Superior Electric SLO-SYN Micro Series User manual

The Only Factory Authorized Repair Center for Superior Electric Stepper Drive & Motor Repair
Motor Systems Inc.
460 Milford Parkway
Milford, OH . 45150
www.motorsystems.com
513-576-1725

PRICE: $25.00
ecticut 060110-7488
1987 The Superlor Eleclr~c Company
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The following are the minimumsteps necessary for the Packaged
become operational.
FAILURE TO PERFORM THESE
Y RESULT IN DAMAGE TO THE UNIT.
I. DRIVE
Connect 120volts ac, 50160 hertz to the AC input terminal strip.
The terminal labeled "H" ishot,"C" iscommonand
"G" isground,
Check to see that the motor used is compatible with the drive. A
list of compatible motors is given in Section 3.3 of this manual.
Set the correct current level for the motor being used per the
instructions in Section 3.8 of this manual.
Wire the motor per Section 2.2, "Motor Connections" in this
manual.
Caution: always disconnectthe ac power tothe unit when con-
nectingordisconnectingthe motorconnectororleads.
Becertain
the "PWR ON" LEDisOFFbefore unpluggingthe motorconnec-
tor, or the drive will be damaged.
Caution:
The motor and drive must always be grounded during
operation. Be sure to twist the wires for each motor phase. Six
twists per foot is a good guideline.
Connect parallelinterfacedatatoJ5andserialdatatoJ4.TheSSP-
100 lndexer Programmer is a parallel interface device and the
SSP-500 lndexer Programmerisaserial interfacedevice. Referto
Sections 4 and 5 of the manual for information and operating in-
structions.
This instruction manual MUST BE READ IN ITS ENTIRETY to
correctlyoperate the indexer.This ExpressStart-Up Procedure
only highlightsthe important itemsnecessaryto ensure correct
operation of the Indexer.
S - Be certain that your signals which communi-
cate with the lndexer meet the following specifications (moredetails
are found in Section 3.6 of this manual).
. SERIAL (RS232) OPERATIO
S - Be certain that the following signal speci
fications are met:
RS232 s~gnalcharacterrstics:
Outputvoltage swing:
6 Vdc minimum: ltlO Vdc maximum
lnput voltage range: -30Vdc mlnimum: t30Vdc maximum
2. CONNECTIONS - The serial port (9-pin "D" connector) is
designated as follows:
Pin ssignment
Signal Common
RS232Chain Out
RS232 Receive Data
Signal Common
Signal Common
6232Echo
RS232 Chain In
t5Vdc
t5Vdc
Connectthe hostcomputer or terminal as shown in Figure 2.4 of this
manualforsingle indexer interfacingoras inFigure 2.5fordaisy-chain
operation,
Use caution when connecting the indexer to the host
device as
+5 Vdc ispresent onthe connector. Only usethe t5Vdc for
operation with the SSP-500 hand-held pendant. This connection is
already made in the cable.
3. COMMUNICATIONS - Configure the RS232 communication
parameters to correspond to the protocolof the host device.
TheindexerutilizestheXonKoff handshakingtechnique which
should be followed to ensure proper serial communications.
The indexer must
be addressed with the proper attention
character(e.g., "<")and thedevice identificationnumber (e,g.,
indexer#Ol)that iscontained inparameterL21toinitiatecom-
munications.
4. PROGRAMMING - Always program L70, the step resolution
parameter, first, followed bythe remainder of the parameters.
Carefully read Section 4toimplementthe powerful andvaried
instruction set. Factorydefaults have been set for your unitto
aid infirst-timeoperation.These are listed inSection4.3ofthe
manual.
5. EXECUTION - The indexer executes its program based onthe
present settings of the various modes. If program or manual
operations are notcorrect,verify the modeandparameterset-
tings. The Trace mode isavaluable aid inobserving program
operation.
Ifthe motor operates erratically, the motion parameters may
need adjusting.
PARALLEL OPERATION
1. SPECIFICATIONS- Be certainthatyoursignalswhich commu-
nicatewiththe indexermeetthefollowingspecifications (more
details are found in Section 3.6 of the manual).
lnput Characteristics:
High Level (inactive) Voltage: 4.5Vdc minimum, t15.0 Vdc
maximum
High Level Current:
1 milliampere maximum leakage
Low Level (Active) Voltage: tO.O Vdc minimum, t6.5 Vdc
maximum
Low Level Current: 3.5milliamperes maximum
Output Characteristics:
High Level (inactive) Voltage: t24.0 Vdc maximum,open
collector
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High Level Leakage Current: 250 microamperes maximum
leakage
Low Level Output: t0.4 Vdc at 16milliamperes sink current
+0.7Vdc at 40 milliam~eressink current
2. CONNECTIONS -The parallel signals are obtained via the 25-
pin "D" type connector. The pin assignments are as follows:
Pin Assignment
-
Pin Assignment
-
Signal Common 14
D7 Input* 15
D5 Input* 16
03 Input* 17
Dl Input* 18
Motion Busy*? 19
Strobe 7* 20
Strobe 5* 21
Strobe 3" 22
Strobe 1
* 23
Output 2*t 24
All Windings Off Output't 25
Direction Outputet
Signal Common
05 Input*
D4 Input"
D2 lnput*
DO Input*
Not Used
Strobe 6*
Strobe 4*
Strobe 2*
Strobe O*
Output
I *t
Pulse Output*t
* Signals are active when low, inactive when high
t Open collector output.
An example of aswitch panel interface is displayed inFigure 5.2. The
diodes must be included for the indexer to operate successfully.
3. COMMUNICATIONS - Proper parallel operation mustobserve
the timing requirements as shown in Figure 5.3. The LO7
parameterdetermines the timingofthe strobesduringthe load
sequence.
4. PROGRAMMING - 170.the step resolution parameter, must
be programmed first, after which the rest of the parameters
may be programmed. Carefully read Sections 4 and 5 of the
manual to learn how to implement the powerful and varied
instruction set. Factory default values have been set for your
unit to aid in first-time operation. These default values are
listed in Section 4.3 of the manual.
-The indexer executes based on the present
settings of the various modes. If program or manual opera-
tions are notcorrect, verify the mode and parameter settings.
I General Comments
SLO-SYN MicroSerlesdrives use modernsolld-state electronics such
as microprocessors to provide the features needed for- advanced
motion control applications. In some cases, these applications pro-
duce electromagnetic interference (EMI, or electrical "noise") that
may cause inappropriate operation of the microprocessor logic used
inthe MicroSeries product, or inany other computer-type equipment
inthe user's system.
