W(B USER’S MANUAL

whedcol

MC Series
Intelligent Stepping Motor
Controllers: A-Version
 IHC SERIES
INTELLIGENT STEPPING MOTOR CONTROLLERS

USER'S MANUAL

MODELS
IMC-103X-X-A
IMC-105.X-X-A
IMC-113X-X-A
IMC-LlSX-X-A

Price
$10.00

Whedco Incorporated
Ann Arbor, Michigan U.S.A.
Copyright 1987
Pub.x 0029
Revision 0
Since this equipment can be applied in many diverse situations and in
conjunction with equipment from other vendors, the user and those respon-
sible for specifying this equipment must determine for themselves its
suitability for the use intended. In no event, shall Whedco Incorporated
be liable for loss of use, profit or consequential damages, or damage to
other equipment, resulting from the use of this equipment.
The figures and examples in this manual are designed to demonstrate general
concepts for the installation and maintenance of this equipment. The users
should always verify interconnection requirements to and for other equip-
ment as well as confirm installation and maintenance requirements for the
specific application. In no case, shall Whedco Incorporated be liable for
actual use based on the guidelines mentioned herein.

Reproduction of the contents of this manual, in whole or in part, without

written permission of Whedco Incorporated is prohibited.
 TABLEOFCONTENTS

Section Paragraph Page

Number Number Title Number

1.0 GRNFZAL DESCRIPTION

1.1 Introduction 1

1.2 Features 1

2.0 INSTALLATION

2.1 Mounting 3

2.2 Connections 6

2.3 Field Adjustments 11

3.0 OPERATION

3.1 Communication Format 15

3.2 Operating Status 17

3.3 Reading Position 18

3.4 Stand Alone Mode 18

3.5 Enable Line 19

3.6 Control Constants 19

3.7 Initializing Procedure 21

3.8 Diagnostics 22

3.9 l4emory Transfer 22

3.10 Short Circuit Protection 23

3.11 Warnings 23

4.0 PROGRAMMING

4.1 Introduction 24

4.2 Parameters 24

4.3 Movement Commands 25

4.4 Wait Commands 29

i
 TABLE OF CONTENTS
(cont. )

section Paragraph Page

Number Number Title Number

4.5 Profile Programming 29

4.6 Set Points 31

4.1 Repeat Uove Command 32

4.8 Programing Examples 32

5.0 MAINTENAYCE

5.1 Troubleshooting 37

5.2 Field Replacement 40

5.3 Service 40

5.4 Warranty 40

APPENDIX A SPECIFICATIONS a-l

APPENDIX B SUPMARY OF COMMANDS b-l

APPENDIX C DEFAULT VALUES c-l

APPENDIX D HARDWARE CONFIGURATION d-l

APPENDIX E SCHEMATICS e-l

ii
 LIST OF FICURFS

Figure Page
Number Title Number

2-1 Panel Mounting 3

2-2 Through-Wall Heat Sink Mounting 4

2-3 Layout for Through-Wall Mounting 5

2-4 Wiring to Power Line 6

2-5 Serial Connections for RS-232C 7

2-6 Serial Connections for RS-422 7

2-7 Serial Connections for RS-485 (party line) 7

2-8 Interfacing to a Single Ended Encoder 8

2-9 Interfacing to a Differential Encoder 9

2-10 Wiring to 4-lead.Motors 9

2-11 Wiring to 6-lead Motors 10

2-12 Connection of I/O Lines 11

3-1 Non-Echo Mode State Diagram 15

3-2 Echo Mode State Diagram 16

4-1 First Programming Example: Motion Profile 33

4-2 Second Programming Example: Motion Profile 33

4-3 Third Programming Example: Motion Profile 35

4-4 Fourth Programming Example: Motion Profile 36

A-l Unit Dimensions a-5

D-l Front Panel Control Assignments d-3

iii
 ..-

LIST OF TABLES

Table Page
Number Title Number
2-L Step Size D.I.P. Switch Settings (SWL) 12
2-2 Motor Current Switch Settings (SWL) 12

2-3 Address D.I.P. Switch Settings (SW2) 13

2-4 Communication Protocol D.I.P. Switch 14

Settings (SW2)
2-5 Position Pulse Multiplier D.I.P. Switch 14
Settings (SW2) -
3-L Status Register Flags 17

3-2 Control Constants 19

4-L Hotion Profile Parameters 25

4-2 Run Commands 26

4-3 Run Example Program 26

4-4 Slew Commands 27

4-5 Slew Example Program 27
4-6 Set Position Commands 28

4-7 Set Home Position Example 28

4-a Commands Which Execute Immediately 30

4-9 Non-Rovement Commands Allowed In Stored Profiles 30

4.10 First Programming Example: Listing ~33

4-11 Second Programmfng Example: Listing 34

4-12 Third Programming Example: Listing 35

4-13 Fourth Programming Example: Listing 36

A-l Performance Specifications a-l

A-2 PL Connector Pin Outs a-2

A-3 P2 Connector Pin Cuts a-3

iv
 LIST OF TABLES
(cont.)

Table Page
Number Title Number

B-L Summary of Commands b-l

C-l Default Values C-L

D-l Catalog Number Designation d-l

D-2 Field-Configurable Hardware Settings d-2

 SECTION 1.0

GENERAL DESCRIPTION

1.1 INTRODUCTION
The Whedco IHC Series Intelligent Stepping Motor Controllers provide
single-device control of four-phase stepping motors. The completely self-
contained unit includes the intelligence and power elements required for
profile execution of point-to-point moves using motors with current
requirements up to 5.0 Amperes per phase. An ASCII command set provides
sasy profile programming and execution via any RS-232C, RS-422. or RS-485
device. Once programmed, the controller will execute a specified profile
without connection to a serial device. Motion profile delimiters support
definition of complex profiles in response to dvell times, position,
triggers, and speed. Contiguous accels or decels can be specified for soft
starts or stops. Up to eight units can be connected to one serial port for
simple control of multi-axis systems.
In addition to a high performance bipolar chopper drive, the IMC Intel-
ligent Motor Controllers provide computer control of the profile generation
functions incorporating many features to enhance system performance. The
unit is equipped with inputs for home, overtravel, two triggers, and an
incremental encoder. Resident software handles all routines for imple-
mentation of these inputs at the discretion of the user. Upon power up,
the state of the motor windings is returned to its last active condition so
that holding torque is restored without moving the motor shaft if its
location has not changed during power off. Microstepping is also
available.

1.2 FIIATURES
Self-contained unit including ramping profile generator, translator/
driver, and power supply.
Serial communication protocol compatible with RS-232C, RS-422, or RS-485
provides for easy programming and control of up to eight units from one
serial port of a supervisory controller such as a programmable logic
controller or a personal computer.
Battery-backed memory eliminates the need to reload profile program on
power-up.
Stand-alone capability.
Incremental encoder interface available for position verification and
correction.

Parallel inputs allow execution of up to six profiles using dedicated

inputs and up to 31 using encoded lines. Serial link allows execution of
up to 63 profiles.
State of mptor windings saved on power down and restored on power up
insuring that motors not moved during power off will not move on power up.

Two set point outputs-are available and can be programmed to turn on and
off for up to 50 ranges.

Profile behavior can be programmed to respond to dwell times, position,

speed, or triggers,
Contiguous accels and/or decels can be specified to achieve soft starts and
stops.

Complex profiles can be defined and stored for subsequent execution using
a single command.

Optional microstepping capability available.

Diagnostic mode to help in system installation.

 - SECTION 2.0
INSTALIATION

2.1 MOUNTING

2.1.1 Panel Mounting.

Whedco IMC controllers may be mounted vertically in enclosures using the

four slotted holes in the controller end plates. The mounting panel or
surface should be tapped to accept #lo-32 UNF machine screws, and locking
hardware used. For optimum convection cooling, mount the unit with the
heat sink fins in a vertical position as shown in Figure 2-1. Whedco does
not recommend this mounting method in air-tight enclosures where the
temperature of the inside air will exceed 55 degrees centigrade; in this
case, through-wall heat sink mounting is recommended as discussed in
Section 2.1.1. Refer to Appendix A, Figure A-l for unit dimensions.
Figure 2-1 Panel Mounting

(This Figure Intentionally Blank)

3
2.1.2 Through-Wall Heat Sink Mounting.
This mounting method is preferred when the temperature of the inside air
may exceed 55 degrees centigrade or where other heat generating devices are
in close proximity. Using Figure 2-3 as a guide, cut out the enclosure
wall to the dimensions indicated. Drill ten 0.156" diameter holes in the
locations indicated by the layout. Hour& the unit in a vertical position
to allow adequate air flow. If you desire to seal the controller heat sink
to the enclosure wall, apply a thin bead of RTV sealant around the heat
sink flange. Use ~6-32 x l/2 UK screws to mount the controller using the
tapped holes provided in the heat sink. Figure 2-2 illustrates this
mounting configuration.

Figure 2-2 Through-Wall Heat Sink Mounting

#6-Z I 112 uwc, IO Pm.

HEAT SIIK FINS VERTICIL

1x1~ SERIES COIlTROLLER

TVPfCAL WALL IIERA EaCLOSURt

Figure 2-3 Layout for Through-Wall Mounting

(This Figure Intentionally Blank)

2.2 CONNECTIONS _

2.2.1 Power Input.

The IKC Controllers operate at 115 VAC or 230 VAC depending on the model
selected. Appendix D. Module Configuration, explains the model numbering
system used to identify the line voltage input. Verify the proper input
voltage by checking the model number; severe damage could result from
applying improper voltage. Figure 2-4 illustrates power line wiring.

Figure 2-4 Wiring to Power Line

-_
ulwt
23 --LOU SIDE
llSl230 VU
25
aucx
HISH sm.>

2.2.2 Serial I/O.

The IMC Series Controllers are compatible with the RS-232C and RS-422
serial communication standards. The controllers can also operate on a
party line as outlined in the RS-485 standard. However, if the party lint
approach is used, the echo mode of operation is not allowed (see Section
3.1). When using RS-232C, up to four units can be connected to one seria:
port. When using RS-422 or RS-485, up to eight units can be connected to
one serial port.

If the Common Device Address will be used, the SYNC line of each control1
connected to the same serial port must be tied together (see Section
2.3.3). To hook-up the serial link, refer to the figure on the next page
appropriate to the communication protocol chosen.

