User Manual
Contents
1. PT Start JPT Start JPT Input0 2 JPT Input Input Jump Position NoO Input Jump Position the lower number JPTO gt JPT1 gt JPT2 has the high priority and will www fastech co kr Execution of Position Table 4 6 Loop Condition Jump 4 6 1 Specifying Loop If Loop Count and Loop Jump Table No are specified system repeats the action of position specified times Loop Count and then jumps to corresponding position to Loop Jump Table No regardless of specified Jump Position Noj that is Jump Position No is ignored There are rules in specifying loop as following 1 If 0 is specified for Loop Count loop function is cancel led If system needs to jump before repeating the specified times it jumps to JP Table No a Po If blank is specified for Loop Jump Table No system exits in execution If Loop Jump Table No is specified in the formof 10XXX next action is executed by the external signal JPT Start iN Following Table is one of example for specifying loop Loop Counter Clear Loop Counter Movement Position Table No of Loop Position Table No to jump Scale No to jump after completing loop Position JP Table No Loop Jump Table No PTAO 0 PTA PT Start PT 0 PT 0 PON 1 PT 1 x Refer to the sample file for testing Position Table PTsample Loop Motioning txt www fastech co kr2. and next command is on stand by 3 Click Next button and PT 1 will be executed 4 When pressing each Next button one PT command is executed 5 Click Stop to stop operation After operation is stopped the user can set new PT number and click Run button to start the program again www fastech co kr Execution of Position Table 4 4 Teaching Function Teaching signal functionalizes that the position valuelpulsel being working can be automatical ly inputted into a position value of a specific position table The following table shows type of commands and whether teaching function can be used or not ine Wove high speed with deceleration 6 Ine Move with acceleration and deceleration 7 ioe corn or Clear Position 4 4 1 Teaching by user program When click Teaching button on Position Table screen the following dialog box is activated Ele Teaching Dialog 2 Sy ltemNo 2 Besin gt palf Move Position Status Cmd Pos 10000 pulse Cmd Pos 149134 pulse Move Speed 100000 pps Actual Pos Epuls Actual Wel 0 pps Abs Ml ee Pos Error O pulse DEC Move INC Move FA a Jog J09 Teaching ST ALARM ON STEP OFF RESET STOP ee Select Position Table No the figure shows that No 6 of PT is selected among 64 Position Tables 2 Specify position of motor where to teach and move it 3 Turn ON or OFF of Servo during te
3. M Clear Loop Count JP Table No sean gt e www fastech co kr Position Table Item MIS 3 Position Table Item 3 1 Explanation of Position Table Item Designated Iten Upper limit Specifies type of motion Command For more details refer to Vase Command o Specifies position movement scale by Position pulse 134 217 728 4 134 217 727 number of pulse Specifies low speed by number of pulse in accordance with type of motion Low Speed pps 500 000 For more details refer to e Command Specifies high speed by number of pulse in accordance with type of motion High Speed pps 500 000 For more details refer to one Command Specified acceleration time by msec when ACC time ms 1 9 999 starting motion Specified acceleration time by msec when DEC time ms 1 9 999 Stopping motion ACCtime DEC time Specifies waiting time by msec for Starting motion of next PT when o specifying PT No for jump skip Wait time If JP Table No is specified as blank or ns oe Continuous Action is specified this iS ignored lt gt Wait time Note Even if Wait Time is specified as Olms the system waits for the completion signal of position setting INP signal or motor stop signal before starting next Position Table www fastech co kr Position Table Item If this item is checked as check 1 Continuous action the system continues action of current position and next posit
4. Output 0 2 PT Output 0 2 signals turn to ON after completion of operation of the corresponding PT www fastech co kr Execution of Position Table Motion pattern by PT PT Output 0 2 Output PT Output HEX Value Case PT Set 0 Case PT Set 3 Case PT Set 12 Case PT Set 8 PT Output signals are not working on next condition 1 PT Set value 9 15 2 at the same time using Jump function 3 at the same time set Wait time O msec 4 7 2 Pass Signal iw PT Output Set C Start Sign C End Sign OUTPUT Trigger Position 12000 Trigger Time 100 msec If the value between 17 to 23 Pass Sign is specified for PT Set PT Output HEX value is output through output of PT Output O PT Output 2 at the position of Trigger Position PT Output 1 PT Output O PT Output Signal Signal HEX Value Function Not use output function of PT Output 0 2 PT Output 0 2 signals turn to ON for the time of trigger condition of the corresponding PT www fastech co kr Execution of Position Table Motion speed Trigger Position Trigger Position Case 1 Absolute Motioning Delay time Lower than 100 ys x The signal pulse width of PT Output is set by Trigger Time value www fastech co kr Execution of Position Table e Please note that the specifications are subject to change without notice due to product improvements Copyrigh
