SPiiPlus MMI Application Studio

User Guide
September 2020
Document Revision: 3.02
 SPiiPlus MMI Application Studio User Guide

SPiiPlus MMI Application Studio

Release Date: September 2020

COPYRIGHT

© ACS Motion Control Ltd., 2020. All rights reserved.

Changes are periodically made to the information in this document. Changes are published as release notes and later
incorporated into revisions of this document.

No part of this document may be reproduced in any form without prior written permission from ACS Motion Control.

TRADEMARKS

ACS Motion Control, SPiiPlus, PEG, MARK, ServoBoost, NetworkBoost and NanoPWN are trademarks of ACS Motion Control Ltd.

EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Any other companies and product names mentioned herein may be the trademarks of their respective owners.

www.acsmotioncontrol.com

[email protected]

[email protected]

NOTICE

The information in this document is deemed to be correct at the time of publishing. ACS Motion Control reserves the right to
change specifications without notice. ACS Motion Control is not responsible for incidental, consequential, or special damages of
any kind in connection with using this document.

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Revision History
Date Revision Description

September
3.02 Corrections to SinCos Encoder Compensation section
2020

July 2020 3.01 Bug fixes, ADK Update

June 2020 3.00 Changed to WPF

April 2019 2.70 Layout corrections

Added Current Loop Auto Tuning

July 2018 2.60 Added Open Loop Verification
Added XRMSD, XRMSM, XRMSTD, XRMSTM, CERRK, KDEC

December
2.50 Updated Adjuster Wizard and Scope.
2017

Added PdoIndex to the #ETHERCAT command

Removed the obsolete description of basic and advanced
SPiiPlusMMI Application Studio Packages
July 2017 2.40 Added a description of the Backup Machine and Duplicate
Machine to Upgrade and Recovery Wizard feature
Updated Windows Platform Support
Removed UDPPORT

Added optional groups to System Setup

Added to Safety and Faults Configurator and Safety and Faults
Monitor
> STO
> Hardware Emergency Stop
Removed "Component Failure" inversion checkbox from Safety
August and Faults Configurator
2.30
2016
Added Component Failure to Safety and Faults Monitor
Renamed "Drive Fault" to "Drive Fault/ Laser Fault"
Clarified the default response for a hardware emergency stop
Added note stating that to save any work in a buffer window
that it must be compiled first.
Added new scope features

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Date Revision Description

> Save MMI data as Excel CSV

> Quadrature grid for XY-CH# display
> Setting Y-axis limits per channel

March 2015 2.29 Upgrade and Recovery Wizard Updated

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Conventions Used in this Guide

Text Formats

Format Description

Bold Names of GUI objects or commands

BOLD + UPPERCASE ACSPL+ variables and commands

Monospace + grey
Code example
background

Italic Names of other documents

Blue Hyperlink

[] In commands indicates optional item(s)

| In commands indicates either/or items

Flagged Text

Note - includes additional information or programming tips.

Caution - describes a condition that may result in damage to equipment.

Warning - describes a condition that may result in serious bodily injury or death.

Model - highlights a specification, procedure, condition, or statement that

depends on the product model

Advanced - indicates a topic for advanced users.

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Related Documents
Documents listed in the following table provide additional information related to this document.
The most updated version of the documents can be downloaded by authorized users from
www.acsmotioncontrol.com/downloads.
Online versions for all ACS software manuals are available to authorized users at ACS Motion Control
Knowledge Center.

Document Description

SPiiPlus Setup Guide A complete guide for setting up the SPiiPlus system.

A guide for using the SPiiPlus User Mode Driver (UMD)

SPiiPlus Utilities User Guide for setting up communication with the SPiiPlus motion
controller.

SPiiPlus Command & Variable Complete description of all variables and commands in
Reference Guide the ACSPL+ programming language.

C/C++ library for host PC applications. This guide is

SPiiPlus C Library Reference
applicable for all the SPiiPlus motion control products

.NET Methods, Properties, and Events for communication

SPiiPlus .NET Library Reference
with the controller.

Guide for using the ACSPL+ high level programming

SPiiPlus Programmer's Guide
language.

Technical description of the SPiiPlus NTM Network

SPiiPlus NTM Network Manager Manager that provides complete communication control
Hardware Guide between the ACS Motion Control products on an
EtherCAT network

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Table of Contents
1. SPiiPlus MMI Application Studio Overview 17
1.1 System Requirements 17
1.1.1 SPiiPlus MMI Application Studio 17
1.2 SPiiPlus MMI Application Startup Window 18
1.3 Menu Bar 20
1.4 Toolbars 22
1.5 Workspace Tree Tab 24
1.6 Toolbox Tab 24
1.7 Program Manager 25
1.8 Properties Window 26
1.9 Communication Terminal 26
1.10 Emergency Stop Button 27
1.11 Wizards 27
1.12 Graphic Monitors 28
1.13 Variables Monitoring Tools 28
1.14 Motion Manager 29
2. MMI Basics 30
2.1 Workspace Operations 30
2.1.1 Creating a New Workspace 30
2.1.2 Saving a New Workspace 31
2.1.3 Loading a New Workspace 32
2.1.4 Closing the Workspace 34
2.2 Handling Controllers 34
2.2.1 Adding a Controller 35
2.2.2 Disconnecting a Controller 40
2.2.3 Connecting a Controller 40
2.2.4 Setting Controller Properties 40
2.2.4.1 COMMFL 41
2.2.4.2 DISPCH 43
2.2.4.3 BAUD 43
2.2.4.4 TCPIP 44
2.2.4.5 SUBNET 44

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2.2.4.6 GATEWAY 44
2.2.4.7 TCPIP2 44
2.2.4.8 TCPPORT 45
2.2.4.9 Controller Parameters Function Buttons 45
2.2.5 Saving to Flash 45
2.2.6 Controller Reboot 46
2.2.7 Setting Factory Defaults 47
2.2.8 Removing a Controller 49
2.3 Handling Workspace Components 49
2.3.1 Opening a Component 49
2.3.2 Closing a Component 50
2.3.3 Removing a Component 50
2.4 Working with Workspace Tree 50
2.4.1 Workspace Right-Click Options 51
2.4.2 Controller Right-Click Options 52
2.4.3 Component Right-Click Options 53
2.5 Working with Properties Window 54
2.6 Workspace Tab Options 56
2.7 Panel Controls 57
2.8 Tool Tips 57
2.9 Printing Component Data 58
2.9.1 Print Report Preview Window 59
2.10 Working with Wizards 61
2.10.1 Starting a Wizard 61
2.10.2 Wizard Window Elements 63
3. Setup 66
3.1 Accessing Setup Tools 66
3.2 Adjuster Wizard 66
3.2.1 Starting Adjuster Wizard 67
3.2.2 Adjuster Wizard Select Task Window 68
3.2.3 Adjuster Wizard Task Steps 70
3.2.4 Component Database 72
3.2.5 Working in Adjuster Wizard Task Windows 72
3.2.6 Setup New System or Controller 74

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3.2.6.1 Initialization 74
3.2.6.2 Axis Architecture 75
3.2.6.3 Components 78
3.2.6.3.1 Motor 78
3.2.6.3.2 Drive 79
3.2.6.3.3 Feedback 80
3.2.6.3.4 Calculate Parameters 81
3.2.6.4 Safety and Protection 82
3.2.6.4.1 Motion Parameters Limits 83
3.2.6.4.2 Current Limits 84
3.2.6.4.3 Position Errors 85
3.2.6.4.4 Position Limits 87
3.2.6.5 Miscellaneous Definitions 87
3.2.6.5.1 Motion Completion 88
3.2.6.5.2 Enable/Disable/Brake 88
3.2.6.5.3 Dynamic Brake 89
3.2.6.5.4 Home Switch 90
3.2.6.6 Verification 91
3.2.6.6.1 Feedback 92
3.2.6.6.2 Switches 95
3.2.6.6.3 Stop, Alarm and Brake 96
3.2.6.7 Axis Setup and Tuning 97
3.2.6.7.1 Current Loop 97
3.2.6.7.2 Current Phase Offset 102
3.2.6.7.3 Commutation 104
3.2.6.7.4 Open Loop Verification 113
3.2.6.7.5 Position and Velocity Loops 115
3.2.6.7.6 Position Verification 122
3.2.6.8 Save to Flash 124
3.2.7 Adjust Tuning of Predefined System 125
3.2.8 Verify Correct Setup of Predefined System and Adjuster Tuning 128
3.2.9 Axis Duplication 132
3.3 System Setup 134
3.3.1 Automatic System Setup 134

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3.3.2 Manual System Setup 136

3.3.2.1 Modifying a system configuration 136
3.3.2.2 Modifying a Configuration from the Database 139
3.3.2.3 Loading a Configuration from the Data Base 141
3.3.2.4 MC4U Configuration Codes 142
3.3.3 Optional Groups Setup 145
3.3.3.1 Head of optional group 146
3.3.3.2 Member of optional group 146
3.3.3.3 Highlighting optional group 147
3.3.3.4 View optional groups 148
3.3.4 Activating Ring Topology in the Controller 149
3.4 Safety and Faults Configurator 149
3.4.1 Activating Safety and Faults Configurator 150
3.4.2 ACSPL+ Fault Variables 151
3.4.2.1 Axis Fault Variables 151
3.4.2.1.1 SAFINI 151
3.4.2.1.2 FMASK 152
3.4.2.1.3 FDEF 154
3.4.2.1.4 FAULT 158
3.4.2.2 System Fault Variables 161
3.4.2.2.1 S_SAFINI 161
3.4.2.2.2 S_FMASK 161
3.4.2.2.3 S_FDEF 162
3.4.2.2.4 S_FAULT 163
3.4.3 Working with Safety and Faults Configurator 164
4. Application Development 166
4.1 Accessing Application Development Tools 166
4.2 Application Wizard 167
4.2.1 Activating Application Wizard 167
4.2.2 Application Loader 167
4.2.3 Application Saver 172
4.2.4 Import Data to Controller 177
4.2.5 Export Data from Controller 182
4.2.6 User File Manager 186

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4.2.7 Copy File to Controller 188

4.2.8 Delete File from Controller 191
4.3 Program Manager 192
4.3.1 Activating Program Manager 193
4.3.2 Program Manager Window Overview 193
4.3.2.1 Select 194
4.3.2.2 Open 194
4.3.2.3 Status 195
4.3.2.4 Buffer Functions Toolbar 197
4.3.2.5 Buffer Program Functions Toolbar 197
4.3.3 Programming a Buffer 198
4.3.3.1 Entering a Program 201
4.3.3.2 Programming the D-Buffer 202
4.3.3.3 Loading Programs from a PC File 204
4.3.3.4 Saving Programs to PC File 206
4.3.4 Saving Programs to Flash Memory 207
4.3.4.1 Clearing Buffers 208
4.3.4.2 Copying Buffers 209
4.3.5 Stepping Buffer Program 210
4.3.5.1 Stepping Single Program 210
4.3.5.2 Stepping Multiple Programs 210
4.3.6 Setting/Removing Breakpoints 211
4.3.7 Disable/Enable Autoroutines 212
4.3.8 Setting Program Buffer Parameters 212
4.3.9 Running/Stopping Buffer Programs 213
4.3.10 Trigger Scope 214
4.4 Protection Wizard 215
4.4.1 Starting Protection Wizard 215
4.4.2 Define Protection 216
4.4.2.1 Setting Application Protection 217
4.4.2.2 Setting Intellectual Property Protection 219
4.4.2.3 Setting Custom Protection 220
4.4.2.3.1 Custom buffer protection 220
4.4.2.3.2 Custom variable protection 220

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4.4.2.3.3 Advanced protection options 222

4.4.3 Update Protection 222
4.4.4 Remove Protection 223
4.4.5 View Protection 226
4.4.6 Entering Incorrect Password 227
5. Utilities 229
5.1 Accessing Utilities 229
5.2 Upgrade and Recovery Wizard 229
5.2.1 Starting Upgrade and Recovery Wizard 230
5.2.2 Upgrade Controller Task 230
5.2.3 Recovery Task 236
5.2.4 Create Shortcut for Automatic Upgrade Task 246
5.2.5 Backup Machine 252
5.2.6 Duplicate Machine 254
5.3 System Information Viewer 256
5.3.1 Activating the System Information Viewer 256
5.3.2 System Information Viewer Window 257
5.3.3 EtherCAT Network System Information Tree 259
5.3.3.1 Computer Environment 260
5.3.3.2 ACS Motion Control Software 260
5.3.3.3 Host-Control Communication 260
5.3.3.4 Application Protection 260
5.3.3.5 Controller Options 260
5.3.3.6 System Configuration 260
5.3.3.7 Safety & Fault Response 261
5.3.3.8 EtherCAT Configuration 261
5.3.4 Non-EtherCAT Network System Information Tree 261
5.3.4.1 Computer Environment 262
5.3.4.2 ACS Motion Control Software 262
5.3.4.3 Host-Control Communication 262
5.3.4.4 Application Protection 262
5.3.4.5 Controller Options 262
5.3.4.6 System Configuration 262
5.3.4.7 Safety & Fault Response 263

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5.3.5 Saving System Information 263

5.3.6 Loading System Information 263
5.4 Communication Terminal 264
5.4.1 Accessing Communication Terminal 264
5.4.1.1 Access Communication Terminal from Workspace Tree 264
5.4.1.2 Access Communication Terminal from Utilities 265
5.4.2 The Communication Terminal Window 265
5.4.3 Saving Communication Terminal Command Output to File 267
5.4.4 Communication Terminal Commands 267
5.4.4.1 Query Commands 267
5.4.4.2 Program Management Commands 269
5.4.4.2.1 Buffer Handling 270
5.4.4.2.2 Program Variables Handling 272
5.4.4.2.3 Program Handling 277
5.4.4.2.4 Debug Handling 280
5.4.4.3 System Commands 282
6. Diagnostics and Monitoring 286
6.1 Accessing Diagnostics and Monitoring Tools 286
6.2 FRF Analyzer 287
6.2.1 Activating FRF Analyzer 288
6.2.2 Working with FRF Analyzer 288
6.2.3 Signals Tab 290
6.2.4 Cursors Tab 291
6.2.4.1 Bode Diagram Cursors 292
6.2.4.2 Nyquist Diagram Cursors 292
6.2.5 Servo Parameters Tab 293
6.2.6 Measurement Analysis Tab 295
6.2.7 FRF Analyzer Modes 296
6.2.7.1 Measure Mode 296
6.2.7.2 Design Mode 299
6.2.8 Setting View Options 301
6.2.9 Markers 301
6.2.10 Tools 302
6.2.10.1 Saving FRF Data to File 303

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6.2.10.2 Loading FRF Data from File 303

6.2.10.3 Clearing FRF Data from Display 305
6.2.11 Setting FRF Analyzer Properties 305
6.2.11.1 FRF Settings 307
6.2.11.2 General Plot Settings 307
6.2.11.3 Graph Settings 308
6.2.11.4 Nyquist Graph Settings 308
6.2.12 Troubleshooting 309
6.3 HSSI Manager 310
6.3.1 Activating HSSI Manager 310
6.3.2 HSSI Manager Window 311
6.4 Inputs/Outputs Manager 311
6.4.1 Activating Inputs/Outputs Manager 312
6.4.2 Inputs/Outputs Manager Operations 312
6.4.2.1 Display Options 313
6.4.2.2 Selecting HSSI EXTIN/EXTOUT Variables 314
6.5 Motion Manager 315
6.5.1 Activating Motion Manager 315
6.5.2 Motion Manager Window 316
6.5.2.1 Motion Manager Menu Bar 317
6.5.2.2 Motion Manager Window Action Buttons 318
6.5.2.3 Axis Motion Parameters Form 319
6.5.3 Working with Axis Motion Parameters Form 321
6.5.4 Absolute Move 321
6.5.5 Relative Move 322
6.5.6 One Direction Incremental Repeated Move 323
6.5.7 Back and Forth Move 324
6.5.8 Jog Motion 325
6.6 Safety and Faults Monitor 326
6.6.1 Activating Safety and Faults Monitor 326
6.6.2 Working with Safety and Faults Monitor 333
6.7 Scope 334
6.7.1 Activating the Scope 334
6.7.2 Setting Horizontal Scale 338

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6.7.3 Ability to display Y-axis units 339

6.7.4 Setting X-axis zoom interval bounds 341
6.7.5 Zoom factor 344
6.7.6 Setting Triggers 345
6.7.7 Setting Reference Axis 347
6.7.8 FFT Setup 348
6.7.9 Tools 349
6.7.10 Signals Tab 353
6.7.11 Cursors Tab 362
6.7.12 Riders Tab 364
6.7.13 Statistics Tab 366
6.7.14 Setting Scope Plot Properties 367
6.8 Sin Cos Encoder Compensation and Monitoring 369
6.8.1 Activating Sin Cos Encoder Compensation and Monitoring 370
6.8.2 Sin Cos Encoder Compensation Window 370
6.8.2.1 Measurement Curve Display 370
6.8.2.2 Compensation Execution Panel 371
6.8.2.3 Motion Operation Panel 373
6.8.2.4 Parameters Panel 373
6.8.2.4.1 Measurement Tab 373
6.8.2.4.2 Cursors Tab 377
6.8.2.4.3 Statistics Tab 377
6.8.3 Running Sin Cos Encoder Compensation 378
6.8.4 Setting Cursors 378
6.8.5 Setting Sin Cos Encoder Compensation Properties 379
6.8.6 Running Sin Cos Encoder Monitoring 381
6.9 Variables Manager and Watch 381
6.9.1 Activating Variables Manager and Watch 381
6.9.2 Quick Viewer 382
6.9.2.1 The Variables Tree 383
6.9.2.2 Index Selector 383
6.9.2.3 Selecting Multiple Axes 384
6.9.2.4 Selecting Variables 385
6.9.2.4.1 Select a Group 385

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6.9.2.4.2 Select a Single Variable 386

6.9.2.4.3 Select an Array Element 386
6.9.2.4.4 Select a Bit of an Integer 387
6.9.2.5 Displaying a Variable’s Value 387
6.9.2.6 Update Variable Values 388
6.9.2.7 Quick Viewer Properties 388
6.9.3 Watch 389
6.9.3.1 Creating a Watch 389
6.9.3.2 Watch Display 390
6.9.3.2.1 File Handling Functions 390
6.9.3.2.2 Watch Parameters Matrix 390
6.9.3.2.3 Modifying Watch Parameter Matrix Fields 391
6.9.3.3 Replace a Variable 392
6.9.3.4 Add a Variable 392
6.9.3.5 Remove a Variable 393
6.9.4 Watch Window 393
6.9.4.1 View Watch 393
6.9.4.2 Removing a Watch 393
6.9.4.3 Save/Load Watch 394
6.9.4.4 Watch Right-Click Options 395
6.9.4.4.1 Watch Window Right-Click Options 395
6.9.4.4.2 Watch Row Right-Click Options 396
6.9.4.4.3 Watch Column Right-Click Options 397
6.9.4.5 Watch Properties 398
6.9.4.5.1 Watch Window Properties 398
6.9.4.5.2 Watch Row Properties 399
6.9.4.5.3 Watch Column Properties 400
6.9.4.5.4 Watch Cell Properties 401
6.10 System Viewer and Diagnostics 402

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1. SPiiPlus MMI Application Studio Overview

1. SPiiPlus MMI Application Studio Overview

SPiiPlus MMI Application Studio is a comprehensive environment for setting up and managing ACS
Motion Control SPiiPlus motion controllers as well as control modules such as the MC4U product
line.

1.1 System Requirements

The SPiiPlus MMI Application Studio can be run in any of the following Microsoft Windows ®
operating systems:

> Windows ® 7 (32-bit and 64-bit)

> Windows ® Server 2003 (32-bit and 64-bit)
> Windows ® Server 2008 (32-bit and 64-bit)
> Windows ® Server 2008 R2 (64-bit)
> Windows ® 8.1 (32 bit and 64 bit)
> Windows Server 2012 ® (32 bit and 64 bit)
> Windows 10 ® (32 bit and 64 bit)
1.1.1 SPiiPlus MMI Application Studio
The SPiiPlus MMI Application Studio consists of the following:
> Adjuster Wizard
> Safety and Faults Configurator
> Application Wizard
> Program Manager
> Protection Wizard
> Motion Manager
> FRF Analyzer
> HSSI Manager
> Inputs/Outputs Manager
> Safety and Faults Monitor
> Scope
> Variables Manager and Watch
> Communication Terminal
> System Information Viewer
> Upgrade and Recovery Wizard

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1.2 SPiiPlus MMI Application Startup Window

The SPiiPlus MMI Application Studio startup window:

Workspace
The Workspace is where all data is entered. The contents of the Workspace depend on the MMI
option that is currently being used.
Workspace Tree
The Workspace Tree displays all MMI components associated with the Workspace that you have
activated.
The pod in which the Workspace Tree is displayed has two tabs:
> Workspace Tree Tab - clicking this tab displays the Workspace Tree.
> Toolbox Tab - clicking this tab displays the SPiiPlus MMI Application Studio tools.

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Status Bar
This displays messages of the MMI status and the status of any component action you have
executed.

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1.3 Menu Bar

The SPiiPlus MMI Application Studio Menu Bar has the following options:

File New Create a new Workspace file.

Open Open an existing Workspace file.

Close
Close the currently displayed Workspace.
Workspace

Save
Save the Workspace data.
Workspace

Save
Workspace Save the Workspace data to a different filename.
As

Print Access Print Manager for printing Workspace data.

Display list of Workspace data files to enable selecting a

Recent
specific Workspace.

Exit Close SPiiPlus MMI Application Studio.

Toolbox
Toggle Toolbox display on and off.
Window

Properties
View Toggle Properties display on and off.
Window

Workspace
Toggle Workspace Tree display on and off.
Window

Add
Add a new controller to the Workspace.
Controller

Add an external file to the Workspace Tree - when selected,

Workspace Add File
this file will open in the appropriate application.

Set as Sets the current Workspace as the default - it is displayed on

Default the next time SPiiPlus MMI Application Studio is initiated.

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Select language used by MMI.

Language
Default: US English

Style Change the look of the MMI to suit your tastes.

Select log settings, your options are:

> Off - Turns logging off.
Tools
> Errors - only errors are logged.

Settings > Warnings - Errors & warnings are included in the log.
> Info - Errors, warnings and messages are included in
the log. Verbose - Everything is included in the log.
In addition you can set the display time for ToolTips in
seconds.

Closes the display of all component windows in the

Close All
Workspace.

Tile If the Floating option is selected, each component window is

Horizontal displayed horizontally in the Workspace.
Window
If the Floating option is selected, each component window is
Tile Vertical
displayed vertically in the Workspace.

If the Floating option is selected, each component window is

Cascade
displayed cascaded (one behind the other) in the Workspace.

Displays the Help topics for the function in the active

Contents
Workspace.

Displays a list of keywords from which you can perform a

Index
Help search for a particular help.

Knowledge
Open the Knowledge Center in the web browser.
Center

About Displays SPiiPlus MMI Application Studio version information.

When you press Alt + the Underlined Letter, the selections for the Menu option are
displayed.

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1.4 Toolbars
The SPiiPlus MMI Application Studio contains four built-in toolbars:
> Workspace

This toolbar contains Workspace handling function buttons. They are:

> Open a new Workspace
> Load a Workspace from a file on the computer
> Save the Workspace data to computer
> Controller

This toolbar contains controller handling function buttons. They are:

> Connect - connects the selected controller
> Disconnect - disconnects the selected controller
> Add Controller - adds a new controller to Workspace
> Disconnect All - disconnects all controllers in Workspace
> Connect All - connects all controllers in Workspace
> Component

This toolbar contains function buttons for components in the Workspace tree. They are:
> Open - Displays the selected component in the Workspace
> Close - Closes the selected component in the Workspace
> Remove - Removes the selected component from the Workspace

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> Style

This button opens a menu offering style options:

> Flat
> Ultra Flat
> Style 3D
> Office 2003
> Windows XP
> Skin (Opens sub-menu with various options)
> Useful Links

This toolbar opens a menu offering shortcuts to the following functions.

> Setup New System
> Tune an Axis
> Create Watch
> Save Application to PC

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> Load Application to Controller

1.5 Workspace Tree Tab

The Workspace Tree displays all MMI functions that you have used for a particular session.

When you initiate SPiiPlus MMI Application Studio, the following functions are loaded by default:
> Program Manager
> Motion Manager
> Communication Terminal
As you work within the MMI, each function that you employ is added to the list.
For details on the Workspace Tree operations, see Working with Workspace Tree.

1.6 Toolbox Tab

SPiiPlus MMI Application Studio Toolbox provides the following tools:

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> Setup
The Setup set of tools enables you to configure your SPiiPlus Motion Controller
> Application Development
The Application Development set of tools enables you to program your SPiiPlus Motion
Controller.
> Utilities
The Utilities enable you to upgrade the SPiiPlus Motion Control firmware and software.
Utilities also is your access point to Communication Terminal which enables you to send
commands directly to the SPiiPlus Motion Controller.
> Diagnostics and Monitoring
The Diagnostics and Monitoring set of tools enables you to monitor, graphically through
the Scope and the FRF Analyzer, and analyze the motion as well as keep abreast the
values of critical variables.

1.7 Program Manager

Program Manager is the principal tool for programming your SPiiPlus Motion Controller.
The Program Manager window displays information for the controller selected in the Workspace
Tree.

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1.8 Properties Window

The Properties window enables you to set certain attributes for the object, such as color, numeric
value, identifying name, and the like.

For details of the Properties window see Working with Workspace Tree.

1.9 Communication Terminal

The utility enables you to enter commands directly to the controller.

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There are two types of commands that you can enter:

1. Terminal commands - these are commands specific to the Terminal and are not part of the
ACSPL+, SPiiPlus C Library, or SPiiPlus COM Library command sets.
2. Certain ACSPL+ commands.

1.10 Emergency Stop Button

When you enter SPiiPlus MMI Application Studio, it connects to the SPiiPlus motion controller via the
SPiiPlus User Mode Driver (UMD). The UMD displays the Emergency Stop button in the lower right
side of the screen.

Clicking this button immediately stops all Program Buffers along with halting all motors and sets all
axis offsets to 0.

By default, the button is always overlaid on top of the display. To change this, right-
click the button and uncheck Always On Top.

1.11 Wizards
Wizards are special tools where your operations have been bundled into a single tool. For each
option of a wizard there is a logical sequence of actions that need to be taken, and the wizard leads
through them step-by-step. The SPiiPlus MMI Application Studio has the following wizards:
> Adjuster Wizard
The Adjuster Wizard, one of the Setup tools, enables you to improve the system and
modify its behavior. The Adjuster Wizard provides tuning in terms of high-level
parameters, namely parameters that have a clear meaning for you. Once you have
assigned values to the high-level parameters, the Adjuster Wizard automatically
transforms them into values for the low-level parameters, that is, controller parameters.
> Application Wizard
The Application Wizard, one of the Application Development tools, enables you to manage
the controller program files, such as loading applications, saving applications, copying files
to the controller, as well as loading/saving system and axis parameters.
> Upgrade and Recovery Wizard

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The Upgrade and Recovery Wizard, one of the Utilities tools, enables you to upgrade your
controller’s firmware as well as to recover the firmware data should you need to reinstall
the controller.
> Protection Wizard
The Protection Wizard, one of the Application Development tools, enables you to define
the controller program Protection mode parameters, modify the Protection mode
parameters, and view the Protection status. By applying Protection, you assure that your
ACSPL+ programs are protected from unauthorized changes to system and axis
parameters.

1.12 Graphic Monitors

SPiiPlus MMI Application Studio provides you with three graphic monitors to enable you to view and
analyze the motion. These monitors are:
> FRF Analyzer
Frequency Response Function (FRF) is the steady-state transfer function of a dynamic
system describing the relation between an input and an output as a function of frequency
in terms of gain and phase. You have the option of displaying the data as either a Nyquist
Diagram or a Bode Diagram.
> Scope
Scope presents a real time display of the values of selected motion variables. Signal values
are tracked through various program variables, such as ACSPL+ variables, SP variables,
user-defined variables, and the like. You can set the Scope to display any motion
parameters you like.
> Sin Cos Encoder Compensation and Monitoring
The Sin Cos Encoder Compensation displays a Sin-Cos Lissajous curve graph of the wave
form which enables you to read a controller’s gain, phase and offsets compensation
parameters (SCGAIN, SCPHASE, SCSOFFS, and SCCOFFS) and make adjustments where
necessary to improve the encoder's response.

1.13 Variables Monitoring Tools

In addition to the graphic monitors, SPiiPlus MMI Application Studio provides you with a number of
tools for viewing the values and status of various variables to aid you in diagnosing the motion.
These tools are:
> Inputs/Outputs Manager
The Inputs/Outputs Manager displays the status of the input and output variables of the
SPiiPlus controller as well as those of the HSSI if defined.
> Safety and Faults Monitor
The Safety and Faults Monitor displays the status of the SPiiPlus controller faults as defined
through the Safety and Faults Configurator.
> Variables Manager and Watch
The Variables Manager displays the values currently stored in a program that is running.
This includes ACSPL+, global and local variables.

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> HSSI Manager

The HSSI Manager is used for monitoring the status of HSSI channels. The manager displays
the number and states of the HSSI channels.

1.14 Motion Manager

The Motion Manager is used control the axes' motion. It also displays when the motion is in
progress, accelerating, slowing, and so forth. It enables you to operate each axis independently.
There are five types of motion available:
> Absolute Move - Moves the motor(s) to a specific target.
> Relative Move - Moves the motor(s) a specific distance from current position.
> One Direction Incremental Repeated Move - Repeatedly moves the motor(s) incrementally
in one specified direction from current position.
> Back and Forth Move - Moves the motor(s) back and forth between two specified points.
> Jog Motion - Moves the motor(s) with constant velocity and without a defined end point.
The motion continues until the next motion command stops it, or the limit switch has been
activated, or some other condition.

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2. MMI Basics
This chapter presents the procedures used in performing the basic functions in the SPiiPlus MMI
Application Studio Workspace.
The basic functions covered by this chapter include:
> Workspace Operations
> Handling Controllers
> Handling Workspace Components
> Working with Workspace Tree
> Working with Wizards

2.1 Workspace Operations

Workspace operations include:
> Creating a New Workspace
> Saving a New Workspace
> Loading a New Workspace
> Closing the Workspace
> Handling Controllers
> Handling Workspace Components
> Working with Workspace Tree

2.1.1 Creating a New Workspace

You may create as many Workspaces as you want. Some reasons for creating Workspaces are:
> Retaining certain setups
> Maintaining separate Workspaces for each controller
To create a new Workspace:
1. Click File in the Main Menu.
2. Select New.
3. Click New Workspace.

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You can also create a new Workspace by pressing Ctrl+N, or by clicking in the top
bar.

4. You are prompted with:

5. If you want to save the current Workspace, click Yes; otherwise click No. The new
Workspace is loaded.

6. To rename the Workspace click the Workspace folder and type in the new name.

2.1.2 Saving a New Workspace

Once created, you save the new Workspace by:

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1. Click File in the Main Menu.

2. Select Save Workspace.

You can also save the new Workspace by pressing CTRL+S, or by clicking in the
toolbar.

3. You are prompted with:

4. Type in the filename and click Save.

The Workspace configuration is stored in files having .acsw file extension.

2.1.3 Loading a New Workspace

To load a new Workspace:
1. Click File in the Main Menu.
2. Select Open.

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You can also open the new Workspace by pressing Ctrl+O, or by clicking toolbar.

3. You are prompted with:

4. Use the Open window to browse for the location of the file, select the file and click Open.

The Workspace configuration is stored in files having .acsw file extensions.

5. You are prompted with:

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6. If you want to save the current Workspace, click Yes; otherwise click No. The new
Workspace is loaded.

2.1.4 Closing the Workspace

To close the Workspace:
1. Click File in the Main Menu.
2. Select Close Workspace.

3. You are prompted with:

4. If you want to save the current Workspace, click Yes; otherwise click No.

2.2 Handling Controllers

The Workspace controller handling functions are:
> Adding a Controller
> Disconnecting a Controller
> Connecting a Controller
> Setting Controller Properties
> Saving to Flash
> Controller Reboot

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> Setting Factory Defaults

> Removing a Controller

2.2.1 Adding a Controller

To add a controller:
1. Click Workspace on Menu bar, and select Add Controller.

You can also click ADD CONTROLLER on the toolbar or press ALT+A.

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The Connect to Controller dialog is displayed:

2. Enter an identifying name in the Controller Alias Name field.

3. Enter the connection timeout value, in milliseconds, in the Connection Timeout field.
4. If your computer is connected directly to the controller, select Serial, and
> Select the communication port from the Port dropdown list. If not all the ports are
displayed, press the button.
> Select the baud rate from the Rate dropdown list:

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> Click Connect.

5. If your computer is connected to the controller through a LAN, select Ethernet.

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> Select the IP Address from the Controller IP Address dropdown list.

The factory default TCP/IP address is 10.0.0.100.

> Click Connect .

6. If the controller is connected to a different computer, you have the option of establishing
a remote connection by selecting the Remote Connection checkbox.

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> Enter the IP of the remote computer in the Remote Address field.
> Enter the port number of the remote computer in the Remote Port field.
> If the remote computer has login requirements, enter the Domain name, Username
and Password in the Login Details.

> Click Connect. The controller is automatically stored in the Workspace folder and
appears in the Workspace Tree.

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2.2.2 Disconnecting a Controller

To disconnect a controller:
1. In the Workspace Tree select the controller you want to disconnect.

2. Click Disconnect ( ) or press Alt+D.

To disconnect all the controllers click Disconnect All or press Alt+L.

The “LED” ( ) indicating that the controller is connected goes out.

2.2.3 Connecting a Controller

To connect a controller that has been disconnected:
1. In the Workspace Tree select the controller you want to connect.

2. Click Connect ( ) or press Alt+C.

To connect all the controllers that have been disconnected click Connect All (

).

The “LED” ( ) indicating that the controller is connected is on.

2.2.4 Setting Controller Properties

This option enables you to set various communication properties for your controller.
To set controller properties: click the controller, the SPiiPlus Communication Parameters window is
displayed:

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This window allows you to set the following communication parameters:

> COMMFL
> DISPCH
> BAUD
> TCPIP
> SUBNET
> GATEWAY
> TCPIP2
> TCPPORT
> UDPPORT

2.2.4.1 COMMFL
COMMFL is a scalar variable containing a set of 9 bits that affect controller communication. To set
the bits:

1. Click , the Message Flags Form is

displayed:

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2. You can either type the number in the Message Flags (COMMFL) field, or select the
bits you want to enable by clicking the appropriate checkbox. The meanings of the
bits are:

Bit
Description
No.

1 = Controller includes an extended explanation with error code

0
messages.

1 1 = Enables motor messages.

2 1 = Enables Axis messages.

3 1 = Enables Program messages.

4 1 = Controller sends unsolicited messages in Safe communication format.

1 = A checksum is included in unsolicited messages. Normally you do not

6
need to enable this bit.

1 = The controller ignores any command received via communication

channels except the queries that start with the '?' character. The bit is not
7
effective if the controller is in the Configuration mode. The default value is
0.

1 = The controller ignores any query received via communication channels.

8 The bit is not effective if the controller is in Configuration mode. The
default value is 0.

3. Click Close to save the settings. Or you can click Default to enter the default settings.

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2.2.4.2 DISPCH
DISPCH is a scalar integer variable that defines the communication channel between the controller
and a host application, MMI or any device connected to the controller's communication ports.
DISPCH is relevant only to messages sent with DISP and SEND (referred to as “Unsolicited
Messages”). In order to view unsolicited messages in the window, select the check box in the lower
right corner of the Terminal window to enable Show Unsolicited Messages.
If DISPCH specifies a valid communication channel, all unsolicited messages (messages that are sent
with DISP and SEND from the program buffers) are sent to this channel irrespective of the channel
used for immediate commands.
To set DISPCH: Type the required number in the Default Channel (DISPCH) field. Your choices are:

Channel
Description
Number

No default channel is specified, the command uses the last channel

-1
activated by the host.

-2 All channels (default)

1 Serial port 1

2 Serial port 2

6 Ethernet network (TCP)

7 Ethernet network (TCP)

8 Ethernet network (TCP)

9 Ethernet network (TCP)

10 Ethernet Point-to-Point (UDP)

12 PCI bus

2.2.4.3 BAUD
BAUD is an integer variable that defines the serial communication rate, given in bits per second.
Enter the required Baud rate from the dropdown menu by clicking the down arrow of the Serial
Baud Rate (BAUD) field. The options are:
> 300
> 1200
> 4800
> 9600

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> 19200
> 57600
> 115200 (default)

2.2.4.4 TCPIP
TCPIP sets IP Address for the 1st Ethernet Port. If TCPIP has a non-zero value, the controller uses the
value as its TCP/IP address.
The default address is 10.0.0.100.
To set the IP Address enter the address in the TCP/IP Address (TCPIP) field.
If you set the TCPIP to: 0.0.0.0, the controller uses the DHCP protocol to retrieve the network
configuration from the DHCP server. The network configuration received from the DHCP server
includes the following parameters:
> Controller’s TCP/IP address
> Subnet mask
> Gateway address

2.2.4.5 SUBNET
SUBNET is used to determine to what subnet an IP address belongs.
The SUBNET value consists of four individual bytes, each being a decimal number between 0 and
255, separated by dot. The right most value is the least significant byte.
The default is 255.255.255.0.
To set the Subnet Mask enter the values in the Subnet Mask (SUBNET) fields.
If controller is configured to get network settings from DHCP server, that is, TCP/IP is set to 0.0.0.0,
SUBNET receives its value from the DHCP server subnet mask.

2.2.4.6 GATEWAY
GATEWAY is the address of a network router that serves accessing another network segments.
The GATEWAY value consists of four individual bytes, each being a decimal number between 0 and
255, separated by dot. The right most value is the least significant byte.
The default is 0.0.0.0.
To set the Gateway address enter the values in the Gateway (GATEWAY) fields.
If controller is configured to get network settings from DHCP server, that is, TCP/IP is set to 0.0.0.0,
GATEWAY receives its value from the DHCP server gateway address.

2.2.4.7 TCPIP2
TCPIP2 sets IP Address for the 2nd Ethernet Port. If TCPIP2 is zero, the address will be automatically
obtained at the controller start-up through the DHCP protocol.
The default address for second Ethernet port is 192.168.0.100.
To change the IP Address enter the address in the TCP/IP Address2 (TCPIP2) field.

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2.2.4.8 TCPPORT
TCPPORT defines Ethernet ports in the controller for TCP. The value that can be set in TCPPORT
ranges between 0 and 65536. By default, this variable is set to 701.
In order to establish communication with the controller through a port different from default port
numbers, do the following:
1. Set TCPPORT to a value other than 701 (you can use the up and down arrows of the TCP/IP
Port (TCPPORT) field to increment/decrement the value).