The controllers transmit seven bits per character with odd parity, one
“start” bit, and one *stop0 bit for a total of 10 bits per character. Tli
serial device vhich will communicate with the controller must conform to
this format.

6
 Figure 2-5 Serial Connections for RS-232C
P-Z P-Z

RfCEIVE~ PII
(PIN 1 FOR 012)

rRAnJaIr PII ‘0 UIWIR IIC

(PII 2 FOR Dlt) cOnlloLLLlS

SIGIIAL SD
(PSI I FOR OKI

SIC a1 IIC a2

Figure 2-6 Serial Connections for RS-422

P-2 P-2

RECEIVE PSI-A’ 1 I
(PIN 6 F66 WE)
2
RECtsvE PM-6 -
3
IPIll 2‘ FOR OIL) TO OWER 1°C

0
‘ A - C0l1R0LLERS
TSAISIIT PI”4
(PIN ‘ FOR OK) 5 -
=E
TRAllSnlT PI”4 -
(PI9 22 FOR OX)
SIGlAL tin0
(PSI 19 FOI DT2)

Figure
IIC I1
--It IIC a2

2-7 Serial Connections for RS-485 (party line)

P-2 P-2

llLCcIVE PI"4

llAlSaIr PI"4-I I
I
2 I ;rl
1
2 tl
I" "8°C" ,"b
rRmnI1 P1l-c -I L - A . COlllROLLfRS
SIGlAL 6"O s s
s 6
- : = 1

7
2.2.3 Incremental Encoder.

The IMC controller can use position feedback from an incremental encoder
with either a sine or a square wave quadrature output. The controller
provides input lines for single-ended or differential output encoders as
well as a power output line for 5 and 12 volt encoders. 15 volt encoders
will require an external power supply. The index line can be optionally
connected provided the encoder is so equipped. To connect the encoder,
simply follow the diagrams ~given in Figures 2-8 and 2-9.

When an encoder is used, the “fwd” and “rev” L&Ds indicate the encoder
d i r e c t i o n . If the encoder direction does not match the motor direction
indicated by the FWD or REV motion command, the controller will fault when
a motion command is initiated. To solve this problem, either switch the A
and E channel connections to change the encoder direction or switch the
connections to one of the motor windings to change the motor direction.

Figure 2-8 Interfacing to a Single Ended Encoder

 Figure 2-9 Interfacing to a Differential Encoder

2.2.4 Motor Drive Outputs

IHC Series Stepping Motor Controllers drive four or six lead motors from
most manufacturers. Figure 2-10 illustrates connection to four lead
motors, Figure.Z-11 for six leads.

Figure Z-10 Wiring to 4-lead Motors

P-Z

I7
10
19
20
20
21
22
23
21
i

9
 Figure 2-11 Wiring to 6-lead Motors

P-2

17
II)
19 TAPE
20
21
22
23

2b
1APE

2.2.5 Parallel I/O.

The IMC controller can have either sourcing or sinking outputs. The active
state for the inputs and outputs on sourcing units corresponds to a high
voltage level except for the overtravel inputs for which it is low. The
active state for the inputs and outputs on sinking units corresponds to a
low voltage level except for the overtravel inputs for which it is high.
For either type of unit, the profile lines and the trigger inputs are
sensitive to the inactive to active edge. While the home, overtravel and
enable inputs are level sensitive. See Appendix A, Section.A.2, for a pin
out of the I/O connector. The overtravel inputs must be inactive for the
unit to work. If overtravel switches are not used, the inputs should be
connected to V+ for sourcing units or grounded for sinking units. An
emergency stop function can be implemented by connecting to the inputs
through a set of contacts. See Figure 2-12 for typical connection details.
he output lines can withstand current up to 2001eA. The input lines have a
2K resistor to ground for sourcing units or to V+ for sinking units. All
the inputs and outputs can withstand voltages up to 24 vdc.

--
 Figure 2-12 Connection of I/O Lines

2.3 FIELD ADJUSTMENTS

The IMC Controllers allow field adjustment of the factory settings for
step size. motor current, serial address, communication protocol, and
position feedback. Switches for changing these settings are accesqible
via the front panel by removing the protective metal plate. Make these
adjustments only when power is not applied to the unit.

2.3.1 Step Size,

All IMC Stepping Motor Controllers operate in full or half-step mode.

Controllers equipped with optional microstepping capability can operate at
nominal fractional step sizes to l/32 of a full step angle. Refer to
Appendix D, Module Configuration, to confirm if the unit is equipped with
microstepping. To adjust the step size. find D.I.P. switch SW1 which is
the uppermost switch behind the plate. Refer to Table 2-1 to set the
desired step size. Note that only positions 1, 2, and 3 set step sire.

11
 Table 2-1 Step Size D.I.P. Switch Settings (SWl)

Switch
Models Positions Nominal
Step Size Available 123 Step Angle*

Full Step all L L L 1.800 degrees

Half Step all R L L 0.900 degrees
l/4 Step microstep L R L 0.450 degrees
l/8 Step microstep R R L 0.225 degrees
l/16 Step microstep L L R 0.113 degrees
l/32 Step microstep R L R 0.057 degrees
WRm s right (open)
"L" - left (closed)

*Note: Step angle based on 200 step per revolution motor.

Instantaneous step angle is motor and load dependent.

2.3.2 Motor Current.

For three amp units, the output current to the motor is adjustable in 0.20
Amp increments from 0.20 to 3.0 Amps, and for five amp units, in 0.33 Amp
increments from 0.33 to 5.0 Amps. Refer to Appendix D. Module Configura-
tion, to confirm maximum current output of the unit. The motor current is
set with the last four positions of D.I.P. switch SUl. Refer to Table 2-2
to select the switch setting for the required motor current.

Table 2-2 Motor Current Switch Settings (SWl)

Switch
Positions 3 Amp Units 5 Amp Units
5678 Current Current

RRRR 0.00 Amps* 0.00 Amps*

LRRR 0.20 Amps 0.33 Amps
RLRR 0.40 Amps 0.67 Amps
LLRR 0.60 Amps 1.00 Amps
RRLR 0.80 Amps 1.33 Amps
LRLR 1.00 Amps 1.67 Amps
RLLR 1.20 Amps 2.00 Amps
LLLR 1.40 Amps 2.33 Amps
RRRL 1.60 Amps 2.67 Amps
LRRL 1.80 Amps 3.00 Amps
RLRL 2.00 Amps 3.33 Amps
LLRL 2.20 Amps 3.67 Amps
RRLL 2.40 Amps 4.00 Amps
LRLL 2.60 Amps 4.33 Amps
RLLL 2.80 Amps 4.67 Amps
LLLL 3.00 Amps 5.00 hp.9

DR" - right (open)

RL" - left (closed)

*Note: Hbedco recoseaends the unit not be set to zero current.

12
2.3.3 Address Selection.

The address of the unit is set by the first three posit I

ons on D.I.P.
switch SW2. The address can be set to any number in the range 0 through 7.
To set the address, locate SW2 which is the lower-most switch behind the
metal plate and refer to Table 2-3 to select the proper switch setting.
Note that only switch positions 1, 2, and 3 sst the address.

Table 2-3 Address D.I.P. Switch Settings (SW2)

Positions
Unit Address 123

0 L L L
1 L L R
2 L R L
3 L R R
4 R L L
5 R L R
6 R R L
7 R R R

"R" - right (open)

"L" - left (closed)

If you wish to send identical information to multiple units on the same

serial port, you may do so by sending dsts to the Common Device Address
which is eight. However, all units cannot send back an acknowledgement
simultaneously since this would csuse a conflict on the line. Therefore,
in this case, one unit must be selected as the "master" which will
acknowledge for all units. Switch position 4 is used to select the master;
the unit configured ss the master should have this switch position to the
right (open). All other units on the ssme serial port must be non-masters
(position 4 must be to the left (closed)). The master must be able to know
when all units connected to the serial port sre ready to acknowledge. l-his
is accomplished by wiring the SYNC lines of all the units together.

13
 0
2.3.4 Communication Protocol.

The 1% controllers can be configured to communicate in several ways. A

separate position on D.I.P. switch SW2 selects each parameter. Table 2-4
summarizes the various options and switch positions.

Table 2-4 Communication Protocol D.I.P. Switch Settings (SW2)

Switch Setting with Setting with

Position Option switch left (closed) switch right (open)

5 communication non-echo echo

format (1)
6 baud 1200 9600
rata
7 serial standard RS-422 RS-232C
8 profile lines non-encoded encoded

(1) See Section 3.1.

2.3.5 Encoder Feedback.

Position 4 on D.I.P. switch SW1 selects encoder feedback. If an encoder is
used, position 4 must be to the right (open); if not used it must be to the
left (closed). The encoder line density can be multiplied by 1. 2, or 4 tC
produce the actual position pulses used for feedback information. To set
the position pulse multiplier, refer to Table 2-5 and use positions 9 and
10 of D.I.P. switch SW2.
Table 2-5 Position Pulse Multiplier D.I.P. Switch Settings (SW2)

Switch Position
Positions Pulse
9 10 Multiplier

L L 1
R L 2
L R 4
“R” M right (open)

"L" B left (closed)

14
 SECTION 3.0 1,

OPERATION

3.1 COMHlJNICATION FORMAT

The IMC controllers communicate in one of two formats; non-echo and echo.
When the controller is sat to the non-echo mode, the format is as follows:

where: M - motor axis is used to select II4C controllers

from other devices on the saris1 line.
- axis address is a number from 0 to 0.
ixx - commsnd is one of the available commands.
nn - parameter associated with the command in signed
BCD format.
<CR, - carriage return is the terminating character.
W) - line feed is an optional character.
Upon receiving the carriage return, the selected axis sends bsck the ASCII
control code 06h(ACK) or 15h(NAK) based on whether or not it accepted the
command. The device communicating with the axis must wait for the command
acknowledgement before sending another command string. If the command
reqiures a number to be sent back, the controller will send an “R” for
response followed by the signed BCD number terminated with a carriage
return. The axis will then ignore (LF), (ACK), (NAK), and <CR> characters.
It will respond to all other characters. If the character is other than an
"M" ) the axis will wait for a <CR> before responding to characters again as
depicted in Figure 3-1.

Figure 3-l Non-echo diode State Diagram

lf. LCK.
WK. CR
ASSItREO
IMBLI
&hen the control$er is set to the echo mode, the format is as follows:

aXXXnn<CR>(LF)

where: a - axis address is a number from 0 to 8.

