INDUSTRIAL INDEXING SYSTEMS, INC. IB-11B012
MOTION CONTROL SYSTEM, MSC-250 USER'S GUIDE
AUGUST 1998 OPERATION 3 - 1
SECTION 3 − OPERATION
The operation sequence of the MSC-250 servo controller is provided by the Macroprogram
stored in its memory. Other than the specific procedures for loading the program into
memory and certain setup and test procedures, there is no operator control over the MSC-
250 functions.
3.1 CONTROL PROGRAM
The control program consists of Macroprogram commands as assembled by the MSC Tool
Kit. Refer to the Macroprogram Development System Instruction Book for details on
constructing the Macroprogram.
3.1.1 PROGRAMMING CONSIDERATIONS
When creating a Macroprogram for the MSC-250 controller, the programmer must know
the specific type of encoder which will be used with each axis. If this information is not
correct, the motor being controlled will travel the wrong distance when an indexing or
positioning command is given. It will also travel at the wrong speed and have the wrong
acceleration and deceleration.
WARNING
INCORRECT PROGRAMMING AND INCORRECT ENCODER
SPECIFICATIONS COULD CAUSE IMPROPER MOVEMENT WHICH
MAY RESULT IN EQUIPMENT DAMAGE OR PERSONAL INJURY.
The Macroprogram will support any quadrature encoder. The standard encoder, around
which the command language is fashioned, has 1024 pulses per revolution, a 1/4-cycle
marker pulse, channel A leading channel B for clockwise rotation, a Proportional Gain
value of 16, an Integral Gain value of 0, a Derivative Gain value of 0, and a Feed Forward
Gain Value of 0 (refer to "Section 1.2.1 - Axis Control"). However, even these standard
values must be properly used in the Macroprogram to achieve proper motor-shaft
movement.
When establishing the Macroprogram, the two real axes are designated Axis 1 and Axis 2
to correspond to the designation of the controller. The pseudo axis and Programmable
Limit Switch functions (refer to "Section 1.2 - System Functions") are designated as Axis 3
in the Macroprogram. The analog input and output functions are referenced as Axis 4.
The two real axes have encoder feedback signals. The pseudo axis, because it represents
a perfect motor, does not have a feedback signal.
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