Some of the ports are used by the controller OS and cannot be used. It's recommended
to use ports starting from 1024.

2. Save system parameters to the flash (see Saving to Flash).

3. Restart the controller.
4. Try to establish communication using new ports by providing them in the client user
application. If communication is not established, try to set other values.

2.2.4.9 Controller Parameters Function Buttons

The Controller Parameters tab has the following function buttons:

Loads factory default values into the fields.

Removes any values you have entered and restores the previous
values.

2.2.5 Saving to Flash

You use this function to save your program and configuration data to the selected controller’s flash
memory.
To save to flash:
1. In the Workspace Tree select the controller to whose flash memory you want to save the
data.

2. Click Save to Flash ( ). The Save to Flash window is displayed:

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3. Enter your user name in the User field.

4. Enter the application name in the Application field.
5. You can, if you desire, enter free text remarks in the Remarks field.
6. By default all data is selected. Select the data you want to load into the controller by
clicking (thereby deselecting) the checkbox of the data you do not want to be saved.
7. Click Save.

2.2.6 Controller Reboot

You use this function whenever you’ve made changes to the memory of the SPiiPlus Motion
Controller. You have to reboot the controller in order to activate these changes.
To reboot the controller:
1. Right-click the controller in the Workspace Tree and select Controller Reboot from the
menu.

2. The following prompt appears:

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3. Click OK. The rebooting operation begins.

4. Wait until you are notified of a successful reboot:

5. Click OK.

2.2.7 Setting Factory Defaults

You use this function to set factory default values into the controller.

While this option exists, it should be used with some care in that the factory defaults
may be inconsistent with your system, and may cause you to lose communication with
the controller.

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To set the factory defaults into the controller:

1. Right-click the controller in the Workspace Tree and select Factory Defaults from the
menu.

2. The following prompt appears:

3. Click OK. The rebooting operation begins.

4. Wait until you are notified of a successful reboot:

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5. Click OK.

2.2.8 Removing a Controller

To remove a controller:
1. In the Workspace Tree select the controller you want to remove.

2. Click Remove ( ) on the toolbar or press Alt+R. You are asked:

3. Click Yes.

2.3 Handling Workspace Components

Workspace components consist of all the various SPiiPlus MMI Application Studio functions and
utilities that can be applied to the controller, such as the Program Manager, Safety and Faults
Configurator, Motion Manager, Scope, and the like.
The Workspace component handling functions are:
> Opening a Component
> Closing a Component
> Removing a Component
These functions are activated by clicking the appropriate button on the Toolbars.

2.3.1 Opening a Component

To activate a component in the Workspace Tree:
1. Select the component.
2. Click Open on the toolbar or press Alt+O. The component is displayed in the Workspace.

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2.3.2 Closing a Component

To close a component:
1. Select the component.

2. Click Close ( ) on the toolbar or press Alt+C. The component is no longer displayed in
the Workspace.

2.3.3 Removing a Component

To remove a component:
1. Select the component.

2. Click Remove ( ) on the toolbar or press Alt+R. The component is no longer

displayed in the Workspace and it has been removed from the Workspace Tree.

2.4 Working with Workspace Tree

The Workspace Tree is constructed as follows:

> Workspace - Top level

> Controller - Level Two
> Components - Level Three
> Sub Component - Level Four
Each level has functions associated only with that level that are activated by right-clicking the
element in the level.

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Only Program Manager and Variables Manager and Watch have sub-components, but
their right-click options are the same as level three components.

2.4.1 Workspace Right-Click Options

Right-clicking the Workspace top level displays the following list of options:

The options that are available are:

> Close Workspace - see Closing the Workspace
> Add Controller - see Adding a Controller
> Save to Flash - see Save to Flash
> Add File - enables you to add a shortcut to any file in your system, for example:

When you click the file, it is opened in the appropriate application. When you save the Workspace,
the shortcut is saved as part of the Workspace.

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This function can also be selected from list in the Workspace option of the Main Menu.

A good use for this capability is to link ACS Motion Control documentation, such as the
SPiiPlus Command & Variable Reference Guide and the SPiiPlus ACSPL+ Programmer's
Guide for looking up information while working in the SPiiPlus MMI Application Studio.

> Properties - this activates the Workspace Properties window.

2.4.2 Controller Right-Click Options

Right-clicking the controller displays the following list of options:

The options that are available are:

> Connect - this is the same as Connecting a Controller.
> Disconnect - this is the same as Disconnecting a Controller.
> Remove - this is the same as Removing a Controller
> Remove All - this removes all components under the selected controller.
> Controller Reboot - this reboots the selected controller, generally used when you have
saved new data to the controller’s flash and you want it to take effect.
> Save to Flash - this is the same as Save to Flash.
> Factory Defaults - this restores the factory-set default values of the selected controller,
see Setting Factory Defaults.
> Add Component - this enables you add a component to the Controller branch.

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The Add Component is a very handy option in that it saves you time navigating through
the SPiiPlus MMI Application Studio to activate a particular component.

For example, say you want to activate the HSSI Manager, rather than display Toolbox
and selecting Utilities, then selecting HSSI Manager, all you need to do is drill down
through this option:

> Properties - this activates the controller’s Properties window, see Working with Properties
Window.

2.4.3 Component Right-Click Options

Right-clicking the component displays the following list of options:

The options that are available are:

> Open - this is the same as Opening a Component.

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> Close - this is the same as Closing a Component.

> Remove - this is the same as Removing a Component.
> Save to Flash - this is the same as Save to Flash.
> Properties - this activates the component’s Properties window, see Working with
Properties Window.

2.5 Working with Properties Window

All SPiiPlus MMI Application Studio components have an associated Properties window. The
properties often determine how a component is displayed or how it is communicated with, and just
as often it merely determines the name of the component.
To display a component’s Properties window:
1. Select the component in the Workspace Tree.
2. Press Ctrl+Alt+P (or select Properties Window from View in the Main Menu, or use the
Workspace right-click option - see Working with Workspace Tree).
The Properties pane is displayed, for example:

Properties that are highlighted in bold can be changed in the pod by clicking the field to input-
focus it. Those properties that are grayed-out are for information only and cannot be changed
through the Properties pod.
There are three action buttons associated with the Properties window:

Categorize - displays the Properties according to various categories.

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Alphabetic - displays the Properties in alphabetic order.

Show Description - displays a short description of the selected property at the

bottom of the pod, for example

Setting Color Properties

The Color property is very common to most of the Property windows. You set the Color property by
clicking in the color field which displays the color options from which you can choose.

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The Custom tab presents gradations of the most common colors. You select the color by clicking
the required box.

2.6 Workspace Tab Options

When you add a component, SPiiPlus MMI Application Studio opens its data window in a separate
tab in the Workspace. You navigate from window to window by clicking its tab.
Right-clicking the tab displays the following menu:

Your options are:

> Close - closes the window (you can reopen it by clicking the component in the Workspace
Tree).
> Close Others - closes the other windows in the tab group (you can reopen them by clicking
the component in the Workspace Tree).
> Close Tab Group - closes all windows and removed the pod containing the tab group (you
can restore windows by clicking the component in the Workspace Tree).
> Close All Documents - closes the window (you can reopen it by clicking the component in
the Workspace Tree).
> Float- the window is displayed separately apart from the rest of the windows and you can
resize it or move it to any place on the screen.
> Dock - the window is arranged in a line together with the rest of the windows (default).
> Pin Tab - the window is pinned to the left side of the tab group

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> New Horizontal Tab Group - the area of the tab group is split in half horizontally and the
tabbed window is moved to the lower area
> New Vertical Tab Group - the area of the tab group is split in half vertically and the tabbed
window is moved to the area on the right

2.7 Panel Controls

To expand the view of the Workspace, you have the following available controls:

Clicking places the panel on the side of the window:

The panel display can be restored by placing the mouse cursor over it. Then when you move the
mouse cursor outside the pod, it slides back to the side.

If you want to restore its display permanently, click .

You can cancel its display by clicking .

2.8 Tool Tips

In addition to the instructions that appear at the bottom of the Workspace window, if you allow the
mouse cursor to linger on any field in the window, a popup Tool Tip is displayed to aid you in

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connection with the data in the field. For example:

You can set the length of time, in seconds, that the Tool Tip remains displayed by
selecting ToolsèSettings from the Main Menu. This displays a dialog window:

Enter the display time (the default is 30 seconds) and click OK.

2.9 Printing Component Data

SPiiPlus MMI Application Studio provides you with a wide variety of Workspace printing options. To
print component data in the Workspace:

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1. Select Print from the Main Menu File option. This displays the Print Manager:

The Print Manager lists all components currently in the Workspace.

2. Select the data you want to print. By default Print Manger selects all checkboxes. If there is
data you do not want to print, unselect the appropriate checkbox.
3. Click Print. The Print Report Preview window is displayed.

2.9.1 Print Report Preview Window

In addition to displaying the data that will be printed, the Print Report Preview window provides
you with complete functionality for printing.

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Toolbar
The Print Report Preview Toolbar contains the following buttons:

Print... - displays a Print window so set printer and printing preferences.

Copy - copies selected text

Expand - expand report in preview window

Contract - contract report in preview window

100% - resize report to fit page in preview window

Resize Page Width - resize report to fit page width to window

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Resize Whole Page - resize report to fit page width to window

Resize Two Pages - resize report to fit two pages in display window

Export Document - export report to one of the following formats:

> PDF
> RTF
> XLS
> XLSX
> CSV
> Text file
> Image file

2.10 Working with Wizards

Wizards are groups of procedures. The procedures are broken down by tasks, and once you have
selected a particular task, the wizard leads you through each task step-by-step.
The following wizards are available:
> Adjuster Wizard
> Protection Wizard
> Upgrade and Recovery Wizard
> Application Wizard

2.10.1 Starting a Wizard

To start a wizard:
1. From the Toolbox select the tool of which the wizard is a component, for example:

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2. Click the required wizard in the list. The Select a Task window for the selected wizard is
displayed in the workspace, for example:

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The wizard can also be selected directly by right-clicking the controller and selecting
Add componentè<Tool>è<Wizard>, from the dropdown menu, for example:

3. Select the Task by clicking the associated button and then click Next.

2.10.2 Wizard Window Elements

The Wizard Window elements are:

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> Task Steps

This lists the steps that are performed during the course of working through the
wizard. When the step is highlighted, indicates on what step you are on.
> Task Workspace
This is the area in which you enter the data required by the task step.
> Help & Instructions
This area provides quick instructions and tips of what you are to do in the current
step.
> Wizard Progress Buttons
You use these buttons to navigate from one task to another. The buttons are:

Displays the next task in the Task Workspace. It should be noted that this
button is not available until you have entered all of the data required by the
task step.

Displays the previous task in the Task Workspace.

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Aborts the wizard. When you click this button, you are prompted with, for
example:

Click Yes to cancel.

Appears in the final task of the wizard - exits the wizard.

There are other action buttons that are specific to particular tasks, such as Restart ( )
which, when clicked, reboots the SPiiPlus Motion Controller.

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3. Setup
Setup contains the following tools for setting up your controller and system:
> Adjuster Wizard for setting up your motion parameters and adjust them to maximize your
system’s motion performance.
> Safety and Faults Configurator - for selecting specific faults that you want monitored
during a program run.
> Automatic System Setup - for performing a manual or automatic system configuration.

3.1 Accessing Setup Tools

To access the Setup tools:
1. Open the TOOLBOX.
2. Click SYSTEM SETUP.
3. Click the required tool.

3.2 Adjuster Wizard

Only personnel having a good background in servo parameters, stability, frequency

response, bandwidth, etc., and are capable of analysis and diagnostics in time domain
and of setting parameters of pre-defined control filters/algorithms should use the
Adjuster Wizard. For details on the algorithms and control filters, see the SPiiPlus Setup
Guide.

The Adjuster Wizard is used to setup the system and tune the control loops. You use the Adjuster
Wizard to set the parameters for the:
> Axis architecture
> Drive
> Motor
> Feedback
The Adjuster Wizard provides tuning in terms of high-level parameters, namely parameters that
have a clear meaning for you. Once you have assigned high-level parameters, the Adjuster Wizard
automatically translates them into low-level parameters, that is, controller parameters.
Since the Adjuster Wizard works together with the Scope, the Adjuster provides interactive tuning.
The Adjuster Wizard sends a trial signal to the motor and automatically selects suitable Scope
settings and sends the low-level parameter values. The Scope displays the motor response and
you can immediately view the results.

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Some operations during the adjustment process may cause the motor to begin moving
unexpectedly. Some of the limits and safety features may be temporarily disabled. To
avoid personal injury or damage to the equipment, check the following before starting
the adjustment process:
> Verify that NOTHING (people, electrical cables, or other obstacles) is in the path
of the motor or objects connected to the motor.
> Verify that the motor is securely anchored and that proper safety barriers,
stops, and/or limits are installed.

3.2.1 Starting Adjuster Wizard

1. In the Toolbox click Setup to display the Setup list of tools.
2. Click Adjuster Wizard in the list of tools.
The Adjuster Wizard Select Task window is displayed in the workspace.

You can also activate the Adjuster Wizard using the right-click Add Component option
of the Workspace Tree - see Controller Right-Click Options.

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3.2.2 Adjuster Wizard Select Task Window

The AdjusterWizardSelect Task window consists of the following elements:

Selecting a task is done in the following sequence:

1. Select Axis
The Adjuster Wizard is applied on an axis-by-axis basis. That is, you have to perform it for
each axis individually. When you activate the wizard, the first thing you have to do before
selecting a Task is select the axis to which the data is to be applied.
You select the axis by clicking the Axis Selector field and then select the axis from the
dropdown list:

2. Set Initial Values

Your choices of initial values to be used by the Adjuster are:
> Existing Values - using the values that have been built into the Adjuster database.
> Default Values - using factory default values that have been set in the controller.

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When you select this option, a prompt window is displayed:

To view the Adjuster database default values click View Adjuster Parameters,
the View Adjuster Parameters window is displayed with the values for the
selected axis.

To view the controller parameter values click View Controller Parameters, the
View Controller Parameters window is displayed with the values for the
selected axis.

Modify parameters as needed for the controller and application as

appropriate and then click Yes.

> Copy Values From Axis - using values that have previously been set for
another axis.

When you select this option, you choose the axis whose values
are to be used from the Select Axis To Copy From (which
becomes active when you select this option) dropdown list:

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A prompt window is displayed:

You can view the Adjuster and Controller parameters values that will be copied.
If these are the values you want to copy, click Yes.
3. Select Task
There are four tasks that can be performed using the Adjuster Wizard:
> Setup New System or Controller
You perform this task when setting up a new controller, or if the controller has been
set to the factory default values.
When performing the task you not only set the control loop values, but you also set
system hardware values, that is, values for the Drive and Motor.
> Adjust Tuning of Predefined System
You perform this task to fine-tune the control loop values.
When you select this task, you are taken directly to the Axis Setup and Tuning step.
> Verify Correct Setup of Predefined System and Adjuster Tuning
You perform this task to verify the setup that was saved to the controller from the
Setup New System of Controller task.
When you select this task, you are taken directly to the Verification step and then to
the Axis Setup and Tuning step. Both of these steps are available only if you have first
setup the system.
> Axis Duplication
You perform this task to copy an axis set of parameters to any other axis in the
controller.
When you select this task, a window appears in which you can select the source axis
and the destination axis.

3.2.3 Adjuster Wizard Task Steps

In all, the AdjusterWizard consists of nine task steps:
> Initialization

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In this step you provide information that serves to identify the database containing the
high-level parameter values.
> Axis Architecture
In this step you define the electro-mechanical structure of the controller’s working
application as well as the units for measuring feedback.
> Components
In this step you define the parameters governing the:
> Drive
> Motor
> Feedback
Once you have defined these, you trigger the Adjuster to calculate the optimal values for
the high-level parameters and you load them into the system.
> Safety and Protection
In this step you define the parameters for:
> Motion limits
> Current limits
> Position errors
> Position limits
> Miscellaneous Definitions
In this step you define the parameters for such things as:
> Motion completion
> Enable/Disable/Brake
> Dynamic brake
> Home switch
> Verification
In this step the AdjusterWizard runs various verification tests for such things as:
> Feedback
> Motor
> Switches
> Stop, Alarm and Brake
This enables you to see where you need to adjust the values of the parameters.
> Axis Setup and Tuning
In this step you are given the opportunity to refine your values and fine tune your system.
> Save to Flash
Once your high-level values are correct for your system, in this step you save the low-level
values to the controller flash.

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> Final Page

This step is your exit point from the AdjusterWizard.

Many of task options are dependent on the nature of the three basic components you
have defined. That is, the type of motor, drive and required feedback signal defined in
the Axis Architecture and Components steps determine what you can define in the
subsequent steps.

3.2.4 Component Database

The adjustment procedure affects both the volatile and non-volatile memory of the controller. The
Adjuster keeps the controller memory in-sync with the application database.
The AdjusterWizard maintains the high-level adjusted values for each component separately on
your computer. Upon selecting Apply changes, the AdjusterWizard saves the values into low-level
parameters, that is the parameters that the controller recognizes. Only after you have selected
Save to Flash, does the wizard save the low-level parameter values into the flash, i.e., non-volatile,
memory of the controller.

If the controller is shut off during an adjustment session and the data has not been
saved to the controller’s flash memory, synchronization is lost and the adjustment
session must be repeated.

Incompatibility Symbol

The Incompatibility Symbol indicates that the value in the component field is incompatible with
what you have defined in previous windows.
You should return to a previous window and change the value with which it is in conflict, or, if
possible, change the value in the field in the current window. In any case you should resolve all
conflicts before continuing.

This symbol can be ignored when an element is not yet defined. For example, a Drive
has been defined but not the Motor.

3.2.5 Working in Adjuster Wizard Task Windows

There are several elements that are common to most of the Adjuster Wizard task windows. These
are:
Data Action Buttons
There are five data action buttons:

Add an item to the field.

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Edit the data fields.

Deletes the item from the database.

Import data from a previously saved file on the computer.

When you click this button, a browser window is displayed, for example:

Drill down to the subdirectory containing database files and select the file, all
Adjuster database files have an awd file extension. Then click Open.

Export data to a file on the computer.

When you click this button, a browser window is displayed, for example:

Drill down to the subdirectory containing database files and enter the filename, all
Adjuster database files have an awd file extension. Then click Save.

Adding Data to Component Database

When you define the values for the Motor, Drive and Feedback components, the following action
buttons are available:

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Active if you have entered a

component name that is
not in the database. Clicking
this button adds the data to
the Component database
under the component
name.

Active if you have made

changes to the data that
exists in the database.
Clicking this button puts
changes into the
Component database.

Deletes all changes you

have made to the data
fields.

3.2.6 Setup New System or Controller

You must perform this task for any new system or a controller whose data has been reset to
factory defaults.
The steps involved in setting up a new controller are:
> Axis Architecture
> Components
> Safety and Protection
> Miscellaneous Definitions
> Axis Setup and Tuning

3.2.6.1 Initialization
Initialization serves only for tracking purposes.

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1. Enter your name in the User Name field (optional - this field may be skipped).
2. Enter the name of your application or the ID of the machine for which the controller is
being employed in the Application/Machine field (optional - this field may be skipped).

You will note that Adjuster has extracted the controller’s firmware version, S/N and
P/N from the controller and filled in these fields.

3. Enter the date in the Date field - its format is: mm/dd/yyyy. Or you can click the down
arrow and select the date from the calendar.

4. Enter any remarks you want in the Remarks field (optional - this field may be skipped).
5. Click Next.

3.2.6.2 Axis Architecture

In this step you are to define the general parameters of the feedback mechanism to include the
electro-mechanical characteristics of the motion and how feedback is to be measured and from
what.

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Data must be entered in all the fields. The data is entered by selecting the appropriate value from
the dropdown list of each field.
Feedback Topology
The feedback topology choices are:

Controller Drive Interface Options

ACS PWM drive All current options

> Verification,
on motor
PDICL > Verification,
on load
> None

PDMNT None

Once you have entered all the values, click Next to go on to the next step.
User Units
Of particular import in this step is the setting of User Units to be used by Adjuster in measuring
feedback. The User Unit can be millimeters, microns, nanometers, degrees or any other unit that
defines a distance for a linear axis or an angle for a rotary axis.
The User Unit is defined per axis. By default, the User Unit is the Encoder Count. For example, for a
quadrature encoder with resolution of 500 lines per millimeter, each default User Unit equals
2mm/4 = 0.5mm.

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The User Unit is applied to the EFAC variable. EFAC is a 64 bits member (one for each possible axis)
real array used for defining a factor between the raw feedback in encoder counts and the FPOS
value calculated by the controller. See SPiiPlus Command & Variable Reference Guide for complete
details.
Advanced Parameters
Advanced Parameters enables you define your own feedback units.

The Advanced Parameters option should be used with caution. Badly defined units
may cause serious problems with measuring the actual feedback.

To access Advanced Parameters click in Units field and select User defined, for example:

The Advanced Parameters panel is displayed:

1. Enter a unique parameter name in User Defined Unit Name.

2. Enter a mathematical expression in Function, you can use the standard arithmetical
operations:
> + (Add)
> - (Subtract)
> * (Multiply)
> / (Divide)
The function is used as a conversion factor applied to the selected standard unit. For
example: 2.71828*1.41421 (e times the square root of 2).
3. Select a standard unit from the dropdown list in the of field.

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4. Enter a correction factor (if different than 1) in Correction Factor. The correction factor is
used to correct the difference between actual movement (as measured by a laser
interferometer) and the software commanded move (indicated in the user units).

3.2.6.3 Components
The Components step consists of defining the values for:
> Motor
> Drive
> Feedback
At the end of the step the Adjuster calculates the parameters that are to be used and inserts them
into the appropriate program variables.

For this step you will need the technical specifications for the motor and drive from
which to extract the correct values.

The screen shots presented in this step are for example only. The actual fields that
appear depend on the values set in the Axis Architecture step.

3.2.6.3.1 Motor

The first component for which you need to enter values is the Motor.

Data must be entered in all the fields. The data is entered by selecting the appropriate value from
the dropdown list of each field or entering the values taken from the motor’s technical data sheet.

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In entering the values the incompatibility icon ( ) may appear. Check the tool-tip. If it
states that there is incompatibility between components that have not been set yet,
ignore it. Continue to set component values.

However, do not forget to go back after all the components have been set up and
ensure that it no longer appears. If it still appears, then resolve it by changing the
component's values or changing the Axis Setup values.

Once you have entered all the values, click Next to define the Drive component.

3.2.6.3.2 Drive

The second component for which you need to enter values is the Drive.
The relevant drive parameters are:
> Step Motor

Data must be entered in all the fields. The data is entered by selecting the appropriate value from
the drop-down list of each field or entering the values taken from the drive’s technical data sheet.

In entering the values the incompatibility icon ( ) may appear. Check the tool-tip. If it
states that there is incompatibility between components that have not been set yet,
ignore it. Continue to set component values.

However, do not forget to go back after all the components have been set up and
ensure that it no longer appears. If it still appears, then resolve it by changing the
component's values or changing the Axis Setup values.

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Step Motor

Controller Drive
Feedback topology Window Behaviour
Interface

Verification, on motor
ACS PWM Verification, on load Available - as Stepper Motor
None

Any option not listed

ACS PWM Unavailable
above

PDICL Availble - as Pulse Direction

Any
PDMNT Setup

Once you have entered all the values, click Next to define the Feedback component.

3.2.6.3.3 Feedback

The Feedback component can be either the Motor, the Load, or both depending on
what you defined in Feedback Topology in the Axis Architecture step.

Data must be entered in all the fields that are active (many, you will note, have already been
selected by Adjuster from data that you have previously entered for the Drive and Motor
components). The data is entered by selecting the appropriate value from the dropdown list of
each field or entering the values directly in the fields.

In entering the values the incompatibility icon ( ) may appear. Check the tool-tip to
see what is causing the incompatibility. If it is a value of a previously set up component,
then return to the component and either change the component’s value, or make
changes in the Axis Setup.

Make sure that all component incompatibilities are resolved before continuing.

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The feedback choices are:

Controller Drive
Feedback topology Window behavior
Interface

Single, on motor
Single, on load
ACS PWM Verification, on Available
motor
Verification, on load

Unavailable – the entire step is

ACS PWM None
skipped

Verification, on
PDICL motor Available
Verification, on load

Unavailable – the entire step is

PDICL None
skipped

Unavailable – the entire step is

PDMNT None
skipped

Click Next to advance to calculate and apply the feedback parameters.

3.2.6.3.4 Calculate Parameters

At this stage, the Adjuster verifies that the Axis Architecture, Motor, Drive and Feedback definitions
are all compatible with each other.
If an inconsistency is detected, a prompt is displayed about it with recommended solutions.

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If there are no inconsistencies, click: . The

Adjuster calculates the values for the controller parameters and displays a table with each
parameter name, its old and its new value, for example:

Click: and click Next to advance

to the next step.

At this stage values are stored in the low-level parameters within the Adjuster. They
do not take effect until you have saved them into the controller's flash memory.

3.2.6.4 Safety and Protection

The Safety and Protection step enables you to set certain safety and protection variables. There
are a total of four possible types of Safety and Protection parameters that you can set.

The actual number of parameter types and parameters available to you depends on
what you defined in the Axis Architecture and Components steps.

The Adjuster displays values it has calculated in the window of each type. You have the option of
changing these within the limits of valid values.

A complete explanation of each parameter is given in the Tool Tips associated with the
parameter.

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For the meanings of the variables see the SPiiPlus Command & Variable Reference
Guide.

3.2.6.4.1 Motion Parameters Limits

This window is used for entering the Maximum Velocity and Maximum Acceleration Limits values.
> MAXIMUM VELOCITY (XVEL) [UNITS/SEC] - The maximum allowed value is automatically
calculated based on motor parameters that were defined in Components step. Letting the
mouse cursor linger on the field displays a tool-tip guiding you in permissible values.
> MAXIMUM ACCELERATION (XACC) [UNITS/SEC²] - The Adjuster puts in a value based on
motor parameters that were defined in Components step. Letting the mouse cursor linger
on the field displays a tool-tip guiding you in permissible values.
> KILL (Emergency Deceleration - KDEC)[deg/sec2]

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3.2.6.4.2 Current Limits

This window is used for defining motor and drive protection parameters:
> Maximum Current In Idle State (XCURI) - The Adjuster automatically calculates the value
from the maximum torque/force required during standstill to overcome gravitation,
friction, etc.
If the value cannot be automatically calculated, that is, you have not specified gravitation,
friction, etc., the parameter XCURI is set to default.
If you want to set values other than the value displayed, letting the mouse cursor linger on
the field displays a tool-tip guiding you in permissible values.
> Maximum Current In Moving State (XCURV) - The value is automatically calculated
according to minimum of either maximal acceleration (XACC) or motor peak current that
you have specified.
If you want to set values other than the calculated one, letting the mouse cursor linger on
the field displays a tool-tip providing guidance in changing maximal acceleration or motor
peak values.
> Overcurrent Fault detection - The following numeric controls defines Overcurrent Fault
detection criterion:
> RMS CURRENT LIMIT (XRMSD, XRMSM) - The value is automatically calculated based on
motor/drive parameters that were defined in the Components step.
If you want to set values other than the calculated ones, letting the mouse cursor
linger on the field displays a tool-tip guiding you in permissible values for the motor
and/or drive current limits.
> RMS CURRENT TIME CONSTANT (XRMSTD, XRMSTM) - This is the time interval for
checking whether an overcurrent fault has occurred (meaning that XRMSM or XRMSD
has been exceeded). The overcurrent fault activation time is according to the
following formula:

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> Motor: fault activation = -ln(1-(XRMSM/DCOM)2)*XRMSTM

For example: if XRMSM=50, DCOM = 100 and XRMSTM = 3300 msec, then fault
activation = -ln (0.75)*3300 = 950msec.
> Drive: fault activation = -ln(1-(XRMSD/DCOM)2)*XRMSTD
If you click the Advanced down arrow, the Adjuster displays a graph of the Overcurrent Fault
Detection:

When you change parameter values, you can see the effect on the graph.

3.2.6.4.3 Position Errors

This window is used for defining Critical Position Errors criteria:

> Critical Position Error While Idle (CERRI)
> Critical Position Error While In Constant Velocity (CERRV)
> Critical Position Error While Accelerating (CERRA)
> Maximum Critical Position Error during kill (CERRK)
If you click the Advanced down arrow, the Adjuster displays the following:

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This enables you to set values for Non-critical Position Errors whereby excessive errors that
might affect the application are flagged:
> Non-critical Position Error Fault Detection
> Position Error In Idle (ERRI)
> Position Error While In Constant Velocity (ERRV)
> Position Error While Accelerating (ERRA)
> Motion Phase Transition Delay
> Moving-to-Idle Transition Delay (DELI)
> Accelerating-to-Moving Transition Delay (DELV)
> Kill-to-Idle Transition Delay (DELK)

A diagram illustrating the meaning of the delay is included.

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3.2.6.4.4 Position Limits

This window defines Software Position Limits and enables you to select:
> ALLOW SOFT UPPER POSITION DETECTION (SRLIMIT) - If Software Right Limit Mask is
selected, then the controller examines the fault and kills the motion that is beyond the
defined limit.
> ALLOW SOFT LOWER POSITION DETECTION (SLLIMIT) - If Software Left Limit Mask is selected,
then the controller examines the fault and kills the motion that is beyond the defined limit.

3.2.6.5 Miscellaneous Definitions

The Miscellaneous Definitions step enables you to set values of sets of variables of up to four
possible types, depending on the system configuration.

The actual number of parameter types and parameters available to you depends on
what you defined in the Axis Architecture and Components steps.

The Adjuster displays values it has calculated in the window of each type. You have the option of
changing these within the limits of valid values.

A complete explanation of each parameter is given in the Tool Tips associated with the
parameter.

For the meanings of the variables see the SPiiPlus Command & Variable Reference
Guide.

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3.2.6.5.1 Motion Completion

Motion is considered completed once the position is within a window of TARGRAD user units and
has not exited this window for a period of SETTLE ms.

There are two variables, both optional, for which you can enter values:
> Target Radius (TARGRAD)
> Settling Time (SETTLE)
To aid your understanding a diagram is included showing the meaning of the two variables.

3.2.6.5.2 Enable/Disable/Brake

This window is used for defining the Enable operation and Mechanical Brake timing.

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The variables you can define are:

> PROTRACTED ENABLE - This is optional, but if you select it, you must put a value in Enable
Delay (ENTIME). The controller delays the Enable Command by ENTIME mSec.
> USE MECHANICAL BRAKE - You need to select this only if the application has a mechanical
brake; otherwise leave it unselected. If you select it, you have to enter values for:
> BRAKE RELEASE TIME (BOFFTIME) - This value can be positive or negative and sets
when the brake is released.
> BRAKE ACTIVATION TIME (BONTIME) - This value can be positive or negative and sets
when the brake is applied.

You are also informed of the Digital Output variable (OUTx.x) that will contain the state
of brake. Make sure that you include it in your program to test the brake status.

To aid you in determining the values of BOFFTIME and BONTIME you can see diagrams of the effect
these values have by clicking the appropriate tab.

3.2.6.5.3 Dynamic Brake

This window enables you to activate (or deactivate) the dynamic brake.

This option is active only for those axes having a built-in drive.

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You activate a dynamic brake by:

1. Selecting Use Dynamic Brake (this sets the MFLAGS#DBRAKE bit for the axis), and then
2. Entering a Threshold Velocity (VFLBRK) value.
Braking will occur when both of the following two conditions are met:
> The motor is disabled.
> The feedback velocity (FVEL) is less than VFLBRK.

3.2.6.5.4 Home Switch

This window enables you to specify a digital input (IN) to signal when the motor is in its home
position.
In a SPiiPlus motion controller there is no dedicated Home Switch. You use this Adjuster option to
check a value that you want to be the Home Switch. Once you have completed the Adjuster, and
tested the value (adjusting it as needed), you then have to incorporate the value into your motion
program.

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The Home Switch can be None or you can select the digital input variable from the Home Switch
dropdown list:

In addition, the user can chose the default homing method from the list shown below.

3.2.6.6 Verification
The Verification step examines the values you have entered and verifies that they are valid.
Verification is performed on the following:
> Feedback devices
> Limit switches

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> Hardware Emergency Stop

> Mechanical Brake
There are three “LED” indicators used throughout the Verification windows:

Indicates that the item passed verification

Indicates that the item failed verification

Indicates that the item is not active

3.2.6.6.1 Feedback

This window verifies that the feedback values are valid.

Depending on what you defined in Components, the window displays the values for:
> Load
> Motor

If you have defined both Load and Motor as feedback components, there is one page
for Load and one page for Motor.

On this page:

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> Check that there are no encoder faults.

> Check that encoder counts in the right direction. If it does not, click the Encoder Direction
Inversion check box to reverse the direction
> Check that the index is working properly by manually moving the motor. The motor should
be moved slowly to ensure that each index is latched and displayed.
> Check that calculated distance between indexes is correct.
You can view a list of the last latched indexes by clicking the down arrow of the Last latched
indexes list. To clear this list click Clear List.
There are two LEDs in this window relevant to the encoder:
> Encoder Not Connected Fault (FAULT.#ENCNC) - green indicates that this fault was not
detected.
> Encoder Error Fault (FAULT.#ENC) - green indicates that no encoder fault was detected.
If you selected Hall Sensors in Components: Feedback, the following is displayed:

The connection sequence of the three Hall Sensors is not important. You only have to verify that
the three Hall sensors are connected and the Hall counter counts 0,1,2,3,4,5 or vice versa. It does
not matter if the Hall counters count opposite to the encoder. This will be identified and taken care
of during Axis Setup and Tuning.
The diagram shows:
> Feedback Position (FPOS) - the position in user units.

> Hall State - the Hall State transitions: 0ª 1ª 2ª 3ª 4ª 5 or 5ª 4ª 3ª 2ª 1ª 0.

The history of the Hall State transitions is displayed under the diagram.
To test the Hall Sensors:
1. Rotate the motor by hand in one direction. The diagram should show the expected Hall
state transitions.
2. Rotate the motor by hand in opposite direction. The diagram should show the expected
Hall state transitions.
Correcting Feedback Values that Fail Verification
Where feedback values fail verification:
1. Return to the Components:Feedback step by clicking Components in the Task List, then
click Feedback. The Components:Feedback window is displayed.

2. Click Edit ( ) and enter a new value or values.

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Those values that can be changed are displayed in bold face. Values that cannot be
changed are grayed out.

3. Click Update in Database and click Next. The Components:Calculate Parameters window is
displayed.

4. Click Calculate Parameters then click Apply changes.

Adjuster recalculates the values of the low-level controller parameters and applies them
to the appropriate variables.
5. Click Verification in the Task List to return to Verification and check if the new value(s) pass
verification.

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3.2.6.6.2 Switches

This window is used for verifying the that actual limit switches are properly connected.

Verification of Switch Operability

The LEDs indicate if the switches are properly connected or not. The switches are:
> Upper Position Limit (SAFINI.#RL)
> Lower Position Limit (SAFIN.#LL)
that you set in Safety and Protection:Position Limits.

If you have selected a digital input variable in MISCELLANEOUS DEFINITIONS Home

Switch, its value is also displayed.

To verify that the switches are properly connected manually move the motor into the switch and
check if the Fault LED turns red.
If it does not turn red, this means that there is something wrong with the switch. Check its
connection and if it is operational.
Fault Detection Settings
You have the options of:
> Enable/disable fault detection (FMASK.#RL for upper limit, FMASK.#LL for lower limit) by
selecting the appropriate check box.

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If the bit is empty, the controller does not detect the fault.

> Inverting the detection logic (SAFINI.#RL for upper limit and SAFINI.#LL for lower limit) by
selecting the appropriate check box.
Feedback Setting
1. To set the feedback (FPOS) to a particular value:
2. Enter the value in the Set To field.

Click - this resets the position and the Adjuster starts counting from this position.

3.2.6.6.3 Stop, Alarm and Brake

This window verifies the status of Hardware Emergency Stop and Mechanical Brake.

The window shows the status of the:

> Hardware Emergency Stop (S_SAFIN.#ES)
> Drive Fault / Laser Fault (SAFIN.#DRIVE)
You have the options of:
> Enable/disable fault detection (S_FMASK.#ES for Hardware Emergency Stop and S_
FMASK.#DRIVE for Drive Fault / Laser Fault) by selecting the appropriate checkbox.

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If the bit is empty, the controller does not detect the fault.

> Inverting the detection logic (S_SAFINI.#ES for Hardware Emergency Stop and
SAFINI.#DRIVE for Drive Fault / Laser Fault) by selecting the appropriate checkbox.

3.2.6.7 Axis Setup and Tuning

The Axis Setup and Tuning step enables you to fine tune your system. There are a total of six
possible options:
1. Current Loop
2. Current Phase Offset
3. Commutation
4. Open Loop Verification
5. Position and Velocity Loops
6. Position Verification

The options that are available to you depend on the definitions you entered in
Components.

3.2.6.7.1 Current Loop

Current Loop enables you to adjust the current loop.

Current Loop adjustment applies only to:

> PWM, Digital Current Control, controller-drive interface with:
> DC brushless/AC servo motor (two or three phase)
> Step motor (with feedback, close loop)
> DC brush or single phase motor
> AC induction motor
> Analog (±10V), Digital Current Control, controller-drive interface with
> Three phase DC brushless/AC servo motor
> DC brush or single phase

Two current loop tuning methods are available:

> Auto tuning - The auto tuning process calculates the current loop parameters from values
measured by the frequency response.

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> Manual tuning - The manual tuning process calculates the current loop parameters from a
step response with parameters you set. Manual tuning is optional.
Auto tuning
The calculated current loop parameters are:
> The Proportional Gain (SLIKP)
> The Integrator Gain (SLIKI)
1. To start the auto tuning process, click Start Auto Tuning.

> When the auto tuning process starts, the Start Auto Tuning button changes to
Stop Auto Tuning and the LED next to it flashes "green".
> When the auto tuning process is complete, the LED returns to "gray" and Done
shows to the right of it.

2. When the auto tuning is complete, click Next to go to the next adjustment.

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During current loop tuning, the motor is enabled and no position or velocity control is
executed. To remove the risk of motor motion due to gravity, do the following:
For motors with mechanical brake, it is necessary to:
1. Set MFLAGS.23 = 0
2. Tune the current loop.
3. When the current loop tuning is complete,set MFLAGS.23=1 to activate the
mechanical brake.
For products that do not have a dedicated mechanical brake output, it is necessary to:
1. Send setconf(29, 0, AANNOO) with an appropriate AANNOO value
2. Tune the current loop.
3. Send setconf(29, 0, AANNOO) with an appropriate AANNOO value.

