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Camtasia 940

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Camtasia 940

  1. 1. Model 940 PositionServo Overview TRAINING
  2. 2. What is the Model 940? <ul><li>The Model 940 is a fully programmable high performance Torque, Velocity and Position brushless servo drive with powerful performance & innovative features! </li></ul>
  3. 3. Model 940: Features, Benefits, & Specifications <ul><li>A Fully Programmable Digital AC Brushless Servo Drive with: </li></ul><ul><ul><li>Sinusoidal Commutation </li></ul></ul><ul><ul><li>Digital Signal Processing (DSP) </li></ul></ul><ul><ul><li>Field-oriented Control </li></ul></ul><ul><ul><li>Encoder & Resolver Feedback </li></ul></ul><ul><ul><li>Multiple power levels </li></ul></ul><ul><ul><li>Multiple input voltages </li></ul></ul><ul><ul><li>Multiple communication options </li></ul></ul><ul><ul><li>And much more! </li></ul></ul>
  4. 4. What is the “940” PositionServo? <ul><li>Torque, Velocity, Electronic Gearing and Programmable Motion Control </li></ul><ul><ul><li>Serves similar markets to 93xx-EP’s, 93xx-ES’s </li></ul></ul><ul><ul><li>Registration reaction (3μS/encoder) (7 μS/resolver) </li></ul></ul><ul><ul><li>17 Programmable I/O </li></ul></ul><ul><ul><li>5 separate and independent program threads: </li></ul></ul><ul><ul><ul><li>Deterministic “EVENT” handling </li></ul></ul></ul><ul><ul><ul><li>Motion Control </li></ul></ul></ul><ul><ul><ul><li>Program Control </li></ul></ul></ul><ul><ul><ul><li>Fault Monitor </li></ul></ul></ul><ul><ul><ul><li>Communication </li></ul></ul></ul>
  5. 5. Model 940: Power Ranges <ul><li>120/240VAC </li></ul>* Note: Input of 120V will result in reduced performance based upon motor Ke factor E94P020.. E94P040.. E94P080.. E94P100.. E94P120.. E94P180.. Continuous Current 2 AMP 4 AMP 8 AMP 10 AMP 12 AMP 18 AMP Peak Current 6 AMP 12 AMP 24 AMP 30 AMP 36 AMP 54 AMP Input Voltage 80 - 264 VAC 1 OR 3 - phase
  6. 6. Model 940: Power Ranges Voltage Doubler Units E94P020S1NEM E94x040S1NEM Cont Current 2 Amps 4 Amps Peak Current 6 Amps 12 Amps Input Voltage 120 VAC or 240 VAC
  7. 7. Model 940: Power Ranges <ul><li>480 VAC </li></ul>
  8. 8. Model 940: Part Number 94 Series <ul><li>Continuous Current </li></ul><ul><li>020 = 2 Amps </li></ul><ul><li>040 = 4 Amps </li></ul><ul><li>060 = 6 Amps </li></ul><ul><li>080 = 8 Amps </li></ul><ul><li>090 = 9 Amps </li></ul><ul><li>100 = 10 Amps </li></ul><ul><li>120 = 12 Amps </li></ul><ul><li>180 = 18 Amps </li></ul><ul><li>Input Phase </li></ul><ul><li>S = 1-Phase </li></ul><ul><li>Y = 1- or 3-Phase </li></ul><ul><li>T = 3-Phase </li></ul><ul><li>Input Voltage </li></ul><ul><li>1 = 120VAC (voltage doubler) </li></ul><ul><li>2 = 120/200/240 VAC </li></ul><ul><li>4 = 400/480 VAC </li></ul><ul><li>Line Filter </li></ul><ul><li>N = No line filter </li></ul><ul><li>F = Integrated line filter </li></ul>E94 P020S1NEM <ul><li>Feedback Type </li></ul><ul><li>E = Encoder </li></ul><ul><li>R = Resolver </li></ul><ul><li>ISO 13849-1 Safety Circuit </li></ul><ul><li>M = MVOB no STO </li></ul><ul><li>S = MVOB and STO </li></ul>P = PositionServo 940 (Encoder Based) R = PositionServo 941 (Resolver Based)
  9. 9. Model 940: Part Number 94 Series <ul><li>Continuous Current </li></ul><ul><li>020 = 2 Amps </li></ul><ul><li>040 = 4 Amps </li></ul><ul><li>060 = 6 Amps </li></ul><ul><li>080 = 8 Amps </li></ul><ul><li>090 = 9 Amps </li></ul><ul><li>100 = 10 Amps </li></ul><ul><li>120 = 12 Amps </li></ul><ul><li>180 = 18 Amps </li></ul><ul><li>Input Phase </li></ul><ul><li>S = 1-Phase </li></ul><ul><li>Y = 1- or 3-Phase </li></ul><ul><li>T = 3-Phase </li></ul><ul><li>Input Voltage </li></ul><ul><li>1 = 120VAC (voltage doubler) </li></ul><ul><li>2 = 120/200/240 VAC </li></ul><ul><li>4 = 400/480 VAC </li></ul><ul><li>Line Filter </li></ul><ul><li>N = No line filter </li></ul><ul><li>F = Integrated line filter </li></ul>E94 P 020S1NEM <ul><li>Feedback Type </li></ul><ul><li>E = Encoder </li></ul><ul><li>R = Resolver </li></ul>P = PositionServo 940 (Encoder Based) R = PositionServo 941 (Resolver Based) <ul><li>ISO 13849-1 Safety Circuit </li></ul><ul><li>M = MVOB no STO </li></ul><ul><li>S = MVOB and STO </li></ul>
  10. 10. E94P vs. E94R <ul><li>E94P / 940 </li></ul><ul><ul><li>Encoder Feedback </li></ul></ul><ul><ul><li>15 pin D Shell Connector </li></ul></ul><ul><ul><li>E94P_ _ _ _ _ _ E_ </li></ul></ul><ul><li>E94R / 941 </li></ul><ul><ul><li>Resolver Feedback </li></ul></ul><ul><ul><li>9 pin D Shell Connector </li></ul></ul><ul><ul><li>E94R _ _ _ _ _ _R_ </li></ul></ul>
  11. 11. Model 940: Part Number 94 Series <ul><li>Continuous Current </li></ul><ul><li>020 = 2 Amps </li></ul><ul><li>040 = 4 Amps </li></ul><ul><li>060 = 6 Amps </li></ul><ul><li>080 = 8 Amps </li></ul><ul><li>090 = 9 Amps </li></ul><ul><li>100 = 10 Amps </li></ul><ul><li>120 = 12 Amps </li></ul><ul><li>180 = 18 Amps </li></ul><ul><li>Input Phase </li></ul><ul><li>S = 1-Phase </li></ul><ul><li>Y = 1- or 3-Phase </li></ul><ul><li>T = 3-Phase </li></ul><ul><li>Input Voltage </li></ul><ul><li>1 = 120VAC (voltage doubler) </li></ul><ul><li>2 = 120/200/240 VAC </li></ul><ul><li>4 = 400/480 VAC </li></ul><ul><li>Line Filter </li></ul><ul><li>N = No line filter </li></ul><ul><li>F = Integrated line filter </li></ul>E94P 020 S1NEM <ul><li>Feedback Type </li></ul><ul><li>E = Encoder </li></ul><ul><li>R = Resolver </li></ul>P = PositionServo 940 (Encoder Based) R = PositionServo 941 (Resolver Based) <ul><li>ISO 13849-1 Safety Circuit </li></ul><ul><li>M = MVOB no STO </li></ul><ul><li>S = MVOB and STO </li></ul>
  12. 12. Model 940: Part Number 94 Series <ul><li>Continuous Current </li></ul><ul><li>020 = 2 Amps </li></ul><ul><li>040 = 4 Amps </li></ul><ul><li>060 = 6 Amps </li></ul><ul><li>080 = 8 Amps </li></ul><ul><li>090 = 9 Amps </li></ul><ul><li>100 = 10 Amps </li></ul><ul><li>120 = 12 Amps </li></ul><ul><li>180 = 18 Amps </li></ul><ul><li>Input Phase </li></ul><ul><li>S = 1-Phase </li></ul><ul><li>Y = 1- or 3-Phase </li></ul><ul><li>T = 3-Phase </li></ul><ul><li>Input Voltage </li></ul><ul><li>1 = 120VAC (voltage doubler) </li></ul><ul><li>2 = 120/200/240 VAC </li></ul><ul><li>4 = 400/480 VAC </li></ul><ul><li>Line Filter </li></ul><ul><li>N = No line filter </li></ul><ul><li>F = Integrated line filter </li></ul>E94P020 S 1NEM <ul><li>Feedback Type </li></ul><ul><li>E = Encoder </li></ul><ul><li>R = Resolver </li></ul>P = PositionServo 940 (Encoder Based) R = PositionServo 941 (Resolver Based) <ul><li>ISO 13849-1 Safety Circuit </li></ul><ul><li>M = MVOB no STO </li></ul><ul><li>S = MVOB and STO </li></ul>
