phytron IXEa-A Series User manual

Manual 1206-A001 GB
IXEa–A
User Manual for the
Stepper Motor Control Unit Type IXEa-A
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phytron®
Manual MA 1206-A001 GB
User Manual
for Stepper Motor Control Units IXEα–A

User Manual IXEα−A
MA 1206-A001 GB 2
©2003
All rights with:
Phytron-Elektronik GmbH
Industriestraße 12
82194 Gröbenzell, Germany
Tel.: [phone]
Fax: [phone]
Every possible care has been taken to ensure the accuracy of this technical manual. All
information contained in this manual is correct to the best of our knowledge and belief but
cannot be guaranteed. Furthermore we reserve the right to make improvements and
enhancements to the manual and/or the devices described herein without prior notification.
We appreciate suggestions and criticisms for further improvement. Please send your
comments to the following
E-mail address: [email protected]

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Contents
1Stepper Motor Control Units IXEα-A................................................................................... 5
1.1 Short View.....................................................................................................................5
1.2 Basic Unit and Options of the IXEα-A Series................................................................ 6
1.3 Dimensions.................................................................................................................... 7
1.4 PHYTRON Stepper Motor Power Stages...................................................................... 8
1.5 Stepper Motor................................................................................................................ 8
1.6 Safety Instructions......................................................................................................... 9
1.7 Control and Programming Instructions.......................................................................... 9
2Keyboard Operation.......................................................................................................... 10
2.1 Keyboard Assignment / Functions............................................................................... 11
2.1.1 Cursor Control Keys........................................................................................... 12
2.2 Monitor Mode .............................................................................................................. 12
2.2.1 List of Operation Modes ..................................................................................... 13
2.3 Manual Mode............................................................................................................... 14
2.3.1 Axes Displacement Keys.................................................................................... 14
2.3.2 Frequency Switching f/f' .....................................................................................15
2.3.3 Input of Instructions in the Manual Mode............................................................ 15
2.3.4 Cancel an Instruction.......................................................................................... 16
2.3.5 Initialization / M0P .............................................................................................. 16
2.3.6 Groups of Inputs and Outputs ............................................................................ 16
2.4 Programming............................................................................................................... 18
2.4.1 Program Length.................................................................................................. 18
2.4.2 Program List....................................................................................................... 18
2.4.3 Program edition.................................................................................................. 18
2.4.4 Non-existing Program Line.................................................................................19
2.4.5 Insufficient Memory Space ................................................................................. 19
2.4.6 Delete a Program ............................................................................................... 19
2.5 Program Test............................................................................................................... 19
2.6 Program Start.............................................................................................................. 20
2.6.1 Error Messages During Program Run................................................................21
2.7 Copy Program ............................................................................................................. 21
2.8 Rename Program........................................................................................................ 21
2.9 Printer Operation......................................................................................................... 22

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2.9.1 Print Text in a Program....................................................................................... 22
2.10 Error Messages...................................................................................................... 22
2.10.1 Programming Errors........................................................................................... 22
2.10.2 Error Message From the Power Stage............................................................... 22
2.10.3 EMERGENCY STOP Error Message................................................................. 23
3Computer Mode................................................................................................................. 23
3.1 Interface ......................................................................................................................23
3.1.1 Instruction Format for the Computer Mode......................................................... 24
3.2 General Remarks for the Computer Mode..................................................................25
3.2.1 Status Register................................................................................................... 25
3.2.2 Programming Instructions................................................................................... 26
3.2.3 Power Stage Programming ................................................................................ 27
3.2.4 Program Edition.................................................................................................. 27
3.2.5 Direct Mode........................................................................................................ 27
3.3 Program and Data Maintaining....................................................................................28
4Terminal Mode .................................................................................................................. 28
4.1 Operation and Programming via the Terminals PT35α or PT37α .............................. 28
4.1.1 General............................................................................................................... 28
4.1.2 Terminal Adaptation ........................................................................................... 29
4.1.3 Key Assignment / Switching the Functions......................................................... 30
4.1.4 Monitor Mode...................................................................................................... 31
4.2 PT35α-C32 Terminal Auxiliary Functions.................................................................... 31
4.2.1 Display List of Programs..................................................................................... 31
4.2.2 Delete Program .................................................................................................. 32
4.2.3 Program Edition.................................................................................................. 32
4.2.4 Copy a Program .................................................................................................33
4.2.5 Rename a Program............................................................................................ 34
4.2.6 Receive a Program............................................................................................. 34
4.2.7 Transmit a Program............................................................................................ 34
4.2.8 Terminal / α-COMM Communication.................................................................. 35
5Programming Instructions MINILOG ................................................................................. 35
6Index.................................................................................................................................. 36