Auto tuning with Use Initial Parameters During Measurement (Optional)

If necessary, the current loop auto tuning can be done from initial parameters that you set. The
parameters are:
> Motor resistance phase-to-phase
> The rectified bus voltage
> Initial excitation current
To start the Auto Tuning process with the optional Use Initial Parameters During Measurement:
1. Click Use Initial Parameters During Measurement (Optional) check box.
2. Enter the values in the applicable field.
3. Select Start Auto Tuning.

4. When the auto tuning is complete, click Next to go to the next adjustment.
Fine Tuning
When Auto tuning is complete, a Fine Tuning process can be done. Auto fine tuning is only for
PWM drives with good linear properties. You can do fine tuning for three different types of drives :
> Weak (PWM drives with poor linear properties)
> Normal (PWM drives with good linear properties)

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> Strong (PWM drives with good linear properties)

1. To start fine tuning, click Fine Tuning drop down icon to show the different tuning levels.
2. Select the applicable drive.
3. Click Fine Tune.

4. When the fine tuning is complete, click Next to go to the next adjustment.
Manual Tuning (Optional)
If you select manual tuning, you can set the proportional gain (SLIKP) and the integrator gain (SLIKI).
1. Click the Manual Tuning check box.
2. Enter the values in the applicable field.

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3. Click Next to go to the next adjustment.

Step Response
Use step response to verify the proportional gain and integrator gain. The required parameters to
do a step response are:
> Current level
> Pulse width
1. To start the step response, click the Step Response drop down box to show the
parameter fields available.
2. Enter the parameter values.
3. Click Check Step Response. A dialog box opens and shows the message.

4. Select the applicable condition.

When the step response starts, the Check Step Respnse button changes to Stop and
the LED next to it flashes "green".

5. To make adjustments on the signal:

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> Increase the Proportional Gain (SLIKP) until the response waveform approximates a
square and a small overshoot appears, for example:

> Increase the Integrator Gain (SLIKI) by hundreds, until you get a narrow overshoot of
10% to 20%.
6. When you achieve the optimal values, click Stop. Close the Scope.
7. Click Next to go to the next adjustment.

3.2.6.7.2 Current Phase Offset

The Current Phase Offset window enables you to verify, and, if needed, adjust the values of the
current phase offset.
Current Phase Offset applies to Analog (±10V) controller-drive interfaces with two or three phase
DC brushless (AC servo) motor connected to an external drive with two drive command inputs (also
known as a UV drive).
Theoretically, the drive should produce zero voltage in the three phases when the controller drive
commands are zero. If, however, the drive outputs have a bias voltage when the controller
commands are zero, this can be corrected with the SLBIASA and SLBIASB variables.
If the external drive is a current drive, it must be connected to the motor while doing the bias
adjustment. If it is a voltage drive, it doesn’t have to be connected.

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There are two current phase offset variables:

> Phase R Offset (SLBIASA) which contains the maximum controller voltage output
(expressed as a percentage).
> For integrated models: SLBIASA specifies the measured value of the current input bias
of Phase R.
> For nonintegrated models: SLBIASA specifies the bias of the drive output. The
controller uses the value only for brushless motors commutated by the controller.
> Phase S Offset (SLBIASB) which is used for defining the maximum controller current
(expressed as a percentage).
> For integrated models: SLBIASB specifies the measured value of the current input bias
of Phase S.
> For nonintegrated models: SLBIASB specifies the bias of the drive output. The
controller uses the value only for brushless motors commutated by the controller.
Click Enable Motor and check that the LED turns green.
If the LED turns red, this means that one or both values need to be adjusted, in which case, the
variables SLBIASA, SLBIASB have to be adjusted to bring both readings as close to zero as possible.
This can be done by a single voltmeter (or multimeter) as follows:
1. Make sure that the value of the DOUT variable is zero (you can query it from the
Communication Terminal, for example: ?X_DOUT).
2. Connect the voltmeter between phase “R” and the motor neutral point, and adjust
SLBIASA to make the reading as close to zero as possible. A typical range is ±10%. The
value can be either positive or negative.
3. Connect the voltmeter between phase “S” and the motor neutral point, and adjust
SLBIASB to make the reading as close to zero as possible.

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If the neutral point is not accessible, or the motor is connected in delta, you may create an
“artificial” neutral point by connecting three-phase resistors in parallel to the motor. The 3 resistors
should be identical, in the range of 4-10 kΩ. Then you should measure relative to the artificial
neutral as shown in the following drawing:

When you are done, click Next to go to the next window.

3.2.6.7.3 Commutation

The Commutation window enables you to adjust motor commutation and generate a commutation
startup program.

Commutation applies only for DC brushless (AC Servo) motors. It will appear in the
Adjuster tasks only if motors of this type have been defined as part of the system.

Adjuster and Commutation

In a DC brush motor, a fixed magnetic field created by permanent magnets in the stator interacts
with the armature current flowing in the rotor winding. The interaction of the current-carrying
conductors with the magnetic field produces a torque (or force in the case of a linear motor). This
torque/force is at its maximum value when the magnetic field vector is perpendicular to the
resultant current vector.
The mechanical commutator of a DC brush motor distributes the motor current among the
windings such that the resultant current vector remains perpendicular to the magnetic field vector
at any position and speed. This process is referred to as commutation.
In a DC brushless/AC servo motor, on the other hand, an electronic drive takes the place of the
mechanical commutator, keeping the resultant current vector perpendicular to the magnetic field
vector by controlling the phase currents.

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The Adjuster Commutation process creates a startup program that is loaded into the
controller which enables the controller to commutate the drive correctly based on the
motor and encoder electrical properties.

For this reason the Adjuster Commutation has to be performed for every new system.
Once it has been performed, whenever a new motor or encoder is introduced into
your system so long as you do not change the type of motor or encoder, you do not
have to perform it again.

SPiiPlus motion controllers support three types of drives for 3-phase DC brushless/AC servo
motors:
> Universal Internal Drive (such as SPiiPlus CM and MC4U drives). Commutation is performed
by the controller as part of its Field-Oriented Control algorithm.
> Two-Input Drive (such as SPiiPlus SA controller or SPiiPlus PCI card with a Sine Wave
Brushless Amplifier). The drive receives two current commands from the controller,
reflecting required current for two of the motor phases. In this case the controller is
responsible for commutation.
> One-Input External Drive (such as a SPiiPlus SA controller with an Analog Input Brushless
Amplifier). This drive receives a single current command from the controller (±10V),
reflecting the required current amplitude, and takes care of the commutation by itself.

Commutation needs to be done only for types 1 and 2.

Motor commutation requires an initial setup process in which an initial current vector is generated
and the magnetic field of the motor aligns with it (at what is called a detent point). Once the
magnetic field is aligned with the current vector, it is shifted 90o thereby achieving maximum
torque/current ratio.
Since the commutation angle depends on the motor position, the commutation process has to be
done only once for an absolute encoder but after every power-up for incremental quadrature and
Sin/Cos encoders – since the motor position is not known.
Therefore, when working with an incremental encoder and a DC brushless motor, commutation
setup must be executed after every powerup. For this reason you can use Adjuster to generate
and store a Commutation Startup Program.
The Adjuster executes a program that performs Commutation Adjustment setup. The program
supports several commutation schemes (procedures). You select the most appropriate scheme for
your application. In most cases, the commutation scheme will include the following steps:
1. Find a detent point.
2. Identify the phase sequence both of the motor and the encoder.

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3. (Optional): Verify variables (number of poles or magnetic pitch, encoder resolution) by

moving the motor several magnetic pitches and comparing the encoder feedback with the
expected results.
4. (Optional): Move to the index and save the commutation phase at that point to the
controller flash memory.
The Commutation Startup Program is an ACSPL+ program that is used to retrieve commutation. It
can be executed upon every powerup (once the system has been setup). The startup program can
be based either on bringing the motor to a detent point (usually involves movement) or on
automatic commutation (COMMUT command), which is fast commutation retrieval using a closed-
loop algorithm (and involving almost no motor movement).

When the current vector is aligned with the magnetic field during commutation, the
motor can jump. The maximum jump is one magnetic pitch (180 electrical degrees) of
the motor in either direction. If the motor bumps into an obstacle, the commutation
setup algorithm will attempt recovery. The recovery may involve additional abrupt
moves.

To prevent possible damage or injury, it is recommended that the motor be initially

positioned at least one magnetic pitch away from any obstacles.

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When the page is first displayed, Preferences and Advanced Parameters are not
displayed. It is strongly recommended that you expand both and view all the options
available to you.

Your options are:

Preferences

When initially setting Preferences, you should first use the default values (by clicking
). This will set the commutation parameters in accordance with the settings you
have entered in previous steps of the Adjuster.

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Determines the amplitude of the current vector that is used for

commutation setup. The value should not exceed the nominal current
ratings of the drive and the motor. The default value is:
0.95 × XRMS.
Things you should consider:
> Due to friction and load, a low excitation current may result in poor
Excitation alignment between the current vector and the magnetic field,
Current resulting in unsatisfactory commutation.
> On the other hand, too high an excitation current with a low
friction system (inadequate damping) may result in excessive
oscillation and even in mechanical damage.
It is recommended starting the commutation process with an excitation
current of 0.4 x XRMS. If the results are not successful, repeat this task with
higher excitation current values.

Determines the velocity of the current vector during the commutation

process. During this process the motor position follows the current vector
Search
in order to align the magnetic axes. It is recommended to set a velocity
Velocity
lower than one magnetic pitch per second and higher than one fifth of a
magnetic pitch per second.

Settling
Determines the time assigned to the motor for settling at detent points.
Window Time

In all the schemes except the powerup position scheme, the following
steps are performed:
> Settle at a first detent point.
> Move the current vector to identify the phase sequence.
Automatically correct for wrong polarity.
> If the feedback indicates that the motor has moved less than 50%
of the expected distance, it is assumed to have run into an
obstacle and the program tries to recover in the opposite
Retrieve direction.
Commutation > Retrieve the commutation phase according to the selected
Phase at scheme.
Considerations when selecting a Commutation Scheme:
1. Based on detent point: If the feedback device has no index, this is
the only scheme that can be used. If the feedback device does
have an index it is recommended to use one of the “index”
schemes so that the index can be used as an absolute reference
point for commutation phase retrieval at subsequent powerups.
2. Based on index: Saves the value of the commutation phase at the
index position. This value can be used at subsequent system

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powerups to achieve the same commutation result. Six variations

of this scheme are available:
> First Index in Positive Direction
> First Index Next to Right Hard Stop
> First Index Next to Right Limit Switch
> First Index in Negative Direction
> First Index Next to Left Hard Stop
> First Index Next to Left Limit Switch
3. Other
> Powerup Position
> Hall Signals Transition
> Current Absolute Position

Advanced Parameters

Determines the initial value of the commutation phase, and, thereby, the
initial orientation of the current vector and the initial detent point.
Initial By properly setting this offset, you can avoid an initial jump in a system
Commutation with a predefined startup position. For other systems it can be used to
Offset determine a specific target position for the initial jump.
If no information is known about the relationship between the current
vector and the motor position, it should be set to 0 (the default).

Maximum Sets the maximum allowed distance for searching for targets (index or
Search limits). It is recommended to set the variable according to the operational
Distance distance.

Causes the system verify the encoder and motor variables during the
initial commutation process. If the variables seem to be configured wrong,
Verify Control
a general message will be displayed stating that improperly configured
and Feedback
variables are a possible reason for failure. Once corrected, you will be able
Parameters
to continue. In a case of more than 20% deviation between the defined
and measured pitch, the commutation process reports failure.

Display
Detailed
Displays commutation phase data (in electrical degrees).
Commutation
Results

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This option resolves a commutation loss due to improper incremental

Use Hall
encoder-to-motor rotation counts. When this option is selected, the
SIgnals for
commutation angle is adjusted at each hall transition. In between hall
Continuous
transitions, a sinusoidal commutation is calculated based on incremental
Commutation*
feedback.

Calculated Hall
Compensates for Improper hall alignment and optimizes torque/force
Alignment
production.
Offset*

Number of A word of caution: Deviation between defined and measured pitch does
Magnetic not necessarily indicate poor commutation quality. For example, incorrect
Pitches to definitions of feedback variables may be compensated for by high friction,
Measure thus the deviation may be low but the commutation will be poor.

*Only available when Hall Signals Transition is the selected option for "Retrieve
Commutation Phase at". This is the default condition if Hall sensors were selected.

Commutation Startup Program

The options that you have when setting the Commutation Startup program are illustrated in the
following diagram:

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To set the Commutation Startup program:

1. Select one of the two Commutation Program options from the Commutation Program
dropdown list:
> Standard: Uses a built-in default commutation scheme that is incorporated in Adjuster.
> User Defined: For selecting a commutation program that was previously saved in a file
(in this case you need to have prepared the Commutation Startup program through
Program Manager). A browser is displayed enabling you to search for and load your
program:

2. Select the required buffer for storing the Commutation Startup program from the Run in
Buffer dropdown list (the controller supports up to 9 simultaneously executing program
buffers). Usually, you will want to select an empty buffer to avoid overwriting an existing
program.
3. Set your preferences (see Preferences and Advanced Parameters), or click Default which
will enter default values in the preferences.
4. At this point you have two choices:

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a. - causes the Adjuster to automatically

generate the Commutation program taking the Retrieve Commutation Phase at
parameter as its starting point. It compiles the program and runs it.

b. - causes the Adjuster to generate the

Commutation Startup program. You are prompted with:

The Buffer checkbox should be selected and the buffer number that you
entered in Step 2 should appear. If the program is to be generated from a
user file, select the File checkbox and click to browse for the file. If you
want to use automatic commutation, select the Use Auto-commutation
checkbox.

Automatic commutation is a way to retrieve the commutation offset automatically,

using closed-loop control.
Commutation setup (without using automatic commutation) is required once: during
Commutation Adjustment. Once this has been done, automatic commutation is
recommended at every controller powerup.

5. Click Generate. In the Program Manager pod, note that program appears in the specified
buffer, and a notification that the program was successfully generated is displayed.
6. Click Start Startup Program to run the Commutation Startup program.
7. Observe the motion of the motor and the messages that appear in the Commutation
Program Output panel. If errors appear or the motor does not respond as it should, make
adjustments to the parameters and run again - refer to Troubleshooting Commutation.
Commutation Program Output Panel
There are two buttons associated with the Commutation Program Output panel:

> - clears the messages in panel.

> - enables you to save all the messages to a text file.

Troubleshooting Commutation
If the motor does not move during Start Commutation Program or Start Startup Program
execution, consider the following:

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> Check the connections between the controller and the drive and motor.
> If a high friction or active load is applied, increase the Excitation Current and try again.
If Start Commutation Program or Start Startup Program execution displays a message about wrong
motor variables, return to Components and verify the following:
> Number of Poles or Magnetic Pitch are specified correctly.
> Encoder variables are specified correctly.
If the motion failed during Commutation Adjustment or Commutation Startup program execution,
probable causes are:
> The required Excitation Current is greater than the minimum of XRMSM value and XRMSD
value. If the motor and drive rating allow it, try to increase this value.
> There is an obstacle in the path of the motion.
Another problem that can arise is the case where Verify Control & Feedback Parameters is not
selected in the Advance Preferences. Inaccurate variables can cause the commutation process to
report successful completion even though the commutation is actually wrong. Therefore it is
recommended to select this field.
Possible reasons for failure of the commutation process:
> Hard stop: motor has bumped into a hard stop or an obstacle and is unable to move.
> Excitation current too low: results in poor field alignment.
> Inaccurate motor and feedback variables.
> Hardware problems, such as encoder or drive fault, wiring error, or bad grounding.
8. When you are done, click Next to go to the next window.

3.2.6.7.4 Open Loop Verification

The Open Loop Verification window enables you to check if the motor responds correctly to the
drive command, that is, the motor velocity should be in the same direction as drive command.

Enabling the motor may cause it to jump. To avoid personal injury or damage to the
equipment, check the following before enabling the motor:
> Ensure that nothing (people, cables, or other obstacles) is in the path of the
motor or objects connected to the motor.
> Ensure that the motor is securely anchored and that proper safety barriers,
stops, and limits are installed.

Be ready to engage the Emergency Stop switch.

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Values can be expressed either as:

> % - Percentages
> Amps - Amperes
which you select from the dropdown list.
The parameters on this window are:
> Drive Output Range - Percentage (or amperage) relative to the maximum voltage as
defined in Components - see Drive.
> DAC Offset - Offset to be added to the results of the current loop control. This value is
stored in the SLIOFFS variable.
The offset can be used to compensate for an active component of the motor load. For
example, in a vertical axis the weight of the carriage can be compensated.
1. Click Enable to enable the drive.
2. If an encoder is active in the system, click Zero to reset the encoder.
3. Drag the Drive Output slider slowly to the right until the motor moves. If the motor does
not move (due to friction), increase the Drive Output Range (with the slider or by entering
a value) until the motor moves.

4. Verify that the velocity gauge indicator moves to the right (same direction you moved the
slider). If the velocity arrow moves in the opposite direction, select Invert Drive Command.

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If the direction of the velocity gauge is opposite to that of the Drive Output slider, it is
an indication of positive feedback. This is likely to cause a motor run away. If the
direction of the velocity gauge is opposite to that of the Drive Output slider, it is an
indication of positive feedback. This is likely to cause a motor run away.

5. For DC brush motor only: If there is bias (an offset) in the drive (motor moves while the
controller command is zero), then with Driver Output Range set to zero, use the DAC
Offset (SLIOFFFS) field to compensate.
6. When you are done, click Next to go to the next window.

3.2.6.7.5 Position and Velocity Loops

The Position and Velocity Loops window enables you to tune the position and velocity loops in
order to optimize the servo system performance.
To tune the Position and Velocity Loops we recommend using One Parameter Based Tuning as
described below. One Parameter Based Tuning has been tested on several demanding applications
and achieved excellent results.
Experienced control engineers can make use of Manual Tuning or Advanced Tuning.
One Parameter Based Tuning
This feature enables you to tune the system based on a single parameter - the required bandwidth
of the Position loop.
The Adjuster Wizard measures and identifies the characteristics of the electro-mechanical system.
Once identified, you specify the required bandwidth and the Adjuster determines the relevant
servo parameters and gains required to achieve the specified bandwidth.
You can now verify that the system performs as required and is stable by activating a motion and
monitoring the response with the scope. You can modify the bandwidth parameter accordingly
and repeat the process until an optimal time response is achieved.
Afterwards, you can use the FRF to verify that the required bandwidth is achieved and that the
stability margins are adequate.
To perform one parameter tuning:
1. In the Settings and Identification window, select the characteristics of the system in the
System Characteristics section. If unknown, use the defaults.
2. Define start and end motion limits position in the Motion Limits section either by entering
values or by clicking the Read buttons. Ensure that the values are adequately distanced
from the actual travel limits.

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In case of an encoder fault, the motion limits will be zeroed by default. After the fault is
cleared, entering new values may be required.

3. Under System Identification, select FRF Analyzer Measurement.

> The values in the FRF Analyzer Settings are initially calculated according to the system
characteristics.
> If you select the FRF Analyzer Autoset option, the optimal excitation current is
measured at the beginning of the system identification measurement (in this case the
frequency range is disabled for changes).
4. Click Start Identification.
The FRF Analyzer is displayed showing graphs of the movement.

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5. When the system identification is successful, click Next to continue to the next step.
If the system identification is not successful, follow the recommendations under System
Identification Results. If you were not able to identify the system, only Manual Tuning is
available in the Basic Tuning window.

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6. In the Basic Tuning window, click Motion Manager Autoset.

The Motion Manager is displayed.

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7. Click Enable Motor(s) and then Start Motion.

8. Click Scope Autoset and monitor the scope:
Increase the Bandwidth parameter as long as position error improves and stability is
maintained.
Decrease the bandwidth to improve stability.
The ideal Scope display is a square wave indicating that the Position and Velocity Loops are
well adjusted.

9. When you achieve a satisfactory bandwidth, click Next to continue to the next step.

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10. In the Bandwidth and Stability Verification window, click Start Verification.
11. Click Yes to the following warning messages.

The Bandwidth and stability verification is based on FRF closed loop measurement and comparing
the measured stability gains to the predefined thresholds. The measured bandwidth is also
compared to the required one.

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> If the verification is unsuccessful, follow the recommendations under the Verification
Results section.
You may need to return to the Basic Tuning window and repeat the process described
in Step 6.
> If the verification is successful, you can click Next to Advanced Tuning.
Advanced tuning is optional and requires experience in Control field.
Manual Tuning
Manual tuning involves tuning controller parameters in the Basic Tuning window. You can modify
each parameter during a motion in both Velocity Loop mode and Position and Velocity Loop mode.
Available parameters are:
> Velocity loop Proportional gain (SLVKP) - in both servo loop modes
> Velocity loop Integrator gain (SLVKI) - in both servo loop modes
> Position loop Proportional gain (SLPKP) - only in Position and Velocity Loop
> Low pass filter bandwidth (SLVSOF) - in both servo loop modes
> Acceleration Feed-Forward (SLAFF) - only in Position and Velocity Loop
To perform manual tuning:
1. In the Basic Tuning page, click Motion Manager Autoset.
The Motion Manager is displayed.
2. Click Enable Motor(s) and then Start Motion.
3. Click Scope Autoset and monitor the scope:
Change the relevant controller parameters values as long as position error improves and
stability is maintained.

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The ideal Scope display is a square wave indicating that the Position and Velocity Loop is
well adjusted.
4. When you achieve a satisfactory bandwidth, click Next to continue to the next step.
5. In the Bandwidth and Stability Verification page, click Start Verification.
The Bandwidth and stability verification is based on FRF closed loop measurement and
comparing the measured stability gains to the predefined thresholds.
> If the verification is unsuccessful, follow the recommendations under the Verification
Results section.
You may need to return to the Basic Tuning page and repeat the process described in
Step 3.
> If the verification is successful, you can click Next to Advanced Tuning.
Advanced tuning is optional and requires experience in Control field.
Advanced Tuning
Use the Advanced controller parameters tuning for further improvements.
1. To tune the filters (Notch, BiQuad or Low-Pass) select Filters.
If the verification measurement was successfully completed then the FRF component will
be opened with already existing measurement.
Otherwise, measure the FRF of the Position and Velocity loop; We recommend to move
the motor slowly in constant velocity during the measurement (1 revolution/sec for rotary
motor, or a few mm/sec for linear motor).
By default, Open Motion Manager is selected for that purpose.
2. Click Design to open the design mode and tune the filters.
When the Design FRF is satisfactory, click Finish and choose yes in the message asking to
save the design parameters to the controller.
Then, measure the FRF again to verify it is close to the design.
3. To tune other controller parameters, select Algorithms, then open the required servo
variables group and click Motion Manager & Scope to open the Motion Manager and Scope.
4. In the Motion Manager, apply a required motion, monitor the Scope and modify the
controller parameters as needed.
5. When you achieve satisfactory results, the tuning is finished. Click Next to continue to the
next step to finish the adjustment.

3.2.6.7.6 Position Verification

The Position Verification window is relevant only for open loop modes for step motors and enables
you to verify that the actual move corresponds to a commanded one, and make changes where
necessary.

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To tune position verification:

1. Click Motion Manager Autoset. The Motion Manager panel is displayed.

The Motion Type dropdown list gives you the option of defining the type of motion, the options
are:
> One Direction Repeated Move
> Back and Forth Move (Default)
If you select One Direction Repeated Move, you specify how much movement by entering a value
in Move By.
If you select Back and Forth Move, the position is measured between two points:
> Point A
> Point B

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Point A is the start position and Point B is the end position. The motion is then measured
from Point A to Point B.

You can set these points by manually moving the motor to Point A and clicking ,
and repeating this for Point B.
You can change the sign of the value by clicking

The Dwell value is Dwell time between moves.

The Motion Parameters that you can manipulate are:
> Velocity (VEL)
> Acceleration (ACC)
> Deceleration (DEC)
> Kill Deceleration (KDEC)
> Jerk (JERK)
To start the measurement:

1. Click , this enables the motor of the axis you are working on.

2. Click , this starts the motion.

Visually check the motion. If there is a positional error, exit Adjuster and correct the value
in your program, then run Adjuster again.
3. When you are done, click Next to go to the next window.

3.2.6.8 Save to Flash

The Save to Flash step enables you to save all the Adjuster data to the controller’s flash. When you
enter this step, the Save to Flash prompt is displayed.

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For saving to the controller’s flash see Saving to Flash.

If you do not save the data to the controller’s flash, all of the data will be lost.

Once you have saved the data, the Final Page is displayed. This marks the completion of the
Adjuster. Click Finish to exit.

3.2.7 Adjust Tuning of Predefined System

The Adjust Tuning of Predefined System task of the Adjuster enables you to fine tune your system
in order to optimize performance.

Although you can perform this task before performing Setup New System or
Controller, it is not recommended.

1. In the Adjuster Select Task window, select Adjust Tuning of Predefined System.

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You have a choice of selecting:

> Existing Values (default), or
> Copy Values From Axis
2. Click Next, you jump to the Axis Setup and Tuning task page:

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The Axis Setup and Tuning step enables you to fine tune your system. There are a total of six
possible options:
1. Current Loop
2. Current Phase Offset
3. Commutation
4. Open Loop Verification
5. Position and Velocity Loops
6. Position Verification

The options that are available to you depend on the definitions that were entered in
Components during the performance of Setup New System or Controller

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You can skip steps either by clicking Next, or by clicking the step in the Task Steps list
that you want to activate:

In the same manner you can return to previous task steps by clicking Back or clicking
the required step in the Task Steps list.

7. Once you have tuned your values to your satisfaction, you move to Save to Flash.
8. After saving the values to the controller’s flash, click Finish to exit the Adjuster Wizard.

3.2.8 Verify Correct Setup of Predefined System and Adjuster Tuning

You use the Verify Correct Setup of Predefined System and Adjuster Tuning task of the Adjuster to
verify the setup recorded in the performance of the Setup New System or Controller task, and,
where needed, fine tune your system in order to optimize performance.
1. From the Adjuster Select Task window select Verify Correct Setup of Predefined System
and Adjuster Tuning.

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You have a choice of selecting:

> Existing Values (default), or
> Copy Values From Axis
2. Click Next, you jump to the Safety and Protection task window:

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In this task you verify that the settings are correct for:
> Motion Parameters Limits
> Current Limits
> Position Errors
> Position Limits
In the event that you find an incompatibility, this task provides you with the ability to make
changes.

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You can skip steps either by clicking Next, or by clicking the step in the Task Steps list
that you want to activate:

In the same manner you can return to previous task steps by clicking Back, or clicking
the required step in the Task Steps list.

3. The next task is Miscellaneous Definitions. In this task you check the values for:
> Motion Completion
> Enable/Disable/Brake
> Dynamic Brake
> Home Switch
4. The next task is Verification. In this task you check the values for:
> Feedback
> Switches
> Stop, Alarm and Brake
5. The next task is Axis Setup and Tuning. In this task you check the values for:
> Current Loop
> Current Phase Offset
> Commutation
> Open Loop Verification
> Position and Velocity Loops
> Position Verification

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The options that are available to you depend on the definitions that were entered in
Components when running Setup New System or Controller.

6. Once you have checked the values, and tuned them, if needed, you move to Save to Flash.
7. After saving the values to the controller’s flash, click Finish to exit the Adjuster Wizard.

3.2.9 Axis Duplication

This option allows you to copy adjuster and controller parameters from one axis to another axis,
typically the one you currently adjusting.
To duplicate an axis:
1. Select Axis Duplication in the Select Task step and click Next.

The Axis Duplication: Selection window substep appears.

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2. Select the Source Axis. By default the source axis is the working axis.
3. Select the Target Axis and click Next.
The Wizard prompts you to Save to Flash the source axis (the Wizard copies only data that
is saved to the controller flash). When the duplication is completed, the Wizard presents
the results in the Progress and Results substep.

4. Click Next to complete the Adjuster Wizard and then click Finish to close the wizard.

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3.3 System Setup

ACS Motion Control’s NT technology allows several units to be chained together using EtherCAT.
System Setup enables you to configure a single or multiple Unit Control Module along with stand-
alone NT modules and non-ACS units as a network, as shown in the following figure:

Use System Setup to:

> Define the system configuration
> Update the system configuration
You can setup the system either automatically or manually.

You should run the automatic system setup on initialization and whenever the system
is changed.

3.3.1 Automatic System Setup

To activate System Setup:
1. In the Workspace right-click the controller.
2. Select Add component > Setup> System Setup.
The System Configuration window opens.
3. In the Automatic Setup tab, press Execute.

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4. Approve the message about the controller being rebooted.

The system is setup automatically. This may take several minutes to complete.
5. When the setup is complete, click OK.

The screen shown shows representative output of the automatic system configuration process:

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3.3.2 Manual System Setup

The following tasks can be done using manual setup:
> Modifying a system configuration
> Modifying a configuration from a database
> Loading a configuration from a database

3.3.2.1 Modifying a system configuration

1. In the Workspace, right-click the controller.
2. Select Add component > Setup> System Setup.
3. In the System Configuration window, click Manual Setup.
4. Click Modify System Configuration. The system will load the configuration and may take
several minutes.

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5. When the Configuration Design Pad window appears, you can modify settings such as the
axes and I/O allocations:

6. Modify axes allocation in the following window:

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7. Modify I/O allocation in the following window:

8. Modify PDO configuration in the following window:

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9. To save the configuration to the controller or to the database, select the required option
under Save and click Save.
10. In the Configuration Details window, enter a name for the configuration and optionally
enter additional information.

11. Click OK.

3.3.2.2 Modifying a Configuration from the Database

A configuration that has been saved to a database can be edited.
1. In the Workspace right-click the controller.
2. Select Add component > Setup> System Setup. The System Configuration window opens.
3. Press the Modify Configuration from Database button. A window displaying the
configurations saved in the database appears.

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4. Select the saved configuration to use.

5. Edit the configuration as required.
6. To save the configuration to the controller or to the database, select the required option
under SAVE and click Save.

7. In the CONFIGURATION DETAILS window, enter a name for the configuration and optionally
enter additional information.

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8. Click OK.

3.3.2.3 Loading a Configuration from the Data Base

A configuration that has been saved to a database can be loaded and edited.
1. In the Workspace right-click the controller.
2. Select Add component > Setup> System Setup. The System Configuration window opens.

3. Press the Load Configuration from Database button.

4. A message stating that the controller will be rebooted will appear, click Yes.
5. A window displaying the configurations saved in the database appears.

6. Press Select to load the desired configuration.

7. Enter the Serial number and Revision for the relevant products.

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8. Click Save to Controller.

9. When the configuration has been saved to the controller, click OK to close the progress
report window.

10. Click on Done to close the configuration design pad.

3.3.2.4 MC4U Configuration Codes

The following are the standard codes used for indicating the configuration of the MC4U unit. The
general format is:
MC4U [MMM] AA-B#-CC-DD-[E]-[F]-[G]-[H]
Where:
MMM – Motherboard type
Depending on the MC4U model, motherboard codes can be:
> Z - MB5U-Z Motherboard
> ZZ - MB5U-ZZ Motherboard

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> 2 - MB5U-2 Motherboard

> 90A - MB5U-2-90A Motherboard
> 4 - MB5U-4 Motherboard
> YYYY – MB5U-YYYY Motherboard
> ZZW – MB5U-ZZW Motherboard
> ZZZ – MB5U-ZZZ Motherboard
> PS - MB5U-CON-PS Motherboard
> PS2 - MB5U-CON-PS2 Motherboard
AA – MC4U Configuration Type, which can be:
> CS – Customization Solution
> CM – Control Module
B# – SPiiPlus Controller Type and number of axes, the controller can be:
> P – SPiiPlus 3U-HP
> T – SPiiPlus 3U-LT
> NTP - SPiiPlus NT-HP
> DCP - SPiiPlus DC-HP
> NTT - SPiiPlus NT-LT
> DCT - SPiiPlus DC-LT
The number (#) of axes can be:
> 4 – Four axes
> 6 – Six axes
> 8 – Eight axes
> 4E – Four axes and eight feedback interfaces
CC – Power Supply Type (there can be more than one), which can be:
> 00 – None
> A - PSM3U-28V-0.5kW
> H – PSM3U-320V-8kW
> L – PSM3U-48V-0.7kW
> V – PSM3U-560V-8kW
> HH – PSMU3U-320V-11Kw
> LL – PSMU3U-48V-1.4Kw
> HL – PSMU3U-320/48V-0.7/8Kw
> HM – PSMU3U-320/48V-0.7/8kW
> VL – PSMU3U-560/48V-0.7/8kW
DD – Drive Type (there can be more than one), which can be:

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> A – DDM3U-2-60V-2A
> B – DDM3U-1-320V-5A
> C – DDM3U-1-320V-10A
> D – DDM3U-1-320V-20A
> E – DDM3U-1-560V-2A
> F – DDM3U-1-560V-5A
> G – DDM3U-1-560V-10A
> H – DDM3U-1-560V-15A
> K - DDM3U-1-320V-45
> M - DDM3U-1-320V-30
> S – DDM3U-2-680V-2A
> T – DDM3U-2-680V-5A
> U – DDM3U-2-680V-10A
> V – DDM3U-2-680V-15A
> W – DDM3U-4-60V-2A
> Wa - DDM3U-4-60V-4A
> W1 - DDM3U-4-320-1A
> W2 - DDM3U-4-320-2A
> W3 - DDM3U-4-320-3A
> X – DDM3U-2-320V-5A
> Y – DDM3U-2-320V-10A
> Z – DDM3U-2-320V-20A
> Pa – LDM3U-55V-8A (Analog)
> Pd – LDM3U-55V-8A (Digital)
> Ps – LDM3U-55V-8A (Space Vector Modulation)
> Ra – LDM3U-55V-16A (Analog)
> Rd – LDM3U-55V-16A (Digital)
> Rs – LDM3U-55V-16A (Space Vector Modulation)
E – Total number of Sin-Cos multipliers (optional), which can be:
> 1
> 2
> 3
> 4
> 5
> 6

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> 7
> 8
F – Number of 2.5 MHz Sin-Cos multipliers (optional), which can be:
> 1
> 2
> 3
> 4

When included, E must also be included as F represents the number of 2.5 MHz Sin-Cos
multipliers out of the total number of Sin-Cos multipliers, for example, 63 which means
there is a total of 6 Sin-Cos multipliers, of which 3 are 2.5 MHz Sin-Cos multipliers.

F cannot be greater than E.

G - Input Shaping (optional), its code is:

> I - Convolve Input Shaping® algorithm enabled
H - PLC and axis and I/O extension network (optional), its code is:
> C - PLC and axis extension enabled

The code string consists of a maximum of 15 characters, beginning with: MC4U. In the
event that the string exceeds 15 characters, the leading MC4U can be shortened or
omitted completely.

3.3.3 Optional Groups Setup

The System Setup component now includes the capability to define optional groups to support
flexible configuration. Flexible configuration provides the ability to work with a subset of an initial
configured system without requiring reconfiguration of the system. Using flexible configuration
enables an optional group of EtherCAT slaves to be disconnected from the system without a need
to reconfiguration, for details see AN Flexible Configuration Application Note.
The following operations on optional groups are now supported in System Setup:
> Define optional group
> Discard optional group
> Discard all optional groups
> View optional groups

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3.3.3.1 Head of optional group

Product Name Prefix
The presentation name of the product which is defined as head of optional group in the tree will
start with prefix “[HG<group ID>]” (“HG” = Head of Group).
Properties
On the product property panel of each head of optional group, the following information is
presented:

Optional group section Values

Head of group [R/O] <Group ID>

Number of members in the group

<[N]>
[R/O]

<i, j, k, … > where i, j, k are including groups’ IDs, i ϵ j

Included in group(s) [R/O]
ϵk

3.3.3.2 Member of optional group

Product Name Prefix
The presentation name of the product which is defined as a member of optional group in the tree
will start with [G<group ID>] prefix (“G” = Group). If this product is also a head of nested optional
group then the member of group prefix will be preceded by head of group prefix: [HG<group i ID>
G<group j ID>] .

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Properties
On the product property panel of each member of optional group the following information is
presented:

Optional group section Values

Included in group(s) [R/O] <i, j, k, … > where i, j, k are including groups’ IDs, i ϵ j ϵ k

3.3.3.3 Highlighting optional group

To observe the whole optional group with all its members user can highlight the group by selecting
the related option from right click menu of head of group product.

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To stop highlighting the optional group user selects either “Undo highlighting optional group” from
the right click menu, or highlights another optional group. Only one optional group can be
highlighted at the same time.

3.3.3.4 View optional groups

The maximal configuration is presented (including all optional groups). If a partial system is
connected (one or more optional groups are disconnected) then all disconnected products are
grayed and marked as disconnected by adding the “Disconnected – “word to the prefix of product
name.
> Available from tasks
> System Viewer and Diagnostics

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3.3.4 Activating Ring Topology in the Controller

The Enhanced Network Failure Detection and Recovery option in the controller affects both
automatic and manual setup as follows:
If Enhanced Network Failure Detection and Recovery is enabled in the controller:
> Automatic Setup - If the master secondary port is connected, ring topology is activated in
the controller; otherwise it is deactivated.
If a configuration file does not support ring topology , the setup process cannot continue
and an appropriate message appears.
> Manual Setup - in the Configuration Design Pad, the relevant check box can be set for
activation or deactivation.
If the check box is selected but the configuration file does not support ring topology, the
setup process cannot continue and an appropriate message appears.

The initial state of the check box depends on the task you are performing:
> Modify Configuration Stored on Controller - the check box will be according to the
controller current activation state.
> Modify Configuration from Database and Load Configuration from Database to
Controller - the check box will be according to EtherCAT configuration file of the
selected configuration.
If Enhanced Network Failure Detection and Recovery is not enabled in the controller:
> Automatic Setup - the ring topology connection is deactivated in controller.
> Manual Setup - in the Configuration Design Pad, the relevant check box is not selected and
cannot be changed.

3.4 Safety and Faults Configurator

The Safety and Faults Configurator enables you to select specific faults that you want monitored
during a program run. There are two types of faults:

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> Axis Faults - These faults relate to motor motion.

> System Faults - These faults relate to the controller program that is running.

3.4.1 Activating Safety and Faults Configurator

To activate Safety and Faults Configurator:
1. In the Toolbox click Setup ( ) to display the Setup list of tools.

2. Click Safety and Faults Configurator in the Setup list of tools.

You can also activate the Safety and Faults Configurator using the right-click Add
Component option of the Workspace Tree - see Controller Right-Click Options .