This guide is aimed toward helping users avoid such problems by
applying"good engineering practices" when designingtheir systems.
Followingthese guidelines will usually prevent EM1 noise from inter-
fering l~ithdrive operation.
li Noise Sources
What causes electrical norse? Ingeneral, any equrpment that causes
arcs or sparks or that switches voltage or current at high frequencies
can cause interference. Inaddition, ac utility lines are often "polluted"
with electrical noise from sources outside a user's control (such as
equipment inthe factory next door).
The following are some of the more common causes of electrical
interference:
* power from the utility ac line
* relays. contactors and solenoids
* hght dimmers
* arc welders
* motors and motor starters
* induction heaters
* radio controls or transmitters
sw~tch-modepower supplies
If the motor operates erratically, adjust the motion parame-
ters.
FUSE AND MOTOR CONNECTOR PART NUMBERS
FOR
3180 SERIES UNITS
FUSE:
Littelfuse part number 225005
2AG. 5 amperes. 125volts, fast acting
MOTOR CONNECTOR (mates with female motor connector on
drive)
Male connector body: AMP part number 206434-1
Pins
(5 required):AMP part number 66506-8
Cable clamp: AMP part number 206062-1
* computer-based equipment
* high frequency llghting equipment
* dc servo and stepper motors and drives
Ill Mounting Location
When selecting a mounting location ~tis preferable to keep the drive
away from obvious noise sources such as those listed above If
possible locatethe drive in rts own metalenclosure to shield itand its
wrmg from noise sources If this cannot be done keep the dr~veat
least three feet from any nolse sources
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WHEN MOUNTING
EXER, BE SURE TO
PROVIDE SOLID, AN CONNECTION
E
AND ENCLOSU
P THESE WIRES
C INPUT
I I
J5 SINGLE POINT
I GROUND
S
TWI
SEE NOTE 1
SEE NOTE 2
-
BE SURE TO KEEP
OM
AND
AC POWER WIRING
Ud CONNECTOR
TYPE 15(FEMALE)
OOPER INDUSTRIES,
USSMAN CORP.
NOTES:
Recommended Cable Types
1) Superior Electr~ccable part numbers
215851 007 5
feet (1 5 meters) Ions
21 5851 008 10
feet (3 meters) long
2) Superior Electric cable part numbers
215801 216066 001 216067 001
216022 001
etc (see catalog for details
3) Typ~caltypes
Alpha
6073 2463 45491 451271
Belden 8767 9406 88641 88761
Carol C1350 C1352 C1353
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IV Wiring Practices - "Dos and Don'ts"
Do
the folloviing when installing or wiring your drive or indexer
* Do keepthe drive and itswiring asfar awayfrom noisesources
as possible
4 Do provide a good solid ground connection to the ac system
earthgroundconductor Bondthedrivecase tothe system en-
closure
Do use a srngle-point grounding scheme for ail related corn-
ponents of a system (this looks like a hub and spokes ar-
rangement)
Do keep the ground connection short and direct
*
Do use a line filter on the ac input (Corcorn type 10B1 10S1
or lOK1 or eqwalent)for noisy ac lines Particularly bad ac
lines inay need tobe conditioned with a ferroresonant type
isolation transformer to provide clean powerto the drive or
indexer
Do keep signal and drive wiring well separated If the wires
inustcross they should dosoat rightanglesto minimizecou-
pling Powerwiring includes ac wiring motor wiring etc and
srgnal wiring includes inputsand outputs (110) serialcoinrnu-
nicatrons
(RS232 lines) etc
* Do use separate conduits or ducts for signal and I10 wiring
Keep all power wiring out of these signal line conduits
* Do use shielded twisted-pair cables for indexer 110 lmes
* Do ground shields only at one end the indexeridri~eend
* Do use twisted-pair shielded cable for the motorwiring
* Do use solid-state relays insteadof electromechanical contact
types wherever possible to minimize noise generat~on
* Do suppress all relays to prevent noise generation Typical
suppressors are capacitors or MOVs See manufacturers
lrterature for complete
information
Do not do the following when installing your drive or indexer:
Do not install sensitive computer-based equipment (such as
an indexer1drive) near a source of
electromagnetic noise.
* Do not bundle power and signal lines together.
* Do not bundle motor cables and signal lines together.
* Do not fail to use shielded. twisted-pair cables for signals.
Do not fail to properly connect the system grounds.
* Do not use "daisy-chained" grounds.
* Do not fail to ground signal cable shields at only one end.
* Do not assume that power from the ac line is adequately
"clean".
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V AC Line Filter
Use of anAC lhnefilter on 31 80 and 61 80 Ser~esdrlves isrecommended. Asuitable filter isincludedwitheach unitsupplied forsale inNorthAmerica.
Proper installation of the AC Line Filter is essential
WARNING: Improper installationof the ac linefilter may cause electrical shock, which could result indeath, serious bodily
injury or property damage. To avoid electrical shock:
*The ac line filter must be installed by qualified personnel. Typical methods of locating and installing the line filter are
shown in Figures
1 and 2.
*The ac line filter must be firmly fastened near the Indexer. Failureto do so may result indamage to the filter andsystem.
*The installer must properly insulate and protect the ac connections to assure that the wires are not exposed. Exposed
wires could cause electrical shock, resutting in death, bodily injury or property damage.
If you have any questions regarding installation of the line filter, contact an electrician before installingthe device.
For best performance:
* The wlre between the Filter and the Drive should be less than two feet (0.61 meter) long
Proper AC Line Filter Connections
VI Troubleshooting Guide
Electricalinterference problemsare common with today's computer-based controls, and such problemsare often difficult to diagnose and cure.
If such a problem occurs with your system. it is recommended that the following checks be made to locate the cause of the problem.
1. Check the quality of the ac line voltage using an oscilloscopeand a line monitor. such as the Superior Electric VMS series. Iflinevolt-
age problems exist, use appropriate line conditioning, such as line filters or isolationtransformers.
2. Be certaln all of the previous Do's and Don'ts are followed for location, grounding, wring and relay suppression
3. Double check the grounding connections to be sure they are good electrical connections and are as short and direct as possible.