  13. 13. Model 940: Part Number 94 Series <ul><li>Continuous Current </li></ul><ul><li>020 = 2 Amps </li></ul><ul><li>040 = 4 Amps </li></ul><ul><li>060 = 6 Amps </li></ul><ul><li>080 = 8 Amps </li></ul><ul><li>090 = 9 Amps </li></ul><ul><li>100 = 10 Amps </li></ul><ul><li>120 = 12 Amps </li></ul><ul><li>180 = 18 Amps </li></ul><ul><li>Input Phase </li></ul><ul><li>S = 1-Phase </li></ul><ul><li>Y = 1- or 3-Phase </li></ul><ul><li>T = 3-Phase </li></ul><ul><li>Input Voltage </li></ul><ul><li>1 = 120VAC (voltage doubler) </li></ul><ul><li>2 = 120/200/240 VAC </li></ul><ul><li>4 = 400/480 VAC </li></ul><ul><li>Line Filter </li></ul><ul><li>N = No line filter </li></ul><ul><li>F = Integrated line filter </li></ul>E94P020S 1 NEM <ul><li>Feedback Type </li></ul><ul><li>E = Encoder </li></ul><ul><li>R = Resolver </li></ul>P = PositionServo 940 (Encoder Based) R = PositionServo 941 (Resolver Based) <ul><li>ISO 13849-1 Safety Circuit </li></ul><ul><li>M = MVOB no STO </li></ul><ul><li>S = MVOB and STO </li></ul>
  14. 14. Model 940: Part Number 94 Series <ul><li>Continuous Current </li></ul><ul><li>020 = 2 Amps </li></ul><ul><li>040 = 4 Amps </li></ul><ul><li>060 = 6 Amps </li></ul><ul><li>080 = 8 Amps </li></ul><ul><li>090 = 9 Amps </li></ul><ul><li>100 = 10 Amps </li></ul><ul><li>120 = 12 Amps </li></ul><ul><li>180 = 18 Amps </li></ul><ul><li>Input Phase </li></ul><ul><li>S = 1-Phase </li></ul><ul><li>Y = 1- or 3-Phase </li></ul><ul><li>T = 3-Phase </li></ul><ul><li>Input Voltage </li></ul><ul><li>1 = 120VAC (voltage doubler) </li></ul><ul><li>2 = 120/200/240 VAC </li></ul><ul><li>4 = 400/480 VAC </li></ul><ul><li>Line Filter </li></ul><ul><li>N = No line filter </li></ul><ul><li>F = Integrated line filter </li></ul>E94P020S1 N EM <ul><li>Feedback Type </li></ul><ul><li>E = Encoder </li></ul><ul><li>R = Resolver </li></ul>P = PositionServo 940 (Encoder Based) R = PositionServo 941 (Resolver Based) <ul><li>ISO 13849-1 Safety Circuit </li></ul><ul><li>M = MVOB no STO </li></ul><ul><li>S = MVOB and STO </li></ul>
  15. 15. Model 940: EMC Filters <ul><li>E94PxxxS2FEx = Single-phase input with integral line filter (VDE class A) </li></ul><ul><li>Filters are required for CE (EMC). User can order the 1-phase Model 94 with or without the integrated EMC filters. </li></ul><ul><li>3-phase units must purchase external filter for EMC compliance </li></ul>
  16. 16. Model 940: Part Number 94 Series <ul><li>Continuous Current </li></ul><ul><li>020 = 2 Amps </li></ul><ul><li>040 = 4 Amps </li></ul><ul><li>060 = 6 Amps </li></ul><ul><li>080 = 8 Amps </li></ul><ul><li>090 = 9 Amps </li></ul><ul><li>100 = 10 Amps </li></ul><ul><li>120 = 12 Amps </li></ul><ul><li>180 = 18 Amps </li></ul><ul><li>Input Phase </li></ul><ul><li>S = 1-Phase </li></ul><ul><li>Y = 1- or 3-Phase </li></ul><ul><li>T = 3-Phase </li></ul><ul><li>Input Voltage </li></ul><ul><li>1 = 120VAC (voltage doubler) </li></ul><ul><li>2 = 120/200/240 VAC </li></ul><ul><li>4 = 400/480 VAC </li></ul><ul><li>Line Filter </li></ul><ul><li>N = No line filter </li></ul><ul><li>F = Integrated line filter </li></ul>E94P020S1N E M <ul><li>Feedback Type </li></ul><ul><li>E = Encoder </li></ul><ul><li>R = Resolver </li></ul>P = PositionServo 940 (Encoder Based) R = PositionServo 941 (Resolver Based) <ul><li>ISO 13849-1 Safety Circuit </li></ul><ul><li>M = MVOB no STO </li></ul><ul><li>S = MVOB and STO </li></ul>
  17. 17. Model 940: Part Number 94 Series <ul><li>Continuous Current </li></ul><ul><li>020 = 2 Amps </li></ul><ul><li>040 = 4 Amps </li></ul><ul><li>060 = 6 Amps </li></ul><ul><li>080 = 8 Amps </li></ul><ul><li>090 = 9 Amps </li></ul><ul><li>100 = 10 Amps </li></ul><ul><li>120 = 12 Amps </li></ul><ul><li>180 = 18 Amps </li></ul><ul><li>Input Phase </li></ul><ul><li>S = 1-Phase </li></ul><ul><li>Y = 1- or 3-Phase </li></ul><ul><li>T = 3-Phase </li></ul><ul><li>Input Voltage </li></ul><ul><li>1 = 120VAC (voltage doubler) </li></ul><ul><li>2 = 120/200/240 VAC </li></ul><ul><li>4 = 400/480 VAC </li></ul><ul><li>Line Filter </li></ul><ul><li>N = No line filter </li></ul><ul><li>F = Integrated line filter </li></ul>E94P020S1NE M <ul><li>Feedback Type </li></ul><ul><li>E = Encoder </li></ul><ul><li>R = Resolver </li></ul>P = PositionServo 940 (Encoder Based) R = PositionServo 941 (Resolver Based) <ul><li>ISO 13849-1 Safety Circuit </li></ul><ul><li>M = MVOB no STO </li></ul><ul><li>S = MVOB and STO </li></ul>
  18. 18. Model 940: Communication Options <ul><li>Ethernet (Standard) </li></ul><ul><ul><li>MotionView Communications </li></ul></ul><ul><ul><li>Drive to Drive Communications </li></ul></ul><ul><ul><li>Modbus TCP </li></ul></ul><ul><ul><li>Ethernet IP </li></ul></ul>
  19. 19. Model 940: Communication Options <ul><li>CANbus (optional) </li></ul><ul><ul><li>Up to 1 Mbps </li></ul></ul><ul><ul><li>Up to 64 axis </li></ul></ul><ul><ul><li>CANopen </li></ul></ul><ul><ul><li>DS301 COM profile </li></ul></ul><ul><li>RS 485 (optional) </li></ul><ul><ul><li>38.4 kbps </li></ul></ul><ul><ul><li>Up to 32 axis </li></ul></ul><ul><ul><li>Point-to-Point Protocol (PPP) </li></ul></ul><ul><ul><li>MODBUS RTU </li></ul></ul>
  20. 20. Model 940: Communication Options <ul><li>DeviceNet (optional) </li></ul><ul><ul><li>500 kbps </li></ul></ul><ul><ul><li>Up to 63 axis </li></ul></ul><ul><ul><li>Group 2 Server </li></ul></ul><ul><li>Profibus DP (optional) </li></ul><ul><ul><li>12 Mbps </li></ul></ul><ul><ul><li>Up to 125 axis </li></ul></ul><ul><ul><li>RS485 ½ Duplex </li></ul></ul><ul><ul><li>DP V0 </li></ul></ul>
  21. 21. Model 940: Additional Features <ul><li>24-volt “Keep-Alive” circuit </li></ul><ul><ul><li>Apply optional external voltage to keep logic alive even without mains power applied to the drive </li></ul></ul><ul><li>Thermocouple input </li></ul><ul><ul><li>PTC input at motor-power terminal block </li></ul></ul>
  22. 22. Model 940: Additional Features <ul><li>Braking & DC Bus </li></ul><ul><ul><li>Internal regen circuitry – external braking resistors </li></ul></ul><ul><ul><li>± Bus for DC input or load sharing </li></ul></ul><ul><li>Standard feed back </li></ul><ul><ul><li>Encoder </li></ul></ul><ul><ul><ul><li>Quadrature Incremental Encoder (2MHz) </li></ul></ul></ul><ul><ul><li>Resolver </li></ul></ul><ul><ul><ul><li>12 Bit Resolution </li></ul></ul></ul>
  23. 23. Model 940: What makes us better? <ul><li>Electronic Programmable Module (EPM) </li></ul><ul><ul><li>Easy to program drives in high-volume OEM production </li></ul></ul><ul><ul><li>Ultra-easy to swap in the field </li></ul></ul><ul><ul><li>Easier and more reliable than analog drives </li></ul></ul>
  24. 24. Model 940: What makes us better? <ul><li>Keypad & Display </li></ul><ul><ul><li>Monitoring and diagnostics </li></ul></ul><ul><ul><li>4-Digit 7-Segment Display </li></ul></ul><ul><ul><li>3-Button “Keypad” </li></ul></ul>
  25. 25. Model 940: What makes us better?
