MyLink Operation Manual
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TPM Software Utility
MyLink Operation Manual
Version: V2.0 2016 Sep21
Part No.: 81-08MLINK-020
MyLink Operation Manual
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Revision History
Date Revision Description
2012/04/09 1.0 Document creation.
2012/07/20 1.1 1. Append settings for SPC-5000.
2. Update ring status display format.
3. Append single axis operation illustration.
4. Update local DI/O operation.
2016/09/21 2.0 1. Master introduction
2. Update DI/O introduction : 16Ch, 32Ch, 64Ch
3. Update Analog I/O Slave : 180-A122, 106-A104, 106-A180
4. Temperature Slave :108-T140
5. Update Pulse Slave : 108-P120, 108-P144, 108-C144
6. 1-Axis Connector : 102-M1A1-GEN, 102-M171-PA4
7. 1-Axis Driver : STP-M112A
8. Update Grouped Axes : STP-M112A, 102-M1A1-GEN
9. 4-Axis Module : 106-M304T
10.Installation of MyLink
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© Copyright 2010 TPM
The product, including the product itself, the accessories, the software, the manual and the software
description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted,
transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except
the documentation kept by the purchaser for backup purposes.
The names of products and corporations appearing in this manual may or may not be registered trademarks,
and may or may not have copyrights of their respective companies. These names should be used only for
identification or explanation, and to the owners’ benefit, should not be infringed without any intention.
The product’s name and version number are both printed on the product itself. Released manual visions for
each product design are represented by the digit before and after the period of the manual vision number.
Manual updates are represented by the third digit in the manual vision number.
Trademark
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trademarks of Microsoft.
BCB (Borland C++ Builder) is registered trademark of Borland.
Other product names mentioned herein are used for identification purposes only and may be trademarks
and/or registered trademarks of their respective companies.
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Electrical safely
To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating
the system.
When adding or removing devices to or from the system, ensure that the power cables for the devices are
unplugged before the signal cables are connected. Disconnect all power cables from the existing system
before you add a device.
Before connecting or removing signal cables from motherboard, ensure that all power cables are
unplugged.
Seek professional assistance before using an adapter or extension card. These devices could interrupt the
grounding circuit.
Make sure that your power supply is set to the voltage available in your area.
If the power supply is broken, contact a qualified service technician or your retailer.
Operational safely
Please carefully read all the manuals that came with the package, before installing the new device.
Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect
and damage, contact the dealer immediately.
To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and
circuitry.
Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may
become wet.
If you encounter technical problems with the product, contact a qualified service technician or the dealer.
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Contents
1. Operational Principles .......................................................................................................................................... 6
2. Master ................................................................................................................................................................ 7
2.0. Introduction ................................................................................................................................................. 7
2.1. Controller ..................................................................................................................................................... 7
2.2. Card ............................................................................................................................................................. 7
2.3. Login of MyLink ............................................................................................................................................ 7
3. Slave ................................................................................................................................................................. 14
3.0 Introduction ................................................................................................................................................ 14
3.1. DIGITAL ...................................................................................................................................................... 17
3.1.1. Digital I/O Slave .............................................................................................................................................. 17
3.2. AIOTP......................................................................................................................................................... 21
3.2.1. Analog I/O Slave ............................................................................................................................................. 21
3.2.2. Temperature Slave ........................................................................................................................................... 26
3.2.3. Pulse Slave ....................................................................................................................................................... 29
3.3. MOTION ..................................................................................................................................................... 39
3.3.1. 1-Axis Connector ............................................................................................................................................. 39
3.3.2. 1-Axis Driver ................................................................................................................................................... 53
3.3.3. Grouped Axes .................................................................................................................................................. 56
3.3.4. 4-Axis Module ................................................................................................................................................. 58
Appendix A Installation of MyLink ......................................................................................................................... 67
Appendix B Login of Remote type .......................................................................................................................... 69
Appendix C Detailed Mode of 108-P120 ................................................................................................................. 71
Appendix D Detailed Parameter Setting of 102-M1A1-GEN/STP-M112A ................................................................. 74
Appendix E Detailed Parameter Setting of 106-M304T ........................................................................................... 76
Appendix F Backup and Recovery with EEPROM .................................................................................................... 78
Appendix G Backup and Recovery for Grouped Axes .............................................................................................. 82
Appendix H Local 4-Axis Motion ............................................................................................................................ 95
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1. Operational Principles
Before hands on programming the controller to control the Motionnet modules, usually we would like to
test the communication interface, accessibility and the functionalities of the chained modules. TPM
provides a software utility named MyLink to test, diagnose and verify the status of the Motionnet
connection and the functions of the remote Motionnet modules. As long as all the modules are working
correctly, the next step would be starting programming the logic of the modules.
The TPM MyLink is a utility for users to manage TPM Motionnet Master and Slaves devices. Users do not
have to write the program to run the Master and Slaves instead. It provides simple and convenient interface
to test the Master and Slave devices.
MyLink execution is divided into two types of execution methods. The first one is to execute MyLink from
the controller or PC with control card inserted directly. The second one is that MyLink is executed from the
remote PC connected to the target controller running MyLink server. Users would feel almost the same at
operation even with different MyLink running methods. This manual will focus on MyLink from the
controller or PC with control card.
MyLink operation instructions will be introduced in the following sections separated with Master and Slave.
After successful installation the TPM utility, MyLink.exe with icon could be found in the remote
PC/controller.
Recommended Hardware Requirement
PC Hardware: PC or laptop with Intel Centrino or better CPU
Memory: 1GB RAM
OS: Windows 2000/XP/Win7
LAN card: RJ-45 10/100/1000 Mbps
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2. Master
2.0. Introduction
Master device offers users perfect solutions on industrial and automation control system according to variety
requirements. The Motionnet masters could be separated into two groups on the basis of installation in this
manual for MyLink. There are two different groups: Controller and Card. Both Controller and Card can be
operated by MyLink.
Figure 2-1: Controller and Card
2.1. Controller
MyLink in the controllers are all pre-installed, except remote type. Users only have to use cables to connect
the monitor with controllers. Click “MyLink.exe”, users can launch the program to operate.
2.2. Card The system of MyLink has to be installed in the Card. Please refer to Appendix A for the detail of installation.
After the installation, click “MyLink.exe” and the interface will be as same as the controller.
2.3. Login of MyLink
After executing the MyLink.exe to launch the program, users can follow the steps to login. Also, following
will introduce the interface of MyLink.
The controllers would be classified into two types according to the IP address. There are Remote type and
Local type. Here will only introduce Local type. For Remote type, please refer to Appendix B.
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Login
Local Type
Except EPC-1000, EPC-1800 series, and SPC-2000, the other controllers, for example, SPC-3000
series, can use local type MyLink. The figures below show the login dialog for local type of MyLink.
Take LPE-L122 as an example.
Step 1: Click “Scan” to find the Master in the PC.
Figure 2-2: Scan the Master
Step 2: Choose the Master and click “OK”.
Figure 2-3: Choose the Master
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Step 3: After clicking “OK”, users will enter into the Master Interface.