3. The Safety and Faults Configurator window is displayed:

The System and Faults Configurator window is divided into two sections:

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Axis Faults

System Faults

3.4.2 ACSPL+ Fault Variables

There are two sets of ACSPL+ Fault variables, one for axis faults and one for system faults.
For details of all ACSPL+ variables see the SPiiPlus Command & Variable Reference Guide.

3.4.2.1 Axis Fault Variables

The axis fault variables are:
> SAFINI
> FMASK
> FDEF
> FAULT

3.4.2.1.1 SAFINI

SAFINI is a 64 member (one for each axis) integer array with a set of bits defining the active state of
the axis safety input variable (SAFIN) specifying inversion of the signal input logic, if required.
When a SAFINI bit=0, the corresponding signal is not inverted and the high voltage state is
considered active.
When a SAFINI bit=1, the bit is inverted and the low voltage state is considered active.
The SAFINI bits that can be inverted are:

Bit
Bit Description
Name

0 #RL Hardware Right Limit

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Bit
Bit Description
Name

1 #LL Hardware Left Limit

4 #HOT Motor Overheat

9 #DRIVE Drive Fault / Laser Fault

Hardware Emergency Stop

28 #ES Changing this bit will automatically change the corresponding

bit of all axes belonging to the same device.

3.4.2.1.2 FMASK

FMASK is an integer array with a set of bits (one set for each axis) used for enabling or disabling
each axis fault bit.
The default value of each bit is 1 and causes the controller to check for the fault associated with
that bit, as follows:
0 = the corresponding FAULT bit is disabled.
1 = the corresponding FAULT is enabled and examined each MPU cycle.
The FMASK bits are:

Bit Fault Fault Description

Hardware Right Limit

0 #RL
1 = Right limit switch is activated.

Hardware Left Limit

1 #LL
1 = Left limit switch is activated.

Network Error
2 #NT 1 = Network error is activated. This applies on to SPiiPlus NT Motion
Controllers.

Motor Overheat
4 #HOT
1 = Motor's temperature sensor indicates overheat.

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Bit Fault Fault Description

Software Right Limit

5 #SRL 1 = Axis reference position (RPOS) is greater than the software right
limit margin (SRLIMIT).

Software Left Limit

6 #SLL 1 = Axis reference position (RPOS) is less than the software left limit
margin (SLLIMIT).

Encoder Not Connected

7 #ENCNC
1 = Primary encoder (for digital encoder type only) is not connected.

Encoder 2 Not Connected

8 #ENC2NC
1 = Secondary encoder (for digital encoder type only) is not connected.

Drive Fault / Laser Fault

9 #DRIVE
1 = Signal from the drive reports a failure.

Encoder Error
10 #ENC
1 = Primary encoder miscounts.

Encoder 2 Error
11 #ENC2
1 = Secondary encoder miscounts.

Non-Critical Position Error

1 = Non-critical position error has occurred.
PE is defined by the following variables:
ERRI - Maximum position error while the axis is idle

12 #PE ERRV - Maximum position error while the axis is moving with constant
velocity
ERRA - Maximum position error while the axis is accelerating or
decelerating
DELI - Delay on transition from ERRA to ERRI
DELV - Delay on transition from ERRRA to ERRV

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Bit Fault Fault Description

Critical Position Error

1 = Position error exceeds the value of the critical limit.
#CPE errors occur outside normal range of operation and #CPE > #PE.
The critical limit depends on the axis state and is defined by the
following variables:
13 #CPE
CERRI if the axis is idle (not moving)
CERRV if the axis is moving with constant velocity
CERRA if the axis is accelerating or decelerating
DELI - Delay on transition from ERRA to ERRI
DELV - Delay on transition from ERRRA to ERRV

Velocity Limit
14 #VL 1 = Absolute value of the reference velocity (RVEL) exceeds the limit
defined by the XVEL parameter.

Acceleration Limit
15 #AL 1 = Absolute value of the reference acceleration (RACC) exceeds the
limit defined by the XACC parameter.

Current Limit
16 #CL 1 = RMS current calculated in the Servo Processor exceeds the limit
value defined by the XRMSD or XRMSM parameter.

Servo Processor Alarm

17 #SP 1 = Axis Servo Processor loses its synchronization with the MPU. The
fault indicates a fatal problem in the controller.

Safe Torque Off

18 #STO
1 =STO is activated.

HSSI Not Connected

20 #HSSINC
1 = HSSI module is not connected.

3.4.2.1.3 FDEF

FDEF is a 64 member (one for each axis) integer array with a set of bits used for setting default
responses to an axis faults.
The FDEF bits are:

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Bit Fault Fault Description Default Response

The controller kills the violating axis.

Hardware Right Limit As long as the fault is active, the controller

0 #RL kills any motion that tries to move the axis
1 = Right limit switch is
in the direction of the limit; however,
activated.
motion within the permissible range is
allowed.

Hardware Left Limit

1 #LL 1 = Left limit switch is Same as for #RL.
activated.

Network Error
Disable all. Valid only for SPiiPlus NT Motion
2 #NT 1 = Network error is Controllers.
activated.

Motor Overheat

4 #HOT 1 = Motor's None.

temperature sensor
indicates overheat.

Software Right Limit

The controller kills the violating axis. As
1 = Axis reference long as the fault is active, the controller
5 #SRL position (RPOS) is kills any motion that tries to move the axis
greater than the in the direction of the limit. Motion in the
software right limit direction out of the limit is allowed.
margin (SRLIMIT).

Software Left Limit

1 = Axis reference
6 #SLL position (RPOS) is less Same as #SRL.
than the software left
limit margin (SLLIMIT).

Encoder Not Connected

1 = Primary encoder
7 #ENCNC (for digital encoder The controller disables the violating axis.
type only) is not
connected.

Encoder 2 Not
8 #ENC2NC No default response.
Connected

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Bit Fault Fault Description Default Response

1 = Secondary encoder
(for digital encoder
type only) is not
connected.

The controller disables the violating axis.

Drive Fault / Laser Fault
9 #DRIVE This fault is only detected when the axis is
1 = Signal from the
enabled. To catch this fault in an ACSPL+
drive reports a failure.
program, write an autoroutine.

Encoder Error The controller disables the violating axis.

The faults remain active until the user
10 #ENC 1 = Primary encoder resolves the problems and enables the
miscounts. axis again or executes FCLEAR.

Encoder 2 Error
11 #ENC2 1 = Secondary encoder Same as #ENC.
miscounts.

Non-Critical Position
Error
1 = Non-critical position
error has occurred.

PE is defined by the
following variables:
ERRI - Maximum
position error while the
axis is idle
12 #PE None.
ERRV - Maximum
position error while the
axis is moving with
constant velocity
ERRA - Maximum
position error while the
axis is accelerating or
decelerating
DELI - Delay on
transition from ERRA to
ERRI

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Bit Fault Fault Description Default Response

DELV - Delay on
transition from ERRA to
ERRV

Critical Position Error

1 = Position error
exceeds the value of
the critical limit.

#CPE errors occur

outside normal range
of operation and #CPE
> #PE.
The critical limit
depends on the axis
state and is defined by
the following variables:
13 #CPE CERRI if the axis is idle The controller disables the violating axis.
(not moving)
CERRV if the axis is
moving with constant
velocity
CERRA if the axis is
accelerating or
decelerating
DELI - Delay on
transition from ERRA to
ERRI
DELV - Delay on
transition from ERRA to
ERRV

Velocity Limit
1 = Absolute value of
14 #VL the reference velocity The controller kills the violating axis.
(RVEL) exceeds the
limit defined by the
XVEL parameter.

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Bit Fault Fault Description Default Response

Acceleration Limit
1 = Absolute value of
the reference
15 #AL acceleration (RACC) The controller kills the violating axis.
exceeds the limit
defined by the XACC
parameter.

Current Limit
1 = RMS current
calculated in the Servo
16 #CL Processor exceeds the The controller disables the violating axis.
limit value defined by
the XRMSD or XRMSM
parameter.

Servo Processor Alarm

1 = Axis Servo
Processor loses its
synchronization with The controller disables the violating axis
17 #SP
the MPU. The fault and kills the motion that involves the axis.
indicates a fatal
problem in the
controller.

Safe Torque Off Blocks the PWM signals to the power stage
18 #STO
1 = STO is activated. of the drive.

HSSI Not Connected

20 #HSSINC 1 = HSSI module is not None.
connected.

3.4.2.1.4 FAULT

FAULT is a 64 member (one for each axis) integer array with a set of bits that stores axis-related
fault bits.
FAULT indicates axis-related fault bits as detected by the safety mechanism. When each of the
faults is active (such as Left Limit), the corresponding fault bit becomes = 1 while the fault is active,
and automatically reverts to 0 when the fault is no longer active.
Each fault can be masked by FMASK.
The logic of some faults can be inverted by SAFINI.

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The default response of each fault can be disabled by FDEF. In this case, any customized default
response can be implemented by autoroutines.
The FAULT bits are:

Bit Fault Fault Description

Hardware Right Limit.

0 #RL
1 = Right limit switch is activated.

Hardware Left Limit.

1 #LL
1 = Left limit switch is activated.

Network Error
2 #NT 1 = Network error is activated. Valid only for SPiiPlus NT Motion
Controllers.

Motor Overheat
4 #HOT
1 = Motor's temperature sensor indicates overheat.

Software Right Limit

5 #SRL 1 = Axis reference position (RPOS) is greater than the software right
limit margin (SRLIMIT).

Software Left Limit

6 #SLL 1 = Axis reference position (RPOS) is less than the software left limit
margin (SLLIMIT).

Encoder Not Connected

7 #ENCNC
1 = Primary encoder (for digital encoder type only) is not connected.

Encoder 2 Not Connected

8 #ENC2NC
1 = Secondary encoder (for digital encoder type only) is not connected.

Drive Fault / Laser Fault

9 #DRIVE
1 = Signal from the drive reports a failure.

Encoder Error
10 #ENC
1 = Primary encoder miscounts.

Encoder 2 Error
11 #ENC2
1 = Secondary encoder miscounts.

Non-Critical Position Error

12 #PE
1 = Non-critical position error has occurred.

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Bit Fault Fault Description

PE is defined by the following variables:

ERRI - Maximum position error while the axis is idle
ERRV - Maximum position error while the axis is moving with constant
velocity
ERRA - Maximum position error while the axis is accelerating or
decelerating
DELI - Delay on transition from ERRA to ERRI
DELV - Delay on transition from ERRA to ERRV

Critical Position Error

1 = Position error exceeds the value of the critical limit.

#CPE errors occur outside normal range of operation and #CPE > #PE.
The critical limit depends on the axis state and is defined by the
13 #CPE following variables:
CERRI if the axis is idle (not moving)
CERRV if the axis is moving with constant velocity
CERRA if the axis is accelerating or decelerating
DELI - Delay on transition from ERRA to ERRI
DELV - Delay on transition from ERRA to ERRV

Velocity Limit
14 #VL 1 = Absolute value of the reference velocity (RVEL) exceeds the limit
defined by the XVEL parameter.

Acceleration Limit
15 #AL 1 = Absolute value of the reference acceleration (RACC) exceeds the
limit defined by the XACC parameter.

Current Limit
16 #CL 1 = RMS current calculated in the Servo Processor exceeds the limit
value defined by the XRMSD or XRMSM parameter.

Servo Processor Alarm

17 #SP 1 = Axis Servo Processor loses its synchronization with the MPU. The
fault indicates a fatal problem in the controller.

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Bit Fault Fault Description

Safe Torque Off

18 #STO
1 = STO is active.

HSSI Not Connected

20 #HSSINC
1 = HSSI module is not connected.

3.4.2.2 System Fault Variables

The system fault variables are:
> S_SAFINI
> S_FMASK
> S_FDEF
> S_FAULT

3.4.2.2.1 S_SAFINI

S_SAFINI is a scalar integer variable used for defining the active state of the system safety input
variable (S_SAFIN) specifying inversion of the signal input logic, if required.
When an S_SAFINI bit=0, the corresponding signal is not inverted and the high voltage state is
considered active.
When an S_SAFINI bit=1, the bit is inverted and the low voltage state is considered active.
There is only one S_SAFINI bit that can be inverted:

Bit Fault Fault Description

Hardware Emergency Stop

28 #ES
1 = ES signal is activated.

3.4.2.2.2 S_FMASK

S_FMASK is scalar integer variable consisting of a set of bits for enabling or disabling the system
faults contained in S_FAULT. S_FMASK is connected to S_FAULT in the same way that FMASK is
connected withFAULT.
The S_FMASK bit default values are 1 which cause the controller to check for the fault associated
with that bit, as follows:
> 0: The corresponding S_FAULT bit is disabled
> 1: The corresponding S_FAULT is enabled and examined each MPU cycle.
The S_FMASK bits are:

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Bit Fault Fault Description

Program Fault
25 #PROG
1 = Run time error occurs in one of the executing ACSPL+ programs.

Memory Overflow
26 #MEM
1 = User application requires too much memory.

MPU Overuse
27 #TIME
1 = User application consumes too much time in the controller cycle.

Hardware Emergency Stop

28 #ES
1 = ES signal is activated.

Servo Interrupt
29 #INT 1 = The servo interrupt that defines the controller cycle is not
generated. The fault indicates a fatal controller problem.

File Integrity
30 #INTGR 1 = The integrity of the user application in controller RAM is checked by
the controller at power-up and whenever an #IR command is issued.

Component Failure
31 #FAILURE 1 = An MC4U hardware component other than the drive, such as the
Power Supply, I/O card, or encoder card, has failed.

3.4.2.2.3 S_FDEF

S_FDEF is a scalar integer variable consisting of a set of bits for defining the default response for
the system faults contained in S_FAULT. S_FDEF is connected to S_FAULT in the same way that FDEF
is connected with FAULT.
The default value for all S_FDEF bits is 1, which enables the default response. If an S_FDEF bit = 0,
the default response is disabled.
The S_FDEF bits are:

Bit Fault Fault Description Default Response

Program Fault
The controller kills all
25 #PROG 1 = Run time error occurs in one of the axes.
executing ACSPL+ programs.

Memory Fault
The controller kills all
26 #MEM 1 = User application requires too much axes.
memory.

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Bit Fault Fault Description Default Response

MPU Overuse
27 #TIME 1 = User application consumes too much No default response.
time in the controller cycle.

The controller disables

all axes.

Hardware Emergency Stop

28 #ES It does not
1 = ES signal is activated. stop the
program
buffers.

Servo Interrupt
1 = The servo interrupt that defines the The controller disables
29 #INT
controller cycle is not generated. The fault all axes.
indicates a fatal controller problem.

File Integrity
1 = The integrity of the user application in
30 #INTGR controller RAM is checked by the No default response
controller at power-up and whenever an
#IR command is issued.

No default response
Component Failure
You are responsible for
31 #FAILURE 1 = An MC4U hardware component other
incorporating a user-
than the drive, such as the Power Supply,
defined response into
I/O card, or encoder card, has failed.
your program.

3.4.2.2.4 S_FAULT

S_FAULT is a scalar integer variable consisting of a set of bits equating to the occurrence of System
Faults (faults that are not related to any specific axis).
The S_FAULT bits are:

The S_FAULT variable contains bits related to Axis Faults, but only the System Fault bits
are relevant to the Safety and Faults Configurator.

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Bit Fault Fault Description

Program Fault
25 #PROG
1 = Run time error occurs in one of the executing ACSPL+ programs.

Memory Fault
26 #MEM
1 = User application requires too much memory.

MPU Overuse
27 #TIME
1 = User application consumes too much time in the controller cycle.

Hardware Emergency Stop

28 #ES
1 = ES signal is activated.

Servo Interrupt
29 #INT 1 = The servo interrupt that defines the controller cycle is not
generated. The fault indicates a fatal controller problem.

File Integrity
30 #INTGR 1 = The integrity of the user application in controller RAM is checked by
the controller at power-up and whenever an #IR command is issued.

Component Failure
31 #FAILURE 1 = An MC4U hardware component other than the drive, such as the
Power Supply, I/O card, or encoder card, has failed.

3.4.3 Working with Safety and Faults Configurator

Select Axis
You can select as many axes as you have or are interested in tracking. To select an axis:
1. Click the Axis down arrow to display the list of axes.

2. Click the axis that you want to configure.

Enabling/Disabling Fault Bits
Only those fault variable bits with a checkbox in the column are available for selection. To enable a
bit you click it.
The bit selection symbols are:

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Bit has not been selected.

Bit has been selected.

Bit is not available for selection.

Some bit selections are dependent on your selecting other bits. For example, there is a
connection between FMASK and FDEF, when you select a bit in FMASK, this makes the
corresponding bit in FDEF available for selection.

Indication
The symbols in the Indication column act like LEDs and indicate:

No fault.

Fault detected.

Not applicable.

Action Buttons
The Safety and Faults Configurator has the following action buttons:

Sets all parameters to factory defaults.

Removes changes and restores previous selections.

Saves the data to the controller’s flash memory.

Saves the data to the controller’s flash memory and closes the
window.

Closes the window without saving the data.

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4. Application Development
Application Development contains the following tools for use in programming your SPiiPlus Motion
Controller:
> Application Wizard - enables you to manage the controller program files, such as loading
applications parameters, saving the parameters, copying files to the controller, and the
like.
> Program Manager - your principal tool for programming your SPiiPlus Motion Controller.
> Protection Wizard - enables you to define the controller protection mode parameters,
modify the protection mode parameters, and view the protection status.

4.1 Accessing Application Development Tools

To access the Application Development tools:
1. If the Toolbox is not displayed, click Toolbox.
2. Click Application Development . The Application Development list of tools appears:

3. Click the required tool in the list to open it.

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4.2 Application Wizard

The Application Wizard is a tool for loading or saving system and axis parameters from or to the
disk files, changing settings, managing the user files, exporting/importing arrays, copying any files
to the controller’s flash and deleting any files from the controller’s flash.
Application Wizard leads you through the performance of the following tasks:
> Application Loader
> Application Saver
> User File Manager
> Import Data to Controller
> Export Data from Controller
> Copy File to Controller
> Delete File from Controller

4.2.1 Activating Application Wizard

1. From the Toolbox click Application Development .
2. Click Application Wizard.

You can also activate the Application Wizard using the right-click Add Component
option of the Workspace Tree - see Controller Right-Click Options.

The Application Wizard Task window appears.

3. Select the required task, then click Next.

4.2.2 Application Loader

Application Loader is used:

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> To load an application from the disk file

> To change settings of the loaded application.
To load an application from a disk file:
1. Select Load Application to the Controller under Application Saver/Loader in Select a Task.

2. Click Next. The Configure Loading window appears.

3. Click Browse to select the application file to be loaded.

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Application files have an .spi extension.

4. Select the file and click Open.

The common information about the application appears and the option grid is filled with
the values from the file. You can choose the setting to be loaded.

In the Configuration Parameters column you can see default axis assignment (which axis in
the loaded application is assigned each axis in the controller).

5. To change the default assignment, click next to the required axis or axes and clear the
destination axis.
This lets you assign the destination axis with a different source axis.

6. Click OK.

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7. Click next to any axis and assign the axis that you unassigned in the previous step.

In this way, you can assign any axis from the loaded application to any axis or axes in the
controller.
8. You can preview the data loading from the file. Select Show preview of selected item.

9. To check or uncheck all options in the grid column, click the checkbox in the column
header.

SP Programs will appear only if they have been previously saved.

10. Click Next to start loading process.

The Loading window is displayed listing the process steps that are performed:

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The controller is rebooted:

11. Click OK.

12. Wait for notification of a successful reboot:

13. Click OK. You are returned to the Loading window.

14. To save the report click Save Report. The browser window is displayed:

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15. Select a directory and enter a filename. Click Save.

The file extension for all reports is .log.

16. To print the report click Print Report.

17. Click Finish to exit the Application Wizard.

4.2.3 Application Saver

Application Saver is used:
> To save the application from the controller to the disk file.
> To view and, where needed, change the settings of the axes, system parameters and
variables in the controller application.
To save an application from the controller to a disk file:
1. Select Save Application from Controller from SELECT A TASK.

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2. Click Next. The Save to Flash window is displayed:

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The save to file process is as follows:

> The wizard first saves the configuration data to the controller’s flash.
> It then saves the data from the controller’s flash to the selected file.

You have the option of saving some or all of the application data by selecting or
deselecting the checkbox ( ) in the column header.

3. Click Save. The Configure Saving window is displayed:

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4. Click Browse to select where the application data is to be saved. A browse window is
displayed:

Application files have an .spi extension.

5. Select the directory, and enter a file name in the File name field. Click Open. You are
returned to the Configure Saving window.

6. You can determine what data to be saved by selecting or deselecting the checkbox ( ) in
the column header.

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By default the SP column is not selected. If you want to save the SP data as well, select
the column. You are advised:

Normally you will want to save SP data only if the SP programs have been customized;
however, you can save it in any case by clicking Yes.

7. You can view any data in the controller application by selecting the item and clicking Show
preview of selected item, for example:

8. Click Next. The Saving window is displayed.

9. To save the report click Save Report. The browser window is displayed:

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10. Select a directory and enter a filename. Click Save.

The file extension for all reports is .log.

11. To print the report click Print Report.

12. Click Finish to exit the Application Wizard.

4.2.4 Import Data to Controller

Import Data to Controller is used:
> To import arrays and user files to the controller.
> To preview the contents of the array or the user file .
The imported data must be in tabular form (an array of rows and columns), with the columns
separated by either a tab or space.

If you are importing data from an Excel file:

1. Ensure the data is organized in tabular form (rows and columns).

2. Depending on the Excel version you have, click FILE >SAVE AS.
3. Select the folder PROGRAM ARRAYS, and in the FILE NAME box, type a
name for the file.
4. In the SAVE AS TYPE list, click either TEXT (TAB DELIMITED) (*.TXT)or
FORMATTED TEXT (SPACE DELIMITED) (*.PRN).
5. Click SAVE.

1. Select Import Data to Controller from Select a Task.

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2. Click Next. The Import Array window is displayed.

3. Click Browse and select the file for importing from the list that is displayed. Then click
Open.

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4. You may preview the data of the selected array file by selecting Show preview.

You can transpose the array by clicking Transpose.

You have two options:

> Importing into an ASCPL+ array (or matrix) variable
> Importing into a user-defined array (or matrix) variable
1. For importing into an ASCPL+ array:

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> Select Array in Controller.

> You can select from Global variables, or narrow the selection of variables to a particular
buffer by selecting the buffer from the Select Scope dropdown list:

> Select the variable name from the dropdown list.

Once you have entered the variable name, the data type is automatically displayed.

You have the option of selecting only a portion of the array by entering the range using Row
Range and ColumnRange, as appropriate.

> Click Next to start the exporting process.

2. For importing into a file in the controller’s flash:
> Select File in Controller.
> Either type in a name or select the required file from the dropdown list.

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> Click Next to start the exporting process.

The Importing window is displayed with a running log of the process:

3. You have the option of saving the log to a file by clicking Save Report which opens a dialog
window:

4. Select a directory and enter a filename. Click Save.

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The file extension for all reports is .log

5. To print the report click Print Report.

6. Click Finish to exit the Application Wizard.

4.2.5 Export Data from Controller

Export Data from Controller is used:
> To export arrays and user files from the controller flash to files on the disk
> To preview the content of the array or the user file from the controller
1. Select Export Data from Controller from Select a Task.

2. Click Next. The Export Array to the File window is displayed.

3. Click Browse in the Select File field, the browse window is displayed:

4. Use the browse window to select the directory, and, if applicable, a file name.

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5. Click Save.

You can type a name in the File name field to create a new file.

The Export Array to the File window is displayed:

You have two options:

> Exporting an ASCPL+ array (or matrix) variable
> Exporting a user-defined array (or matrix) variable
1. For exporting an ASCPL+ array:

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> Select Array in Controller.

> You can select from Global variables, or narrow the selection of variables to a particular
buffer by selecting the buffer from the Select Scope dropdown list:

> Select the variable name from the dropdown list.

Once you have entered the variable name, the data type is automatically displayed.

> You have the option of selecting only a portion of the array by entering the range
using Row Range and ColumnRange, as appropriate.

> The current format of the output data is displayed in the Format field. You have the
option to change output format by clicking Change Format.

> Select the required notational format from the Format dropdown list. Where needed,
change the Width and/or Precision. Click Apply.

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You can transpose the array elements by selecting Transpose, for example, if a matrix
has m rows and n columns, selecting Transpose causes it to be saved as a matrix having
n rows and m columns.

You also have the option of viewing the current values of the array elements by
clicking Show Preview.

> Click Next to start the exporting process.

2. For exporting a file in the controller’s flash:
> Select File in Controller.
> Select the required file from the dropdown list.

You can transpose the array by clicking Transpose.

You can preview the data by clicking Show Preview.

> Click Next to start the exporting process.

The Exporting window is displayed with a running log of the process:

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3. You have the option of saving the log to a file by clicking Save Report which opens a dialog
window:

4. Select a directory and enter a filename. Click Save.

The file extension for all reports is .log.

5. To print the report click Print Report.

6. Click Finish to exit the Application Wizard.

4.2.6 User File Manager

User File Manager is used:
> To view the list of the user files stored in the controller flash
> To preview the contents of the user file
> To delete some or all user files
1. Select Manage User Files in Controller from Select a Task.

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2. Click Next. The Manage User Files in Controller window is displayed:

3. You select the required file(s) either by pressing Ctrl and clicking the files for selecting
individual files, or select a file and press Shift to select a range of files.

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You can view the contents of a file by selecting the file and then clicking Show Preview.

4. To delete selected files, click Delete Selected. Or click Delete All to remove all of the files in
the controller flash.

You can also delete a file by clicking under the delete column in the file's row.

5. You are prompted by:

Click Yes to delete the file.

6. Click Finish to exit the Application Wizard.

4.2.7 Copy File to Controller

Copy File to Controller is used for copying files from the hard disk to the controller.
1. Select Copy File to Controller from Select a Task.

2. Click Next. The Copy File to Controller window is displayed.

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3. Click Browse and select the file for copying from the list that is displayed. Then click Open.

4. Select the controller’s path from the Destination Path dropdown list.

5. Click Next to start the copying process. You are prompted by:

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6. Click OK to start the copying process and wait for the conclusion of the process as indicated
in the Copying window:

7. You have the option of saving the log to a file by clicking Save Report which opens a dialog
window:

8. Select a directory and enter a filename. Click Save.

The file extension for all reports is .log.

9. To print the report click Print Report.

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10. Click Finish to exit the Application Wizard.

4.2.8 Delete File from Controller

Delete File from Controller is used for deleting a file from the controller.
1. Select Delete File from Controller from Select a Task.

2. Click Next. The Delete File from Controller window is displayed.

3. Select the Destination Path of the file you want to delete from the dropdown list.

4. Type the name of the file.

5. Click Next to start the deleting process. When the process is complete, the deleting log is
displayed.

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6. You have the option of saving the log to a file by clicking Save Report which opens a dialog
window:

7. Select a directory and enter a filename. Click Save.

The file extension for all reports is .log.

8. To print the report click Print Report.

9. Click Finish to exit the Application Wizard.

4.3 Program Manager

Program Manager is your principal tool for programming your SPiiPlus Motion Controller. Using
Program Manager you can:
> Load your programs into the controller’s buffers.
> Edit the programs in the buffers.
> Run the programs.
> Debug the programs.

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Once your programs are running properly, it is highly recommended that you save the
contents of the buffers to the controller’s flash memory (see Saving to Flash). In the
event of a loss of electricity, your programs will be restored to the controller’s buffers
upon restart. Not doing this will result in the loss of your programs.

4.3.1 Activating Program Manager

By default, when you initially enter SPiiPlus MMI Application Studio, Program Manager is
automatically displayed. If you have closed it, you can reactivate it by either clicking it in the
Workspace Tree or by:
1. From the Toolbox click Application Development ( ) to display the
Application Development tools.
2. Click Program Manager in the Application Development list of tools.

You can also activate the Program Manager using the right-click Add Component
option of the Workspace Tree - see Controller Right-Click Options .

The Program Manager window is displayed.

4.3.2 Program Manager Window Overview

The Program Manager window has 5 columns:
> Buffer - the number of the buffer
> Select - indicates if the buffer has been selected
> Open - indicates if the buffer has been opened
> Lines - gives the number of program lines in the buffer
> Status - provides the status of the buffer
There are also two toolbars:

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> Buffer Functions - these functions are associated with various buffer actions.
> Buffer Program Functions - these functions are associated with various buffer program
actions.

4.3.2.1 Select
The Select column indicates:

Selected - the buffer has been selected.

Not selected - the buffer has not been selected.

Unused - the buffer is not being used.

You select a buffer by clicking the icon. You can select any and all buffers with the exception of
Unused buffers.

4.3.2.2 Open
The icons in the Open column indicate if a buffer is open or not:

Buffer is open.

Buffer is closed.

They also indicate if the buffer is in the Protected mode, for example:

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There are two icons associated with the Protected mode.

Hidden - the program in the buffer cannot be viewed.

Read-Only - the program in the buffer can be viewed, but cannot be changed.

4.3.2.3 Status
The Buffer Status column displays the current status of the buffer. There are four indications
associated with the Status:

The buffer is empty.

The program in the buffer has been successfully

compiled but is not running.

The program in the buffer is running (the current line

in the program that is being executed is displayed as
the program runs).

An error has been detected in the program in the

buffer (the line number shows the first error to be
detected is displayed along with an error message).

Status Right-Click Menu

Right-clicking the Status displays the following menu:

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Clicking one of the options activates it. Your options are:

Open Buffer - opens the buffer.

Compile Buffer - compiles the program in the buffer.

Run Buffer - runs the program in the selected buffer.

When you click this option, the motors start to move. Also, some of the
limits and safety features may be temporarily disabled. To avoid personal
injury or damage to the equipment, check the following before clicking
the button:
> Ensure that nothing (people, cables, or other obstacles) is in the path of
the motor or objects connected to the motor.
> Ensure that the motor is securely anchored and that proper safety
barriers, stops, and limits are installed.

Step Buffer - executes the command where the cursor is currently sitting. Once
executed, the cursor moves down one line.

Pause Buffer - temporarily halts program running in the buffer. The program can be
restarted byRun Buffer.

Stop Buffer - halts the program running in the buffer. The program can be rerun
byRun Buffer.

Copy Buffer - puts contents of the buffer into the clipboard so they can be copied
into another buffer.

Paste Buffer - copies contents in the clipboard into the buffer.

Clear Buffer - removes the contents from the buffer

Disable Autorountine - disables any autoroutine that is in the buffer. When selected

it changes to Enable Autoroutine in Buffer, which you can select to reenable the
autoroutine in the buffer.

The D-Buffer has a different right-click menu:

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Your options are:

Open D-Buffer - opens the D-Buffer.

Apply changes - applies any changes you have made in the D-Buffer.

4.3.2.4 Buffer Functions Toolbar

The Buffer Functions toolbar contains:

Load from File - loads the contents of a program file that has been
previously saved into the buffer.

Save to File - saves the contents of a buffer to a file on the computer.

Clear Buffer - deletes the contents of a buffer.

Copy Buffer - copies the contents of a buffer to another buffer.

Program Buffer Parameters - sets the PRATE and ONRATE buffer

parameters.

Number of Buffers Selector - select the number of buffers to be

displayed:

The total number of buffers that you can select depends on the
controller. Once you have selected the number, it is stored as part of
the Workspace data.

4.3.2.5 Buffer Program Functions Toolbar

The Buffer Program Functions toolbar contains:

Compile Buffer(s) - compiles the program in the selected buffers

Run Buffer(s) - runs the program in the selected buffers.

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Warning
When you click this button, the motors start to move. Also, some of the limits and
safety features may be temporarily disabled. To avoid personal injury or damage to
the equipment, check the following before clicking the button:

l Ensure that nothing (people, cables, or other obstacles) is in the path of the
motor or objects connected to the motor.
l Ensure that the motor is securely anchored and that proper safety barriers,
stops, and limits are installed.

Step Buffer(s) - executes the command where the cursor is currently sitting for
the selected buffers. Once executed, the cursor moves down one line.

Pause Buffer(s) - temporarily halts programs running in selected buffers. The

program(s) can be restarted by clicking Run Buffer.

Stop Buffer(s) - halts program(s) running in the selected buffers. The program(s)
can be rerun by clicking Run Buffer(s).

Stop All Buffer(s) - halts all running programs. The programs can be rerun by
clicking Run Buffer(s).

Remove All Breakpoints in Buffer(s) - removes all breakpoints that have been set
in the selected buffers.

Trigger Scope - triggers the display of the signals from the running program.

Clear Buffer(s) - removes the contents from the selected buffers.

4.3.3 Programming a Buffer

Clicking Open Buffer ( ) opens the Buffer Editor window in the Workspace which enables you to:
> Enter a program into the buffer manually.
> Edit an existing program (if it is not Protected).
> View a program in the buffer (if it is not Hidden).
> Run the program and watch the progress and status of each program command.
> Debug the program (steps, breakpoints, start from line).

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Buffer Editor Window

Toolbar
The Buffer Editor toolbar contains the following:

Line Numbers - toggles the display of line numbers on and off.

Undo - undoes any changes made and restores the previous contents.
Same as pressing Ctrl+Z.

Redo - reverses preceding undo actions. Same as pressing Ctrl+Z.

Cut - deletes the selected contents and places it in the clipboard. Same as
pressing Ctrl+X.

Copy - places the selected contents into the clipboard. Same as pressing
Ctrl+C.

Paste - pastes the contents of the clipboard into the buffer at the cursor
position. Same as pressing Ctrl+V.

PARAMETER INFO - displays function parameter info. Same as pressing

Ctrl+Shift+Space

FORMAT - formats the contents of the buffer. Same as pressing Ctrl+I

COMMENT - formats the contents of the selected lines. Same as pressing

Ctrl+R

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UNCOMMENT - removes commenting of the selected lines. Same as

pressing Ctrl+T

Compile - compiles the program in the buffer. Same as pressing Ctrl+F5.

RUN runs the program in the buffer. Same as pressing F5.

When you click this option, the motors start to move. Also,
some of the limits and safety features may be temporarily
disabled. To avoid personal injury or damage to the
equipment, check the following before clicking the button:
> Ensure that nothing (people, cables, or other obstacles) is in
the path of the motor or objects connected to the motor.
> Ensure that the motor is securely anchored and that proper
safety barriers, stops, and limits are installed.

Step - executes the command where the cursor is currently sitting. Once
executed, the cursor moves down one line. Same as pressing F9.

Pause - temporarily halts a running program. The program is restarted by

clicking Run. Same as pressing Ctrl+P.

Stop - halts a running program. Same as pressing Shift+F5.

Run to Cursor - executes the program from the start of the program up
to the line where the cursor sits.

Start From - executes the program from the line where the cursor is
sitting.

Set/Remove Breakpoint - sets a breakpoint at the line where the cursor

is sitting. If there is a breakpoint there, it removes the breakpoint. Same
as pressing Ctrl+B.

Remove All Breakpoints - removes all breakpoints that have been set.

Find - activates a search for a user-entered string. Same as pressing

Ctrl+F.

Find & Replace - activates a search for a user-entered string, and replaces
it with another user-entered string.

Workspace
Used for typing in the program commands.

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Status Line
The Status Line provides the status of the program in the buffer. There are four colors associated
with the Status:
> White - the buffer is empty.
> Yellow - the program in the buffer has been successfully compiled but is not running.
> Green - the program in the buffer is running (the current line in the program that is being
executed is displayed as the program runs).
> Red - an error has been detected in the program in the buffer (the error number, line
number, and a brief description of the error of the first error to be detected is displayed).
Cursor Position
Informs you of exactly where in the program the cursor sits.

4.3.3.1 Entering a Program

To enter a new program into a Buffer or modify an existing program:
1. In Program Manager click Open Buffer ( ) of the buffer (or click its Status Line). This opens
the Buffer Editor Window.

2. Type in your program.

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You can view the value of a variable in the program by letting the mouse pointer linger
on the variable. Variables of any type - ACSPL+, user-defined, scalar, arrays (the first 30
elements) - can be viewed.

The current value is displayed in popup window by the mouse pointer.

3. Click Compile ( ) or press Ctrl+F5. Check the Status Line that the program compiled
successfully.

Any work made within a buffer window is stored locally within the MMI workspace. It is
only written to the controller upon compilation (even if compilation fails).

If there is an error in your program, the Status Line provides the error number, the line
number in which the error is detected, and a brief description of the error. Refer to
Chapter 6 of the SPiiPlus Command & Variable Reference Guide for details of errors.

4.3.3.2 Programming the D-Buffer

The D-Buffer is an additional special buffer that provides a place for the definitions of axis names
and global variables. At start-up, the controller loads the D-Buffer before any other buffers.

Executing programs and autoroutines is not supported in D-Buffer.

Axes and global variables defined in D-Buffer are not required to be defined in other buffers
before use. However, such redefinition is not an error, if all the attributes of the definitions are
identical.
To program D-Buffer:
1. In Program Manager click Open Buffer ( ) of D-Buffer (or click its Status Line). The D-Buffer
is displayed:

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D-Buffer differs from other buffers in that it contains default contents. Other buffers
are empty, by default, but the default contents of D-Buffer contain a set of definitions
that provides compatibility with previous Firmware versions.

2. Enter your variable definitions.

You have the following functions on the D-Buffer editor toolbar:

Line Numbers - toggles the display of line numbers on and off.

Undo - undoes any changes made and restores the previous contents.
Same as pressing Ctrl+Z.

Redo - reverses preceding undo actions. Same as pressing Ctrl+Z.

Cut - deletes the selected contents and places it in the clipboard. Same as
pressing Ctrl+X.

Copy - places the selected contents into the clipboard. Same as pressing
Ctrl+C.

Paste - pastes the contents of the clipboard into the buffer at the cursor
position. Same as pressing Ctrl+V.

PARAMETER INFO - displays function parameter info. Same as pressing

Ctrl+Shift+Space

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FORMAT - formats the contents of the buffer. Same as pressing Ctrl+I

COMMENT - formats the contents of the selected lines. Same as pressing

Ctrl+R

UNCOMMENT - removes commenting of the selected lines. Same as

pressing Ctrl+T

APPLY CHANGES - writes changes to the current buffer.

Find - activates a search for a user-entered string. Same as pressing

Ctrl+F.

Find & Replace - activates a search for a user-entered string, and replaces
it with another user-entered string.

3. Click Apply changes ( ) and close the window.

4.3.3.3 Loading Programs from a PC File

To load programs from a PC file:
1. In Program Manager click Load from File ( ), the Load Program dialog window is displayed:

2. Click Browse to search for the file (when found, select the file).

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Program files have a prg file extension.

3. Click OK, the Load Program dialog window displays the default buffer location of each
program contained in the selected file, for example:

You can reassign the buffer location by clicking the Buffers field of the program and selecting the
buffer from the list:

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You can load the same program into more than one buffer.