  26. 26. Keypad & Display
  27. 27.
  28. 28. New for Hardware Version 2
  29. 29. 8oot 0=Autoboot Disabled 1=Autoboot Enabled
  30. 30. Fault Code Display
  31. 31. High density 50 pin SCSI Connector Field Wiring Pin Name Function 1 MA+ Master Encoder A+ / Step+ input (2) 2 MA- Master Encoder A- / Step- input (2) 3 MB+ Master Encoder B+ / Direction+ input (2) 4 MB- Master Encoder B- / Direction- input (2) 5 GND Drive Logic Common 6 +5V +5v output 7 BA+ Buffered Encoder Output: Channel A+ (1) 8 BA- Buffered Encoder Output: Channel A- (1) 9 BB+ Buffered Encoder Output: Channel B+ (1) 10 BB- Buffered Encoder Output: Channel B- (1) 11 BZ+ Buffered Encoder Output: Channel Z+ (1) 12 BZ- Buffered Encoder Output: Channel Z- (1) 13-19 Empty 20 AIN2+ Positive (+) of Analog signal input 21 AIN2- Negative (-) of Analog signal input 22 ACOM Analog common 23 AO1 Analog output 24 AIN1+ Positive (+) of Analog signal input 25 AIN1 - Negative (-) of Analog signal input 26 IN_A_COM Digital input group A COM terminal 27 IN_A1 Digital input A1 28 IN_A2 Digital input A2 29 IN_A3 Digital input A3 30 IN_A4 Digital input A4 31 IN_B_COM Digital input group B COM terminal 32 IN_B1 Digital input B1 33 IN_B2 Digital input B2 34 IN_B3 Digital input B3 35 IN_B4 Digital input B4 36 IN_C_COM Digital input group C COM terminal 37 IN_C1 Digital input C1 38 IN_C2 Digital input C2 39 IN_C3 Digital input C3 40 IN_C4 Digital input C4 41 RDY+ Ready output Collector 42 RDY- Ready output Emitter 43 OUT1-C Programmable output #1 Collector 44 OUT1-E Programmable output #1 Emitter 45 OUT2-C Programmable output #2 Collector 46 OUT2-E Programmable output #2 Emitter 47 OUT3-C Programmable output #3 Collector 48 OUT3-E Programmable output #3 Emitter 49 OUT4-C Programmable output #4 Collector 50 OUT4-E Programmable output #4 Emitter
  32. 32. Model 940: Digital I/O <ul><li>Digital Inputs (5…24vdc): </li></ul><ul><ul><li>12 Digital Inputs </li></ul></ul><ul><ul><li>User Program accessible </li></ul></ul><ul><ul><li>Special Purpose programmable </li></ul></ul><ul><li>Digital Outputs (open-collector): </li></ul><ul><ul><li>5 Digital Outputs </li></ul></ul><ul><ul><li>1 Dedicated (Ready/Enabled) </li></ul></ul><ul><ul><li>4 Programmable and/or User Program accessible </li></ul></ul>
  33. 33. Model 940: Analog I/O <ul><li>Analog Inputs: </li></ul><ul><ul><li>2 Analog Inputs </li></ul></ul><ul><ul><li>Accessible via the User Program: </li></ul></ul><ul><ul><li>(±10V, 12-bit A1, 12-bit A2) (differential) </li></ul></ul><ul><li>Analog Outputs: </li></ul><ul><ul><li>1 Programmable or User Program assessable: </li></ul></ul><ul><ul><li>(0-10V, 10-bit, single-ended) </li></ul></ul>
  34. 34. Model 940: Breakout Modules <ul><li>Terminal Block I/O Module: E94ZATB02 </li></ul>
  35. 35. Model 940: Breakout Modules <ul><li>:SCSI cable assembly (EWLN002SF1NA) </li></ul>Two Meter
  36. 36. Model 940: Breakout Modules <ul><li>:940 Test Board (E94ZATST1) </li></ul><ul><li>5 Status Led’s </li></ul><ul><ul><li>+5V </li></ul></ul><ul><ul><li>Ready </li></ul></ul><ul><ul><li>Outputs 1 – 4 </li></ul></ul><ul><li>8 Input Switches </li></ul><ul><li>2 Analog Inputs </li></ul><ul><li>Field Wiring </li></ul><ul><ul><li>Master Encoder / Step & Direction </li></ul></ul><ul><ul><li>5 Volt Ref </li></ul></ul><ul><ul><li>Output 1 </li></ul></ul><ul><ul><li>External Inputs </li></ul></ul>
  37. 37. Model 940: Breakout Modules <ul><li>Panel Saver SCSI I/O Module: </li></ul>
  38. 38. Model 940: Breakout Modules <ul><li>Motor Brake Terminal Block Module: (E94ZAHBK2) </li></ul>
  39. 39. Model 940: Standard Feedback <ul><li>Encoder Feedback (standard) </li></ul><ul><ul><li>2.5 MHz </li></ul></ul><ul><ul><li>Buffered Encoder Pass-Through </li></ul></ul><ul><ul><ul><li>Direct pass through – virtually no delays </li></ul></ul></ul>To Motion Controller Encoder Feedback to Controller
  40. 40. Motor Offerings <ul><li>Compatible Lenze Servo Motors </li></ul><ul><ul><li>MCS Series </li></ul></ul>
  41. 41. Motor Offerings <ul><li>MCS </li></ul><ul><ul><li>Synchronous AC brushless servo motors </li></ul></ul><ul><ul><li>250W to 10kW </li></ul></ul><ul><ul><li>240/480 VAC </li></ul></ul><ul><ul><li>IEC Metric-mounting flange </li></ul></ul><ul><ul><ul><li>60mm, 90mm, 120mm </li></ul></ul></ul><ul><ul><li>Resolver feedback </li></ul></ul><ul><ul><ul><li>Encoder optional (4096 PPR) </li></ul></ul></ul><ul><ul><li>UL, CE </li></ul></ul><ul><ul><li>IP54 </li></ul></ul><ul><ul><ul><li>IP65 optional </li></ul></ul></ul><ul><ul><li>Mil-Spec connectors </li></ul></ul>
  42. 42. Motor Offerings MCS Series Motors Rated Pwr Rated Speed Max Speed Rated Torque MCS06 / 240V 0.25 - 0.75 Kw 4050 - 6000 rpm 6500 - 8500 rpm 0.5 - 1.5 Nm MCS09 / 240V 1.2 - 1.9 Kw 3750 - 6000 rpm 6500 - 8500 rpm 2.4 - 3.8 Nm MCS12 / 240V 1.6 - 2.8 Kw 1500 - 3000 rpm 4000 - 6000 rpm 8 - 13.5 Nm MCS06 / 480V 0.25 - 0.75 Kw 4050 - 6000 rpm 8000 rpm 0.5 - 1.5 Nm MCS09 / 480V 1.2 - 1.9 Kw 3750 - 6000 rpm 7000 rpm 2.4 - 3.8 Nm MCS12 / 480V 1.1 - 4.7 Kw 1500 - 4050 rpm 6000 rpm 4.3 - 13.5 Nm MCS14 / 480V 1.45 - 2.8 Kw 1500 - 3600 rpm 6000 rpm 7.5 - 16 Nm MCS19 / 480V 4 Kw 1425 rpm 4000 rpm 27 Nm
  43. 43. Model 940: Additional Servo Motors <ul><li>You can use third-party motors </li></ul><ul><li>Feedback accepted: </li></ul><ul><ul><li>5-volt Incremental Encoders </li></ul></ul><ul><ul><ul><li>Hall-effect feedback for commutation </li></ul></ul></ul><ul><ul><ul><li>A, B, and Z channels with differential pairs (A-not, B-not and Z-not) </li></ul></ul></ul><ul><ul><ul><li>Line-driven (not open-collector) </li></ul></ul></ul><ul><ul><li>10 V peak to peak Resolvers </li></ul></ul><ul><ul><ul><li>0.5 Transformation Ratio </li></ul></ul></ul><ul><ul><ul><li>5 kHz carrier frequency </li></ul></ul></ul><ul><li>Cannot accept </li></ul><ul><ul><li>Absolute encoders </li></ul></ul>Motor Offerings
  44. 44. Model 940 Wiring the Drive TRAINING
  45. 45. Model 940: Digital I/O (A1, A2, A3, A4, Acom) } (B1, B2, B3, B4, Bcom) } (C1, C2, C3, C4, Ccom) } The inputs on the 940 are grouped into three sets of four, each with its own common Pin Name Function 26 IN_A_COM Digital Input group A COM terminal 27 IN_A1 Digital Input A1 28 IN_A2 Digital Input A2 29 IN_A3 Digital Input A3 30 IN_A4 Digital Input A4 31 IN_B_COM Digital Input group B COM terminal 32 IN_B1 Digital Input B1 33 IN_B2 Digital Input B2 34 IN_B3 Digital Input B3 35 IN_B4 Digital Input B4 36 IN_C_COM Digital Input group C COM terminal 37 IN_B1 Digital Input C1 38 IN_B2 Digital Input C2 39 IN_B3 Digital Input C3 40 IN_B4 Digital Input C4
  46. 46. Customer Connections PNP?? NPN?? Sinking?? Sourcing?? Positive Logic?? Negative Logic?? Active Hi?? Active Low??