Figure 2-4: The Master Interface
Note that if users want to know further information of installation of MyLink, please refer to
Appendix A.
Tool Bar
Figure 2-5: MyLink main functions
There are 4 main functions in the tool bar. Functions are introduced below.
File
This is used for file access. Also this is used to set and save of axes module parameters or copy the
parameters for other axes. The function “System Configuration” is designed for KW
MULTIPROG of EasyPAC, the SPC-2000 has not supported this function so far.
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Figure 2-6: Functions under File option
Tools
Provide functions for setting system parameters and initializing the system. There are 2 sub-functions:
Figure 2-7: Functions under Tools option
1. Edit Path…:
This option is only available when two axis modules are grouped up. Later we will discuss
about the “Group” function. Note that “Edit Path…” is for KW MULTIPROG development
environment only (EasyPAC). For detailed information, please refer to Appendix D.
2. Refresh:
This function provides users to rescan all the devices connected to MyLink server after adding,
removing or replacing Motionnet slave modules without the need of restarting MyLink.
3. GetRingCount:
The Motionnet connection quality is displayed on the status bar of the MyLink main frame which is
in percentage format. The more detailed connection loss log could be retrieved in the
“GetRingCount” function option. The detailed connection loss log dialog will be popped up when
GetRingCount option is selected. The dialog is shown in the following figure.
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Figure 2-8: GetRingCount dialog box
List:
- Index: the order of error count.
- Time: the time when error happens.
- Count: it will list all the connection error count. The upper limit of the error count value is
65535. Once the count value reaches 65535, it will be reset to 0.
- Difference: it is a shift value between the accumulated error counts of two consecutive time
stamps.
Save:
It will export the above listed records of the Ring_0 and Ring_1 to a .csv file which could be
opened with Microsoft Excel.
4. Property Type:
- Alphabetical: the property will be listed by alphabetical list.
- Categorized: the property will be listed by its categorization.
- CategorizedAlphabetical: the property will be listed by its categorization and alphabetical list
for each property.
- NoSort: the property type will not be sorted.
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Windows
When multiple slave modules are displayed in the same time, the related menu will be re-arranged
accordingly.
Figure 2-9: Functions under Window option
Help
This shows the information of TPM and the update for MyLink.
Figure 2-10: Functions under Help option
Figure 2-11: Update version interface
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Ring Status
The Ring status shows the ring connection quality in percentage format. The font in green means the
data package loss rate is less than 20%, which is a good to go status. In orange means the loss rate is in
between 20% to 50%, users are supposed to check the connection status. If the font is in red means the
data package loss rate is larger than 50%. The modules will stop working and connection checking is
necessary.
If the ring status is in red, the entire opened dialog will be disabled and not able to operate any module.
Users need to check the connection of all modules and take two actions:
1. Make sure the cable connections are well connected. After this checking and ensuring the
connection, click on the ring in red to reset the communication quality checking.
2. If the status is still bad, please check the wiring status again and press the “Refresh” button to reset
and rescan the entire modules.
Figure 2-12: Ring status
Message
There is a block above the ring status displaying responses from MyLink. The responses include time
stamp the event occurred and error or hint messages.
Figure 2-13: Message box information
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3. Slave 3.0 Introduction
Slave device provides various functions for users to choose. The Motionnet slaves would be divided into
three groups according to the property in this manual for MyLink. There are 3 different groups: DIO, ATP
and MOTION.
DIGITAL Group:
DIGITAL group includes Digital Input and Output slaves. It is not necessary to click on the property for
DIGITAL slaves.
AIOTP Group:
AIOTP group includes Analog, Temperature and Pulse I/O slaves. It is necessary to select parameters on the
properties of AIOTP slaves.
MOTION Group:
MOTION group includes 1-axis motion connector, 1-axis step driver and 4-axis module. It is necessary to
adjust parameters to the properties of Motion slaves.
Before operating MyLink, users have to set the IP address and Baud rate. Different slave has different IP
address. Therefore, MyLink can detect the slave by different IP address. The default Baud rate is 10 MHz.
Users can check if the Baud rate is correct on the slaves.
After clicking the initial button, the found and identified slave modules will be shown accordingly. Click the
checkbox in front of the slave module and the corresponding dialog will pop up. If the master is EasyPAC,
MyLink could save the profile according to data type designated for KW.
Check the slave device at the checkbox will appear the corresponding control dialog at the main frame, and
the properties dialog will be shown at the left bottom corner.
Figure 3-1: Motionnet Slave devices found by the Motionnet Master
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Figure 3-2: Motionnet Slave devices provided by TPM
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Properties
The related item will be shown according to the selected slave module type. If the property is grayed out, it means it is
read only.
Figure 3-3: The property window
If the parameter comes with a combo box means the input options are pre-arranged. If the input is a text box,
users could input a value needed within the acceptable range. The combo box for a parameter is shown as the
following figure.
Figure 3-4: Screenshot of updating properties
Description
This is located below the property page. The main purpose is illustration and suggestion.
Figure 3-5: Property description
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3.1. DIGITAL
3.1.1. Digital I/O Slave
The Digital I/O Slave could be divided into three categories in accordance with I/O port umbers. There are
three groups: 16Ch, 32Ch, and 64 Ch. The following will show 16Ch, 32Ch, and 64Ch respectively.
16Ch.
Figure 3-6: Wiring of 16Ch. - 106-D511-NNT
Figure 3-7: MyLink Interface of 16Ch. - 106-D511-NN
Baud rate: 10 MHz
IP address: 0
Green: input
Red: output
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32Ch.
Figure 3-8: Wiring of 32Ch. – 107-D122-NNT
Figure 3-9: MyLink Interface of 32Ch. - 107-D122-NNT
Baud rate: 10 MHz
IP address: 4
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64Ch.
Figure 3-10: Wiring of 64Ch. - 107-D144-NNT
Figure 3-11: MyLink Interface of 64Ch. - 107-D144-NNT
Baud rate: 10 MHz
IP address: 20 Baud rate: 10 MHz
IP address: 34
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Module Status
As shown in the above menu, a DIO module is identified in Ring 0.
Property
BitOrder
- Low to High: from left to right is in ascending order.
- High to Low: from left to right is in descending order.
The entire DIO ordering sequence will change as this property changes.
Operation
The DO is connected with DI in the illustrated DIO module accordingly. When turn on the DO channel,
both the DO and corresponding DI are ON.
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3.2. AIOTP 3.2.1. Analog I/O Slave
108-A122
108-A122 has an EEPROM storage device. The operation is almost the same as 106-A104/106-A180, which
will be illustrated later.
Figure 3-12: Wiring of 108-A122
Figure 3-13: 108-A122 slave module
Module Status
The property sub-frame shows the information of 108-A122 with an EEPROM. The Mode is
SingleEnded.
Baud rate: 10 MHz
IP address: 3
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Property
The extensions of 108-A122 are inputs – Mode, Gain, ValueType and PowerOnValue. All parameter
values could be stored in the EERPOM except the ValueType.
