To help everyone easily connect and debug Leadshine EC bus stepper products with mainstream master stations such as Omron, Panasonic, Keyence, and Leadshine, Leadshine has specially invited technical engineers to prepare "Bus Stepper Debugging Classroom". Taking the DM3C and CL3C series EC bus stepper products as examples, the course will explain how to connect and debug them in conjunction with mainstream master stations.
This lesson will teach you how to connect to an Omron PLC master station.
1. System Preparation
Trial run test
Prepare the DM3C series driver, motor, power supply, MicroUSB debugging cable, and MS debugging software. After connecting the stepper drive system, use the debugging software to perform a test run to ensure that the motor can operate normally at the specified speed.
Driver wiring
Before using the driver, connect the wires as shown in the diagram.
The digital input interface can be configured for either a common cathode or a common anode connection.
The driver's I/O port function definitions are shown in the following figure:
IO polarity modification
The driver's I/O pins are normally open by default, but in some applications, customers need to change the external wiring to normally closed. Therefore, the polarity of the corresponding I/O port on the driver also needs to be changed to normally closed. The following image shows how to modify the I/O polarity in the MS debugging software. Note that after making the changes, remember to click the "OK" button to save the changes.
Basic parameter modification
The DM3C series features a USB debugging interface on the front panel, allowing for modification of parameters such as current, microstepping, direction, and filtering via host computer software. See the image below:
Alternatively, these parameters can also be modified through the PLC program (see details below). For future maintenance, it is recommended to modify these parameters through the PLC program.
Special reminder: After modifying parameters through the debugging software, you must save the changes and perform a power cycle to verify the changes.
Node address setting
When matching an Omron PLC, the slave station needs to manually set the node addresses. The addresses of each node on the master station must be consistent with those on the slave station.
The DM3C requires setting the node address via the DIP switch on the top of the driver. After setting the node address, a power cycle is required for the changes to take effect.
2. Parameter Configuration
ESI file import
Copy the ESI file DM3C-EC_V1.06.xml for the DM3C series stepper to the EsiFiles/UserEsiFiles folder in the Sysmac Studio installation directory, as shown in the image below:
New construction projects
1. Establish a new project
Open the software, create a new project, and select the corresponding PLC version.
2. Establish communication
To establish communication, the computer and PLC need to be on the same network segment. The PLC IP address used in this instruction is 192.168.250.1, therefore the computer can be configured as follows:
The PLC software settings are as follows:
In the menu bar, select :> Controller > Communication Settings. The following interface will appear. Select the corresponding connection type, as shown in the following figure:
3. Slave station scanning
After setting up communication in the previous section, click the "Online" button. If the connection is successful, you will see a yellow line, as shown in the image below.
Next, double-click the "EtherCAT" project, then right-click "Master Device" and select "Compare and merge with physical network configuration," as shown below:
Click "Apply Physical Network Configuration", the interface is shown below:
4. PDO Configuration
For commonly used functions, the default PDO configurations in DM3C are sufficient. However, if you need to add more object dictionaries to the PDOs, you can do so in the following interface. The operation steps are as follows:
Axis parameter configuration
1. Add axis
As shown below, click "Motion Control Settings" → click "Axis Settings" → right-click "Add" → "Motion Control Axis".
2. Unit conversion configuration
The units of measurement are configured here; for example, we use pulses.
3. Zero-return parameter configuration
Omron uses a master station for zeroing, and it has developed several zeroing methods. Users can choose the method that best suits their needs when using axis control. Note the following:
Omron's origin proximity input = our company's origin input HOME switch (default corresponds to DI3).
Omron's origin input signal = our company's probe input 1 Probe1 (default corresponds to DI1)
In this diagram, we use the "no-origin proximity input/keep-origin input" method to return to the origin, that is, we use our probe input 1 as the origin switch. In the physical wiring, DI1 defaults to probe 1, DI4 defaults to the positive limit switch, and DI5 defaults to the negative limit switch.
Other methods to return to the origin include the following:
4. PDO link configuration
In CSP mode, set the axis parameters as shown in the figure below. The parameters marked with "*" are required by the controller. The DM3C can be configured as follows.
3. Programming
Once the axes are configured, you can use ladder logic or ST language to write control programs to perform operations such as enable, jog, speed control, absolute position, relative position, and homing. Further details are omitted here.
Modify parameters via SDO
The current, microstepping, and other parameters of the DM3C series drivers can be manually modified using Leadshine MS debugging software, which is quite convenient.
However, if the driver needs to be replaced later, the parameters need to be manually modified or imported again using a computer, which is relatively cumbersome. To solve this problem, this article provides a sample program. After performing the operation on the corresponding axis, the parameters can be modified and saved. After the driver is replaced later, the parameters will not need to be manually modified again. The following is a sample program for modifying the current.
The successfully executed program is shown below:
Notice:
In DM3C and CL3C, the data type is DINT, so writesize should be changed to 4. Other parameters that may need to be changed include:
Subdivision (0x2001);
⚫ IO polarity (0x2152 - sub-index value + 0x80);
⚫ Direction of movement (0x2051);
The data type of these parameters is DINT, which is 4 bytes.
When making changes, replace the part in the red box with the address of the new object dictionary, and then re-trigger the program.
PDO variable monitoring
In I/O mapping, PDO variables can be monitored, as shown below:
That concludes this lesson. Stay tuned for more great tutorials.
