GOODWIN MultiStop Plus Manual

MultiStop Plus
TECHNICAL SPECIFICATION
D1009 Version 1.74
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Goodwin Electronics Ltd.
3 Bassendale Road
Croft Business Park
Bromborough
Wirral
CH62 3QL United Kingdom
Tel: [phone]
FAX: [phone]

MultiStop Plus Technical Specification
Goodwin Electronics Ltd D1009 / V1.740 / 13/07/11 Page 2
Documentation
This product is available with two manuals; Technical Specification and Operators Manual. This is
the Technical Specification which has been written for the engineer to use and refer to when
designing, commissioning and maintaining the MultiStop Plus system. The other document explains
how the positioner is used in day - to - day operation i.e. Programming, Jogging and auto execution
of programs.
Please note
The contents of this specification are designed to give the reader an understanding of how the
MultiStop Plus controller operates. The product described is subject to continuous development and
improvement. All information of a technical nature and particulars of the product, and its use are
given by Goodwin Electronics Ltd in good faith. However, it is acknowledged that there may be
errors and omissions in this document. We shall not be liable for the loss or damage whatsoever
arising from the use of any information in, or any omissions from, this document.

MultiStop Plus Technical Specification
Goodwin Electronics Ltd D1009 / V1.740 / 13/07/11 Page 3
CONTENTS
1. INTRODUCTION 5
2. SPECIFICATIONS 6
2.1. SYSTEM MECHANICAL SPECIFICATION 6
2.2. SYSTEM ELECTRICAL SPECIFICATION 7
2.3. DISPLAY AND KEYPAD 8
2.4. SOFTWARE SPECIFICATION 8
3. INSTALLATION 11
3.1. LOCATION 11
3.2. SAFETY 11
3.3. THE MULTISTOP POWER SUPPLY 11
3.4. OUTPUT CONNECTIONS 11
3.4.1. DEFAULT OUTPUT CONFIGURATION 12
3.5. INPUT CONNECTIONS 13
3.5.1. DEFAULT DIGITAL INPUT CONFIGURATION 14
3.6. ENCODER CONNECTIONS 15
3.7. RS485 CONNECTIONS 16
3.8. INTERBUS S CONNECTIONS (OPTION) 16
3.9. AUTO DATUM CYCLE 16
3.10. PANEL CUT OUT DIMENSIONS 17
4. PARAMETER CONFIGURATION 18
4.1. INPUT SETUP 18
4.2. OUTPUT SETUP 19
5. MACHINE SETUP 20
5.1. AXES TYPE 20
5.2. AXIS MODULUS (ENGINEERING WINDOW ONLY) 20
5.3. APPLICATION TYPE (ENGINEERING WINDOW ONLY) 20
5.4. RS485 MASTER OR SLAVE (ENGINEERING WINDOW ONLY) 21
5.5. RS485 ADDRESS (ENGINEERING WINDOW ONLY) 21
5.6. DISPLAY RESOLUTION 21
5.7. DISPLAY DIGITS (ENGINEERING WINDOW ONLY) 22
5.8. DISPLAY DATA (ENGINEERING WINDOW ONLY) 22
5.8.1. MACHINE DATUM DIRECTION 22
5.9. MACHINE DATUM METHOD 23
5.10. DATUM MEMORY 23
5.11. DATUM LOAD VALUE 24
5.12. COUNT DIRECTION 24
5.13. MOTOR PHASE 24
5.14. SCALE FACTOR 25
5.15. NEGATIVE INPOSITION ZONE 25
5.16. POSITIVE INPOSITION ZONE 25
5.17. NEGATIVE (-VE) AXIS LIMIT 26
5.18. POSITIVE (+VE) AXIS LIMIT 26
5.19. INTERRUPT PERIOD (ENGINEERING WINDOW ONLY) 26
5.20. MAXIMUM FEED RATE 27
5.21. JOG COARSE FEED 27
5.22. JOG FINE FEED 27
5.23. DATUM SPEED 28
5.24. ENCODER COUNTS / REVOLUTION (ENGINEERING WINDOW ONLY) 28
6. SERVO SET 29
6.1. DIFFERENTIAL PERIOD 29
6.2. PID INTEGRAL TERM 29
6.3. PID DIFFERENTIAL TERM 29

