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The Cool Muscle CM1 can be controlled by the ProCommander 3 from Weigl. Additional information on the capabilities of the ProCommander can be found at http://www.weiglworks.com/products/procom/. This documentation assumes some knowledge of the ProCommander 3 and how to use it.
The ProCommander 3 communicates to a maximum of 8 Cool Muscle motors over UDP. The Cool Muscle is added to the timeline as a 16-bit analog channel which defines the motor's absolute position in time. Figure 1 shows the system architecture including a switch and PC to run the relevant software.
Figure 1: System architecture
The 17 and 23 series Cool Muscles have an ethernet communication interface integrated onto the motor. The following part numbers will ensure the correct hardware and settings are delivered when a motor is ordered.
Additional cable accessories are available. The standard motor includes a 40cm long power cable.
Two software applications are required for setup and show programming
The system network must be configured as shown in figure 1. The computer, Cool Muscles and the ProCommander 3 all need to be setup with the same IP range and subnet mask. The following defaults are set
IP | Subnet | |
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Cool Muscle | 10.0.0.201 | 255.255.255.0 |
Procommander 3 | 10.0.0.101 | 255.255.255.0 |
All Cool Muscle motors have the same default IP address. If there is more than 1 motor on the system then all additional motors shall require unique IP addresses. Use the following steps to set the IP address.
The motors MUST have sequential addresses. The ProCommander 3 is given the first IP and the number of motors and assumes the addresses are sequential.
Do not change any other settings as this could break communication to the Cool Muscle.
The ProCommander 3 must be setup with information about the Cool Muscles. This sets up how many motors are on the system, their IP addresses and some relevant parameters. Commands are sent through the Hardware Configurator console.
Once all commands have been sent the ProCommander 3 must be power cycled to initialise the motors. The following occurs on a power up
By default the home routine is set to run counter clockwise to a hardstop with 30% of the motors torque.
Command | Description | Example |
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!aipIP:10001:2:MOTORS# | Initialize ProCommender 3 with
| !aip10.0.0.201:10001:2:2# Expected response: >!aip10.0.0.201:10001:2:2# |
!asxA:val# | Set the position range of the Cool Muscle in 0.01 revolutions.
| !asx1:200# Expected response: >!asx1:200# (this will set the analog range to 2 revolutions) |
!assA:val# | Set the maximum speed of the Cool Muscle in rpm
| !ass1:100# Expected response: >!ass1:100# (this will set the maximum motor speed to 100 rpm) |
Example:
The following sequence of commands sets up 2 motors starting at IP 10.0.0.201. Motor range is set to 2 revolutions for both motors and the maximum speed is set to 100 rpm.
Commands and their responses can be seen in Figure 2.
Figure 2: Hardware Configurator setup
Power cycling the ProCommander 3 will initiate the motor initialization. Once the power cycle routine is complete you can test the motors by selecting the Inputs/Outputs tab, checking the Send Values checkbox and sliding the analog sliders.
Contours is used to set the home routine.
The ProCommander 3 and Contours use the same port to communicate to the motor. The ProCommander 3 should be switched off during this procedure.
Additional Cool Muscle information
A Query button in available in Contours to retrieve the current motors parameters. Figure 3 below shows the Homing Parameters in Contours
Figure 3: Homing Parameters
The following basic routin should be followed when setting up the home routine
The following homing options are available.
The homing type can be set to
A hardstop home routine uses limited torque to run up against an endpoint. Detecting an increase in current it will back off very slightly and set this to the 0 position. It backs up to the previous encoder count to achieve maximum repeatability. If an offset it used it will move the offset and then set the 0 position.
A sensor home routine will run in the direction specified until it detects an input on the input specified. It will then back up to the edge of the sensor for maximum repeatability. If an offset it used it will move the offset and then set the 0 position. If the sensor is active when the home routine is initiated it will initially move in the opposite direction to try and clear the sensor.
It is recommended if possible to use the hardstop home routine. It simplifies wiring and cost and is very repeatable.
The ProCommander 3 issues a homing command on power up. It is recommended to set the home routine to Hardstop or Sensor to not conflict with the ProCommander 3 home command.
The homing direction can be set to Clockwise (CW) or Counter Clockwise (CCW). This is the direction the motor will start homing in.
The motor torque can be limited during the home search. When the type is set to hardstop it uses the increase above this threshold to detect the hardstop. When the type is set to sensor it limits the motor torque during the routine.
If the required 0 point is not at the mechanical origin of the machine then an offset can be entered. The motor will move the offset before setting the 0 position. The offset unit is by default motor revolutions. This can be changed in the Axis Properties by changing the Unit Multiplier value.
The following restrictions apply to the offset if the type is set to Hardstop
The above restrictions do not apply to a sensor home routine.
Select the input that the home sensor is wired too. This only applies to sensor type home routines.
The home speed unit is is by default motor revolutions/second. This can be changed in the Axis Properties by changing the Unit Multiplier value.
Home Routine Example
This example will set the following
Motor 1: CW home routine to a hardstop with 1/2 revolution offset in the negative/CCW direction. It should be run to a torque limit of 45%. Speed is 0.1 rev/s.
Motor 2: CCW home routine to a sensor on IN2 with no offset. It should be run at 60% torque. Speed is 0.25 rev/s.
Expand the homing parameters and select the following for Axis 1
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Click the Find Home button to save and test the home routine
Select Axis 2 and set the following
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Click the Find Home button to save and test the home routine