VELMEX VXM-3 User manual

Important User Information
This information is for the end user of Velmex VXM Stepping Motor
Controllers.
VXM Stepping Motor Controller User’s Manual
VXM Stepping Motor Controller User’s Manual
VXMSteppingMotorController
ThisManualexplainsthegeneralandadvancedoperationoftheVXM-1,VXM-2,VXM-
3,andVXM-4steppingmotorcontrollers.
AlsoincludedontheCDROM:
1. COSMOSutility/controllersoftware(AuserfriendlyWindowsprogramforeasy
2.
setup,testing,andprogrammingofVXMcontrollers)
Softwareexamplesandsoftwaredrivers
User’s Manual
(ExtendedVersion)
Models VXM-1,2,3,4
Document#VXM-UM-E5 12-29-04

2
CAUTION:
ControllerandACpowersupplyshouldbeoperatingina
wellventilatedarea. Donotuseinawet,dirty,orexplosive
environment. Inindustrialenvironments,repackaginginto
aNEMAgradeenclosureisrequired.
Donotdisconnectmotorwhilerunning.KeepMotorand
Limitcablesminimumof2”apart.Onlyoperatewith
designatedmotor.Donotaltercablesinanywaywithout
firstconsultingVelmex
!
!
!
!WARNING:
TO REDUCE THE RISK OF ELECTRICALSHOCK, DO
NOTATTEMPT TO REMOVE COVERS ON POWER
SUPPLYOR CONTROLLER. THEREARE NO USER
SERVICEABLE PARTS INSIDE.Anyservicingshouldbe
donebyVelmexqualifiedservicepersonnel.
CAUTION:
THE VXM MUST BE SET TO THE EXACT
MODEL/TYPE MOTOR(S) BEFORE
OPERATING.
IMPROPER SETTINGS CAN CAUSE
SEVERE DAMAGE TO MOTORSAND
CONTROLLER.
UseVelmexCOSMOSsoftwareto
configureVXMbeforeuse.
CAUTION:
MOTOR(S) GET HOT WHEN RUNNING.
Motor(s) must be mounted to a metal surface
to dissipate internal heat.
Precautions
!!
CAUTION
Mismatched Motor
Settings Damage
Motor & Controller
:KHQ&RQQHFWLQJ
0RWRU6HW&RQWUROOHUWR
WKHH[DFWPRWRUPRGHO
W\SHEHIRUHRSHUDWLQJ
Motors mounted to Velmex actuators/positioners will usually provide
sufficient heat dissipation. Motor surface temperature should not exceed
152F (70°C.) In continuous duty applications when the motor is not
mounted to a suitable heat dissipating device, motor surface temperature
could exceed
°
152F (70°
°C.)

3
Table of Contents
Precautions.........................2
Features..............................4
Front VXM...........................5
Back.VXM...........................5
RS-232Port........................5
AuxiliaryI/O.........................6
Motorwiring........................6
LimitSwitchwiring..............6
Setup...................................7
JogMode............................7
OptionalJoystick.................7
CommunicationMethods....8
LinkingVXMsfor 3 & 4
Motors...............................10
Units&Directions..............11
CommandSummary
(CommonCommands)......12
CommandSummary
(AdvancedCommands)....14
CommandReference
(CommonCommands)......16
.........16
...................19
...................20
...................22
...23
....................24
.........25
Examples..........................26
Troubleshooting................30
Specifications....................31
COSMOSSoftware...........31
Warranty...........................
ContactInformation..........
MotorCommands
ProgramManagement
Commands
Looping/Branching
Commands
Pausing&I/O
Commands
OperationCommands
StatusRequest
Commands
SetupCommands
AppendixA
AppendixB
AppendixC
AppendixD
AppendixE
AppendixF
AppendixG
ComplexProfiles&CoordinatedMotion...4
AppendixH
AppendixI
AppendixJ
AppendixK
AppendixL
AppendixM
AppendixN
AppendixO
AppendixP
AppendixQ
AppendixR
AppendixS
AppendixT
Editing/DebuggingTools.........................32
AdvancedInput/Output...........................34
TheMultifunctionUserInputs.................38
ProducingTriggerOutputs.......................
GettingMotorPositionWhenMoving......4
MoreFeedback/Precision.......................4
AdvancedJogMode................................
TheAnalogInput.....................................5
TheAnalogJoystickOption.....................5
I/OElectricalSpecifications.....................
MotorTorqueCurves...............................6
AdvancedMotorSetup.............................6
LimitSwitchesandHomeSwitches.........6
ControllerMode.......................................
VXMComparisontoNF90/VP9000........
OutlineDimensions...................................7
ModelConfigurations................................
Pick-and-PlacewithJM-x..........................
Stand-aloneMethodstoSelect/Alter
Program......................................................

