1. INTRODUCTION
This chapter provides an overview of the Copley Controls Indexer 2 Program.
1.1: Copley Controls Indexer 2 Program
The Copley Controls Indexer 2 Program, combined with a Copley Controls amplifier, creates a powerful single- or multiple-axis indexer that can be programmed by anyone with basic computer and motion control knowledge. Working with a PC and the tools built into Copley Controls CME 2 software, the user configures and programs the Indexer 2 Program and then downloads it to the amplifier. On the amplifier, the Indexer 2 Program is run on the Copley Virtual Machine (CVM), an embedded virtual programmable controller.
The user can create up to 32 sequences. A sequence contains one or more steps that can combine homing instructions, moves, gains adjustments, and timed delays. Sequence steps can also apply conditional logic and jumping, control the amplifier’s digital outputs, and monitor the digital inputs.
In the simplest applications, a PLC or switch activates the amplifier’s digital inputs to select and execute sequences. The amplifier’s digital outputs can be used to control machine processes or provide status feedback to the PLC.
For more complex applications, the Indexer 2 Program has 32 registers that control programs can access by issuing ASCII commands over the amplifier’s RS-232 serial port. These registers can be used to select and execute sequences and pass numeric parameters to the Indexer 2 Program. The registers may also be accessed by the amplifier’s other supported control networks such as CANopen or DeviceNet.
Multi-axis applications are supported by the Copley Controls multi-drop feature. In a multi-drop configuration, an amplifier with a serial connection to an external controller serves as a gateway to multiple amplifiers linked to it by CAN bus connections. This makes it possible for a PLC to control up to 128 axes of motion through one serial port.
In addition, some Copley Controls amplifier models can drive up to three separate axes. On these amplifiers, certain Indexer 2 Program functions can be programmed separately for each axis. See Multi-Axis Amplifier Support.
1.2: Indexer Features
Features of the Indexer 2 Program include:
Simple, intuitive programming tools
32 programmable multi-step sequences
Priority sequence, selected and executed with a single digital input
32 registers accessible via an RS-232 serial port and other interfaces
Sequence selection and execution by digital input or register
Program can start automatically on power up
Programmable response to sequence errors
Standard functions include:
• Move (position, velocity, current, camming, home)
• Wait (for input, delay time, position, move done, parameter, or event)
• Conditional jumping
• Set Gains, limits, and tracking windows
• Set output, position triggered output
• Disable amplifier
• Math
• Set, get parameters
• Velocity single pole out filter
• Set operating mode
• Logic