1. Mode:
Select the input mode SingleEnded or DifferentialEnded.
2. Gain:
Select the input voltage range. It is separated into 8 grades: +/-80mV, +/-160mV, +/-320mV,
+/-640mV, +/-1.28V, +/-2.56V, +/-5.12V, +10.24/-5.12V. It is not recommended that the input voltage
is smaller than -5.12V.
Figure 3-14: Properties of 108-A122
3. ValueType:
Set the view of input/output as transformed voltage or the raw data. The rules to transform to the
voltage value by calling APIs.
4. PowerOnValue:
When users supply the power on 108-A122, this is the initial value of 108-A122. The default value is
0.
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Operation
The demo program is cross-connection from 1 output to 1 input separately (ex. AO1 – A1+ ).
Figure 3-15: Screenshot of the example of operation
The program keeps polling of the analog input data. There are only a few options users could change –
Input Setting-1.Mode (SingleEnded or DifferentialEnded), Input Setting-2.Gain (voltage) and the
ValueType (voltage output or raw data).
Users could change the output value by inputting the voltage value directly or by scrolling the slide bar.
Select the checkbox to choose which to output.
Note: please remember to save parameters that have been set to EEPROM in case the set parameters are
gone after reboot. Please go through Appendix C for reference.
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106-A104 and 106-A180
106-A104/106-A180 do not have EEPROM. In this example, 1 AO (A104) channel is connected to the 1 AI
(106-A180) channel.
Figure 3-16: Wiring of 106-A104 and 106-A180
Figure 3-17: MyLink Interface of 106-A104 and 106-A180
Baud rate: 10 MHz
IP address: 61
Baud rate: 10 MHz
IP address: 62
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Module Status
AO module with IP61 and AI module with IP62 are identified.
Property
The property of AO module is similar to DIO module. The input range property can be set here. There are
8 channels with 4 ranges (±1.25/ ±2.50/ ±5.0/ ±10.0).
Figure 3-18: Properties of 106-A104 Figure: 3-19: Properties of 106-A180
Operation
Move the track bar to change the output value of AO module and the value will also be shown in the AI
module.
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3.2.2. Temperature Slave
108-T140 is a slave that detects the surrounding temperature. It can also be used to detect current.
Figure 3-20: 108-T40 slave module
Figure 3-21: Wiring of 108-T140
Baud rate: 10 MHz
IP address: 24
K-type sensor
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Module Status
108-T140 can detect the surrounding temperature by sensor. Also, it can receive electric current from
sensor of electric current. Here will show the test of testing surrounding temperature by K-type sensor.
Property
The parameters of 108-T140 are inputs – Mode, Temperature, Gain and Temperature Adjust.
1. Mode:
LowSpeed: the input speed is slow.
HighSpeed: the input speed is fast.
2. Temperature:
Select the temperature type, ℃ or℉.
3. Gain:
Select the thermocouple type of each input type – J-type, T-type, E-type, or K-type – for detecting
temperature. Select “ma” for detecting current.
4. Temperature Adjust: Shift the temperature value.
Figure 3-22: Properties of 108-T140
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Operation
The figure below shows the value after detecting the temperature of each input.
Figure 3-23: Screenshot of the example of operation
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3.2.3. Pulse Slave
The PIO counter module operation is illustration in this chapter.
108-P120
A signal generator is connected to channel 0 and channel 1 of a counter module. 108-P120 can also receive
the frequency of pulse from the pulse generator. In this manual, frequency mode will be told here.
Figure 3-24: Wiring of 108-P120
Figure 3-25: 108-P120 with Pulse generator
Baud rate: 10 MHz
IP address: 7
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Figure 3-26: Electric circuit of 108-P120 with Pulse generator
Module Status
Displays counter modules found with corresponding IP address. There are five modes of counter
configurable.
Property
The 108-P120 extension properties include: Mode, Time, AlarmOut, Average, Edge, PowerOn,
SafeValue, UpperLimit and LowerLimit. Except the options of Mode and Time are set with Group as a
unity, other are set with each channel independently.
1. Cycle Time:
It is the time period between two sampling times. The default value is 2ms and maximum at 200ms.
2. Mode:
5 modes are available: Counter, Frequency, Period, GT and GC. Please refer to Appendix C for
detailed information.
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Figure 3-27: Properties of 108-P120
Operation
In this example, IN0 and IN1 are connected with a signal generator.
Set Mode to Frequency.
Set Time with default value.
Set Average to 1
Press StartChannel to get the measured value.
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Figure 3-28: MyLink Interface of 108-P120
Note: please remember to save parameters that have been set to EEPROM in case the set parameters are gone
after reboot. Please go through Appendix C for reference.
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108-P144
Figure 3-29: Wiring of 108-P144
Figure 3-30: 108-P144 with Pulse generator
Baud rate: 10 MHz
IP address: 21
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Module Status
The property sub-frame shows the information of 108-P144.
Property
The 108-P144 properties include: DO Out Compare Value, DO Mode, Filter, and Pulse Level.
1. DO Out Compare Value:
Set the value for comparing with the counter. If the counter is more than or equal to the compare
value, then the output will be recorded when it is forward. However, if the counter is less than or equal
to the compare value, then the output will be recorded when it is backward.
2. DO Mode:
There are three modes – <=, Manual, >= – to set. This function is connected with Filter.
3. Filter:
To use filter, set duty into 50%. The value of the filter is compare with Pulse Width. The counter will
stop when the value of the filter is less than or equal to or more than or equal to the value of Pulse
Width.
4. Pulse Level:
There are two modes – get + Width and get – Width – to set. Users set get + Width if the counter is
wished to be forward with positive pulse width; set get – Width if the counter is wished to be
backward with negative pulse width.
Figure 3-31: Properties of 108-P144
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Operation
108-P144 has to connect with pulse generator. The pulse generator will give the pulse to the counter, and
the counter can start to count automatically.
Figure 3-32: MyLink Interface of 108-P144
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108-C144
Figure 3-33: Wiring of 108-C144
Figure 3-34: Wiring of 108-C144 and DB-T141-DUME
Baud rate: 10 MHz
IP address: 0
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Module Status
The major function of 108-C144 is to compare the position and trigger output.
Property
The 108-C144 properties include: Count, EncoderMode, FIFO, Interval, Level, Source, StartPosition,
Width.
Function Description
Count The maximum trigger count will invoke.
EncoderMode Set the source of encoder signal.
FIFO Set any distance to trigger.
Interval The interval for regularly Auto Compare trigger.
Level Trigger level, normal high or normal low.
Source The input source.
StartPosition The position that Auto Compare trigger begins.
Width The width of trigger duration.
Value: 3 ~ 65535 micro-second.
Figure 3-35: Properties of 108-C144
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Operation
Four axes can be tested by MyLink. Users can test two axes simultaneously. After setting the properties,
users can start 108-C144 and operate the Master to compare the position and trigger output.