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1 Stepper Motor Control Units IXEα-A
1.1 Short View
Fig. 1: Stepper motor control unit IXEα-A with various options
The IXEα-A are stepper motor control units by PHYTRON, with numerous applications in
the industrial field and research laboratories.
In the standard version, the control units type IXEα-A-RS are equipped with a RS232C
computer interface.
The control units IXEα-A-T are equipped with a keyboard for programming and controlling
the unit. The 3 or 4 axes units have the keyboards installed on the master unit.
The control units equipped with a keyboard can also be controlled and programmed via an
external computer.
Programming is effected in the PHYTRON MINILOG language with reference to the ISO
language DIN 66025. The α-COMM PC software package makes programming easy,
features powerful editing and management functions.
In the Computer mode (see chap. 3) the control unit can be controlled via external
computer or the terminal PT35α or PT37α.
Remark: You’ll find information for connectors and plug-in boards of the control unit
IXEα-A in the description manual.

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1.2 Basic Unit and Options of the IXEα-A Series
Type Version equipped with
IXEα-A-RS RS 232 C computer interface
IXEα-A-T keyboard
display unit
RS 232 C computer interface
The basic unit for 1 to 8 axes with all types of PHYTRON power stages
for 19“ racks.
• 8 optocoupler isolated inputs
• 8 outputs 24 V / 500 mA or 1.5 A power outputs
• Possibility of extension up to 120 I/O
• Inputs for the connection of the end of travel limit switches
Options:
• IEEE 488 computer interface
• Additional I/O boards, each equipped with 8 inputs and
8 outputs
• EPROM programmer
• Interface for incremental encoder
• Joystick for 2-axis control
• D/A or A/D converters

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1.3 Dimensions
Fig. 2: Dimensions for IXEα-A with power stages ZSO, ZSO MINI, MSO MINI, SYNCRO and
SINCOS

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1.4 PHYTRON Stepper Motor Power Stages
A great many applications are possible with the PHYTRON power stages of the ZSO,
ZSO MINI, MSO MINI, SYNCRO and SINCOS series.
ZSO
Bipolar control in compact powerful module:
Motor currents from 4 Apeak to 18 Apeak /
40 V, 70 V or 140 V
Half Step and full Step mode, Overdrive, Boost
ZSO MINI
Bipolar control in compact powerful module:
Motor currents from 4 Apeak to 18 Apeak /
40 V, 70 V or 140 V
Half Step, full Step and MINISTEP mode, Overdrive, Boost
MSO MINI
Bipolar chopped power stage:
Motor currents up to 15 Apeak / 120V, can be individually set
in 16 increments
Half Step, full Step and MINISTEP mode
(1/4, 1/5, 1/10 or 1/20 Step)
SYNCRO
Bipolar chopped power stage:
Motor currents up to 15.3 Apeak / 120V, can be individually set
in 16 increments
Step failure indication
Half and full step mode
SINCOS
Linear stepper motor power stage for bipolar control
Motor currents up to 2.5 Apeak (cooled) / 20V
Phase currents shaped selectable: sine-shaped, triangular,
trapezoidal
Half Step, full Step and MINISTEP mode
(1/4, 1/5, 1/10 or 1/20 step)
1.5 Stepper Motor
Phytron’s stepper motors ZSS, ZSH, RSS, RSH or other 4-lead or 8-lead two-phase
stepper motors can be connected. Depending on their design, 6-lead stepper motors can
also be connected.
The motor inductance must not be lower than 0,5 mH.
Depending on the power stages, motor currents from 0.6 to 15.3 Ar.m.s. are available.

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1.6 Safety Instructions
Read this manual and the device manual very carefully before installing and
operating the controller. Observe the safety instructions in this and the following
chapters.
Design, putting into service and maintenance may only be performed by qualified
and trained personnel.
These persons should be able to recognize and handle risks emerging from
electrical, mechanical or electronic components.
WARNING !
By persons without proper training and qualification, damages to devices or even
persons might result!
In case of motor voltages > 24 V: The controller must only be operated if this unit and the motor housing both are
connected to protective ground.
If you need to open the device:
Up to 3 minutes after turning off the supply voltage, dangerous voltages may still
exist within the device.
Always switch off the supply voltage if you connect or disconnect any wires or
connectors at the controller. Most important:
Do not unplug any connector when powered!
Danger of electric arcing.
Voltages connected to the signal inputs and outputs should be safely separated from mains. The maximum voltage against protective ground must not exceed
60 VDC or 25 VAC.
1.7 Control and Programming Instructions
• For all programming instruction codes refer to the Programming manual MINILOG for
IXEαand SAMα.
• The line numbers are automatically assigned by the system.
• Each line can receive several instructions with a maximum of 32 characters per line
• The instructions must be separated by blank characters.
• Do not insert extra blank characters within an instruction.

