Anaheim Servo SRMD Servo Manual

 assigned as a analog velocity or analog position co mmand per 
program.  
  Mode 3: Go To Set Position-Absolute: Allows entry o f a position 
variable as a function of the home position 
  Mode 4: Go to Set Position-Relative-Allows entry of  a position 
variable as a function of the last move position. 
  Mode 8: Digital Velocity Command- For future applic ations to be 
defined. Used for creating a control program throug h the USB port. 
The Test Motor Program in the Wizard uses this opti on as well as...

Check Programming of the Indexes 
  
After you have programmed all desired index moves you can check the program by going 
to the  “Motor Emulation Screen.”   To do this: 
  Click on  “Back to Set Up Wizard”  button 
 
 
  
 Click on  “Run I/O Emulation”  button (3).  
  
        
 
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 The Motor I/O Emulation screen will appear 
 
 
   
This screen allows you to enable the motor, select  and trigger a programmed index.  Each 
index is selected by opening or closing (clicking o n) a combination of the four binary bit 
switches labeled D-0, D-1, D-2 and D-3. The open-cl osed combination for each index is 
presented in the following table 
        
 
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Index Bit Table 
X= Selected (on) 
O= not selected (off) 
Index Number  
(Idx)  D-0  D-1  D-2  D-3 
0  O  O  O  O 
1  X  O  O  O 
2  O  X  O  O 
3  X  X  O  O 
4  O  O  X  O 
5  X  O  X  O 
6  O  X  X  O 
7  X  X  X  O 
8  O  O  O  X 
9  X  O  O  X 
10  O  X  O  X 
11  X  X  O  X 
12  O  O  X  X 
13  X  O  X  X 
14  O  X  X  X 
15  X  X  X  X 
   
To observe motor performance once the desired index
 is selected 
  Click on  “Enable”  button 
  Click on  “Trigger”  button, unless you have programmed a...

 
  When complete return to Set Up Wizard 
Integration Board 
The Integration Board is a piece of optional equipm ent that allows you to select and 
trigger index programs in the same manner as the Mo tor Emulation screen.  It is 
particularly useful when it is not easy or possible  to have access to a computer at the 
machine or when the USB port is unavailable. 
 
 
    
 
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The switches shown in the photograph function in the same manner as the buttons on the 
Motor Emulation screen.  NOTE:  If the USB port and Wizard are active, they  will 
override the Integration Board and its operation if  it is plugged into the I/O port.
 
  
Programming Input Interfaces 
   From the Motor I/O Emulation screen return to the S et Up Motor screen  
  Click on “Input Interface Button”  (1) 
o The “Input Interface Screen” will appear.  This scr een allows you to select 
sinking or...

Each input can be defined individually or all inputs defined at one time. To do this: 
  Select the desired input (1) 
  Select Logic Option (2) 
  Select Input State Options (3) 
  Select 5V or 24V pull up options (4) 
  Repeat for each desired input 
  When all inputs are programmed select “Activate Cha nges” (5) 
  When input interfaces are programmed you can then e nter output interfaces by 
clicking on the “Output Interface” button (6) 
The Output Interface Screen will appear 
Programming...

 Select desired output (1) 
  Select desired logic options (2) These options and  their definitions include: 
o  Open collector: 
o  Source Only: 
o  Logic Level: 
  Select desired output state options (3) 
  When desired values are programmed select  “Activate Changes” 
To program output functions click on the  “Output Functions” button (4).  The Output 
Function screen will appear. 
Programming Output Functions 
 
 
To program output functions: 
 Select the output you want to define (1) 
  Select...

o Soft Current Limit: Output is active when soft curr ent limit is reached 
o  Hard Current Limit: Output is active when hard curr ent limit is reached 
o  Temperature Alarm: Output is active when predefined  temp is exceeded 
o  Temperature Shutdown: Output is active with a tempe rature shutdown 
o  At Command Limit: Output is active when a defined v elocity is achieved 
o  In Position Range 1: Output is active when a progra mmed position 
window is reached 
o  In position Range 2: Output is active when...

The Home Find screen will appear 
  
 Select  Home  Find  mode  from  the  pull  down  menu.  Ther e  are  currently  4
 Home 
Find modes defined. 
o 
Jam to Factory Key Position: If you select this mode, 
activate the changes, and flash this selection into  the motor, a predefined 
shaft position, as a function of a location within  1 revolution, will be 
defined as home. This currently is defaulted as the  shaft location with the 
keyway straight up. 
        
 
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