4 Try operating the drive wlth all suspected noise sources switched off Ifthe drlve functions properly switch the noise sources onagain
one at a time and try to Isolate whlch ones are causingthe Interference problems When a noise source is located try rerouting wirlng
suppressing relays or other measures to eliminate the problem
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FIGURE 1
Filter installed On Fabricated Plate Mounted On Indexer
FIGURE
2
Filter Mounted Adjacent To Indexer
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PAGE PAGE
PRECAUTIONS 9
4.1.3 Programming Chart
~ -- -- -.-
17
4.2 Immediate Commands
-
19
Clear 19
WARNINGS CAUTIONS. LIMITS OF USE. ETC 9
SECTION 1: INTRODUCTION
1.1 Features Overview 10 Freehold 19
1.2 Inspection parts list 10 Device Attention Character 19
1.3 Usingthis manual 10 Cycle Stop 19
1.3.1 Organization
10
Backspace and Delete 19
1.3.2 Logic voltage and programming conventions 10 Delete Line 19
1.3.3 Indicator lights and AC fuse 10 4.3 L Codes: Indexer Parameters 19
SECTION 2: MOUNTING, CONNECTIONS & PIN ASSIGNMENTS 11 L06, Program Execution Format
2.1 Mounting 11 107, Strobe Delay Time 20
2.2 Motor connections 11 L08, Mechanical Home Direction 20
2.3 Connection Diagrams 13 L09, Jog Speed 20
2.3.2 J2: Motor 13 L12. Low Speed 21
2.3.3 J3: Power lnuut
13
L14, Home Speed 2 1
2.3.4 34: Parallel 110
. .. -- - -. --
13
2.3.5 J5: Serial
110 13
117,Offset Direction and Distance from
Mechanical Home 21
L18, Clockwise Software Travel Limit 21
2 4 Serial Communication Connection Diagrams
- -
2 4 1
Single lndexer System 119. Counterclockwise Software Travel Limit
2 4 2 Multiple lndexer System
-
-- -
2 5 Memory Protect Switch
L21. Assign Device Identification Number
L22, Baud Rate 22
SECTION 3: SPECIFICATIONS 15
L23, Character Length 22
3 1 Drive Description
-- -
15
3 2 Drive Performance
-- -
- --
-- -
15
3 3 Motor Compatibility
-- -
---
15
3 4 Drive Mechanical Specifications 15
L25, Parity 22
126, Indexer Ready Acknowledge 22
141,Auto Start Line Number 2
3
L44 Program Line Delay
--
23
L45 Limit Switch Enable 23
3.5 Electrical Specifications 15
351
AC lnput
-
3 5 2 Output to Motor
L48. Program Line Transfer Count 23
L49, Parameter Transfer Designation
-.
23
170,Translator Resolution 23
-
3 6 Micro-Series-Indexer 110 Signal Interfaces
-- - -- --
3 6 1 Parallel I10 4 4 Codes Commands for Modes of Operation
-- - -
- - - - - - -
HI Cycle Start
3 6 1 1 Parallel Output Characteristics 16
3 6 1 2 Parallel lnput Characteristics
-- --
16
-
3 6 2 Serial I10 16
H2 Step Mode
H3 Jog Mode
3.7 Environmental Specifications 16 H4. High Speed Mode 24
3 8 Current Settings
-
- -
16
GUIDE
- --
17
- --
- - --
17
4 1 2 General Programming Comments 17
H5. Low Speed Mode 24
H6. Turn in CW Direction
Hi.turn in CCW Direction
H8 Return to Electrical Home 24
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G36 Strobe X Code Data PAGE
---
31
H9,Set Electr~calHome
- --
24
--
HI0 Return to Mechanical Home 24 G37 Strobe N Code Data 31
HI1,Clear Present Program Line 25 G47 Set Output 32
HI2. Clear Program 25 G64 Enable Reduced Current
- ---
32
- -
G65 Cancel Reduced Current 32
H13. Transmit Contents of Present Program L~ne 25
HI4 Transm~tProgram
-. -- -
25
.-
H15, Transmit The Current Program Line Number 25
G66 Enable Boost Currerlt 32
G67 Cancel Boost Current 32
H16, Transmit Parameters 25 G68 Enable All Wmdings Off
-- -
32
G69 Cancel All Windings Off 32
H17, Transmit Absolute Position 26
HI8, Transmit Motion Status 26 G76 Return to Electrical Home
- - -- -- -
32
-
G77 Set Electrical Home 32
HI9,Transmit Mode Status 27
H20,Transmit I/O Status 28
H23, Transmit Software Revision Date 28
G78 Return to Mechanical Home
-- -
32
- - --
G90 Absolute Mode 32
H24, Enable Trace Mode 28 G91, Incremental Mode 32
H25, Disable Trace Mode 28 4.6 Sample Program 33
4 5 Programming Codes
--
28
-
N Codes Line Number 28
4.7 Code Assignment Tables 34
SECTION
5: OPERATING INSTRUCTIONS 36
X Codes, Move Direction and Distance 28
5 1 Overview
- - -
5 2 Operation from a Sw~tchPanel F Codes, Feedrate
5.3 Operation from a Remote Terminal 41
GCodes ProgrammableCommands
--
28
--
GO4 Dwell Time 29
-
GI1 Call a Subrout~ne
-- --
29
G20 Conditional Branch
- -
29
--
G22 Wait for Input 30
5.4 Operation from a Host Computer
SECTION
6: SPEEORORQUECURVES
6.1 Motor Performance 49
SECTION
7: TROUBLESHOOTING 50
G30, Returnfrom Subroutine ProgramLine 31 Summary of Codes
- -- -
53
-
- -
Program Worksheet 54
G31. Program Stop 31
*Do not connect or disconnect motor or signal cables while AC
power is applied.
* 00not use J1 connector (15-pin "0" connector).
* Do notexceed specified input voltage.
*Do not operate unit without the enclosures in place, as high
voltages are present.
WARNINGS
* Voltagespresent inthisunitcancauseserious orfatalinjury. Only
qualified personnel should install or perform servicing proce-
dures onthis equipment.
* Voltage ispresent on unprotectedpins when unit is operational.
a No short circuit protection for motor outputs is provided in this
unit. The AC input is internally fused.
* Before makingchanges to the motor or controlwiring, turn off all
power to the unit, and disconnect itsAC power source.
* Allowat leastten minutesforcapacitors to discharge as they will
remain at high voltages for several minutes after power is re-
moved.
LIMITS OF USE:
* Reconfiguration of the circuit in any fashion not shown in this
manualwill void the warranty.