Figure 3-36: MyLink Interface of 108-C144
Figure 3-37: MyLink Interface of 108-C144
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3.3. MOTION 3.3.1. 1-Axis Connector The Motionnet 1-Axis Motion Slave is a motion connector. It could be categorized into two sorts based on whether it is
general or not. These two sorts are General Type and Specific Type.
General Type
General Type could adapt to every different kinds of servo drive. Take 102-M1A1-GEN as an example.
Figure 3-38: Wiring of 102-M1A1-GEN and 102-T1A1-DUM
E-CON
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Figure 3-39: Detailed wiring of testing
Figure 3-40: Detailed wiring of EMG and Power
Power
EMG
1A
2A
3A
4A
1B
2B
3B
4B
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Figure 3-41: 102-M1A1-GEN slave module
Module status
102-M1A1-GEN module is a device that can Pulse_in and Pulse_out by itself. It is equipped with
EEPROM. The functions of motion slave modules without EEPROM will be limited: No grouped axes
motion; SA_LoadConfigFile is needed to download parameter.
Generally speaking, the wiring of EMG is connected with safety switch in order to keep safety of
operator. However, for testing, EMG has to connect with GND, otherwise, 102-M1A1-GEN could not be
started.
Note: please remember to save parameters that have been set to EEPROM in case the set parameters are gone
after reboot. Please go through Appendix C for reference. Property “Operation” would NOT be stored in
the EEPROM.
Property
There are four categories of setting: Home Configuration, Interface I/O, Operation, and Pulse I/O. Each
function of parameters can refer to Appendix D.
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Figure 3-42: Properties of 102-M1A1-GEN
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Operation
When users successfully connect 102-M1A1-GEN with correct wiring, the interface will be as same as the
Figure 3-38. Note that if the wiring of EMG is inaccurate, the color of EMG button will turn into red.
When EMG is in red, this means “EMG is on(active)”. However, when EMG is green, this means “EMG
is off(inactive)”.
Figure 3-43: Inactive of EMG Figure3-44: Active of EMG
Since 102-M1A1-GEN can Pulse_in and Pulse_out by itself, users can adjust the parameters just like Figure 3-40.
Hence, users can test 102-M1A1-GEN by pressing “Backward”, “Stop”, and “Forward”.
Figure 3-45: Adjust the parameters Figure 3-46: Screenshot of the example of operation
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Specific Type
Specific Type is a motion connector which is only suitable for specific servo drive. Take 102-M171-PA4
as an example. It is only for Panasonic A4/A5/A6 series servo drive.
Module status
M171 module is identified and displayed in the above and is equipped with EEPROM. The functions of
motion slave modules without EEPROM will be limited: No grouped axes motion; and
SA_LoadConfigFile is needed to download parameter.
Property
There are three categories of setting: Homing mode, Driver I/O interface, Machine I/O interface. Each
function of parameter can refer to the user manual of 102-M1A1-GEN.
Operation
Before operating MyLink, users have to follow the steps below first.
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Step 1: Confirm the type of servo drive. Take Panasonic A4/A5/A6 series as an example.
Figure 3-47: Panasonic A4/A5/A6 series
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Step 2: Confirm the type of 1-Axis Motion Connector. Users have to use specific type to fit Panasonic
A4/A5/A6 series. Therefore, besides 102-M1A1-GEN, 102-M171-PA4 is also accepted.
Figure 3-48: 102-M171-PA4
Step 3: 102-M171-PA4 has to connect with 102-M101-DUM.
Figure 3-49: 102-M101-DUM
EMG
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Step 4: Plug 102-M171-PA4 into Panasonic A4/A5/A6. And turn it on.
Figure 3-50: 102-M171-PA4 and Panasonic A4/A5/A6
Step 5: Before executing MyLink, users have to match the parameters on Panasonic A4/A5/A6 with 102-
M171-PA4. Please follow the manual of Panasonic A4/A5/A6 about PR_41 and PR_42.
Figure 3-51: The manual of Panasonic A4/A5/A6 about PR_41 and PR_42
E-CON
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1) Press .
2) Press .
3) Press to PR_41.
4) Press . The value of PR_41 is 0. Then users can check the value of
PR_42.
5) Press and to PR_42.
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6) Press . The value of PR_42 is 3. According to Page 89, the value
of Pulse is OutDir.
Step 6: Please execute MyLink.exe. Figure 3-471 is the interface of 102-M171-PA4.
If users discover that 102-M171-PA4 does not work, please check if button “ALM”, “EMG” and “EL”
are red. Remove “ALM” red button, please refer to “Step 7”. For “EMG” red button, please check the
wiring of EMG and shorted to ground. As for “EL” red button, please check the switch and turn it to
“Off”. If it still does not work, please check the wiring of End Limit.
Figure 3-52: Screenshot of beginning MyLink of 102-M171-PA4
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Step 7: In order to remove “ALM” red button, find “ALM_Logic” on the property and set it into
“HighActive”.
Figure 3-53: Remove “ALM” red button
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Step 8: Adjust the parameter of Pulse I/O. Set “PulseOut_Mode” into “OutDir0”. Please refer to Step 5
for detailed information.
Figure 3-54: Set PulseOut_Mode
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Step 9: Press “Forward”. Users can start 102-M171-PA4 successfully.
Figure 3-55: Screenshot of example of operation
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3.3.2. 1-Axis Driver
The Motionnet 1-Axis Driver Slave is a microstep driver. It could be divided into two kinds in accordance
with phase number. These two kinds are two-phase and three-phase. Here will introduce one of the two-
phase driver, STP-M112A.
Figure 3-56: Wiring of STP-M112 and step driver
Figure 3-57: STP-M112 slave module
Baud rate: 10 MHz
IP address: 5
EMG
Pin 5: EMG
Pin 9: GND
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Module status
STP-M112A module is a motion controller for driving step motor.
Property
There are four categories of setting: Home Configuration, Interface I/O, Operation, and Pulse I/O. Each
function of parameters can refer to Appendix D.
Figure 3-58: Properties of STP-M112A
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Operation
When users successfully connect STP-M112A with correct wiring, the interface will be as same as the Figure 3-54.
Users can test STP-M112A by pressing “Backward”, “Stop”, and “Forward”. Note that the wiring of EMG is
necessary. Without EMG, the color of EMG button will turn into red.
Figure 3-59: Inactive wiring of EMG Figure3-60: Active wiring of EMG
Figure 3-61: Screenshot of example of operation
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3.3.3. Grouped Axes
When users prefer to operate multiple axes simultaneously, MyLink provides Grouped Axes function to
fulfill it. Multiple axes can be grouped up together automatically by MyLink.
Figure 3-62: Grouped axes of M112 and M1A1
In this example, STP-M112A and 102-M1A1-GEN is under AxisGroup1 instead of an independent axis.
Before Grouped Axes
When users only check the box of “Slave5: M112” and “Slave9: M1A1”, and need to let STP-M112A and
107-M1A1-GEN move to the distance that is commanded, users have to operate the slaves individually.
Figure 3-63: Operate STP-M112A and 107-M1A1-GEN individually
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After Grouped Axes
However, when users check the checkbox of “AxisGroup1” only, STP-M112A and 107-M1A1-GEN can move to
the assigned distance simultaneously.