For controllers set to the Protected mode, if a buffer is tagged with (Hidden buffer)
or (Read-Only buffer), you cannot load a program into it.

You can load a program for the D-Buffer only into the D-Buffer.

4. Click OK.

4.3.3.4 Saving Programs to PC File

Any program in a buffer window can only be saved after compilation.

To save programs from the buffers to a PC file:

1. In Program Manager click Save to File ( ), the Save Buffers dialog window is displayed:

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2. Click Browse to open the browser.

3. Drill down to the directory into within which you want to save your program files, and
either select an existing file (for overwriting), or enter a new file in File name and click
Save. You return to the Save Buffers dialog window.
4. Select the buffers you want to save in Buffer Tree.

For controllers set to the Protected mode, if a buffer is tagged with (Hidden
buffer), you cannot save it to a file.

5. Click Save.

4.3.4 Saving Programs to Flash Memory

1. In the Program Manager, click Save to Flash ( ); the Save to Flash dialog window will
open.

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2. Fill in User, Application, and Remark text boxes as appropriate.

3. Click Save.

4.3.4.1 Clearing Buffers

You can clear the contents of any or all buffers by:
1. In Program Manager click Clear buffers ( ), the Clear Buffers dialog window is displayed:

2. Select buffer(s) to be cleared.

For controllers set to the Protected mode, if a buffer is tagged with (Hidden
buffer) or (Read-Only buffer), you cannot clear a program from it.

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3. Click Clear.

You can also make use of the popup menu that appears when you right-click the
buffer Status Line (see Status Right-Click Menu).

4.3.4.2 Copying Buffers

To copy programs from some buffer to others:

1. In Program Manager click Copy buffers ( ), the Copy Buffers dialog window is displayed:

Note that a buffer cannot be copied into itself.

Select the buffer from which to copy.

For controllers set to the Protected mode, if a buffer is tagged with (Hidden
buffer), you cannot copy the file. However if the buffer is tagged with (Read-Only
buffer), it can be copied into another buffer so long as the destination buffer is not
Read-Only.

2. Select the buffer(s) into which to copy.

3. Click Copy.

You can also make use of the popup menu that appears when you right-click the
buffer Status Line (see Status Right-Click Menu).

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4.3.5 Stepping Buffer Program

To aid you in debugging your program or programs you can use the Program ManagerStep
function to run programs step-by-step. You have the option of using this function on a single
buffer or a number of buffers.

4.3.5.1 Stepping Single Program

To run a single buffer program step-by-step:
1. If the buffer is not open, click Open Buffer ( ) of the required buffer in the Program
Manager.
2. In the Buffer Editor Window click Step Buffer ( ) or press F9.
Note that the Status Line in the Program Manager turns green (indicating that the program
is running) and the line number of the command being executed is displayed.
In addition an arrow appears indicating the line being executed:

The Status Line in the Buffer Editor Window indicates Suspend. If an error is detected, it
turns red.
3. Continue clicking Step Buffer until you have reached the end of the program.

You can stop the program at any point and reset it by clicking Stop ( ) or pressing
Shift+F5.

4.3.5.2 Stepping Multiple Programs

To run several buffer programs step-by-step simultaneously:
1. In Program Manager select the buffers in the Select column.
2. Click Step Buffer(s) ( ) .

You can also make use of the popup menu that appears when you right-click the
buffer Status Line (see Status Right-Click Menu).

The Status for each selected buffer turns green (indicating that the program is running
in them) and the line number of the next command is displayed.

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If an error is detected in any of the buffers, the buffer’s status turns red and the program
line number of the error is displayed.
3. Continue clicking Step Buffer(s) until you have reached the end of the programs.

You can stop the programs at any point and reset them by clicking Stop Buffer(s) ( ).

4.3.6 Setting/Removing Breakpoints

A breakpoint is an intentional stopping or pausing place in your program, put in place for
debugging purposes. More generally, a breakpoint is a means of acquiring knowledge about the
buffer program during its execution. During the interruption, you can inspect the test environment
(logs, memory, files, etc.) to find out if the program functions as expected.
Setting Breakpoints
To set a breakpoint:
1. In Program Manager click Open Buffer ( ).
2. Scroll down to the line at which you want to set the breakpoint.
3. Click Set Breakpoint ( ). A red ball is displayed to the left of the line indicating that a
breakpoint has been set.

You can set as many breakpoints as you want. Once you have set the breakpoints, you can
run the program (see Running/Stopping Buffer Programs). It will run up to the line
containing the breakpoint, and then pause. When you execute it again, it will run from this
line to the next breakpoint.
Removing Breakpoints
To remove breakpoint:
4. In Program Manager click Open Buffer ( ).

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5. Scroll down to the line where the breakpoint is set (indicated by the red ball).
Click Remove Breakpoint ( ). The red ball indicated that a breakpoint has been set for line is no
longer displayed.
You can remove all of the breakpoints by clicking Remove All Breakpoints in Buffer ( ).

4.3.7 Disable/Enable Autoroutines

Autoroutines are similar to hardware interrupts. In distinction to routines that must be explicitly
executed (by way of the ACSPL+ CALL command), the autoroutine is automatically executed when
a specific condition is satisfied. The routine interrupts the currently executing program, executes
the commands specified in the autoroutine body, and then returns control to the interrupted
program.
To disable autoroutines in single buffer:
1. Right-click the buffer.
2. Select Disable Autoroutines in Buffer ( ) from the popup-menu.

Note that the option changes to Enable Autoroutines in Buffer .

To reenable the autoroutines in the buffer:

1. Right-click the buffer.
2. Select Enable Autoroutines in Buffer from the popup-menu.

4.3.8 Setting Program Buffer Parameters

There are two program buffer parameters:
> PRATE - defines the program execution rate in buffer. The execution rate is PRATE lines
per each MPU cycle. Its value ranges between 1 (default) and 10 (maximum).
> ONRATE - When an autoroutine executes in the program buffer, the execution rate is
ONRATE lines per each MPU cycle. Its value ranges between 1 (default) and 10 (maximum).

PRATE is used only if no autoroutine is activated in the buffer. While an autoroutine is

executed, ONRATE defines execution rate.

For example, if PRATE is set to 1 for a buffer, but ONRATE is set to 4, the program in the
buffer will be executed one line per one controller cycle, and any autoroutine specified
in buffer that interrupts the program will be executed four lines per one controller
cycle. When the RET command that terminates the autoroutine is executed, the
controller switches back to the rate of one line per one cycle.

To set the program buffer parameters:

1. In Program Manager click Program Buffer Parameters ( ). The Program Buffer Parameters
window is displayed:

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2. For each buffer enter the required PRATE and ONRATE values, as appropriate, and click
Close.

To set the value to the default, click Default.

If you have changed any of the values, the following prompt appears:

If you want to save the changes to the SPiiPlus Motion Controller flash (recommended), click Yes.
The Save to Flash window is displayed (note that System is selected):

3. Enter:

> Your name in the Name field (optional).

> Application name in the Application field (optional).
> Appropriate remarks in the Remarks field (optional).

4. Click Save.

4.3.9 Running/Stopping Buffer Programs

Running Buffer Programs
To run the buffer program(s):
1. In Program Manager select the buffer (or buffers) in the Select column.

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2. Click Run Buffer(s) ( ).

Run Buffer(s) causes the motors to move. Also, some of the limits and safety features
may be temporarily disabled. To avoid personal injury or damage to the equipment,
check the following before running the program:

Ensure that nothing (people, cables, or other obstacles) is in the path of the
motor or objects connected to the motor.
Ensure that the motor is securely anchored and that proper safety barriers,
stops, and or limits are installed.

If you are working in the Buffer Editor, you can use Run or pressF5to run the
program.

Pausing/Stopping Buffer Programs

To pause programs while running:
In Program Manager select the buffers in the Select column.
Click Pause Buffer(s) ( ).

You can restart the programs by clicking Run Buffer(s)

To stop programs:
1. In Program Manager select the buffer in the Select column
2. Click Stop Buffer(s) ( ).

For Pause Buffer and Stop you can also make use of the popup menu that appears
when you right-click the buffer Status Line (see Status Right-Click Menu).

To stop all programs that are running click Stop All Buffer(s) ( ).

If you are working in the Buffer Editor, you can use Pause or pressCtrl+P to pause the
program, and Stop or press Shift+F5 to stop the program.

4.3.10 Trigger Scope

Once the programs are running, you can analyze the motion using the scope.
To make use of the Scope when running your programs:
1. Activate the Scope (see Activating the Scope).
2. Set the Scope display to Single and Autofit.

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3. In Program Manager click Trigger Scope ( ).

4. In the Select column select the buffer you want to run and click Run Buffer(s) ( ).
You get a display like this:

4.4 Protection Wizard

The controller can be in one of two modes:
> Protected Mode - certain restrictions are placed on the programs in the controller’s
Program buffers. Usually this mode is used to ensure that the programs cannot be edited.
> Not Protected Mode - no restrictions are placed on the Program buffers.
The Protection Wizard is used for setting and unsetting the Protection Mode of the controller. It
leads you through the performance of the following tasks:
> Define Protection
> Update Protection
> Remove Protection
> View Protection

4.4.1 Starting Protection Wizard

1. From the Toolbox click Application Development ( ) to display the
Application Development tools.
2. Click Protection Wizard in the Application Development list of tools.

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You can also activate the Protection Wizard using the right-click Add Component
option of the Workspace Tree - see Controller Right-Click Options.

The Protection Wizard Task window is displayed in the workspace.

3. Select the task you want to perform by clicking the appropriate button and then click Next.

If the controller is in the Not Protected mode, the only task available is Define
Protection.

If the controller is in the Protected mode, the tasks available are: Update Protection,
Remove Protection, and View Protection Status.

4.4.2 Define Protection

The Define Protection task enables you to put the controller into the Protected Mode and to set
certain restrictions on the programs stored in the controller’s buffers.
To define Protection:

This task, and this task only, is available if the controller is in the Not Protected mode.

1. Since this is the only task available, click Next. The Set Protection Level window is
displayed.

There are three tasks that can be performed from the Select Protection Level window:
> Application Protection

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> You perform this task to set the program in the specified buffers to Read Only, that is, it
can be viewed but cannot be modified.
> Intellectual Property Protection
> You perform this task to set the program in the specified buffers such that its contents
cannot be modified and cannot be seen.
> Custom Protection
> There are three tasks that can be performed from the Custom Protection window:
> You can set the program in the specified buffers such that its contents cannot be
modified and/or cannot be seen.
> You can set specified variables to Read Only, that is, it can be viewed but cannot be
modified.
> You allow the system to be reconfigured.

4.4.2.1 Setting Application Protection

1. To set Application Protection, select the button next to Application Protection. Then click
Next. The Buffers Protection task is displayed.

By selecting the Prevent from editing checkbox you set the program in the buffer to
Read Only, that is, it can be viewed but cannot be modified.

2. Click Next. The Preview Changes window is displayed:

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3. Check that the proper Protections are set. If they are, select Accept Changes. Click Next.
The Set Password window is displayed.

4. If you want to set a user password to prevent unauthorized personnel from removing
Protection, type it into the Enter password and Confirm password fields.

A password is not required.

5. Click Next. The controller is rebooted. Wait for the notification of a successful restart.

The controller must be restarted, otherwise the protected programs can become
corrupted.

6. Click OK.
The Report window is displayed.

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7. To save the report click Save report. The browser window is displayed:

8. Select a directory and enter a filename. Click Save.

The file extension for all reports is .log.

9. To print the report click Print report.

10. Click Finish to exit the Protection Wizard.

4.4.2.2 Setting Intellectual Property Protection

1. To set Intellectual Property Protection, select the button next to Intellectual Property
Protection. Then click Next. The Buffers Protection task is displayed.

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By selecting the Prevent from editing and viewing checkbox, you set the program in
the specified buffers such that its contents cannot be modified and cannot be seen.

2. Click Next to preview changes and follow step 3 through step 10 in Setting Application
Protection to complete setting protection and to exit the Protection Wizard.

4.4.2.3 Setting Custom Protection

4.4.2.3.1 Custom buffer protection

1. To set Custom Protection, select the button next to Custom Protection. Then click Next.
The Buffers Protection task is displayed.

By selecting the Custom Protection checkbox, you set the program in the specified
buffers such that its contents cannot be modified and/or cannot be seen.

2. Click Next. The Variables Protection Task is displayed.

4.4.2.3.2 Custom variable protection

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You can click to sort the variables by groups, or to sort alphabetically.

1. Select the appropriate Read only box to prevent the variables from being edited.
You can either set all the variables in a group by selecting the Read only box, or expand
the groups by clicking the tree expansion button: and marking individual variables for
read only.

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2. Click Next. The Advanced Protection Task is displayed.

4.4.2.3.3 Advanced protection options

1. To allow system configuration, select the checkbox.

2. Click Next to preview changes and follow step 3 through step 10 in Setting Application
Protection to complete setting protection and to exit the Protection Wizard.

4.4.3 Update Protection

The Update Protection task enables you to make changes in Protection settings.

This task is available only if the controller is in the Protected mode.

To update Protection data:

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1. Select Update Protection in the Select a Task window.

2. Click Next. The Set Protection Level window is displayed.

3. You have the option of changing the Protection by selecting the appropriate buttons:
> To change Application Protection settings, select the button next to Application
Protection. Then click Next and follow the procedure described in Setting Application
Protection.
> To change Intellectual Property Protection settings, select the button next to Intellectual
Property Protection. Then click Next and follow the procedure described in Setting
Intellectual Property Protection.
> To change Custom Protection settings, select the button next to Custom Protection. Then
click Next and follow the procedure described in Setting Custom Protection.

In the selected protection task, you enable protection or cancel an existing Protection

by clicking the selected checkbox ( ) to toggle it on or off.

4.4.4 Remove Protection

The Remove Protection task enables you to disable the Protection mode.

This task is available only if the controller is in the Protected mode.

To remove Protection:
1. Select Remove Protection in the Select a Task window.

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2. Click Next. The following notification appears:

3. The Enter Password dialog is presented.

4. Enter the password and click Next. The following dialog appears

5. Click Yes. Another confirmation dialog appears.

6. Click OK
7. Wait for the appearance of a successful restart message:

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8. Click OK. The Report window is displayed:

9. To save the report click Save report. The browser window is displayed:

Select a directory and enter a filename. Click Save.

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The file extension for all reports is .log.

10. To print the report click Print log.

11. Click Finish to exit the Protection Wizard.

4.4.5 View Protection

The View Protection task enables you to view the Protection mode settings of the controller.

This task is available only if the controller is in the Protected mode.

To view the Protection mode settings:

1. Select View Projection in the Select a Task window.

2. Click Next. The Buffers Protection task is displayed.

3. Click Next. The Variables Protection is displayed.

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You can view the settings of the individual variables by clicking the tree
expansion button: of the groups.

4. Click Next. The Advanced Protection is displayed.

5. Click Finish to exit the Protection Wizard.

4.4.6 Entering Incorrect Password

If the password that you enter is incorrect, the Protection Wizard displays the following message:

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1. Acknowledge the message by clicking Continue. The task report informs the user that the
task has failed, for example:

2. Your options are:

> Click Back to return to the window with the password field and enter the correct
password, or
> Click Finish to exit the wizard.

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5. Utilities
Utilities include the following tools:
> Upgrade and Recovery Wizard - upgrades your SPiiPlus Motion Controller software and
firmware.
> System Information Viewer - consolidates all the pertinent data about your system and
displays it in a single window.
> Communication Terminal - enables you to enter commands directly to your controller.
These commands are executed as soon as they are received through one of the
communication channels. The results of the command, once executed, appear in the
Communication Terminal window Output panel.

5.1 Accessing Utilities

To access Utilities:
1. If the Toolbox is not displayed, click Toolbox.
2. To display the Utilities list click Utilities.

3. Click the required utility.

5.2 Upgrade and Recovery Wizard

You use the Upgrade and Recovery Wizard to:
> Upgrade the SPiiPlus Motion Controller firmware and user applications or downgrade to
revert to an earlier firmware version.
> Recover a SPiiPlus Motion Controller that has totally stopped functioning.
> Provides the option to set a shortcut for automatically installing updates.

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> Backup specific controller (machine) information to a location that you specify and create
MMC file for Smarter Motion Tools.
> Duplicate by copying the contents in the source directory created by the “Backup Machine”
feature to a SPiiPlus Motion controller.

5.2.1 Starting Upgrade and Recovery Wizard

To start the Upgrade and Recovery Wizard:
1. From the Toolbox click Utilities.
2. Click Upgrade and Recovery Wizard.

You can also activate the Upgrade and Recovery Wizard using the right-click Add
Component option of the Workspace Tree - see Controller Right-Click Options.

The Upgrade and Recovery Wizard Task window appears.

Available tasks are:

> Upgrade Controller Task
> Recovery Task (available only if the controller is disconnected)
> Create Shortcut for Automatic Upgrade Task
> Backup Machine
> Duplicate Machine

5.2.2 Upgrade Controller Task

Upgrading the controller firmware is a dangerous operation that may destroy the
controller if executed improperly. It is strongly recommended that you adhere strictly
to the directions presented by the wizard.

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Upgrading from SPiiPlus NT v1.0 to SPiiPlus NT v2.0 is done through the Recovery Task
and not the Upgrade Controller Task.

To upgrade the controller firmware and user applications:

1. Select Upgrade/Downgrade and click Next. The Select Upgrade Options window is
displayed.

2. Enter the pathname of the directory in which the firmware files are located if different
from what the Upgrade and Recovery has automatically entered, or click Browse and
search for the directory:

3. Click OK.

Normally when you install the firmware on the computer from the ACS Motion Control
Installation CD, by default, it is copied into the Firmware subdirectory of the same
directory in which the SPiiPlus MMI Application Studio is located. However, it may be
stored anywhere.

4. You can select to backup the old firmware by deselecting the No backup checkbox and
entering the pathname of the directory into which the data is to be saved in the Backup

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directory field (or use Browse to find it).

The default is not to backup the old firmware.
5. Enter the path to the Upgrader.exe utility if different from what the Upgrade and
Recovery has automatically entered, or use Browse to find it.

6. Click OK.
7. Click Next. The Select User Application Options window is displayed:

8. You can either skip this task by clicking Next and go to Step 8, or, if you have saved your
application to the computer (see Application Saver), you can load it by selecting the Load
User Application checkbox.

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9. Use the Browse button to locate and select the application data file:

Application data is saved in files having an spi extension.

10. Click Load. The application data is loaded into the window.

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You can see the contents of any buffer program or variable by selecting it and clicking
Show preview of selected item checkbox. For example:

You can control what is loaded from the application data by unselecting the checkbox of
those items you do not want loaded.
11. Click Next. The Preview task window is displayed.

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12. Review the Preview window contents, and if it is what you want to load, click Next.

The Preview window is for information only. In order to make any changes, you have to
use the Back button to return to previous windows and make your changes there.

The Upgrade Firmware window is displayed while the wizard loads the data.

13. When the upgrading is complete, you have the options of:
> Saving the Upgrade Report to a log file by clicking Copy Report. A browser window is
displayed:

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Drill down to the directory in which you want to save the report and enter a name in the
Filename field.
14. Click Save.

All log files have the log file extension.

> Print the Upgrade Report by clicking PRINT REPORT, a Print Preview window is
displayed - seePrint Report Preview Window.
15. Click Finish to exit the Upgrade and Recovery wizard.

5.2.3 Recovery Task

The Recovery task is a routine to restore a SPiiPlus motion controller that has totally stopped
functioning.
To run the Recovery task:
1. Select the controller in the Workspace Tree, and click Disconnect or press Alt+D.

The controller has to be disconnected before the Recovery task can be run.

2. Activate the Upgrade and Recovery wizard (see Starting Upgrade and Recovery Wizard).
3. Click Next. The Start Recovery window is displayed:

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4. Select the SPiiPlus motion controller type from the dropdown list, for example:

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The window display changes depending on the type of controller you have selected:

Perform the following steps appearing in the window:

It is extremely important for the success of this task that you adhere to the instructions
and perform each step in its proper sequence.

> Connect a serial (RS-232) communication cable to the controller’s COM1 port and to any
available COM port on the host computer.
> Select the host’s COM port from the dropdown list.
> Select the current firmware version from the dropdown list.
> Switch the controller off.
> Connect a serial (RS-232) port loop-back adapter to the controller’s COM2 port (as shown in
the picture in the window).

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With the serial port loop-back adapter installed in COM2, you then install the loop back
plug (shown below) on the adapter.

To make the loop back plug, the following pins need to be connected together:
Data Carrier Detect, Data Set Ready and Data Terminal Ready (Pins 1, 6 & 4)
Receive Data and Transmit Data (Pins 2 & 3)
Request To Send and Clear To Send (Pins 7 & 8)
as follows:

> Turn the controller back on.

Perform the following steps appearing in the window:

It is extremely important for the success of this task that you adhere to the instructions
and perform each step in its proper sequence.

1. Connect a serial (RS-232) communication cable to the controller’s COM1 port and to any
available COM port on the host computer.
2. Select host’s COM port from the dropdown list.
3. Turn the power off.

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Power must be turned off to prevent the possibility of electric shock to personnel or
damage to the controller card when extracting the controller to install the jumper.

4. Extract the controller and install the jumper. Then reinstall the controller.
Note that the picture showing the jumper location has changed to match the controller
that you have selected.
5. Turn the power on.
6. Click Next. The controller is restarted:

Wait until the controller has finished rebooting.

7. If you are using SPiiPlus v2.0 or earlier, the Download Recovery Monitor appears.
Otherwise, skip to The Select Upgrade Options window appears:.

The default path and filename (RUNEMB.exe) of the Recovery Monitor is in the same
directory as the SPiiPlus MMI Application Studio.

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8. If for some reason it is somewhere else, click Browse and in the browser window look for
the file: RUNEMB.exe.

and click Open.

9. Click Download ( ), the Recovery Monitor is downloaded to the controller.

Wait for the completion of the downloading.

10. The Select Upgrade Options window appears:

You can select one or more operations from the following list:

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> Upgrade Firmware (with option to save the existing Firmware files in the backup
folder)
> Restore Factory Defaults
> Copy File to Controller
> Delete File from Controller
11. Normally, the firmware files reside in the Firmware subdirectory under the same directory
as the SPiiPlus MMI Application Studio.
If for some reason they are somewhere else, click Browse and search for the directory:

and click OK.

12. You can select to backup the old firmware by deselecting the No backup checkbox and
entering the pathname of the directory into which the data is to be saved in the Backup
directory field (or use Browse to find it).
The default is not to backup the old firmware.
13. Enter the path to the Upgrader.exe utility or use Browse to find it.

and click OK.

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You also have the option of loading the factory default values by selecting the Restore
Factory Defaults checkbox.

14. The Preview window is displayed:

Review the contents of the Preview window, and if it is what you want to load to the
controller, click Next.

The Preview window is for information only. In order to make any changes, you have to
use the Back button to return to previous windows and make your changes there.

15. The Upgrading Firmware window is displayed showing the progress of the Recovery.

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16. Wait for the completion of the process. On completion you have two options.
> Saving the Upload Firmware Report to a log file by clicking Save report. A browser
window is displayed:

Drill down to the directory in which you want to save the report and enter a name in the
Filename field. Then click Save.

All log files have the log file extension.

> Printing the Upload Firmware Report by clicking PRINT REPORT. A PRINT PREVIEW
window is displayed. See Print Report Preview Window
17. Click Finish.

In order for the changes to take effect you have to reboot the controller - see
Controller Reboot.

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5.2.4 Create Shortcut for Automatic Upgrade Task

This task enables you to create a batch file that can be used to automatically upgrade your SPiiPlus
Motion Controller.

To create the automatic upgrade shortcut:

1. Select Create shortcut for automatic upgrade and click Next. The Select Batch File Name for
Automatic Upgrade window is displayed.

2. Click Browse to enter a path and filename where the upgrade routine will be saved.

Drill down to the directory in which you want to save the batch file, and enter a name in
the Filename field. Then click Save.
3. Click Next. The Select Upgrade Options window is displayed.

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4. Enter the pathname of the directory in which the firmware files are located, or click
Browse and search for the directory:

and click OK.

Normally when you install the firmware on the computer from the ACS Motion Control
Installation CD, by default it is copied into the Firmware subdirectory of the SPiiPlus
<version number> directory as shown above. However, it may be stored anywhere.

5. You can select to backup the old firmware by deselecting the No backup checkbox and
entering the pathname of the directory into which the data is to be saved in the Backup
directory field (or use Browse to find it).
The default is not to backup the old firmware.
6. Enter the path to the Upgrader.exe utility or use Browse to find it.

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and click OK.

7. Click Next. The Select User Application Options window is displayed:

8. You can either skip this task by clicking Next and go to Step 10, or, if you have saved your
application to the computer (see Application Saver), you can load it by selecting the LOAD
USER APPLICATION checkbox.

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9. Use the Browse button to locate and select the application data file:

Application data is saved in files having an spi extension.

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Click Load. The application data is loaded into the window.

You can see the contents of any buffer program or variable by selecting it and clicking
Show preview of selected item checkbox. For example:

You can control what is loaded from the application data by unselecting the checkbox of
those items you do not want loaded. Click Next. The Preview task window is displayed.

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10. Review the contents of the Preview window, and if it is what you want to load, click Next.

The Preview window is for information only. In order to make any changes, you have to
use the Back button to return to previous windows and make your changes there.

The Creating Shortcut is displayed while the wizard creates the batch file.

11. When the creation of the batch job is complete, you have the options of:

> Saving the Shortcut Creation Report to a log file by clicking Save report ( ).
A browser window is displayed:

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Drill down to the directory in which you want to save the report and enter a name in the
Filename field. Then click Save.

All log files have the log file extension.

> Clicking PRINT REPORT. A PRINT PREVIEW window is displayed. See Print Report
Preview Window
12. Click Finish.

5.2.5 Backup Machine

The Backup Machine function allows the user to store all application level information (axes, system
parameters, user defined parameters) as well as system configuration (Firmware, DSPs). The
backup location is selected by the user on the host computer. This information can later be used as
input for “duplicate machine” functionality.
1. Select Backup Machine and click Next. The Select Backup Machine Options window is
displayed.

2. Enter the backup directory path to save the backup machine files, or click Browse and
search for the directory.

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3. Enter the path to the Upgrader.exe utility if different from what the Upgrade and
Recovery has automatically entered, or click Browse and search for the directory.
4. Click Next. The Preview window is displayed.

5. Veryify the Backup Directory and Upgrader Utility locations and make any necessary
changes, then Click Next. A warning message is displayed.

6. Click OK. The Creating Backup window is displayed.

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7. If desired, click Save Report or Print Report.

8. Click Finish.

5.2.6 Duplicate Machine

This functionality is based on “Backup Machine” feature output. User selects the source directory
which was created by “Backup Machine” feature. The contents of the selected folder are copied to
the controller.
1. Select Duplicate Machine and click Next. The Select Duplicate Machine Options window is
displayed.

2. Enter the pathname of the source directory in which to save the duplicate machine files, or
click Browse and search for the directory.
3. Enter the path to the Upgrader.exe utility if different from what the Upgrade and
Recovery has automatically entered, or click Browse and search for the file path.
4. Click Next. The Preview window is displayed.

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5. Verify the Source Directory and Upgrader Utility locations and make any necessary
changes, then Click Next. A warning message is displayed.

6. Click OK. The Duplicating Machine window is displayed.

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7. If desired, click Save Report or Print Report.

8. Click Finish.

5.3 System Information Viewer

The System Information Viewer consolidates all of the system information and enables you to view
it in one place. It is extremely convenient in that it relieves you of having to activate numerous
SPiiPlus MMI Application Studio tools to get the same information.

5.3.1 Activating the System Information Viewer

To activate the System Information Viewer:
1. From the Toolbox click Utilities to display the list of utilities.
2. Click System Information Viewer in the list of utilities.

You can also activate the System Information Viewer using the right-click Add
Component option of the Workspace Tree.

The System Information Viewer window is displayed in the workspace.

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5.3.2 System Information Viewer Window

The components of the System Information Viewer window are:

Functions
The System Information Viewer has the following function buttons:

Causes the System Information Viewer to re-read your system and update, if
necessary, the information that is displayed.
There are two cases when you use this:
Refresh A change has been made to one or more of the components during operation
and you want an updated version of the information.
You have loaded a previously saved snapshot of the System Information and you
want to restore the correct information.

Enables you to save a snapshot of the System Information to a file on the

Save
computer.

Enables you to load the System Information snapshot that has been previously
Load
saved on your computer into the System Information Viewer.

System Information Tree

There are two different structures of the System Information Tree:
> EtherCAT Network System Information Tree - reflects a system that consists network
elements.
> Non-EtherCAT Network System Information Tree - This structure reflects a system that is
not network-based.

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System Information Panel

The System Information Panel displays the information for the selected item in the System
Information Tree.
When you select a main branch of the System Information Tree, the System Information Viewer
displays all the information for the branch, for example:

When you select a sub-branch, the System Information Viewer displays only the information for the
sub-branch, for example:

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5.3.3 EtherCAT Network System Information Tree

An EtherCAT network-based System Information Tree has the following items:
> Computer Environment
> ACS Motion Control Software
> Host-Control Communication
> Application Protection
> Controller Options
> System Configuration

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> Safety & Fault Response

> EtherCAT Configuration

5.3.3.1 Computer Environment

Computer Environment displays the host computer data, including:
> User - Name of the user currently logged into the system
> Processor - Displays the technical information of the host computer’s processor
> Memory - Displays the amount used and amount available of the physical and virtual
memories.
> Operating System - Displays the name of the operating system and version number

5.3.3.2 ACS Motion Control Software

ACS Motion Control Software displays:
> C/.NET Library - the most current versions of the C and .NETLibraries.
> MMI Application Studio Components - each tool and application making up the SPiiPlus MMI
Application Studio.

5.3.3.3 Host-Control Communication

Host-Control Communication includes:
> General - displays the timeout setting and remote connection status
> Communication Channels - displays all of the available communication channels by channel
number, type and mode
> Active Communication Channel - displays the currently active communication channel,
including connection type, IP address, controller port number and network type

5.3.3.4 Application Protection

An application can have one of two states: Protected, that is, some variables have been protected
from change, or Unprotected. See Protection Wizard for details.

5.3.3.5 Controller Options

Controller Options displays the status of various controller options that may exist, such as total
number of axes, number of SIN-COS encoders, whether or not Input Shaping is on, number of non-
ACS drivers are connected, and for each node that is connected, it displays the Unit ID and DIP
switch settings (if exists).

5.3.3.6 System Configuration

System Configuration includes:
> General - Displays the name of the network, firmware version of the controller, serial and
part number of the controller
> Hardware - Displays data of the hardware, including such things as the MPU, Ethernet
adapter, and EtherCAT adapter.

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> Axes - Displays a consolidated listing of all the axes that have been defined in the system,
including their numbers, types of drives, operating current (continuous and peak), etc.
> Network Units
For each unit in the network the following is provided:
> General - Displays the unit’s ID and DIP switch settings (if exists), part number, vendor
ID, controller part number, vendor ID, network system name ID, revision, controller
serial number, hardware ID, FPGA ID
> Axes Assignments - Displays the axes numbers as assigned to the unit
> Inputs/Outputs Assignments - Displays the values of the IN and OUT (Digital I/O), AIN
and AOUT (Analog I/O), and EXTIN and EXTOUT (External I/O) variables along with the
number of HSSI channels
> Integrated Components

This appears only if the unit is one of the MC4U products.

> Lists all the components that make up the unit, such as power supply(s), controller(s),
and drivers, and displays the information for each component
> Servo Processors - Displays the Servo Processors (SP) contained in the unit

5.3.3.7 Safety & Fault Response

This displays the following for each axis:
> The FAULT value for the selected axis.
> A list of the faults and the value of the selected fault for each axis.

5.3.3.8 EtherCAT Configuration

This provides the same information as running #ETHERCAT in the System Commands command in
the Communication Terminal. It divides the information between the Node and the Input/Output
Network Variables.

5.3.4 Non-EtherCAT Network System Information Tree

A non-EtherCAT network-based System Information Tree has the following items:
> Computer Environment
> ACS Motion Control Software
> Host-Control Communication
> Application Protection
> Controller Options
> System Configuration
> Safety & Fault Response

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5.3.4.1 Computer Environment

Computer Environment displays the host computer data, including:
> User - Name of the user currently logged into the system
> Processor - Displays the technical information of the host computer’s processor
> Memory - Displays the amount used and amount available of the physical and virtual
memories.
> Operating System - Displays the name of the operating system and version number

5.3.4.2 ACS Motion Control Software

ACS Motion Control Software displays:
> C/.NET Library - the most current versions of the C and .NET Libraries.
> MMI Application Studio Components - each tool and application making up the SPiiPlus MMI
Application Studio.

5.3.4.3 Host-Control Communication

Host-Control Communication includes:
> General - Displays the timeout setting and remote connection status
> Communication Channels - Displays all of the available communication channels by channel
number, type and mode
> Active Communication Channel - Displays the currently active communication channel,
including connection type, IP address, controller port number and network type

5.3.4.4 Application Protection

An application can have one of two states: Protected, that is, some variables have been protected
from change, or Unprotected. See Protection Wizard for details.

5.3.4.5 Controller Options

Controller Options displays the status of various controller options that may exist, such as, number
of SIN-COS encoders, whether or not Input Shaping is on, Servo Features mask, etc.

5.3.4.6 System Configuration

System Configuration includes:
> General - Displays the name of the network if the controller is connected through a LAN,
firmware version of the controller, serial and part number of the controller
> Hardware - Displays data of the hardware, including such things as the MPU, Ethernet
adapter(s), controller card revision and number of Servo Processors.
> Axes - Displays the list of axes controlled by the controller, the type of drives that those
axes can control, the operating current (continuous and peak) for integrated axes, and the
PEG status that have been defined for the axes.
> Inputs/Outputs - Displays what axes have been defined for the IN and OUT (Digital I/O), and
AIN and AOUT (Analog I/O) variables along with the number of HSSI channels

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> Integrated Modules - Lists all the components that make up the unit, such as power supply
(s), controller, and drivers, and displays the information for each component, including such
things as type, axes associated with the component, voltage and amperage values, etc.

This appears only if the unit is one of the MC4U products.

> Servo Processors - Displays the Servo Processors (SP) contained in the unit with a brief
description of the functionality of each SP.

5.3.4.7 Safety & Fault Response

This displays the following for each axis:
> The FAULT value for the selected axis
> A list of the faults and the value of the selected fault for each axis

5.3.5 Saving System Information

To save the System Information to a file on your computer:
1. Click Save ( ). The browser is displayed.

2. Browse to the location where you want to save the information and click Save.

The System Information data is saved in a file having an .ini file extension.

5.3.6 Loading System Information

To load System Information that has been previously saved on your computer:
1. Click Load. The browser is displayed.

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2. Browse to the location where you saved the information and click Open. The System
Information stored in the file is then displayed in the System Information Viewer.

5.4 Communication Terminal

Communication Terminal enables you to enter commands directly to the controller.
There are two types of commands that can be entered through Communication Terminal:
> ASCPL+ Commands - valid ASCPL+ command or a string of ASCPL+ commands.

Only certain ACSPL+ commands may be strung together. The commands that you can
enter in this way must be fairly simple. You cannot, for example, enter ACSPL+ loops or
conditional commands.

> Terminal Commands - commands that are specific to the Communication Terminal and are
not part of the ACSPL+ commands and variables set.

5.4.1 Accessing Communication Terminal

By default Communication Terminal is loaded when SPiiPlus MMI Application Studio is first activated.
However, if you have closed the Communication Terminal window, or removed Terminal from the
Workspace Tree, you can activate it again by:
> Access Communication Terminal from Workspace Tree
> Access Communication Terminal from Utilities

5.4.1.1 Access Communication Terminal from Workspace Tree

1. Display Workspace.

2. Click Communication Terminal.

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5.4.1.2 Access Communication Terminal from Utilities

Since the Communication Terminal is one of the SPiiPlus MMI Application Studio Utilities, it can be
accessed by:
1. From the Toolbox click Utilities.
2. Click Communication Terminal.

You can also activate Communication Terminal using the right-click options of the
Workspace Tree (see Controller Right-Click Options).

5.4.2 The Communication Terminal Window

The Communication Terminal window consists of:

Command Line
The Command Line is used for entering the commands. You can enter ASCPL+ commands or
Communication Terminal Commands.

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Certain ACSPL+ commands may be strung together using the semicolon (;) as a
delimiter, for example:

SET FPOS0 = 0;ENABLE X;PTP X, 10000

In the example, the initial position of the X axis is set to 0, then the axis is enabled, and
a point-to-point command is executed. If you were to enter the Communication
Terminal query command, ?FPOS0 after sending the string, you would get a response
of 10000.

The commands that you can enter in this way must be fairly simple. You cannot, for
example, use loops or conditionals.

Communication Terminal commands, however, cannot be strung together; they must

be entered individually.

Once you have typed in the command(s), press Enter to send the command, or click Send.
You also have the option of sending the command(s) and seeing the system reaction on the by
clicking Send And Trigger Scope.
Output Window
The Output Window displays what you have sent and reactions to Communication Terminal
commands. For example;

Communications Tools Bar

You have the following Communication options available to you.
> Show Messages - a program that is running in the controller may have display commands
(such as DISP) that you might want to see, in which case you click this and the messages
are displayed.
> Background Communication - selecting this option causes the display of the ongoing
communication checks that Communication Terminal conducts with the controller.

Currently Exclusive Communication is not supported.

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Printout Tools Bar

You have the following Printout options available to you.
> Clear - selecting this clears the Output Window.
> Save Printout - selecting this enables you to save the contents of the Output Window to a
text file.
> Continuous Save - selecting this enables you to open a text file and Communication
Terminal will save the running contents of the Output Window until you close
Communication Terminal.

5.4.3 Saving Communication Terminal Command Output to File

To save the output of a Communication Terminal command:
1. Run the Communication Terminal command.
2. Click Save Printout, a browser window is displayed:

3. Use the browser to select where you want to store the file, enter a File Name and click
Save.

If you select Continuous Save instead of Save, Communication Terminal displays the
same browser. Once you have designated a file to which Terminal is to write the
command output, Communication Terminal appends the output of each command you
enter to the file. When you close Communication Terminal, the file is closed.

5.4.4 Communication Terminal Commands

Communication Terminal commands are divided into:
> Query Commands
> Program Management Commands
> System Commands

5.4.4.1 Query Commands

Query commands are designated by the question mark (?).

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Command &
Description
Syntax

?[ACSPL+ variable Returns the current value of a ACSPL+ variable. The ACSPL+ variable
name] name must be entered in all CAPs.