NOTES:
1. Clockwise and counterclockwise directions are properly ori-
ented when viewing the motor from the label end.
2. Whenconnectingthe unitto aterminalor hostcomputer, besure
to make note of the RS232 configuration and Micro-Series
Indexer device address.
3. Care mustbe taken when connecting this unitto a host computer
or remoteterminal as a +5VDC voltage source is present on the
RS232 connector. Follow instructions carefully.
4. The J1 connector (15pin"D" connector) isnotto beusedfor any
purpose.
9
*Assure motor compatibility before using the unit.
*Observe all cooling and temperature limitations. Heat sink
temperaturemustbemaintainedbetween Oand80degrees C. (32
and
176 degrees F). Unit must not be operated in ambient tern
peraturebelow 0 degrees C(32 degrees F) or above 50degrees
C
(122 degrees F).
* AllWindings Off shouldbeusedwithcaution, asallholdingtorque
is lost.
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1.1 FEATURES OVERVIEW
The 3180-PI providesthe following output capability:
MOTOR
CURRENT VA
PER PHASE PER PHASE
3180-PI 3 Amps peak 500 VA nominal
The 3180-PI motor drivelindexer package is a line-operated, energy
efficient motor drive module, that is coupled to a programmable
m~crocontrolierindexer. An integral power supply provides the
necessaryDC voltages requiredto operate the indexer and drive. This
indexeridriver module is capable of driving a wide range of Superior
Electric SLO-SYN stepping motors, and allows for a wide range of
functions, The indexer has several features, including:
Programming is done in a s~mpleeasy to use format
Up to 400 lines of program instructions can be stored
Program storage is in nonvolatile memory
Easy programming allows for motion and input/output control
Up to
99 indexers may be daisy chained via RS232 communica-
tions
Program entry and execution may be done ina variety of ways
Switch panel including the Superior Electric SSP-100 SLO-SYN
lndexer Programmer
Remote terminal including the Superlor Electric SSP-500 SLO-
SYN Indexer Programmer
Host computer
The drive features include.
Full/half 1/10 or 11125 step resolution depending on model
Motor current adjustable from 0
5 to 3 0 amperes per phase
* Speeds up to I0000full steps per second
* Reduce-current and boost-current functions that are indexer-
controlled
* Power-on and fault LED indicators
* Over-temperature protection
1.2 INSPECTION PARTS LIST
The drive and indexer come fully assembled as a single unit that is
inarked with the part number either 3180-PI (fullihalf step) 3180-
PI10 (1110 microstep) or 3180-PI125 (11125 microstep)
1.3 USING THIS MANUAL
This manual is an installation and operating guide to the 3180-PI
motordrive and indexer All the necessaryinformation is providedfor
using the 3180-Pi successfully
We strongly recommend that this manual be read thoroughly and
completely before attempting to installand operate the equipment.
1.3.1 ORGANIZATION
Complete specifications listed inSection 3 will provide easily refer-
enced information concerning all aspects of installation power and
interface requirements as well a performance specifications
Section 4 is a Programmrng Guide' that explains all the parameters
and commands used bythe indexer andgives examples of howthese
commands are used
Section 5 entitled Operating Instructions provides information on
how to operate the indexer from a switch panel remote terminal or
hostcomputer Detailed information onswitch andstrobesettings will
be provided there
The remaining sections contain additional drawings and information
useful for setting up and operating the indexer modules.
1.3.2 LOGIC VOLTAGE AND PROGRAMMING CONVENTIONS
All logic is LOW TRUE. This means that a logic function is active
when low
and inactive when high. The low true condition is
designated bya bar. Inthe case of step/Eg,
jog isactivewhen low.
Ifalogiccontrolfunction connectorpinisleft
open, thefunction will
be clamped ina
high or inactive condition.
Whenasign isto be used inconjunctionwith a movedistance or an
offset direction.
+ will cause clockwise motionas viewed from the
motor's LABEL END.
Certain commands are designated as MODE commands. Ex-
amples: ABSOLUTE MODE. INCREMENTAL MODE, STEP MODE.
JOG MODE, etc. Care should be taken to assure that the correct
MODE is operational for each command. Once a mode is set. it
remains active until a canceling or alternate mode is chosen.
Motion performance and the ranges listed for motion parameters
are dependent on the translator resolution chosen with the L70
parameter.
L70must beprogrammedpriortoanymotionparame-
ter entry. If the L70 parameter is modified, then the motion
parameters must be re-entered.
3.3 INDICATOR LIGHTS AND AC FUSE
A red "PWR ON" LED indicator shows the presence of the t 5Vdc
drive logic power supply. thereby indicating that the 3180-PI
is energized.
A red "TEMP" LEO indicator shows a drive over-temperature con-
dition. During this condition.the power is removedfrom the motor
v~indingssothat noholdingtorque isbeingapplied. Recoveryfrom
tlirs condition necessitates removing and then re-applying the
AC
power source.
The unit s AC input is internally fused A blown AC input fuse
w I
preventthe power supplyfrom energizingany of itsoutputs hencs
the unitwill not operate Usually theonly reasonthlsfuse will ope?
( blow ) is if an internal failure occurs If an open fuse occurs
return the unit to the factory for service
DO NOT REPLACE THE
FUSE OR THE UNIT MAY BE FURTHER DAMAGED.
This inianuai isorganized for the convenience of the operator Section
2 mounting Connections and Pin Assignments provides dia-
graiiis and reminders that are necessary even for the experienced
user and iiistaller
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The 3180-PI ismounted byafflxing~tsenclosuretoaflatsurface inone
of two possible
configurations Figure 2 1 shows the mounting hole
locations and diameters It is important to leave at least two inches
(51rnm) of space betweenthe drive stop bottom and sides to allow
2.2 MOTOR CONNECTIONS
All motorConnectiorisare madevla the 8-pin circular AMPconnector.
Figure 2.2 shows the possible rnotor wiring configurations. The
diagrarns in Figures 2.2.1 through 2.2.6 show the connections for
each comblnatiori of cable and motortype
BLACK
m a
w
WHlTElBLACK
-QUEEN -+ QRWND
4-LEA0 MOTORS, SERIES CONNECTION
Figure 2.2: Motor Connections
J2: Motor Connections
Cabling: Shielded. twisted-par cable IS highly recommended. Tw~st
together the wlres for each motor phase; six twists per foot (305mm)
IS a good guideline.
Superior Electric Motor cables are available as follows.