  47. 47. Model 940: Digital Inputs +24V Gnd PNP PNP, Sourcing, Active High, Pos Logic
  48. 48. Model 940: Digital Inputs PNP + - Power Supply Drive PLC
  49. 49. Model 940: Digital Inputs NPN +24V Gnd NPN, Sinking, Active Low, Neg Logic
  50. 50. Model 940: Digital Inputs NPN - + Power Supply PLC Drive
  51. 51. Model 940: Digital I/O Ready Output } Output #1 } } There are 5 outputs on the 940. One is dedicated as a Ready Output. All the outputs Open Collector / Emitter } } Output #2 Output #3 Output #4 Pin Name Function 41 RDY+ Ready output Collector 42 RDY- Ready output Emitter 43 OUT1-C Programmable output #1 Collector 44 OUT1-E Programmable output #1 Emitter 45 OUT2-C Programmable output #2 Collector 46 OUT2-E Programmable output #2 Emitter 47 OUT3-C Programmable output #3 Collector 48 OUT3-E Programmable output #3 Emitter 49 OUT4-C Programmable output #4 Collector 50 OUT4-E Programmable output #4 Emitter
  52. 52. Model 940: Digital Outputs Digital outputs electrical characteristics Circuit type - Isolated Open Collector Digital output load capability - 15 mA (100 mA for Rev 2) Digital outputs Collector-Emitter max voltage - 30V PNP +24V Gnd 43 44 45 46 OUT1-C OUT1-E OUT2-C OUT2-E
  53. 53. Model 940: Digital Outputs Digital outputs electrical characteristics Circuit type - Isolated Open Collector Digital output load capability - 15 mA (100mA for Rev 2) Digital outputs Collector-Emitter max voltage - 30V NPN +24V Gnd 43 44 45 46 OUT1-C OUT1-E OUT2-C OUT2-E
  54. 54. Model 940: Analog I/O The 940 has two Analog Inputs and one Analog Output Analog Input #2 is 12 bit and can be wired either as single ended or differential } The Analog Output is a 10 bit single ended, (0-10V) signal. It can be programmed to emulate parameters like motor velocity, Phase Current, and others } Analog Input #1 is used as the main external reference. It is 12 bit and can be wired either as single ended or differential } Pin Name Function 20 AIN2+ Analog Input #2 [Positive (+)] 21 AIN2- Analog Input #2 [Negative (-)] 22 ACOM Analog Common 23 AO1 Analog Output 24 AIN1+ Analog Input #1 [Positive (+)] 25 AIN1- Analog Input #1 [Negative (-)]
  55. 55. Model 940: Analog I/O EXTERNAL REFERENCE (DIFFERENTIAL CONFIGURATION) Analog Command Output ACOM Analog Command Return Motion Controller 940 Servo Drive AIN+ AIN- ACOM P3.25 P3.22 + - 940 P3.24 Analog Device Analog Input Analog input + Analog input -
  56. 56. Model 940: Analog I/O SINGLE-ENDED CONFIGURATION As the dancer arm goes up and down a 0 – 10 volt signal is transmitted to the 940 drive AOut ACOM AIN2+ AIN2- ACOM P3.21 P3.22 + - 940 P3.20
  57. 57. Software & Drive Setup TRAINING
  58. 58. Software and Drive Setup Free Programming and Configuration Software Residing in the drive MVOB
  59. 59. Software and Drive Setup <ul><li>MVOB – MotionView On Board </li></ul><ul><ul><li>MotionView is the universal programming software used to communicate to and configure the PositionServo drive. </li></ul></ul><ul><ul><li>This software package is not only free but resides in the drive </li></ul></ul><ul><ul><li>All that is needed is a web browser to program and configure the drive. </li></ul></ul><ul><ul><li>Simply type in the drives IP address into the web browser and MotionView will be up loaded from the drive. </li></ul></ul>
  60. 60. Software and Drive Setup How do you connect and communicate to the PositionServo? First you need to create a small network between the drive and the PC. To do this connect a Ethernet Cross Over cable between your computer and the Ethernet port on the PositionServo Drive.
  61. 61. What is a Network and how does the user set up their computer? Individual Work Stations Company Network
  62. 62. Work Station Local Area Network X
  63. 63. From “ Control Panel ” select “ Network Connections ”
  64. 64. Select your New “ Local Area Connections ”
  65. 65. Now Select “ Properties”
  66. 66. Select “ Internet Protocol (TCP/IP) ” and click “ Properties ”
  67. 67. Click “Use the following IP address Enter in the following address and click OK.
  68. 68. To launch the software you need to launch your web browser. MVOB Software and Drive Setup
  69. 69. <ul><li>MVOB – MotionView On Board </li></ul>192.168.124.120 Just type the drive’s IP address into your web browser
  70. 70. <ul><li>MVOB – MotionView On Board </li></ul>The browser will connect to the drive to upload the software
  71. 71. <ul><li>MVOB – MotionView On Board </li></ul>You are now ready to configure and program you drive
  72. 72. Once MotionView has been launched from the browser a MotionView Java Icon will be loaded to the desktop.
  73. 73. Running MVOB on Windows 7 In the “ Control Panel ”, select “ Network and Internet ”
  74. 74. Then select “ Network and Sharing Center ”
  75. 75. From here you want to select “Change Adapter Settings”
  76. 76. Right-click on your “Local Area Connection” or Adapter and pick “Properties”
  77. 77. Now choose “ Internet Protocol Version 4 ” and click “ Properties ”
  78. 78. From here you can enter your desired IP settings and Subnet mask
  79. 79. Just as before, open your browser and enter the PositionServo’s IP address
  80. 80. MVOB – MotionView On Board <ul><li>Who else offers this? </li></ul><ul><li>NO CD’s needed! </li></ul><ul><li>No Rev’s to worry about! </li></ul>
  81. 81. Once MotionView is open select the “ Connect ” button from the Tool Bar
  82. 82. From the Connection screen, select the “ Discover ” button to ping the network and detect all PositionServo drives on the network Select the drives you wish to connect to and select the “Connect” button If the no drives where discovered then type the IP address in for the desired drive and select “Connect” 192.168.124.120
  83. 83. Select “Save Connection” “ Save Connection ” allows the user to save the connection to a drive or multiple drives under one name, for example (XAxis) XAxis
  84. 84. The next time you need to connect to a drive or group of drives you can click on the “ Load Connection ” button to connect to all the saved connections.
  85. 85. We can now Program and Configure the drive. Click on the drive folder
  86. 86. Parameter View Window Message Window Parameter Tree Window The programming environment is segmented into three windows
  87. 87. Select the “ Motor ” file from the Parameter Tree The Motor’s Parameter will be displayed in the “ Parameter View Window ”
  88. 88. When you select the drive node drive information is displayed in the Parameter View Window This is also where the drive can be assigned a name “ XAxis ”
  89. 89. To select a motor from the Motor data base, click here
  90. 90. Click here to choose a Vendor Click here to select motor model
  91. 91. If the users motor isn’t in the database then a Custom Motor File can be created.
