404 Tech Support

Serial Connection DB9 to RJ45

Communicating to the Tracker IPm via the RS232 serial port is the preferred

method if you wish to avoid IP addressing issues normally associated with Ethernet connections. Since the RS232 port B is an RJ45 connection, a converter is supplied in the box pre-wired.  Use a standard CAT5e patch cable to complete the connection.DB9-RJ45-Pin-Outs

Many computers made today do not have serial ports but do have USB ports. USB to serial converters are readily available at any computer supply store but make sure that if the one you select is not plug & play that you load the driver software that may come with it.

If you need to make up your own converter, one can be purchased also at any computer supply store.  See Fig 1 for wiring diagram. This is the view from the back of the of the DB9 side.

Carefully but firmly push the crimped female connector ends into the appropriate hole as shown here with a fine screw driver.   If one or more of the crimped connectors are not pushed far enough down they may pop back out when you plug in the male side as shown in figure 2. This will cause a communication error!

 

 

incorrect-wiring-750

Incorrect – Pins are not fully seated

correct-wiring-750

Correct – Pins are fully seated

 

Make sure none of the metal extends out beyond the plastic as shown in fig 3. It is recommended that you plug in the male DB9 before you snap the assembly back together to see that none of the female pins are pushed out.

 

Power Supply Sizing

Sizing your power supply to the Tracker IPm correctly is very important.

Note: By selecting the “Independent Motor Run” option in configuration, you need only to consider the current of one motor in a dual axis system.

Example:  A Kinematics SE3B-62M-24H01-RC 3 inch Slew drive with a 24H01 brushed motor.

This motor draws 2 – 3 Amps during intermittent and continuous operation but peak Amps can be up to 4.5 when starting the motor and may last only for a few milliseconds.

Adding up all the current draw:

  • 24H01 motor  4.5 A
  • mechanical relay 0.069 A
  • Tracker IPm 0.1 A

Total Amperage = 4.669 A

One might think a 5 Amp power supply would be sufficient but if you add solid state proximity switches, anemometers or other input devices that add load you could easily exceed the capacity of the power supply.

The result of an undersized power supply manifests itself in several ways. We must understand that when the current load of the circuit exceeds the rating of the power supply the voltage drops.

The first and most obvious is the chatter of the reverse mechanical relay because relays have a minimum voltage needed to power the coil. This is called drop out voltage and is often 80% of the coil voltage. So a 24VDC coil will drop out when the power supply voltage drops below 19.2 Volts. This is potentially damaging to the motor assembly and throws off calibration because the motor is running and changing direction rapidly until the voltage recovers.

The Tracker IPm has much more safety margin since it can operate between 10-30 VDC so a slight voltage drop which may affect the relay might not affect the controller. Typically if the voltage drops below 10 volts for a long enough period you will simply reboot the Tracker IPm.  The dip can also be so fast that it negatively affect the processors and causes a communications error in both the Serial and Ethernet ports. This may require a reset of the system comm ports.

Our recommendation is to have a 30% safety margin. In this example a 10 Amp power supply is highly recommended.

 

Controller Sinking or Sourcing

Tracker IPm are generally shipped from the factory with Sourcing as the default setting. This is the common setting for brush motors. For some brushless motor controls digital inputs must be Sinking so here is how you make the change. In the device configuration:

Def_IOmod

descreteOpts

Save the settings and download to the controller.

The software part is completed, now you must change the hardware.

Power down the Tracker IPmSANY0085-260x300

  • Grasp the Tracker IPm module on the Top and Bottom as shown in Fig 1.
  • Squeeze the 2 tabs labeled “PRESS” firmly and pull out the module.
  • Pull the module out. It requires a bit of strength to do this.

 

 

 

  • The back plate is hinged at the bottom and will drop forward as in Fig 2.SANY0087

 

 

 

 

 

  • Locate the 3 pin jumper and move the jumper to the right 2 pins DC+ as in Fig 3.sinkJumper-800x200
  • Close the back plate.
  • Insert the module “firmly” until you hear the latches click.
  • Return the Tracker IPm to service.

Loading a new control program

If your Tracker IPm is connected to the Internet, we can update control program using our IPm Web Control otherwise here is the procedure to load from your PC.

See this link for instructions to connect your PC

If you haven’t done it already, down load the I/O Tool Kit software and install it on your Windows PC.

You will be sent a Toolkit project file (xxx.6PJ ) and an ISaGRAF project (appli.X6M) by email.

Save them in an accessible folder on your PC.

Run the I/O Tool Kit sent to you

If you are prompted to Register click here for Registration Instructions

Configure / Configure Station/Module

Select “Files to Load” tab at the top.

Select “Project” button

Select the appli.X6M file previously saved. Open / OK

Operations / Load / Load Advanced (Select Files)

Check only the ISaGRAF box with the directory where you placed the file. Load

The project will automatically run. You are finished.

PID Function Block SxPID1i

Here are descriptions of the inputs to the SxPID1r function block used in Tracker IPm. Most of the inputs and output for this function are real (floating point) values except for the Mode input, which is an analog value (whole number).