Figure 3-64: Grouped axes
Figure 3-65: Operate STP-M112A and 107-M1A1-GEN simultaneously
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3.3.4. 4-Axis Module
106-M304T is a general purpose 4-Axis module. Through different cables, 106-M304T can connect with
different servo drives. From Figure 3-61, the Axes only shows the name of 4-Axis module, 106-M304T, and
index 0 to 3, instead of showing the name of model name such as 1-Axis connector. Therefore, users have to
be careful with choosing the specific cable, DB26-SCSI50, which is correspondent with the specific servo
drive.
In this manual, Panasonic A4/A5/A6 (PA4) and Mitsubishi J3(MJ3) can match with 106-M304T through the
cables, SCB-193-PA4 and SCB-193-MJ3.
Figure 3-66: 106-M304T slave module
Module status
106-M304T module can simultaneously start or stop on multiple motion control modules. There are four
axes for users to connect with.
Property
There are six categories of setting: Home Configuration, Information, Interface I/O, Jog I/O, Operation,
Pulse I/O. Each function of parameter can refer to Appendix E.
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Figure 3-67: Properties of 106-M304T
Operation
Before operating MyLink, users have to follow the steps below first.
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Step 1: Confirm the type of servo drive. Take Panasonic A4/A5/A6 series and Mitsubishi J3 as examples.
Figure 3-68: Panasonic A4/A5/A6 (left) and Mitsubishi J3 (right)
Step 2: Confirm the type of servo drive. Since users would like to control Panasonic A4/A5/A6 and
Mitsubishi J3 simultaneously, 106-M304T can fulfill the situation, even other kinds of servo drives can
be controlled simultaneously.
Figure 3-69: 106-M304T with EMG
M304T_1-Axis(0)
M304T_1-Axis(1)
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Step 3: Connect 106-M304T and Panasonic A4/A5/A6 (left) and Mitsubishi J3 (right) with DB 26-SCSI
50 pin, SCB-193-PA4 and SCB-193-MJ3.
Figure 3-70: Panasonic A4/A5/A6, Mitsubishi J3, and 106-M304T
DB-26
SCSI50-
PA4
SCSI50-
MJ3
Figure 3-71: DB-26 pin corresponds to SCSI50-PA4 and SCSI50-MJ3
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Step 4: Turn on the power of servo drives, and execute “MyLink.exe”. “Slave0: M304T_1-Axis(0)”
controls Panasonic A4/A5/A6, and “Slave0: M304T_1-Axis(1)” controls Mitsubishi J3.
Step 5: From the picture below, there are four red buttons on the interface of operation of “Slave0:
M304T_1-Axis(0)”. Except “RDY”, “EZ” and “INP” button, “ALM” has to be green to execute
Panasonic A4/A5/A6.
Note that “RDY” is ready. Hence, it is correct to be red. However, if “RDY” exist, “ALM” would
disappear.
Figure 3-72: Screenshot of beginning MyLink of Panasonoic A4
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Step 6: In order to remove “ALM” red button, find “ALM_Logic” on the property and set it into
“LowActive”.
Figure 3-73: Remove “ALM” red button from M304T_1-Axis(0)
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Step 7: Adjust the parameter of Pulse I/O. Set “PulseOut_Mode” into “ABPhase_BLag”. Press
“Forward”. Users can start Panasonic A4/A5/A6 successfully.
For finding PulseOut_Mode, please refer to 3.3.1 1-Axis Connector: Specific Type.
Figure 3-74: Set PulseOut_Mode, and start Panasonic A4/A5/A6
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Step 8: From the picture below, there are two red buttons on the interface of operation of “Slave0:
M304T_1-Axis(1)”. Except and “EZ” button, “ALM” have to be green to execute Mitsubishi J3.
In order to remove “ALM” red button, find “ALM_Logic” on the property and set it into “LowActive”.
Figure 3-75: Remove “ALM” red button from M304T_1-Axis(1)
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Step 9: Adjust the parameter of Pulse I/O. Set “PulseOut_Mode” into “OutDir0”. Press “Forward”. Users
can start Mitsubishi J3 successfully.
Note that if the number of “Command” and “Position” are not the same, please refer to the manual of
Mitsubishi J3 and adjust the parameter.
Figure 3-76: Set PulseOut_Mode
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Appendix A
Installation of MyLink
Step 1: Click the icon “PCI(E)_L122_Setup32” for 32bit.
Figure A-1: Icon “PCI(E)_L122_Setup32”
Step 2: Install MyLink.
Figure A-2: Start installing
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Step 3: Click “Finish”.
Figure A-3: Finish installing
Step 4: Users can see the icon “MyLink” on the desktop.
Figure A-4: Icon “MyLink”
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Appendix B
Login of Remote type
Start “MyLink Server” in SPC. Double click on the executable file “MyLink.exe” from remote PC to launch
the program.
Login
Remote type
The target controllers include SPC-2000 and EasyPAC for remote type MyLink. Users need to specify the
IP address of the target controller before operation. After selecting the master device, users need to select
the baud rate of the master device as well.
The figures below show the login steps for remote of MyLink respectively. Take EasyPAC EPC-1000 and
102-M171-PA4 as an example.
Step 1: Click “Assign PAC”, choose the IP address and click it.
Figure B-1: Assign PAC
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Step 2: Click “Scan”, choose the Master and click it.
Figure B-2: Scan Master
Step 3: Click “OK”, and the interface will be shown like the figure.
Figure B-3: MyLink interface of EPC-1000 and 102-M171-PA4
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Appendix C
Detailed Mode of 108-P120
Mode Name Parameter Description
Counter
– Counter mode
Connector
Time 0: up-count
1: down-count
Average Unused
Edge Trigger type: Rise/Fall
Upper Limit 0 to 4,294,967,295
Maximum number for up-count and initial number for down-count.
Lower Limit 0 to 4,294,967,295.
Initial number for up-count and minimum number for down-count.
AlarmOut Measured Value < Lower Limit or Measured value >
Upper Limit
Frequency
– Frequency mode
Connector
Time
0.1s/1s/10s/100s the sampling period.
1s: INx gets 1000 pulses within 1 second, the measured frequency is
1KHz.
Average unused
Edge Trigger Type: Rise/Fall
Upper Limit Hz (0 ~ 4,294,967,295)
Lower Limit Hz (0 ~ 4,294,967,295)
AlarmOut Measured Value < Lower Limit or Measured value > Upper Limit
Period
–
Period measurement mode, this is used to measure the ON-OFF time of the
incoming pulses, the max measured time is 800ms.
Connector
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Mode Name Parameter Description
Time
2ms/20m/200ms/800ms
Set the max measure time for INx input pulse.
Example: The period of INx input pulse is 1.5ms. The most accurate
measure value can be obtained by 2ms. If the input pulse period ranges
from 1.5ms to 500ms, please use 800ms to measure the period.
Average
Calculate the value with different number for average. “2” means the
period is averaged with 2 samples.