4
Features
TheVXMisahighperformance,advanceddesignsteppingmotorcontroller.
Highreliability,andconsistentperformanceareachievedbythesedesign
features:
Singlechipmicrocontroller(MCU)digitallycontrolsthemotorphaseswitching
andallotherinterfacefunctions(noisesensitivestepanddirectiontranslation
circuitryareeliminated)
PulsewidthmodulatedtimingispresetbytheMCU,eliminatingerrorprone
analogfeedbackcircuits
Regulatedpowersupplywitha100to240VACinputrangeassuresconsistent
motoroutputtorque
4Xoversizemotordrivesforlonglifeandoverloadtolerance
AsingleVXMcanacceptandexecutecommandsforoperating4motors
CompleteController/Indexer/Driver/ACPowerSupplywithRS-232interface
Modulatedcurrentcontroldrivehaslesslowspeedvibrationthantypical400
step/revcontrollers
Nonvolatilememoryforuserprogramstorage
IncludedexternaldesktoptypepowersupplyisUL,CE,CSA,andTUVsafety
agencycompliant
Oneandtwomotorversions.Threeandfourmotorcapabilitywithtwo
ControlslinkedbytheVXMbus
BackwardcompatiblewithVelmexNF90andVP9000StepMotorcontrollers
Userprogrammableinputsandoutputs
10bitanaloginputforexternalsensor,settingspeed,orforanalogjoystick
control
Runs6or8leadpermanentmagnetstepmotorsratedfrom0.4to4.7amps
Jog,Run,andStopinputbuttonsonfrontpanel
UseinteractivelywithaPCorrunstandalone
Opticallyisolatedlimitswitchinputs
Userresettablecircuitbreakerprotected
Softwaresettablemotorpowerandmotormodelselection
Lowvoltage24VDCoperation
Energysavingdesign,automaticallyde-energizesmotorsatastandstill,
consumingonly1.4watts
FIFObuffertocapturemotorpositionsonexternaltrigger
Specialcommandsformatrix/arraypatternsandpick-and-placeapplications
Conditionalcommandstoskipornottoskipnextcommandoninputstate
CoordinatedmotionwithtwoVXMs
Complexmotionprofileswith“continuousindexmode”
·
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·
·
·
·
·
·
·
·
·
·
·
·
·
·
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·

RS-232 Port
5
RS-232
1
2
3
4
5
9876
TheRS-232portwillconnectdirectlytoaCOM
portofaPCwithastraightthrough9pinserial
cable(10footcableincludedwiththeVXM.)
PinAssignments:
1N/C
2Tx
3Rx
5Gnd
4
6
7
8
9N/C
N/C=NoConnection
OverCurrent
Protection
ExternalDCPowerSupply
InputConnection
(ToLambda
DT60PW240P)
SerialRS-232Port
CabletoMotor1
CabletoMotor2
CabletoLimit
SwitchesforMotor1
CabletoLimit
SwitchesforMotor2
AuxiliaryInputs
andOutputs
Rear
HostComputer
ControlledIndicating
LED
PowerSwitch
(Pressrightside
isOn)
Power
IndicatingLED
StartInternal
Program
Stop/Interrupt
Program
Busconnectionto
secondVXMfor
3and4motoroperation
MovesMotor1
CCW
MovesMotor2
CCW
MovesMotor1
CW
MovesMotor2
CW
VXM
Stepping

Motor

Controller
www.velmex.com
VXM
Bus
On-LineJog 1Jog 2
StopRunLocal
-+-+
++
+
+
Front
9DSUBSocket
DC24V 2.5A
Motor 2 Motor 1Circuit BreakerLimits 1 Limits 2
IOIOI
RS-232 I/O
Bloomfield,
NY, USA
Model VXM-2
Serial # 020835
2.5
++
+
+