XXX - command is one of the available commands.
nn - parameter associated with the command in signed
BCD format.
<CD - carriage return is the terminating character.
um - line feed is an optional character.
As each character is sent, the selected axis achoes the character, and
after the <CRz, both a <CR> and (LF) are echoed even if an (LF) is not
sent. The next character sent back from the axis is a “*” if the command
is accepted or a “?” if it is not. The device communicating with the axis
must wait for the command acknowledgement before sending another command
string. If the command requires a response to be returned, the response is
sent directly after the acknowledgement and is terminated with a <CR, (LF).

After receiving a <CR>, an axis will ignore all characters except numbers.
If the number is not its assigned address or the common address, the axis
will wait for a <CR> before responding to characters again as depicted in
Figure 3-2.

Figure 3-2 Echo Hode State Diagram

In both modes, if a mistake is made when sending the command, type a “I” (
the command line. If this character appears anywhere in the command lint
except as the first character, the controller will reject the command.

16
 3.2 OPERATING STATUS

b 3.2.1 Status Number.

To read the status number, send the Read Status Command (mneumonic RS).
The controller will return a number in the range 0 - 65535. This number
the result of adding tonether all the powers of two associated with each
“true” status flag.- Table 3-1 lists the possible true conditions for each
bit in the status number.
Table 3-1 Status Register Flags

BIT LABEL DESCRIPTION

1 BO MOTOR STOPPED motor is not moving

2 Bl ACCEL/DECEL accelerating or decelerating
4 B2 DIRECTION direction is positive (reset when
direction is negative)
8 B3 BUFFER FULL command input buffer is full
16 B4 HOME POSITION motor is at user defined home
32 B5 HOME INPUT home input detected
64 B6 SET POINT A set point A is active
128 B7 SET POINT B set point B is active
256 B8 + 0. T. positive overtravel input detected
512 B9 - 0. T. negative overtravel input detected
1024 BlO SOFT. 0. T. command position equals or exceeds
user defined overtravel limits
ACTION: motion stopped
I 2048 Bll DFADBAND user set deadband exceeded
4096 B12 SYSTEH FAULT position register overflow, excessive
current drav, enable line inactive,
or other system fault
ACTION: bridge and pulses disabled
8192 B13 POSITION LOST motor was not stopped when power failed
ACTION: position set to zero
16384 B14 MEMORY LOST memory checked incorrectly on power up
ACTION: Cold Boot Command executed
32768 815 PROFILE predefined complex profile in process

Note: If flag - 1, then condition is true

The flags, Position Lost and Memory Lost, are set only when powar is first
applied or in response to the Cold Boot Command. The Warm Boot Command
resets them. The Cold Boot Command will always cause both of the flags to
be set. However, when power is applied, these flags will be set only if
the conditions mentioned in Table 3-l are true.

17
3.2.2 Status LEDs.

Five LEDs on the front panel facilitate system diagnosis. The 'xmit" LE
lights when the.~unit transmits over the serial line. This aids in deter
mining which unit is rasponsing when more than one is attached to the siil
serial port. The LEDs labeled "fwd" and "rev" indicate motor direction ,
help determine the correct connection of the motor and encoder leads.
The "fault" LED lights whenever the controller detects a problem. The
problem can be asystem fault, a logic malfunction detected by the watchc
timer, over-current, the enable line becoming inactive, or the reapplica,
tion of power. Whenever this LED is active, the drive outputs are disabl
to protect the motor and personnel. If the fault is not major, either tl
Warm Boot Command or shifting the enable line from the inactive to the
active state will reset it. If the "ov-cur" LED is also on, then an ovel
current condition was detected and should be investigated before re-
enabling the unit. Short circuit protection is discussed in Section 3.9.

3.3 READING POSITION

To determine the motor position, give the Read Position Command (mneumoni
RP). The controller will return the position as a signed BCD number. Tb
number will reflect the position of the motor within 1.5 milliseconds of
the request.

In addition to the actual position of the motor, the controller maintains

reference position to which, ideally, the motor's actual position is equa
This position will always be equal to the motor's position if encoder
feedback is not used. To request this value, give the Read Command Comma
(mneumonic RC). The command position should be used when making profile
calculations since the possible deviation of the motor position could thr
the calculations off over time.
3.4 STAND ALONE MODE

The IMC Series Controllers are capable of stand-alone operation. In Stan1

alone operation, the controller executes a previously defined profile as
selected by the profile inputs. To allow stand-alone operation the Profi:
Enable Command (mneumonic PE) is sent along with a data value of one to SI
the Profile Enable Toggle. This will make the controller respond to the
profile input lines. To disable this mode of operation, give the Profile
Enable Command with a data value of zero to reset the toggle.

The profile input lines may be either non-encoded or encoded. When the
inputs are non-encoded, (see Section 2.3.4), the unit executes the define4
profile corresponding t.o the profile line which becomes active. For
example, if profile line one is toggled from inactive to active, then the
controller will execute the profile defined as profile one. A profile wil
not repeat due to a profile input being left in the active state. The
profile input must be toggled from inactive to active to execute a profile

18
When the inputs are encoded, the defined profile corresponding to the-
binary representation on profile lines one through five is executed when
profile line six becomes active. For example, if profile lines one, two,
and four are active and profile lines three and five are inactive and
profile line six is toggled from inactive to active, then the controller
will execute the profile defined as profile 11.
3.5 ENABLE LINE
The enable input to the IMC Controllers controls the power output stage of
the unit. When the line is inactive, the output drivers are disabled and
the "fault" LED and output Line are active. When this line is taken from
the inactive to the active state the controller executes a Warm Boot
Command. The output stage will remain enabled until the enable line is
made inactive or another fault condition occurs.
3.6 CONTROL CONSTANTS
Twelve constants regulate operation of the controller. These are set up
only once during the initialization procedure, but can be changed later if
necessary. Table 3-2 lists the control constants which are discussed in
detail in the following sections. Appendix C, Table C-l, lists default
values.
Table 3-2 Control Constants
Load
Control Constant Range Command
- S. W. Overtravel +/- 1,073,741,824 NO
+ S. W. Overtravel +/- 1,073,741,824 PO
Encoder Ratio 256-65,535 ER
Wrap Position Register 0 or 1 !m
Deadband O-32,767 DB
Deadband Fault 0 or 1 DF
Retry Number O-255 RN
Position Correction 0 or 1 PC
Correction Time O-255 CT
Backlash O-127 BL
Stop-Start Rate 5-6.400 ss
Power-Save 0 or 1 PS

3.6.1 Software Overtravel Limits.

Software overtravel limits provide variable limits on motor motion using
the position register. When sncountered, ths controller stops the motor,
sets the Software Overtravel Flag, and prohibits further motion in that
direction.

19
3.6.2 Encoder Ratio. ~

The encoder ratio number informs the controller of the ratio between the
pulses which it genarates and the pulses which it receives as position
feedback. The number which should be entered can be determined by the
following formula:

Effective Motor Steps per Revolution

_.__________________-----------.----.----- X 4096
Effective Position Pulses per Revolution

For example, a 200 step motor which is microstepped at 16 microsteps per

step with a 1000 line per revolution encoder and a position pulse multi-
plier of 2 will give an encoder ratio of 6554. Note that the ratio will
always be 4096 when encoder feedback is not used.

When a ratio less than 4096 is used, a deadband value equal to or greater
than the ratio between the encoder ratio used and 4096 will be necessary.
The reason for this can be made clear by example. If a 200 step motor is
used in half step mode with a 512 line encoder and a position pulse
multiplier of one, the encoder ratio will be 3200. Now, suppose the motor
and encoder line up precisely at position zero. The first step of the
motor will make the encoder read one. The next step will make the encoder
read two. The third step will make the encoder read three. However, the
fourth step will make the encoder read five. It will be impossible for the
controller to step the motor to a position which will make the encoder read
four. So, a deadband value of at least one will be required.
3.6.3 Wrap Position Register.

The WR command sets or resets a flag which causes the controller to wrap
the position register back to a lower value if its value becomes too large.
This stops the position register from overflowing in applications where the-
motor is being slewed indefinitely in one direction such as on conveyors
and pumps. The absolute position will be lost when the register is wrap-
ped; so the flag should be set to zero in positioning applications. The
command WRl sets the flag to one which turns on wrapping and the command
WRO resets the flag to zero which disables wrapping.

3.6.4 Disturbance Constants.

Six constants correct for system disturbances when using encoder feadbeck:
Retry Number, Deadband, Deadband Fault, Position Correction, Correction
Time, and Backlash. Deadband &fines the number of position pulses of
arror which the controller will allow before it sets the Daadband Flag in
the Status Register. The Deadband Fault Constant, if set to one, will
cause the controller to fault when the Deadband Flag is set. If zero, the
controller will not fault when the Deadband Flag is set. Retry Number
indicates the number of times the controller should retry a movement com-
mand if it detects, through encodar feedback, that the motor is not follow-
ing the pulse train. If the movement is still incomplete after attempting
the specified number of retries, the controller will fault. The total
number of retries since a Warm or Cold Boot is kept in a register which car
be read by using the Read Total Retries Command (mneumonic RT).
The Position Correction Constant, if set to one, will cause the controller
to automatically correct the position at the stop-start rate when the
Deadband Flag is set. If zero, the controller will not output pulses to
correct the position. ‘LXe Deadband Fault Constant has precedence; so, it
must be set to zero in order for correction to work. Correction Time
specifies the length of time the controller will wait between corrections.
The units are milliseconds. For example, the command CT10 will make the
controller wait 10 milliseconds before making another correction if the
position is still outside of the deadband. This constant allows the
controller to compensate for the tendency of stepping motors to "ring"
after making a step and also for wind-up in the mechanics. The default
value is eight milliseconds which should work for most cases. But, if the
motor "hunts" after a move, the constant should be increased. The Backlash
Constant is the number of pulses in addition to the position error which
the controller will output if the direction of the pulses changes during
the position correction. This compensates for mechanical backlash in the
system. It should be set to the measured value of backlash. If there is
no measured backlash, then be sure to set it to zero because too much
backlash correction only makes the "hunting" of the motor worse.

3.6.5 Stop-Start Rate.

The Stop-Start Rate determines the initial and final pulse train frequency.
It may be set to any value in the range of 5 to 6400 pulses per second.
This constant allows the controller to bypass resonant frequencies typical
in stepping motors.

