Intelligent Motion Systems Modular LYNX System manual Movr

Page 8

Once you have been able to move the motor, the next step is to write a simple program to illustrate one of the dynamic features of the LYNX: the ability to convert motor steps to a dimension of linear or rotary distance. Let’s begin by discussing the relationship between the MUNIT variable and user units. Typically when we perform a move we want to know the distance of that move in a familiar unit of measurement. That means translating motor steps to the desired unit of measurement. The LYNX Control Module has the capability of doing this for you. You have already set the motor units variable (MUNIT) to a value 51,200. With the driver set to a resolution of 256 micro-steps per step and a 1.8° step motor that will be equal to 1 revolution of the motor, or one USER UNIT. A user unit can be any unit of measure. At this point, by entering the instruction MOVR 1, the motor will turn one complete revolution relative to its current position. Therefore,

1 User Unit = 1 Motor Revolution. For the exercise below we will use degrees for our user unit. As the LYNX Product Manual indicates, the calculation required to select degrees as our user unit in this case is:

51200 Micro-steps per rev ÷ 360 degrees = 142.222 Micro-steps per degree

By setting the MUNIT variable to 51200/360 the LYNX Control Module will perform the calculation to convert the user unit to degrees. Now, when issued, a relative motion instruction “MOVR 90” the motor will turn 90 degrees.

Now, enter a sample program that will convert motor steps to degrees, execute a 90° move, and report that move every 100 milliseconds while the motor is moving. Type the following bold commands:

‘Enter Program Mode, start program at Location 2000.

PGM 2000

‘Label the program TSTPGM.

LBL TSTPGM

‘Set the user units to degrees.

MUNIT = 51200/360

‘Set the max. velocity to 25 degrees per second.

VM = 25

‘Execute a relative move of 90 degrees.

MOVR 90

‘Report the position every 100 ms while moving.

LBL PRINTPOS DELAY 100

PRINT “Axis position is”, POS, “Degrees.”

BR PRINTPOS, MVG ‘End the program.

END PGM

Now Type TSTPGM to run program.

This sample program will be stored starting at location 2000. It sets the conversion factor for the user units, sets the maximum velocity and then starts a motion. While the motion is occurring, the position is reported every 100 milliseconds.

At this point you may desire to restore the settings to their factory default as you may not wish to use degrees as your user unit. To do this, you will use the CP, DVF, and IP instructions.

CP - Clear Program.

To clear the program, type CP 1, 1. This will completely clear program memory space. Should you desire to only remove one program, the instruction “CP [Program Label]” i.e., “CP TSTPGM” would clear only that program. In this exercise only one program was entered, “CP TSTPGM” will clear it.

DVF - Delete User Defined Variables and Flags.

By entering DVF, all of the user defined variables will be removed. Although no Flags were set in this exercise, this command would clear them were they used.

IP - Initialize Parameters

This instruction will restore all of the parameters to their factory default state. After entering these instructions a SAVE instruction should be entered.

1 - 8

Modular LYNX System 12.05.2003

Page 7 Page 9
Image 8
Page 7 Page 9
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 C t i o n O v e r v i e wT t i n g S t a r t e d C l u d e d i n t h e P a c k a g eN n e c t i n g t h e P o w e r S u p p l y N n e c t i n g t h e S t e p M o t o r D r i v e rT o r C o n n e c t i o n s 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 mU n t i n g t h e LY N X S y s t e m N e l M o u n tN R a i l M o u n t i n g O p t i o n 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 W e r i n g t h e LY N X S y s t e m R i n g a n d S h i e l d i n gL e s o f W i r 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 g l e C o n t r o l M o d u l e S y s t e m E C o m m u n i c a t i o n s I n t e r f a c eN n e c t i n g t h e R S 2 3 2 I n t e r f a c e 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 SystemRS-485 Interface Connections N n e c t i n g t h e R S 4 8 5 I n t e r f a c eN g l e C o n t r o l l e r S y s t e m 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 E C M o d e M e d i a t e M o d eO g r a m M o d e Binary Hex Codes Ascii Mode Special Command CharactersN a r y System I/O Availability by Module N f i g u r i n g t h e D i g i t a l I / OS 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 E s o f t h e I s o l a t e d D i g i t a l I / O E I s o l a t e d D i g i t a l I / OLynx Control Module IOS Variable Settings E I O S Va r i a b l eN 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 Digital Filter Settings for the Isolated I/ON f i g u r i n g a n I n p u t 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 OutputsFour Clocks and Their Default Line Placement E D i f f e r e n t i a l I / OE C l o c k I n t e r f a c e 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 Lynx Control Module LX-CM100-000 R d w a r e Specification sV i r o n m e n t a l Specification s 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 Connector P3 Pin Configuration Lynx Control Module Configuration SwitchesLynx Control Module Group 20 I/O Pull-up 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 OverviewP u t Specification s Isolated I/O Module Group 40 I/O Pull-up SwitchesIsolated I/O Module Group 50 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 sN 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 High Speed Differential I/O Module Pin ConfigurationHigh Speed Differential I/O Module Input Specifications 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.
Top Page Image Contents