Pin 6ZLWFK Cable
InnerSwitch
(MotorEnd)*
1 C W
2 R
OuterSwitch
(EndPlate)
3Gn
4
NC
NC
CBk
Pin# Name
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
PinMotorCable
(6wire)
Slo-SynVexta Pacific
Scientific*
1BC W W W W/Y&W/R
2B2 Gn Bu R
3AC Bk YW/Bk&W/O
4A2 W/R Bk O
5A1 RGn Bk
6B1
Gn
Bk
Or
R
Bu W/Gn R Y
Motor Wiring(forVelmexinstalledstepmotors)
*8leadmotorwithwirescombinedatACandBC
for6leadconfiguration
A1
AC
A2
B1BCB2
StepMotor
1
2
3
4
56
Amp1-480705-0
(mateswith:1-480704-0onCable)
Connector
onMotor
6
Limit Switch Wiring
43
21
*NegativedirectiononVXMcontrollers
Connectoron
SwitchHarness
Amp1-480703-0(mateswith:1-480702-0)
Switchesarewiredonthenormallyclosed(NC)terminals.
CAUTION: The VXM puts 24VDC on the limit switches,
do not connect limit inputs to any +5V logic devices
C
NC
NO
Auxiliary I/O Connection
I/O
1
2
3
45
1112
1314
15
10 9876
TheI/Oconnectionscanbeusedforsignalingexternal
equipmentorwaitingforanexternalsignal.Thefront
panelbuttoninputsarealsoavailableontheI/O
connectorforremotejog,run,andstop.
0V
+5V
Ain
Run
I1
I2
I3
I4
0V
J1-
J1+
J2-
J2+
O1
O2
Function
Logicreferencegroundforinputsandoutputs
+5VDCforJoystickpowerandotherexternallogic(75mAmax.output)
AnaloginputforJoystick,speedsetting,oranalogsensor.
Runinputtostartprogram,sameinputasRunbutton(activelow)
Input1(activelow)
Input2(activelow)
Input3(activelow)
Input4andStop(SameasStopbuttononfrontpanel)(activelow)
Logicreferencegroundforinputsandoutputs
JogMotor1CCW(Sameasfrontpanelbutton)(activelow)
JogMotor1CW(Sameasfrontpanelbutton)(activelow)
JogMotor2CCW(Sameasfrontpanelbutton)(activelow)
JogMotor2CW(Sameasfrontpanelbutton)(activelow)
Output1(normallylow)
Output2(normallylow)
NOTE:All inputs and outputs are TTLlevels (0 to +5VDC.) Inputs have resistive
pull-ups, and are activated by connecting to 0V. Outputs are normally low, and can
sink and source 20 mAmax.FormoreinformationrefertoAppendixK.
15DSUBHDSocket

WhentheOn-Line(yellow)lightisnotlit,theVXMisintheLocal/Jogmode.Usingthe
frontpaneljogbuttons,eachmotorcanbejoggedasinglesteporslewedto2000sps(5
revs/sec.)ineitherdirection.
WhenaJogbuttonispressedthemotormoves1step(1/400rev.)Ifthebuttonisheld
for>0.3secondthemotorwillaccelerateto2000sps.PressingStopwhileusingthe
Jogbuttonswillholdthespeedat39sps.
Refertothe“setj”and“setJ”commandsinAppendixHformoreinformationabout
settingjogspeedstodifferentvalues.
7
Setup
Jog Mode
Optional Joysticks
TherearetwotypesofexternaljoysticksavailablefortheVXM.Oneisdigitalthat
functionslikethefrontpaneljogbuttons,andthesecondisananalogproportionalspeed
typethatcanoperateupto4motorswith2VXMsFormoreinformation/configuration
refertoAppendixHandJ.
1. Connectthecablestomotorsandlimitswitches(ifactuatorhaslimitswitches.)
Connectthe9pinserialcablefromtheVXM’srearpanelconnectorlabeled"RS-232"and
yourcomputer'sserialport(usuallylabeled“COM”or“|O|O|”.)Forcomputerswithonly
USBports,useaUSBtoRS-232adapter.
Motorcablesshould neverbebundledtogetherwiththeLimitSwitch,orany
I/Ocabling. putanyoftheVXM'scableswithpowercablesinacommonelectrical
keepLimit SwitchandI/Ocablesatleast2inchesfromMotorconduitorducting.
andPowercables.
CAUTION:Motorcablelengthorconnectorsshouldnotbealteredwithoutconsulting
Velmexfirst.ImproperwiringcanresultinpoorperformanceanddamagetotheVXM.
Alteredcablesandresultantdamageisnotcoveredbythewarranty.
IMPORTANT:TheVXMcanautomaticallydetectlimitswitchinputsthatarewired
normallyclosedtooperate(motorstopsonopencircuit.)Normallyclosedisthestandard
usedonallVelmexproducts.However,Velmexrotarytableswiththehomeswitchoption
requiresthatthelimitswitchinputsbereconfiguredinsetup.Refertothe“setL”
commandinAppendixN.
Neverconnectordisconnectmotorswiththepoweron,thiscanresultin
severedamagetomotordriveelectronics.
2. ConnectcablefromDCpowersupplytoVXM
3. PlugtheDCpowersupplyintoaACoutlet.
4. TurnontheVXMbypushingtherightsideoftherockerswitchlocatedonthefront
panel.
5. InitiallytheVXMissetfornomotorsselected(verylowpower,motorsbuzzbutwill
CAUTION:
Never
Always
CAUTION:
notmove.)Use the COSMOS software included on the CDROM to set VXM for the
proper motors.IfyourcomputerisnotaWindowsbasedsystem,refertothe“setM”
commandinthereferencesectionofthismanual.
BothOn-LineandPowerLEDswilllightfor1second,theOn-Linewillgoout,
thenthePowerLEDwillflash6times.