  92. 92. Model 940: Auto Tuning Feedback Command Output Lab
  93. 93. These settings are used for Autotuning
  94. 94. Deselect “ Disable High Performance Mode” for best Autotuning results Select “Autotuning” Select “ Position Tuning ” to tune both Velocity and Position loops at the same time Turn on IN_A3 and select “Start” to Autotune the drive Select “ Yes ” to accept the tuning gains and complete Autotuning
  95. 95. Advanced AutoTuning Options Feedback Filter to compensate for noise in motor feedback Two available filters for tuning response Low Pass for noncompliant transmission (i.e. belt drive) Resonator for Resonance Notch for non-uniform load distribution You need to run Autotune again after enabling a filter. For most applications these filters are not required
  96. 96. Select the “ Parameter ” file from the Node tree to view & edit the drive’s parameters The following are some of the more commonly used properties
  97. 97. Drive Mode: can be set to Torque, Velocity or Position Reference: can be set to Internal or External
  98. 98. Servo Torque Control <ul><li>Up to 1.5 kHz bandwidth in Torque (Current) mode </li></ul><ul><ul><ul><li>65 μs current loop </li></ul></ul></ul><ul><ul><ul><li>100:1 torque range </li></ul></ul></ul><ul><ul><ul><li>Accuracy is 1% of Imax </li></ul></ul></ul>   LOAD Velocity Torque Position Computed Set point
  99. 99. Servo Torque Control <ul><li>Controls current to motor </li></ul><ul><ul><li>Adjusts (torque) out of the motor </li></ul></ul><ul><li>Accepts torque command from controller </li></ul><ul><ul><li>Analog or frequency signal </li></ul></ul>
  100. 100. Torque Control Speed-Torque Characteristics
  101. 101. Torque Control <ul><li>Torque Control Applications </li></ul><ul><ul><li>Nut Runners </li></ul></ul><ul><ul><li>Web Tension </li></ul></ul><ul><ul><li>Labelers </li></ul></ul><ul><ul><li>Velocity and Position loop are closed in controller (if applicable) </li></ul></ul>
  102. 102. Torque Control Nut Runner
  103. 103. Servo Velocity Control <ul><li>Up to 200 Hz bandwidth in Velocity mode </li></ul><ul><ul><ul><li>512 μs velocity loop </li></ul></ul></ul><ul><ul><ul><li>5000:1 velocity range* </li></ul></ul></ul><ul><ul><ul><li>Regulation ±1 RPM </li></ul></ul></ul>*With 4096 PPR encoder    LOAD Velocity Torque Position Computed Set point
  104. 104. Servo Velocity Control <ul><li>Monitors and regulates speed </li></ul><ul><li>Also monitors current to motor </li></ul><ul><li>Accepts velocity command from controller </li></ul><ul><ul><li>Analog or frequency signal </li></ul></ul>
  105. 105. Servo Velocity Control
  106. 106. Servo Velocity Control <ul><li>Velocity Control Applications </li></ul><ul><ul><li>Conveyors </li></ul></ul><ul><ul><li>Spinning wafers </li></ul></ul><ul><ul><li>Position loop closed in master controller </li></ul></ul>
  107. 107. Servo Velocity Control Wafer Spinner
  108. 108. Servo Position Control <ul><li>Up to 200 Hz bandwidth in Position mode </li></ul><ul><ul><ul><li>512 μs position loop </li></ul></ul></ul><ul><ul><ul><li>Follows frequencies up to 2 MHz </li></ul></ul></ul><ul><li>High-speed execution of motion program </li></ul><ul><ul><ul><li>Trajectory calculations </li></ul></ul></ul><ul><ul><ul><li>Deterministic EVENTs </li></ul></ul></ul>   LOAD Velocity Torque Position Computed Set point
  109. 109. Servo Position Control <ul><li>Controls motor for correct position at correct time </li></ul><ul><li>Also monitors torque and velocity </li></ul>Time / Position Speed
  110. 110. Servo Position Control
  111. 111. Servo Position Control <ul><li>Position Control Applications </li></ul><ul><ul><li>Case Packer </li></ul></ul><ul><ul><li>Point to point motion </li></ul></ul><ul><ul><li>Pick and Place machines </li></ul></ul><ul><ul><li>Flying Shear </li></ul></ul>
  112. 112. Servo Position Control Case Packer
  113. 113. Drive Mode, can be set to Torque, Velocity or Position. Reference, Can be set to Internal or external Drive Frequency can be set to 8 KHZ or 16 KHZ
  114. 114. High Efficiency <ul><li>High Carrier Frequency </li></ul><ul><ul><li>Selectable 8, 16 kHz switching frequency </li></ul></ul><ul><ul><ul><li>Out of the audible range </li></ul></ul></ul><ul><li>Space-Vector Modulated </li></ul><ul><ul><li>Greater DC-bus utilization </li></ul></ul>
  115. 115. Master Encoder Input type can be set to Master Encoder or Step and Direction Set ratio to follow a Master Encoder User units defined the move
  116. 116. There are 4 selections under Communications - Ethernet - RS485 - Can - Profibus Ethernet tab allows you to view and change the drives Ethernet IP address
  117. 117. Select the “ Digital IO ” file from the Node tree to view/edit and program the drives IO Outputs can be set to come on at preprogrammed times Input debounce time can be set for mechanical Inputs Inputs A1 and A2 can be preset to be used as end of travel limit switches Enable Switch Function can be set to Run for external reference or Inhibit for internal reference
  118. 118. Select the “ Analog IO ” file from the Node tree to view/edit and program the drives IO The Analog output can be configured to various values Analog Output (Current Scale) – Scale Analog output for Phase current Analog Output (Velocity Scale) – Scale Analog output Velocity Analog Input (Current Scale) – Scale Analog input for torque Analog Input (Velocity Scale) – Scale the motor RPM vs. analog input Analog Input Dead-Band configures where and when the analog input will take control Analog Input Offset cancels out noise on the line
  119. 119. When an output is preprogrammed to come on these parameters are used Select the “ Velocity Limits ” folder
  120. 120. These parameters are used in conjunction with the drives Position Error Select the “ Position Limits ” folder
  121. 121. Select the “ Compensation ” folder These parameters are used in conjunction with the tuning of the drive
  122. 122. Select the “ Indexer program ” folder This is where the user can write there own User program for there application
  123. 123. Select Oscilloscope to-do motor and drive diagnostics Select the “ Tools ” folder
  124. 124. Select “Parameter & IO View” to monitor IO and read / write to drive parameters. Select the “Tools” folder. Select “Add” to select variables. Expand to view selections. Select variables to read/write. Select “Add” to select variables.
  125. 125. Select the “ Monitor ” folder
  126. 126. Select “ Load Faults ” to display the fault history Select the “ Faults ” folder Select “ Clear Faults ” to clear the fault history
  127. 127. “ Print ” prints a file containing all of the drives settings as well as the user program “ Save Configuration ” Allows the user to save all the settings as a configuration file “ Load Configuration ” Allows the user to load the configuration saved file to a new drive “ Stop/Reset ” Stops the Indexer program and resets the drive
  128. 128. <ul><li>External Reference Labs </li></ul><ul><ul><li>Torque, Velocity & Position </li></ul></ul>TRAINING
  129. 129. Model 940: Reference Input <ul><li>The 940’s Reference Input can be sourced in multiple ways </li></ul><ul><li>From an external devices (Centralized Control System) </li></ul><ul><ul><li>PLC / Motion Controller </li></ul></ul><ul><ul><li>Master Encoder </li></ul></ul><ul><li>From it’s internal User Program </li></ul><ul><ul><li>Index Moves </li></ul></ul><ul><ul><li>Position Moves </li></ul></ul><ul><ul><li>Gearing </li></ul></ul><ul><ul><li>Segment Moves </li></ul></ul>
  130. 130. External Reference Input Reference Input Pass Through Feedback “ External” Motion Controller Command Output Feedback Centralized Control Torque Reference Lab Motion Controller Computer w/PC Card
  131. 131. Enable Input (IN_A3) 940 Test Board (E94ZATST01) Input (IN_A1) Inputs (IN_A4 – IN_B4) Status LED’s (+5V, Rdy, Out1 – Out4) Field Inputs Master Enc / Step Dir Field Wiring Out1 5 Volt Ref Analog Output Field Wiring Inputs IN_A1, IN_C1- IN_C4 Analog Input 2 Analog Input 1 Input (IN_C3)
  132. 132. Select “ Parameters” from the node tree Open the Drive Mode pull down window and select “ Torque” Mode
  133. 133. Set the drive up for External Reference Select “ Parameters” from the node tree