(Unterminated Leads
On Motor End)
Figure 2.1: Mounting Diagram
(Plug on
Motor End)*
Length
The heat sink should always be mounted with the fins oriented
vertically, or proper cooling will not occur. Air flow should not be
Part Number
I Part Number
*Mateswlth receptacle on M062, M062 and M063 motors that have
receptacles (M061-CS08. etc
)
2.2.1 Connections Using LF or FF Type Motors (With Leads) and
Superior Electric 8215801-001, -002 or -003 Cables
loft (3m)
MOTOR
8215801-001 1 B216066-001
ZCONNECTOR
(TYPE FF or LF)
RED -RED
CABLE (8215801-001;002, OR -003)
TE/RED bWHITE/RED-
GREEN -BLAC
WHITE/GREEN
--+--- WHITE/BLA
SHIELD-@ MOTOR
FRAME
3180 DRIVE / 8215801-001, -002, or -003 CABLE / TYPE FF or LFMOTOR
Figure 2.2.1
2.2.2 ConnectionsUsingFFType Motors(WithTerminal Boxes) and
Superior Electric B215801-001, -002 or -003 Cables
MOTOR
(TYPE FF, With Terminal Box)
2 CONNECTOR
CABLE (8215801-001;002, OR -003)
MOTOR
TERMINALS
WHITE/QREEN
SHIELD ~-0 MOTOR FRAME
3180 DRIVE / 8215001-001, -002,or -003 CABLE / TYPE FF (With Term. Box) MOTOR
Figure 2.2.2
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2.2.3 Connections Using CF Type Motors (With Connectors) and
Superior Electric 82166066-001, -002 or -003 Cables
CABLE (8216066-001,-002, OR -003)
OTOR
(TYPE CF)
- MOTOR
CONNECTOR
3180 DRIVE / B216066-001, -002, or -003 CABLE / TYPE CF MOTOR
Figure 2.2.3
2.2.4 Connections Using LF or FF Type Motors (With Leads) and
Customer Supplied Cables
2 CONNECTOR
MOTOR
AMP PART Nr206434-1, PIN "66506-8,
(TYPE FF or LF)
CLAMP *206062-1
(GROUND -SHIELD MOTOR
LEADS
L----------d LCUSTOMER SUPPLIED CABLE I-0 MOTOR FRAME
NOTE:- WIRES CONNECTED TO "~1"AND "~3"SHOULD BE
TWISTED,
AS WELL AS THOSE CONNECTEO TO "~4''AND "M5",
APPROXIMATELY SIX TWISTS PER FOOT.
THE TWO PAIRS SHOULD THEN BE SHIELDED TO MINIMIZE
RADIATED EMI.
3180 DRIVE / CUSTOMER SUPPLIED CABLE / TYPE FF or LFMOTOR
Figure 2.2.4
2.2.5 ConnectionsUsingFFType Motors(WithTerminal Boxes) and
Customer Supplied Cables
F, With Terminal Box)
MOTOR FRAME
NOTE:- WIRES CONNECTEO TO "Ml" AND "~3"SHOULD BE
TWISTED, AS WELL AS THOSE CONNECTED TO "M4"AND "M5",
APPROXIMATELY SIX TWISTS PER FOOT.
THE TWO PAIRS SHOULD THEN BE SHIELDED TO MINIMIZE
RADIATED EMI.
3180 DRIVE / CUSTOMER SUPPLIED CABLE / TYPE FF(With Term.Box) MOTOR
Figure 2.2.5
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2.2.6 Connections Using CF Type Motors (With Connectors) and
Customer Supplied Cable
2 CONNECTOR
GROUND -SHIELD)
LcusToMER SUPPLIED CABLE '7LoIoR rmw
NOTE:- WIRES CONNECTEDTO "~1"AND "~3"SHOULD BE
TWISTED, AS WELL AS THOSE CONNECTED TO "~4" AND "M5",
APPROXIMATELY SIX TWISTS PER
FOOT.
THE TWO WlRS SHOULD THEN BE SHIELDED TO MINIMIZE
RADIATED EMI.
3180 DRIVE / CUSTOMER SUPPLIED CABLE / TYPE CFMOTOR
Figure 2.2.6
2.3 CONNECTION DIAGRAMS
2.3.1 J1: DO NOT USE (15-pin "0" type)
otor (see 3.5.2.1 for pinassignments)
2.3.3 53: Power Input (see 3.5.1.2 for terminal assignments)
2.3.4 J4: Parallel I10Connections (25pin. "0" type) (see 3.6.1 for
pin assignments)
2.4 SERIAL COMMUNICATION CONNECTION DIAGRAMS
2.4.1 Single lndexer System
2.3.5 55: SerialIlO(9-pin, "0"
type)(see3.6.2forpinassignments)
HOST
RS
232
PORT
SERIAL 110
/ CONNECTOR J5
I MEMORY PROTECT
In a slngie ~ndexer systeln ~t IS necessary to actlvate the lridexer by
init~allytransrnlttlng the dev~ce attentton character and ~ts correspond-
Ing devlce address A new indexer has a devlce address of 1 See
Flgure 2 4 for wlrlng Instructtons
SWITCH
3WlRE CONNtCIlON NO ECHO
ax
TI
VO
PARALLEL I10
CONNECTOR J4
3 WlR€ CONNECTION WITH ECIi0
I
PWR. ONLED
TEMP. LED
AC INPUT
TERMINAL STRIP
J3
MOTOR CONNECTOR
J2
INDEXER
9 PIN CONNECTOR
INDEXER
9 PIN CONNCCTOR
Figure 2.3 3180-PI Connections Figure 2.4 Single Indexer Connections
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2.4.2 Multiple lndexer System
Ina multiple indexer system. up to 99 indexers may be day-chained
together Dalsy-chaining
IS a method in which muhple indexers can
communicate
with a singie host uslng only 1 sera port. In order to
dalsy chaln multiple Indexers together, each indexer must first be
progran~medwith a unlque device address. The device address can
3 WIRE CONhECTlON NO ECHO
7-1
IPdEXER #I
2. CHAIN OUT
I 9 PI4 CONNECTOR
3- 'Ivo Rx
-- 4 -I vo i
...