8
++
+
+
9; 0
Stepping

MotorController
www
www
.velmex.com
.velmex.com
Bus
Bus
VXM
VXM
Stop Run
On-Line
Local - -
+ +
Jog 1 Jog 2
Windowsrunning
VelmexCOSMOS,
orWindows
HyperTerminal
E“”
command
:
:
:
R“”
waitfor“^”
C“”
¬
ÿ
RS-232 Interactive Mode
TheVXMcanbecontrolledinaninteractivemode.Interactivemodeiswhenahost
computersendsonlythecommandsnecessarytoperformasingleoperation(usuallyan
Index),thenthehostwillwaitfortheVXMtofinishbeforesendinganyadditionalcommands.
ThefollowingprocedurewouldbeusedforrunningtheVXMinaninteractivemode:
1.
2.
3.
4.
5.
ThehostputstheVXMOn-Linebysendingan"F"
Thehostsendsa"N"tozeropositionregistersifnecessary
Thehostsendsspeed,andaccelerationifnecessary
ThehostsendsanIndex("I"command)
Thehostsendsa"R"tostarttheIndex
6. Thehostthenwillwaituntilitreceivesareadyprompt("")fromtheVXM
:TheVXMdoesnotsendacarriagereturnorlinefeedfollowingthe"^",refer
tothe"G"commandin$SSHQGL[2IRUPRUHLQIRUPDWLRQ
7. Theuser'sroutineforoutputting,measuring,etc.wouldbeexecutedbythehost
8. A"C"wouldbesentfromthehosttoclearthepreviousIndexcommandfromthe
9.
VXM'smemory
Theprocessisrepeatedfromstep#3
^
NOTE
Communication Methods
ProgrammingoftheVXMisaccomplishedbysendingcommands(ASCIIcharacters)to
theVXMthroughtheRS-232interface.Thesimplestmethodtosendcommandsiswith
theVelmexCOSMOSprogram,orwithHyperTerminalinMicrosoftWindows.
Anothermethodtosendcommandsiswithcommerciallyavailablelanguagessuchas
VisualBASIC,C,LabVIEW,etc.
ToputtheVXMintheOn-Linemode/programmingmode,thehostmustsendeitheran
(RU):KHQWKH&RQWUROOHUUHFHLYHVDQ(RU)WKH2QOLQHOLJKWZLOOOLJKWDQGWKH
-RJLQSXWVZLOOEHGLVDEOHG
The"E"putstheVXMon-linewithecho"on"(echoesallcharactersreceivedbacktothe
host).The"F"putstheVXMon-linewithecho"off".IfyouareusingHyperTerminalto
communicatetotheVXMusethe"E"sotypedcharacterswillbedisplayed.Whenusinga
softwarelanguagetosendcommands, usethe"F"sothehost’sinputbufferwillnotbe
burdenedwithechoedcharactersfromtheVXM.
NOTE:All command characters are case sensitive

