Technology Advantages

1
(No Transcript)
2
Common vs. Best Practice
Control Panel with Drives and Controls
3
Simple Wiring for Multi Axis Control
4
Standard Capabilities

• MT Torque Mode (open Loop)?
• 10-Bit PWM Voltage Mode
• MV Velocity Mode
• 32Bit Velocity (V) and Acceleration (A)?
• MP Position Mode
• 32 Bit Signed Position Counter
• Absolute Moves
• Relative Moves
• Step/Direction Input w/24Bit ratio
• Electronic Gearing
• 24Bit Ratio of input to Output counts
• Phase Offset Adjust (Relative Move over Gearing)?

5
Advanced Capabilities

• Electronic Camming
• Multi-axis Contouring
• CAD/CAM
• Stand Alone, PC or PLC
• Multi-axis Distributed Control and Network

6
Advanced Drive Capabilities

• Mode Torque Brake (MTB) gt Dynamically shunts
  windings for quick stopsgt 60 peak overload
  stopping power
• In other words, the motor has 60 more stopping
  power than it's peak advertised torque at stall
  when MTB is activated.
• Automatically engaged under any shaft protection
  fault
• Position Error (Following Error)?
• Travel Limit Error
• Over Temperature
• RMS Over current

MTB draws No Current from the Power Supply !!
7
Advanced Drive Capabilities

• Trajectory Overshoot Braking (TOB)
• PWM controlled Dynamic braking
• gt30 better slowing power to prevent overshoots
  in speed or deceleration during the entire
  trajectory path.
• Provides protection against exceeding critical
  speed limits of lead screws !!
• (Yellow Areas below Indicate where TOB
  takes Effect)?

8
Torque Mode (MT)?

• Open Loop
• Non Buffered
• (No G required)?

9
Velocity Mode (MV)?

• Closed Loop
• Buffered
• (G Required)?
• Changes on the fly

10
Velocity Mode (MV) continuedDecelerate To Stop
with X Command
11
Velocity Mode (MV) continuedFast Stop with S
Command
12
Velocity Mode (MV) continuedSpeed Change on the
fly
13
Position Error Fault
T1 Move Started T2 Position Error begins to
increase at a constant rate due to lack of supply
voltage. T3 Eventually Following Error (PE)
Exceeds Maximum allowable Position Error
(E)? Note Bt (Busy Trajectory)? Be
(Position Error Bit)? Bo (Motor Off
Bit)?
14
Position Mode (MP) Relative
Command Initiated
Hardware Initiated
15
Travel Limit Fault (Active-Low Asserted)?
T1 Move Started (Port G)? T2 Reached Slew
Speed. T3 Either Travel Limit gets
grounded. Note Bl (Left/Positive/Port C)?
Br (Right/Negative/Port D)? Bo
(Motor Off Bit)? This applies to Firmware below
4.62 only.!!! Eg. 4.40, 4.15 etc..
16
Travel Limit Fault (Active-High Asserted)?
T1 Move Started (Port G)? T2 Reached Slew
Speed. T3 Either Travel Limit goes to
5VDC(5KPull-up)? Note Bl (Left/Positive/Port
C)? Br (Right/Negative/Port D)?
Bo (Motor Off Bit)? This is standard for
all PLS firmware motors. LIMH (Limits-High) must
be issued for non-PLS firmware motors.
17
Hardware and Software Travel LimitsStatus Bit
and Command Overview
Note Software Travel Limits are only available
in PLS firmware Motors. Software Travel Limits
Example SLD disable soft limits SLP20000 set
positive soft limit SLN-500 set negative soft
limit SLE enable soft limits Once enabled,
they trigger the same Status bits as do hardware
limits. They should be disabled prior to
changing, then re-enabled Please Read manual for
more information
18
Mode Step (MP)?