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• Program names [name] in the instruction code can consist of up to 6 alphanumeric
characters.
• Before starting to edit the program, select the dialogue language
(German/English/French). Adapt the data format and check the connections of the unit.
All programmed parameters remain in memory even after switching the unit OFF.
They can be modified at any time.
2 Keyboard Operation
Fig. 3: Keyboard IXEα-A

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2.1 Keyboard Assignment / Functions
• After POWER ON, the lower characters and signs of the keys are activated.
• Upper sign: press together with the corresponding key.
• key: Change from capitals to normal characters
All instructions, aside from certain exceptions, are introduced in capitals, for example
: 'IS'.
Example of an exception: 'd0', all exceptions are marked on the keyboard.
key (Manual mode) :
Switching the run frequency f/f' (fmin/fmax) in the Manual mode
f(fmin) : press only the key
f'(fmax) : press the keys +
If the cursor is not visible in the Manual mode, the key can be used only to switch the
run frequency.
The actual run frequency is displayed by = f (fmin) or by
f' (fmax).
After pressing the instruction displayed is executed. Error messages, such as 'program
not found' are also acknowledged by means of .
key switches the unit back to the monitor mode, without executing the instruction. The
cursor disappears.
Key I:
In the Manual mode, key I is used to switch from the program functions to the input of
alphanumerical characters. The cursor switches to the first position of the second display
line. You may then type a message or comment concerning the instructions on the 1st
display line. In this mode it is possible to modify the run frequency by means of the
key. This key is used only to switch from normal characters to capitals.

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2.1.1 Cursor Control Keys
These keys shift the cursor one character to the left or to the right
These keys shift the cursor one line up (to line n-1) or down (to line
n+1)
Delete character
Insert character
Delete line
Insert line
2.2 Monitor Mode
After unit POWER ON, the display indicates the: Monitor mode.
From the Monitor mode all other operating modes can be accessed:
Instruction: Type the instruction corresponding to the desired operating mode and confirm
with .
The list of operating modes is given in chapter 2.2.1.
Example: H calls the Manual mode
To modify the operating mode again:
1. Switch back to the Monitor mode:
These keys must be pressed simultaneously!
2. Select the new operating mode (as above)
If an automatic start has been programmed (refer to the list of program instructions), the
corresponding instruction will be automatically executed after a program interruption or
after a hardware reset.
The automatic start can be suppressed by pressing the key for 5 seconds when the
unit is powered on.
In this case, the IXEα-A-T unit starts again in the monitor mode.

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2.2.1 List of Operation Modes
The unit must be in the monitor mode. Then, type the code of the desired operating
modes and confirm with :
Instruction Operating mode
AP[name] Execute program [name]
CP[name] Copy program [name]
DP[name] Delete program [name]
EP[name] Enter program [name]
H Manual mode
IA Number of axes
ID Display inclination
IF Frequency switching f/f’
IN Dialogue language
IP List of stored programs
IV Version number
R Register
RP Rename program
TE Computer mode (IEEE)
TP Terminal mode
TS Computer mode (RS)
UP[name] Test program [name]
X List of parameters

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2.3 Manual Mode
In the Manual mode, all inputs are directly executed on the connected system.
The Manual mode can be accessed from the Monitor mode.
Instruction: H then confirm with
Display: MANU X 12.34 mm
= low run frequency f (fmin)
= high run frequency f' (fmax)
The engineering units for the displacement values are programmed in Parameter P02 (in
our example: mm).
2.3.1 Axes Displacement Keys
Keyboard assignment for axes displacement: X/Y or Z/W axes
Numerical
keys Axis Direction of displacement Axis Direction of displacement
4 X (Z) –
6 X (Z) +
2 Y (W) –
8 Y (W) +
1 X (Z) – Y (W) –
9 X (Z) + Y (W) +
3 X (Z) + Y (W) –
7 X (Z) – Y (W) +
After POWER ON the axes displacement keys are switched on axes X/Y.
Switching to Z/W: press key Z or W
Switching back to X/Y: press key X or Y
A single step can be achieved by lightly pressing the corresponding key. If the key is
permanently pressed, the axis runs in the corresponding direction at ffrequency.