  134. 134. Set the “ Enable switch function” to Run Select “ Digital IO” from the node tree
  135. 135. Turn on the “ Enable ” Input Use the pot on the test board to simulate an analog input from a Motion Controller
  136. 136. Torque Control Speed-Torque Characteristics
  137. 137. Adjusting the Analog input (current scale) will determine how much torque is put out per analog voltage coming in Select “ Analog IO” from the node tree
  138. 138. External Reference Input (Centralized Control System): Reference Input Pass Through Feedback “ Centralized” Control Command Output Feedback Analog Reference Lab Motion Controller Computer w/PC Card
  139. 139. Select “ Parameters” from the node tree Open the Drive Mode pull down window and select “ Velocity” Mode Reference remains as “ External ”
  140. 140. Turn on the “ Enable ” Input Use the pot on the test board to simulate an analog input from a Motion Controller
  141. 141. Change the value for Analog Input (velocity scale) and note how the speed of the motor changes Select “ Analog IO” from the node tree
  142. 142. Select “ Parameters” from the node tree Change the Velocity Mode Acceleration setting from Enabled to Disabled
  143. 143. Adjust the Pot to about half speed and click on the “ << “ button next to “ Analog Input Offset ”. Turn the pot and notice direction change Select “ Analog IO” from the node tree
  144. 144. Lower the Pot all the way to Zero volts. If the motor still rotates click on the “ << “ button next to “ Analog Input Offset ” to cancel out any noise. Select “ Analog IO” from the node tree
  145. 145. Select “Oscilloscope” from the Tools folder Set channel 1 to “Motor velocity” and channel 2 to “Analog Input 1”, select the “Run” button and turn the Pot to turn the motor. Select “ Tools” from the node tree
  146. 146. Model 940: Reference Input <ul><li>The 940’s Reference Input can be sourced in multiple ways </li></ul><ul><li>From an external devices (Centralized Control System) </li></ul><ul><ul><li>PLC / Motion Controller </li></ul></ul><ul><ul><li>Master Encoder </li></ul></ul><ul><li>From it’s internal User Program </li></ul><ul><ul><li>Index Moves </li></ul></ul><ul><ul><li>Position Moves </li></ul></ul><ul><ul><li>Gearing </li></ul></ul><ul><ul><li>Segment Moves </li></ul></ul>
  147. 147. Model 940: Electronic Gearing Feedback Output can follow master encoder, ratio set by user Master Encoder Or Step and Direction You can set your ratio from 1 to ± 32767 Up to 2MHz, 0-5VDC
  148. 148. Pin Name Function 1 MA+ Master Encoder A+ / Step+ input (2) 2 MA- Master Encoder A- / Step- input (2) 3 MB+ Master Encoder B+ / Direction+ input (2) 4 MB- Master Encoder B- / Direction- input (2) 5 GND Drive Logic Common 6 +5V +5v output 7 BA+ Buffered Encoder Output: Channel A+ (1) 8 BA- Buffered Encoder Output: Channel A- (1) 9 BB+ Buffered Encoder Output: Channel B+ (1) 10 BB- Buffered Encoder Output: Channel B- (1) 11 BZ+ Buffered Encoder Output: Channel Z+ (1) 12 BZ- Buffered Encoder Output: Channel Z- (1) 13-19 Empty 20 AIN2+ Positive (+) of Analog signal input 21 AIN2- Negative (-) of Analog signal input 22 ACOM Analog common 23 AO1 Analog output 24 AIN1+ Positive (+) of Analog signal input 25 AIN1 - Negative (-) of Analog signal input 26 IN_A_COM Digital input group A COM terminal 27 IN_A1 Digital input A1 28 IN_A2 Digital input A2 29 IN_A3 Digital input A3 30 IN_A4 Digital input A4 31 IN_B_COM Digital input group B COM terminal 32 IN_B1 Digital input B1 33 IN_B2 Digital input B2 34 IN_B3 Digital input B3 35 IN_B4 Digital input B4 36 IN_C_COM Digital input group C COM terminal 37 IN_C1 Digital input C1 38 IN_C2 Digital input C2 39 IN_C3 Digital input C3 40 IN_C4 Digital input C4 41 RDY+ Ready output Collector 42 RDY- Ready output Emitter 43 OUT1-C Programmable output #1 Collector 44 OUT1-E Programmable output #1 Emitter 45 OUT2-C Programmable output #2 Collector 46 OUT2-E Programmable output #2 Emitter 47 OUT3-C Programmable output #3 Collector 48 OUT3-E Programmable output #3 Emitter 49 OUT4-C Programmable output #4 Collector 50 OUT4-E Programmable output #4 Emitter
  149. 149. First we need to wire the Enable Input (In_A3) Run a jump wire from +5V (pin 6) to input A3 (pin 29) Run a jump wire from A COM (pin 26) to GND (pin 5) 5 GND Drive Logic Common 6 +5V +5v output 7 BA+ Buffered Encoder Output: 8 BA- Buffered Encoder Output: 9 BB+ Buffered Encoder Output: 10 BB- Buffered Encoder Output: 11 BZ+ Buffered Encoder Output: 12 BZ- Buffered Encoder Output: 13-19 Empty 20 AIN2+ Positive (+) of Analog input 21 AIN2- Negative (-) of Analog input 22 ACOM Analog common 23 AO1 Analog output 24 AIN1+ Positive (+) of Analog input 25 AIN1 - Negative (-) of Analog input 26 IN_A_COM Digital input group A COM 27 IN_A1 Digital input A1 28 IN_A2 Digital input A2 29 IN_A3 Digital input A3 30 IN_A4 Digital input A4
  150. 150. Now we need to wire up the Master Encoder Pin Name Function 1 MA+ Master Encoder A+ / Step+ input (2) 2 MA- Master Encoder A- / Step- input (2) 3 MB+ Master Encoder B+ / Direction+ input (2) 4 MB- Master Encoder B- / Direction- input (2) 5 GND Drive Logic Common 6 +5V +5v output
  151. 151. Select “ Parameters” from the node tree Open the Drive Mode pull down window and select “ Position” Mode Reference remains as “ External ”
  152. 152. Select “ Parameters” from the node tree Open the “ Master Encoder Input Type ” pull down window and select “ Master Encoder”
  153. 153. Change the Master and System ratio as you spin the encoder Lab
  154. 154. Model 940 <ul><li>Internal Reference (Indexer Program) </li></ul><ul><ul><ul><ul><li>Programming Overview and Command structure </li></ul></ul></ul></ul>TRAINING
  155. 155. Model 940: Reference Input <ul><li>The 940’s Reference Input can be sourced in multiple ways </li></ul><ul><li>From an external devices (Centralized Control System) </li></ul><ul><ul><li>PLC / Motion Controller </li></ul></ul><ul><ul><li>Master Encoder </li></ul></ul><ul><li>From it’s internal User Program </li></ul><ul><ul><li>Index Moves </li></ul></ul><ul><ul><li>Position Moves </li></ul></ul><ul><ul><li>Gearing </li></ul></ul><ul><ul><li>Segment Moves </li></ul></ul>
  156. 156. Internal Reference Input: Feedback Command Output Motion is derived internally from the drive’s user program
  157. 157. Programming Language <ul><li>Definitions and Assignments </li></ul><ul><ul><li>DEFINE any constant or variable </li></ul></ul><ul><ul><li>ASSIGN names to any constant, variable, input, output and EVENT </li></ul></ul><ul><ul><li>LABEL any section of code </li></ul></ul>
  158. 158. Programming Language <ul><li>Program Control </li></ul><ul><ul><li>HALT, RESET </li></ul></ul><ul><ul><li>EVENT <name>; END EVENT; EVENT ON; EVENT OFF </li></ul></ul><ul><ul><li>ON FAULT, RESUME </li></ul></ul><ul><ul><li>WAIT UNTIL, WAIT WHILE, WAIT TIME </li></ul></ul><ul><ul><li>WAIT MOTION COMPLETE </li></ul></ul><ul><ul><li>WHILE, END WHILE </li></ul></ul><ul><ul><li>DO WHILE, DO UNTIL </li></ul></ul><ul><ul><li>GOTO; JUMP; GOSUB, RETURN </li></ul></ul><ul><ul><li>IF ELSE ENDIF </li></ul></ul>
  159. 159. Programming Language <ul><li>Motion Control </li></ul><ul><ul><li>MOVE UNTIL, MOVE BACK UNTIL, MOVE WHILE, MOVE BACK WHILE </li></ul></ul><ul><ul><li>MOVEP, MOVED, MOVEPR, MOVEDR </li></ul></ul><ul><ul><li>MDV </li></ul></ul><ul><ul><li>MOTION SUSPEND, MOTION RESUME </li></ul></ul><ul><ul><li>STOP MOTION [QUICK] </li></ul></ul><ul><ul><li>VELOCITY (ON/OFF) </li></ul></ul><ul><ul><li>ENABLE, DISABLE </li></ul></ul>
  160. 160. System Variables <ul><ul><li>UNITS </li></ul></ul><ul><ul><li>APOS, TPOS, RPOS </li></ul></ul><ul><ul><li>MAXV, VEL </li></ul></ul><ul><ul><li>ACCEL, DECEL, QDECEL </li></ul></ul><ul><ul><li>PGAIN_P, PGAIN_I, PGAIN_D, PGAIN_VFF, PGAIN_ILIM </li></ul></ul><ul><ul><li>VGAIN_P, VGAIN_I </li></ul></ul><ul><ul><li>INPUTS, OUTPUTS, INDEX </li></ul></ul><ul><ul><li>PHCUR, DSTATUS, DFAULTS </li></ul></ul><ul><ul><li>AIN, AOUT </li></ul></ul>
  161. 161. System Operators <ul><li>Arithmetic Operators: </li></ul><ul><ul><li>Add </li></ul></ul><ul><ul><li>Subtract </li></ul></ul><ul><ul><li>Multiply </li></ul></ul><ul><ul><li>Divide </li></ul></ul>