5: vo
1 r--- 6-1 ECHO
7 - CHAIN IN
1 1 cB! 15 volts
I ) - 9 -1 15 volts
Ill I I
/ INDEXER 42
/ 9 PIN CONNECTOR
Ill -
INDEXER #3
9-PIN CONNECTOR
1 INDEXER #4
/ 9-PIN CONNECTOR
l
I
I
i
:
I r--
-- 3- Rr
4- vo
be any number
1 through 99, as long as each indexer has a unique
number. The device addresses need not to be consecutive; the
Indexers can be placed ~nthe cnain in any position regardless of their
device addresses. The device address of zero is usedtocommunicate
toall indexers simultaneously. See Figure
2.5 for wiring instructions.
- 5-
-- 6 -
3 WIRE CONNECTION WITH ECHO
PIN 6 AND PIN 7 TIED TOGETHER ON LAST INDEXER IN CHAIN
vo
ECHO
1 4 vo INDEXER pl
HOST I%--.- --- 2 ' CHAIN OUT 9-PIN CONNECTOR
RS-232, Tx t
3 1 Rx
-- 7 4 CHAIN IN
- 8 -/ 15 volts
- 9 -i 45 volts
1
INDEXER #3
9-PIN CONNECTOR
FIGURE 2.5 Daisy-Chain Connections
t5 volts
15 volts
INDEXER #4
9-PIN CONNECTOR
emory Protect Switch
Ali Micro Series Indexers Incorporate a hardware Memory Protect When the Memory Protect Switch is positioned toward the 25-pin
Switchto help prevent accidental or intentional programor parameter connector, the lndexer is in the
"Write" mode. It is in the "Protect"
changes.When the swltch IS inthe "Protect" position.changes to the mode when the switch IS positionedtoward the 9-pinconnector. The
program or to the parameters will not be allowed. Such changes can switch is in the
"Write" mode when the lndexer is shipped from the
be made by
placing the swltch in the "Write" position. factory.
An Indexer whlch has the Memory Protect Swltch also has a metal inall but the most severe
applications ~twill not be necessaryto use
grounding strap whchconnectsthe 9-pinandthe25-pin filtertype D
'
the MemoryProtectS~vitchHowever someusers maywlshto usethe
connectors Located midway betweenthe two connectors 1s a hole to protectfeatureto prevent unauthorized access tothe lndexer program
allov! access to the Memory Protect Switch (see Figure 2 3)
or parameters
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3.5 ELECTRICAL SPECIFICATIONS
3.5.1 AC lnput
3.1 DRIVE DESCRlPTlO
3.5.1.1 Power and Voltages
AC lnput Range: 102-132 Vac. 50160Hz
Fuse Rating: 125 volts, 5 amps, Type 2AG (Littelfuse type 225005)
* Blpolar, speed adjustable, 2-phase. line operated chopper drive with
integral translator and indexer.
*Full, half, 1110, or 11125 step (Step resolution dependent on model
type).
Drive power dissipation (worst case)
3180-PI: 90 watts
3.5.1.2 AC lnput Connections
Powersemiconductor type: N-channel FET J3: 3-pin Screw terminal strip
*Chopping frequency: 20 Khz.
Pin
-
Assignment
"H" Hot (black)
"C" Common or Neutral
"G" Ground (green)
*Control signals are optically isolated from the motor drive circuit.
3.2 DRIVE PERFORMANCE
(white)
Resolution: Half-step or full-step (3180-Pi)
1/10 microstep (3180-PI10)
11125 microstep (3180-P1125)
3.5.2 OUTPUT TO MOTOR
3.5.2.1 Motor Connections
J2: 8-pin twist-lock circular female Amp connection
Step Rate: 0 to 10,000 full-stepsisec. (3180-PI)
0 to 20,000 half-stepsisec. (3180-PI)
0 to 100,000 1110 microstepsisec (3180-P110)
Oto 1,250,00011125microsteps1sec. (3180-PI125)
Pin
- Assignment - Pin Assignment
1 M3 5 No connection
2 M5 6 M1
3 No connection 7 No connectioils
4 Ground 8 M4Speeditorque: See Section 6 for typical SpeedDorque Curves
NOTE: Motor phase A is MIand M3, and phase B is M4and M5.
Matesto male connector, AMP part number 206434-1 (AMP pin part
number 66506-8 and AMP clamp part number 206062-1).
Motor Types: Superior Electric motors are recom-
mended
Frame Sizes: 61mmto 112mm
No. of Leads: 4
Min. Inductance: 8.0 mH
Max. Inductance: 64 mH
Voltage to Motor: 170-190 Volts
Max. motor cable length: 100feet (30.5 meters)
MOTORS FOR USE WITH 3180-PI
SECO Type Number 3180CURRENTSETTING(AMPERES)*
M061-CF408
1
0.5
M061-LF408
DEXER I10 SIGNALS I
3.6.1 Parallel 110
J4: 25-pin, "D" Type Connector, female
Pin Assignment
-
1 Vo SIGNAL COMMON
2 07 INPUT
--
3 D5 INPUT
4 03 INPUT
Pin Assignment
VOSIGNAL COMMON
--
D6 INPUT
- --
D4 INPUT
--
D2 INPUT
-- -
DO INPUT
NOT USED
--
STROBE 6
STROBE 4
STROBE
2
--
STROBE 0
5 Dl INPUT
--
6 MOTION BUSY *
--
7 STROBE 7
8 STROBE 5
9 STROBE 3
10 STROBE 1
M091-FF401
M092-FF402
M093-FF402
MI11-FF401
MXl11-FF401
M112-FF401
MHI12-FJ4201
--
11 OUTPUT2* 24 OUTPUT 1"
12 ALL
WINDINGS OFF OUT* 25 PULSE OUTPUT*^
13 CWiCCW OUT*
in m.,f+-
'These outputs are open collectors If monitored they must be pulled up to an external
mltage source (maximum 24 Vdc) through a series resistor to limit the sink current to a \F
maximum of 40 milliamps
'The strobe outputs are also open coliector, if they are conrlected directly to lhe indexers
----
inputs then pull-up resistors are not required
t Signal line filtering has been incorporated to help keep electrical interference from
affecting Indexer operation Because of this, it is not possibie to use the Pulse Output
signai (pin 25 on the 25-pin ' D" connector) when operating in the 1:125 microstep mode
The puise output on this pin is not affected when operatinq in the full-step half-step or
1/10 microstep modes A maximum piiil-up impedance of 3 9k ohriis should be used
vihen utilizing the Puise Outpu!
t Note that the Indexer can still operate in the 11125 microstep mode This lirnitation only
affects connection to external dri'des via the 25-pin connector
* Use this number to set the drlve's "nominal" current as described in
Section 3 8
Size
(inches)
immi
Weight
MECHANICAL SPECIFICATIONS
6.291x 5.67Wx 7.69H (Height over connectors, exclud-
ing mounting flanges. Helght with flanges is 8.0 inches)
159.71x 144.OW
x 195.3H
3180-PI: 7(lbs.) 3.2(kg) For maximum noise
immunity, it IS recommended that a twisted,
shielded cable of a maximum length of 20 feet (6.1m) be used.