Edge Trigger type: Rise/Fall
Upper Limit ms (0 ~ 4,294,967,295)
Lower Limit ms (0 ~ 4,294,967,295)
AlarmOut When value < Lower Limit or value > Upper Limit
GT
–
Gate Time. To measure the Gate ON or OFF time with sampling period
0.1ms.
Connector
Time Unused
Average Unused
Edge Trigger type: Rise/Fall
Upper Limit Sec (0 ~ 4,294,967,295)
Lower Limit Sec (0 ~ 4,294,967,295)
AlarmOut When value < Lower Limit or value > Upper Limit
GC
–
Gate Counter is used to measure the number of pulses on the gate.
Example: The input pulse source is 1mm/pulse encoder. When the
measured gate count is 1000, the length is 1 meter. Only 2 channels are
available in this mode
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Mode Name Parameter Description
Connector
Time Unused
Average Unused
Edge Trigger type: Rise/Fall
Upper Limit (0 ~ 4,294,967,295)
Lower Limit (0 ~ 4,294,967,295)
AlarmOut When value < Lower Limit or value > Upper Limit
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Appendix D
Detailed Parameter Setting of 102-M1A1-GEN/STP-M112A
Home Configuration
Mode name Description
Home_Mode Set the mode of Home.
Please refer to “Motionnet_Programming_Manual_1.91” P.125.
ORG_Logic Active logic configuration for ORG signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.123.
EZ_Logic Active logic configuration for EZ signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.123.
EZ_Count Count the times of encountering EZ. Only for some Home_Mode that include EZ.
Please refer to “Motionnet_Programming_Manual_1.91” P.123.
ERC_Out Output ERC signal after Home_Mode.
Please refer to “Motionnet_Programming_Manual_1.91” P.123.
ORG_Offset Escape ORG offset. Only for Home_Search in Home_Mode.
Please refer to “Motionnet_Programming_Manual_1.91” P.131.
Interface I/O
Mode name Description
ALM_Logic Set active logic for ALARM signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.105.
ALM_Mode React modes when receiving ALARM signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.105.
INP_Logic Set active logic for INP signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.106.
INP_Enable INP function enable/disable.
Please refer to “Motionnet_Programming_Manual_1.91” P.106.
ERC_Logic Set active logic for ERC signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.107.
ERC_On_Time Set time length of ERC active.
Please refer to “Motionnet_Programming_Manual_1.91” P.107.
ERC_Off_Time Specify the pulse width of ERC output signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.107.
SD_Enable Enable/disable the SD signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.113.
SD_Logic Set the active logic for SD signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.113.
SD_Mode Set the reacting mode of SD signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.113.
SD_LTC Set latch control for SD signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.113.
LTC_Logic Latch logic.
Please refer to “Motionnet_Programming_Manual_1.91” P.116.
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Operation
Mode name Description
MoveMode
Set the moving mode.
Relative: relative move
Absolute: absolute move according to Dist setting.
Continuous: continue moving unless click Stop.
Home_Move: move according to Home_Mode.
Home_Search: search Home according to ORG_Offset.
Home_Escape: escape Home.
StopMode
Set the stopping mode.
SdStop: slow down to stop.
EmgStop: immediately stop.
Please refer to “Motionnet_Programming_Manual_1.91” P.151 and P.152.
VelProfile
Set the type of velocity profile.
TCurve: set a trapezoidal velocity profile.
SCurve: set an S-curve velocity profile move.
Please refer to “Motionnet_Programming_Manual_1.91” P.140 and P.141.
Dist Relative distance.
Dist2 Only for Absolute distance.
StrVel Start velocity in unit of pulse per second.
MaxVel Maximum velocity in unit of pulse per second.
Tacc Time of acceleration.
Tdec Time of deceleration.
Ratio Position counter divided by command counter.
Pulse I/O
Mode name Description
PulseOut_Mode Output mode of pulse.
Please refer to “Motionnet_Programming_Manual_1.91” P.140 and P.97.
PulseIn_Source Input source of pulse.
PulseIn_Mode Input mode of pulse.
Please refer to “Motionnet_Programming_Manual_1.91” P.140 and P.100.
PulseIn_Dir Input direction of pulse.
Please refer to “Motionnet_Programming_Manual_1.91” P.140 and P.100.
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Appendix E
Detailed Parameter Setting of 106-M304T
Home Configuration
Mode name Description
Home_Mode Set the mode of Home.
Please refer to “106-M304T-PM-EN_012” P.33.
ORG_Logic Active logic configuration for ORG signal.
Please refer to “106-M304T-PM-EN_012” P.33.
EZ_Logic Active logic configuration for EZ signal.
Please refer to “106-M304T-PM-EN_012” P.33.
EZ_Count Count the times of encountering EZ. Only for some Home_Mode that include EZ.
Please refer to “106-M304T-PM-EN_012” P.33.
ERC_Out Output ERC signal after Home_Mode.
Please refer to “106-M304T-PM-EN_012” P.33.
ORG_Offset First escape distance. Only for Home_Search in Home_Mode.
Please refer to “106-M304T-PM-EN_012” P.42.
Interface I/O
Mode name Description
EL_Logic Active logic configuration for EL signal.
Please refer to “106-M304T-PM-EN_012” P.31.
EL_Mode Active mode for EL signal.
Please refer to “106-M304T-PM-EN_012” P.31.
ALM_Logic Set active logic for ALARM signal.
Please refer to “106-M304T-PM-EN_012” P.23.
ALM_Mode React modes when receiving ALARM signal.
Please refer to “106-M304T-PM-EN_012” P.23.
INP_Logic Set active logic for INP signal.
Please refer to “106-M304T-PM-EN_012” P.24.
INP_Enable INP function enable/disable.
Please refer to “106-M304T-PM-EN_012” P.24.
ERC_Logic Set active logic for ERC signal.
Please refer to “106-M304T-PM-EN_012” P.25.
ERC_On_Time Set time length of ERC active.
Please refer to “106-M304T-PM-EN_012” P.25.
ERC_Off_Time Specify the pulse width of ERC output signal.
Please refer to “106-M304T-PM-EN_012” P.25.
SD_Enable Enable/disable the SD signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.113.
SD_Logic Set the active logic for SD signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.113.
SD_Mode Set the reacting mode of SD signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.113.
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SD_LTC Set latch control for SD signal.
Please refer to “Motionnet_Programming_Manual_1.91” P.113.
LTC_Logic Latch logic.
Please refer to “106-M304T-PM-EN_012” P.126.
Operation
Mode name Description
MoveMode
Set the moving mode.
Relative: relative move
Absolute: absolute move according to Dist setting.
Continuous: continue moving unless click Stop.
Home_Move: move according to Home_Mode.
Home_Search: search Home according to ORG_Offset.
Home_Escape: escape Home.
StopMode
Set the stopping mode.
SdStop: slow down to stop.
EmgStop: immediately stop.
VelProfile
Set the type of velocity profile.
TCurve: set a trapezoidal velocity profile.
SCurve: set an S-curve velocity profile move.
Please refer to “106-M304T-PM-EN_012” P.44 and 45.