INPUT VARIABLE
NAME TYPE DESCRIPTION, Units
auto BOOLEAN When FALSE, the PID functions in Manual Mode. The PID output pid_calc will follow the value of the input manual_level. (See manual_level below.)
When TRUE, the PID functions in Automatic Mode. The PID output pid_calc will be determined by previous data and the other PID function inputs.
Value = 0 or 1, FALSE or TRUE
Refer to the SXPID1r Application Notes in Toolkit Help for in-depth descriptions of these two modes.
pv REAL This is the process variable from the controlled process. The PID calculates its current error by subtracting setpoint from this pv input.
Example: 350.3
setpoint REAL This is the targeted output value. The PID calculates its current error by subtracting this setpoint from the pv input.
Example: 347.55
Pgain REAL This value represents a proportional constant. Pgain determines how the PID’s error (pvsetpoint) and other influences (integral and/or derivative terms) affect the calculation of the PID output. The higher Pgain is, the more effect the error will have on the PID output.
Example: 25.56
Igain REAL This value represents the integral time constant. Igain affects the amount of influence the PID’s internal integral term has on the calculation of the PID output. An Igain setting of 0.0 effectively eliminates all influence of the integral term. The higher Igain is, the more effect the integral term will have on the PID output.
Example: 1.375
Dgain REAL This value represents the derivative time constant. Dgain affects the amount of influence the PID’s internal derivative term has on the calculation of the PID output. A Dgain setting of 0.0 eliminates all influence of the derivative term. The higher Dgain is, the more influence the derivative term will have on the PID output.
Example: 0.70
time REAL This is the loop update time, in seconds. If the PID’s calculated delay is less than time, the function will not make any adjustments to the PID output. The minimum time is 0.1 seconds (100 mS). All times less than this are rounded up to 100 mS.
Example: 1.0
mode ANALOG When 0 (zero), the PID functions in Position Forward Mode. The PID output varies in direct relation to the pv. An increase in the output causes an increase in the pv. Most applications use this mode.
When 1 (one), the PID functions in Position Reverse Mode. The PID output varies in direct relation to the pv. An increase in the output causes a decrease in the pv.
When 2 (two), the PID functions in Velocity Forward Mode. The PID output is the rate of change of the loop calculation. An increase in the output causes an increase in the pv.
When 3 (three), the PID functions in Velocity Reverse Mode. The PID output is the rate of change of the loop calculation. An increase in the output causes a decrease in the pv.
Refer to the SXPID1r Application Notes in Toolkit Help for in-depth descriptions of these modes.
Value = 0 to 3
manual_level REAL In Manual Mode, the PID output is set to this value. (Manual Mode is invoked by setting the auto input to 0 (zero).)
Example: 13570.0
bias REAL This bias value is added to the PID output in Manual and Automatic modes.
Example: 3500.0
deadband REAL This value specifies the minimum amount of error (process variable minus setpoint) required for the PID output to be recalculated. deadband eliminates output dither due to small input fluctuations. This input applies to Automatic mode only.
Example: 250.0
max_change REAL This value specifies the maximum amount the PID output is allowed to change with each output update. max_change provides slew rate limiting. This input applies to Automatic mode only.
Example: 1000.0
max_out REAL This value specifies the maximum allowable PID output, in Automatic and Manual modes.
Example: 32767.0
min_out REAL This value specifies the minimum allowable PID output, in Automatic and Manual modes.
Example: 0.0

 

 

Here is a description of the output of the SXPID1r function block.

 

OUTPUT OUTPUT
NAME TYPE DESCRIPTION
pid_calc REAL This is the last calculated output of the SxPID1r function block.
Example: 13507.55

Setting DHCP / Static IP Address

Tracker IPm’s are shipped from the factory set for DHCP and should automatically run on any network provided there is a DHCP server. If you need to change DHCP to a static IP address follow this procedure:

In Toolkit high light the Tracker IPm

Configure / Configure Station/Module …

Ports tab / Select Ethernet1

ports

Configure Selected Port …

dhcp

Enter Static IP address

Select Advanced

dhcpAdv1

Enter Subnet mask / gateway(s) IP address

 

 

IPm Firmware & Software

Firmware

Firmware version 4.3.163

Setting the Clock

Normally the Tracker IPm with update its clock via the Internet when connected to your local area network. If you need to set the clock manually using your laptop use the following procedure.

Open the Sixnet Toolkit project that accompanied your product.

In the Menu select

Operations / Set the Clock…

clock

Then select

Operations / Load / Load Advanced (Select Files)…

Un-check all boxes except Set Station Clock then click the Load button

clock_load

Upgrade Firmware

Upgrading firmware may become necessary to restore your Tracker IPm back to factory settings. **This is an advanced procedure so contact us prior to performing this function. We have more detailed instructions that should be used.**

To determine your current version: Operations / Advanced Operations / Read Firmware Version

To Upgrade:

Step 1

Go to Sixnet Firmware Download

Step 2

Select the current down load for VT-IPM2M-113/213 and download it to your PC. Follow Installation Instructions.

Step 3

Open Toolkit & select the controller so it is highlighted

Operations / Advanced Operations / Upgrade Firmware

Follow instructions

 

Loading IPm WebControl

SXClient provides the connection to IPm WebControl

Download the sxclient file to your PC

sxclient-2.2.10-powerpc.tgz

Open Sixnet Toolkit

Highlight the TRACKER IPm

Configure/Configure Station/Module

Select User Software Tab on pop up

Select Add a File

Select Install a Tar file radio button

Select Files of type:  “Zipped Tar Files (*.tgz)

Find the directory where you saved the sxclient file

Select/Open/OK/OK

Operations/Load/Load Software

 

Once the software loads, it should connect to the Web in a few minutes. If after 4 or 5 minutes it still does not connect, cycle power and then check your Internet connection. This is done by plugging your lap top into the same Ethernet port on the network that the Tracker IPm will use. Open a standard browser and confirm you are able to surf the Web. Make sure your WiFi connection is off. If a connection cannot be made, contact your network administrator.