3.6.6 Power-Save.
When the Power-Save Constant is set to one, the controller will reduce the
current to the motor windings to 30% of its set value when the motor is at
rest. This reduces the energy used by the motor and, therefore, the heat-
ing of the motor as well. To use this constsnt, holding torque require-
ments should be about 30% or less of the maximum torque of,the motor. When
Power-Save is enabled, the controller automatically returns the current to
its set value before moving the motor and brings the current back down to
30% when the motor stops. If Power-Save is not desired, the constant
should be loaded with zero.

3.7 INITIALIZING PROCEDURE

Initialization consists of loading all necessary control constants as

discussed in Section 3.6, clearing faults, and defining the starting
position using a Set Position Command. The constants will only need to be
loaded when the unit is programmed, following a Cold Boot Command, or when
the hemory Lost Flag is set. The start position will need to be redefined
if the Position Lost Flag is set or if there is reason to suspect the motor
was moved when the power was off. The power failure fault will need to be
taken care of each time the unit is turned on. During normal operation,
the Warm Boot Command is usually the first command executed to put the unit
into the operational state. This can be done by sending the WB command or
by toggling the enable line from the fnactive to the active state. Next,
the starting position should be defined if necessary. This is done by
using one of the Set Position Commands or a predefined profile using one of
the commands as discussed in Section 4.3.3.

21
3.8 DIAGNOSTICS ,~

The controller has a command called Diagnostics (mneumanic DG) which

enables or disables the diagnostic feature of the controller. When dfag-
nostics are enabled by sending DGl, the controller will output the header:
Pl--P6 TTBIAB C POSITION

And, each time the controller detects a change on an input line it is

monitering or changes a set point output line, it will send a string which
identifies the state of each of the input and output lines, the position of
the line in the string which changed, and the position of the motor. For
example, the string:

000000 100001 7 15398

means profile lines l-6 are inactive, trigger one is active, trigger two.
home, index, and set point A are inactive, set point B is active, the
seventh line (trigger one) changed state, and the motor is at position
15398. The controller will detect a change of state on an input line only
if it is executing a command which uses that line. So, for the above
example line to have been sent, the controller must have been executing one
of the movement commands which use the trigger one line. The “X” command
will cause the string to be sent immediately if the diagnostic mode is -
enabled. The diagnostic mode is disabled when the command DC0 is sent or
when power to the controller is cycled.

3.9 MEMORY TRANSFER

The Memory Save (mneumonic MS) and Memory Load (mneumonic ML) Commands
allow the entire memory contents of one IMC controller to be transfered to
another IMC controller or to a disk-based computer for storage to be
transfered later. Whedco will supply, for a nominal charge, a program to
store the memory contents. The program runs under MS-DOS 2.0 or above.
All transfers should be done with the enable line inactive, To do a direct
transfer, each IMC unit which will be receiving the memory dump needs to be
sent the ML command and the IMC unit which will be sending the memory dump
needs to be sent the MS command. Then the transmit lines of each receiving
IMC unit should be disconnected and the receive lines connected to the
transmit line of the sending IHC unit. At this point, the sending IMC unit
should be sent the ASCII control code 02h(STX). The transfer will now
proceed. At the end of the transfer, each receiving unit will compare the
sent checksum with its own checksum. If tha checksum is correct, the unit
should have identical programming to the sending unit. If the checksum is
incorrect, the unit will execute a Cold Boot Command.
 3.10 SHORT CIRCUIT PROTECTION

All Whedco IMC Series Intelligent Stepping Motor Controllers are protected
against short circuiting. "In the event that any motor output terminal is
shorted to another or is shorted to ground, the controller will fault, set
the Fault Flag in the Status Register, light both the over-current and the
fault LEDs and disable the drive. To clear the fault, issue a Warm Boot
Command. If the fault persists, disconnect power to the unit and recheck
the motor wiring in accordance with Section 2.2.4. Once the short has been
corrected, reapply power to the unit. If the fault still occurs, contact
Whsdco Customer Service for assistance.
3.11 WARNINGS

When using an IMC controller, keep these items in mind:

1) The 5 volt supply provides 250 mA maximum and is internally

limited.

2) The 12 volt supply provides 250 mA maximum and is internally

limited.

3) If the motion profile does not last long enough to obtain

maximum velocity, the ratio between the acceleration and
deceleration rates cannot be more than 5O:l and the ratio of
the deceleration to the acceleration rate cannot be greater
than 5:l.

I 4) Voltages of up to 400V dc can be present on some of the internal

components. Do not attempt to troubleshoot or repair this unit
with power applied.

23
 SECTION 4.0

PROGRAMMING

4.1 INTRODUCTION
Programming the IMC Series Intelligent Stepping Rotor Controllers is a two
step process. First, the pertinent parameters must be loaded. Then, one
of the movement commands or a wait command and a movement command is sent.
This sequence repeats until the profile programming is completed. The
sequence is the same for programming a profile while it is happening or for
programming a predefined profile. In the sections which follow, the
parameters, movement and wait commands will be introducted. Then a section
detailing the profile programming process will tie them together.

4.2 PARAMETERS

The IMC controllers provide complete programmability of motion profile

parameters. The controllers save all entered parameters in battery-backed
RAM. Therefore, unchanged profile parameters need not be reloaded between-
movement commands or after power failure. But/if a Cold Boot Command is
sent or the Memory Lost Flag is set on power up, all the parameters will be
lost. In the case of the Cold Boot Command, this is useful as it will put
the controller back to the initial known state. However, the Memory Lost
Flag being set indicates a problem with the unit (see Section 5.1).

To load any parameter, send the appropriate load parameter command with the
signed BCD representation of the value. When the number is positive, the
plus sign is optional. Leading zeros are also not required but will be
accepted. To find the value of a parameter, send the command which loads
the parameter with a ? in place of the value. This quary suffix works for
any of the load commands even the ones not discussed in this section.
Table 4-l shows the available parameters with their associated ranges and
the commands used to load them.

24
 Table 4-1 Motion Profile Parameters

Parameter ~ Range Load Command

Repeat Number l-32,000;0-infinite LR

Speed 5-500.000 pul/sec SP
Begin Speed 5-500,000 pul/sec BS
Acceleration(l) LOO-6.553.500 pul/sec*2 AC
Deceleration lOO-6,553,500 pul/sec^2 DC
Delay Time l-65,000 (.Ol-650.00sec) DT
Incremental Move +/- 1,073,741,824 II4
Absolute Move +/- 1.073,741,824 AM
Incremental Start +/- 1,073,741,824 IP
Absolute Start +/- 1.073.741,824 AP

(1) When the Acceleration Rate is loaded, the Deceleration Rate

is set to the same number. This saves one step when the rates
are the same. To load different Accel/Decel Rates, load the
Acceleration Rate first, then the Deceleration Rate.
4.3 MOVEMENT COMMANDS

The IMC controllers have three different types of movement commands, Run,
Slew, and Set Position plus two commands for stopping motion while a motioa-
is in process, Stop and Halt. The movement commands have modifiers asso-
ciated with them which allow the commands to be executed contingent upon
the condition specified by the modifier. These modifiers are: (1) Delay
Time, (2) Trigger Input, (3) Home Input, (4) Index Input, (5) Begin Speed,
(6) Absolute Start, and (7) Incremental Start. These modifiers provide the
foundation for the execution of complex moves during which changes in
speed, acceleration, deceleration, and/or dwell times may occur within a
single profile.

4.3.1 Run Commands

The run commands cause the motor to go to a specified position. If the

motor is stopped when the command is given, then the controller will
execute a standard trapezoidal or triangular motion profile to move the
motor from its starting position to the desired position. If the motor is
moving when the command is given, the controller will do one of two things
If the motor is going the wrong way, the controller will first stop it and
then execute a trapezodial or triangular motion. If the motor is already
going toward the &sired position, the controller will just finish the
motion at the desired position.
The run commands always use the Acceleration, Speed, and Deceleration
Parameters. The commands which move to an absolute position use the
Absolute Move Parameter and the commands which move to an incremental
position use the Incremental hove Parameter. The immediate commands are a
special case of the normal absolute or incremental run commands in that
they use the number sent along with the command instead of one of the move
parameters. This number is sent with the command just like the numbers are
sent with the load parameter commands. They can be positive or negative
and are not loaded into the parameter register. These commands reduce the
number of commands needed to make repeated moves to different positions.
The run commands can make use of the Delay Time Modifier and the Trigger
Input Modifier. However, these modifiers will work only if the motor is
stopped when the commend is given. If the motor is moving, the modifiers
are ignored and a normal run command is executed instead. The Delay Time
Modifier causes the move to be made after the time loaded into the Delay
Time Parameter has elapsed. The Trigger Input Modifier causes the move to
be made after e~ither the Tl Input or the T2 Input is detected.

Table 4-2 lists the run commands available and Table 4-3 gives an example
listing of a program which makes a trepesodial move.

Table 4-2 Run Commands

Rneumonic
*Fivd Rev Action

RAN run to absolute position

RAI run to absolute position immediately given
RAD run absolute after delay time
RAT run absolute after Tl input
run absolute after T2 input
RPNRAUIUW run incremental
RF1 RR1 run incremental distance immediately given
RFD RRD run incremental after delay
RFT RRT run incremental after Tl input
RF0 RRU run incremental after T2 input

Table 4-3 Run Example Program

*4sP2ooo<cR> ; Load speed of 2,000 pul/sec

~4AC3OOOo<CR> ; Load acceleration of 30,000 pul/sec*2
*4Al4loooo<CR, ; Load absolute move to 10,000
*4RAN<cR> ; Give run absolute normal command
*
Note : Responses from the controller are underlined and the controller
is assumed to be addressed at "4".

4.3.2 Slew Commands.

The slew commands cause the motor to run indefinitely at a given speed.
They achieve the specified speed by accelerating or decelerating from the
present speed. The commands always make use of the Speed Parameter and
depending on whether the target speed is faster or slower than the motor's
present speed, they make use of the Acceleration or Deceleration Parameter.

The slew commands can use almost all of the modifiers. The action of each
modifier on the slew command will be described in the following sections.

Begin Speed: This modifier causes the slew command to execute after the
motor has reached a speed grester or less than the speed
specified in the Begin Speed Paramater. This modifier is
most useful for generating profiles with variable acceler-
ation or deceleration slopes.