?[ACSPL+ variable
Returns the current value of listed standard variables. The ACSPL+
name], [ACSPL+
variable name must be entered in all CAPs.
variable name]...

??[ACSPL+ Returns a brief description of the ACSPL+ variable. The ACSPL+ variable
variable name] name must be entered in all CAPs.

?[buffer number]: Returns the current values of a local user variable or array defined in a
[local user- program buffer. The variable name must be entered exactly as it
defined variable] appears in the program.

Returns the current value of a specific element in the given array. The
?[array_variable
brackets enclosing the index are optional. If it is an ACSPL+ array
(index)]
variable, it must be entered in all CAPs.

?[global user Returns the current values of a global user variable or array.
array_variable
[(index)]] Or the value of an element in the array if index is included.

Returns the current value(s) of an element in a two dimensional

?[matrix_variable matrix.
(row_index) (col_
index)] The indices may be entered as a range, e.g., (0,4) is the first through
fifth, inclusively.

?[buffer number] Returns the current status and information about a program buffer

?# Returns the current status of all program buffers.

?$ Returns the current status of all motors.

?VR Returns the firmware version

Returns the controller serial number and hardware version - indicated

?SN
by a letter.

Returns the error code number. If the error code is included in the
??[error code]
query, returns error description.

By adding tags you can determine the format of the response to the Query.

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Format Description

Decimal format.
?D/ This format is identical to the default format for integer variables. When applied
to a state variable, the format displays the decimal presentation of the variable.

Hexadecimal format.
?X/ When applied to an integer variable, this format displays the hexadecimal
presentation of the variable.

Binary format.

?B/ This format is identical to the default format for the IN and OUT variables. When
applied to an integer variable, the format displays the binary presentation of the
variable.

Extended format.
This format is useful for very large or small real values, when the default format
?E/ produces ambiguous results because the default does not provide enough
positions to display very large or very small numbers. When applied to a real
variable, the format displays each value in 20 positions.

You also have the option specifying a format using C notation. The specification is placed just
before the variable name in curly brackets. The specification applies only to the value of the name
that is included in the command. If an array is queried, the specification applies to each element of
the array.
C notation provides an unlimited number of possible formats. Some examples are:

Format Description

The motor feedback values for all axes are displayed in 12 digits, fixed
?
decimal point, 3 digits after the point. The same format applies to all 8
{%12.3f}FPOS
values.

?{%8.0f}X_
8 digits, no decimal point, no fraction digits.
FPOS

?{XFPOS =
%8.0f}X_ The response will look like XFPOS = 1234.
FPOS

?{%08X} X_
8 digits, hexadecimal format with leading zeros
MST

5.4.4.2 Program Management Commands

Program Management commands are used for:
> Buffer Handling

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> Program Variables Handling

> Program Handling
> Debug Handling
The Program Management commands are designated by the pound (#) character.

In those commands including a line designation, the line designation can appear in one
of the following forms:

> Single number - Specifies only one line.

> Two numbers separated by comma - Specifies a range of lines. If the
second number is larger than a total number of lines in the program,
the list range spans the last program line.
> Label preceded by a slash (/) character - Specifies the line containing the
designated label.
> Label preceded by a slash (/) character, then a comma and number -
Specifies a range of lines starting from the line with the designated
label.

Items enclosed in square brackets, for example, [buffer_no], are optional.

5.4.4.2.1 Buffer Handling

These commands enable you to open buffers for entering program commands, searching the
buffer contents, deleting contents from the buffer, and the like. The buffer commands are:

All Terminal commands are case-sensitive and must be entered as listed.

> # - Open/Close buffer

> D - Delete
> F - Find
> FI - Case-sensitive Find

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Command Syntax Description

The # (Open/Close Buffer) command is used to open and

close a buffer for the purpose of entering code. Where:
> buffer_no - Specifies the buffer, a number
between 0 and 10.
#buffer_no > I - Optional, if included, opens the buffer for
#
[I][line_no] insertion of code. If omitted, the command closes
the buffer.
> line_no - Optional, if included, the command opens
the buffer specified by buffer_no and sets the
insert line before the line specified by line_no.

The D (Delete) command deletes the specified lines in the

buffer. Where:
> buffer_no - Specifies the buffer, a number
between 0 and 10.
> line_no - Specifies the line to delete. If a second
#buffer_
line_no (separated by a comma) is included, it
D noDline_no
specifies a range of lines. If the second number is
[,line_no] larger than the total number of lines in the
program, the delete range includes the last
program line.
If a buffer is open, the D command that addresses the
buffer shifts the insert line to before the first undeleted
line.

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Command Syntax Description

The F and FI (Find/Find Case-sensitive) commands are used

to search for specific text in a specified buffer or in all
buffers. Where:
> buffer_no - Specifies the buffer, a number
between 0 and 10. If # is used, the search is
conducted throughout all buffers.
> search_string - The text being sought.
#buffer_ > line_no - Optional, if included, line_no defines the
noF/search_ start line for the search. Otherwise, the search
F string [,line_ starts from the first line.
no]
search_string in search commands can be a label or a label
#buffer_ and number separated by comma. The label in the search_
FI noFI/search_ string is not, however, limited to labels in the program, any
string [,line_ name may be specified. Therefore, the command can be
no] used to search for any variable, constant, label or keyword.
The search terminates when the first entry of the specified
text is found, or the buffer end is reached. The command
reports the line that contains the text, or an error message if
the text was not found.
To find the next entry, you have to execute the command
again, specifying the new start line number of the reported
line plus one.

5.4.4.2.2 Program Variables Handling

There are three types of variables:

> ACSPL+ Standard Variables – variables built into ACSPL+
> SP Variables – variables built into the controller
> User-Defined Variables – variables that you have declared in your program
These commands enable you to list variables. The commands are:

All Communication Terminal commands are case-sensitive and must be entered as

listed.

> VS - Display ACSPL+ variable names

> VSG - Display ACSPL+ variable names within ACSPL+ variable name categories
> VSF - Display of ACSPL+ variable names and attributes
> VSGF - Display of ACSPL+ variable names and attributes
> VSP - Display SP variables

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> VGR - Display categories within which ACSPL+ variables are grouped
> VSD - Display brief description of ACSPL+ variables
> VG - Display list of all global variables
> VGF - Display all global variables and attributes
> VL - Display local variables
> VLF - Display local variables and attributes
> V - Display user-defined global and local variables
> VF - Display of user-defined global and local variables and attributes
> L - List program
> VST - Display ACSPL+ variables which can be protected using the Protection Wizard
> VSGT - Display ACSPL+ variables for ACSPL+ variable categories which can be protected
using the Protection Wizard
> VSTF - Display ACSPL+ variables which can be protected using the Protection Wizard and
their attributes
> VSGTF - Display ACSPL+ variables for ACSPL+ variable categories which can be protected
using the Protection Wizard and their attributes
> VSDT - Display ACSPL+ variables for ACSPL+ variable categories which can be protected
using the Protection Wizard and their attributes
> RESET - Reset program variables to factory defaults
> VGV - Remove global variables set through Terminal

Command Syntax Description

Both the VS and VSG commands display the names of the

ACSPL+ standard variables.

#VS group_name is the name of the category within which

VS ACSPL+ variables are grouped (for the categories see VGR).
#VSG
When group_name is added to the VSG command, the names
VSG [group_
of the ACSPL+ standard variables within the specified
name]
category are listed. group_name is case-sensitive and must
be entered exactly as given in the list displayed by VGR, for
example, #VSG Axis_State.

#VSF Both the VSF and VSGF commands, in addition to the variable
VSF names, display the variable type, the number of elements
#VSGF (for arrays only), address of the variable in the controller
VSGF [group_ memory and the step between array elements (for arrays
name] only).

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Command Syntax Description

group_name is the name of the category within which

ACSPL+ variables are grouped (for the categories see #VGR.
When group_name is included in the VSGF command, the
names of the ACSPL+ standard variables within the specified
category and their details are listed. group_name is case-
sensitive and must be entered exactly as given in the list
displayed by VGR, for example, #VSGF Axis_State.

The VSP (List Servo Processor Variables) provides a list of SP

variables that are defined in the program in the specified SP.
#VSPservo_ servo_number is an integer number, 0, 1, 2, or 3, specifying
VSP
number the SP.
Each variable name in the list is accompanied by an SP
address of the variable.

The VGR command, without group_name, lists the categories

within which the ACSPL+ variables are grouped. These are:
> Axis_State
> Monitoring
> Motion
> Safety_Control
> Inputs_Outputs
> Program_Execution_Control
> System_Configuration
#VGR > Axis_Configuration
VGR [group_
> Communication
name]
> Commutation
> Data_Collection
> Servo_Loop
> Miscellaneous
> Obsolete
group_name, when included, is the category name and must
be one of the above. It is case-sensitive and must be entered
exactly as given in the list, for example, #VGR Axis_State.
When included in the command, all ACSPL+ variables within
the category is listed.

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Command Syntax Description

The VSD command, without group_name, lists all ACSPL+

variables with a short description.
group_name is the name of the category within which
#VSD ACSPL+ variables are grouped (for the categories see VGR).
VSD [group_ When group_name is added to the VSD command, the
name] ACSPL+ variables within the specified category and a brief
description of each variable is listed. group_name is case-
sensitive and must be entered exactly as given in the list
displayed by VGR, for example, #VSD Axis_State

The VG command lists all global variable names in the system.

If buffer_no (a number between 0 and 10) is included, VG lists
all the global variables in the specified buffer.
#[buffer_ The VGF command, in addition to the global variable names,
no]VG lists the variable type, the number of elements (for arrays
VG only), address of the variable in the controller memory and
#[buffer_
VGF no]VGF the step between array elements (for arrays only).
[variable_ If buffer_no (a number between 0 and 10) is included, VGF
name] lists the details for all the global variables in the specified
buffer.
If variable_name specifying one of the global variables is
included, VGF lists the details just for the specified variable.

The VL command lists all local variable names in the system. If

buffer_no (a number between 0 and 10) is included, VL lists all
the local variable names in the specified buffer.
#[buffer_ The VLF command, in addition to the local variable names,
no]VL lists the variable type, the number of elements (for arrays
VL only), address of the variable in the controller memory and
#[buffer_
the step between array elements (for arrays only).
VLF no]VLF
[variable_ If buffer_no (a number between 0 and 10) is included, VLF
name] lists the details for all the local variables in the specified
buffer.
If variable_name specifying one of the local variables is
included, VLF lists the details just for the specified variable.

#[buffer_ The V command lists all user-defined variable names in the

V no]V system.
VF #[buffer_ If buffer_no (a number between 0 and 10) is included, V lists
no]VF all the user-defined variables in the specified buffer.

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Command Syntax Description

The VF command, in addition to the variable names, lists the

variable type, the number of elements (for arrays only),
address of the variable in the controller memory and the step
between array elements (for arrays only).
If buffer_no is included, VF lists the details of all the user-
defined variables in the specified buffer.

The L (List) command is used for displaying a program listing.

The listing contains all program lines preceded by line
numbers. Each line appears exactly as it was inserted. No
automatic formatting is provided.
To address all buffers the # character is used instead of the
#buffer_
buffer number, for example, the command ##L provides a
L noL[line_
listing of all programs in all buffers.
no]
If line_no is included, L lists the contents of the specified line.
If a buffer does not contain the specified line number, only
the buffer number is listed.
If the buffer is empty, the list includes the buffer designation
followed by the first line (0) which is blank.

Both the VST and VSGT commands display a list of ACSPL+

variables to which Program Variables Handling can be applied.

#VST However, when group_name, the name of the category

VST within which ACSPL+ variables are grouped (for the
#VSGT
categories see VGR), is included with the VSGT command, the
VSGT [group_
ACSPL+ variables within the specified category are listed.
name]
group_name is case-sensitive and must be entered exactly as
given in the list displayed by VGR, for example, #VSGT Axis_
State.

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Command Syntax Description

The VSTF, VSGTF, and VSDT commands all list the variable
names, the variable type, the number of elements (for arrays
only), address of the variable in the controller memory and
#VSTF the step between array elements (for arrays only) of those
VSTF
#VSGTF ACSPL+ variables to which Program Variables Handling can be
[group_ applied.
VSGTF name] However, when group_name, the name of the category
#VSDT within which ACSPL+ variables are grouped (for the
[group_ categories see VGR), is included with the VSGTF or VSDT
VSDT
name] command, the ACSPL+ variables within the specified category
are listed. group_name is case-sensitive and must be entered
exactly as given in the list displayed by VGR, for example,
#VSGTF Axis_State.

The RESET command is used to reset the controller to factory

default state.
RESET #RESET The RESET command can be issued even if the application is in
the Protected mode (see Program Variables Handling), in
which case the password, if included, is not needed.

The VGV command is used to remove global variables that

#VGV have been set via Terminal. If global_var (the name of the
VGV
[global_var] variable) is included, it removes only this variable; otherwise it
removes all of them.

5.4.4.2.3 Program Handling

These commands are used for compiling, executing, pausing and halting the program. The
commands are:

All Communication Terminal commands are case-sensitive and must be entered as

listed.

> C - Compile program

> X - Execute program
> S - Stop program
> SR - Stop and reset program
> P - Pause program

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Command Syntax Description

The C (Compile) command compiles a program in the buffer or all

programs in all buffers, depending on the buffer qualifier.
Where:

> buffer_no - Specifies the buffer, a number

between 0 and 10.

The C command must not include a line qualifier and is prohibited

when the buffer is in the Run or Suspended states.
The C command is not obligatory in order to execute a program.
When the X (Execute) command is issued, the controller
automatically compiles the program if it was not previously
compiled. However, a separate compilation step is required in
the following cases:
#
C [buffer_ > To check the program correctness without
no]C executing it.
> The program is not intended for direct starting,
but contains autoroutines. The autoroutines are
ready for execution only after compilation.
> The program is intended for starting from
another program by the START command. The
program started by the START command must be
compiled before the START command can be
executed.

If the program is successfully compiled, the Terminal displays a

short report of how many lines were compiled. If an error was
encountered, Terminal reports the error code and the line
number in which the error was found.

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Command Syntax Description

The X (Execute) command starts a program in a specific buffer,

and can be executed in any program state except the Run state.
Where:
> buffer_no - Specifies the buffer, a number between 0
and 10. It must specify one buffer only.
> line_no - Can be a line number or a label. Execution
starts from the specified line. If included, line_no
#buffer_
defines a specific line to be listed. Otherwise the
X noX
program starts from the first line.
[line_no]
If the state of the program is Not Compiled, the controller first
compiles the program and then starts it. If an error was
encountered during compilation, the program does not start.
If the state of the program is Suspended, the X command
resumes the program execution. In this case the command must
not contain line_no because execution resumes from the point
where the program was suspended.

The S (Stop) command terminates program execution in a buffer

or execution of all programs in all buffers.
The SR (Stop and Reset) command terminates program
execution in a buffer or execution of all programs in all buffers,
and resets the buffer or all buffers to the Not Compiled state.
The command provides the decompile function, which is useful
# if the program contains autoroutines that are ready to start
[buffer_ when the buffer is in Compiled state. Where:
S no]S > buffer_no - Specifies the buffer, a number between 0
SR # and 10. It must specify one buffer only.
[buffer_ If buffer_no is omitted, this will stop, or stop and reset all
no]SR programs in all buffers, or the # character may be used as the
buffer_no, for example, ##S, which will do the same.
Program termination commands must not include line qualifiers.
The S command can be issued in any program state.
The issuance of the SR command effectively prevents the
activation of autoroutines.

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Command Syntax Description

The P (Pause) command suspends program execution in a

buffer. Where:
> buffer_no - Specifies the buffer, a number between 0
and 10. It must specify one buffer only.
The # character may be used instead of a buffer number, for
example, ##P, in which case the execution of all programs in all
#buffer_ buffers is suspended.
P
noP The P command must not include a line qualifier.
P commands are allowed in any program state, but in all states,
other than Run, the command has no effect.
If the program is in the Suspended state, the X command
resumes execution. The S command transfers the buffer to the
Compiled state. The SR command transfers the buffer to the Not
Compiled state.

5.4.4.2.4 Debug Handling

The Debug commands enable you to run your program in the Debug Mode, set breakpoints and to
run sections of the program. The commands are:

All Communication Terminal commands are case-sensitive and must be entered as

listed.

> XS - Execute one step

> XD - Execute program in Debug mode
> BS - Set breakpoint
> BR - Reset breakpoint

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Command Syntax Description

The XS (Execute One Step) command executes one program

line. Where:

> buffer_no - Specifies the buffer, a number

#buffer_ between 0 and 10. It must specify one buffer
XS noXSline_ only.
no > line_no - Can be a line number or a label.
Indicates what line to run.

After executing the specified line_no, the buffer

automatically enters the Suspended state.

The XD (Execute in Debug Mode) command executes the

program up to the next breakpoint. Where:
#buffer_
XD > buffer_no - Specifies the buffer, a number between
noXD
0 and 10. It must specify one buffer only.

The command is similar to the X command. The difference is

that the X command ignores breakpoints in the program. If
the program is started by the XD command, it will stop when
XD
it reaches a breakpoint. At the breakpoint the program
(CONTINUED) transfers to the Suspended state and can be started again by
the X, XS or XD commands.

The BS (Set Breakpoint) command sets a breakpoint at the

specified line. Where:
> buffer_no - Specifies the buffer, a number between
#buffer_ 0 and 10. It must specify one buffer only.
BS noBS > line_no - Can be a line number or a label. Indicates in
[line_no] what line to set the breakpoint.
You can set any number of breakpoints in your program;
however, for breakpoints to be active, you have to start the
program with the XD command.

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Command Syntax Description

The BR (Reset Breakpoint) command resets the breakpoint

at the specified line or all breakpoints. Where:

> buffer_no - Specifies the buffer, a number

between 0 and 10. It must specify one buffer
only.
#buffer_
BR noBR > line_no - Can be a line number or a label.
[line_no] Indicates in what line to reset the breakpoint.
If it is omitted, the command resets all
breakpoints in the buffer.

If the buffer qualifier is specified as #, for example, ##BR, and

line_no is omitted, the command resets all breakpoints in all
buffers.

5.4.4.3 System Commands

The System commands provide you with information contained in the system. The commands are:

All Communication Terminal commands are case-sensitive and must be entered as

listed.

> IR - Integrity Report

> U - System Usage Report
> TD - User-defined Variables in System
> SC - Safety Control Report
> SI - System Information
> SIR - System Information Report
> ETHERCAT - Network Information

Command Syntax Description

The IR (Integrity Report) command activates integrity

validation and provides a report of current integrity
state. The report displays a list of files. Each list entry
displays a file name, expected file size and checksum of
IR #IR the file and actual file size and checksum.
If any integrity problem is detected, the command sets
S_FAULT.#INTGR fault bit. You can view this by using
the Query Commands.

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Command Syntax Description

The U (Usage) command is used for monitoring MPU

usage. It returns the maximum, average, and minimum
values as a percent.

U
#U The controller continuously measures the time taken
by real-time tasks. When the U command is received,
the controller analyzes the measured times during the
last 50 controller cycles and calculates minimal, maximal
and average time. The results are reported as a
percentage.

The TD command returns the names of all user-defined

TD #TD variables and arrays that are in the controller flash
memory.

The SC (Safety Control) command reports the current

safety system configuration.

SC #SC The controller response includes the following:

Active safety groups
The configuration of each fault for each motor

The SI (System Information) command returns system

information about the SPiiPlus controller including
SI #SI
serial number, firmware version, configuration, name
and SP programs.

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Command Syntax Description

The SIR (System Information Report) command is an

expanded version of the SI command and returns
system information broken down into various
categories (section) and subjects (key) within the
categories.
section:
> Hardware - This section contains information
about the controller’s hardware
> Options - This section contains information
about the controller’s options, such as, total
number of axes, encoder support, number of
non-ACS unit servo axes, etc.
> Network - This section contains information
about the controller’s EtherCAT channels.

SIR #SIR/section/key/ > Axes_support - This section contains

information about the features that each axis
has.
> UNIT# - There is a UNIT section for each unit in
the system, they are numbered from 0 up to
the number of units minus 1, for example,
UNIT0 is the first unit in the system. Each UNIT
section contains information specifically about
the unit.
> key depends on the category. The format of
the return is:
[Section]
Key = value
To see all sections and keys enter:
#SIR/ALL/ALL/

The ETHERCAT command is used for obtaining

complete information about the devices connected in
the network.
The information it displays is:
ETHERCAT #ETHERCAT > Slave number
> Vendor ID
> Product ID
> Revision

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Command Syntax Description

> Serial number

> EtherCAT physical address
> DC support
> Mailbox support
This is followed by a list of network variables associated
with the device. Each variable is described with:
> Name (as in XML)
> Offset inside the telegram (magic number that
is used for mapping)
> IN or OUT description
> Data size
> PdoIndex

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6. Diagnostics and Monitoring

Diagnostics and Monitoring tools enable you to view the status of various elements in the
controller’s program and aid you in analyzing the motion.
You can use the following tools for viewing the values and status of critical variables:
> Inputs/Outputs Manager - The Inputs/Outputs Manager tool displays the status of the
digital input and output variables of the SPiiPlus controller as well as those of the HSSI, if
defined.
> Safety and Faults Monitor - displays the status of the SPiiPlus controller faults as defined
through the Safety and Faults Configurator.
> Variables Manager and Watch - displays the values currently stored in variables of a
program that is running.
> HSSI Manager - used for monitoring the status of HSSI channels. The manager displays the
quantity and state of the HSSI channels.
The following windows provide graphic representations:
> Scope - presents a real time display of the selected motion or variable. You can set the
Scope to display any parameters you like.
> FRF Analyzer - is the steady-state transfer function of a dynamic system describing the
relation between an input and an output as a function of frequency in terms of gain and
phase. You have the option of displaying the data as either a Nyquist Diagram or a Bode
Diagram.
> Sin Cos Encoder Compensation and Monitoring - displays a Sin-Cos Lissajous curve graph of
the wave form and enables you to make adjustments to controller’s gain, phase and
offsets compensation parameters (SCGAIN, SCPHASE, SCSOFFS, and SCCOFFS). Sin Cos
Encoder Compensation automatically calculates best fits for the parameters.
Diagnostics and Monitoring also provides you with Motion Manager to setup the motion for each
axis and monitor motion status.

6.1 Accessing Diagnostics and Monitoring Tools

To access the Diagnostics and Monitoring tools:
1. If the Toolbox is not displayed, click Toolbox.
2. Click Diagnostic and Monitoring.

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3. Click the required tool.

6.2 FRF Analyzer

The FRF (Frequency Response Function) Analyzer provides you with a powerful tool for servo
analysis of the ACS Motion Control SPiiPlus motion controllers. It allows mechanical characterization
of the machine, and is a valuable aid in tuning your machine.
> With this tool you can:
> Obtain the mechanical signatures of the machine.
> Identify and compensate for mechanical resonances.
> Expand machine bandwidth and improve performance.
> Improve machine stability.
> Compare between different machines.
FRF measurements can be made under the following conditions:
> Brushless motor should be commutated. The FRF Analyzer does not allow FRF
measurement for non-commutated brushless motor or stepper motors.
> Axis must be enabled. In the axis is disabled it will be automatically enabled when FRF
measurement begins.
> Axis is not in open loop. You should not be confused with the fact that Open-Loop FRF and
Plant FRF are measured as well. All FRF measurements are performed in a closed loop. For
this purpose the axis must be adjusted before performing the measurement.

It is recommended using the Adjuster Wizard to make preliminarily adjustments to the

axis with a relatively low bandwidth. After the FRF measurements are taken, you can
more knowledgeably set the servo parameters and adjust the filters to maximize the
performance and the bandwidth, while remaining within adequate stability margins.

Do not perform FRF Measurement when the servo loop is not stable or with very
marginal tuning!

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Sometimes it is preferable to do the measurement while the axis is moving. This is typically the
case, when it is required to overcome the non-linear effect of coulomb friction. In this case it is
recommended to write an ACSPL+ program in one of the buffers that takes care of the required
motion. The following types of motion can be used during FRF measurement:
> Axis is idle, no motion is executed
> Jog motion – when the travel is not limited
> PTP motion – when the travel is limited (i.e., linear motor)
In case of PTP or JOG, it is recommended moving at very low velocity, which is enough to overcome
the coulomb friction.

A disturbance in the FRFs may appear if PTP is used while the axis is changing its
direction. To minimize this effect, it is recommended performing cyclic motion
between two points without any dwell time between motions.

6.2.1 Activating FRF Analyzer

To activate the FRF Analyzer:
1. From the Toolbox click Diagnostics and Monitoring to display the Diagnostics and
Monitoring tools list.
2. Click FRF Analyzer.

You may use Add Component from the right-click menu of the controller in the
Workspace Tree (Controller Right-Click Options ) to activate the FRF Analyzer.

The FRF Analyzer window appears.

6.2.2 Working with FRF Analyzer

The right side of the window contains the following option controls:

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Used for selecting the axis to be measured. See

Selecting Axis.

Used for selecting the FRF Analyzer display

format. See Selecting Graph Format.

Used for setting the FRF Analyzer mode. The FRF

Analyzer has two modes:
> Measure (see Measure Mode)
> Design (see Design Mode)

Used for setting the Servo Loop to:

> Position & Velocity
> Current
> Velocity
> Position
> Open

Used for selecting:

> Markers (see Markers)

> Phase Modulo
> Amplitude

for display. See Setting View Options.

Used for:
> Saving FRF data to a file
> Retrieving FRF data from a file
> Clearing FRF data from the display
See Tools.

Underneath the FRF graph there is a section for selecting what is displayed and for viewing the
measured values. This section is divided into the following tabs:

This tab enables the user to select the signals you want
displayed. See Signals Tab.

This tab enables the user to set cursors in the graph in order to
view the values at points of your choosing. See Cursors Tab.

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This tab enables the user to view the values of servo

parameters. In the Design mode change the user can set the
values of Servo Parameters. See Servo Parameters Tab.

This tab enables the user to perform measurement analysis.

See Measurement Analysis.

This tab enables the user to set the physical measurements

used in the analysis. See FRF Physical Units.

High Resolution Settings

This section allows the user to control the display resolution. Checking the "Enable" checkbox
activates the parameter input controls. The start frequency can be set using the text box or the
slider. Text boxes also control the number of points per decade and the excitation current. The
"Default" button resets all parameters to their default values.
Selecting Axis
You select the axis to be measured from the Axis dropdown list. The list of axes is extracted from
the controller.

To display the list click .

Selecting Graph Format
There are two graphic formats from available to you:
> Bode Diagram
> Nyquist Diagram

You select the graphic format from the Graph dropdown list which you display by clicking .

6.2.3 Signals Tab

The Signals tab is used for setting what FRFs are to be measured.
If the Signals tab is not displayed, click .

FRF Signals
The FRF signals are based on the following diagram:

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> Closed - the relation between the required position and the feedback position, when the
loop is closed, CL(s)= C(s)*P(s)/(1+C(s)*P(s)).
> Open - this is the loop transfer function, OL(s) = C(s)*P(s). This function has a major role in a
stability analysis of a system.
> Controller - the relation between the position error and the drive command, C(s). This is
the control algorithm that is implemented in the SPiiPlus controller.
> Plant - the relation between the drive command and the feedback position, P(s). The plant
constitutes of the mechanical stage, the motor, the feedback device and the drive.
The FRF gain is shown in absolute units or decibels (dB). A value in dB corresponds to 20log10
(value). The phase is typically shown in degrees.
Display Options
You can select which FRF signals (Closed, Open, Controller, Plant) to display by clicking the relevant
check boxes .
You can also select which graph sets (Measure, Design, Baseline) to display by clicking the relevant
check boxes.
To set the line color, type and width for each graph, see Setting FRF Analyzer Properties.
Controller Information
The following information is displayed for reference:
> Firmware - controller software version.
> Servo Loop - servo loop setting used during analysis.
> Dual Loop - state (yes/no) of DUALLOOP CONTROL variable for each axis. If state is yes, the
Position and Velocity option cannot be selected for Servo Loop.

6.2.4 Cursors Tab

The FRF Analyzer provides cursors that you can use to see the exact values at any point in the
graphs.

To display the Cursors tab click .

The cursor options depend on what graph format you are using:
> Bode Diagram Cursors
> Nyquist Diagram Cursors

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6.2.4.1 Bode Diagram Cursors

In the Bode diagram there are two cursors, as shown, giving you the ability to compare values at
two different positions.

You move the cursors by dragging them left or right. At each point you will notice that the values
of the graph at the cursor point are displayed in table in the tab.

Freq1, Amp1, and Phase1 are the values of C1.

Freq2, Amp2, and Phase2 are the values of C2.
Their units depend on your selections made in View (see Setting View Options).

6.2.4.2 Nyquist Diagram Cursors

In the Nyquist diagram due to the nature of the graph there is only one cursor, C1. It is distributed
along the points of the graph.

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You move the cursor either by dragging it to a new point on the graph, or just click the point you
are interested in and the cursor moves to the point. The values are displayed in the fields of the
tab.

For each signal the values displayed are:

> Freq - the frequency of the signal at the cursor point
> Amplitude (abs) - the absolute amplitude of the signal at the cursor point
> Phase - the phase of the signal at the cursor point
> Real - the value of the signal on the X axis
> Imaginary - the value of the signal on the Y axis

6.2.5 Servo Parameters Tab

The Servo Parameters tab serves primarily as a tool for Design. It enables you to fine-tune servo
parameters and see the system reaction to your changes.

To display the Servo Parameters tab click .

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The tab is divided into five columns:

> Variables
This column lists all the servo-loop variables.

For the meanings of the variables refer to the SPiiPlus Command & Variable Reference
Guide.

> Controller
This column displays the status of the servo-loop variable (ON/OFF) and its value(s) stored
in the motion controller. It is for information only and the values cannot be changed.
> Measure
This column displays the status of the servo-loop variable (ON/OFF) and its value(s) stored
in the Measure set. It is for information only and the values cannot be changed.
> Design
This column displays the status of the servo-loop variable (ON/OFF) and its value(s) stored
in the Design set.
When in the Design mode, if a value in this column is not greyed-out, it can be changed.
> Baseline
This column displays the status of the servo-loop variable (ON/OFF) and its value(s) stored
in the Baseline set. It is for information only and the values cannot be changed.

When working in the Design Mode, once you have found the proper values, you can
then use the Adjuster Wizard to set the values into the motion controller.

Flag Variable Status

The status of the flag variable is indicated a checkbox.

This indicates that the flag variable is ON.

This indicates that the flag variable is OFF.

If you are in the Design Mode, you can change the status, for example, from ON to OFF, by clicking
the button.

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You can check the meaning of a flag variable by using and the ? command, for
example:

6.2.6 Measurement Analysis Tab

Using Measurement Analysis to Adjust System Identification Parameters

To display the measurement analysis page click

You can use Measurement Analysis to adjust system identification parameters through the
Adjuster Wizard as follows:
1. Open the Adjuster Wizard.
2. Click Axis Setup and Tuning.
3. Click Position and Velocity Loops.
4. Under System Identification, click Start Identification and if it is safe to proceed, click Yes in
the Adjuster Wizard dialog box.
5. Wait for the message “System identification succeeded” to appear in the System
Identification results text box.
6. By using the Measure and Design sets, you can use the information displayed on the
Measurement Analysis tab to fine tune the Advanced Tuning parameters received during
the Axis Tuning and Setup.
The following information is displayed:
> Set - click Measure, Design or Baseline to display the required set.
> Bandwidth - displays the system bandwidth.
> Positive Gain Margin - how much the gain can be raised before instability results. The value
is the amount by which the open loop gain is higher than 0dB at the phase crossover
frequency.
> Acceleration Feedforward - reduces position errors during acceleration and deceleration.

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> Phase Margin - how much delay can be added to the loop before instability results. The
value is the amount by which the open loop phase exceeds –180° at the gain crossover
frequencies.
> Negative Gain Margin - how much the gain can be reduced before instability results. The
value is the amount by which the open loop gain is lower than 0dB at the phase crossover
frequency.

6.2.7 FRF Analyzer Modes

The FRF Analyzer has two modes:
> Measure Mode - enables you to collect data for calculating the FRF signals of your system
(Closed, Open, Controller and Plant - see Signals Tab).
> Design Mode - enables you to design a new Controller FRF and to view the effect on the
Open Loop FRF and Closed Loop FRF, based on a previous system measurements. The
Plant FRF does not change because of modifications by the controller FRF.

6.2.7.1 Measure Mode

The Measure mode enables you to perform FRF analysis on the actual motion of your system. You
can save the analysis data to use for making comparisons in the Design mode.
Measure Mode Settings
Use the Servo Loop button to set the loop to be measured:

Your options are:

> Position and Velocity (default)
The controller FRF acts as a PID equivalent. A current sine-sweep excitation is injected to
the drive command (% of max current), and the total closed position loop FRF is measured
(measurement takes into account the velocity FRF).
> Current
This option measures the current loop closed and open loop FRF. During the measurement
the position and velocity loops are open.
> Velocity
This option measures a separate velocity loop. During the measurement the FRF Analyzer
disables the position loop.
> Position
A separate position loop FRF measurement is done. This measurement differs from all
other measurements since the excitation is a velocity command rather than current. A
velocity sweep excitation is injected to the velocity command (% of max velocity XVEL), and
the total closed position loop is measured (without accounting for velocity FRF).

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> Open
Measures transmission function from current to motor velocity. The measurement is done
in an open loop.
You select Measure from the Mode dropdown list.
Your measurement data save options are:

> Save to Baseline - When you start the measurement, if there is previous data in the
Measure set, it is written to the Baseline prior to sampling new signals.
> Overwrite - When you start the measurement, whatever data was previously stored in the
Measure set is overwritten with the new data. The previous data is not saved.
You can set the following parameters:
> Minimal Frequency (Hz) and Maximal Frequency (Hz) - These set the sine sweep, specified
in Hz. These frequencies can range from 1 Hz to 5000 Hz. The FRF measurement itself is
executed at 20 kHz. This provides a reliable measurement at the specified frequencies.
> Frequencies per Decade - Adjacent frequency steps are uniformly distributed on a
logarithmic scale. You can set the required amount of points per one decade of
frequencies. Using a larger number of points results in finer resolution of the data, and a
longer measurement results. A smaller number of points results in coarser resolution of
that data, and a shorter measurement.

For each frequency, the FRF Analyzer waits 20 cycles for transients to decay and then
measures for additional 20 cycles. As the frequency gets higher, the measurement time
gets shorter.
> Excitation Current - The excitation current determines the amplitude of the sine sweep as
percentage of the maximum drive command. The excitation current should be
appropriately determined. It should be sufficient to provoke the system. If the excitation
current is too low, measurement results may be unreliable.

However, excessive excitation current is dangerous. If the current is too high, overcurrent
may occur. In certain cases, high excitation current can cause saturation s and lead to
unreliable measurement results.

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Clicking Default inserts the factory-set default values. These are:

Minimal Frequency (Hz): 10

Maximal Frequency (Hz): 1000
Frequencies per Decade: 50
Excitation Current (% of max): 10.00

The FRF Analyzer does not allow performing FRF measurements if the excitation
current is higher than the overcurrent parameter XRMSD, or XRMSM, or if it is higher
than 80% of the current limit parameters XCURI or XCURV. It also recommended setting
the excitation current lower than the integrator limit parameter, SLVLI.

Prior to running the FRF measurements, you can set which signals you want to view
from the Signals Tab.

Running in Measure Mode

If the excitation current is excessively high, mechanical damage may occur.

1. Once you have entered the Measure mode settings, click Start ( ) to initiate the
FRF analysis.
2. The FRF Analyzer prompts you with:

3. Click Yes to start the analysis.

The Start button changes to Stop. Normally you do not need to click this button. The
FRF Analyzer analyzes one cycle and then stops automatically. You use this button in
the event you need to stop the motion before completion of the measurement.

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To view particular values you can use the cursors (see Cursors Tab) and markers (see
Markers).

6.2.7.2 Design Mode

The Design mode enables you to make changes to the values of the Servo Parameters (see Servo
Parameters Tab) and run the FRF Analyzer to check the effect of these values.

Prior to running the FRF ANALYZER in DESIGN mode, you must first have run the
analyzer in Measure Mode so that the analyzer has data to compare your changes with.
Once you have run the analyzer in the DESIGN mode, you can use the data from this
mode for further designs.
Alternately, you can load the values from a previously saved file (see Tools).

Design Mode Settings

Use the Servo Loop button to set the loop to be measured:

Your options are:

> Position and Velocity (default)
The controller FRF acts as a PID equivalent. A current sine-sweep excitation is injected to
the drive command (% of max current), and the total closed position loop FRF is measured
(measurement takes into account the velocity FRF).
> Current
This option measures the current loop closed and open loop FRF. During the measurement
the position and velocity loops are open.
In the Design mode the FRF Analyzer simulates changes in the current loop servo
parameters: SLIKP,SLIKI. You should be aware that due to non-linearities, the results may
differ for different excitation currents, depending on the motor parameters and used bus
voltage.
> Velocity
This option measures a separate velocity loop. During the measurement the FRF Analyzer

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disables the position loop.

In the Design mode the FRF simulates changes in velocity loop servo parameters: SLVKP,
SLVKI, low-pass, Notch and BiQuad filters (BiQuad in single loop mode only). A separate
velocity loop measurement is required in dual loop systems, but not necessarily required
for single loop systems (all this information exists in the combined position & velocity
FRFs).
> Position
A separate position loop FRF measurement is done. This measurement differs from all
other measurements since the excitation is a velocity command rather than current. A
velocity sweep excitation is injected to the velocity command (% of max velocity XVEL), and
the total closed position loop is measured (without accounting for velocity FRF).
In the Design mode, the FRF Analyzer simulates changes in position loop servo parameter
SLPKP and position loop BiQuad filter parameters (dual loop only). A separate position loop
measurement is required in dual loop systems, but not necessarily required for single loop
systems (all this information exists in the combined position & velocity FRFs).
> Open
Measures transmission function from current to motor velocity. The measurement is done
in an open loop.
Select Design from the Mode ( ) dropdown list.

Your options for using the source data for your design are:

> Current Design Set - Usually selected as a follow-on when making adjustments to the
design.
> Measure Set - The most commonly selected source.
> Baseline Set - Normally selected if you have saved your design to the Baseline.

To save previously collected data to the Baseline select the Save to Baseline checkbox.

Running in Design Mode

To run FRF Analyzer in the Design mode:
1. Click Start.

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The Start button changes to Finish and the Servo Parameters Tab is displayed.

