Intelligent Motion Systems Modular LYNX System N n e c t i n g a n d U s i n g a n E n code r

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In the Equivalent Circuit in Figure 6.7 an Output is being used as Step or Direction on a driver.

For the configuration example, use I/O line 13 for the output. Since by default the line is a quadrature input we must configure it to be a Step/Direction Output by setting the IOS Variable to the following:

IOS 13 = 3, 1, 0, 1, 2, 0 This breaks down as:

IOS 13 - Identifies the line being configured as 13. 3 - Sets the I/O Type to Clock 2A (default).

1 - Sets it as an output.

0 - Sets Logic at Low True.

1 - Edge Triggered.

2 - Sets the Clock Type to Step/Direction.

0 - No Ratio.

Ty p i c a l F u n c t i o n s o f t h e D i f f e r e n t i a l I / O

C o n n e c t i n g a n d U s i n g a n E n c o d e r

The differential I/O module can be set up to receive encoder feedback using either a differential or a single ended output encoder. A differential output encoder would typically be connected to differential input pairs 13 and 14 (P1, pins 1 – 4) as the default setting for I/O 13 and 14 is set up to accept a quadrature encoder input. Channel A of the encoder would be connected to input pair 13 (P1, pins 1 & 2) and channel B would be connected to input pair 14 (P1, pins 3 & 4). A single ended output encoder would be connected to the positive inputs of the input pair. Whether you use a differential encoder or single ended encoder the same software commands and settings will be used.

In setting up your system to run with an encoder you will be using the following variables, flags, and instructions. The variables used with an encoder will be MUNIT, EUNIT, CTR2, and POS. The Encoder Enable Flag EE, and the instruction MOVR will be used. The block diagram to the left illustrates a LYNX system with the encoder and drive connections that will be used in this example.

The sequence of commands (in bold) used to make this setup function would be as follows:

‘Set the MUNIT Variable to 51,200 steps/rev MUNIT = 51200

‘Set encoder enable to TRUE (1), default value = FALSE (0)

EE= 1

‘Set the EUNIT (Encoder Units) variable to 800 (200 [Encoder Resolution] X 4 [Quadrature Input]) This means that 1 unit of motion, or 1 POS, is equal to 800 encoder counts. In this instance it will be 1 rotation of the motor.

EUNIT = 800

‘Save the above flag and variable settings

SAVE

Now you may begin to use the motion command MOVR, as well as PRINT POS and PRINT CTR2 to see the number of encoder counts fed back to the system.

‘Set the motor position to 0

POS = 0

‘Move the motor 2 units (2 X EUNIT) relative to current position.

MOVR 2

‘Print the value of CTR2. This value will indicate the number of encoder counts that the motor has moved. Your terminal should echo back the number “1600”.

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Modular LYNX System 12.05.2003

