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 
the Digital Position Command option. 
  Mode 9: Analog Velocity Command- Allows one Index t o be 
assigned as a velocity index based on an analog sig nal level. No 
more than one of the 32 assignable indexes is allow ed to be 
assigned as an analog velocity or analog position c ommand per 
program.  
  Mode 10: Go to Set Velocity – Allows the entry of a  velocity in 
already scaled units. 
  Mode 16: Home Find-Set Position-With Homing defined  first, 
allows the execution of a homing command. Also, whe n power is 
initially applied and the motor is enabled, the sha ft will move to 
the programmed home position.  
  Enter desired values for position, velocity, accele ration and deceleration to 
accomplish the position move or velocity profile.  
  The position and velocity scaling was done previou sly on the initial Setup screen, 
so if you enter a number 1000 in the acceleration a nd deceleration, units of measure is 
a per second reference of that scaling. EG: If your  velocity scaling is in RPM, the 
accel and decel is in 1000 RPM per second.  Or if i t is RPS, the accel and decel is in 
1000 RPS
2 
  
  Select  “End”  if this completes all moves or profiles associated  with this Index ID.  
  If you want to program another command set to be ex ecuted in sequence, enter 
the number of the next index (Idx) in the  “Next” column 
  If you want a delay between completion of the curre nt index commands and the 
start of the next Idx, enter  “Time” in msec. 
        
 
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							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 bypass of the  trigger 
input. 
Storing of programmed data is accomplished by savin g data to files when exiting the 
Wizard, or saving files as you go using the file pu lldown menu.  
            
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  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 sourcing, logic levels and the active st ate of each desired input 
 
 
          
 
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							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 Output Interfaces 
 
  
This screen function is similar to the Input Interf ace screen.  Outputs may be 
programmed individually or all in a single step. To  do this: 
    
 
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							 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 the desired output function from the pull do wn menu (2).  Function 
definitions include:  o Inactive: 
o  Motor Enabled: Output is active when motor is enabl ed 
     
 
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							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 a progra mmed position 
window is reached 
o  In position Range 3: Output is active when a progra mmed position 
window is reached. 
o  Over Velocity Alarm: Output is active when an overs peed occurs 
o  Under Velocity Alarm: Output is active when an unde rspeed occurs 
o  Drive Voltage Limit Alarm: Output is active at a pr ogrammed overvoltage 
limit 
o  Over Voltage Alarm: Output is active when overvolta ge is sensed 
o  Over Voltage Shutdown: Output is active at an overv oltage shutdown 
alarm 
  
Selecting some output functions will require you to  enter variables associated with the 
function.  When this is required, the output relate d setting window will open on the 
screen.  Enter data in the appropriate block and se lect “Activate Changes”  button (4) to 
enter settings into the control program and complet e the operation. 
 
Programming Home Find Function 
This function allows you to program a repeatable ho me position whenever the system is 
powered up or triggered to go to a home position.   To do this, return to the Motor Set Up 
Screen and: 
Click on the  “Home Find”  button (#3 above).   
              
 
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							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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