MultiStop Plus Technical Specification
Goodwin Electronics Ltd D1009 / V1.740 / 13/07/11 Page 4
6.4. PID VELOCITY FF TERM 30
6.5. PID VELOCITY FB TERM 30
6.6. DAC OFFSET 30
6.7. MOTOR ACCELERATION CONSTANT 31
6.8. PID PROPORTIONAL GAIN 31
6.9. PID INTEGRAL GAIN 31
6.10. PID DIFFERENTIAL GAIN 32
6.11. PID VELOCITY FF 32
6.12. PID VELOCITY FB 32
6.13. INTEGRAL LIMIT 33
6.14. FOLLOWING ERROR 33
6.15. AXIS TEST LOWER LIMIT 33
6.16. AXIS TEST UPPER LIMIT 34
7. FRONT END SETUP 35
8. PASS WORDS 37
9. MAINTENANCE 38
9.1. BATTERY REPLACEMENT 38
9.2. LCD BACKLIGHT 38

MultiStop Plus Technical Specification
Goodwin Electronics Ltd D1009 / V1.740 / 13/07/11 Page 5
1. INTRODUCTION
The MultiStop Plus is designed to control up to two axes of motion servo motors or other motors
with variable speed drives. It is a fully self contained unit with up to two 16 bit +/- 10V servo
command signals for controlling the motion of the motors in a full position closed loop manner.
There are up to six terms in the position control loop that can be used to optimise motion. Its range
of applications include,
Packaging / Indexing Machines
Robotics
Drilling machines
Back Stop Positioners
The various options available are given in the model number description given below;
MP A 2 P 4 C INP 8 1 / X100
Software Version AX number indicates a special unit
Number of axes 1 or 2 1 - PNP plus relays Outputs
F - All relay outputs
Mounting Panel - P Encoder Supply
Standalone - S 8 - 5 or 12 Vdc (PNP), user selectable
Supply Voltage
100 - 240 V AC 50/60 Hz - 4
Serial Comms.Encoder Type
RS485 - C INP - Incremental with positive mark pulse
RS485 & Interbus S - S INV - Incremental with negative mark pulse
The various options available are in the model number description given below, check which
options your unit has before proceeding any further.
Use this description to verify the model you have or require.

MultiStop Plus Technical Specification
Goodwin Electronics Ltd D1009 / V1.740 / 13/07/11 Page 6
2. SPECIFICATIONS
2.1. SYSTEM MECHANICAL SPECIFICATION
Approximate weight: 1kg
Protection: IP 65 front and IP 40 rear
Ambient Working Temperature Range: 0 to 50°C
Storage/shipping Temperature: -40 to 60°C
Humidity requirement: 5 to 95% non condensing

MultiStop Plus Technical Specification
Goodwin Electronics Ltd D1009 / V1.740 / 13/07/11 Page 7
Figure 1: Overall Dimensions
2.2. SYSTEM ELECTRICAL SPECIFICATION
Linear scales or Encoders:
Differential Quadrature square wave signal inputs from linear scales or rotary
encoders. A full description of the encoder/scale inputs is given in section
3.5.1.The maximum count rate is 120kHz full quadrature on each axis. A single
axis MultiStopPlus has one encoder input a two axis system has two inputs
Standard Outputs:
All systems have a volt free relay output which indicates system healthy
(Watchdog).
One axis MultiStopPlus;
One 14 bit +/- 10V analogue output
Two user definable relay outputs are fitted as standard
(switching 24V dc @ 0.5 A ) maximum)
Upto 24 relay output can be ordered if required
14 PNP (source current 50mA @24V Dc nominal, absolute maximum
voltage 25V) outputs
Two axis MultiStopPlus
Two 14 bit +/- 10V analogue output
Two user definable relay outputs are fitted as standard
(switching 24V dc @ 0.5 A ) maximum)
Upto 24 relay output can be ordered if required
22 PNP (source current 50mA @ 30v) outputs.
Optional Output Configuration:
All outputs can be made relay outputs which are capable of switching 24V DC @
0.5 A maximum
Use the description in the INTRODUCTION on page 5 to determine the output
configuration you have. A description of the output circuits can be found in section
3.4
Watchdog A relay output (closed for system healthy) is available. The watchdog monitors the
correct operation on the software and hardware. It will indicate a fault within 20
milliseconds of it occurring.
Inputs: Single axis MultiStopPlus
16 Dedicated Inputs.
Two axis MultiStopPlus