5. to save Motion steps as file and to load them from file 6 YT gt A A A AN View function of current Position Table order under execution status When electric power is supplied to drive the Position Table data saved in ROM area of drive is copied to RAM area and once click the Post Table button then the system loads the data saved in RAM area of drive www fastech co kr Windows of Position Table 2 2 Main Window of Position Table The following window describes windows and buttons which execute the position table function Position Table HAA Mode ae o aono Slave No 0 K gt 10000 10000 50000 50000 100000 100000 100000 100000 100000 100000 100000 cs cs A cs A cs Us A e a as 1 co co J 0 0 E Qu Pa a Teaching Retresh save to ROMI Load fram ROM save to File Load File Close lt i ME Normal Single Step The user can select modes to execute the position table Normal All position commands are in order executed according to conditions saved in the position table Single Step Only single position command is executed Run Stop Next To run stop items at the defined position table Teaching Teaching is executed by either using external input signal or user program By clicking this button the user can easily use teaching function at the user program window For more information refer to Teaching Function Refresh To display the position value measured by the teachi
6. window of position table and all commands will be executed in order by conditions already loaded in PI data Position Table Mode Mormal Single Step slave osition Table JP Table Mo J OU l 10000 100 100 1000 0 l 2 J 0 l t0000 100 100 1000 0 J 5000 l 50000 100 100 1000 0 J 2 S a 0 l s0000 100 100 1000 0 4 a 2K00 l 100000 100 100 100 0 T J 5000 l 100000 100 100 100 0 E J FOUL l 100000 100 100 100 0 i JO J 10000 l 100000 100 100 100 0 o 1 While Normal mode is selected the user sets PT number to O and click Run and then PT O is executed 2 PT 1 is executed by PT data jump conditions 3 PT 2 is executed by PT data jump conditions 4 As mentioned above next PT number is automatically executed by position data jump conditions 5 Click Stop to stop operating 2 Single Step Select Single Step at the main window of position table and only corresponding PT command will be executed and next PI commands wil be on stand by This mode can be easily used when the user executes testing for each position command And it is available at User Program GUI only Mode O C Normal amp single step AUN Slave 5000 10000 100 100 10000 100 100 I 2000 B0000 t00 10D l s0000 t00 100 1 While Single Step Mode is selected the user sets PT number to 0 and click Run and then PT O is executed 2 After execution is stopped Run icon is changed into Next
7. Before Getting Started Ezi STEP ALL Step Motors with Integrated Drive and Controller User Manual Position Table Rev 01 01 03 www fastech co kr Before Getting Started Table of Contents Ta PELOS UE dera 3 Ze WINS Or POSICLON TADO unicas pierre 3 ar Loading Position Table Dita aiaia 3 Ae Main Window a A A 4 ES POO ae CHOP een a a a E 5 Oe aso T a PP E E EE ENE E E EEE 6 Oo 1 Explanation Or Position Table Ceci dora 6 Fa nn E a a a a N 8 A o A E ri 10 sl HOW O Sidra POSITION Malo e a a 10 A ts Example TOR general operat Oleiros iconos 10 Bee Oe Y else AOL lO lt a asnanteeenocecessaens 11 Baile NOM Ma A e E A o 11 A o nn A e EE pi EROS 11 4 4 Teaching EUNCL Oliaina iaa 12 4 4 1 Teaching by user DON 12 4 4 2 Teaching MA AA 13 d a AOUT COn IOn JU aer E E E EEEE EE 14 A A E 14 e JM e dio op a aee cleats deus ecivwsmebiesuen aie setae serseanciucattaaapesestmanbarsasbecheneshe 15 4 6 LOO Condition PONG essectetecct seca tocen one lnenecada dato 16 Bl FASE IT UO SOO e E A A E AT E E OAE T 16 ARROZ WOOD COUT Cr GICA osaa E simceecmenmeenecness 17 qa Oa Fs E Ona UNG 10 Wl orreri sninn r oir ron EET E 18 Aaaa A EEA 18 BN Fg N nn Pe N 19 www fastech co kr Before Getting Started 1 Before Getting Started Presented Ezi STEP ALL User Manual Position Table explains position table functions of Ezi STEP ALL Here are User Manual_ Text User Manu
8. Execution of Position Table 4 6 2 Loop Counter Clear Loop Counter is internal counter in drive to compare No of repeat with the No specified in the item Loop Count of PT data This function clears Loop Counter to O zero of the specified PT data after completion of looping If Loop Counter Clear is specified as blank this function is cancel led Following table shows an example of specifying Loop Counter Clear 3 4 5 6 Movement Position Table No to Loop Counter jump after completing Clear loop Loop Counter Loop Jump Table No Position Table No of Loop No to jump Loop JP Table No Scale Position Specify Loop Counter Clear of PT No 2 as PT No 1 Start operation from PT No O When starts operation system reset all Loop Count values as O zero After repeats the loop block PT No 0 PT No 1 two times the Loop Counter becomes 2 two same as specified Loop Count so system completes looping and jumps to PT No 2 After executing PT No 2 system jumps to PT No 0 Before jumping to PT No O system clears Loop Counter the internal counter as O zero Then paragraph 3 and 4 are repeated infinitely If the Loop Counter Clear of PT No 2 was not specified Loop Counter increased continuously and so jumping to PT No 2 occurs only once at the first time and then repeats the loop block PT No 0 PT No 1 infinitely because the inte