15
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3.6.1.1 Parallel Output Characteristics
The follov~~ngpertain to Output 1 (Pin 24) Output 2 (Pin 11)
Out (Pin 12) CW CCW Out (Pin 13) %L~(PI~25) ~:tionX&
(Pin 6) and Strobe 0 through Strobe 7 Outputs
High level output. 124Vdc max..open collector
High level leakage current: 250 microamps max.
Low level output: 1-0.4 Vdc
@ 16mAsink current
t0.7Vdc
@ 40 mA sink current
3.6.1.2 Parallel Input characteristics
The following pertain to DO through 07inputs:
High level (inact~vevoltage: t8.5Vdc min.;
t 15 Vdc max
High level current: 1 milliamp maximum leakage
Low level (active) voltage: 0.0 Vdc mln.:
t 6.5Vdc max.
[.ow Level current: 3.5 milliam~max
3.6.2 Serial 110
35 9-Pin "D" Type Coriiiector female
Pin
1
2
3
4
5
6
7
8
9
Assignment
Vo
RS-232 CHAIN OUT
RS-232 RECEIVE DATA
Vo
Vo
RS-232 ECHO
RS-232 CHAIN IN
t 5 Vdc
t 5 Vdc
Wire size. 24 AWG minimum. Cable with shielded. tw~stedpairs is
higtily recommended.
Ruii length: 50 feet (15.2m) max
Cables available from Superlor Electric:
(25 pin
D connector on one end 9-pin D connector on other)
Length Part No.
5 ft (1 51n) B216059-001
loft (3x1) 8216059-002
VIRONMENTAL SPECIFICATIONS
Operating Temp
t 32 F to t 122 F (0 C to t50 C) Free Air
Anibient
Storage Temp
- 40 Fto t 167 F (- 40 C to t75 C)
Humidity 95% max noncondensing
Altitude 10000 feet (3048 meters) max
Cooling Will operate up to 122degrees F(50degrees C)
so long as maximuni heat sink temperature of
176degrees F (80 degrees C) is maintained
forced-air (fan) cooling may be required)
3.8 CURRENT SETTINGS
The current applied per motor phase is switch-selectable by a "DIP"
switch accessiblethroughan opening onthe s~deof the indexer-drive
(see figure 3.1).
NOTE: Before making this adjustment, be sure to disconnect the
drive's
120 volt AC power source and wait 10 minutesfor the power
supply capacitors to discharge. Set the switch as follows for the
appropriate current, based on the motor's rating:
CURRENT (AMPS) SWITCH POSITION
NOMINAL REDUCE BOOST S1 S2 S3 S4
2.0 1.O 3.0 OFF OFF OFF OFF
1.5 0.75 2.25 ON OFF OFF OFF
1
.O 0.5 1.5 OFF ON OFF OFF
0.5 0.25 0.75 OFF OFF ON OFF
3.0 1.5 3.0 OFF OFF OFF ON
Boostand Reduce functions are software controlled via the appropri-
ate Indexer
G codes The Boost funct~on IS useful for prov~d~ng
additional motortorqueduringacceleration this increasescurrentper
phase by50% upto amaximumof 3 amperes Ifdesrred current may
be decreased by 50% using the Reduce functlon Thls allows for
cooler motoroperation at standstill incases where the
resulting lower
holding torque can be accommodated
SWITCH -
ACCESS
OPENING
FIGURE 3.1 Current Setting Dip Switch For
3180 Series Drive
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This section contains the information necessary to set up,
enter,and edit programsand also toexecuteprogramswiththe
Micro Series Indexer.
Bycarefully readingthis sectionthrough initsentirety,the user
will fully understand the wide range of applications possible
with the Micro Series Indexer.
.1 OVERVIEW AN0 SET-U
EIA (Electronic Industries Association) Standard RS274-D is
the programming guide for numerically controlled machines.
Superior Electric has utilizedthis standardtoformthe basis for
the Micro Series Indexer's command structure. It was not
technically desirable to conform to the standard in complete
detail, but it proved beneficial in the program structure to
perform complex and varied operations with a simple format.
Usingstraightforwardprogrammingformats, the MicroSeries
lndexer enables the user to program and execute in either
parallel (switch panel) or serial (remote terminal or host
computer) communication modes.
In general, all parameters and commands can be broadly
grouped into four categories, which correspond to these code
groupings:
1. L Codes
3. N, G, X and FCodes
2.
H Codes 4. Immediate Codes
1. "L Codes" (discussed in Section 4.3) are used to set
parameters for each indexer.These commandsare notconsid-
ered part of an indexer program,that is,they are made priorto
any motion programming and do not have program line
numbers.
It is important to remember that the L codes are used exclu-
sively to set the initialparametersof a particular indexer and
should not be thought of as part of the program option for the
indexer.
Codes" (Section 4.4) are used to set indexer modes,
control manual and program execution and to transmit para-
meters and indexer status via the serial communications port.
H codes are not part of the programming commands for the
indexer. There are no program line numbers associated with
the
"H" codes and they are not considered to be part of the
programming function.
and FCodes" (Section 4.5) are the programming
commands forthe indexer.Upto400 lines of program instruc-
tions can be stored as a unique motion control program.
Each program is in a fixed format, and is composed of a line
number, a "G" code, an
"Xu code and an "F" field.
A line of program has this format:
N[nnn) G[nn] X[snnnnnnnn] F[nnnnnnn]
A space is used to separate the codes.
Not all codes need be programmed for each program line.
The G,
X and F codes may be programmed in any order.
: The brackets, [I, are used in this manual for clarity
h,
and are not to be used when entering data or variables
4. lmmediate Codes (Section 4.2) are executed immediately
upon receipt and are not stored as part of the program. All
commands are highlighted in bold face for easy reference.
4.1.2 General Programming Comments
T PROGRAMMING NOTES**
1. The indexer contains a 40 character serial buffer to
accept alldata and programming entries. If a COMMAND
TERMINATOR (CARRIAGE RETURNand/or LINE FEED) is
notreceivedbythe40thcharacter, the buffercontentsart:
dumped and that 40 character strina is lost.