MultiStop Plus Technical Specification
Goodwin Electronics Ltd D1009 / V1.740 / 13/07/11 Page 8
24 Dedicated Inputs.
Input signals must be in the range 22 to 24V DC (absolute maximum 25V DC).
A full description of the Inputs is given in section 3.5.
Supply: 100 - 230 V (+10%, -15%) Universal AC 50/60 Hz supply.
Power consumption is 30VA maximum.
RS485: A single RS485 channel that can communicate with either other MultiStopPlus units
or a remote PC is available. Software to implement a wide range of commands is
available from Goodwin Electronics, please ask for details.
InterBus S: The unit can be made a slave unit using the InterBus-S protocol. This is an optional
feature, refer to the INTRODUCTION on page 5 to determine if you have this
option fitted.
CE Standards: The unit conforms to EN55 022, EN60 555, EN 50 093, IEC 801-2 and IEC801_4
of the current EMC requirements. It also meets the low voltage directive
requirements 73/23/EEC.
Connectors: Encoder inputs on 15 W high density D type connector (same footprint as a 9 W D
type connector).
RS485 on a 9 W D type connector
Digital I/O on 8 way pluggable terminals (Weidmuller BL3.5/8)
Battery: A lithium battery (10 year life) allows the program and configured parameter data to
be stored safely during power down. A battery-low monitoring system will provide
adequate warning to allow batteries to be changed without loosing data.
2.3. DISPLAY AND KEYPAD
Dimensions: 144 mm high, 194 mm wide, including bezel
Keypad type: Membrane type keyboard with tactile feedback, 25 keys sealed to IP67
Main Display: 240 x 128 supertwist backlit LCD.
Description: The display text will be dependant on which mode of operation has been selected.
It consists of single / triple height characters and in all modes has 4 soft key
functions available. A description of the display formats is given in the operators
manual.
2.4. SOFTWARE SPECIFICATION
Modes: The controller has several operating modes, these are;
AUTO mode
This is the mode into which the unit will power up. All other modes are accessed
from this mode. The ESC key will return the user to this mode from any other
mode.
LIST mode
The list of program files contained within the unit will be displayed on the screen in
this mode. Each file has three attributes,
Name
Whenever a new program is made it is given an 8 digit number.
The first program generated will be AAAAAAAA, the next AAAAAAAB etc
Description

MultiStop Plus Technical Specification
Goodwin Electronics Ltd D1009 / V1.740 / 13/07/11 Page 9
When a program has been selected the description of that program
is displayed in the AUTO window
Identity number
This is a the number assigned to the program that can be used to
remotely select the program via the digital input lines
Any file can be selected using the scroll keys. The currently selected file will be
shown in the status bar line. A copy of a the selected program can be made using
the COPY softkey. The copied file will have its last character changed. The
attributes of the copied file can be changed as described below.
Both the ID and description program attributes can be change using the soft keys.
The internally assigned number of the program can be altered using the ID softkey.
PROGRAM mode
In this mode the data for all of the commands in the currently selected program are
viewed or altered entered.
JOG mode
In this mode each axis can be moved directly by using the UP or DOWN arrow
keys. Each axis can also be jogged using externally commanded using the digital
input lines.
DATUM mode
In this mode each axis can be made to automatically find the datum marker and to
load a specific positional value into the display. For this to happen the automatic
datumming option has to be selected in Configure mode.
PARAMETER CONFIGURE mode
This is a special mode in which all the system operating parameters are set up.
Programs: The MultiStop Plus has the ability to store (and retain at power off) a number of
programs containing a given number of lines. The program memory allocation is
dynamic therefore the maximum number of programs depends on the number of
lines per program. The ultimate maximum is 300 programs 30 lines. The maximum
number of lines per program is 100.
Each line of the program contains all the information for an instruction which can
be one of the following,
•A move to X and Y Target position in a variety of ways
•Set or reset an auxiliary output
•Subroutine call
•A loop instruction to repeat a set of instructions N times
•The type of move, Incremental or Absolute
•A Dwell timer.
•A Halt instruction.
•A feed rate
•Read the status of an input into a variable.
•A wait for input signal to be true.
•Do - While loop
•If - Else - End if loop
•Set a variable
•Modify (adjust) the variable
Datums: An automatic and a manual datum procedure is available.

MultiStop Plus Technical Specification
Goodwin Electronics Ltd D1009 / V1.740 / 13/07/11 Page 10
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