26
Delay Time: This modifier can either cause the slew command to execute
after the time specified in the Delay Time Parameter has
elapsed 'or slew until the time has elapsed at which point a
Stop Command is executed.

Home Input: This modifier causes the slew command to slew until the Home
Input is detected or until the Home Input is no longer de-
tected. In either case, a Stop Command is executed after the
condition is met.

Trigger: This modifier has four different modes. The slew command can
Input slew until the T2 Input is detected. It can execute after
the Tl or the T2 Input is detected. Or it can execute after
the Tl Input and slew until the T2 Input.

Absolute: This modifier causes the slew command to execute after the
Start motor has achieved the position specified in the Absolute
Start Parameter.

Incremental: This modifier causes the slew command to execute after the
Start motor has moved the distance specified in the Incremental
Start Parameter. This distance is relative to the position
of the motor when the command is given.

Table 4-4 lists the slew commands available and Table 4-5 gives an example
listing of a program which causes the motor to slew.

Table 4-4 Slew Commands

Mneumonic
Fwd Rev Action

SFN SRN slew motor

SFG SRG slew beginning at speeds > begin speed
sn SRL slew beginning at speeds < begin speed
SFD SRD slew until end of delay time
SFE SRE slew after end of delay time
SFH SRH slew until home input
SF0 SRO slew until not home input
SF-T SRT slew until T2 input
SFU SRU slew after Tl input
SFV SRV slew after T2 input
SlW SRW slew after Tl input until T2 input
SFA SRA slaw beginning at absolute start position
SF1 SRI slew beginning at incremental start pos.

Table 4-5 Slew Example Program

*4sP5ooo<cR> ; Load speed of 5,000 pul/sec

~4AC50OOOCCRB , ; Load acceleration of 50,000 pul/sec^2
*tsFN<cR> ; Give slew forward normal command
?

Note: Responses from the controller are underlined and the controller
is-assumed to be addressed at .4".

27
 4.3.3 Set Position Commands.

The set position commands set the position register to zero or to the
1 position specified in the Absolute Start Parameter. The commands can
execute immediately or can execute after a combination of the Home and/or
Index Inputs are detected. When a command needs to find an input before
executing, it will cause the motor to move at a slow predetermined speed
until the input is found. The commands do not use the Speed or Acceler-
ation Parameters. The commands will not execute if the motor is not
stopped when it is given. Table 4-6 lists the set position commands.
Table 4-6 Set Position Commands
Mneumonic
Fwd Rev Action

PI2 immediately set at zero

PIA immediately set at absolute start pos.
PFH PRH find home, then set at zero
PFI PRI find home, then set at absolute start
PFJ PRJ find index, then set at zero
PFE PRE find index, then set at absolute
PFB PRB find home h index, set at zero
PFC PRC find home h index, set at absolute start

Since the speed is very slow when a set position command is looking for an
input, the amount of time for the Home Input to be found can be.quite long
if the motor is far away from the home position. A way to circumvent this
problem is to move the motor to the Home Input with a slew command and then
give a set position command. An example program which does this is given
in Table 4-7. The example is for a home which is in the reverse direction
of travel. For a home which is in the forward direction, interchange
forward and reverse commands.
Table 4-7 Set Home Position Example

*4DEl<CR, ; Define profile one

*ED
4sp2OOQ<CR> ; Load speed of 2,000 pul/sec
*ED
4Ac5ooolxcRB ; Load acceleration of 50,000 pul/sec^2
*ED
zsiili<cR> ; Slew to Home Input
*ED
4sFoccR> ; Back off of Home Input
*ED
4nW<CR3 ; Wait for motor to stop
*ED
zFikcR> ; Find Home and Index. then set to zero
*ED
4EDCCR> ; End of profile definition
*4Rx1<cR> ; Execute profile one
?

Note: Responses from the controller are underlined and the controller
his assumed to be addressed at -4".

28
4.3.4 Stop and Halt Commands.

The Stop and Halt Commands terminate a motion in progress. These commands
will always execute no matter what state the controller is in. The Stop
Command (mneumonic ST) ramps down to xero speed at the rate specified in
the Deceleration Parsmeter. The distance traveled during stopping will be
dependent on the present speed and the deceleration rate. The Halt Command
(mneumonic HT) immediately terminates the motion. Execution of this
command can cause strain on the system (i.e., motor, controller, and drive
components), so it should~be’used with caution. In addition, the motor may
overrun the pulse train signal when halted at high speeds after which the
motor position will not be known unless encoder feedback is used.

4.4 WAIT COMMANDS

The IMC controllers have two commands which cause the command interpreter
to wait for a condition to be met before continuing the execution of
commands. The first and most important of these is the Rove Wait Command
(mneumonic MW). This command causes the interpreter to wait until the
Motor Stopped Flag is set before executing the next instruction. This
command is often needad after run commands because the command interpreter
finishes executing the run command long before the motor finishes the move.
This means that, for example, two run commands in a row would blend
together if a Hove Wait Command was not put between them. There are many
other cases where the motor must be stopped before the next command can be
executed.

The second command is the Accel Wait Command (mneumonic AU). This command
causes the interpreter to wait until the Accel/Decel Flag is reset before
executing the next instruction. This command is most often used between
the last slew command and the final run command in a complex profile (see
Programming Example 3).

4.5 PROFILE PRDGR4MMING

Programming a profile is simply a matter of sending the proper load para-

meter, movement, and wait commands. A profile can be executed while the
commands are being sent in an interactive snvironment where the state of
the motor as indicated by the Status Register and position determine the
shape of the profile or a profile can be predsfined and stored for execu-
t i o n l a t e r . The same sequence of commands will work either interactively
or in a predefined profile.

4.5.1 Interactive Profiles.

The controller has an input command buffer which can store up to 15

commands which are pending execution. This allOWS the deViC8 generating
the commands to get ahead of the colpmand interpreter. When the buffer gets
full, the controller sets the Buffet Full Flag,in the Status Register and
will not accept anymore commands which n88d to be buffeted until the flag
i s r e s e t . Not all the commands are buffered. Some of them execute
immediately UpOn receipt. These co&nds are listed in Table 4-8. If the
buffet needs to be emptied, us8 the nDpty Buffer Corasand (mneumonic EB).
Note that Cold Boot, Warm Boot, Stop, and Halt all empty the buffer.
Programming htamples 1, 3, and 4 are examples of interactive profiles.
 Table 4-g Commands Which Execute Immediately

gneumonic Name Action

CB Cold Boot executes software reset

WB Warm Boot clears faults
ST stop ramps the motor to a stop
HT Halt stops the motor immadiately
RS Read Status reports status
RP Read Position reports position
RC Read Command reports command position
RE Read Repeats reports number of repeats remaining
RT Read Retries reports number of retries
FC Read FC reports fault code
DE Define Profile stores profile
EB Empty Buffer empties buffer
MS Heitoviy Save uploads memory contents
ML Memory Load downloads memory contents
1 Query tells parameter value

4.5.2 Predefined Profiles.

The IMC controllers can store 63 profiles. Each profile has 100 bytes
allocated to it for command storage which means a profile can store an
average of 35 commands. Predefined profiles can be described using any of
the Movement Commands plus the commands listed in Table 4-9.
Table 4-9 Non-Movement Commands Allowed in Stored Profiles

Mneumonic Action

ST stop ramps the motor to a stop

AU Wait wait for Accel/Decel Flag to be false
Mu Wait wait for Motor Stopped Flag to be true
LR Load Repeat loads repeat times--
SP load Speed loads speed
AC Load Accel loads Acceleration Rate (decel also)
DC Load Decel loads Deceleration Rate
BS Load BS loads slew begin speed
DT Load Delay loads delay time
In Load II4 loads incremental move distance
AM Load AM loads absolute move distance
IP Load IP loads incremental start position
AF Load AP loads absolute start position
FTAXXB Load PTAxxB loads set point A xx beginning position
FTAXXE Load PTAxxE loads set point A xx ending position
PTAxxF Forget PTAxx forgets set paint A xx pair
PTBxxB Load PTBxxB loads set point B xx beginning position
PTBxxE Load PTBxxE loads set point B xx ending position
PTBxxF Forget PTBxx forgets set point B xx pair
ED End Profile ends profile definition
Ex Execute Profile executes profile
RI4 Repeat repeats previous command

30
To define or edit a profile, send the Define Profile Command (mneumonic DE)
with the number of the profile to be worked on. Profiles can only be
defined or edited when the motor is stopped. The controller will respond
with the first command stored in the profile. Note that all profiles
always have an End Profile Command (mneumonic ED). To enter a command
above the command displayed, just send it. To delete the command dis-
played, use the Delete Command (mneumonic DEL). To move to the next com-
mand, use the Next Command (mneumonic X). To exit from editing the pro-
file, us8 the Escape Command (mneumonic !). To end the profile definition
even if there are more commands stored further down, us8 the End Profile
Command.

To execute a stored profile, send the Execute Profile Command (mneumonic

FX) with the number of the profile to be executed. The controller will set
the Profile Flag in the Status Register as long as the profile is execut-
ing. None of the buffered commands will execute until the stored profile
finishes executing. To stop a profile prematurely, send a Stop or Halt or
Warm Boot Command. Note that the Halt and Warm Boot Commands will be
harder on the system than the Stop Command.

A stored profile is allowed to call another stored profile by using the

Execute Profile Command. The type of call performed is a call and return.
Ibis means that on8 profile could potentially be the master profile which
calls all the other profiles. There is no limit on the level of nesting
allowed.
A stored profile can be repeated one of two ways. The first way is to
repeat the Execute Profile Command just as the other movement commands can
be repeated. This is explained in more detail in Section 4.7. The second
way is to make the last command in the profile just before the End Profile
Command be a Repeat Move Command (mneumonic RM). This will automatically
cause the profile to be repeated the number of times specified in the
Repeat Number Parameter when the profile is executed. The Repeat Move
Command can also be put further up in the profile' defintion but only the
commands from the beginning to the Repeat Move Command will be repeated.

