  • @TAN (Tangent)
  • TB (Tell Status Byte)
  • TC (Tell Code)
  • TD (Tell Dual (Auxiliary) Encoder)
  • TE (Tell Error)
  • TH (Tell Handle)
  • TI (Tell Inputs)
  • TIME (Time Keyword)
  • TK (Peak Torque Limit)
  • TL (Torque Limit)
  • TM (Time Base)
  • TN (Tangent)
  • TP (Tell Position)
  • TR (Trace Mode)
  • TS (Tell Switches)
  • TT (Tell Torque)
  • TV (Tell Velocity)
  • TW (Time Wait)
  • TY (Tell Yaskawa Absolute Encoder)
  • UL (Upload)
  • VA (Vector Acceleration)
  • VD (Vector Deceleration)
  • VE (Vector Sequence End)
  • VF (Variable Format)
  • VM (Coordinated Motion Mode)
  • VP (Vector Position)
  • VR (Vector Speed Ratio)
  • VS (Vector Speed)
  • VT (Vector Time Constant)
  • WC (Wait for Contour)
  • WH (Which Handle)
  • WT (Wait)
  • XQ (Execute Program)
  • ZS (Zero Subroutine Stack)
• 5 Programming Basics
  • Introduction
  • Program Maximums
  • Command Syntax
  • Controller Response to Commands
  • Command Summary
    • Motion
    • Program Flow
    • General Configuration
    • Control Filter Settings
    • Status
    • Error And Limits
    • Arithmetic Functions
• 6 Programming Motion
  • Overview
  • Independent Axis Positioning
    • Command Summary - Independent Axis
  • Independent Jogging
    • Command Summary - Jogging
  • Linear Interpolation Mode
    • Specifying the Coordinate Plane
    • Specifying Linear Segments
    • Command Summary - Linear Interpolation
  • Vector Mode: Linear and Circular Interpolation Motion
    • The SMC-4000 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion along the path is continuous ...
    • The coordinated motion mode is similar to the linear interpolation mode. Any pair of two axes may be selected for coordinated mo...
    • The command VM m,n,p where “m” and “n” are the coordinated pair and “p” is the tangent axis.
    • NOTE: The commas which separate m,n and p are not necessary. For example, VM XYZ selects the XY axes for coordinated motion and the Z-axis as the tangent.
    • Specifying the Coordinate Plane
    • The SMC-4000 allows for 2 separate sets of coordinated axes for linear interpolation mode or vector mode. These two sets are identified by the letters S and T.
    • Specifying Vector Segments
    • Additional Commands
    • Command Summary - Coordinated Motion Sequence
    • Operand Summary - Coordinated Motion Sequence
    • Command Summary - Electronic Gearing
  • Electronic Cam
  • Virtual Axis
  • Contour Mode
    • Specifying Contour Segments
    • Additional Commands
    • Command Summary - Contour Mode
    • General Velocity Profiles
  • Motion Smoothing
    • Using the IT (Independent Time Constant) and VT (Vector Time Constant) Commands (S curve profiling):
  • Stepper Motor Operation
  • Homing
  • High Speed Position Capture (Latch Function)
• 7 Application Programming
  • Introduction
  • Program Format
  • Special Labels
  • Executing Programs - Multitasking
  • Recommended Programming Style
    • Initialization
    • Main Loop
    • Application Specific Routines
    • Multi Tasking
    • Special Label & Fault Handling Routines
  • Debugging Programs
    • Program Flow Commands
    • Event Triggers & Trippoints
    • SMC-4000 Event Triggers
    • Event Trigger Examples:
    • Conditional Jumps
    • Multiple Conditional Statements
    • If, Else, and Endif
    • Command Format - IF, ELSE and ENDIF
    • Subroutines
    • Stack Manipulation
    • Auto Start Routine
    • Automatic Subroutines for Monitoring Conditions
  • Mathematical and Functional Expressions
  • Variables
    • Programmable Variables
    • Internal Variables & Keywords
  • Arrays
    • Defining Arrays
    • Assignment of Array Entries
    • Automatic Data Capture into Arrays
• 8 Input and Output of Data
  • Sending Messages
    • Input of Data
    • Formatting Data
    • User Units
• 9 Programmable I/O
  • Digital Outputs
  • Digital Inputs
• 10 Example Applications
  • Instruction Set Examples
    • Generating an Array
    • Velocity Profiles of XY
    • Special Labels
    • Wire Cutter
    • Speed Control by Joystick
    • Position Control by Joystick
    • Backlash Compensation by Dual-Loop
• 11 Troubleshooting
  • Overview
  • Installation
  • Stability
  • Operation
• 12 Index