Dist Relative distance.
Dist2 Only for Absolute distance.
StrVel Start velocity in unit of pulse per second.
MaxVel Maximum velocity in unit of pulse per second.
Tacc Time of acceleration.
Tdec Time of deceleration.
Ratio Position counter divided by command counter.
Pulse I/O
Mode name Description
PulseOut_Mode Output mode of pulse.
Please refer to “106-M304T-PM-EN_012” P.16.
PulseIn_Source Input source of pulse.
PulseIn_Mode Input mode of pulse.
Please refer to “106-M304T-PM-EN_012” P.19.
PulseIn_Dir Input direction of pulse.
Please refer to “106-M304T-PM-EN_012” P.19.
Abs_Reference Set the absolute moving function reference counter. Only for Absolute MoveMode.
Please refer to “106-M304T-PM-EN_012” P.21.
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Appendix F
Backup and Recovery with EEPROM
Retain Parameters
As mentioned above, 108-A122 is a module with an EEPROM for data storage and MyLink is a
parameter setting utility. It is very important to save the setting in the EEPROM so that users do not have
to set the parameters every time when system is launched. Moreover, users, who do not thoroughly
understand the settings, could also use this module with the preset parameters.
Users could write the configuration in the EEPROM through File Backup Config to… as following
shown figure.
Figure F-1: Save parameters to EEPROM
If the Backup Config to… option is hit, a new dialog will be popped up as figure below.
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Figure F-2: Save configuration dialog
There are two targets of configuration storage –EEPROM and PAC (EasyPAC)
1. PAC (KW device only):
This option is saving the configuration as an AI.kwcfg file and then transferring to EasyPAC for
KW use. It is not necessary to select devices from device list if the PAC checkbox is checked.
Press the “Save” button to finish saving.
Note that the each AI IP address is supposed to be within 48 to 63. It will not be in the list if the IP
address is out of range.
2. EEPROM:
Users need to take few steps to save the configuration in the EEPROM as follows:
1. Check the EEPROM option, and all the modules with EEPROM will show up in the list.
2. Select modules which are needed to be stored to EEPROM by checking the checkbox.
3. Press “Save” button.
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The status window displays the saving result with time stamps and messages.
Figure F-3: Saving status window
Duplication
This function is made to efficiently duplicate configuration profiles among the same type of modules.
For example, users could duplicate the configuration profile to other 108-A122 from the settings of the
previous identical type product. The steps of duplicating are as follows:
Select “File Recovery Config From…” from file option.
Figure F-4: Duplicate configuration option
If the Recovery Config From… option is hit, a new dialog will pop up as the figure below.
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Figure F-5: Recover profile dialog
Here is the duplicating sequence:
i. Select “Other Axis” from the radio button as the recovery source.
ii. Select the copy source from the module list.
iii. Select the destinations. Users could select multiple devices by multi-checking devices or check
the Ring to select all devices under the Ring.
iv. Press the “LoadAll” to finish the recovery.
The status window displays the recovery result with time stamps and messages.
Figure F-6: Recovery status window
Note that the recovery is just recovering to the specified devices, not saving to EEPROM. If the profile
needs to be saved eternally, users still need to save it to the EERPOM.
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Appendix G
Backup and Recovery for Grouped Axes
Save and Recover Configurations
The reading and writing of configuration profile are almost the same as AI/O in the previous section
except one more place to save the configuration profile – PC.
Figure G-1: File options
Save
As mentioned above, a saving dialog will pop up if the “Backup Config to…” option is hit. There are
three options – PC, Local (Only for PAC and Card with axis) and EEPROM.
Figure G-2: Saving dialog for group axes
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Figure G-3: Saving dialog for grouped axes
1. PC:
Users could select the axes to be saved in the tree diagram. Take Figure G-2 for example.
The filename extension is .ini. Click “Ring 0” and users can save the information of STP-
M112A and 107-M1A1-GEN. Click one slave, and users can save the information of the
slave only. The “File Path” button let users change storage path at will. Press “Save” to
save the information including information, interface I/O, pulse I/O and Operation in the
PC.
2. PAC (KW device only):
If the PAC checkbox is checked, all the modules to be saved would be in the list without
selection needed. If a DI module is not in this list, it means the IP address is not within the
illegal range, 0 to 47.If an AI module is not in this list, it means the IP address is not within
the illegal range, 48 to 63. If the IP address of an axis module is not within the illegal range,
1 to 32 would not be in the list. Modules within legal IP range will be saved as .kwcfg file in
the PAC.
3. EEPROM:
Modules with EEPROM are in the list. Users could select modules needed to be saved in the
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EEPROM and then press “Save” to save the configuration profile in the EEPROM.
Recovery
The recovery dialog will show up if enters “File Recovery Config From…”.
Figure G-4: Recovery dialog with file source
1. File:
The recovery source could be stored as a file. Users could recover from the file to targets in the
target list.
2. Self EEPROM:
Targets could be multi selected to be recovered from self EEPROM.
3. Other Axis:
It is to duplicate the axis configuration profile from one source axis to the designated target
axes.
Press “Load” to recover the configuration profile.
Edit Path File (KW device only)
Users could edit the interpolation motion path and save it as a .kwpts file under “Tool Edit Path”
option.
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[Path]
Figure G-5: Screenshot of the editing interpolation motion path
This is the very first step to edit the motion path should be done before settings of the segments. Edit
the parameters and press the “Edith Path Parameters” button to update the file content at the right side.
The parameter will be described later.
[Segments]
Two axes say X and Y are supposed to be selected to form a segment. The X and Y need to be grouped
already. The corresponding IP of Y-axis will be removed if the X-axis has selected the one in advance.
Figure G-6: Pick IP of X and Y axis
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Figure G-7: Parameters of a segment
After setting of IP addresses of X and Y axis, users could edit the parameters of the segment. The first
parameter is “Type” with options “Line” and “Arc”. It needs DistX and DistY for type Line. With
respect to type Arc, it takes five parameters. Input all the necessary parameters then press “Add
Segment” to add the settings as a new segment in the path file at right hand side. Users could press “>>”
to start a new segment or press “<<” to modify the previous added segment.
If all the segments are finished, the “Save” button in the “Save Path to PAC” area will be enabled to
save the path to EasyPAC as shown below.
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Figure G-8: Motion profile formed by segments
Here is an example that two axes form a round-angle rectangular with interpolation.
