Ormec SMLC Operating instructions

9/13/2005 Programming the SMLC 1
Programming the SMLC
• ServoWire Pro
–Creating a project setup file
–SwMonitor
–SwTune
–SwUpgrade
–SMLC Utilities
• CoDeSys
–Creating the application program
–Going online with the SMLC
–Importing function blocks
–Creating a visualization
–I/O configuration
–HMI configuration
–Diagnostic tools
–Useful CoDeSys settings

9/13/2005 Programming the SMLC 2
ServoWire Pro - Introduction
• ServoWire Pro is the
commissioning utility for all
of ORMEC’s SoftMotion
products, including the
SMLC.
• ServoWire Pro contains
utilities for system
configuration, networked
and drive diagnostics, axis
tuning, and upgrading
firmware.
• Use ServoWire Pro to create a configuration file that will be sent to the SMLC.
This file contains all of the information on the motors and drives used in the
project.

9/13/2005 Programming the SMLC 3
SwPro - Create a new project in ServoWire Pro
• Create a new project in
SwPro by selecting File
| New or press the
toolbar button.
• Select the loop rate
• Select the drive family
• By unchecking Force
default Axis names
you can name the axes
to match their function.
• Press OK when finished

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SwPro - Right-click on the SMLC and add a drive
• The available drive
models are determined
by the drive type
selection you made on
the System Settings
page.

9/13/2005 Programming the SMLC 5
SwPro - Select the drive model from the Model Name drop down list
• Select the drive ID to match the
drive’s setting.
• Check Simulate drive if this is to be a
virtual axis or if you want to simulate
your application.
• Select the drive input voltage.
• The default max feedback frequency
is fine for most applications.
• If the drive is to have an external
regen resistor select the model or
enter the resistance and power
ratings.
• Select the Inputs tab.

9/13/2005 Programming the SMLC 6
SwPro - Configure the drive inputs
• The drive’s inputs can be configured
as general purpose, hardware
overtravels, Estop or Quick Stop
• The drive’s high speed sensors can
be configured as NPN or PNP.
• Select the Outputs tab

9/13/2005 Programming the SMLC 7
SwPro - Configure the drive outputs
• The drives outputs can be configured
as Programmable, a drive ready
signal or they can pass the encoder
reference or (optional) delay counter
output.
• Press OK when finished

9/13/2005 Programming the SMLC 8
SwPro - Right-click on the drive and select Add Motor to drive
• At this point you can choose to add a
motor to the drive, an auxiliary axis
or (if supported by this drive model)
an option board.
• Option boards can support alternate
feedback types such as resolver as
well as analog and digital I/O.

9/13/2005 Programming the SMLC 9
SwPro - Enter the axis name and select the motor series, model and options
• Give the axis a name that
makes sense for the
application, in this
example we’ll use Knife.
• If its not a standard
ORMEC model, select
User-Defined for the
series and then press the
Edit button, otherwise
pick the Series, Model
and options.
• Select the Axis Input
Command Mode.
Typically this will be
Position but you can also
select Torque, Velocity or
Tension.
• Select the User Units tab

9/13/2005 Programming the SMLC 10
SwPro - Set the user units and application maximum values
• If you know the load
inertia you may enter it
now, otherwise we’ll let
SwTune calculate it for us
in a later step.
• Enter the user units
conversions for position,
speed and accel, or
accept the defaults.
• Edit the maximum
allowed user values if you
wish to reduce them from
the defaults.
• Select the Settings tab

9/13/2005 Programming the SMLC 11
SwPro - Configure axis settings
• Optionally limit the
maximum output current
as a percentage of peak.
• Define the forward
direction of rotation.
• Configure position error
checking (or disable it).
The alarm generates a
warning, the fault disables
the axis.
• Configure modulo
position, in this example
we turn it on and set it to
360 degrees
• Enable/configure software
overtravels.
• Select the Inputs tab

9/13/2005 Programming the SMLC 12
SwPro - Configure axis inputs
• The high speed sensors
can be used to latch axis
position within 1usec.
They can also be used to
start and stop motions.
• Configure the drive’s high
speed sensor inputs for
Rising, Falling, High or
Low.
• Optionally gate sensors
with drive outputs.
• Select the Outputs tab

9/13/2005 Programming the SMLC 13
SwPro - Configure axis outputs
• Optionally configure one
of the drive outputs as a
brake control signal and
set the enable/disable
delays.
• Set the time constants for
the filtered versions of
Current and Velocity.
• Select the Tuning tab

9/13/2005 Programming the SMLC 14
SwPro - Configure the axis tuning parameters
• While you can set tuning
gains from this page,
typically we will use
SwTune.
• Some settings such as
the Notch Filter and
Phase Advance require
you to be in Expert Mode.
• To enable Expert Mode
use the Edit Menu in
SwPro.
• Press OK when finished

9/13/2005 Programming the SMLC 15
SwPro - Save the .SwSetup file
• Save the file
on your
computer
•Giveita
name that
relates to
your machine

9/13/2005 Programming the SMLC 16
SwPro - Pick the SMLC you wish to communicate with
• Press the Address Book button on the
toolbar to pop up the edit list
• If necessary, add the IP address of your
SMLC to the address list.
• Close the edit list and select the correct IP
address from the drop down list.

9/13/2005 Programming the SMLC 17
SwPro - Run SwMonitor - SMLC status - Info tab
• SwMonitor displays the current
network status as well as
providing version information for
each node on the network.
• Press the SwMonitor button
on the SwPro toolbar.
• Select the SMLC in the tree
view on the left. The firmware
and driver versions are
displayed as well as the
Ethernet adapter status and IP
addresses.
• The IP address of the SMLC
you are connected to is
displayed in the toolbar.

9/13/2005 Programming the SMLC 18
SwPro - Run SwMonitor - Drive status - Info tab
• Click on a drive in the tree view
at the left
• On the Info tab we can see the
drive’s hardware and software
revisions and hardware serial
numbers.

9/13/2005 Programming the SMLC 19
SwPro - Run SwMonitor - Drive status - Values tab
• On the Values tab we can see
drive fault codes, feedback
position, bus voltage, various
error counters as well as real-
time status of the drive’s inputs.
• On some motors the status of
the hall sensors is updated in
real-time.
• Press Close when finished.

9/13/2005 Programming the SMLC 20
Run SwUpgrade - Upgrade Drive firmware
• SwUpgrade is used to
upgrade the firmware in
SAC-SWM and SAC-SMM
drives.
• Press the SwUpgrade button
on the toolbar to start the
upgrade process.
• The current version is
displayed.
• Check the drives you wish to upgrade and then press the Upgrade button.
• Navigate to select the drive firmware upgrade package that you wish to install.
• Drive firmware upgrade packages are available on the ORMEC web site
• Install the new firmware.
• Press Close when done.