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Contents Part Modular Lynx System Table of Contents List of Tables List of Figures T t i n g S t a r t e d T t i n g S t a r t e dC t i o n O v e r v i e w C l u d e d i n t h e P a c k a g eT o r C o n n e c t i o n s N n e c t i n g t h e P o w e r S u p p l yN n e c t i n g t h e S t e p M o t o r D r i v e r M m u n i c a t i o n s W i r i n gTe s t i n g t h e LY N X S e t u p Munit =Movr N n e c t i n g t h e LY N X S y s t e m N n e c t i n g t h e S y s t e mN R a i l M o u n t i n g O p t i o n U n t i n g t h e LY N X S y s t e mN e l M o u n t C l u d e d i n t h e D I N R a i l M o u n t i n g K i tInstalling the Lynx System on a DIN Rail L e s o f W i r i n g W e r i n g t h e LY N X S y s t e mR i n g a n d S h i e l d i n g L e s o f S h i e l d i n gLY N X C o n t r o l M o d u l e w i t h I M S D r i v e r Supply Does Not Exceed+ 1 2 t o + 7 5 V D C S u p p l y + 5 V D C S u p p l yPower Requirements W e r R e q u i r e m e n t sN n e c t i n g t h e R S 2 3 2 I n t e r f a c e E C o m m u n i c a t i o n s I n t e r f a c eN g l e C o n t r o l M o d u l e S y s t e m L t i p l e C o n t r o l M o d u l e S y s t e m Party Mode Address Configuration Switch Settings T a C a b l e Te r m i n a t i o n R e s i s t o r s RS-232 Interface, Multiple Control Module SystemN g l e C o n t r o l l e r S y s t e m N n e c t i n g t h e R S 4 8 5 I n t e r f a c eRS-485 Interface Connections L t i p l e C o n t r o l l e r S y s t e m RS-485 Interface, Multiple Control Module System O g r a m M o d e M e d i a t e M o d eE C M o d e N a r y Ascii Mode Special Command CharactersBinary Hex Codes S t e m I / O a v a i l a b i l i t y b y M o d u l e N f i g u r i n g t h e D i g i t a l I / OSystem I/O Availability by Module Lynx Control Module E I s o l a t e d D i g i t a l I / OE s o f t h e I s o l a t e d D i g i t a l I / O IOS Variable Settings E I O S Va r i a b l eN f i g u r i n g a n I n p u t Digital Filter Settings for the Isolated I/ON f i g u r i n g t h e D i g i t a l F i l t e r i n g N f i g u r i n g a n O u t p u t E I O Va r i a b l eA d / W r i t e a n I / O G r o u p Binary State of OutputsE C l o c k I n t e r f a c e Four Clocks and Their Default Line PlacementE D i f f e r e n t i a l I / O O c k Ty p e s D e f i n e dIOS XX = X , X , X , X , X Digital Filter Settings for the Differential I/O N f i g u r i n g a n T p u tN n e c t i n g a n d U s i n g a n E n code r SaveConnecting and Using an Encoder L f a x i s O p e r a t i o n F o l l o w e r Half Axis Mode Following E a n d a H a l f a x i s O p e r a t i o n R AT I O E10 One and a Half Axis Operation Modular Lynx System V i r o n m e n t a l Specification s R d w a r e Specification sLynx Control Module LX-CM100-000 Power Requirements for the Lynx Control Module N n e c t i o n O v e r v i e wLynx Control Module Connector P2 Pin Configuration D I n d i c a t o r sLynx Control Module Group 20 I/O Pull-up Switches Lynx Control Module Connector P3 Pin ConfigurationLynx Control Module Configuration Switches Lynx Control Module Group 30 I/O Pull-up SwitchesLynx Control Module Combination Dimensions Lynx Control Module CombinationPower Requirements for the Lynx Control Module Combination Lynx Control Module Combination Connections and SwitchesN a s s i g n m e n t a n d D e s c r i p t i o n Lynx Combination Control Module Configuration Switches Lynx Isolated I/O Module Dimensions E I s o l a t e d D i g i t a l I / O M o d u l eN a s s i g n m e n t s a n d D e s c r i p t i o n Isolated Digital I/O Module Connection OverviewIsolated I/O Module Group 50 I/O Pull-up Switches P u t Specification sIsolated I/O Module Group 40 I/O Pull-up Switches I t c h a s s i g n m e n t s a n d D e s c r i p t i o nT p u t Specification s P u t F i l t e r i n gV i r o n m e n t a l Specification E D i f f e r e n t i a l D i g i t a l I / O M o d u l eHigh Speed Differential I/O Module Power Requirements W e r R e q u i r e m e n t sHigh Speed Differential I/O Module Input Specifications High Speed Differential I/O Module Pin ConfigurationN a s s i n g m e n t s a n d D e s c r i p t i o n Encoder Lynx Differential I/O Output Specifications Lynx Differential I/O Output Equivalent CircuitIntentionally Left Blank

Modular LYNX System specifications

The Intelligent Motion Systems Modular LYNX System represents a cutting-edge innovation in the realm of automation and control solutions. Developed to offer flexibility and scalability, the LYNX System is designed for a wide range of applications, from advanced robotics to intelligent transportation systems, showcasing its versatile nature in modern industrial environments.

One of the main features of the LYNX System is its modular architecture, which allows users to customize and expand their system based on specific project requirements. This modularity enables the integration of various components, such as controllers, sensors, and actuators, facilitating easy upgrades and modifications without the need for complete system overhauls. This not only reduces downtime but also promotes long-term cost savings.

The LYNX System is equipped with advanced control algorithms that enable precise motion control, ensuring that operations are executed smoothly and efficiently. These algorithms function seamlessly with a range of motion technologies, including servo and stepper motor drives. By employing real-time data processing, the system can adapt to dynamic environmental changes, enhancing accuracy and reliability across multiple applications.

An integral aspect of the LYNX System is its robust communication capabilities. It supports various standard communication protocols, such as EtherCAT, CANopen, and Modbus, ensuring compatibility with existing industrial infrastructure. This versatility allows for easy integration with other automation systems, enabling a cohesive operational environment.

Moreover, the LYNX System incorporates advanced safety features, adhering to strict international safety standards. Functions such as emergency stop protocols and redundant safety circuits are built into the design, ensuring operator safety and compliance with regulatory requirements.

The system is also designed with user-friendly interfaces, including intuitive software tools that simplify system configuration, monitoring, and maintenance tasks. These interfaces support graphical programming and provide real-time feedback, allowing operators to analyze system performance and make informed adjustments as necessary.

In summary, the Intelligent Motion Systems Modular LYNX System is a versatile, scalable solution characterized by its modular design, advanced control algorithms, robust communication capabilities, and comprehensive safety features. With its ability to adapt to a wide range of industrial applications, the LYNX System stands as a powerful asset for companies looking to enhance their automation and control processes.
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