Upon receipt of a CR and/or LF, an XOFF (ASCII Code 19)
character istransmitted to the host; no further data trans-
missionfrom the host should occur. However, any char-
acters transmitted subsequent to XOFF will be stored in
the buffer until the buffer capacity is reached. if the
capacity is exceeded, the buffer contents are dumped.
The receipt of a COMMAND TERMINATOR character will
causethe commands inthe buffertobe executedsequen-
tially. That is, thefirst commandthat was entered will be
the first command executed. The COMMAND DELIMITER
for a series of commands is a space. Once all the com-
mands inthe bufferhave beenexecuted, the indexerwill
send an XON (ASCIICode17)character andwillbeready
to receive further data.
2. Whether the indexer is being operated from a switch
panel, remote terminal or host computer,the first task that
faces an operator, after all circuit connections have been
made, isthat of setting
"L: codes", the parameters of each
indexer.
3. In the following descriptions, it is important to note the
factory default values for each parameter as entry steps
can beeliminated. Uponreceiptofanew indexer, the default
ilalues will have been entered for the parameters.
I. Motorspeedsandacceleration willdependontheTRANS-
LATOR RESOLUTIONsetting (L70 nnn). Set this parameter
first and then work in ascending numerical order starting
@iththe LO6 parameter.
NOTE: Ifthe L70valueischanged, thevaluesfor L09, L11,
L12, L14 and the "F" field values must be reentered.
5. Entry of invalid datafor aparameter or programfield will
-esult in the previous data being left intact.
3. If the number of characters entered exceedsthe number
~f required characters, the data is truncated to the maxi-
numfield length for the entry.
XoniXoff Protocol:
The Xoff character is transrnitted to the host when a CR or LF is
received The lndexer will processthe information it has received and
v!iII transmit an Xon character when it is ready to accept more
information fromthe host The lndexer should be polled to determine
when it is ready to accept more information If
L26 3 is selected the
lndexer will transmit an
= if it is ready to accept more ~nformation
If an Xoff chardcter has beentransmittedtothe hostand the command
received by the lndexer calls for motion or progrdm execution the
lndexer will send an Xon to the host This allo?.!s the host to send any
of the immediate commands such as
* [Clear) S (Feed Hold) or
# (Cycle Stop) The host shoiild not send normal commands until
the lndexer is ready to accept more information The lndexer will be
ready to accept more information when motion is stopped program
is stopped and all previoiis commands have been executed
17
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.1 .3 Programming Chart For lndexer Communications - "On The Fly" Commands
"On The Fly" commands can be sent to the indexer when it is "BUSY" (When motion or program execution is active or when
previously transmitted commands are being processed)."On The Fly" commands allow the indexer to send status or position
information to the host. The sequence for sending "On The Fly" commands isshown below. The host must send an "On The Fly"
command,followed immediately by a carriage return (CR) and/or Line Feed (LF). If the command is not sent in this manner, itwill
not be treated as an "On The Fly"command.Instead, itwillbe placed inthe buffer andexecutedwhenthe indexer is no longer"BUSY".
1 HOST DEVICE SENDS ON THE FLY" COMMAND" I
I
I HOST DEVICE WAITS FOR INDEXER TO SEND REQUESTEDDATA I
The following commands can be sent the lndexer while it is "BUSY":
HIScrlf Transmit Present Program Line Number
HI7crlf Transmit Present Absolute Position
HI8crlf Transmit Mode Status
HI9crlf Transmit Motion Status
H2Ocrlf Transmit I10 Status
Any other commands sent to the lndexer will be executed when the lndexer is no longer "BUSY"
.l, Program Flow Chart For lndexer Communications
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.2 IMMEDIATE COMMANDS
The "X command is executed immediately upon entry and is
not stored as part of the program.
I * CLEAR (ASCII Code 42)
/
(s.
This command IMMEDIATELY halts all motor motion and
programexecutionand will causea loss of home position.The
program line pointer
is reset to the line number specified with
the
L41 parameter.
The RS232 input buffer is also cleared and the indexer trans-
mits an XOFF and then an XON when a CLEAR command is
used.
(ASCII CODE 36) 1
This commandwill immediately bringcurrentmotor motionto
a controlled stop with deceleration determined by the
L11
parameter (ACCELERATION/DECELERATION).
Motion can be continued without loss of position by using a
NO1 CYCLE START command if the feedhold was applied
during program execution. If a feedhold was applied during
a
H08 (return to electrical home) command, a subsequent H08
will continue the motion. A feedhold during a HI0 (return to
mechanical home) command requires a
HI0 to continue the
motion.The line number cannot bealtered duringafeedholdas
the remaining move distance needsto be completed. A CLEAR
(*) can be issued if it is not desired to complete the motion.
TTENTION CHARACTE
If <[nn] = 00, all indexers will be addressed; otherwise, the
indexer with the value set by the
L21 parameter that matches
the <[nn] valuewill becomethe active indexer.The indexer will
respondwith
" = XON" when the <[nn] value matchesthe value
set with the
L21 parameter and the indexer is ready for
commands. If the indexer is not ready, the indexer responds
with
":". If <00 is used, there is no indexer response.
This command halts program execution after the current
program line is completed.
This commandisusedtostop programsexecuting with
LO6 [2]
[31 EXECUTION FORMAT settings.
H) BACKSPACE AND DELETE
The CONTROL H (&H) command will cause a backspace and
delete one character on the current program line. The
AH
commandisexecutedimmediatelyuponentry andisnotstored
as part of the program.
The CONTROL
X (A ) command will delete the program line
that has been entered in the line buffer,
This command must be used prior to aCOMMANDTERMINA-
TOR.
.3 L Codes: INDEXER PARAMETERS
L codes are used to set parameters for each indexer. These
parameters affectthe entire operationof theindexerandcannot
be changed during program execution; therefore, they should
be programmedfirst. The Lcodes can be categorized into three
areas of interest: motion, execution and serialcommunication
parameters.
Motionparameters: L08, L09, L11,L12, L14,L17,L18,
L19, L70
Execution parameters: L06, L07, L41, L44, L45, L48,
L49
Communication parameters: L21, L22, L23, L25, L26
The L codes have been preset at the factory to default values;
these are listed as "Factory Default" settings.
INDEXER PARAMETER FACTORY DEFAULT VALUES
Full Step 1/10 Step 11125 Step
Translator Translator Translator
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