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CMPSU-550VXJP Guide
User manual for CMPSU-550VXJP
Here is the user manual for CMPSU-550VXJP. You can read and download this user guide for free. User's manual, provided by the manufacturer, allows you to use properly your home appliances and electronics.
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Table of contents
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
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