9. aching Displays current position information and the value displayed in Cmd Pos ition is to be teaching value 6 When clicking this Teaching button current value displayed in Cmd Pos will be saved in the item Position of the current PT No 6 above case The values are to be saved on RAM and click Save to ROM button in order to save on ROM In order to move to the next position select PT No by using arrow keys www fastech co kr Execution of Position Table 4 4 2 Teaching by Input signal You can save current position information to the Position Table data by Turning ON teaching control input signal Also when executes teaching position value No of pulse is specified as absolute position value Teaching is carried out by following orders 1 Select PT No to save data and specify items like Command etc except item Position only Move motor to the position where you want to save data of it Specify PT No s that teaching is carried out by PT AO PT A7 Turn ON teaching signal to save current position value into item Position of Position Table data 5 If you want to apply the saved value you need to Refresh PT data in order to verify the value on the User Program GUI screen 6 The values are to be saved on RAM and click Save to ROM button in order to save on ROM motion pattern ON OFF Teaching Signal PT No Position Value for each PT CMD p
10. al_Communication Function in this manual Please utilize our product afterward understanding about proper usage method with reading these contents carefully The word as Position Table can be presented as PT Position Table from the following text In particular Please don t forget to memorize whole matters that requires attention about safety in User Manual_ Text and should try to understand properly Besides please be safe to do not use the products improperly in any case At worst serious damage can be occurred as like death We provide this instruction manual and other instruction manual as well Please keep these manuals in appropriate place whenever you need to find and read comfortably 2 Windows of Position Table 2 1 Loading Position Table Data When click the Pos Table button on main menu of User Program GUI then the system displays the following message box and loads data saved in RAM area of drive Loading Loading Position Table Data 302 Functions of Position Table allows to process motions in the orders that were predefined by user In the case of this Ezi STEP ALL drive up to 64 steps can be saved Major functions for saving items are shown as fol lowing 1 Editing function of Motion step Input Edit Delete Copy 2 Start and Stop function of Motion order at User Program GUI 3 Start and Stop Motion function by signal input from outside drive 4 Teaching function 5 Functions
11. data for one selected order this function clears data for all the orders of 64 Position Table 4 Reload Item from ROM The data shown on the screen are values saved in the RAM This function is used for reload data saved in ROM area 5 Cut Item Used to cut selected item data of PT in order to paste on other position 6 7 Paste Item Paste the copied data to clipboard by Cut or Copy to other selected position 8 Copy Item Used to copy selected tem data of PI in order to paste on other position Run Selected Item Execute motion order from the selected No of Position Table Position Table Item Editor Item Mo 0001 data or click the Edit Item from popup menu Command 485 NomalMoion button shown above figure then the dialog box Motion Jump shown right is activated Position eis JE Table No Low Speed 1 W JPTO High Speed 80000 Mm JPT 1 Once complete editing of each item and then you Accel time m M JPT 2 Double click on selected line of Position Table move and select other items to edit by using Decel Time a da ounting Loop E Y Check iti right left arrow key een eee AO au Enable Continuous Action JP Table No atthe end of loop After editing of all data completely a ren utput Se click Save button to save data to RAM x In order to save data to ROM area click Matpa Time aner eommang c 100 OUTPUT r Save to ROM button on main screen of Position Table
12. ion Condition For this function the Command item value must be 0 3 This function have to be used in sequencially increased goal position or sequencially decreased Goal position Example When Position No O 1 are specified as under that is position O is specified as Continuous Action Gont Act uPT No Position 1 0 Position When this tem specified the system jumps to JP Table No and execute t after completing action of current position If Position No is specified as 10XXX system jumps to Position No XXX as soon JP Table No as JPT Start one of the input digital Signal begins from controller to outside becomes ON For program exit specify as blank For more details refer to 4 4 Input Condition Jump If any of these items is checked and JPT 0 there are corresponding input signals of JPT inputO JPT inputi or JPT input2 system jumps to JPT 0 JPT 1 or JPT 2 JPT 1 accordingly regardless of specified Jump Table No For more details refer to 4 4 Input Condition Jump Corresponding Input Jump Position Input Jump Position No O Input Jump Position No 1 Input Jump Position No 2 lf these items are specified system repeats action of the position under specified times Loop Count and after then jumps to corresponding position to Loop Jump Table No regardless of specified Jump Table No For more details refer to 4 5 1 Loop Setting Specifies out
13. ion can be used The value in the item Position is value for relative position Teaching function is not supported Continuous Action is not supported owe tooriain an the soci tted current paranterss on the specified current parameters Reset command position value and actual position value based on current position and clears the values as 0 Clear Position The following table shows speed patterns for each action of command Specified Command Name Speed Pattern Value Abs Move low speed NN Low speed Inc Move low speed www fastech co kr Position Table Item HIS Abs Move high speed High speed Inc Move high speed Abs Move high speed with deceleration High speed Low speed Inc Move high speed with deceleration Abs Move with acceleration and deceleration l High speed Low speed Inc Move with acceleration and deceleration www fastech co kr Execution of Position Table 4 Execution of Position Table When installing User Program GUl the following files are saved in the folder named as WWEASTECHWWEZiMOTION PlusR WWPT_SamplestWEzi STEP ALL for version 6 WWFASTECHWWEZiMOTION PlusR V8WWPT_SamplesWWEZi STEP ALL for version 8 level as sample files to test Position Table 1 PTsample General Motioning txt PTsamole Loop Motioning txt 3 PTsample Loop counter clear txt 4 PTsample Clear Position txt 4 1 How to start P
14. ng function For more information refer to Teaching Function Save to ROM To save current position table data in ROM drive Load from ROM To open position table data saved in ROM drive save to file To save current position table data to an external file It is saved to a folder defined by the user with a file name defined by the user The extension is txt Load File To read position table data saved in external file PTsample General Motioning 22110 All Filesi x Up to 64 position table commands can be input and saved x By using each position table command the user can edit the file such as edit copy paste and delete www fastech co kr Windows of Position Table 2 3 Position Table Editor When click right mouse button on a selected Position lable data line then the following popup menu is activated Position Table No CMD Position Low Spd High Spd Accel 0 J ERE 10000 100 J 0 10000 100 2 3 5000 50000 100 J 3 0 50000 100 E gt gt Clear Item 100 a Clear All Items 100 g 100 0 Reload Item from AOM 00 10 Cut tem Ctrl 100 13 Copy Item Ctrl C 100 14 100 15 100 16 Run Selected Item 100 17 Wn 1 Edit Item You can edit data on the following dialog box shown as below 2 Clear Item All the items of selected PT are cleared After executing this function all the items are shown as blank 3 Clear All Items While above function Clear Item clears
15. o PTAD PT start PT Start JET Inputl Pulse scale 10ms or more pr Input0 2 l JPT Input2 Pulse scale 10ms or more x Refer to the sample file for testing Position Table PTsample Loop JFT InputO 2 Motioning txt www fastech co kr Execution of Position Table 4 5 2 Jump by External Signal This is the method to specify next action pattern PT No by input condition However system does not jump to next PT No to be executed automatically according to procedure but executed by external signal JPT Start Difference from the function in section 4 5 1 executed by input signal JPT Input0 Input2 1 Jump Position No to jump need to have the format of 10XXX and 2 JPT Start needs to be ON in order to execute the next action Wait Time after the specified time from the external signal If specified of PT data is more than 0 then the next action is to be executed Data for PI No 14 Input Jump Inout Jump Inout Jump Position No O Position No 1 Position No 2 JPT 2 Position Table No to jump JP Table No Wait Time Wait Time PTAD PTAa7 24 PT Start JPT Start JPT Input0 2 JPT Input 4 A IE Em JPT Start JPT Input0 2 a PT 14 PT 255 PTAQ PTAZ AA ee ta e PAT en aama PT Start A i JPT Start JPT Input0 2 JPT Inputl x f more than 2 signals become ON No2 be executed of 3
16. osition Table Position Table operation is executed by input signal or communication command The followings are example of Position Table operation by input signal to be explained step by step In the case of Position Table operation by communication command the system is executed by sending the communication commands corresponding to the control input signal 1 Specify Position Table No 0 63 operated by PT AO PT A7 2 If the motor is STEP OFF click STEP ON 3 Signal ON of PIStart input to start operation 4 2 Example for general operation Specify PT No through input data for PT AO PTA7 and then input PT Start signal to start speed control operation Specifying Position Table m ee High Accel Decel Wait Cont i nuous Yo y Est a time time time Action 10000 1 2500 Pa a qq AAA AA CAME Ee ja a w 1 w o o Speed PTO Accel PTO Decel 2500 uml J PT2Acce T500 pen a A mas mae O po PT3 Accel Decel End Time OOO CO ho E a tees ee e E E S i Waittime i PTAO PTA7 PT Start input Moving output Aco Deo output END output x Refer to the sample file for testing Position Table PTsample General Motioning txt www fastech co kr Execution of Position Table 4 3 Operation Modes Position Table commands can be executed by two modes as follows 4 3 1 Normal Select Normal at the main
17. put signals such as PT OutputO PT Output1 PT Output2 in order to confirm the start pass or end of motor operation for each position PT set 0 8 16 Not use output signal 1 7 Specifies output function when starting operation 9 15 Specifies output function when completing operation 17 23 Specifies output function when www fastech co kr Loop Jump Table No Position Table Item PF the position reach to Trigger Position For more details refer to 4 7 Start Pass End Signal Function If this tem is checked Loop Count of specified No of PI is to be cleared For more details refer to 4 5 1 Loop Setting Specifies position where the PT OutputO PT Output1 PT Output2 signal is Trigger Pos ON in case of PT set is 17 23 pulse 134 217 728 134 217 727 For more details refer to 4 7 Start Pass End Signal Function Specifies pulse width where the PT OutputO PT Output1 PT Output2 signal is Trigger Time i ys Z ON in case of PT set is 1 23 ae 65636 For more details refer to 4 7 Start Pass End Signal Function 3 2 Type of Command Loop Counter Clear Item Command specifies type of action pattern to be executed for each position and the followings in the table are list of commands Specified Command Name Remark Value The value in the item Position is value 1 for absolute position Teaching function can be used Continuous Action funct
18. rnal counter Loop Counter value will never meet the specified Loop Count value Speed rime j PTAD 0 PTAT Endless loop gt gt Time x Refer to the sample file for testing Position Table PTsample Loop counter clear txt www fastech co kr Execution of Position Table 4 7 Start Pass End Signal Function By specifying the tem Start Pass End Signal Function user can recognize the status of Position Table whether operation started iS under pass operation or completed operation through control signal output If you do not want to use Start Pass End Signal Function specify this item as 0 8 or 16 If other value is specified the position performs following actions depending on specified value 4 7 1 Start End Signal WwW PT Output Set OUTPUT MA me A lt 0 If the value between 1 to 7 Start Sign is specified for PT Set PT Output HEX value is output through output of PT Output O PT Output 2 at the time of starting operation If the value between 9 to 15 End Sign is specified for PT Set PT Output HEX value is output through output of PT Output O PT Output 2 after completion of operation PT Output 2 PT Output 1 PT Output O PT Output Signal Signal Signal HEX Value ASS Not use output function of PT Output 0 2 PT Output 0 2 signals turn to ON at the time of starting operation of the corresponding PT Not use output function of PT
19. t 2008 FASTECH Co Ltd All Rights Reserved May 31 2011 rev 01 01 08 www fastech co kr
20. ulse 12010 Position 4 15300 Position 12 12800 Position 255 38520 www fastech co kr Execution of Position Table 4 b Input Condition Jump Among the items to be specified JP Table No JPT O JPT 1 and JPT 2 are used to specify next PT No to be executed Specified next PT No to be executed there are two different methods depending on the control signal as followings 4 5 1 Automatic Jump This is the method to specify next action pattern PT No by input condition system jumos to next PI No to be executed automatically according to procedure For example as shown in the following figure when PT No 14 is executing 1 if there is no input signal next action pattern is to be executed by PT No 15 as shown in figure 1 However if any of input signal is ON such as JPT InputO JPT Input or JPT Input2 during the operation of PT No 14 then system jumps to JPT 0 JPT 1 or JPT2 accordingly and execute it that is specified in the Position Table data as shown in the figure 2 4 Data for PI No 14 Position Table No to Inout Jump Input Jump Input Jump jump Position No O Position No 1 Position No 2 JP Table No IPE MET JPT 2 PTAO J A AAAK PTAO hax PTAT PTA 14 x PT Start PT Start JPT Input Pulse scale 10ms or more JPT InputO 2 JPT InputO 2 Overriden JPT Input0 2 pr 14 PT 116 poo PTAD mx oo
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