  162. 162. System Operators <ul><li>Comparative Operators: </li></ul><ul><ul><li>Greater-Than </li></ul></ul><ul><ul><li>Less-Than </li></ul></ul><ul><ul><li>Greater-Than-or-Equal-To </li></ul></ul><ul><ul><li>Less-Than-or-Equal-To </li></ul></ul><ul><ul><li>Equal </li></ul></ul><ul><ul><li>Not Equal </li></ul></ul>
  163. 163. System Operators <ul><li>Boolean Operators: </li></ul><ul><ul><li>AND </li></ul></ul><ul><ul><li>OR </li></ul></ul><ul><ul><li>NOT </li></ul></ul><ul><li>Bit-Wise Operators: </li></ul><ul><ul><li>AND </li></ul></ul><ul><ul><li>OR </li></ul></ul><ul><ul><li>XOR </li></ul></ul><ul><ul><li>NOT </li></ul></ul>
  164. 164. System Flags <ul><ul><li>IN_A1-4, IN_B1-4, IN_C1-4 </li></ul></ul><ul><ul><li>OUT1-4 </li></ul></ul><ul><ul><li>F_IN_POSITION </li></ul></ul><ul><ul><li>F_MCOMPLETE </li></ul></ul><ul><ul><li>F_MQUEUE_FULL, F_MQUEUE_EMPTY </li></ul></ul><ul><ul><li>F_FAULT, F_ARITHMETIC_FLT </li></ul></ul><ul><ul><li>F_REGISTRATION </li></ul></ul><ul><ul><li>F_MSUSPENDED </li></ul></ul>
  165. 165. Select the “ Indexer Program ” file from the Node Tree
  166. 166. The User’s Program will be displayed in the “ Parameter View Window ” Select the “ Indexer Program ” file from the Node Tree
  167. 167. The “ User Program Area ”, has it’s own set of control buttons Select the “ Indexer Program ” file from the Node Tree
  168. 168. Compile Program Compile and download Program Start Program Reset Program Stop Program Step through Program Save Pgm to file Download Program without Source code Upload Program from the drive Load Pgm from file
  169. 169. Program Structure <ul><li>Header, I/O List, Define Variables: </li></ul><ul><li>Contains: </li></ul><ul><ul><li>Commented Header and Program Title </li></ul></ul><ul><ul><li>Commented Software Revision Number / Date </li></ul></ul><ul><ul><li>I/O listing for machine </li></ul></ul><ul><ul><li>Definitions of User Variables </li></ul></ul><ul><ul><li>Definitions of Constants </li></ul></ul>
  170. 170. Program Header PGM I/O List Initialize & Set Variables
  171. 171. Program Structure <ul><li>Events </li></ul><ul><ul><li>Contains: </li></ul></ul><ul><ul><ul><li>Example: </li></ul></ul></ul><ul><ul><ul><ul><li>; Events </li></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>Event Check_swt IN_A4 </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>End Event </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>Event Input_Check Time 1 </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>End Event </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><li>; Main Program </li></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>Event Home ON </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>Event Home OFF </li></ul></ul></ul></ul></ul>
  172. 172. Program Structure <ul><li>Events </li></ul><ul><ul><li>Event Scan time 512 µs </li></ul></ul><ul><ul><li>(Independent of Main Program Execution) </li></ul></ul><ul><ul><li>Code Prohibited in Events: </li></ul></ul><ul><ul><ul><li>Goto </li></ul></ul></ul><ul><ul><ul><ul><li>Goto statements are prohibited in Events. However the ‘Jump’ statement can be used to exit the event. </li></ul></ul></ul></ul>
  173. 173. Program Events
  174. 174. Program Structure <ul><li>Main Program </li></ul><ul><li>Contains: </li></ul><ul><ul><li>Main Body of Program Code </li></ul></ul><ul><ul><li>Can Include any Motion Commands, Maths Statements, Labels, I/O Commands or Subroutines </li></ul></ul><ul><ul><li>Has to be Finished by an ‘End’ Statement </li></ul></ul><ul><ul><li>Example: </li></ul></ul><ul><ul><ul><li>; Main Program </li></ul></ul></ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul><ul><ul><ul><li>End </li></ul></ul></ul><ul><ul><ul><li>; Main Program </li></ul></ul></ul>
  175. 175. Control Structures Wait Statement <ul><li>Used to Suspend Program Execution Until or While a condition is true. Includes statement for waiting a fixed time period, or waiting for a motion to be completed. </li></ul><ul><li>Simplified Syntax: </li></ul><ul><li>Wait Until <Condition> </li></ul><ul><li>Wait While <Condition> </li></ul><ul><li>Wait Time <Time> </li></ul><ul><li>Wait Motion Complete </li></ul>If / Else / EndIf Do / Until While / EndWhile Goto / Label Wait Halt / Reset
  176. 176. Control Structures Goto / Label Statement <ul><li>Used to Transfer Program execution to a new point in the program marked by a Label. The Label may be above or below the GOTO Statement. Labels are a maximum of 64 characters. Labels must end with a Colon ( : ) </li></ul><ul><li>There is no automatic record of the point at which the GOTO was initiated. </li></ul><ul><li>Simplified Syntax </li></ul><ul><ul><li>Goto <Label Name> </li></ul></ul><ul><ul><ul><li>… Statements </li></ul></ul></ul><ul><ul><li><Label Name>: </li></ul></ul>If / Else / EndIf Do / Until While / EndWhile Goto / Label Wait Halt / Reset
  177. 177. Motion Commands <ul><li>Motion Statements: </li></ul><ul><li>(How to get from point A to point B) </li></ul>A B MoveD MoveP Move Until MoveDR MovePR MDV Move Modifiers Move While
  178. 178. Motion Commands <ul><li>MoveD Command: </li></ul><ul><li>Move Distance </li></ul><ul><li>Performs Incremental Move to the distance specified (in User Units) </li></ul><ul><li>Example: </li></ul><ul><ul><li>MoveD 3 </li></ul></ul><ul><ul><li>MoveD –5 </li></ul></ul><ul><ul><li>MoveD Back 4 </li></ul></ul>Start Current End MoveD MoveD MoveP Move Until MoveDR MovePR MDV Move Modifiers Move While
  179. 179. Motion Commands <ul><li>MoveP Command: </li></ul><ul><li>(Move to Position) </li></ul><ul><li>Performs Positional Move to the Position specified (in User Units) </li></ul><ul><ul><li>Example: </li></ul></ul><ul><ul><ul><li>MoveP 3 </li></ul></ul></ul><ul><ul><ul><li>MoveP –5 </li></ul></ul></ul><ul><ul><li>Absolute Position set to Zero at Enable </li></ul></ul><ul><ul><li>Absolute Position can be set with APOS Command </li></ul></ul>Start Current End MoveP MoveD MoveP Move Until MoveDR MovePR MDV Move Modifiers Move While
  180. 180. Program Events Main Program
  181. 181. Program Structures <ul><li>Subroutines: </li></ul><ul><li>Subroutine Stack </li></ul><ul><ul><li>Subroutine Stack is 16 Level </li></ul></ul><ul><ul><ul><li>(Subroutines can be nested 16 times) </li></ul></ul></ul><ul><ul><li>Only the Main Program may contain a GOSUB statement </li></ul></ul>
  182. 182. Program Structure <ul><li>Subroutines: </li></ul><ul><li>Contains: </li></ul><ul><ul><li>Routines Separate from the Main Program that are ‘called’ when required </li></ul></ul><ul><ul><li>Very useful for structuring programs and multiple calls of common code </li></ul></ul><ul><ul><li>Example: </li></ul></ul><ul><ul><ul><li>; Main Program </li></ul></ul></ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul><ul><ul><ul><ul><li>Gosub Button_Press </li></ul></ul></ul></ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul><ul><ul><ul><li>End </li></ul></ul></ul><ul><ul><ul><li>; Subroutines </li></ul></ul></ul><ul><ul><ul><ul><li>Button_press: </li></ul></ul></ul></ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul><ul><ul><ul><ul><li>Return </li></ul></ul></ul></ul>
  183. 183. Program Events Main Program Sub Routines
  184. 184. Model 940: Simple Motion Program Feedback Command Output Lab
  185. 185. Pick and Place Application
  186. 186. Move to Home (MoveP 0)
  187. 187. Extend arm (Out1 = 1)
  188. 188. Turn on Gripper (Out2 = 1)
  189. 189. Retract arm (Out1 = 0)
  190. 190. Move to Place Position (MoveP 100)
  191. 191. Extend arm (Out1 = 1)
  192. 192. Release Gripper (Out2 = 0)
  193. 193. Retract Pick Arm (Out1 = 0)
  194. 194. Move back to Pick Position (MoveP 0)
  195. 195. Select “ Parameters” from the node tree Open the Drive Mode pull down window and select “ Position” Mode Set the drive up for Internal Reference
  196. 196. Set the Enable switch function to Inhibit Select “ Digital IO” from the node tree
  197. 197. Select the “ Indexer Program ” file from the Node Tree. Click on the “ Import ” Control Button Navigate to the “ Programming Examples ” folder Open the “ Pick and Place ” program
  198. 198. Select “ Load W Source ” to compile the program and load it to the drive.
  199. 199. Use the “ Step ” button to step through the program. The “ >> ” keys point to the line of code next to be executed.