Figure G-9: Motion path of two axes interpolation
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[Path]
Count=8
StrVel=100
MaxVel=6000
Tacc=0.1
Tdec=0.1
Curve: T
[Segments]
Seg1.Type=Line
Seg1.Dist8=0
Seg1.Dist9=1000
Seg2.Type=Arc
Seg2.Ax=8
Seg2.Ay=9
Seg2.Cx=1000
Seg2.Cy=0
Seg2.Ex=1000
Seg2.Ey=1000
Seg2.Dir=Cw
Seg3.Type=Line
Seg3.Dist8=2000
Seg3.Dist9=0
Seg4.Type=Arc
Seg4.Ax=8
Seg4.Ay=9
Seg4.Cx=0
Seg4.Cy=-1000
Seg4.Ex=1000
Seg4.Ey=-1000
Seg4.Dir=Cw
Seg5.Type=Line
Seg5.Dist8=0
Seg5.Dist9=-1000
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Seg6.Type=Arc
Seg6.Ax=8
Seg6.Ay=9
Seg6.Cx=-1000
Seg6.Cy=0
Seg6.Ex=-1000
Seg6.Ey=-1000
Seg6.Dir=Cw
Seg7.Type=Line
Seg7.Dist8=-2000
Seg7.Dist9=0
Seg8.Type=Arc
Seg8.Ax=8
Seg8.Ay=9
Seg8.Cx=0
Seg8.Cy=1000
Seg8.Ex=-1000
Seg8.Ey=1000
Seg8.Dir=Cw
The path file stores each segment motion of each axis as a .kwpts file. Rules for motion path file editing
are listed below.
[Path]
Count = 8 No. of path segments, max. 100
StrVel = 100 Start velocity, unit is pps. Value is 0~6666666
MaxVel = 6000 Maximum velocity, unit is pps. Value is 0~6666666, must be > StrVel
Tacc = 0.1 Acc. time unit is sec, data type is float
Tdec = 0.1 Dec. time unit is sec, data type is float
Curve: T Velocity profile is T curve or S curve
Segment description: Start Point is (0, 1000)
Seg1.Type = Line Path type is line
Seg1.Dist8 = 0 Axis with IP8 is grouped, 0 pulses. Range: Dist1~Dist32
Seg1.Dist9 = 1000 Axis with IP9 is grouped, 1000 pulses. Range: Dist1~Dist32
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Seg2.Type = Arc Path type is circle
Seg2.Ax = 8 Axis with IP8 is assigned as X-Axis. Range: 1~32
Seg2.Ay = 9 Axis with IP9 is assigned as Y-Axis. Range: 1~32
Seg2.Cx = 1000 Center of circle is 1000 relative to X-Axis.
Range: -134217728 ~ 134217727
Seg2.Cy = 0 Center of circle is 0 relative to Y-Axis.
Range: -134217728 ~ 134217727
Seg2.Ex = 1000 End point in X-Axis is 1000. Range: -134217728 ~ 134217727
Seg2.Ey = 1000 End point in Y-Axis is 1000. Range: -134217728 ~ 134217727
Seg2.Dir = Cw Clockwise circle
Seg3.Type = Line Path type is line
Seg3.Dist8 = 2000 Axis with IP8 is grouped, 2000 pulses. Range: Dist1~Dist32
Seg3.Dist9 = 0 Axis with IP9 is grouped, 0 pulses. Range: Dist1~Dist32
Seg4.Type = Arc Path type is circle
Seg4.Ax = 8 Axis with IP8 is assigned as X-Axis. Range: 1~32
Seg4.Ay = 9 Axis with IP9 is assigned as Y-Axis. Range: 1~32
Seg4.Cx = 0 Center of circle is 0 relative to X-Axis.
Range: -134217728 ~ 134217727
Seg4.Cy = -1000 Center of circle is 1000 relative to Y-Axis.
Range: -134217728 ~ 134217727
Seg4.Ex = 1000 End point in X-Axis is 1000. Range: -134217728 ~ 134217727
Seg4.Ey = -1000 End point in Y-Axis is 1000. Range: -134217728 ~ 134217727
Seg4.Dir = Cw Clockwise circle
The sequence of Seg5 ~ Seg8 are similar to which of Seg1 ~ Seg4 which are skipped here.
Operation
All the signals are displayed in green background after the hardware properties are set. The single axis motion
window is shown in the following figure.
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Figure G-10: Screenshot of axis control window
Before testing the axis, it is necessary to make the motor servo on. The “SVON” signal will become from
green to red. If the “Servo Drive Alarm Reset” is connected to the output signal, the “RALM” must be pressed
and the corresponding signal turns red. If the “Repeat” option is checked, the motion will go back and forth
infinitely with the pre-defined position. The “DIR” signal will toggle as well.
If there are errors terminate the motion, the “Error” light would be on and press the exclamation mark will pop
the error message as shown below.
Figure G-11: Motion in error status
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After the exclamation mark being pressed, the system will restore from error to normal and display the error
messages in the message window as shown below.
Figure G-12: Restore from error state
With respect to the group axes, the “SVON” action should be done as mentioned. Users could check the group
folder to bring up the axis group option.
Figure G-13: Check the group folder to update axis parameters
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The window of grouped axes properties is as the following figure.
Figure G-14: Axis group properties
Before running the axis, please make sure the properties are set correctly.
Figure G-15: Axis properties window
- MoveMode: the options are Relative or Absolute move.
- StopMode: the options are Relative or Absolute move.
- VelProfile: the options are TCurve or SCurve.
- InterpolationMode: the options are Line or Arc.
The group operation depends on the VelProfile (Line/Arc). More than two axes could be joined together as a
group in line interpolation mode.
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Figure G-16: More than two axes are possible to run together in line interpolation mode
Users could only choose exactly two axes to do arc interpolating motions. More than two or less than two axes
will cause an error message in the message window.
Figure G-17: Error message if not two axes are doing arc interpolating motion
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Appendix H
Local 4-Axis Motion
The 4-axis motion control on SPC-2000 and SPC-5000 are quite similar to Motionnet motion control modules
in operation without the grouped motion function. The control interfaces are described in the following. The
“Local” means the on-board motion control module.
Figure H-1: On-board 4-axis motion control interface
The single motion control dialog is shown as the below figure. The “Local” means the axis belonging to on-
board 4-axis. The IP for on-board 4 axes are IP0 to IP3 correspondingly. Notice that the reset button works for
all of the 4 axes at a time.
Before motion tests, check the machine I/O status is necessary. Users could see the machine I/O status at the
“Status” panel on the right-hand side of the dialog just like Figure H-3. Make sure the entire statuses are
shown in green. If there is a status in red, please adjust the motion properties in the property panel.
As long as all the statuses are in green, users can start simple motion tests after the motor and driver are
connected. Please notice that the pulse input/output would matter the encoder consistency.
The operation on the single axis motion on the 4-axis module is similar to Motionnet single axis motion
module except that the 4-axis module does not have EEPROM for saving motion properties.
Figure H-2: One of the Local series, M114 Series
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Figure H-3: Motion control dialog window
The motion control window is similar to Motionnet motion control modules. The Ring checkbox is replaced
by the term “local”.
Figure H-4: Selection of control of the 4-axis motion module
As long as the “Axes” is selected, there will be a pop-up window as the figure below. The on-board 4-axis
module does not need to specify as a group since it is defined as a group already. The operation is like the
grouped Motionnet motion modules, users could select any one axis to do single axis motion or any 2 axes to
do linear or arc interpolation. Check any 3 or 4 axes could also perform linear interpolation as well. With
respect to the grouped motion control operation, please refer to section 3.3.3.
Figure H-5: Multiple axes operating window