4.6 SET POINTS

Two set point output lines are available on the IMC Series Controllers.
Each has 50 beginning position-ending position pairs associated with it.
To program a set point, make us8 of the PTyxxx Commands where "y"
represents either the A or the B line, "xx" identifies the pair as a number
"01" to "50". and "z" specifies the position as either a beginning or an
ending point by either B or E respectively. The set point line will become
active starting at the smaller of the two numbers and become inactive at
the larger. Thus, for example, given the set point pair PTAOlB-40/
PTAOlE250, the line will turn on at -40 and turn off beginning at 250.
But, given the set point pair PTAOlB25O/PTAOlE-40, the line will become
active at 249 and become inactive immediately following -40. Note that the
lines are direction sensitive so that the set point pair PTA01BO/PTA01E1000
will cause the output to be active only when the motor's direction is
forward. To make it insensitive to direction, define the pair twice while
reversing the numbers (i.e. PTAOlB4O/PTAOlE50 and PTA02850/PTA02iI401.

31
 The position pairs must be defined without gaps in the sequence. The
sequence of position pairs 01, 03, and 04 cannot be defined. Rather define
I the sequence 01, 02, and 03. To disable a previously defined pair, just
redefine it or send the command PTyxxF where the "F" in this command causes
the controller to forget the set point pair "yxx". Keep in mind, when
using this command, that there can be no gaps in the numerical sequence.

4.7 REPEAT MOVE COMMAND

By using the Repeat Move Command (mneumonic RM), the IMC controller will
repeat a given movement command for the number of times specified in the
Repeat Number Parameter. The command is used by first sending the command
to be repeated. Then, send the Repeat Move Command. The command will
actually be done one more time than the repeat number since, when the
command is given, it will be done once and thenrepeated 51" times.

When repeating, none of the buffered commands will execute. If during the
repeat process you wish to know the number of repeats remaining, use the
Read Repeats Command (mneumonic RE). This command returns the number of
repeats remaining. When this number reaches xero, the unit is finished
repeating. However, if the controller is repeating an infinite number of
times, then the unit will always return a repeat number of zero. If you
wish to terminate the repeats prematurely, the Stop Command is the most
appropriate. Halt and Warm Boot will also work but will be harder on the
system,

4.8 PROGRAMMING FXAMPLES

These examples assume the controller has been initialized as described in

Section 3.7 and is addressed at "4." Responses from the IMC controller are
underlined.
4.8.1 Echo-Mode Programming Examples.

These examples illustrate programming the IMC controller using only an

ASCII terminal.

Example 1:

This profile uses the external trigger inputs. The controller waits for an
input on one of the trigger lines and then ramps up to a terminal velocity
until an input occurs on the other trigger line at which point it ramps to
a stop. A much larger deceleration rate is used to make the stop happen
quickly after then second input. The profile is pictured in Figure 4-1 and
the commands to run it are listed in Table 4-10.

32
 Figure 4-1 First Programing Example: Motion Profile

Table 4-10 First Programing Example: Listing

*4sP1ooo<cR> : Enter speed of 1.000 pul/sec

*4AC5OOO<CR> ; Enter acceleration of 5,000 pul/sec^2
~lDC50000<CR> ; Enter deceleration of 50,000 pul/sec^2
p4sFw<cR> ; Give appropriate slew command
*

Example 2:
This profile shows how to predefine a profile. The profile requires the
controller to ramp up to a high initial speed and run until trigger Tl.
Then it drops to a lower speed and runs to a specified position. After
reaching the position, it rapidly changes direction and runs back to the
starting position. This is repeated 4 times. Figure 4-2 illustrates the
profile and Table 4-11 lists the command sequence.
Figure 4-2 Second Programming Example: Motion Profile
 Table 4-11 Second Programming Example: Listing

*4DEl<CR> ; Tell theunit to define profile 1

*ED
4sp1oowcR> ; Enter initial speed
*ED
4Ac5ooo<cR> ; Enter acceleration rate
*ED
4SFNCCD ; Give Immediate Slew Command
*ED
4SP3OO<CR> ; Enter second speed
*ED
4sFG<cR> ; Give Slew After Tl Input Command
*ED
4AP11000<cB> ; Enter absolute start position
*ED
4DC50000<CR> ; Enter deceleration rate
*ED
4SP2OOO<CR> ; Enter return speed
*ED
4sRA<CD ; Give Slew Starring At Absolute Position Command
*ED
4Au<cR> ; Give Accsl/Decel Wait Command
*ED
CiiiOCClD ; Enter absolute move position
*ED
4Ac5ooo<cR> ; Enter old acceleration rate
*ED
GiN<cR> ; Give Run Absolute Command
*ED
4nW<cR> ; Give Move Wait Command
*ED
4RM<cR> ; Give Repeat Move Command
*ED
4ED<CD ; Profile definition is finished
*4LR4<cR> ; Enter repeat number
*4Sx1<cR> ; Execute profile
?

4.8.2 Non-echo Mode Programming Examples.

These examples illustrate programming the IMC controller if a host computer

is used to communicate with it.
Example 3:

This profile illustrates the techniques used in complex profiling. The

controller ramps up to an initial speed at a slow ramp rate. Then at *
specified position, the controller ramps up to a higher speed at a much
faster ramp rate. Finally, it ramps to a stop at the given end position.
Figure 4-3 shows the profile and Table 4-12 lists the command sequence.

34
 Figure 4-3 Third Programing Example: Motion Profile

cllo ?oKlT10K
mm

Table 4-12 Third Programming Example: Listing

; Enter initial speed
; Enter acceleration rate
; Enter absolute start position
; Enter absolute move position
; Give Immediate Slew Command
; Enter next speed
; Enter faster acceleration xate
; Give Slew Starting At Absolute
Position Command
; Give Accel Wait Command
; Give Run Absolute Comeand

Example 4:
This example details a profile with variable accel and decal slopes where
the accel/decel slopes softly start and stop. This is accomplished by
using the Begin At Speed Slew Command. The numbers used in this profile
are for a 1000 line encoder. Figure 4-4 illustrates the profile and Table
4-13 lists the command sequence.

3 5
Figure 4-4 Fourth Programming Example: Motion Profile

TIME

Table 4-13 Fourth Programming Example: Listing

; Enter speed
; Enter initial acceleration rate
; Enter absolute start position
; Enter absolute move position
; Give Immediate Slew Command
; Enter faster acceleration rate
; Enter begin speed
; Give Slew Beginning At > Speeds Command
; Enter stop-start rate as speed
; Give Slew Starting At Absolute
Position Command
; Enter final deceleration rate
; Give Slew Beginning At < Speeds Command
; Give Run Absolute Command

36
 SECTION 5.0

MAINTIINANCE

WARRING: Voltages of up to 4OOV can be present on some of the components

inside the controller. DO NOT attempt to repair this unit with power
applied.

5.1 TR~UBLRSROOTING
This section is intended to help the user diagnose the majority of problems
which might occur with a" IMC Controller. If the problem is still unre-
solved after following these procedures, contact Whedco Customer Service
for assistance (see Section 5.3).

Problem 1: Controller does nothing.

Symptoms: When power is applied to the unit, the "fwd" and "rev" LEDs
do not flash and the "fault" LED does not light. There is
no +12 volts on pin 15 of connector TB-2.
Solutio": Check the fuse and power input wiring (see Section 2.2.1).
If the fuse is good and the unit is getting its proper
supply voltage, then contact Customer Service.

Problem 2: Controller will not communicate.

Symptoms: Problem 1 does not exist. The "xmit" LED does not light
when the unit is addressed. The IMC Controller does not
return a response after a command is sent.

Solutio": Check the serial wiring and serial format of your terminal
to see that it conforms with the format which the Controller
expects (see Section 2.2.2). Check the settings on D.I.P.
switch SW2 for correct address, communication format, baud
rate, and serial format (see Sections 2.3.3 h 2.3.4). Also,
reviev the communication format given in Section 3.1 and
note that a CR may be required to initialize the controller.
Problem 3: Controller loses memory.
Symp tom8: On power-up, the Memory Lost Flag is set in the Status
Register.
Solutio": The controller should not have this problem under normal
operation unless a Cold Boot Command is given. If a Cold
Boot Command was not sent and the unit still loses memory,
send it in for repairs.

37
'Problem 4: Discrete inputs do not function.

Symptoms: Controller does not respond to inputs.

Solution: Refer to Appendix D, Module Configuration, to confirm the
type of unit, sourcing or sinking. For sourcing units, the
active state of an input line, except for the overtravel
lines, is a high voltage state. Make certain the inputs are
switched from below 1.6 volts to above 3.4 volts. For
sinking units, the active state of an input line, except for
the overtravel lines, is a low voltage state. Make certain
the inputs are switched from above 3.4 volts to below
1.6 volts. The diagnostic command can be used to see if
the controller is detecting the inputs. Use the "X" com-
mand to print out the current state while toggling the
input lines (see Section 3.8).

Problem 5: "fault" and/or "ov-cur" L.EDs are lit.

Solution: The controller has a command which returns the reason for
the fault. It is called the Fault Code command and its
mneumonic is FC. The response will be in English if the
echo format is used or a number if the non-echo format is
used. See the appropriate section below for the response
obtained.

Code 0 (Power failure) -

This is the response if the most recent fault was loss of power.

Code 1 (Force DAC) -

This is the response if the Force DAC Command was given. This
command is used only for calibration.

Code 2 (Over-current) -
This fault indication is usually caused by a short circuit. Check
Check the wiring to the stepping motor for shorts (see Section 2.2.4).
Also try this test:

1) Disconnect the motor entirely;

2) power-up the unit and send a Warm Boot Command;
3) verify that the fault condition no longer exists:
4) turn off power to the unit.

If this test works, the problem lies in the motor or wiring.

Otherwise, contact Customer Service.
Code 3 (Encoder lost) -
This fault occurs when the controller expects feedback pulses but
does not get any. Check the encoder.

Code 4 (Motor stalled) -

This fault occurs when the motor does not follow the pulse train.
It can be caused by loss of encoder feedback, too high an acceleration
rate or speed, or improperly wired encoder (see Problem 6).
 Code 5 (Deadband exceeded) -
The Deadband Fault Constant is set to one and the Deadband Flag
was set.

Code 6 (Lost Enable) -

Tlie enable input went inactive.

Code 7 (Position register overflow) -

The motor was commanded to go to a position past the bounds.

Code 8 (Unit functional) -

There is no fault condition.

Problem 6: Controller faults when the motor is commanded to run.