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2.3.2 Frequency Switching f/f'
The key is used to modify the run frequency in the Manual mode:
f (fmin): press the key
f' (fmin): press the + keys
The actual run frequency is displayed by
= f or = f' .
2.3.3 Input of Instructions in the Manual Mode
It is possible to enter one or more instructions in the second line of the display unit when
the unit is in the Manual mode.
This function is activated after typing instruction I. The cursor jumps to the second line of
the display unit.
Display: MANU X 12.34 mm
The input can include all programming instructions:
Parameter programming, initialization M0P displacement, run instructions, status requests,
output switching, register processing, etc.
After typing the various instructions, they are executed after pressing . To enter more
commands, start again with an I instruction to place the cursor on the second display line.
Example: MANU X 12.34 mm
X0 H XP21S0 A011 E011 X+20.5 H A010
This command line makes the unit execute the following instructions:
1. Initialize X-Axis
2. Stop and check if no emergency stop has occurred
3. Set the absolute counter to zero
4. Activate output 1
5. Wait until input 1 is activated
6. Displacement of the X-axis: 20.5 mm in the +direction
7. Stop and check if no emergency stop has occurred
8. Deactivate output 1
The sequence is started by pressing . Once all instructions are processed, the unit
switches automatically back to the Manual mode and the text in the second display line
disappears.
After typing I, a new instruction can be entered or the unit moved in the Manual mode, or
switched back to the monitor mode by pressing + .

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2.3.4 Cancel an Instruction
Key makes the unit go back to the Manual mode. If one, or more instructions have
been introduced on the second display line, they will not be executed. The cursor
disappears.
2.3.5 Initialization / M0P
If a mechanical zero is defined (reference point), absolute displacement instructions can
be used.
The mechanical zero (M0P) is set by end limit switch (initiator) in the – direction. The
initialization switch is installed on the side of the carriage bearing the motor.
The initialization sequence is described in : Programming manual MINILOG
Initialization of the axis is effected either by an instruction:
X0 (or Y0, W0, Z0)
After this instruction only the mechanical zero point counter parameter P20 is set to zero,
the absolute counter parameter P21 isn’t set to zero.
or the instruction: M0P (key M0P) + axis designation
The M0P key is only accessible in the Manual mode.
The M0P displacement resets parameters P20 and P21 to zero.
It is possible to check the unit’s correct operation by using successively both M0P
commands and comparing the counter values of the absolute counter.
Parameters P08 to P13 are used to program the initialization frequency (speeds), ramps
(acceleration) and recovery times.
2.3.6 Groups of Inputs and Outputs
For reasons of diagnosis it is possible to display the inputs and outputs in the Manual
mode. The inputs and outputs are displayed in groups of 8 outputs or 12 inputs:
Input blocks: e1, e2,...
Output blocks: a1,a2,...
Display Input Status
instruction: I en, CR e= keys + E
e = group of inputs
n= group number (e1 inputs 1-12)
The input status are displayed in a rising order:
0= OFF 1 = ON

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Display: MANU X 1234.5678 mm
Y 1234.5678 mm
e1 Input 1 to 12 1001 0101 0000
In our example inputs 1,4,6,8 = ON and inputs 2,3,5,7,9,10,11,12 = OFF (deactivated)
To display the next higher input group: press
If no higher group is installed, the display goes back to the first group of inputs (e1).
To display the next lower input group: press
After input group No 1, the input group of the highest number will be displayed.
Pressing + erases the second line displayed, the input display mode is exited.
Output Setting
Instruction: I an, a= keys + A
a = group of outputs
n= group number (a1= outputs 1-8)
The output status is displayed:
0= OFF 1 = ON
Display: MANU X 1234.5678 mm
Y 1234.5678 mm
a1 outputs 1 to 8 1000 0001
The outputs can be modified one by one:
To modify the output status, effect the following operations:
1. Position the cursor below the output to modify
2. Overwrite the value with the desired output status
3. Confirm with .
The cursor remains below the modified output.
Exit the output program: Press keys + .
The display of the second line is erased. The unit returns to the Manual mode.

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2.4 Programming
Program instructions and commands are described in the Programming manual MINILOG.
Some of these instructions only apply to the Computer mode or to the MINILOG
programming language. The instructions are signed by – only computer mode.
2.4.1 Program Length
The program length is variable, maximum length is 630 lines. The available memory can
be used for any number of programs, providing that the total number of program lines does
not exceed the maximum value. If several programs are stored, a memory location is used
for each program name which reduces the total number of program lines available.
2.4.2 Program List
The list of programs stored can be displayed in the Monitor mode with the instruction:
IP .
The name of program No. 1 and its length in lines is displayed on the first line.
Go to the next program name:
Return to the Monitor mode: +
2.4.3 Program edition
Each program is stored in the CMOS-RAM memory with its name (6 characters max.).
The line number is automatically increased by one after storing the current line in memory
with ( ).
Instruction: EP[name] Program edition starting with line No. 1
EP[name] Nnn Program edition starting with line nn
EP = Program edition
[name] = Program name, 6 characters max.
N = Program line
nn = Line number
A blank character must be introduced between the program name und N!
Example: EP2 N031 Edition of program No.2, starting at line 31