2. Enter the required Servo Loop parameter values in the Design column and press Enter.
Note that the graph changes to reflect the new values.
To view particular values you can use the cursors (see Cursors Tab) and markers (see
Markers). If the values did not meet your requirements, you can set other values in the
Servo Parameters and press Enter again.
3. Once you are satisfied with the values, click the Finish button. Your are prompted with:

4. Click Yes. The new values are loaded into the controller.

6.2.8 Setting View Options

The View options enable you to set certain graph display options. To display the options click .

Your options are:

> Markers - Displays the crossover markers (see Markers)
> Phase Modulo - Displays the phase wrapped back to 180o at a point where it reaches -180o.
> Amplitude - select displaying the amplitude:
> Absolute - displays the amplitude in absolute units
> dB - displays the amplitude in decibels

The Phase Modulo and Amplitude options are relevant only in Bode Diagrams.

6.2.9 Markers
The level of stability is typically judged at certain frequencies, known as crossover frequencies:
> Gain crossover frequency - 0 dB crossing of the open-loop FRF gain.
> Phase crossover frequency - ±180o crossing of the open-loop FRF phase.

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In order to quantify the level of stability, two criteria have been introduced:
> Gain margin (GM) is a measure of how much the gain can be raised or reduced before
instability results. It is the amount by which the open loop gain is lower (negative GM) or
higher (positive GM) than 0dB at the phase cross over frequency.
> Phase margin (PM) is a measure of how much delay can be added to the loop before
instability results. It is the amount by which the open loop phase exceeds –180o at the gain
cross over frequencies.
When you select Markers, phase crossover frequencies are marked by white squares, and gain
crossover frequencies are marked by white circles:

Clicking one of the markers shows details of the frequency, the gain, the phase and the
stability margin at that point, for example:

The markers are displayed in both the Bode and Nyquist Diagrams.

6.2.10 Tools
The Tools options are:
> SAVE - for saving data to a file, see Saving FRF Data to File
> LOAD - for loading data from a file, see Loading FRF Data from File
> CLEAR - for clearing data from the display, see Clearing FRF Data from Display

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To display the Tools options click .

6.2.10.1 Saving FRF Data to File

To save the FRF data to a file:
1. Click Save, the Save Signals dialog window is displayed:

2. Enter the file path and filename in File Name (or click Browse to search for a directory, and
filename if required).
3. Enter your name in the User field.
4. Enter the controller ID in the Machine field.
5. You can add optional remarks in the Remarks field.
6. Select or deselect, as required, the FRF data you want to save by clicking the appropriate
checkbox.
7. Click Save.

6.2.10.2 Loading FRF Data from File

To load FRF data that has been saved to a file:
1. Click Load, the Load FRF Data dialog window is displayed:

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2. Enter the path and filename in the File Name field (or click Browse to search for the file).
Once you have entered a filename, the contents of the saved file are displayed.

FRF Analyzer signal data is stored in files having an .frf file extensions. File data that has
been stored using an old version of the FRF Analyzer can be loaded.

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3. You can change into what subset the data is loaded (for example, loading the Design data
into Measure) by clicking the appropriate checkbox.
4. Click Load.

6.2.10.3 Clearing FRF Data from Display

To clear the current FRF data from the display:
1. Click Clear, you are prompted with:

2. Click Yes. All data in the display is removed.

6.2.11 Setting FRF Analyzer Properties

The FRF Analyzer plot properties, such as color, line width, line style, and the like, of each signal is
set in the FRF Analyzer Properties window.
If the panel is not displayed, see Working with Properties Window for displaying the FRF Analyzer
Properties panel.

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The properties are divided into four groups, as explained following.

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6.2.11.1 FRF Settings

The FRF Settings are used to set the colors in which the four signals: Closed, Controller, Open and
Plant are plotted for:
> Baseline
> Design
> Measure
To select a color click the color box and select a color from the dropdown list.

6.2.11.2 General Plot Settings

General Plot Settings are used to set the properties of the graph against which the data is to be
plotted. These include:
> Cursors Color - the color of the cursors when displayed
> Grid Visible - toggles between displaying the grid (checkbox selected) or not (checkbox
unselected)
> Major Grid Color - the color of the main grid, this marks the horizontal and vertical divisions
of the graph
> Markers Color - the color of the markers when displayed

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> Minor Grid Color - the color of the secondary grid, this marks the horizontal and vertical
division is between the main grid points
> Plot Area Color - the background color of the graph
> Point Style - the style of the points being displayed
To select a color click the color box and select a color from the dropdown list.

6.2.11.3 Graph Settings

Graph Settings are used to set the line width and style of graphic display for:
> Baseline
> Design
> Measure
To set the width click the value and enter a number, then press Enter.
To set the style click the field and select from the dropdown list.

6.2.11.4 Nyquist Graph Settings

Nyquist Graph Settings are used for the Nyquist graph when it is displayed.
The settings are for M-Circles, N-Circles, and Single Circle, which are:
> M-Circles – loci for constant gains of the total closed-loop FRF
> N-Circles - loci for constant phases of the total closed-loop FRF
> Single Circle - unity loop
The properties in this group are:

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> M-Circles Color - set the color of the M-Circles

> M-Circles Number - set the number of M-Circles to display
> M-Circles Show - toggles between displaying the M-Circles (checkbox selected) or not
(checkbox unselected)
> M-Circles Step (dB) - sets the steps, in dB, between each M-Circle
> N-Circles Color - set the color of the N-Circles
> N-Circles Show - toggles between displaying the N-Circles (checkbox selected) or not
(checkbox unselected)
> N-Circles Step (degrees) - sets the steps, in degrees, between each N-Circle
> Single Circle Color - set the color for the unity circle
> Single Circle Show - toggles between displaying the Single Circle (checkbox selected) or
not (checkbox unselected)

6.2.12 Troubleshooting
Because of non-linear effects in the system, for example, backlash, different results may be
achieved for various scenarios:
> Problem: Different results when the axis is idle or moving.
Solution: In case of static friction it is recommended to move the axis at low velocity during
the measurement.
> Problem: A disturbance in the FRFs may appear if PTP is used, while the axis is changing its
direction.
Solution: To minimize this effect, it is recommended to perform cyclic motion between
two points without any dwell time between motions.
> Problem: Different results for different excitation levels.
Solution: Always verify that the excitation current level is appropriate.
> Problem: Non-linearities because of saturation s in the system, the drive or the control
algorithm, such as, integrator windup, current limit, etc.
Solution: Always verify that nothing in the control algorithm and the system saturates.
> Problem: Cross coupling between axes can affect the measurement results, for example, if
one axis location affects the center of gravity of a second axis.
Solution: Always record the axes state and position while taking a measurements.
> Problem: Dual loop topology usually has two encoders and the FRF of each loop has to be
separately measured.
Solution: This is not supported by the FRF Analyzer. Still, the total Close loop FRF will be
measured correctly. Open-Loop and plant FRF will be only estimations.
> Problem: Resonances with very low attenuation (lower than 2%) may affect the coherence
of the measurement and its reliability.
Solution: After the resonance is identified, it is recommended to attenuate it using low-
pass or Notch filter. Afterward you should re-measure the system.
> Problem: Noise may effect the measurement results, especially at high frequencies when
the signal to noise ratio is low.

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Solution: Make sure that the system is properly grounded and shielded, that is, ground the
controller, use twisted-pair shielded cables, etc.

6.3 HSSI Manager

The HSSI Manager is used for monitoring the status of the HSSI (High Speed Serial Interface)
channels. The manager displays the quantity and state of the HSSI channels.

Some strings will be connected if the device occupies more than one register.

The HSSI Manager

> Displays the status of the controller's HSSI channels.
> Provides a “Reconnect/Refresh” function for reinitializing communication between the
controller and connected HSSI modules.

6.3.1 Activating HSSI Manager

To activate HSSI Manager:
1. From the Toolbox click Diagnostics and Monitoring .
2. Click HSSI Manager.

You may use Add Component from the right-click menu of the controller in the
Workspace Tree (Controller Right-Click Options ) to activate the HSSI Manager.

You are prompted with:

3. Click Yes. The HSSI Manager window is displayed.

4. Click Initialize to establish communication with the controller. The HSSI Manager reads the
HSSI Channel data and displays it.

Should you close the window and then reopen it, communication is cut off with the
controller. To reestablish communication, click Reconnect.

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6.3.2 HSSI Manager Window

The HSSI Manager Main Window has 5 columns:

> Unit
In an NT configuration, several motion controllers can be connected together, each motion
controller is treated separately
> Channels:Register
This column displays the number of the channel and register number in the channel
(separated by a colon).
> Index
This column displays number of SPii index.
> ID
This column displays the Device ID, if it exists.
> Communication status
This column displays the channel status: Green for normal, Red for error.

6.4 Inputs/Outputs Manager

The Inputs/Outputs Manager tool displays the status of the digital input and output variables of the
SPiiPlus controller as well as those of the HSSI, if defined.
Status of digital input is measured against the value of the associated IN variable, and that of digital
output against the value of the associated OUT variable.
The IN variable is a scalar 16-bit integer and stores the current state of the General Purpose digital
inputs represented by bits 0..15 of IN. Each bit reports the state of one General Purpose input.
In a like manner OUT is a scalar 16-bit integer and stores the current state of the General Purpose
digital outputs represented by bits 0..15 of OUT. Each bit reports the state of one General Purpose
output.

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HSSI input is reported through the EXTIN (Extended In) variable which is a 16 member integer array
that reads the current state of the HSSI inputs. Each element of the array contains a 16 bit number,
each bit of which representing the state of one input; therefore, up to 256 inputs can be read. The
number of inputs depends on the HSSI module.
HSSI output is reported through the EXTOUT (Extended Out) variable which, like EXTIN, is a 16
member integer array that reads the current state of the HSSI outputs. Each element of the array
contains a 16 bit number, each bit of which representing the state of one output; therefore, up to
256 outputs can be read. The number of outputs depends on the HSSI module.

6.4.1 Activating Inputs/Outputs Manager

To activate the Inputs/Outputs Manager:
1. From the Toolbox click Diagnostics and Monitoring ( ) to display the
Diagnostics and Monitoring tools list.
2. Click Inputs/Outputs Manager.

You may use Add Component from the right-click menu of the controller in the
Workspace Tree (Controller Right-Click Options ) to activate the Inputs/Outputs
Manager.

The Inputs/Outputs Manager window is displayed:

Some controllers have only 8 digital inputs and outputs instead of 16. In this case the
symbols in columns 8 through 31 are greyed-out indicating that they are not available.

An NT configuration may contain several controllers linked together. The

Inputs/Outputs Manager displays each controller - Unit - separately.

6.4.2 Inputs/Outputs Manager Operations

The Inputs/Outputs Manager window employs two icons to show input and output:

Input

Output

They can be displayed in one of three colors:

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Green - indicates that it has been activated.

Dark Grey - indicates that it has not been activated.

Light Grey - indicates that it is not supported by the controller (for example, an
external device that has been included in the system).

not been connected to the HSSI channel).

The controller activates and deactivates the bits as it progresses through its program.

You can activate a bit manually by clicking it. To deactivate it manually you just click it
again.

You can use the Terminal to check the value or values of the bits, for example, if you
enter ?IN(0) in the Terminal command line, you will get the values for all 16 bits of the
variable.

6.4.2.1 Display Options

You have the following display options:
> Column Display
> Cell Display
> Selecting HSSI EXTIN/EXTOUT Variables
Column Display
If you right-click a column, you are given the following options:

Using this menu you can sort the columns from left to right (ascending order, that is, 0 to 31), or
from right to left (descending order - 31 to 0).
Cell Display
You hide the display of any cell by selecting it and clicking Hide Cell. To restore its display, select the
hidden cell and click Show Cell.
As an aid in identifying the specific inputs and outputs, you can give cells names:
1. Right-click the cell and select Properties. The Properties panel for the cell is activated.

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2. Enter the identifier you want in the Name field.

3. Select Show Names either from Options, or by right-clicking the cell. You can also activate
this by pressing Ctrl+C and then pressing N. The name is displayed.

You are not constrained as to the length of the name, if it is long, you can expand the
column width by dragging its boundaries to show the whole name:

Once the Properties panel is displayed, you can select it for each cell by selecting the
cell, then entering its identifying name in the Properties Name field.

To hide the names select Show Names either from Options, or by right-clicking the cell. You can also
toggle the display of names off by pressing Ctrl+C and then pressing N.

6.4.2.2 Selecting HSSI EXTIN/EXTOUT Variables

If you have EXTIN and EXTOUT signals that you want to monitor:
1. Click Variables, and select the Unit from the dropdown list.
A list of HSSI variables is displayed.
2. Select the HSSI variable, you have three choices:

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> EXTIN for the selected variable

> EXTOUT for the selected variable
> Both (display both EXTIN and EXTOUT)

Once you have made your choice, additional rows are added to the selected Unit’s row showing the
status of the variables.

6.5 Motion Manager

Motion Manager is used for the following:
> Setting the motion parameters for each axes
> Initiating the motion
> Monitoring the progress of the motion
> Stopping the motion

6.5.1 Activating Motion Manager

By default, when you initially enter SPiiPlus MMI Application Studio, Motion Manager is
automatically displayed. If you have closed it, you can reactivate it by either clicking it in the
Workspace Tree or by:
1. From the Toolbox click Diagnostics and Monitoring to display the Diagnostics and
Monitoring tools.
2. Click Motion Manager in the Diagnostics and Monitoring list of tools.

You can also activate the Motion Manager using the right-click Add Component option
of the Workspace Tree - see Controller Right-Click Options .

The Motion Manager main window appears:

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There are five types of motion that can be set:

Absolute
- Used for moving the motor(s) to a specific target.
Move

Relative - Used for moving the motor(s) a specific distance from current
Move position.

One
Direction
- Used for repeatedly moving the motor(s) incrementally in
Incremental
one specified direction from current position.
Repeated
Move

Back and - Used for moving the motor(s) back and forth between two
Forth Move specified points.

- Used for moving the motor(s) with constant velocity and

without a defined end point. The motion continues until the
Jog Motion
next motion command stops it, or the limit switch has been
activated, or some other condition.

6.5.2 Motion Manager Window

The Motion Manager window components are:

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The Motion Manager window enables you to set up and manage the motion of motors, both along
individual axes and along all axes.

6.5.2.1 Motion Manager Menu Bar

The Motion Manager Menu bar has four options:

>
This option enables you to create a new motion type. When you click the down arrow, a dropdown
menu appears from which you can select the motion type:

To select: click the required motion type, a new Axis Motion Parameters Form opens.
While the Axis Motion Parameters Form allows you to add as many axes as you need, their
parameters will all be of the same motion type. You use this option in the event that the motion
type of other axes is different.

>
This option enables you to import the parameter settings from a previously saved file. When you
select the option, a browser window opens:

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Select a directory and filename and click OK.

Motion parameters files have an mmf file extension.

>
This option enables you to save the parameter settings to a file. When you select the option, a
browser window opens:

Select the directory into which you want to save the file and enter a filename. Then click
OK.

6.5.2.2 Motion Manager Window Action Buttons

The Motion Manager window has the following action buttons:

When clicked, all motors are enabled. The button changes to Disable
Motor(s).

When clicked, all motors are disabled. The button changes to Enable
Motor(s).

Initiates motion for all enabled motors. The button changes to Stop
motion.

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Stops all motion in progress. The button changes to Start motion.

By default, the form displays only the 0 and 1 axes. Clicking this button
enables you to add additional axes. When you click this button, a list of
axes is displayed:

Select the required axis or axes by clicking the checkbox(es), and then
click OK. The axis(es) are displayed in the form.

In the upper right corner of the window there are two buttons:

Collapses all the Axis Parameters forms in the window. This is an aid when you need to
reduce the window to view other items.

When you click this button, it changes to , which when clicked, restores all the Axis
Parameters forms to the window.

Closes the window.

The window contains one checkbox, Trigger Scope on Motion. When this is selected, upon the start
of motion, the is automatically displayed and set to the Single Trigger mode.

6.5.2.3 Axis Motion Parameters Form

The Axis Motion Parameters form is displayed when any type of motion is selected, for example:

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Each form has the same layout, it is divided into two sections:
> Axis - motion type specific settings and common parameters (motor states, feedback
position and position error). The section contains four motor status indicators:
> Moving - the motor is in motion
> Accelerating - the motor is accelerating
> In Position - the motor is in initial position
> Motor State - the motor is enabled

The indicators are gray (switched off) by default. When the motion is in progress, the
indicator of the corresponding status turns green.

> Motion Parameters - for viewing or setting values specifically applicable to the motor.

If one of these parameters is changed when a motion is in progress, the change affects
the currently executing motions, or motions that were created before the substitution.

The form has one action button:

Enables a single motor. When clicked, just the motor for the given axis is
enabled. The button changes to Disable.

Disables a single motor. When clicked, just the motor for the given axis is
disabled. The button changes to Enable.

Closes the form window.

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6.5.3 Working with Axis Motion Parameters Form

The following are general instructions applying to all Axis Motion Parameters forms:
Field Values
Values entered into the various fields are, when motion is initiated, inserted in the appropriate
ACSPL+ variable. For example, the value in the Feedback Position field is supplied to the ACSPL+
FPOS axis state variable.

If you let the mouse cursor linger on the name of a field, a Tool Tip appears informing
you of the name of the ACSPL+ variable with which the field is associated.

Changing Axis
When you first enter the Axis Motion Parameters Form, by default, the form displays fields for
Axis 0 and Axis 1. You can change the axis designation by clicking the down arrow of the Axis field.
A dropdown menu appears:

Select the required axis from the list by clicking it.

The Move By Field Value

You can toggle the value of the Move By field between positive and negative by clicking .
Zeroing the Feedback Position Field

You can set the value of the Feedback Position field to zero (0) by clicking .
Expanding/Collapsing the Parameters List

You can collapse the Parameters list display by clicking . And you can expand its display by

clicking .

6.5.4 Absolute Move

Absolute Move represents the motion from the origin of coordinates to the initially given
destination point - target position.
To set the parameters for Absolute Move:

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1. Activate Motion Manager.

2. Click Absolute Move ( ). The Absolute Move form is displayed.

3. Set the motion parameters:

> Move To - the destination point in accordance to the selected axis
> Feedback Position - the current position
> Position Error - the difference between current and required position coordinates
> Velocity - defines the default velocity of the motion profile
> Acceleration - how quickly the speed will reach the required limit
> Deceleration - defines the speed reduction rate
> Kill Deceleration - defines deceleration when a motion is killed or fails due to a fault
> Jerk - stands for the jerk of the motion profile
4. If you need to define the motion parameters for axes other than X and Y, click Add Axis
(Axes) and select the additional axis or axes.
5. Click Enable Motor(s).
6. To start the motion click Start motion .

6.5.5 Relative Move

Relative Move is used to move the axis a specific distance from current position.
To set the parameters for Relative Move:
1. Activate Motion Manager.

2. Click Relative Move ( ). The Relative Move form is displayed.

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3. Set the motion parameters:

> Move By - the distance for the motor to move
> Feedback Position - the current position
> Position Error - the difference between the current and required position coordinates
> Velocity - defines the default velocity of the motion profile
> Acceleration - how quickly the speed will reach the required limit
> Deceleration - defines the speed reduction rate
> Kill Deceleration - defines deceleration when a motion is killed or fails due to a fault
> Jerk - stands for the jerk of the motion profile
4. If you need to define the motion parameters for axes other than X and Y, click Add Axis
(Axes) and select the additional axis or axes.
5. Click Enable Motor(s).
6. To start the motion click Start motion.

6.5.6 One Direction Incremental Repeated Move

One Direction Incremental Repeated Move is used to move the motor(s) incrementally and
repeatedly in one specified direction from the current position.
To set the parameters for One Direction Incremental Repeated Move:
1. Activate Motion Manager.

2. Click One Direction Incremental Repeated Move ( ). The One Direction Incremental
Repeated Move form is displayed.

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3. Set the motion parameters:

> Move By - the required distance
> Dwell - the amount of time, in ms, to dwell in each point
> Feedback Position - the current position
> Position Error - the difference between current and required position coordinates
> Velocity - defines the default velocity of the motion profile
> Acceleration - how quickly the speed will reach the required limit
> Deceleration - defines the speed reduction rate
> Kill Deceleration - defines deceleration when a motion is killed or fails due to a fault
> Jerk - stands for the jerk of the motion profile
4. If you need to define the motion parameters for axes other than X and Y, click Add Axis
(Axes) and select the additional axis or axes.
5. Click Enable Motor(s).
6. To start the motion click Start motion.

6.5.7 Back and Forth Move

Back and Forth Move is used to move the axis back and forth between two specific points.
To set the parameters for Back and Forth Move:
1. Activate Motion Manager.

2. Click Back and Forth Move ( ). The Back and Forth Move form is displayed.

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3. Set the motion parameters:

> Point A - the starting point
> Point B - the end point
> Dwell - the amount of time, in ms, to dwell at the end point
> Feedback Position - the current position
> Position Error - the difference between current and required position coordinates
> Velocity - defines the default velocity of the motion profile
> Acceleration - how quickly the speed will reach the required limit
> Deceleration - defines the speed reduction rate
> Kill Deceleration - defines deceleration when a motion is killed or fails due to a fault
> Jerk - stands for the jerk of the motion profile
4. If you need to define the motion parameters for axes other than X and Y, click Add Axis
(Axes) and select the additional axis or axes.
5. Click Enable Motor(s).
6. To start the motion click Start motion.

6.5.8 Jog Motion

Jog Motion is a motion with constant velocity and without a defined end point. The motion
continues until the next motion command stops it, or the motion fails because of limit switch
activation or other condition.
To set the parameters for Jog Motion:
1. Activate Motion Manager.

2. Click Jog Motion ( ). The Jog Motion form is displayed.

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3. Set the motion parameters:

> Direction - select between positive and negative directions in accordance to the axis
> Feedback Position - the current position
> Position Error - the difference between current and required position coordinates
> Velocity - defines the default velocity of the motion profile
> Acceleration - how quickly the speed will reach the required limit
> Deceleration - defines the speed reduction rate
> Kill Deceleration - defines deceleration when a motion is killed or fails due to a fault
> Jerk - stands for the jerk of the motion profile
4. If you need to define the motion parameters for axes other than X and Y, click Add Axis
(Axes) and select the additional axis or axes.
5. Click Enable Motor(s).
6. To start the motion click Start motion.

6.6 Safety and Faults Monitor

The Safety and Faults Monitor is, as it were, an expanded LED display enabling you to view the
status of the variable faults that were set in Section 3.4, Safety and Faults Configurator.

6.6.1 Activating Safety and Faults Monitor

To activate the Safety and Faults Monitor:
1. From the Toolbox click Diagnostics and Monitoring .
2. Click Safety and Faults Monitor.

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You may use Add Component from the right-click menu of the controller in the
Workspace Tree (see Controller Right-Click Options ) to activate the Safety and Faults
Monitor.

The Safety and Faults Monitor window is displayed:

The fault status is distributed as follows:

> Axis Faults - These show the status of the axis motion as gathered by the ACSPL+ FAULT
variable and reflect the following bits of the variable:

Bit Fault Fault Description

Hardware Right Limit.

0 #RL
1 = Right limit switch is activated.

Hardware Left Limit

1 #LL
1 = Left limit switch is activated.

Network Error
2 #NT 1 = Network error has occurred. Valid only for SPiiPlus NT
Motion Controllers.

4 #HOT Motor Overheat

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Bit Fault Fault Description

1 = Motor's temperature sensor indicates overheat.

Software Right Limit

5 #SRL 1 = Axis reference position (RPOS) is greater than the
software right limit margin (SRLIMIT).

Software Left Limit

6 #SLL 1 = Axis reference position (RPOS) is less than the software
left limit margin (SLLIMIT).

Encoder Not Connected

7 #ENCNC 1 = Primary encoder (for digital encoder type only) is not
connected.

Encoder 2 Not Connected

8 #ENC2NC 1 = Secondary encoder (for digital encoder type only) is
not connected.

Drive Fault / Laser Fault

9 #DRIVE
1 = Signal from the drive reports a failure.

Encoder Error
10 #ENC
1 = Primary encoder miscounts.

Encoder 2 Error
11 #ENC2
1 = Secondary encoder miscounts.

Non-Critical Position Error

1 = Non-critical position error has occurred.
PE is defined by the following variables:
ERRI - Maximum position error while the axis is idle

12 #PE ERRV - Maximum position error while the axis is moving

with constant velocity
ERRA - Maximum position error while the axis is
accelerating or decelerating
DELI - Delay on transition from ERRA to ERRI
DELV - Delay on transition from ERRA to ERRV

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Bit Fault Fault Description

Critical Position Error

1 = Position error exceeds the value of the critical limit.
#CPE errors occur outside normal range of operation and
#CPE > #PE.
The critical limit depends on the axis state and is defined
by the following variables:
13 #CPE
CERRI if the axis is idle (not moving)
CERRV if the axis is moving with constant velocity
CERRAif the axis is accelerating or decelerating
DELI - Delay on transition from ERRA to ERRI
DELV - Delay on transition from ERRA to ERRV

Velocity Limit
14 #VL 1 = Absolute value of the reference velocity (RVEL)
exceeds the limit defined by the XVEL parameter.

Acceleration Limit
15 #AL 1 = Absolute value of the reference acceleration (RACC)
exceeds the limit defined by the XACC parameter.

Current Limit

16 #CL 1 = RMS current calculated in the Servo Processor exceeds

the limit value defined by the XRMSD or XRMSM
parameter.

Servo Processor Alarm

17 #SP 1 = Axis Servo Processor loses its synchronization with the
MPU. The fault indicates a fatal problem in the controller.

Safe Torque Off

18 #STO
1 = STO is activated.

HSSI Not Connected

20 #HSSINC
1 = HSSI module is not connected.

Hardware Emergency Stop

23 #ES
1 = ES signal is activated.

> Aggregated Faults - These show the status of the axis motion as gathered by the ACSPL+
S_FAULT variable and reflect the following bits of the variable:

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Bit Fault Fault Description

Hardware Right Limit.

0 #RL
1 = Right limit switch is activated.

Hardware Left Limit.

1 #LL
1 = Left limit switch is activated.

Network Error
2 #NT 1 = Network error has occurred. Valid only for SPiiPlus NT Motion
Controllers.

Motor Overheat
4 #HOT
1 = Motor's temperature sensor indicates overheat.

Software Right Limit

5 #SRL 1 = Axis reference position (RPOS) is greater than the software right
limit margin (SRLIMIT).

Software Left Limit

6 #SLL 1 = Axis reference position (RPOS) is less than the software left limit
margin (SLLIMIT).

Encoder Not Connected

7 #ENCNC
1 = Primary encoder (for digital encoder type only) is not connected.

Encoder 2 Not Connected

8 #ENC2NC
1 = Secondary encoder (for digital encoder type only) is not connected.

Drive Fault / Laser Fault

9 #DRIVE
1 = Signal from the drive reports a failure.

Encoder Error
10 #ENC
1 = Primary encoder miscounts.

Encoder 2 Error
11 #ENC2
1 = Secondary encoder miscounts.

Non-Critical Position Error

1 = Non-critical position error has occurred.
12 #PE
PE is defined by the following variables:
ERRI - Maximum position error while the axis is idle

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Bit Fault Fault Description

ERRV - Maximum position error while the axis is moving with constant
velocity
ERRA - Maximum position error while the axis is accelerating or
decelerating
DELI - Delay on transition from ERRA to ERRI
DELV - Delay on transition from ERRA to ERRV

Critical Position Error

1 = Position error exceeds the value of the critical limit.
#CPE errors occur outside normal range of operation and #CPE > #PE.
The critical limit depends on the axis state and is defined by the
following variables:
13 #CPE
CERRI if the axis is idle (not moving)
CERRV if the axis is moving with constant velocity
CERRAif the axis is accelerating or decelerating
DELI - Delay on transition from ERRA to ERRI
DELV - Delay on transition from ERRA to ERRV

Velocity Limit
14 #VL 1 = Absolute value of the reference velocity (RVEL) exceeds the limit
defined by the XVEL parameter.

Acceleration Limit
15 #AL 1 = Absolute value of the reference acceleration (RACC) exceeds the
limit defined by the XACC parameter.

Current Limit
16 #CL 1 = RMS current calculated in the Servo Processor exceeds the limit
value defined by the XRMSD or XRMSM parameter.

Servo Processor Alarm

17 #SP 1 = Axis Servo Processor loses its synchronization with the MPU. The
fault indicates a fatal problem in the controller.

Safe Torque Off

18 #STO
1 = STO is activated.

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Bit Fault Fault Description

HSSI Not Connected

20 #HSSINC
1 = HSSI module is not connected.

Hardware Emergency Stop

23 #ES
1 = ES signal is activated.

> Safety Inputs - These show the status of the axis motion as gathered by the ACSPL+ SAFIN
variable which indicates the raw state, before processing, of the axis safety inputs and
reflect the following bits of the variable:

Bit Bit Name Description

0 #RL Hardware Right Limit

1 #LL Hardware Left Limit

4 #HOT Motor Overheat

9 #DRIVE Drive Fault / Laser Fault

17 #STO1 Safe Torque Off 1

18 #STO2 Safe Torque Off 2

28 #ES Hardware Emergency Stop

31 #COMP Component Failure

> System Safety Inputs - These show the status of the controller program as gathered by
the ACSPL+ S_SAFIN variable which indicates the raw state, before processing, of the
inputs and reflect the following bits of the variable:

Bit Fault Fault Description

Hardware Emergency Stop

28 #ES
1 = ES signal is activated.

Component Failure
31 #FAILURE 1 = An MC4U hardware component other than the drive, such as Power
Supply, I/O card, or encoder card, has failed.

> System Faults - These show the status of the controller program as gathered by the
ACSPL+ S_FAULT variable and represent the following bits of the variable:

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Bit Fault Fault Description

Program Fault
25 #PROG
1 = Run time error occurs in one of the executing ACSPL+ programs.

Memory Fault
26 #MEM
1 = User application requires too much memory.

MPU Overuse
27 #TIME
1 = User application consumes too much time in the controller cycle.

Hardware Emergency Stop

28 #ES
1 = ES signal is activated.

Servo Interrupt
29 #INT 1 = The servo interrupt that defines the controller cycle is not
generated. The fault indicates a fatal controller problem.

File Integrity
30 #INTGR 1 = The integrity of the user application in controller RAM is checked by
the controller at power-up and whenever an #IR command is issued.

Component Failure
31 #FAILURE 1 = An MC4U hardware component other than the drive, such as the
Power Supply, I/O card, or encoder card, has failed.

The “LED” indicators have the following meanings:

No fault.

Fault detected.

Not applicable.

6.6.2 Working with Safety and Faults Monitor

You have the following actions that you can take when viewing the Safety and Faults Monitor:
For Axis Faults to get the action menu for any column, right-click the column number. The following
popup menu appears:

Your options are:

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> To sort a column by ascending order click Sort Axes Columns Ascending.
> To sort a column by descending order click Sort Axes Columns Descending.

The System Faults is fixed and you cannot change it.

6.7 Scope
The SPiiPlus MMI Application Studio Scope enables you to view a real-time graphic display of the
motion. It provides you with a wide diversity of display options that allow you to define the graph’s
display to meet your needs.

6.7.1 Activating the Scope

To activate the Scope:
1. From the Toolbox, click Diagnostics and Monitoring to display the Diagnostics and
Monitoring tools list.
2. Click Scope.

You can use Add Component from the right-click menu of the controller in the
Workspace Tree (see Controller Right-Click Options) to activate the Scope.

The Scope display can also be triggered from the Communication Terminal by the

clicking Send and Trigger Scope, and from the Program Manager by clicking or
pressing Ctrl+Alt+T, and from Motion Manager by selecting the Trigger Scope on
Motion checkbox.

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The Scope window is displayed:

You can set the graphic display parameters by clicking [Settings] on the right of the Scope
display.

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There are four options for setting the graphic display parameters:

Used for setting the horizontal scale of the graph. See

Setting Horizontal Scale.

Used for setting the trigger parameters at which points

the motion is sampled. See Setting Triggers.

Used for setting the reference points to assist in

analyzing simple graphical signals of motion. See
Setting Reference Axis

Used for selecting an FFT (Fast Fourier Transform)

algorithm to be used in displaying the graph. See FFT
Setup.

Save and load signal recordings.

To expand an option click: . To reduce, click .

Underneath the Scope display there is a section for defining what channels are displayed and for
viewing the measured values. This section is divided into four tabs:

This tab enables you to set the number of channels to be sampled, how
they are to be sampled, and to set what is to be displayed. See Signals Tab.

This tab enables you to set cursors on the graph to view the values
between selected points on the graph. See Cursors Tab.

This tab enables you to see the specific values along the graph. You can
move the Riders along the graph and view the values at the intersection of
the Rider and the graph. See Riders Tab.

This tab displays all the measured statistics for the channels being sampled.
See Statistics Tab.

There are four display controls directly under the Scope. These are:

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You use this to set how the graph is displayed. Your options are:
> Normal - The graph is displayed according to the Trigger setting.
If a signal is outside of the Trigger setting, it is not displayed -
only those signals within the Trigger.
> Auto - If the signals are all within the Trigger setting, this setting
acts the same as Normal; however, if a signal is outside of the
Trigger setting, after some delay it is also displayed.
> Single - The graph is displayed for a single frame, that is, the
data is displayed for the length of the time set in the Horizontal
scale and then stop. Each time you click Run, another frame is
displayed.
These options are connected to the definition of the Trigger.

This appears if the data collection for the graph is not running. To start
the data collection and the graph display, you click this button.

When you click to start the data collection, it changes to this

button. You click this button to stop the data collection.

In some cases the graph may exceed the boundaries of the Scope
screen. Click for the Scope to resize the display so that all data is
displayed. You have four Autofit options:
> Full Screen - This option sets the Scope to resize the entire
screen, thus each time you click Autofit, the data is refreshed
and displayed in the Full Screen mode.
> Between Cursors - This option reduces the Scope display to the
area between the cursors. Each time you click Autofit, the data
is refreshed and displayed for the area between the cursors.
> Permanent Full Screen - This option sets the Scope display
permanently to the Autofit Full Screen display mode.
> Permanent Between Cursors - This option sets the Scope
display permanently to the Autofit Between the Cursors screen
display mode.

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You have the following Zoom options:

> Zoom In: Hold Shift key and place the mouse cursor in the Scope
display in area you want to zoom into. Click the Left mouse
button to display the Zoom icon. When the icon appears, click
the Left mouse button. Without releasing the Shift key, each
time you click the Left mouse button, you increase the zoomed
display.
> Zoom In Area: While holding the Shift key, press the Left mouse
button and drag to mark the area you want to zoom, then
release the mouse button.
> Zoom Out: While holding the Shift key, place the mouse cursor
in the zoomed area and click the Right mouse button. Without
releasing the Shift key, each time you click the Right mouse
button, you zoom out one level.
> Move Graph: Hold Ctrl key and Left mouse button - a hand is
displayed. Drag the graph to where you want.
> Undo - To undo all zooms, press Shift + Backspace keys. (You
can also undo the zoom by clicking associated with Zoom).

Whenever you have activated one of the above display functions, appears to
indicate that it is active.

6.7.2 Setting Horizontal Scale

You set the horizontal scale (the X axis) of the Scope graph using the

options. If the options are not visible, click to expand.

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Your options are:

> Length
> The length of the Scope X axis is for information only. It reflects the Sampling rate and
Scale that you establish.
> Sampling
> Sampling reflects the point in time at which Scope measures the values. It can be:
> Automatic - In which case Scope determines, based on the Scale, where the sampling
points are.
> Manual - Which enables you to enter your own value.

If you enter a value that not within range of the Scope algorithm, Scope will enter the
closest minimum value to the one you have entered.

> Scale
> Scale establishes the value of each division of the X axis. It ranges between 0.05
ms/division to 10 sec/division.

You can either select the value from the dropdown list, or use the dial button: .

To use the dial button, place the mouse cursor over the button and drag it left or right.

6.7.3 Ability to display Y-axis units

This feature includes three new properties for each Channel:

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> Scale Label Mode (General, Fixed Point, Exponential)

> Scale Label Precision (digital number from 0 up to 99 )
> Scale Label Visible (true, false)
> Scale Position (None, Left, Right)

For YT or FFT modes the scales display as shown below.

If the scale position for all scales select as "None", the Scope display is:

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If the Scope display is set to the XY mode, then the Left/Right positions display as bottom position
as shown.

6.7.4 Setting X-axis zoom interval bounds

To select the X- Axis zoom interval bounds, click on Left/Right labels of the Time scale and enter
the desired the value.

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Example to change the maximum (upper) bound.

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Example to change the minimum (lower) bound.

Result of after resetting the lower and upper bounds.

6.7.5 Zoom factor

The zoom factor provides the ability to specify a desired zoom level. The selectable range for the
Zoom Factor is from 1 up to 10.

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Example of Zoom Factor 2.5.

Scope display before setting the zoom factor Scope display after setting the zoom facor to 2.5.

6.7.6 Setting Triggers

You set the Triggers, that is, the points at which you want data collection to begin, of the Scope

graph using the options. If the options are not visible, click to expand.

Your options are:

> Level
This is the threshold value of the signal for the start of data collection. When the signal
reaches this value, data collection begins and the signal’s graph is displayed.

It is recommended that you set the Trigger value broad enough to obtain a usable
graph, then slowly fine tune the results.

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You can either enter the value directly into the field, or use the dial button: .

To use the dial button, place the mouse cursor over the dial and drag it left or right.

> Source
Select the triggering channel from the dropdown list.
> Mode
There are three possible modes (selected from the dropdown list):
> Normal - Samples when the triggering signal is within the settings in the Trigger dialog
box.
> Auto - If the triggering signal is within the Trigger setting, this mode is the same as
Normal. However, even if the triggering signal is outside the Trigger setting, after a
short delay, it will be sampled. The sampling period is proportional to the Horizontal
setting.
> Single - Samples the triggering signal only once over the length of the Horizontal
setting and then stops. It repeats this for the next frame each time you click Run.
> Slope
You can set the triggering to:
> Rising – Trigger on signal rising past trigger level.
> Falling – Trigger on signal falling past trigger level.
> Delay
Delay polling for trigger until a percentage of the X axis, selected from the dropdown list,
has passed.
The Triggers are displayed as follows:

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Clicking sets the Y axis trigger point to 50% of the height of the Y axis.

6.7.7 Setting Reference Axis

You can use a References axis to assist you in analyzing simple graphical signals of motion. You set

the Reference axis using the options. If the options are not visible, click to
expand.

Your options are:

> Axis
Select the required axis from the dropdown list.

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> Signal Type

Select the signal type from the dropdown list. The available signal types are:
> PULSE
> RAMP
> SINE
> Period
Enter the required period (in ms).
> Magnitude
Enter the required signal magnitude.

Once you have entered the your settings, click and the graph will be displayed
reflecting your choices.