  200. 200. UNITS = 1 ACCEL = 75 DECEL =75 MAXV = 10 APOS = 0 ;************************************************ Events *********************************************** ;Set Events handling here ;******************************************* Main Program ******************************************** RESET_DRIVE: WAIT UNTIL IN_A3 ;Make sure that the Enable / Inhibit switch is made ENABLE PROGRAM_START: MOVEP 0 ;Move to Pick position OUT1 = 1 ;Turn on output 1 on to extend Pick arm WAIT TIME 1000 ;Delay 1 sec to extend arm OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = 0 ;Turn off output 1 to Retract Pick arm MOVEP 100 ;Move to Place position OUT1 = 1 ;Turn on output 1 on to extend Pick arm WAIT TIME 1000 ;Delay 1 sec to extend arm OUT2 = 0 ;Turn off output 1 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = 0 ;Retract Pick arm GOTO PROGRAM_START >> >> Use the “ Step ” buttons to step through the program. >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >> >>
  201. 201. Pick and Place Application with Homing
  202. 202. Move to Home – Where is Home? Home Prox Switch
  203. 203. UNITS = 1 ACCEL = 75 DECEL =75 MAXV = 10 VAR_HOME_FAST_VEL = 10 ;Sets speed in rps for 1 st move towards home sensor VAR_HOME_SLOW_VEL = 1 ;Sets speed in rps for 2 nd move towards home sensor VAR_HOME_ACCEL = 100 ;Sets all accel values for homing routine in rps^2 VAR_HOME_OFFSET = 0 ;Sets distance to move from home sensor for zero position VAR_HOME_SWITCH_INPUT = 0 ;Select which input to use for home input(0-A1,1-A2…11-C4) VAR_HOME_METHOD = 21 ;Select which homing routine to use ;************************************************ Events *********************************************** ;Set Events handling here ;******************************************* Main Program ******************************************** RESET_DRIVE: WAIT UNTIL IN_A3 ;Make sure that the Enable / Inhibit switch is made ENABLE HOME ; Start the Homing Procedure PROGRAM_START: MOVEP 0 ;Move to Pick position OUT1 = 1 ;Turn on output 1 on to extend Pick arm WAIT TIME 1000 ;Delay 1 sec to extend arm OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part Add the following code to your program
  204. 204. Program Structure Fault Routines <ul><li>Contains: </li></ul><ul><ul><li>Specific Routine that handles any fault occurring during normal program flow </li></ul></ul><ul><ul><li>Several drive functions suspended until exit from Fault Handler </li></ul></ul><ul><ul><ul><li>Example: </li></ul></ul></ul><ul><ul><ul><ul><li>; Main Program </li></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><li>End </li></ul></ul></ul></ul><ul><ul><ul><ul><li>; Subroutines </li></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><li>; Fault Handler </li></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>ON FAULT </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>… statements </li></ul></ul></ul></ul></ul><ul><ul><ul><ul><ul><li>END FAULT </li></ul></ul></ul></ul></ul>Fault Occurs!
  205. 205. Program Structure Fault Routines <ul><li>When a fault is detected Motion will be suspended and drive will be disabled. </li></ul><ul><li>If no Fault Routine is Specified then program Execution will end as soon a fault is detected. </li></ul><ul><li>Exit of the Fault Handler and Return to Main Program Execution can be done with either a ‘Reset’ or ‘Resume’ statement. </li></ul><ul><li>Reset Statement: </li></ul><ul><li>Will re-commence Main Program Execution from the first Program Statement. </li></ul><ul><li>Resume Statement: </li></ul><ul><li>Will re-commence Main Program Execution from the point (label) specified in the resume statement. </li></ul>
  206. 206. Program Structure Fault Routines <ul><li>Fault code is written to the DFAULTS Register </li></ul><ul><li>Event Scanning is Terminated until Main Program execution is resumed. </li></ul><ul><li>Detection of further Faults is Suspended. </li></ul><ul><li>Code Prohibited in Fault Routine: </li></ul><ul><ul><li>Move Statements </li></ul></ul><ul><ul><li>Motion Suspend </li></ul></ul><ul><ul><li>Motion resume </li></ul></ul><ul><ul><li>Goto </li></ul></ul><ul><ul><li>Gosub </li></ul></ul><ul><ul><li>Jump </li></ul></ul><ul><ul><li>Enable </li></ul></ul><ul><ul><li>Gear On/Off </li></ul></ul><ul><ul><li>Velocity On/Off </li></ul></ul>
  207. 207. Program Events Main Program Sub Routines Fault Handling
  208. 208. Model 940: Fault Handling ! Start the program and drive While the motor is running turn off the Enable Switch diS rUn F_36 How do we recover from the fault? Lab
  209. 209. OUT1 = 0 ;Retract Pick arm GOTO PROGRAM_START END ;******************************************* Sub-Routines ****************************************** ; Enter Sub-Routine code here ;************************************ Fault Handler Routine **************************************** ON FAULT ;Statement starts fault handler routine, motion is ;stopped, drive is disabled, and events are no longer ;scanned. OUT2 = 0 ;Output 2 is turned off to disengage the gripper ;the releasing part. OUT1 = 0 ;Output 1 is turned off to retract Pick & Place arm RESUME FPROCESS ;Sends code execution to the FPROCESS routine. ENDFAULT FPROCESS: ;This is a place holder for the FAULT HANDLER WAIT UNTIL !IN_A3 ;Wait for enable switch to be turned off GOTO RESET_DRIVE
  210. 210. OUT1 = 0 ;Retract Pick arm GOTO PROGRAM_START END ;******************************************* Sub-Routines ****************************************** ; Enter Sub-Routine code here ;************************************ Fault Handler Routine **************************************** ON FAULT ;Statement starts fault handler routine, motion is ;stopped, drive is disabled, and events are no longer ;scanned. OUT2 = 0 ;Output 2 is turned off to disengage the gripper ;the releasing part. OUT1 = 0 ;Output 1 is turned off to retract Pick & Place arm RESUME FPROCESS ;Sends code execution to the FPROCESS routine. ENDFAULT FPROCESS: ;This is a place holder for the FAULT HANDLER WAIT UNTIL IN_A1 ;Wait for reset switch to be made WAIT UNTIL !IN_A1 ;Wait for reset switch to be released GOTO RESET_DRIVE ON FAULT :Statement starts fault handler routine, motion is OUT2 = 0 :Output 2 is turned off to disengage the gripper OUT1 = 0 :Output 1 is turned off to retract Pick & Place arm RESUME FPROCESS :Sends code execution to FPROCESS routine. WAIT UNTIL IN_A1 :Wait for reset switch to be made. WAIT UNTIL !IN_A1 :Wait for reset switch to be released. GOTO RESET_DRIVE
  211. 211. Model 940: Adding I/O Feedback Command Output Lab
  212. 212. Extend arm Prox Sensors
  213. 213. ;******************************************* Main Program ****************************************** RESET_DRIVE: WAIT UNTIL IN_A3 ;Make sure that the Enable / Inhibit switch is made ENABLE PROGRAM_START: MOVEP 0 ;Move to Pick position OUT1 = 1 ;Turn on output 1 on to extend Pick arm WAIT UNTIL IN_A4 ; Arm extend OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = 0 ;Turn off output 1 to Retract Pick arm WAIT UNTIL !IN_A4 ;Make sure Arm retracted MOVEP 100 ;Move to Place position OUT1 = 1 ;Turn on output 1 on to extend Pick arm WAIT UNTIL IN_A4 ; Arm is extend OUT2 = 0 ;Turn off output 2 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = 0 ;Retract Pick arm WAIT UNTIL !IN_A4 ;Arm retracted GOTO PROGRAM_START END Replace the “ Wait TIME 1000 ” with “ Wait Until In_A4 ” And “ Wait Until !In_A4 ”
  214. 214. Model 940: Events Feedback Command Output Lab
  215. 215. Move to Home
  216. 216. Extend Arm
  217. 217. Turn on Gripper
  218. 218. Retract Arm
  219. 219. Move to Place Position
  220. 220. Extend Arm
  221. 221. Release Gripper
  222. 222. Retract Pick Arm
  223. 223. Move Back to Pick Position
  224. 224. EVENT SPRAY_GUNS_START APOS>25 OUT3=1 ENDEVENT EVENT SPRAY_GUNS_STOP APOS>75 OUT3=0 ENDEVENT ;******************************************* Main Program ******************************************** RESET_DRIVE: ;Place holder for Fault Mon EVENT SPRAY_GUNS_START ON ;Activate Event EVENT SPRAY_GUNS_STOP ON ;Activate Event WAIT UNTIL IN_A3 ;Make sure that the Enable / Inhibit switch is made ENABLE PROGRAM_START: WAIT UNTIL IN_A4 == 1 ;Make sure Arm is retracted MOVEP 0 ;Move to Pick position OUT1 = 1 ;Turn on output 1 on to extend Pick arm WAIT UNTIL IN_A4 == 0 ; Arm extend OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = 0 ;Turn off output 1 to Retract Pick arm WAIT UNTIL IN_A4 ;Make sure Arm retracted MOVEP 100 ;Move to Place position MOVEP 100 ;Move to Place position
  225. 225. Model 940: Continue command Feedback Command Output
  226. 226. WAIT UNTIL IN_A4==0 ;Make sure Arm is retracted before starting the program MOVEP 0 ;Move to position 0 to pick part OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A4 == 1 ;Check input to make sure Arm is extended OUT2 = 1 ;Turn on output 2 to Engage gripper WAIT TIME 1000 ;Delay 1 sec to Pick part OUT1 = 0 ;Turn off output 1 to Retract Pick arm WAIT UNTIL IN_A4==0 ;Check input to make sure Arm is retracted MOVEP 100 , C ;Move to Place position and continue code execution WAIT UNTIL APOS >25 ;Wait until pos is greater than 25 OUT3 = 1 ;Turn on output 3 to spray part WAIT UNTIL APOS >=75 ;Wait until pos is greater than or equal to 75 OUT3 = 0 ;Turn off output 3 to shut off spray guns WAIT UNTIL F_MCOMPLETE ;Wait until move is done before extending arm OUT1 = 1 ;Turn on output 1 to extend Pick arm WAIT UNTIL IN_A4 == 1 ;Check input to make sure Arm is extended OUT2 =0 ;Turn off output 1 to Disengage gripper WAIT TIME 1000 ;Delay 1 sec to Place part OUT1 = 0 ;Retract Pick arm WAIT UNTIL IN_A4 == 0 ;Check input to make sure Arm is retracted
  227. 227. Model 940 Thank You TRAINING

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