Symptoms,z In this case, encoder feedback is being used. The control-

ler accepts the Warm Boot Command to reset the fault
condition. However, the controller faults again shortly
after the motor starts to move. The FC command returns
Motor stalled.
Solution: This indicates that the encoder feedback is backwards.
Switch the A and B channel connections of the encoder
(see Section 2.2.3).
Problem 7: Motor has insufficient torque.
Symptoms: The motor cannot keep the load from moving when at rest
and/or the motor cannot accelerate the Load.
Solution: Check the setting of the current switch SW1 (see Section
2 . 3 . 2 ) . The current should be set (at most) for the maximum
current rating of the motor. If the current is set to the
maximum, check the motor sizing calculations. Also try dis-
abling Power Save if it is being used.

Problem 8: Motor loses steps.

symptoms: Although motor has sufficient holding torque, the motor

seems to have a jerky motion in low speed operation.

Solution: Increase the value of the stop-start rate parameter, or add

mechanical damping if low speed operation is desired.
Selecting a smaller step size may also solve the problem
(half-stepping is the only alternate setting with non-micro-
stepping units). Remember the pulse output frequency must
be increased proportionally to maintain the same speed.
Problem 9: Kotor turns in wrong direction.

symptoms: "fwd" and Drev" LEDs correspond to direction of command

given. but motor turns in the opposite direction to that
desired.

,-SoLutfon: .Sevarse then connection of ona of the motor windings.

39
5.2 FIELD REPIACFJJRNT

All IMC Series Intelligent Stepping Motor Controllers are mechanically

interchangeable. In addition, the terminal blocks detach from the unit
with the field wiring intact. For these two reasons, field replacement is
very simple. However, when replacing a unit, care should be taken to make
sure all field adjustments discussed in Sect. 2.3 are the same as the unit
being replaced. It is especially important that the current setting not
exceed the maximum rating for the motor in order to avoid motor damage.

5.3 SERVICE
If a Whedco product malfunctions, it may be returned using the following
procedure:
a) Obtain a Return Merchandise Authorization (RMA).number by calling
the Customer Service Department at 313/665-5473. When packing the
unit for shipment, enclose a purchase order for the repair with a
description of the problem and the RX4 number.
b) Ship to (freight prepaid):
Service Department
WHEDCO INCORPORATED
6107 Jackson Road
Ann Arbor, Michigan 48103
Note that products returned to Whedco without conforming to the procedure
outlined above will not be accepted for repair.

All repairs are ~shipped F.O.B. Ann Arbor, Michigan. Products meeting the
criteria for warranty senrice will be repaired or replaced free of charge.
Products not covered by the warranty will be repaired for a time and
materials charge against the customer’s purchase order, not to exceed the
price of a new unit. Repairs are warranted for thirty (30) days from date
of shipment from Whedco. The repair warranty does not apply to new or
different problems and/or failures which may occur.

Unless othervise requested, repaired products will be shipped prepaid via

United Parcel Service (UPS) ground service. Other methods of shipment such
as UPS Blue Label, Federal Express, and Emery Air Freight can be arranged
but are at the expense of the owner. On-site repair is available at a
daily rate plus all travel expenses portal-to-portal from Whedco
Incorporated.

5 . 4 WRRANTY
Whedco Incorporated warrants its products for one (1) year from the date of
original shipment. During the warranty period, Whedco will repair or, at
its option, replace without charge, any product returned to Whedco for
repair. This warranty does not apply to any product which has been subject
to misuse, accident, improper installation, and/or improper application,
nor does it apply to any product which has been redaired or altered by
anyone other than a Whedco authorized service representative. Whedco shall
remain the sole arbitrator in all warranty claims.

40
There are no warranties which extend beyond those herein specifically
given. In no event shall Whedco be Liable to the purchaser for Loss of
use, profit, or consequential damages, or damages of any kind, including,
but not limited to accidental loss or damage to other equipment, whether or
not said equipment was properly used.
This warranty is in lieu of anyOother warranty, expressed, implied, or
statutory, including, without limitation, any implied warranty of merchant-
ibility or fitness for a particular purpose. No amendment of this warranty
may be effected except in writing by a duly authorized representative of
Whedco Incorporated.

41
 APPENDIX A
SPECIFICATIONS
 SPECIFICATIONS

A.1 PERFORMANCE

Table A-l lists performance specifications for the motion profile

parameters:
Table A-l Performance Specifications

PARAMETER RANGE

ACCELERATION
Minimum 100 pulses/sec*2
Maximum 6,553,500 pulses/sec^2
Resolution 100 pulses/sec^2

DECELERATION
Minimum 100 pulses/sac~2
Maximum 6,553,500 pulses/sec^2
Resolution 100 pulses/sec^2
SPEED
Minimum 5 pulses/set.
Maximum 500,000 pulses/sac.
Resolution 1 pulse/set.
Accuracy +/- 0.01r
STOP-START FREQUENCY
Minimum 5 pulses/set.
Maximum 6,400 pulses/set.
Resolution 1 pulse/set.
INCRF24RNTAL POSITION MOVE
Minimum 1 position pulse.
Maximum +/- 1,073,741,824 position pulses
Resolution 1 position pulse

ABSOLUTE POSITION MOVE

Minimum 1 position pulse
M.sxislum +/- 1,073,741,824 position pulse
Resolution 1 position pulse,
ABSOLUTE POSITION REGISTER
MinimWD 0 position pulses
Maximum +/- 1,073,741,824 position pulses
Resolution 1 position pulse
POSITION DRADPiAND
Minimum 0 position pulses
Maximum 32,767 position pulses
Resolution 1 position pulse
DWELLTIMR
Uinimum 0.01 seconds
M.sxfmum 650.00 seconds
Resolution 0.01 seconds

e-l
A.2 ELECTRICAL

SERIAL I/O

RS-232C, 89-422. and US-485 compatible

ENCODER COMPATIBILITY

Tuo Channel Incremental, Sine or Square Wave Output

Outputs Single-ended or Differential
Output Voltage +/- 5, +/- 12, +/- 15 vdc
Maximum Encoder Frequency 500 kilohertz (position pulse frequency may
be up to 1 megahertz)

USER INPUTS AND OUTPUTS

Outputs: 24 VDC (max.), 200 ma current (max.)

Inputs: 24 VDC (max.), 2k resistive load

Table A-2 Pl Connector Pin Outs

Signal
Pin Mnemonic Flow Description

1 External V+ in Ext. supply for outputs

--____--_____---___-----------------------------------------------
Profiles 2 One in Profile line one
3 Two in Profile line two
4 Three in Profile line three
5 Four in Profile line four
6 Five in Profile line five
7 six in Profile,line six
8 Ground return Sgnl. gnd. h DC return
9 Trigger 1 in Trigger 1 input
10 Trigger 2 in Trigger 2 input
-____________-_--__-----------------------------------------------
Inputs 11 Home in Home signal input
12 +overtravel in Positive overtml. input
13 -0vertravel in Negative overtrvl. input
14 Enable in Enable power amplifier
15 Ground return Sgnl. gnd. h DC return
______________-_____-------------------------------------.-----.--
Outputs 16 Set Point A out Set point A output
17 Set Point B out Set point B output
18 Busy out Unit Busy Flag
19 Fault out System Fault Flag
20 Ground return Sgnl. grid. h DC return
21 Ground return Sgnl. gud. h DC return
22 Ground return Sgnl. gnd. h DC return

a-2
 Table A-3 P2 Connector Pin Outs

Signal
Pin Mnemonic Flow Description

Serial I/O 1 TX A out Transmit A output line

2
TxB out Transmit B output line
3
Rx A' in Receive A’ input line
4 Rx B' in Receive B' input line
I
5~ Ground return Sgnl. gnd. h DC return
6 SYNC in/out Sync line of IMC units
---------_-------_-_____________________--------------------------
Encoder 7 Chnl. A+ in Encoder Chnl. A+ input
Connections 8 Chnl. A- in Encoder Chnl. A- input
9 Chnl. B+ in Encoder Chnl. B+ input
10 Chnl. B- in Encoder Cbnl. B- input
11 Index+ in Encoder index + input
12 Index- in Encoder index - input
13 Encoder Tie out Encoder - input tie
IA +5 VDC out +5 VDC encoder supply
15 +12 VDC out +12 VDC encoder supply
16 Ground return Sgnl. gnd. 6 DC return I
----------_---------____________________--------------------------
Motor 17 Coil 1 + out Motor coil 1 connection
18 Coil 1 - out Motor coil 1 connection
19 Coil 2 + out Motor coil 2 connection
20 Coil 2 - out Motor coil 2 connection
21 Motor GND return Motor ground connection
----------_---_----_----------------------------------------------
Power 22 AC GND return Power input ground
23 AC- in Power input -
24 AC + in Power input +

TIKING

Timing specifications do not Include the serial transmission time.

Command Execution: 2.0 milliseconds average

Absolute Position Register Read: 0.10 miIliseconds min.,

1.50 milliseconds max.

Absolute Position Register Update: 76 microseconds

Differential Execution Delay: O-l.5 milliseconds

(difference in command execution delay between 2 units)

a-3
POWER SUPPLY REQUIREnENTS

Input Voltage: 90-130 VAC. SO-440 Hz for models so rated;

or 180:260 VAC, SO-440 Hz for models so rated
Input Current (max.): 5.0 amps; or 2.5 amps
MOTOR DRIVE OUTPUTS
Motor Current (max.): 0.20 -' 3.0 Amps for units rated at 3.0 Amps
(adjustable in 0.20 Amp increments)
0.33 - 5.0 Amps for units rated et 5.0 Amps
(adjustable in 0.33 Amp increments)
Hotor Excitation Voltage: +65 VDC +/-~ 5% (factory set)
Motor Power (max.): 180 Watts for 3.0 Amp units
300 Watts for 5.0 Amp units
Step Size (based on 200 step/revolution motor):

Step Models Nominal

Increment Available Step Angle

Full step all 1.800 degrees

Half step all 0.900 degrees
l/4 step microstep 0.450 degrees
l/8 Step microstep 0.225 degrees
l/16 Step microstep 0.113 degrees
l/32 Step microstep 0.056 degrees

A.3 ENOIRONMRNTAL
OPERATING TEnPERATURE: 0 to 55 degrees C. free air ambient
STORAGE TRMPRRATURE: -40 to 80 degrees C.