You may use the Riders (see Riders Tab) to view the exact values at points along the
graph, like the maximum and minimum values.

To stop the display and return to the regular Scope display click .

6.7.8 FFT Setup

The FFT option enables you to view the signals on the Scope in an FFT (Fast Fourier Transform)
format. The MMI Scope has a wide variety of FFT algorithms that are available to you. The FFT
format displays the Spectral Density against the Frequency

You set the FFT display using the options. If the options are not visible, click
to expand.

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Your options are:

> Range
The range can be:
> Full Signal - Covers the continuous run of the signal
> Window - Covers a portion of the signal, which you set by entering values in From and
To.
> Graph Type
The graph type can be:
> Linear
> dB (logarithmic)
> Window
You select the specific FFT format from this dropdown list.
Once you have set the parameters, in the Signals tab (see Signals Tab) select FFT from the Display
dropdown to view the FFT display in the Scope.

6.7.9 Tools
The Scope Tools option enables you to save your signal data to a file for later retrieval.

To save or load your data use the options. If the options are not visible, click

to expand.

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To Save Signal Data

1. Click Save. The Save Signals dialog is displayed:

2. Select the file type desired. You have the options of:
> MMI signal file with .sgn file extension.
> Matlab data file with .m file extension.
> Xcel CSV file with .csv file extension.
3. Either enter a path and filename in the File field, or click Browse to find the path (and
filename, if needed).

4. Click to unselect those signals whose data you do not want to save.
5. Click Save.
To Load Signal Data
1. Click Load.

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2. Either enter a path and filename in the File field, or click Browse to find the file.

Scope signal data is stored in files having .sgn file extensions. Files saved on older
versions of the MMI can be loaded.

The contents of the file are displayed, for example,

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3. The Scope file contains the signal data that was collected in a previous session, arranged
according the channels that were sampled. You have the option to change the assignment
of these signals if you desire.

Click to view the channels to which the signal may be applied.

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You may select:

> Off - does not retrieve this particular data
> CH# - puts this data into the selected channel
4. Click Load

When the signals are loaded, they are loaded in the Freeze state. Once loaded, you can
change the state to whatever you want. See State.

6.7.10 Signals Tab

The Signals tab is used for setting the channels that are to be graphed in the Scope.

The following describes how you work with each field in the tab.
> Number

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> Display
> State
> Variable
> Axis/Index
> Scale/Limits
> Shift
Number
You use the Number field to set the number of channels to be tracked.

1. Click to display the number of channels available. A list of numbers from 1 to 8 is

displayed.
2. Click the last number to be displayed, for example, if you are measuring four channels, you
would click 4, if you are measuring eight channels (the maximum), you would click 8.
The channels are displayed in the Channel column.
Display
You use the Display field to set the type of display you want on the Scope.

1. Click to display the options available.

Your display options are:
> YT - Channel(s) vs. Time. This is the most common display.
> XY-CH# - All signals measured against the selected channel.

If the XY-CH# display option is selected, then an option for a quadrature grid is
available.
> To enable the quadrature grid, select the Q grid check box.
When Q grid is enabled, the ratio of the X axis scaling to the Y axis scaling
remains constant as the display window is resized.

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> FFT - Fast Fourier Transform display (also see FFT Setup)
2. Click the display option to activate it. For example:

The Scope display changes to:

mapping the signals against the selected channel.

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The Horizontal option changes to Acquisition Time:

This enables you to set the data collection time for measuring the value (in the same way as Setting
Horizontal Scale).
State
A signal can have one of three states:
> On - the signal is active
> Off - the signal is inactive
> Freeze - the signal is frozen at its current value
To set the signal’s state click the State field and select the state from the dropdown menu.
Variable
Signal values are tracked through various program variables, such as ACSPL+ variables, SP variables,
user-defined variables, and the like. You use this field to track the signal via a specific variable.
To select the variable you want to track:
1. Click the Variable field, the Variables tree appears:

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The list is accumulative, it maintains a history of all variables you have selected in the
past.

2. Drill down to the variable you want by expanding the tree, where needed, and click the
variable.

You can view the variables list sorted alphabetically by clicking Sorted.

You can type the variable name in the search bar:

Click to ... (refresh???)

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The signal variable list items are:

Item Description

Feedback
Motor position based on the FPOS variable.
Position

Feedback
Motor velocity based on the FVEL variable.
Velocity

Feedback
Motor acceleration based on the FACC variable.
Acceleration

Reference
Reference position based on the RPOS variable.
Position

Reference
Reference velocity based on the RVEL variable.
Velocity

This branch lists the built-in ACSPL+ variables. These variables are broken
down into:
> Axis_State
> Monitoring
> Motion
> Safety_Control
> Inputs_Outputs
Standard > Program_Execution_Control
Variables > System_Configuration
> Axis_Configuration
> Communication
> Commutation
> Data_Collection
> Servo_Loop
> Miscellaneous
> Obsolete

Global
Lists all global variables declared in any compiled buffer.
Variables

Local
Lists variables broken down by the buffers within which they are declared.
Variables

Lists variables stored in the SPiiPlus controller RAM as part of the controller’s
SP Variables
firmware. The variables are broken down by controller.

Signal is derived from an arithmetic operation performed on two channels.

Mathematics
The operation is defined in the Axis/Index field.

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If a variable is an array or matrix, select an array element in the Axis/Index field.

Refer to the SPiiPlus Command & Variable Reference Guide and the SPiiPlus ACSPL+
Programmer's Guide for details on all the variables.

Axis/Index
The Axis/Index field is used in three cases:
> Selecting an index for an array variable
> Selecting a bit for a variable that can be bit-accessed (including elements of an array
variable)
> Defining a mathematical operation for two channels
Selecting a Real Array Index
To select an index for a real array variable:
1. Click the Axis/Index field for the array variable. A Select Index dialog box appears, for
example:

If the variable is a two-dimensional matrix, two Index fields appear.

2. Enter the index number in the Index field

3. If you want it to apply the index to all of the channels being measured, select the Apply to
all channels checkbox.
4. Click OK.
Selecting a Scalar Bit Number
To select a bit number for a bit-accessible scalar variable:
1. Click the Axis/Index field for the variable, the following dialog box appears:

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2. Select the Show Bit checkbox. The dialog box expands to:

3. Enter the bit number and click OK.

If array is a two-dimensional scalar matrix, the following appears:

In this case you have to select both the array index, and the bit number.

Defining a Mathematical Operation

To define a mathematical operation between two channels:
1. Click the Axis/Index field for a variable defined as a Mathematics array variable. A dialog
box appears:

2. Use the down arrow to select Source1

3. Use the down arrow to select the Operation. Your options are:
> Add
> Subtract
> Multiply
> Divide
4. Use the down arrow to select Source2. Click OK.
Scale/Limits
The Scale/Limits field is used in two cases:
> To adjust the Y axis (vertical) units used for displaying of a selected signal in the graph

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> To set the Y axis (vertical) limits used for displaying of a selected signal in the graph
This is often useful for when the graph exceeds the borders of the Scope and you want to see the
complete graph.
Adjusting the Y axis units
1. Click the Scale/Limit field for the desired signal. A dialog box appears:

2. Select Scale (default).

3. Use the dropdown list to adjust the scale:

or
Click Autofit to center the signal by altering the scale so that the entire graph is visible.
4. You can apply it to all channels by selecting the Apply to all channels checkbox.
Setting the Y axis limits
1. Click the Scale/Limit field for the desired signal, and in the Set dropdown field select
Limits.

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2. Enter the maximum limit in the Height field,

and the minimum limit in the Low field.

You can click Autofit to center the signal by altering the limits so that the entire graph
is visible.

3. You can apply it to all channels by selecting the Apply to all channels checkbox.
Shift
You use the Shift field to move the graph of a selected signal along the Y axis (vertical).
This is often useful for when the graph is cluttered and you want to see a particular signal on the
graph separated from the others.
1. Click the Shift field of the channel the display of which you want to move. A dialog box
appears:

2. In the Shift field, enter the wanted adjusting of the scalel, or

Click Autocenter to center the signal in the Scope display.
3. You can apply it to all channels by selecting the Apply to all channels checkbox.

6.7.11 Cursors Tab

The Cursors tab enables you to mark points on the Scope display where you are interested in
seeing exactly what the values at the points are.
In addition, the cursors enable you to reduce the Scope display to a particular area of interest
where you want to see the signal reactions within a given range.

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There are four Cursors:

To set the Cursors:

1. Click . The Cursors tab is displayed and the Cursors are displayed on the Scope.

2. Set the X Cursors by placing the mouse cursor on them and dragging them left or right
(depending on the cursor you are setting).
As you move the X Cursors the values in the following change:
> X1(sec) - the time on the X axis where the X1 Cursor is sitting.

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> X2(sec) - the time on the X axis where the X2 Cursor is sitting.
> X2-X1(sec) - the time between the X2 Cursor and the X1 Cursor.
> 1/(X2_X1)(Hz) - the frequency of signal between the X2 Cursor and the X1
Cursor.
3. Set the Y Cursors by placing the mouse cursor on them and dragging them up or down
(depending on the cursor you are setting).
As you move the Y Cursors the values in the following change:>
> Y1(units) - the amplitude of the signal at the time where the Y1 Cursor is
sitting.
> Y2(units) - the amplitude of the signal at the time where the Y2 Cursor is
sitting.
> Y2-Y1(units) - the difference in signal amplitude between the Y2 Cursor and
the Y1 Cursor.
4. To view just the area of the Scope graph bounded by the Cursors select Between Cursors
or Permanent Between Cursors from the Autofit dropdown list.
5. To reset the cursors to their original position, click .

6.7.12 Riders Tab

Riders are like Cursors (see Cursors Tab), but unlike Cursors they provide both the X and Y values at
the same time.
There are two Riders:

To set the Riders:

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1. Click . The Riders tab is displayed and the Riders are displayed on the Scope.

2. Set the Riders by placing the mouse cursor on them and dragging them left or right.
As you move the Riders the values in the following change:
> R1(sec) - the time on the X axis where the R1 Rider is sitting.
> R2(sec) - the time on the X axis where the R2 Rider is sitting.
> R2-R1(sec) - the time between the R2 Rider and the R1 Rider.

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> 1/(R2_R1)(Hz) - the frequency of signal between the R2 Rider and the R1 Rider.
> Y1(units) - the amplitude of the signal at the time where the R1 Rider is sitting.
> Y2(units) - the amplitude of the signal at the time where the R2 Rider is sitting.
> Y2-Y1(units) - the difference in signal amplitude between the R2 Rider and the R1
Rider.
3. To reset the cursors to their original position, click .
4. Checking the checkbox causes TBD.

5. You can reset the values by clicking Reset.

Reset is avaliable only when the Discrete mode is off.

6.7.13 Statistics Tab

The Statistics tab provides you with various data connected with measurements of the signals
displayed in the Scope.

Click to display the Statistics tab.

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Using the Range dropdown list you can obtain statistics for:
> Full Screen - Displays the statistics for all signals that appear within the Scope boundaries.
> Full Signal - Displays the statistics for all signals whether they appear within the Scope or
are beyond the Scope boundaries.
> Between Cursors - Displays the statistics for the signals within the boundaries of the X1
and X2 Cursors.

If you select Between Cursors, the X1 and X2 Cursors set using the appear. You can
change the locations of the X1 and X2 Cursors using the From(X1) and To(X2) fields, or
use the mouse to drag them to different positions.
To reset values to default clickReset .

The signal statistics that are given are:

> Maximum - the maximum value a signal obtained, and the point on the X axis where it was
obtained displayed in the at(ms) column.
> Minimum - the minimum value a signal obtained, and the point on the X axis where it was
obtained displayed in the at(ms) column.
> Magnitude - the calculated maximum minus minimum signal values.
> Average - the average value, maximum plus minimum divided by 2.
> Std. Deviation - the standard deviation of the signal.

6.7.14 Setting Scope Plot Properties

The Scope’s plot properties, such as color, line width, line style, and the like, of each signal is set in
the Scope Properties window.
If the Properties window is not displayed, press Ctrl+Alt+P, or select Properties Window from View
in the Main Menu (or use the Workspace right-click option - see Working with Workspace Tree).

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The Scope properties are divided into three groups:

General Plot Settings
These properties relate to the Scope graphic display:
> Cursors Color - this sets the color of both the cursors and riders.
> Grid Color - this sets the color of the grid.
> Grid Visible - this checkbox toggles between displaying and not displaying the grid.
> Plot Area Color - this sets the color of the background of the graph.
Plot Settings
These properties relate to the plots of the signals:
> Channel - you use this dropdown list to select the signals to which the Plot Settings are to
be applied:

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> Line Style - this sets the line style of the plot of the selected channel, selected from a
dropdown list:

> Line Width - this sets the width (in points) of the plot of the selected channel.
> Plot Color - this sets the color of the plot of the selected channel which you select from a
dropdown list (see Setting Color Properties).
> Point Style - you have the option of displaying the plot as a smooth curve, in which case
there is no Point Style, or you can select the format that individual points on the plot are to
be displayed from the dropdown list:

View Settings
This property enables you to set the precision that the plot values are to be displayed.

6.8 Sin Cos Encoder Compensation and Monitoring

The Sin Cos Encoder Compensation tool enables you to:
> Select axis for encoder measurements.
> Display a Sin-Cos Lissajous curve graph of the wave form.
> Read a controller’s gain, phase and offsets compensation parameters (SCGAIN, SCPHASE,
SCSOFFS, and SCCOFFS).
> Write new compensation parameters to the controller.
> Examine the compensation effect of each parameter.

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The Sin Cos Encoder Compensation can do the following:

> Perform step-by-step calculations of the compensation parameters for Sin-Cos encoders
based on user input.
> Perform automatic calculations of the optimum compensation parameters set.
> Perform monitoring for the calculated compensation parameters set.

6.8.1 Activating Sin Cos Encoder Compensation and Monitoring

To activate the Sin Cos Encoder Compensation tool:
1. From the Toolbox click Diagnostics and Monitoring to display the Diagnostics and
Monitoring tools list.
2. Click Sin Cos Encoder Compensation.

You may use Add Component from the right-click menu of the controller in the
Workspace Tree (see Controller Right-Click Options ) to activate Sin Cos Encoder
Compensation.

The Sin Cos Encoder Compensation window is displayed.

6.8.2 Sin Cos Encoder Compensation Window

The Sin Cos Encoder Compensation window consists of the following sections:
> Measurement Curve Display
> Compensation Execution Panel
> Motion Operation Panel
> Parameters Panel

6.8.2.1 Measurement Curve Display

The Measurement Curve is a Lissajous plot, an example of which is shown below, which displays the
curve of the results of the measurements performed by Sin Cos Encoder Compensation.

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The Lissajous plot displays the aspect ratio of the phase shift between the input and output, with
an aspect ratio of 1 (perfect circle) corresponding to a phase shift of +90o as well as amplitude
differences (ellipse).
As with the SPiiPlus MMI Application Studio , you can set cursors on the display through the Cursors
tab of the Parameter Selection panel (see Setting Cursors).

6.8.2.2 Compensation Execution Panel

The Sin Cos Encoder Compensation Execution panel serves for executing the Sin Cos Encoder
Compensation calculation routines:

The elements in this panel are:

> Select Axis - used for selecting the axis from a dropdown list, the contents of which
depend on the type of controller. There is a LED associated with the selected axis that can
be:

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> Grey - the axis is not enabled

> Green - the axis is enabled.
If the axis is not enabled, you enable it by clicking the Enable button.

If you select an axis that is not connected to a Sin-Cos Encoder, it cannot be enabled.

Select the required axis from the dropdown list, for example:

> Compensation Status - this field displays messages associated with the Sin Cos Encoder
Compensation status. The messages that can be displayed are:
> Compensation Off - the Sin Cos Encoder Compensation has not been activated. (You
activate it by clicking the Run button).
> Compensation in Progress - the Sin Cos Encoder Compensation is performing its
measurements.
> Compensation Passed - the Sin Cos Encoder Compensation has completed its
measurements and the compensation is correct.
> Compensation Failed - the Sin Cos Encoder Compensation has completed its
measurements and the compensation is not correct.
> Compensation Cancelled - the Sin Cos Encoder Compensation has been stopped (when you
click the Stop button) before the measurements have been completed.
There is a LED associated with the status which can be:
> Grey - the Sin Cos Encoder Compensation has not been activated, or has completed its
measurements.
> Green/blinking - the Sin Cos Encoder Compensation has been activated and is working.
> Run/Stop button - activates or halts the Sin Cos Encoder Compensation measurements,
when clicked, the Run button changes to the Stop button for manually halting the
measurements in progress.
> ZoomIndicator - you have the following Zoom options:

When the display has been zoomed, the Zoom LED ( ) turns green.

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> Zoom In - Hold Shift key and place the mouse cursor in the Scope display in area you
want to zoom into. Click the Left mouse button to display the Zoom icon. When the
icon appears, click the Left mouse button. Without releasing the Shift key, each time
you click the Left mouse button, you increase the zoomed display.
> Zoom In Area - While holding the Shift key, press the Left mouse button and drag to
mark the area you want to zoom, then release the mouse button.
> Zoom Out - While holding the Shift key, place the mouse cursor in the zoomed area
and click the Right mouse button. Without releasing the Shift key, each time you click
the Right mouse button, you zoom out one level.
> Move Graph - Hold Ctrl key and Left mouse button - a hand is displayed. Drag the
graph to where you want.
> Undo - To undo all zooms, press Shift + Backspace keys. (You can also undo the zoom
by clicking the Zoom LED ).

6.8.2.3 Motion Operation Panel

You use the Motion Operation panel to select the operation type for the Sin Cos Encoder:
compensation or monitoring.

6.8.2.4 Parameters Panel

You use the Parameter panel to set up parameters and display options you want. The panel has
three tabs:
> Measurement Tab
> Cursors Tab
> Statistics Tab

6.8.2.4.1 Measurement Tab

The Measurement tab is used for defining the required input measurement parameters and to
control the output results.
You can change the Target values in Monitoring and Compensation modes.
Once you are in compensation mode, pressing the run button will start the compensation
algorithm. Based on the value in Mode (Automatic or Manual) - motion will be performed either by
MMI commands or the user phsically moving the motor.
If Automatic mode is selected then the user may change the velocity of the stage commanded by
the MMI from its default value, as determined by the algorithm.
If Manual mode is selected the user may either move the stage by hand or write a program that will
execute a motion.

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Alternatively, the user can choose automatic mode, and set the velocity, as illustrated below.

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Under monitoring operation a limited set of criteria can be set.

Motion
When Automatic mode is selected the velocity field appears and can be set.

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Compensation Criteria
This section displays the target criteria used by the Sin Cos Encoder Compensation when making
the calculations and current values of calculated parameters along with a set of LEDs. If the current
value of any parameter is equal to or less than the target value, the associated LED is Green
(otherwise it is Red if the value fails, or Grey if the parameter is not relevant).
The criteria are:
> Iterations - the number of iterations that the Sin Cos Encoder Compensation is to perform
during the measurements.
> Asymmetries - Max(dx,dy) - Min(dx,dy), where dx is Xfinal point - Xstart point, and dy is Y final
point - Y start point. If this is zero, the graph is a perfect circle.

> Shift X - the offset on the X axis

> Shift Y - the offset on the Y axis
> Slope - dy/dx, where dx is Xfinal point - Xstart point, and dy is Y final point - Y start point.
You can make changes to the values of the Target fields when fine-tuning the compensation.

Clicking Default sets default values of the target calculated parameters.

Parameters
This section lists the ACSPL+ variables that are connected with managing Sin-Cos encoders. These
are:
> SCGAIN - Modify the amplitude of the COS signal, to compensate amplitude difference
between the SIN/COS signals
> SCPHASE - Modify the phase of the COS signal, to compensate phase difference between
the SIN/COS signals (phase should be 90 degrees)
> SCSOFFS - Compensating SIN signal offset
> SCCOFFS - Compensating COS signal offset
> SLEBIASA
> SLEBIASB

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SCGAIN, SCPHASE, SCSOFFS, and SCCOFFS are all software-based variables.

The SLEBIASA and SLEBIASB variables, on the other hand, are hardware-
based. Hardware compensation has some advantages over software
compensation: possibility to get analog signals out of saturation, and making
hardware based features like PEG more accurate.
In principle these variables have similar functionality as SCSOFFS and SCCOFFS;
however, they are only supported by the following controller models:

> SPiiPlusNT-HP/LD (compensation diapason +350 mV)

> SPiiPlusDC-HP/LD (compensation diapason +350 mV)
> SPiiPlus-UDMpc (compensation diapason +625 mV)
> PiiPlus-CMnt-2 (compensation diapason +750 mV)

If hardware compensation is available then after the calculation of hardware

compensation another round of compensation called verification will calculate
more accurate software compensation as well.

You have the option of changing the values by inputting new values in the appropriate fields.
Details of these variables are provided in the SPiiPlus Command & Variable Reference Guide.
There are three action buttons associated with this section:

Sin Cos Encoder Compensation reads the current variable values from the
controller.

Sin Cos Encoder Compensation writes the variable values into the controller.

Sin Cos Encoder Compensation sets the default values into the controller.

6.8.2.4.2 Cursors Tab

The Cursors tab enables you to mark points on the display where you are interested in seeing
exactly what the values at the points are.
There are two cursors, X1 and X2, for delimiting the Cos voltage values, and two cursors, Y1 and Y2,
for delimiting the Sin voltage. As the Sin Cos Encoder Compensation performs its routines, the
values at the cursor settings are displayed in the field below the graph. For setting the cursors see
Setting Cursors.

6.8.2.4.3 Statistics Tab

For each run, the Sin Cos Encoder Compensation builds a statistics table consisting of compensation
calculation measurements in the Statistics tab:
The rows are color-coded, Green for those values that passed the compensation measurements,
and Red for those that failed.

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At the bottom of the table the Sin Cos Encoder Compensation adds a line containing the average
values of the variables. There is a separate line for each axis that was checked.
Right-clicking on any row displays a menu with the following options:
> Set Parameters - selecting this option causes the Sin Cos Encoder Compensation to use
these variable values for purposes of making the measurement.
> Save to Flash - selecting this option causes Sin Cos Encoder Compensation to save the
values to the controller’s flash memory.
> Delete - selecting this option deletes the row from the Statistics.
> Clear All - selecting this option removes all the values from the Statistics.

6.8.3 Running Sin Cos Encoder Compensation

To perform automatic encoder compensation:
1. From the Motion Operation panel, select Compensation.
2. From the Execution pane select axis from the Axis dropdown list.
3. Click Enable.
4. Click Run.

If the motor associated with the encoder is a brushless motor, it has to be commutated
before encoder compensation. In the event that it has not been commutated, the
following is displayed:
The easiest way to commutate the motor at this point is to enter the COMMUT
command via the Communication Terminal, for example:

Then click Run again.

If the compensation is successful, go to the Measurement Tab of the Parameter Selection panel
and save the values to the controller’s flash memory by clicking Set in Measurement Tab.

6.8.4 Setting Cursors

You can use Cursors to mark points on the display where you are interested in seeing exactly what
the values at the points are.
In addition, the cursors enable you to reduce the display to a particular area of interest where you
want to see the signal reactions within a given range.
There are four Cursors:

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To set the Cursors:

1. Click the Cursors tab of the Parameter Selection panel. The Cursors are displayed on the
graph.
2. Set the X Cursors by placing the mouse cursor on them and dragging them left or right
(depending on the cursor you are setting).
3. As you move the X Cursors the values in the following change:
> X1(volt) - the cosine voltage on the X axis where the X1 Cursor is sitting.
> X2(volt) - the cosine voltage on the X axis where the X2 Cursor is sitting.
> X2-X1(volt) - the difference of cosine voltages between the X2 Cursor and the X1
Cursor.
4. Set the Y Cursors by placing the mouse cursor on them and dragging them up or down
(depending on the cursor you are setting).
5. As you move the Y Cursors the values in the following change:
> Y1(volt) - the sine voltage on the Y axis where the Y1 Cursor is sitting.
> Y2(volt) - the sine voltage on the Y axis where the Y2 Cursor is sitting.
> Y2-Y1(volt) - the difference of sine voltages between the Y2 Cursor and the Y1 Cursor.

6.8.5 Setting Sin Cos Encoder Compensation Properties

The Lissajous Curve properties, such as line color, width, style, and the like, of each graph is set in
the Sin Cos Encoder Compensation Properties window.
If the Properties window is not displayed, press Ctrl+Alt+P, or select Properties Window from View
in the Main Menu (or use the Workspace right-click option - see Working with Workspace Tree).

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The Sin Cos Encoder Compensation properties are divided into two sections:
General_Plot_Settings
This section enables you to set the background properties of the graph:
> Cursors Color - for setting the color of the cursors.
> Grid Color - for setting the color of the background grid.
> Grid Visible - a checkbox for toggling between the display (default)/non-display of the grid.
> Plot Area Color - for setting the color of the background of the graph.
Plot Settings
This section enables you to set the properties of the graph:
> Plot - there are four possible plots: Measure, Initial, Reference, Limits, each with its own set
of properties. You select the plot for which you want to set the properties from the
dropdown list:

> Once you have select the plot, you can set:
> Plot Color - for setting the color of the selected plot.
> Point Style - for setting the style of the points used in displaying the graph of the
selected plot.
> Line Style - for setting the style of the line used in displaying the graph of the selected
plot.

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> Line Width - for setting the thickness of line used in displaying the graph of the
selected plot.
> High Limit Diameter - for setting the diameter of the outside limit (maximum) that is
displayed.
> Low Limit Diameter - for setting the diameter of the inside limit (minimum) that is
displayed.

6.8.6 Running Sin Cos Encoder Monitoring

To perform encoder compensation monitoring:
1. From the Motion Operation panel, select Monitoring.
2. From the Execution pane select axis from the Axis dropdown list.
3. Click Enable.
4. Click Run.

6.9 Variables Manager and Watch

Variables Manager and Watch is used for viewing the values of ACSPL+ standard variables, user
global and local variables, and SP variables.
It is useful during debugging sessions or when the value of a variable needs to be observed in real-
time.
Variables Manager and Watch provides two types of display:
> Quick Viewer for viewing the current values of selected variables.
> Watch for viewing the values of selected variables as they change in real-time.

6.9.1 Activating Variables Manager and Watch

To activate Variables Manager and Watch:

1. From the Toolbox click Diagnostics and Monitoring ( )

to display the Diagnostics and Monitoring tools list.
2. Click Variables Manager and Watch.

You may use Add Component from the right-click menu of the controller in the
Workspace Tree (see Controller Right-Click Options ) to activate the Variables Manager
and Watch.

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The Variables Manager and Watch main window is displayed.

When you first activate Variables Manager and Watch, it opens in the Quick View mode.
As you add watches, these are displayed in their own tabs.

6.9.2 Quick Viewer

The Quick Viewer is used to view the current values of variables selected from the Variables Tree.

Quick Viewer consists of:

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> The Variables Tree for selecting the variable for display
> Index Selector for selecting the index of the variable
> Quick Viewer window displaying the values of the selected variable

6.9.2.1 The Variables Tree

The Variables Tree, which appears in both the Quick Viewer Mode and the Watch Mode, is used to
select the variable for viewing. You can select a group of variables, a single variable, an array
element, or a bit of an integer.
The following function buttons are associated with the Variables Tree:

Group - displays the variables according to their

groups.

Sort - displays the variables in alphabetic order.

Refresh - refreshes the Variable Selector list.

Search - Entering the name of the required

variable in the field (or a partial name) displays
the variables starting with the one you entered,
for example:

6.9.2.2 Index Selector

You use the Index Selector to display the value of the variable for the selected Index. Each Index is
associated with an axis:

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If no Index Selection button has been selected, then all of the variable values are
displayed in one column, labeled Value.

When you click an Index button, the value for that Index replaces whatever was previously
displayed.
To cancel the display click the button again.

The Index Selector has an additional button: , which enables you to select multiple axes for
display.

6.9.2.3 Selecting Multiple Axes

To select multiple axes:

1. Click , the Index Selection dialog is displayed:

2. Select the required axes by clicking the checkbox associated with the Index (or select
Select All for all of the axes) and close the dialog window.

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To cancel the display of a particular Index click and deselect the Index checkbox.

6.9.2.4 Selecting Variables

You use the Variables Tree, which appears in both the Quick Viewer Mode and the Watch Mode, to
select the variable. You can select a group of variables, a single variable, an array element, or a bit
of an integer.

The Variables Tree consists of the following columns:

> Variable - containing a tree of groups, variables, array element and bits (for integers)
> Watch Type - containing the variable type
Using the Variables Selector you can:
> Select a Group
> Select a Single Variable
> Select an Array Element
> Select a Bit of an Integer

6.9.2.4.1 Select a Group

To select a group click the variable name with [All] in the Variables Selector Watch Type column:

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6.9.2.4.2 Select a Single Variable

To select a single variable click its corresponding cell in Variables Selector.

6.9.2.4.3 Select an Array Element

All arrays have Watch Type = array. To expand the list of elements, click . After you have
expanded the list, click any of its elements.

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6.9.2.4.4 Select a Bit of an Integer

If a single variable or an array element is an integer, then to the right of its name you see .
Clicking this expands the integer to reveal the bits.
After you have expanded the list of bits, click of them.

6.9.2.5 Displaying a Variable’s Value

In order to display the current value of a variable

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1. Select the variable in the Variables Selector panel.

2. In the Quick Viewer window click its cell.

6.9.2.6 Update Variable Values

You should be aware that the Quick Viewer does not maintain a running display of the current
values of the variables. From time to time you have to update the values. To do this click Refresh
Values

6.9.2.7 Quick Viewer Properties

The Quick Viewer properties are:

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> Max column dimension - width of column.

> Max row dimension - height of row.

6.9.3 Watch
The Watch, unlike the Quick Viewer, is used for real-time monitoring of selected variables.

6.9.3.1 Creating a Watch

To create a Watch:
1. Select the variable from the Variables Tree (see Components).
2. Click Create Watch ( ).
The Watch is displayed in a new tab.

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6.9.3.2 Watch Display

The Watch display has the following elements:
> File Handling Functions
> Watch Parameters Matrix
> Modifying Watch Parameter Matrix Fields

6.9.3.2.1 File Handling Functions

The file handling functions enable you to save and retrieve Watch data.

Save Configuration - saves the Watch data to a file.

Load Configuration - loads a previously saved Watch data file.

6.9.3.2.2 Watch Parameters Matrix

The Watch Parameters Matrix shows the parameters of each cell displayed in the Watch window.
The Matrix has the following columns:
> Name - The name of the variable
> Alias - Enables you to enter a more meaningful name of the variable
> From1 - Starting index of an array

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> To1 - Ending index of an array

> From2 - Starting index of a 2-dimensional array
> To2 - Ending index of a 2-dimensional array
> Bit - Bit number of the variable being monitored (or All if all the bits are being monitored)
> Type - The type of the variable (int, real, etc.)
> Indication - Numerical representation of the value (Decimal, Hexadecimal, Binary, Fixed
Point, etc.)
> Precision - For Real numbers this indicates the number of decimal points displayed
> Value - The detected value of the variable being monitored

6.9.3.2.3 Modifying Watch Parameter Matrix Fields

The Watch Parameter Matrix enables you to modify what is displayed in the Watch window.
Depending on the variable, you can select what is displayed by clicking the field in the matrix and
click the down arrow ( ) to select from the dropdown list.
For example, you may want to see a different variable momentarily. You click the Name field and
select the required variable:

This variable and its values are now displayed in the Watch window. To return to the original
variable, you repeat this process and select the original variable.
Another modification you can make is change the To or From indices of the variable by:

If the variable that’s being watched is a bit, you can select whether to show its numeric value, or as
a Boolean display (True/False).

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When you select Boolean, instead of 0 or 1, you get a graphic display in the Watch window, for
example:

6.9.3.3 Replace a Variable

To replace a variable in the Watch:
1. In the Watch Parameter Matrix select the row of the variable you want to replace.
2. In the Variables Tree select the variable you want it to be replace by.

3. Click Replace variable ( ).

6.9.3.4 Add a Variable

To add a variable to the Watch:
1. In the Variables Tree select the variable you want to add.

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2. Click Add variable ( ).

6.9.3.5 Remove a Variable

To remove a variable from the Watch:
1. In the Watch Parameter Grid select the variable you want to remove.
2. Click Clear cell ( ).

6.9.4 Watch Window

A Watch window consists of rows which can contain several columns. The display of each variable
consists of the variable’s name and its value. The value is constantly updated in the display.

6.9.4.1 View Watch

In the event that you have closed the Watch window, you can recall it by clicking Show Watch (
) in the Watch Parameters Matrix.

You can also display it from the Workspace Tree by right-clicking its symbol and
selecting Open from the dropdown menu:

6.9.4.2 Removing a Watch

To remove a Watch:
1. If it is not displayed, switch to the Workspace panel.
2. Right-click the Watch you want to remove.
3. Select Remove from the dropdown menu.

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6.9.4.3 Save/Load Watch

Save Watch Data
To save Watch data:
1. From the toolbar click Save Configuration ( ), the following prompt appears:

2. Click Save, a browser opens enabling you to save the data:

3. Enter a filename and click Save.

The data is saved with an .ini extension.

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Load Watch Data

To load previously saved Watch data:
1. From the toolbar click Load Configuration ( ), a browser opens enabling you to select the
Watch you want to load:

2. Select the required Watch file and click Open.

6.9.4.4 Watch Right-Click Options

There are three right-click options associated with the Watch:
> Watch Window Right-Click Options
> Watch Row Right-Click Options
> Watch Column Right-Click Options

6.9.4.4.1 Watch Window Right-Click Options

When you right-click the Watch window, you are presented with the following menu:

This menu enables you to:

> Change - which enables you to make changes to the selected variable. When you select
this option, the following prompt is displayed:

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You can make any change and click OK.

> Add row - which adds a blank row to the Watch window, then you use Add a Variable in the
matrix to select the variable for the row.
> Remove row - which removes the selected row in the Watch window.
> Add column - which adds a blank column to the Watch window, then you use Add a
Variable in the matrix to select the variable or variables for the column.
> Remove column - which removes the selected column in the Watch window.
> Clear Cell - which removes the variable display from the selected cell.
> Watch properties - which displays the Watch window properties panel.
> Cell properties - which displays the Cell properties panel.
> Column properties - which displays the Column properties panel.
> Row properties - which displays the Row properties panel.
> Close Watch - which closes the Watch window.

6.9.4.4.2 Watch Row Right-Click Options

When you right-click a Row, you are presented with a number of options:

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This menu enables you to:

> Add row - which adds a blank row to the Watch window, then you use Add a Variable in the
matrix to select the variable for the row.
> Remove row - which removes the selected row in the Watch window.
> Clear Cell - which removes the variable display from the selected cell.
> Row properties - which displays the Row properties panel.
> Close Watch - which closes the Watch window.

6.9.4.4.3 Watch Column Right-Click Options

When you right-click a Column, you are presented with a number of options:

This menu enables you to:

> Add column - which adds a blank column to the Watch window, then you use Add a
Variable in the matrix to select the variable or variables for the column.
> Remove column - which removes the selected column in the Watch window.
> Clear Cell - which removes the variable display from the selected cell.
> Watch properties - which displays the Watch window properties panel.
> Column properties - which displays the Column properties panel.
> Close Watch - which closes the Watch window.

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6.9.4.5 Watch Properties

The following properties panels are associated with the Watch window:
> Watch Window Properties - enable you to set certain general properties of the Watch
window as a whole.
> Watch Row Properties - enable you to set properties for the Watch window rows.
> Watch Column Properties - enable you to set properties for the Watch window columns.
> Watch Cell Properties - enable you to set the properties of the selected cell in the Watch
window.

6.9.4.5.1 Watch Window Properties

When you select a Watch window, you activate the Watch’s Properties.
It can also be displayed by selecting Watch properties from any of the right-click menus.

The options are:

> Circle Color
This applies only to the graphic display of bit values in the Watch window and enables you
to select the colors in which the values are to be displayed.
> FalseColor - the color for a False value
> TrueColor - the color for a True value
> Color
This applies to the Watch window cells and enables you to select the colors in which the
cells are to be displayed.
> Background - indicates selected cells
> Foreground - indicates non-selected cells
> Count

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This applies to the number of columns and rows to be displayed:

> NumberOfColumns - the number of columns to be displayed
> NumberOfRows - the number of rows to be displayed

If you enter a number greater than the number of variables being watched, empty
rows/columns are inserted.

> Font
> Font - for selecting the display font
The font section allows the user to select the the required font, size, and attributes:

from which you can select the required font, size and attributes.
> Misc
By default, when you create a Watch, it is given the name Watch# (where # is the number
of the Watch window). if you have several Watch windows running, you can use this field
to give them each a unique identifying name.
> Show/Hide
You can use these buttons to toggle between displaying or hiding the Row, Column and
Variable labels.

6.9.4.5.2 Watch Row Properties

You can display the Row Properties panel either by selecting a Row, or from the right-click menu.

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The options are:

> Names
This enables you to enter a unique identifying name for the Row.
> Type
This enables you to set display characteristics of the values.

Type can also be set in the Watch Parameter Matrix - see Modifying Watch Parameter
Matrix Fields.

6.9.4.5.3 Watch Column Properties

You can display the Column Properties panel either by selecting a Column, or from the right-click
menu.

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The options are:

> Names
This enables you to enter a unique identifying name for the Column.
> Type
This enables you to set display characteristics of the values.

Type can also be set in the Watch Parameter Matrix - see Modifying Watch Parameter
Matrix Fields.

6.9.4.5.4 Watch Cell Properties

You can display the Cell Properties panel either by selecting a Cell, or from the right-click menu.

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The options are:

> Index
This enables you to change the Index of the variable displayed in the Cell.
> Names
This is for information only.
> Type
This enables you to set display characteristics of the values.
> Value
This is for information only.
> Visible elements
The number of elements - this appears for array and bit variables and indicates the total
number of elements that can be visible.

6.10 System Viewer and Diagnostics

System Viewer and Diagnostics displays the system configuration stored on a controller. It also
displays any inconsistency between the system configuration stored on the controller and the
connected system.
To open System Viewer and Diagnostics:

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1. From the Toolbox, click Diagnostics and Monitoring to display the Diagnostics and
Monitoring tools list.
2. Click System Viewer and Diagnostics.

You can use Add Component from the right-click menu of the controller in the
Workspace Tree (see Controller Right-Click Options) to open System Viewer and
Diagnostics.

3. Click Retrieve :

4. The System configuration stored in the controller is displayed:

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5. If the system contains inconsistent information, the following dialog box will be displayed:

6. Click Diagnostics to see additional information in the following window :

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7. If the user clicks Cancel rather than Diagnostics, a window such as the following will be
displayed:

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