9
Index Motor 1 Example
++
+
+
VXMStepping Motor Controller
www.velmex.com
VXM On-line -- Jog 1 -- -- Jog 2 --
Bus Stop Run Local - + - +
++
+
+
VXM
Stepping
SteppingMotor
Motor
Controller
Controller
www
www
.velmex.com
.velmex.com
Bus
Bus
VXM
VXM
Stop Run
On-Line
Local - -
+ +
Jog 1
Jog 1 Jog 2
++
+
+
VXM
Stepping
SteppingMotor
Motor
Controller
Controller
www.velmex.com
Bus
Bus
VXM
VXM
Stop Run
On-Line
Local - -
+ +
Jog 1 Jog 2
VisualBASIC,C,
LabVIEW,etc.
F“”
command
:
:
:
R“”
waitfor“^”
C“”
¬
command
:
:
:
:
:
rsm“”
RS-232 Download/ Stand-alone Mode
EntireprogramscanbetransferredtotheVXMovertheRS-232interface.Whena
program(s)hasbeendownloadedtotheVXM,itwillkeeptheprogram(s)inmemoryuntila
clear(”C”)commandisused.Topreventlossofprogramdatawhenpoweristurnedoff,
programmemorycanbepermanentlysavedbyusingthe“rsm”command.Theabilityto
retainprogramsallowstheVXMtobeusedinastand-alonemode.Inastand-alonemode
theoperatorstartstheprogrambyRunbuttonlocatedonthefrontpanel,orbyusingtheRun
inputontheI/Oconnector.
G
Sendcommands
andpermanently
savethemin
VXMwith“rsm”
command
VXMholdsprogram(s)thatcanbeactivatedwiththe
Runinput.Thedefaultprogramtorunisprogram0.
Inputs2and3canconfiguredtobinaryselectandrun
programs0to3.
&
*.
3
&*.3
&OBCMF

0O-JOF

NPEFXJUIFDIPPO
*ODSFNFOUBM

*OEFY

.PUPS



TUFQTSFW
&
*.
3
¬
¬
¬
EnableOn-Linemodewithechoon
IncrementalIndexMotor#1+400steps(1rev.)
RunIndex
Commentscanbeincludedusingasemicolon:(Never use comments after“R”)
Commandscanbeonthesameline,separatedbycommas,spacesareoptional:
Graphic Representation: ®
start end

TwocontrolslinkedtogetherbytheVXMbusmakeitpossibletorun3or4motorswith
allprogramsresidinginoneVXM,andallcommunicationfromahostwiththisoneVXM.
(Input4.)
TheVXMbusisaserialbusconformingtotheICspecification.Thisbusisusedto
transferdatabackandforthbetweentwoVXMcontrolsthatareconfiguredasMaster
andSlave.
UseonlyaVelmexapprovedcableforthebusconnection,telephonehandsetcables
willnotwork.Telephonecablesreversethe1and4connection,astraightthroughcable
isrequired.
Buscablesshouldbeshortandnotbenearothercablesorelectronicdevices.
BydefaultallVXMsareSlaves.
TolinkVXMs,onecontrolshouldbesettobeaMaster(seeControlModeFRPPDQG
"setDM"intheAppendixO.)TheVelmexCOSMOSprogramwillconfiguretheVXMs
forMaster/Slaveoperation.
AdesignatedMasterwillattempttoestablishcommunicationstoaSlaveonpower-up.
IftheMastercannotfindtheSlaveitwilltryagainwhenitisrequiredtosendamotor3
ItisnormalfortheSlavenottoflashitspowerlight(greenLED)
atpower-up.
Abuserrorwilloccur(”ËB”senttohostandVXMresets)iftheMastercannotfindthe
Slave,eitherbecausethereisnotoneconnected,oritisnotpowered.
TheMasteristheVXMthatrunsmotors1and2,communicateswithahost,andcan
bestartedwiththeRuninputandstoppedwiththeStopinput
TheSlaverunsmotors3and4(TheMasterassignsmotors3and4tomotors1and2
ontheSlave)andreceivesallcommandsovertheVXMbusfromtheMaster.
·TheMasterdisablestheRun,Stop,andRS-232inputsontheSlave.
2
Considerations when linking VXM controls together:
or4command.NOTE:
·
·
·
·
·
·
·
·
Linking VXMs for 3 & 4 Motors (VXM-3,4)
10
++
+
+
VX M
Stepping
SteppingMotor
Motor
Controller
Controller
www.velmex.com
Bus
Bus
VXM
VXM
Stop
Run
Run
On-Line
On-Line
Local
Local
- -
+ +
Jog 1 Jog 2
++
+
+
VX M
Stepping
SteppingMotor
Motor
Controller
Controller
www
www
.velmex.com
.velmex.com
Bus
Bus
VXM
VXM
Stop Run
On-Line
Local - -
+ +
Jog 1
Jog 1
Jog 2
Jog 2
M2 M4
M1 M3
L2L1 L4L3
Master Slave
VXMBusCable
Part#4-2122
$*.3
Index Motor 3 Example
Graphic Representation: ®
start end
¬Clearpreviousentries,IndexMotor3+400steps
NOTE:SlaveRS-232portisnotused