• This example shows howan encoder is read as
  Stepand Direction Via Ports A and B.
• Direction Bit is only validwhile Step pulse is
  low.
• This allows a Standard SM2315
• To follow an External Encoder.
• Example of Setting up Mode-Step-Ratio

19
Mode Follow (MF4)?

• This example shows howan encoder is read as Full
  Quadrature Via Ports A and B.
• 4X Base Line Encoder Resolution is obtained.
• Not Available in a Standard SM2315
• Example of Setting up Mode-Follow-Ratio

20
Multi-Axis Contouring

• Up to 6 axis
• Simple serial chain
• Conversational G-Code builder
• Assignable M-Codes for I/O
• 2D and 3D path displays
• DXF to G-code converter

• Applications
• Machining
• Plasma Cutting
• Quilting
• Laser Marking
• Engraving

21
SmartMotor I/O Interfacing

• Each I/O pin is Limited to 5VTTL level Signals.
• It is not recommended to use Open-Collector24VDC
  sensors with the I/O
• Max rated Load
• 4mAmp sourcing
• 15mAmp sinking
• Non-inductive load only!Note 24VDC I/O
  adapters available !

22
SmartMotor Interfacing Adapters

• OPTO-2
• Optically Isolates and converts signals between
• 5VTTL logic and 24VDC Control Logic Systems
• 8 Input Channels / 8 Output Channels
• Red Fail-Safe LED Indications
• Plug-in connectors
• Shunt Diode protection
• 5VDC Logic Side
• Darlington Output Sinking
• 6.8VDC max input
• 120mAmp Max. 5VDC Load
• 24VDC Control Side
• Darlington Output Sourcing
• 12 to 32VDC Working Range
• 120mAmp Max. Load _at_24VDC

23
SmartMotor Interfacing Adapters

• CBLIO43-52 direct cable converters
• Selectable as 4 inputs and 3 outputs
• Or
• 5 inputs and 2 outputs

24
Ethernet, ProfiBus, DeviceNet
SM3416-D-ETH (Ethernet Option)
SM2337DT-PBP (ProfiBus Option)
SM2337DT-DNP (DeviceNet Option)
(Please consult Factory. Not all Bus options are
available on all models.)
25
Applications

• 3 Position Parts Diverter, (Position Mode)?

26
Applications

• Parts Stacker
• Use Absoluteand RelativePositioning andProgram
  Counters

27
Applications

• Programmable Rotary Index Table

28
Applications

• High Precision Rotary Manipulator
• (MRI catscan Scan Head)

29
Applications

• Servo Controlled Press using Position Error
  Limits for Force Limit Control

30
Applications

• Drill Tap Screw Feed using Mode-Follow

31
Applications

• High Speed Parts Counter using MS0

32
Applications

• 2 Axis Pick Place

33
Applications

• Die cut alignment using Phase Offsets

34
Applications

• Process Tension Control using Phase Offsets

35
Applications

• Traversing Spool Winder using Programmable
  Software travel limits

36

• Programmable Software Limits used for Welding
  Robot
• Shifting SLP and SLN To achieve various
  patterns.

37
Applications

• Auto Pallets w/Sissor Lift

38
Live Analog Position Control
Plasma Torch Automatic Height Control
ApplicationAnalog Signal passes through
isolation and Op Amp to Motorrunning Position
Mode
39
Applications

• Simple coordination via RS-232/RS-485
• Reduction or elimination of control box
• Reduced wires
• Simple point-to-point positioning commands
• Small package size
• Reduced system cost

40
Motor Drives Positive Displacement Pump Glue
Dispenser
41
CNC Mill Retrofit
42
CNC Plasma Cutting
43
CNC Quilting Machine

• Record and Playback your own free motion design
• Rotate an existing design
• Resize to specific area
• Precisely position a design on the quilt
• Repeat your designs both horizontally
• and vertically
• Watch your pattern path before quilting
• Back up function if your thread breaks
• Set the number of tie off stitches
• Set the quilting speed and
• stitches per inch

44
Applications
45
Applications