A.4 MECHANICAL

WEIGHT: 8 lbs.
DIMENSIONS: see Figure A-l
h
 APPENDIX B

SUMMARY OF COMMANDS
 Table B-l Summary of Commands

Note: A "b" appended to a cdiand indicates a Boolean value (0 or 1)

which acts as a toggle for the function. (0 - off, 1 - on)

System Commands: (Not allowed in defined profiles)

Mnemonic Name Action

CB Cold Boot Executes software reset
WB Warm Boot Clears faults
RS Read Status Reports status
RP Read Position Reports position
RC Read Command Reports command position
RE Read Repeats Reports number of repeats remaining
RT Read Retries Reports number of retries
FC Read FC Reports fault code
EB Empty Buffer Empties command buffer
MS Memory Save Uploads memory contents from IMC
ML Memory Load Downloads memory contents to IMC
PEb Profile Enable Enables/disables parallel profile lines
7 Query - Tells parameter value
Diagnostics Enables/disables diagnostic mode

Axis Initialization Commands: (Not allowed in defined profiles)

Mnemonic Name Action

NO Negative 0.T Loads negative software O.T. limit
PO Positive O.T. Loads positive software O.T. limit
DB Deadband Loads deadband
WRb Wrap Register Enables/disables position register wrapping
ss Stop-Start Loads stop-start rate
RN Retry Number Loads retry number
ER Encoder Ratio Loads encoder ratio
CT Correction Time Loads correction time
BL Backlash Loads backlash
DFb Deadband Fault Enables/disables fault on deadband
PCb Pos. Correction Enables/disables automatic pos. correction
PSb Power Save Enables/disables power save feature

Editing Commands: (Not allowed in defined profiles)

Mnemonic Name Action

X Next Advances line pointer
DEL Delete Deletes current line
I Abort Aborts command line or ends edit

b-l
 Table B-l Summary of Commands
(cont.)

Movement and Profile Definition Commands:

Mnemonic 1Nm‘S Action
DE Define Profile Beeins nrofile definition
ED End Profile En& profile definition
Ex Execute Profile Executes profile
ST stop Ramps motor to a stop
HT Halt Stops motor immediately
AW Wait Waits for Accel/Decel Flag to be false
Mw Wait Waits for Motor Stopped Flag to be true
LR Load Repeat Loads repeat number
SP Load Speed Loads speed
AC Load Accel Loads acceleration rate (decel also)
DC Load Decel Loads deceleration rate
BS Load BS Loads slew begin speed
DT Load Delay Loads delay time
II4 Load IM Loads incremental move distance
AM Load AM Loads absolute move distance
IP Load IP Loads incremental start position
AF Load AP Loads absolute start position
PTAxxB Load PTAxxB Loads set point A xx beginning position
PTAxxE Load PTAxxE Loads set point A xx ending position
PTAxxF Forget. PTAxx Forgets set point A xx pair
PTBxxB Load PTBxxB Loads set point B xx beginning position
PTBxxE load PTBxxE Loads set point B xx ending position
PTBxxF Forget PTBxx Forgets set point B xx pair
RM Repeat Repeats previous command

Slew Commands:

Mnemonic
Etrd Rev Command m Action
SFN SRN Slew Slew normal
SFG SRG Slew Slew beginning at speeds > begin speed
SFL SRL Slew Slew beginning at speeds < begin speed
SFD SRD Slew Slew until end of delay time
SFE SRE Slew Slev after end of delay time
SFH SRH Slew Slew until home input
SF0 SRO Slew Slew until not home input
SFT SRT Slew Slev until T2 input
SN SRU Slew Slav after Tl input
SW SRV Slew Slew after T2 input
SFW SRW Slew Slew after Tl input until T2 input
SFA SRA Slew Slew beginning at absolute start position
SF1 SRI Slew Slew beginning at incremental start pos.

b-2
 Table B-l Summary of Commands
(cont.)

Sat Position Commands:

Mnemonic
Fwd Rev Command e Action
-p12-- set Immediately set at zero
PIA set Immediately set et absolute start pos.
PFR PRH set Find home, then set at zero I
PFI PRI Set Find home, then set at absolute start
PFJ PRJ Set Find index, then set at zero
PPK PRR set Find index, then set at absolute start
PFB PRS Set Find home h index, set at zero
PFC PRC set Find home h index, set et absolute start

Run Commands:

Mnemonic
Fwd REV Command e Action
RAN- Run Run to absolute position
RAI RUl-4 Run to absolute position immediately given
u.rl Run Run absolute after delay time
RAT Run Run absolute after Tl input
RAU Run Run absolute after T2 input
RFR RM Run Run incremental
RF1 RR1 Run Run incremental distance immediately given
RFD RRD Run Run incremental after delay
RFT RRT Run Run incremental after Tl input
R N RRU Run Run incremental after T2 input

b-3
 APPENDIX C
DEFAULT VALUES
 Table C-l Default Values

PARAMETER _ VALUE

Repeat Number 1
Speed 0 pulses/set.
Acceleration 0 pulses/sec^2
Deceleration 0 pulses/sec*2
BeBin Speed 0 pulses/set.
Delay Time 0 seconds
Incremental Move 0 pulses
Absolute Move 0 pulses
Incremental Start 0 pulses
Absolute Start 0 pulses
- S. W. Overtravel -1,073,741,824 pulses
+ S. W. Overtravel +1,073,741,823 pulses
Stop-start Rate 200 pulses/set.
Deadband 0 pulses
Retry Number 0
Encoder Ratio 4096
Correction Time a
Backlash 0
Deadband Fault 0
Position Correction 0
Power Save 0
Profile Enable 0
Wrap Position 0
Diagnostics 0

C-l
 APPENDIX D

HARDWARE CONFICURAiION

I
 HARDWARE CONFICUIUTION

The IMC Stepping Motor Controllers offer flexible hardware configuration in

a combination of permanent and-field-configurable settings.

D.l Permanent Settings

The catalog numbering system is used to specify permanent settings as

described below:
Table D-l Catalog Number Designation

CATALOG NUMBER FORMAT IHC-lxxx-x-x

product series prefix:-----------------

I
IMC - Intelligent Motor Controller I I I I
I I I I
type of mOtOr:-------------------------------
I I I
l- stepper I I I
I I I
motor step size capability:-------------------- 1 I
0 - full/half
1 - full/half/micro / /
maximum output current to motor:----------------- 1
3- 3.0 Amp I
5- 5.0 Amp
I
parallel output current type:----------------------
O- sinking
l- sourcing
input voltage range:-----------------------------------

l- 90-130 vat
2- 180-260 vat
version:-----------------------------------~---------------
blank - first (not recommended for new installations)
A - second

d-l
 FXAMPLE CATALOG NHMBER I M C - 1 1 5 0 - t -A
___ s---

I I I I I i
product series prefix:----------------- I I I I I
IMC - Intelligent Motor Controller I
type Of mOtoT:-------‘-‘------____--- _ _ _ _ - - _ -
’ i i i I
1 - stepper I I I I
I I I I
motor step size capability:-------------------- 1 ( I
l- full/half/micro I I
II I
maxinnm output current to slOtOr:----------------- I I
5- 5.0 Amp I I
I I
parallel output current type:----------- _ _ _ _ - - _ _ - - - I
O- sinking
I
input “oltage r a n g e : - - - - - - - - - - - - - - - - - - - - - - - - _________--
l- 90-130 vat
“ersion:----------------------------- ______________--_--_--
A - second

D.2 Field-Configurable Hardware Settings

B.T.P. switch adjustment of field-configurable hardware settings is dis:
cussed in detail in Section 2.3 of this manual. The table below summarizes
possible field adjustments and the factory settings for them:

Table D-2 Field-Configurable Hardware Settings

Setting Switch Switch Factory

IYE Number Positions Setting

Motor Step Size 1 l-3 full

Encoder Feedback 1 4 none
Motor current 1 5-8 max.
Address Selection 2 1-3 4
Master for Common Addressing 2 4 off
Communication Format 2 5 echo
Baud Bate 2 6 1200
Serial Standard 2 7 RS-232
Profile Line Format 2 8 non-encoded
Position Pulse Multiplier 2 9-10 1x

d-2
 Figure D-l Front Panel Control Assignments

(This Figure Intentionally Blank)

d-3
APPENDIX E

SCHEMATICS
Schematics are available to bona fide customers who feel they are required
for equipment use and maintenance. To receive copies of schematics and
parts lists, the customer must submit the following non-disclosure
agreement. Upon receipt of these items, we will forward schematics.
Users obtaining schematics for maintenance purposes should be advised that
any user adjustment or repair to the unit will void the warranty.

e-l
 DATE:

SUBJECT: Schematic 6 Parts List CATALOC NO.:

COMPANY: DESCRIPTION:

ADDRESS: SERIAL NO.:

ATTN:

PROPRIETARY RIGHTS & NON-DISCLOSURE AGREEMENT

1. Whsdco Incorporated considers all data, knov-how, and other infor-

mation (collectively, the "INFORMATION") submitted to the undersigned
to be confidentfal and proprietary to Whedco Incorporated. Repro-
duction of the INFORHATION by the undersigned, its directors,
officers, agents, or employees (collectively, the UNDERSIGNED) or any
other third party or its disclosure to any other third party is
prohibited.
2. The UNDERSIGNED recognizes.the proprietary rights of Whedco Incor-
porated in and to the INFORMATION and the confidential nature of the
INFORMATION and agrees to take every precaution to safeguard and
treat the INFORMATION as confidential and to take appropiate action
by instruction, agreement or notice to its directors, officers,
agents and employees of the confidential and proprietary nature of
the INFORMATION submitted by Whedco Incorporated.

3. The UNDERSIGNED further agrees that it will not disclose, publish,

or reveal any of the INFORMATION which it receives or has received
from Whedco Incorporated, other than for the purpose for which such
INFORMATION has been disclosed, except with the specific written
authorization of an officer of Whedco Incorporated.

4. The UNDERSIGNED further sgrees that it will not disclose, publish,

or reveal any of the INFORMATION received from Whedco Incorporated
to any other party whatsoever, excspt with the specific prior
written authorization of an officer of Whedco Incorporated.
5. The UNDERSIGNED further agrees to indemnify Uhedco Incorporated
against any losses sustained by Whedco Incorporated, including
counsel fees, by reason of breach of any portion of this Agreement
by any director, officer, employee or agent of the UNDERSIGNED.

Witness: Acknowledged:

Ahthorized Officer:

Title:
Date: