Home
XGB Positioning
Contents
1. Areas available Flag Instruction dl Step Error Zero Car ry PMK F L T C S Z D x R x i U N D R F110 F111 F112 A ee E E O amp a ax o o Oo o B o a COMMAND MOF Al MOF sl ax Area Seiting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to cancel M code 0 axis X or 1 axis Y WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the instruction of cancelling the M code to XGB built in positioning The M code On signal axis X K4203 axis Y K4303 bit of the axis designated as ax at the rising edge of the input condition and M code number axis X K428 axis Y K438 word are simultaneously cancelled b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction a Example of the Program M0001 K04200 K04201 K04203 iet F Vt n MOF XAxsBUSY X amp xsEror XAxis M Q command Code On 8 eno r3 lo o LOADP M0001 MOF command 2 AND NOT K04200 XAxis BUSY 3 AND NOT K04201 XAxis Error XAxis M 3 IL program K04203 Code On 5 MOF 0 0 h as END b Operation of
2. Areas available Flag Instruction cen Step Error Zero Car PMK F L T C S Z D x R x iu U N D R F110 F111 n sl o ax Oo Oo Oo Oo Oo n1 o o o o o DST n2 o o o o o 4 7 o n3 Oo Oo O Oo Oo n4 o o o o o n5 o o o o o COMMAND DST sl ax n1 n2 n3 n4 n5 ost FL Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 Target position 2 147 483 648 2 147 483 647 Pulse DINT n2 Target speed 1 100 000 pps DWORD n3 dwell time 0 50 000 ms WORD n4 M code number M code 0 65 535 WORD n5 Control word See a function WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is for directly ordering the start to XGB built in positioning This instruction carries out direct starting of the axis designated as ax of XGB positioning at the rising edge of input condition f the instruction is executed positioning operation is started by using the target position set in n1 the target speed set in n2 the dwell time set in n3 and the M code number set in n4 instead of the operation data
3. Areas available Flag Instruction con Step Error Zero Car ry PMKF L T C S Z Dx R UINJDJR F110 F111 F112 sl Jo IST ax o o o o 7 7 o 4 7 o 7 7 n1 o o o o o COMMAND Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 Step number to start 0 30 standard 0 80 advanced WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving indirect starting instruction to XGB built in positioning The indirect starting is executed to the axis designated as ax of XGB positioning at the rising edge of the input condition If the instruction is executed the positioning operation is carried out by the operation data set in the step number of area K designated in n1 If n1 is set at 0 the operation step is executed which is displayed in the step number of current positioning area K axis X K426 axis Y K436 word Various operation patterns such as end continued and incessant operation and single and repeated operation can be made and executed by using the indirect operation instruction b Error If the value designated as ax instruction axis is other
4. Areas available Flag Instruction Cons Step Error Zero Carry PMK F LJ T C S Z D x R x tant U NI ID R F110 F111 F112 sl o ax Oo o Oo Oo Oo SSP n1 o lo lo o o 4 7 o n2 O o Oo Oo Oo n3 o o i o o o COMMAND Area Seiting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD Position value of the main axis n1 position synchronous main 2 147 483 648 2 147 483 647 DINT axis Operation step number of n2 T 0 30 standard 0 80 advanced WORD auxiliary axis py Setting ot the main exis O pc i se oca sY WORD position synchronous Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is executing main axis position synchronous starting for the XGB built in positioning The main axis position synchronous instruction is executed with the axis set in the axis designated as ax at the rising edge of the input condition auxiliary axis n3 being the main axis Chapter 5 Positioning Instructions If the instruction is executed the auxiliary axis stands by without generating actual pulse the operation status flag of the au
5. Operand Description Settable range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 Target position to change 2 147 483 648 2 147 483 647 DINT Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the position override instruction to the XGB built in positioning This is changing the target position to the position set in n1 during the operation of the axis designated as ax at the rising edge of the input condition The position override instruction is available in the acceleration and deceleration sections and if the position override is executed during dwell error code 362 is issued b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction The position override instruction is described with the example of the following program a Example of the Program Chapter 5 Positioning Instructions M0000 K04200 K04201 P IST XAxis BUSY XAxis Error 0 command M0001 K04200 K0420F 1 1 POR XAxis BUSY XAxis Move command Status Owe n ud 50000 oe 2 ANDNOT K04200 X amp is BUSY 3 AND NOT K04201 XAos Error 4 IST 0 0 1 8 LOAD M0001 POR IL program comman
6. 4 Operation Sequence P0009 96IX0 1 1 floating origin switch On set as the floating origin at the current position P000C 96IX0 1 4 synchronous start switch On axis X starts speed synchronous start with axis Y being the main axis POOOF IX0 1 7 Axis Y start switch On axis Y starts step 1 operation Axis X is synchronized to the speed of 50 00 of axis Y and started 7 2 9 Emergency Stop The program example of emergency stop during operation is as follows 1 XBM XBC P0008 K04201 1P H 1 0 0 In case of error eror reset output inhibit a XAxis Error P0008 K04200 K04201 1 H 7 set X axis Hoating it 1 XAxis BUSY XAxis Error origin g command POOOA K04200 K04201 X indirect start E M 3 V LE d v Indirect XAxis BUSY XAxis Error start POOOB K04200 K04201 1 1 TA Emergency XAxis BUSY XAxis Error mis enimgency op stop a Devices Used Device Description Error reset output inhibition cancel switch in case of emergency stop axis X home return switch emergency stop switch during home return Signal during axis X operation Chapter 7 Program Examples of Positioning 2 XEC When error occurs resets error and cancels ouptut inhibition 81X0 1 0 SKX6721 P ErrorReset XAxis SW Error Sets axis X floating origin 81X0 1 1 SKX6720 Floating XAxis BUSY origin SW axis X in
7. 4 Operation Sequence P0009 96IX0 1 1 floating origin switch On set as the floating origin at the current position P000F 96IX0 1 6 simultaneous start switch On axis X simultaneously starts step 1 and axis Y does step 2 7 2 7 Position Synchronous Start The program example of position synchronous start is as follows 1 XBM XBC A i o E i i 0 0 In case of error emor XAxis Error reset output inhibit cancel K04301 YAxis Error P0009 K04200 K04201 11 t si set X axis Floating FLT XAxis BUSY XAxis Error origin 15 command K04300 K04301 17k t YAxis BUSY YAxis Error set Y axis Floating origin P0000 T aii SSP 0 0 2000 When Y axis is 2000 X 30 SSPstst Xs BUSY XAxis Eror en POOOF K04300 04301 1 1 1 Xaxis stat YAxis BUSY YAxis Error a sw 7 17 Chapter 7 Program Examples of Positioning a Devices Used Device Description axes X and Y error reset output inhibition cancel switch axes X and Y floating origin switch Axis X position synchronous switch Indirect start switch f axis Y Signal during axis X operation Error signal of axis X Signal during axis Y operation Axis Y error signal 2 XEC Comment When error occurs resets error and cancels ouptut inhibition if INSTE PM RST amp IX0 1 0 KX6721 P REQ DONE X_RST_OONE ErrorReset x xis Su
8. Items Range Set Values Positioning 0 not used 1 used 0 Bit Pulse output level 0 Low Active 1 High Active 0 Bit Pulse output mode 0 CW CC 1 PLS DIR 1 Bit M code output mode 0 NONE 1 WITH 2 AFTER 0 2 Bit Bias speed 1 100 000 pulse sec 1 Double word Speed limit 1 100 000 pulse sec 100 000 Double word Acceleration time 1 0 10 000 unit ms 500 Word Deceleration time 1 0 10 000 unit ms 500 Word Acceleration time 2 0 10 000 unit ms 1 000 Word Deceleration time 2 0 10 000 unit ms 1 000 Word Acceleration time 3 0 10 000 unit ms 1 500 Word Deceleration time 3 0 10 000 unit ms 1 500 Word Acceleration time 4 0 10 000 unit ms 2 000 Word Deceleration time 4 0 10 000 unit ms 2 000 Word S W upper limit 2 147 483 648 2 147 483 647 pulse 2 147 483 647 Double word S W lower limit 2 147 483 648 2 147 483 647 pulse 2 147 483 648 Double word Backlash correction 0 65 535 pulse 0 Word SW upper and lower limit during constant speed 0 not detected 1 detected 0 Bit operation ie CE MPP er ane iaWer 0 not used 1 used 1 Bit 2 Return to origin Manual Operation Parameter Items Return to origin method Return to origin direction Origin address Return to origin high speed Return to origin low speed Return to origin acceleration time Range 0 2 0 normal direction 1 reverse direction Initial Values Data Size Bit 2 147 483 6
9. sseeeeee 3 51 Chapter 4 Positioning Check 4 1 The Sequence of Positioning Check un Deren th ciet p oq aaet ade ctt ba e adu t pent 4 1 4 2 Making of Operation Check Program 2 eeesieseeeeeeee eene nnne nnnc 4 3 Chapter 5 Positioning Instructions 5 1 Positioning Instec oDoNIBETE essc eeon puces a eto e HURIPRD IER DIE BARRE AER A dateutitqu fadus 5 1 5 2 Details of Positioning Instructions ssssseenem enn 5 3 2 2 1 Ongini Return INSTUCHONS uei c enne de suada uc riim ve a kd Came Duces 5 3 5 2 2 Fixed Origin Setting InstPblbliOn s uio in en aec rebos tomb tet ise arn taste de tdnes 5 7 5 2 3 Direct Starting Instr lO ecco cotta ttt tre tr iniit i nio exact Pepe RR Ee EN boe 5 9 5 2 4 Indirect Starting Instruction uie e tete intr cerae E d teheetersaedsds 5 12 5 2 5 Straight Interpolation Starting Instruction ssseeees 5 15 5 2 6 Simultaneous Starting Instruction s suo ccce Ent notte tof pul e rottura tia ct 5 18 5 2 7 Speed Position Switching Instruction eeeeeeeeeneneene 5 20 5 2 8 Position Speed Switching Instruction eeeeeennn 5 22 5 2 9 Deceleration Stop Instruction ssssssssssem RR 5 24 5 2 10 Position synchronous Instruction sae ooo deo tdem sosta aati dag ant Ne Reee i Pe iauSens 5 26 5 2 11 Speed Synchronous Instruction ccccceccceeeeeeeeseceeneceeeeeeeeeeseneneee
10. P0008 Axis X error reset output inhibition cancel switch P0009 axis X home return switch P000A axis X start switch POOOE axis X speed teaching switch POOOB axis X position teaching switch POOOF axis X parameter teaching switch K4200 Signal during axis X operation K4201 Error signal of axis X K534 K535 axis X step 1 operation speed D0100 D0101 axis X speed change data 3000 K530 K531 axis X step 1 target position D0100 D0101 axis X speed change data 5000 K452 K453 axis X speed limit K454 axis X deceleration time K455 axis X acceleration time D0100 D0101 axis X speed limit setting data 10000 D0102 axis X deceleration time 1 setting data 50 axis X deceleration time 1 setting data 50 2 XEC When error occurs resets error and cancels ouptut inhibition INSTB 81X0 1 0 SKXB721 APM_RST P REQ DONE X RST DONE ErrorReset XAxis SW Error 0 4BASE STATH X RST STAT 0 4SLOT 0 JAXIS 1 JINH OFF Sets axis X floating origin INSTIO 81x0 1 1 SKX6720 SKX6721 APM FLT RE ONE X FLT D NE V m A Floating XAxis BUSY XAxis origin SW Error 0 BASE STATE X_FLT_STAT 0 SLOT 0 JAXIS Chapter 7 Program Examples of Positioning 81x0 1 2 Indirect start 81X0 1 6 P Speed teaching 81x0 1 3 Position teaching 8130 1 7 P Parameter teaching Axis X indirect start SKXB720 1 XAxis BUSY SKX6720
11. Areas available Flag Instruction con Step Error Zero Car Ty PMK F L T C S Z D x R x we U N D R F110 F111 F112 sl Jo INCH ax o o o o o 4 7 o n1 o o Oo o o COMMAND Area Seiting Operand Description Setting range amp Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 Position to move by inching 2 147 483 648 2 147 483 647 DINT Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the inching operation instruction to XGB built in positioning It moves to the position set in n1 at the inching speed set in the positioning parameter with respect to the axis designated as ax at the rising edge of the input condition b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction a Example of the Program M0001 K04200 K04205 yn ya cs 0 0 150 iet INCH XAxis BUSY XAxis command Output 0 inhibit END JOP 1 comm INCH command XAxis BUSY XAos Output Inhibit 4 INCH 0 iU 150 9 END Rung Step Instruction OP 1 op 2 oP2 o3 0 0 LO
12. IEC61131 2 e Max impact acceleration 147 m s e Time allowed 11ms e Pulse waveform half sine wave 3 times to X Y and Z directions each IEC61131 2 Rectangular 1 500 V impulse noise Test specifications of LSIS Electrostatic Voltage 4kV contact discharge discharge IEC61131 2 IEC61000 4 2 Radiating electronic field 80 1 000 Mz 10V m noise Noise immunity IEC61131 2 IEC61000 4 3 Power Digital Analogue Input Output Fast transient SU tray module Communication interface Burst noise 2kV 1kV Environment Free of corrosive gas and dust IEC61131 2 IEC61000 4 4 Altitude Lower than 2 000m Pollution degree 2 and lower Cooling method Natural air cooling type 1 IEC International Electro technical Commission international standards and operating the compliance evaluation systems 2 Pollution degree contains the status generating temporarily conduction due to condensation International private group facilitating international cooperation of electric electronic standardization issuing As an index representing the pollution degree of an environment to determine the insulation of a device pollution degree 2 generally means the status generating non conductive contamination However it also 2 1 Chapter 2 General Specification 2 2 Power Specification Power specification of
13. 1 Positioning Command The commands available in the positioning monitoring package are as follows e To execute an command enter the setting of the command and click on the Run button lt lt i Tl gt gt gt during jog operation Item Description Command Direct start with the operation step set in the monitoring window IST APM IST Indirect start Error reset Resets the error code and output inhibition in case of an error CLR APM RST Directly starts with the position speed dwell M code acc dec Direct start number coordinates and control method set in the monitoring window DST APM DST M code OFF Cancels the M code On signal and M code number MOF APM MOF Dec stop Carries out deceleration stop in the set deceleration time STP APM STP EMG stop Stops the operation of the axis and inhibits pulse output EMG APM_EMG 6 3 Chapter 6 Positioning Monitoring Package Item Spd override Pos override Spd override with position Home return FLT Sets the current position as the fixed home FLT APM FLT Position preset Start step No Inching Spd position conversion Position spd conversion Spd synchronous operation Position synchronous operation Simultaneous start Straight interpolation operation Description Overrides the speed at the set speed value Overrides the position at the set position value Changes the oper
14. Chapter 3 Before positioning 4 Writing to PLC After setting of positioning parameter and operation data per each axis download them to PLC Selecting Online gt Write Write dialog box is displayed In order to download parameter select Parameter and click OK D rma Click OK Remark If XG5000 is not connected with PLC Write menu is not activated In case of this select Online gt Connect to connect with PLC When PLC is RUN mode comment is available to download so only comment is displayed in the Write dialog box At this time change PLC s mode to STOP and retry it XG5000 A Change PLC mode to stop mode and write to PLC If downloading parameter basic parameter I O parameter built in parameter is transmitted The downloaded positioning parameter is applied when turning on the power or changing operation mode For more detail refer to 3 2 2 Chapter 3 Before positioning 3 2 2 Relationship between positioning parameter and dedicated K area XGB built in positioning function executes the positioning control by using parameter and K area dedicated for positioning Here describes relationship between positioning parameter and K area Internal memory configuration related with XGB built in positioning is as follows Operation data change Operation status monitoring Reading writing parameter Built in parameter Power on D
15. Pattern 0 END 1 KEEP 2 CONT K6182 83 K9182 83 Bit KX9890 91 KX14690 91 K6181 K9181 trol 0 POS 1 SPD cous KX9889 KX14689 K6180 K9180 IN Bit MEINER gos SE RES KX9888 KX14688 K619 K919 REP Step O 30 0 80 for high end 0 4KW619 4 KW919 Word Address K610 K910 2 147 483 648 2 147 483 647 pul 0 Double word pulse DU D Cte pulse KD305 KD455 K917 MCode 0 65 535 0 K617 3 Word KW617 KW917 Speed 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s K6186 87 K9186 87 Bit KX9894 95 KX14694 95 0 TO ae Double word KD307 KD457 Dwell 0 50 000 unit ms 0 keie z kos S Word d DAPIDUS KW616 KW916 Initial Dedicated K area Item Setting range Data size Step t g g value X axis Y axis Data size Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end aa K6282 83 K9282 83 KX10050 51 KX14850 51 K6281 K9281 KX10049 KX14849 KX10048 K629 KW629 KW929 END POS Address pulse 2 147 483 648 2 147 483 647 pulse K620 K920 KD310 KD460 Double word M Code A D No Speed Dwell 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 8 K627 K927 96KW627 KWI27 K6286 87 K9286 87 KX10054 55 KX14854 55
16. XBM DR16S BBHBBBHB DUU00U00 A aA 23 Ie Ga Ga Go 21 4 G ItTCICTEICICICICIC App 4 1 Appendix 4 Dimension 2 High end type main unit XBC DN32H XEC DN32H MO193NNOO NOISNVY dX3 130VA 5OoHz Out 24vac 01 XBC DR32H XEC DR32H 0193NNOO2 NOISNY dX3 App 4 2 Appendix 4 Dimension XBC DN64H XEC DN64H PRRPRRSRRRERER dg aa QHARTRAR BRD XBC DR64H XEC DR64H EXPANSION CONNECTOR QRBHAORPREORERAD URGSRURCRERRERRE MBEBHEHERHHERRE 30313275415 36 37 302224 2823038 IF Dnagoogoaogooonaogooonao EXPANSION CONNECTOR App 4 3 Appendix 4 Dimension 3 Extended I O module XBE DC32A XBE TR32A XBE RY16A App 4 4 imension Appendix 4 D XBE DC08A XBE DC16A XBE TNO8A XBE TN16A aaa BIETET CEECEEEEBEBEBEELD iH eil i 06 Haia Haaa Sela slg Sis sia S a1 Sul jaaiet al Sla a MES Coos YOLOINNOD NOISNY dX3 1 Ne E nn uU RY08A DR16A XBE XBE BIBIT
17. by switching signal and it moves to designated position Chapter 3 Before positioning 3 2 Positioning ET 3 TURCHOR Operation description Instruction Ref PTV Ch 5 2 8 rd APM PTV Ch 5 3 9 vu p Operation f T Position speed pattern 1On switching start i i control signal E Conversion T signal On L Dec stop 1 Position control is executed by start command and it is switched to speed Operation dude control by switching signal and stops after deceleration by stop command Y ax amp LIN Ch 5 2 5 VS APM LIN Ch 5 3 6 Operation Y incremental SU YT S S Linear pattern interpolation i tae Te Y2 control X axis x1 X incremental x2 f 2 axes linear interpolation control is executed by start command from Operation d h current position to target position speed SST Ch 5 2 6 Xeb a APM SST Ch 5 3 7 Setting speed Dwell tme Operation attern Concurrent P start X axis and Y axis starts concurrently by start command Operation At this time each operation data such as operation speed target position is applied to each axis axis SSP Ch 5 2 10 M SSS Ch 5 2 11 Loses APM SSP Ch 5 3 11 APM SSSB Ch 5 3 12 Dwell tme Operation pattern Aux ex i Dwell tme Sync start i On signal i If sync start is executed by command subsidiary axis is synchronized with Operation main axis position or speed At th
18. 3 ERR LED Check PLC trouble Actions to take There is a problem with the PLC hardware so contact an A S office or customer center On A problem with the PLC hardware rc Serious trouble that makes 0 1 sec operation impossible Access XGB with XG5000 execute Online 2 Flashing PLC error warning check the error and Slow warning and remove the cause A minor problem with ashing operation continuin 0 5 sec P g The program is being normally run so check On The programs pemg normally nun whether there is another problem 4 Positioning Output LED Check If no problem is found as a result of the check of the LED check the LED of the output contact point related to the positioning function and take the following actions a When the pulse output mode is the PLS DIR mode Contact point LED status Error and actions to take Pulse is being normally output by the positioning function Fast flashing Check whether there is a problem with the lines of the XGB and motor driver Pulse is not being normally output Positioning operation has finished normal Start the next operation instruction There is an error that makes positioning operation impossible gt Check the positioning error code and remove the cause For the method of check the error code refer to Appendix 1 1 Chapter 8 Troubleshooting Procedure Contact
19. 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K2727 SKW2727 K27286 87 KX43654 55 K2724 KD1362 K2726 96KW2726 K3227 Word KW3227 K32286 87 Bit KX51654 55 paces Double word KD1612 K3226 Word 9oKW3226 Data size K32384 9 KX51812 Bit K27382 83 K32382 83 KX43810 11 KX51810 11 Bit K27381 K32381 KX43809 KX51809 Bit K27380 K32380 KX43808 KX51808 Word K27384 KX43812 POS K2739 K3239 KW2739 KW3239 Address pulse 2 147 483 648 2 147 483 647 pulse K2730 K3230 KD1365 KD1615 Double word Speed 1 100 000 pulse s 0 Dwell 0 50 000 unit ms 0 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 App 2 38 K2737 K3237 Word KW2737 KW3237 K27386 87 K32386 87 Bit KX43814 15 KX51814 15 K2734 K3234 Double word KD1367 KD1617 K2736 K3236 KW2736 KW3236 Appendix 2 Positioning Instruction and K area List Initial step Item Setting range Us 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end OS SIN Dedicated K area X axis Y axis K27484 K32484 KX43972 KX51972 K27482 83 K32482 83 KX43970 71 KX51970 71 K27481 K32481 KX43969 KX51969 K27480 K32480 KX43968 KX51968 K2749 K3249 9 KW2749 9 KW3249 Wor
20. 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms 0 ABS 1 INC END 1 KEEP 2 CONT POS 1 SPD SIN 1 REP 0 30 0 80 for high end K2347 K2847 KW2347 K23486 87 KW2847 K28486 87 KX37574 75 K2344 KX45574 75 KD1172 K2346 KD1422 K2846 KW2346 96KW2846 Double word nitial Dedicated K area Step Setting range ABS K23584 K28584 value Xexis Yaxis KX37732 END K23582 83 KX45732 K28582 83 KX37730 31 K23581 K28581 KX37729 KX45729 POS K23580 KX45730 31 K28580 KX37728 K2359 KX45728 K2859 KW2359 KW2859 Address pulse 2 147 483 648 2 147 483 647 pulse K2350 KD1175 K2850 KD1425 M Code A D No 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 19 K2357 K2857 KW2357 K23586 87 KW2857 K28586 87 KX37734 35 K2354 KX45734 35 K2854 KD1177 K2356 K2856 KW2856 KW2356 KD1427 Double word Word Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial value X axis ABS K23684 Dedicated K area Y axis K28684 KX37892
21. 2 Positioning Area K a You can check the error code by using the device monitor function of XG5000 b To check the error code of the XGB positioning function monitor the following device About how to use the device monitor refer to the manual of XG5000 Area K address Data size Axis X K427 KW427 Word Axis Y K437 KW437 Word Acc Dec No No woe Indicstes current Chapter 8 Troubleshooting Procedure 8 4 Check of Motor Failures If the motor does not work despite there being no problem after the check according to the procedure described above check the following 8 4 1 If the Motor Doesn t Work 1 Lines between the XGB and Motor Driver Check whether the lines between XGB and servo motor driver are connected rightly For the specifications of the input and output of XGB refer to Chapter 2 For examples of wiring between XGB and the motor driver refer to Appendix 3 If you use a motor driver that is not addressed in this manual refer to the manual of that motor driver 2 Setting of the Motor Driver If there is no problem with the wiring check whether the input pulse of the motor driver is the same as that of the XGB XGB only supports the open collector type Check whether the motor driver you are using can accommodate the type and check the setting of the motor driver 3 Check of the Motor Driver f no problem is found as a result of the procedure above chec
22. a Function This instruction provides position change reference to the XGB internal positioning At the rising edge of the input condition the present position of the axis designated to be AXIS is changed to the position set up at the PRS ADDR in the instruction line At this time if the Origin has not been defined the Origin determination status X axis KX6724 Y axis KX6884 becomes ON elt the axis has been in operation when this instruction is given error code 451 is outputted to STAT and the instruction is not executed 2 Sample Instruction a Sample Program Preset SKXb 720 APM PRS P DONE XAxis BUSY 0 STAT 0 0 0 b Program Operation At the rising edge of the preset signal the position of the positioning X axis is changed to 0 set up in the instruction and the reference determination state bit is ON Chapter 5 Positioning Instructions 5 3 20 Emergency Stop Function Block Emergency stop instruction immediately stops present operation and cuts off output For details of this function see 3 1 11 1 Emergency Stop Instruction APM EMG Form Description en mile Provides emergency stop reference to the XGB internal positioning At the rising edge of the input condition both internal positioning X axis and Y axis are stopped without deceleration process status flag X axis KX6725 Y axis KX6885 is On and error code 481 is outputted to STAT When this in
23. CancelErro r xKx 92 APM RST P DONE Axis Position Enable STAT Error Canc elProhibit inaDutput RKX7792 APM_RST P L Axis Position Enable DONE1 STATI c Program Operation When error and output cut off have been applied by emergency stop at the rising edge of the error reset signal which is used as the reference signal for error reset the error code of the positioning X axis only is released and the output cut off is not released At the rising edge of the Error_Output Cut off Release signal used as the reference signal both the error code and output cut off of the positioning X axis are released Chapter 5 Positioning Instructions 5 3 22 Parameter Operation Data Write Function Block Parameter Write instruction APM WRT writes the operation data which is changed during operation of the positioning exclusive K area permanently in the built in flash memory of the XGB For the relation between the positioning exclusive K area and the positioning parameter see 3 2 2 1 Parameter Write Instruction APM WRT Form Variable is Description ype This instruction provides reference to the XGB internal positioning for permanent preservation of the operation data of the exclusive K area At the rising edge of the input condition as shown below saves the operation data of the exclusive K area respective of the n1 setting in the flash memory device of the XGB INST p
24. c Check of Reverse Direction Rotation of Jog e Turn on the axis X jog reverse direction switch P0012 961X0 0 18 with the normal direction switch of the jog Off Check whether the XGB positioning function is generating jog reverse direction output normally 1 Output LED Check P0020 QX0 0 0 flashes quickly P0022 96QX0 0 2 stays OFF 2 Check of area K Check whether the current position address is decreasing by checking the current position address area axis X K422 KD211 double word with XG5000 d Check of Reverse Direction Stop of Jog e Turn Off the jog reverse direction switch P0012 961X0 0 18 during jog reverse direction operation and check whether the output LED P0020 QX0 0 0 P0022 QX0 0 2 is Off the current position address area axis X K422 KD211 double word with XG5000 and whether the current position address has stopped decreasing 7 Finish of Positioning Check When you have finished checking whether the jog normal and reverse operation is normally operating through the process above end the check make the positioning operation program to be actually used and conduct the positioning operation Chapter 4 Positioning Check 4 2 Making of Operation Check Program The program for operation check used in this manual should be made as follows The positioning parameters should be set as follows For setting the positioning parameters see 3 2 1 Positioning Basic Parameters
25. d H type S Interpolation 2 axes linear interpolation Pulse output method Open collector DC 24V Pulse output type Control type Control unit Position data Positioning monitor Back up Position method Position address range Speed range Acceleration deceler ation processing Acceleration deceler ation time Max output pulse Max connection distance Pulse Direction CW CCW output Pulse Direction Position control speed control speed position switching position speed switching 30 data areas per axis 80 data areas per axis operation step no 1 30 operation step no 1 80 Setting through Embedded parameter of XG5000 gt permanent auto preservation Setting Setting through dedicated monitoring package permanent preservation by PADT instruction method Setting through K area dedicated for positioning gt permanent preservation by application instruction WRT APM_WRT instruction Special module monitoring of XG5000 monitoring by K area Parameter operation data gt Flash memory K area gt RAM super capacitor back up for S type battery back up for H type Saving them in the flash memory is available by application instruction WRT APM_WRT Absolute method Incremental method 2 147 483 648 2 147 483 647 Pulse 1 100 000pps 1pps unit Trapezoid shaped 1 10 000 ms se
26. while it operates at home return low speed Origin is determined if origin signal is entered with DOG set On as long as home return speed is operating at low speed from high speed via decelerating section with DOG signal set On That is when home return speed is decelerating origin is not determined by origin signal If it meets external upper lower limit signal prior to origin after DOG signal is changed from Off to On it works backward direction 3 17 Chapter 3 Before positioning 4 Origin detection by DOG It is used when determining origin by using the only DOG Direction changd at rising edge of DOG Home high speed processing Home compete i U LU operation Waiting Homing Waiting a If homing command ORG instruction is executed it accelerates to home direction set in Home Parameter and it homes with high speed The above figure is example when homing direction is forward b While target is homing with high speed if rising edge of DOG occurs target speed decreases and change its direction c When it accelerates after changing direction if rising edge of DOG occurs it homes with low speed d In the homing status with low speed rising edge occurs of DOG third time it stops and determines the origin e When On time of DOG signal is larger decreasing time it changes the direction at the falling edge of DOG and moves with low speed and stops at th
27. Double word d 1 000 XBM XBC K483 K523 Wor 1 000 100 App 2 3 XEC XBM XBC KW483 K484 KW523 K524 XEC XBM XBC 96KW484 K485 KW524 K525 XEC KW485 KW525 Appendix 2 Positioning Instruction and K area List Appendix 2 2 3 Positioning operation data K area Item Setting range Dre Henes x area Data size value X axis Coord 0 ABS 1 INC AEG KA acess BR KX8772 KX13572 Pattern 0 END 1 KEEP 2 CONT K5482 83 K8482 83 i KX8770 71 KX13570 71 Control 0 POS 1 SPD POS K5481 K8481 KX8769 KX13569 Method 0 SIN 1 REP ee TA KX8768 KX13568 K549 K849 REP Step 0 30 0 80 for high end 9 KW549 9 KW849 oe 1 K540 K840 Address a 147 483 648 2 147 483 647 pulse DOLEO pulse KD270 KD420 K547 K847 Word Code 0 65 535 KW547 KW847 v K5486 87 K8486 87 KX8774 75 KX13574 75 Speed 1 100 000 pulse s 0 noes Bees Double word KD272 KD422 Dwell 0 50 000 unit ns 0 S816 Word 9 KW546 9 KW846 Item Setting range Initial A EET K area Data size value Xaxis IE axis Coord 0 ABS 1 INC ABS eee K844 KX8772 KX13572 Patten 0 END 1 KEEP 2 CONT END 9482 83 K8482 83 KX8770 71 KX13570 71 Control 0 POS 1 SPD POS K5481 K848i KX8769 KX13569 K5480 K8480 KX8768 KX13568 K549 K849 KW549 KW849 ele Address 5 147 483 648 2 147 483 647 pulse
28. It describes the function of position control operation parameter setting operation data setting K area for positioning servo driver setting and programming 3 1 Positioning Function 3 1 1 Positioning function list Positioning function of XGB built in positioning is as follows For more detail refer to ch 5 2 Positioning T TURCHGR Operation description Instruction Ref Speed DST Ch 5 2 3 IST Ch 5 2 4 po FINE APM DST Ch 5 3 4 APM IST Ch 5 3 5 Dwell tme Operation Position pattern 1On control Sint f i signal 1 On Complete i A signal o If the rising edge of start command is detected it moves with designated speed to peration ae designated position and after dwell time complete signal is on during one scan Speed DST Ch 5 2 3 M PUN IST Ch 5 2 4 ane APM DST Ch 5 3 4 APM_IST Ch 5 3 5 Dwell tme Operation pattern On i Speed control f i Start signal Dn l DEC stop SS as If the rising edge of start command is detected it moves with designated speed Operation and stops after deceleration by stop command At this time complete signal will not be not on S Speed Position VTP Ch 5 2 7 E pontrol pentroj APM_VTP Ch 5 3 8 a Operation speed position P LS pattern i switching On control Start felt signal ae Switching D a a signal i 4 Operation Speed control is executed by start command and it is switched to position control
29. KX50692 K31682 83 KX42690 91 K26681 KX50690 91 K31681 KX42689 K26680 KX50689 K31680 KX42688 K2669 KX50688 K3169 KW2669 KW3169 Word Address pulse 2 147 483 648 2 147 483 647 pulse K2660 K3160 KD1330 KD1580 Double word Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K2667 K3167 KW2667 K26686 87 KW3167 K31686 87 Word KX42694 95 K2664 KX50694 95 K3164 KD1332 K2666 KD1582 K3166 Double word KW2666 Initial value X axis K26784 KW3166 Dedicated K area Y axis K31784 KX42852 K26782 83 KX50852 K31782 83 KX42850 51 K26781 KX42849 K26780 KX50850 51 K31781 KX50849 K31780 KX42848 K2679 KX50848 K3179 KW2679 KW3179 Word Address pulse 2 147 483 648 2 147 483 647 pulse K2670 K3170 KD1335 KD1585 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 35 K2677 K3177 96KW2677 K26786 87 KW3177 K31786 87 KX42854 55 K2674 KX50854 55 K3174 KD1337 K2676 KD1587 K3176 96KW2676
30. 2 147 483 648 K464 KD232 K504 KD252 Double word Backlash Compensation 0 65 535 pulse K466 KW466 K506 KW506 word S W Limit Detect 0 No detect1 detect K4684 KX7492 K5084 KX8132 Bit Upper lower limits 0 no use 1 use K4872 KX7794 K5272 KX8434 Bit Chapter 3 Before positioning 1 Positioning Determine whether to use positioning If not using positioning function set it 0 no use while for use it should be set to 1 use If setting it as 1 use though it doesn t execute the instruction related with positioning it is controlled by positioning So in this case though the user turns on this contact point by other application instruction only output image data of XG5000 monitoring window is on and real output contact point doesn t turn on Remark Make sure to set it 1 use to use positioning If using the instruction related with positioning when it is set as 0 no use error code 105 OCCUIS 2 Pulse output level For pulse output level select either of Low Active output or High Active output For Low Active output set as 0 for High Active output set as 1 The following figure shows output pulse type in case of Low Active and High Active output based on X axis in case of Y axis pulse string output P21 direction output P23 Pulse output P20 Direction output Forward output Reverse
31. APM_FLT PIL L 3 7 REQ DONE 3MX123 P S X Bus POS X Err DONE y amp MBIO 4BASE STATH MW321 BASE STAT amp MBI1 SLOT AXIS b Used Devices Device Description Floating Origin X axis floating reference instruction Instruction signal KX6720 X axis in operation signal KX6721 X axis error state c Program Operation When the rising edge of the floating reference instruction which was used as the X axis floating reference instruction signal is generated the APM FLT instruction is executed However the instruction is not executed if the X axis is in operation or error When the APM FLT instruction is executed the Origins is determined at the present position different from return to reference and the Origin determination signal X axis KX6724 turns on and the present address is preset to O Chapter 5 Positioning Instructions 5 3 4 Direct Start up Function Block In direct start up the operation data such as target position or velocity is specified in the exclusive positioning instruction APM DST instruction not using the setting for operation steps set up in the positioning operation data 1 Direct Start up Instruction APM DST Form Variable APM_OST REQ DONE Data Description Target address position e Setting range 2 147 483 648 2 147 483 647 Operation velocity e Setting range 0 100 000 Dwell time e Setting range 0
32. Bit KX49254 55 E K3074 KD1287 K2576 Double word KD1537 K3076 KW2576 KW3076 Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial value ABS END POS Dedicated K area X axis K25884 Y axis K30884 KX41412 K25882 83 KX49412 K30882 83 KX41410 11 K25881 KX49410 1 1 K30881 Bit KX41409 K25880 KX49409 K30880 Bit KX41 408 K2589 KX49408 K3089 KW2589 KW3089 Address pulse 2 147 483 648 2 147 483 647 pulse K2580 K3080 KD1290 KD1540 Double word Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial value ABS END POS K2587 K3087 KW2587 K25886 87 KW3087 K30886 87 KX41414 15 K2584 KX49414 15 K3084 KD1292 KD1542 K2586 K3086 KW2586 KW3086 Dedicated K area X axis K25984 Y axis K30984 KX41572 K25982 83 KX49572 K30982 83 KX41570 71 K25981 KX41569 K25980 KX49570 7 1 K30981 KX49569 K30980 KX41568 K2599 KX4956
33. K32786 87 KX44454 55 K2774 KX52454 55 K3274 KD1387 K2776 KD1637 K3276 96KW2776 KW3276 Word Double word Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial value X axis K27884 Dedicated K area Y axis K32884 KX44612 K27882 83 KX52612 K32882 83 KX44610 11 K27881 KX52610 11 K32881 KX44609 K27880 KX52609 K32880 KX44608 K2789 KX52608 K3289 KW2789 KW3289 Word Address 2 147 483 648 2 147 483 647 pulse K2780 K3280 KD1390 KD1640 Double word Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K2787 K3287 KW2787 K27886 87 KW3287 K32886 87 KX44614 15 K2784 KX52614 15 K3284 KD1392 K2786 KD1642 K3286 KW2786 Initial value X axis K27984 KW3286 Dedicated K area Y axis K32984 KX44772 K27982 83 96KX52772 K32982 83 KX44770 71 K27981 KX52770 71 K32981 KX44769 K27980 KX44768 K2799 KX52769 K32980 KX52768 K3299 KW279
34. K624 K924 Double word KD312 KD462 K626 K926 Word KW626 KW9I26 Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial value X axis ABS K6384 Dedicated K area Y axis K9384 KX10212 K6382 83 KX10210 11 K6381 KX15012 K9382 83 K9381 KX10209 K6380 END POS SIN KX15009 K9380 KX10208 K639 KX15008 K939 KWE39 KW939 Word Address 2 147 483 648 2 147 483 647 pulse K630 K930 Double KD315 KD465 word Pattern Control Method REP Step Address 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end 2 147 483 648 2 147 483 647 pulse K637 K937 KWE37 K6386 87 Word 96KW937 K9386 87 KX10214 15 K634 Bit KX15014 15 K934 KD317 K636 KD467 K936 Double word KWE36 Dedicated K area K6484 9oKW936 Y axis K9484 AB KX10372 K6482 83 KX15172 K9482 83 END KX10370 7 1 POS K6481 KX15170 71 K9481 KX10369 K6480 KX15169 K9480 SIN KX10368 K649 KX15168 KW649 9eKW949 K640 K940 K
35. KW3176 Word Double word Appendix 2 Positioning Instruction and K area List Settinarande Initial Dedicated K area ERS value Xaxis_ Yaxis Coord Pattern Control Method REP Step 0 ABS 1 INC END 1 KEEP 2 CONT POS 1 SPD SIN 1 REP 0 30 0 80 for high end Data size K31884 K31882 83 KX51010 11 Bit Bit KX51009 Word K26884 KX43012 K26882 83 KX43010 11 K26881 KX43009 K26880 KX43008 K2689 KW2689 K31880 KX51008 K3189 KW3189 Address 2 147 483 648 2 147 483 647 pulse K2680 KD1340 K3180 KD1590 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range K2687 KW2687 K26886 87 KX43014 15 K2684 KD1342 K3187 Word KW3187 K31886 87 Bit KX51014 15 K3184 Double word KD1592 Word K2686 K3186 KW2686 KW3186 Dedicated K area X axis Y axis Initial value K26984 K31984 ABS 1 INC ABS Coord 0 ABS 9 KX43172 9 KX51172 Pattern Control Method REP Step 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K26982 83 KX43170 71 K26981 KX43169 K26980 KX43168 K31982 83 ea KX51170 71 KX51169 K31980 Word KX51168 K3199 KW2699 KW3199 Address pulse 2 147 483 648 2 147 483 647 pulse K2690 KD1345 K3190 K
36. L 4 o ot oo gt a LEEREN Connection to a stepping motor driver DC24V Power Max 2m Note 4 Stepping motor driver XGB PLC Low mma Poo Poz Eng sio p Note1 In case of VEXTA PKD timing output is on every time a motor rotates 7 2 degrees For precise home return timing output and origin sensor should be structured by AND circuit Depending on a system s features it is recommended to use home return only by DOG signal or origin sensor by origin signal XGB origin input rating is DC 24V Note2 Connect resistors suitable for the driver in series if DC24V is used Note3 Although origin DOC upper lower limit signals are with fixed contact it may be used for general input if they are not used Emergency stop is available by the command EMG Note4 In case of XGB standard type since only pulse direction mode is available change input mode of stepping motor driver to 1 phase input mode Note 5 The above figure is example of XGB standard type For high end type Origin DOG upper lower limit input contact point is different with standard type ON Pulse input OFF ON Rotating direction input OFF Motor operation App 3 1 Appendix 3 Motor Wiring Example Appendix 3 2 Servo Motor Wiring Example Here describes wiring example between XGB and servo motor In case of using servo motor not described
37. Right choice for ultimate yield LSIS strives to maximize customers profit in gratitude of choosing us for your partner Programmable Logic Controller XGB Positioning User s Manual XBM DN16S XBM DN32S XBC DN32H XBC DN64H XEC DN32H XEC DN64H A Safety Instructions eRead this manual carefully before installing wiring operating servicing or inspecting this equipment eKeep this manual within easy reach for quick reference LS Industrial Systems Safety Instruction Before using the product For your safety and effective operation please read the safety instructions thoroughly before using the product gt Safety Instructions should always be observed in order to prevent accident or risk by using the product properly and safely gt Precautious measures can be categorized as Warning and Caution and each of the meanings is as follows This symbol indicates the possibility of serious injur NWarning ee or death if some applicable instruction is violated This symbol indicates the possibility of severe or Caution slight injury and damages in products if some applicable instruction is violated Moreover even classified events under its caution category may develop into serious accidents relying on situations Therefore we strongly advise users to observe all precautions properly just like warnings gt The marks displayed on t
38. b XEC bit area flag Variables AxsX misy Start signal KX6864 KX7024 Indirect start at rising edge Normal direction jog KX6865 KX7025 A FOpIBJ y i normal direction jog operation Backward direction 9 KX6866 KX7026 dad jog l normal direction jog operation m high low speed KX6867 Kx7027 0 jog low speed 1 jog high speed 96KX7489 96KX8129 f M code output mode 9 KXT490 9 KX8130 0 NONE 1 WITH 2 AFTER Upper lower limit detection of S W S allowed during KX7492 KX8132 Ode On alle Sd detection allowed constant speed operation E 0 approximate origin origin OFF FRETI onl KX7648 49 KX8288 89 1 approximate origin origin On method Dx 2 approximate origin Return to origin KX7650 KX8290 0 normal direction 1 backward direction direction Use for positioning KX7792 96KX8432 0 use 1 no use Pulse output level KX7793 96KX8433 0 low Active 1 high Active Et ot upper lower KX7794 KX8434 0 no use 1 use Pulse output mode KX7795 KX8435 0 CW CCW 1 PLS DIR c Starting Signals 1 The starting signals conducts positioning operation according to the current operation step number axis X K426 KW426 axis Y K436 KW436 without setting the step number unlike indirect or direct starting 2 Since the current operation step area is for read only if you want to change the operation step number you need to use the starting step number change instruction SNS A
39. uxiliary axis speed main axis distance main axis the axis where there is more movement of positioning auxiliary axis the axis where there is less movement of positioning The operation patterns available for linear interpolation are termination and continuous operation only If the interpolation operation is started when the main axis is set up to be continuous the XGB internal positioning does not trigger error and performs the operation of the main axis by changing it to be continuous If the sub axis is set to be continuous it does not affect linear interpolation 1 Linear Interpolation Start up Instruction APM LIN Data Form Variable T Description ype APICLIN e Interpolation operation axis LIN Anie inonmadan Setting Operation AXIS HSINT Me Aa value axis axis BIT1 axis BITO ON 1 ON 1 3 X Y Operation step No e setting range 0 80 STEP UINT Chapter 5 Positioning Instructions 2 Sample Instruction a Sample Program amp MXD SKXB 720 amp KXB721 APM DRG P P s Fa amp MX123 StartHomin POS X Bus POS X Err DONE g y 0 aMI321 STAT 0 0 INST SMX111 SKX6720 BKXB 721 APM_LIN REQ DONE amp MX123 Interpolca P S X Bus POS X Err DONE tionstart y 0 SMWS2 1 STAT 0 MB100 LIN AXIS SMUT 23 STEP b Used Device Device Description Data Size Example Reference X axis reference return Decision instruction signal P Interpola
40. 1000 4000 Origin e increment 6000 2000 Increment 6 000 Stop address gt 7000 2000 2000 4000 Increment 2 000 Xincrement 6000 lt Figure 3 8 linear interpolation operation by absolute coordinates gt 3 11 Chapter 3 Before positioning If linear interpolation is executed main axis is determined according to moving amount of X and Y axis In table 3 7 since moving amount of X axis is larger than Y X axis becomes main axis So subsidiary Y axis operation pattern operation speed ACC DEC time dwell time do not affect the operation and recalculated according to operation data of main axis For example if you execute the linear interpolation control with operation data such as table 3 7 subsidiary Y axis starts as END SINGLE operation and operates with automatically calculated ACC DEC speed and operation speed as for Dwell time after stop 100ms dwell time of main axis X is applied not 20ms setting value Remark A special attention should be paid that linear interpolation start operates on 2 axes simultaneously Pattern of main axis can specified as END KEEP If it is specified as CONT object moves as it is KEEP Available commands during linear interpolation are DEC STOP EMG STOP During linear interpolation operation position speed switching control speed override position override speed override with position If those are executed during liner interpolat
41. 96KW877 Word Double word Word K5786 87 96KX9254 55 K574 KD287 K8786 87 KX14054 55 K874 KD437 K576 K876 96KW576 96KW876 Setting range Initial Dedicated K area Data sizo value Xaxis Yaxis Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K5884 K8884 96KX9412 KX14212 K5882 83 K8882 83 KX9410 11 KX14210 11 K5881 K8881 KX9409 KX14209 K5880 K8880 KX9408 KX14208 K589 K889 KW589 KW889 Word Address pulse Speed 1 100 000 pulse s 0 Dwell 0 50 000 unit ms 0 2 147 483 648 2 147 483 647 pulse 0 No 1 1 No 2 2 No 3 3 No 4 App 2 6 K580 K880 KD290 KD440 K587 K887 KW587 KW887 K5886 87 K8886 87 Double word KX9414 15 K584 KD292 K586 96KW586 KX14214 15 K884 KD442 K886 96KW886 Double word Appendix 2 Positioning Instruction and K area List Item Setting range Initial Dedicated K area Data size value Xaxis Yaxis Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K5984 99KX9572 K5982 83 KX9570 71 K5981 KX9569 K5980 KX9568 K599 KW599 K8984 KX14372 K8982 83 KX14370 71 Bit K8981 9 KX14369 Bit K8980 E KX14368 K899 KW899
42. A Estot PLC Error Codes con espe Reb ep oed tnde APP 1 1 APP 1 2 List of Positioning Error Codes eode estoit Segen eouns APP 1 2 Appendix 2 Positioning Instruction and K area List APP 2 1 Positioning Instruction list rrr er tun nun Cano poe LR Hoe ER LR ER E FRI MS APP 2 1 APP 2 2 Positioning Dedicated K area List eeeeceeeeeeeeeeene APP 2 2 APP 2 2 1 K area of positioning basic parameter sssssssssssss APP 2 2 APP 2 2 2 K area of positioning home parameter ssssssssssssee APP 2 3 APP 2 2 3 Positioning operation data K area ssssssseee APP 2 4 Appendix 3 Motor Wiring Example APP 3 1 Stepping Motor Wiring Example APP 3 2 Servo Motor Wiring Example cccccecsesecceceeeeeeeeeeseseeneeceseeeeeeeeeeeeseneeeees APP 3 2 Appendix 4 Dimension Chapter 1 General Chapter 1 General XGB series transistor output type contains 2 positioning axes This manual describes the specifications and usage of positioning 1 1 General 1 1 1 Purpose of position function The purpose of position function is to exactly move an object from the current position to a designated position and this function executes highly precise position control by position pulse string signal as being connected to types of servo drive or stepping motor control drive For applications it may be widely used for instance machine tools semiconductor ass
43. BEBE SAE ETSI TS e 8 al Siu 8I al 813l 41 gl 8I MOLO3NNOO NOISNYdX3 ESSSSSSSS ESSSSSSN ESSSSSSSS AKNS ESSSSSSSSSSS App 4 5 Appendix 4 Dimension 4 Communication module XBL C41 21A XBL EMTA App 4 6 Appendix 4 Dimension 5b Special module XBF AD04A XBF DV04A App 4 7 Warranty 1 Warranty Period The product you purchased will be guaranteed for 18 months from the date of manufacturing 2 Scope of Warranty Any trouble or defect occurring for the above mentioned period will be partially replaced or repaired However please note the following cases will be excluded from the scope of warranty 1 Any trouble attributable to unreasonable condition environment or handling otherwise specified in the manual 2 Any trouble attributable to others products 3 If the product is modified or repaired in any other place not designated by the company 4 Due to unintended purposes b Owing to the reasons unexpected at the level of the contemporary science and technology when delivered 6 Not attributable to the company for instance natural disasters or fire 3 Since the above warranty is limited to PLC unit only make sure to use the pr
44. Ca Varable Comment 5 Jill Embedded Parameter Double click lt Positioning parameter setting window gt Chapter 3 Before positioning 2 Setting parameter Positioning parameter setting window is classified into basic parameter and Home parameter Each item can be set independently For detail setting of basic parameter refer to 3 2 3 For detail setting of Home parameter refer to 3 2 4 Basic parameters Origin Manual parameters Set whether to use positioning function Pulse output level Set pulse output mode Low High Active Bias speed Set the initial start speed for early operation Backlash Speed limit ACC DEC No 1 ACC DEC No 2 ACC DEC No 3 ACC DEC No 4 compensation Set compensation amount of tolerance in which a machine is not operated due amount to wear when rotation direction is changed S W upper lower limits Set whether to detect or not S W upper lower limits during constant speed during constant speed operation operation Origin compensation amount Home Return high speed Home Return low speed Home Return accelerating Set accelerating time for home return time Home Return decelerating Set decelerating time for home return time Set a time required to remove remaining bias counter immediately after Dwell time positioning ends Jog high speed Jog low speed Jog accelerating time Jog decelerating time Inching speed lt Positioning parameter set
45. Dwell 0 50 000 unit ms 0 Initial Dedicated K area ER ree value Xaxs Yaxs Coord Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 ABS 1 INC END 1 KEEP 2 CONT POS 1 SPD SIN 1 REP 0 30 0 80 for high end K2647 K3147 Word KW2647 KW3147 K26486 87 K31486 87 KX42374 75 KX50374 75 K2644 K3144 Double word KD1322 KD1572 K2646 K3146 Word KW2646 KW3146 Data size K26584 K31584 KX42532 KX50532 Bit K26582 83 K31582 83 KX42530 31 KX50530 31 Bit K26581 K31581 KX42529 KX50529 Bit K26580 K31580 Word 0 END KX42528 KX50528 K2659 K3159 KW2659 KW3159 Address pulse 2 147 483 648 2 147 483 647 pulse K2650 K3150 KD1325 KD1575 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 34 K2657 K3157 Word KW2657 KW3157 K26586 87 K31586 87 Bit KX42534 35 KX50534 35 K2654 K3154 Double wora KD1577 KD1327 K3156 KW3156 K2656 KW2656 Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial value X axis K26684 Dedicated K area Y axis K31684 KX42692 K26682 83
46. END K23682 83 KX45892 K28682 83 KX37890 91 POS K23681 KX45890 91 K28681 KX37889 K23680 KX45889 K28680 KX37888 K2369 KX45888 K2869 KW2369 KW2869 Word Address Pattern Control Method REP Step Address pulse M Code 2 147 483 648 2 147 483 647 pulse 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end 2 147 483 648 2 147 483 647 pulse 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 20 K2360 K2860 Double KD1180 K2367 KD1430 word K2867 KW2367 K23686 87 KW2867 KX37894 95 K2364 K28686 87 Bi KX45894 95 K2864 KD1182 K2366 KD1432 K2866 it Double word KW2366 Initial value X axis K23784 Dedicated K area KW2866 Y axis KX38052 K23782 83 KX38050 51 K23781 t KX46052 Bi K28781 KX38049 END POS SIN K23780 KX46049 K28780 KX38048 K2379 KX46048 K2879 KW2379 KW2879 K2370 K2870 i KD1185 KD1435 K2377 K2877 KW2377 KW2877 Double word K23786 87 K28786 87 0 0 KX38054 55 K2374 KX46054 55 K2874 Double KD1187 K2376 KD1437 word K2876 KW2376 KW2876
47. IST XAxis BUSY XAxis Error Q0 command M0001 K04200 K0420F K0420E I 4 I SOR XAxis BUSY XAxis Move XAxis Move command Status Dwe Status Dec 8 1 eleraton i Ce 0 0 LOADP MO000 command 2 AND NOT K04200 XAxis BUSY 3 AND NOT K04201 XAxis Error 4 IST 0 0 1 SOR IL program 1 8 LOADP M001 on s 10 AND K04200 XAxis BUSY XAxis Move 11 AND NOT K0420F Status Dwel XAxis Move 12 AND NOT K0420E Status Dece leration 13 SOR 0 0 10000 2 18 END b Operation of the Program The positioning axis X is indirectly started with operation step 1 if there is the rising edge of M0000 used as the indirect starting instruction signal If there is the rising edge of M0001 used as the instruction signal of the speed override instruction during operation operation continues by changing the speed of the currently operating step into 10 000 pps Note that the value of the operation speed of No 1 step set in the positioning parameter is not changed If the speed override instruction is executed during deceleration or dwell error code 377 is issued To prevent this make the program by connecting the axis X dwell flag to the starting contact point with the normally closed contact point contact point B Chapter 5 Positioning Instructions 5 2 14 Positioning Speed Override Instruction The positioning speed override instruction PSO is changing the operation speed of the axis during current positioning operation at the speci
48. KX8609 KX13409 K5380 K8380 Method 0 single 1 repeat KX Sectaans K539 K839 Address pulse 2 147 483 648 2 147 483 647 K530 K830 Double p pulse KD265 KD415 word ADNo 0 No 1 No 4 2 N033 No4 0 Sa MON e oom 9 amm stes K540 549 2 Same item with No 1 step KW540 549 K840 849 a KW840 849 K850 1129 EE KW850 1129 K550 829 Same item with No 1 step dq K2340 2349 K2840 2849 Same item with No 1 step 9 KW2340 2349 KW2840 2849 32 80 Same item with No 1 step jada 285079339 KW2350 2839 KW2850 3339 3 41 Chapter 3 Before positioning 1 Step number The range of positioning data serial number is between 1 30 High end type is 1 80 When executing indirect start simultaneous start linear interpolation operation position synchronization and etc if you designates the step number of data to operate it operates according to positioning dedicated K area where operation data is saved f step number is set as 0 operation step indicated at the current step number X axis K426 KW426 Y axis K436 KW436 of positioning monitor flag is operated Remark The user can use variable of dedicated K area per each step easily by using Register U Device For detail of monitor registration of positioning refer to XG5000 user manual 2 Coordinates Here sets the coordinates method of relevant operation step data Coordinates methods selectable are absolute coo
49. Related flag Axis X Axis Y KXE741 KX6901 KXE6742 KX6902 is being KX6743 KX6903 KXE744 KX6904 KXE745 KX6905 BIT Y KXE746 KX6906 3 Positioning External Input Signal Monitoring The external signal monitoring at the bottom of the monitoring window displays the status of the external input contact point which is the fixed input contact point for the axes as follows Upper limit signal Lower limit signal Approximate origin signal Origin signal Displays External upper limit signal status of the axes Contact No Remark Axis X External lower limit signal status of the axes Approximate origin signal status of the axes Origin signal status of the axes 6 7 P3 P2 Chapter 6 Positioning Monitoring Package 6 3 Parameter Operation Data Setting Using Monitoring Package You can change the positioning parameter and operation data of XGB PLC and do test operation by using the XGB monitoring package 6 3 1 Changing the Position Parameter 1 How to Change the Parameter You can change the position parameter by using the position monitoring package Note that the change of the parameter is applied when the next operation is started after the currently operating step ends f you select Position Parameter tab in the positioning monitoring package the window appears where you can change the positioning basic parameter and the origin manual pa
50. SIN 1 REP SIN Method t sl KX13248 KX18048 K829 REP 30 0 80 for high end MP as SERE KW829 KW1129 Address 147 483 648 2 147 483 647 pulse E rec Double word KD410 KD560 K827 K1127 KW827 KW1127 0 No 1 1 No 2 2 No 3 3 No 4 6286787 811286 8 KX13254 55 KX18054 55 K824 K1124 1 100 000 pulse Double word Speed pulse s KD412 KD562 m K826 K1126 Dwell 50 000 unit ms 0 woe we 0 unit ms KW826 KW1126 word REP Step O 30 0 80 for high end Word Pattern 0 END 1 KEEP 2 CONT END Control 0 POS 1 SPD POS 0 65 535 App 2 18 Appendix 2 Positioning Instruction and K area List Operation step 31 80 is available for only high end type H type Initial Step Item Setting range valle ABS END Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end X axis K23484 Dedicated K area Y axis K28484 KX37572 K23482 83 KX45572 K28482 83 KX37570 71 POS K23481 KX45570 71 K28481 KX37569 K23480 KX45569 K28480 KX37568 K2349 KX45568 K2849 KW2349 KW2849 Address pulse 2 147 483 648 2 147 483 647 pulse K2340 K2840 KD1170 KD1420 M Code Coord Pattern Control Method REP Step
51. You can change the operation data without setting the parameters by changing the value of the corresponding area K f you want to permanently preserve the operation data of the changed area K apply the data of current area K to the built in parameter area by using the applied instruction WRT instruction Remark Note that area K for positioning is initialized if you cut the power and re supply power or if you change the operation mode without executing the WRT instruction after changing the value of area K The variable of area K for each step can be used more conveniently by using the variable registration function of XG5000 For the positioning monitor registration see the manual of XG5000 3 58 Chapter 4 Positioning Check Chapter 4 Positioning Check This Chapter describes how to test the operation test to check whether the positioning function is well performed before the XGB positioning function is used 4 1 The Sequence of Positioning Check This is for checking whether the XGB positioning operation is normally performed by carrying out normal and reverse direction jog operation The sequence is as follows 1 Power Off Distribution is needed to check the XGB positioning operation Before distribution turn off XGB Be sure to check whether the PWR LED of XGB is off before moving on to the next step 2 Input Signal Distribution Distribute the input signals needed to check the operation
52. is other than 0 and 1 the error flag F110 is set and the instruction is not executed Chapter 5 Positioning Instructions 2 Example of Use of the Instruction a Example of the Program M0001 P EMG XAxis command Position Enable M0002 K04870 Rung Sep wee oe o o2 2 oes EMG 0 0 LOADP M0001 eae Xaos 2 AND K04870 Positon Enable IL program 3 CLR 9 o 0 1 7 LOADP M0002 XAos 9 AND K04870 Posbon Enable 10 CLR 0 0 0 2 14 END b Operation of the Program f the error and output inhibition are simultaneously generated due to the emergency stop when there is the rising edge of M0001 used as the error cancel instruction signal only the error code of axis X is cancelled but the output inhibition is not cancelled e If there is the rising edge of M0002 used as the error termination output inhibition termination instruction signal the error code of axis X and output inhibition are cancelled together Chapter 5 Positioning Instructions 5 2 21 Parameter Operation Data Save The parameter save instruction WRT is permanently preserving the operation data of positioning area K changed during operation in the XGB built in flash memory For the relations between positioning area K and the positioning parameter refer to 3 2 2 1 Parameter Save WRT Areas available Flag Instruction cons Step Error Ze
53. it operates up to the incremental coordinates 10 000 pulse at 500pps by the first operation instruction and changes the operation speed to 1 000pps without deceleration or stop and continues to operate step 2 2 Because the operation pattern of step 2 is end it moves to incremental coordinates 20 000 and the positioning ends after the dwell time No DEC top Mode End repeat Cont single Startin Running Remark If the direction changes during the continued operation error code 511 comes out and the operation stops If the direction has to change do not use Continued Operation but End or Continued Operation 3 46 Chapter 3 Before positioning 4 Repeat Step Sets the step to repeat when the operation mode is set as Repeat The setting range is 1 30 1 80 for the advanced type 5 Target Position Sets the movement of the operation of the step The setting range is 2 147 483 648 2 147 483 647 unit Pulse The target position set in operation data setting can be freely changed in the program by changing the value of area K for positioning For the address of area K for positioning of each step number see 2 2 6 M Code M code is for checking the current operation step or carrying out the auxiliary work such as tool change clamp and drill rotation In general the output of M code divides into the With mode when M code is output with the step operating and the After mode w
54. 1 100 000 pulse s VIT cep Double word io TES KW3326 si Setting range Initial Dedicated K area Data size value Xaxis Yaxis K28384 K33384 l KX45412 KX53412 Bit K28382 83 K33382 83 END 1 KEEP 2 CONT i i ae KX45410 11 KX53410 11 K28381 K33381 DP 1 SPD i ee KX45409 KX53409 0 65 535 K28380 K33380 SIN 1 REP E KX45408 KX53408 K2839 K3339 0 30 0 80 for high end or high end KW2839 KW3339 K2830 K3330 n Doubl d 2 147 483 648 2 147 483 647 pulse 9 KD1415 KD1665 ata K2837 K3337 Word 0 65 535 KW2837 KW3337 K28386 87 K33386 87 No 1 1 No 2 2 No 3 3 No 4 Bit o gt i 9 KX45414 15 KX53414 15 EN K2834 K3334 1 100 Ise Double word 20 00ipisergl KD1417 KD1667 Double word K2836 K3336 ims Word D STUA Kw2836 _ KW3336 J Word s App 2 43 Appendix 3 Motor Wiring Example Appendix 3 Motor Wiring Example Appendix 3 1 Stepping Motor Wiring Example Here describes wiring example between XGB and stepping motor In 1 Note3 2 Note3 case of using stepping motor not described here refer to relevant driver s user manual Connection to a stepping motor driver DC5V Power Max 2m Note 4 XGB PLC A Stepping motor driver Common Lit 24V input oc2av oc2av DC5V j Note5 POE POS Note 1 Pos ro
55. 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial value Xaxis ABS K27684 Dedicated K area Y axis K32684 KX44292 END K27682 83 KX52292 K32682 83 96KX44290 91 K27681 96KX52290 91 K32681 KX44289 K27680 KX52289 K32680 KX44288 K2769 KX52288 K3269 KW2769 KW3269 Word Address pulse 2 147 483 648 2 147 483 647 pulse K2760 K3260 KD1380 KD1630 Double word Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K2767 K3267 KW2767 K27686 87 KW3267 K32686 87 KX44294 95 K2764 KX52294 95 K3264 KD1382 K2766 KD1632 K3266 KW2766 KW3266 Dedicated K area AB K27784 Y axis K32784 KX44452 K27782 83 KX44450 51 K27781 END KX52452 K32782 83 KX52450 51 K32781 KX44449 K27780 KX52449 K32780 KX44448 K2779 KX52448 K3279 KW2779 KW3279 Word Double word Word Address pulse 2 147 483 648 2 147 483 647 pulse K2770 K3270 KD1385 KD1635 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s App 2 40 K2777 K3277 KW2777 K27786 87 KW3277
56. 1 30 1 80 for the advanced type and error code 512 comes out so be careful of the repeating step setting when you set at the repeating operation c Continued Operation Continued operation refers to the operation which carried out positioning to the target position by using the data of the corresponding operating step by the operation instruction and continues the next operating steps without any additional operation instructions with the positioning not completed after the dwell time The next operating steps differ according to the current operating mode of the steps A The operation mode of the current step is single current operating step 1 B The operation mode of the current step is repetition the step designated as Repeat in the current operation step If you use the continued operation pattern you can conduct the pattern operation that sequentially carried out multiple operating steps with only one operation instruction The continued operation can be explained with the operation data in the following table Coordina Step No tes Absolute Operation pattern Continue Control Position Operation mode Single Repeatin g step Target position Pulse Acc Dec Dwell time ns Absolute Continue Position Single Absolute Position Single Absolute Position Single 1 Steps 1 and 2 are continued in the operation
57. Address 2 147 483 648 2 147 483 647 pulse K590 KD295 K890 KD445 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 K597 KW597 K897 96KW897 Word K5986 87 K8986 87 Bit 96KX9574 75 KX14374 75 Speed 1 100 000 pulse s 0 S534 B94 Double word KD297 KD447 0 50 000 unit ms 0 K596 K896 Word KW596 KW896 Setting range Initial Dedicated K area Data size value Xaxis Yaxis Pattern Control Method REP Step 0 ABS 1 INC END 1 KEEP 2 CONT POS 1 SPD SIN 1 REP 0 30 0 80 for high end K6084 9eKX9732 K6082 83 96KX9730 31 K6081 96KX9729 K6080 96KX9728 K609 9eKW609 K9084 KX14532 K9082 83 KX14530 31 K9081 KX14529 K9080 KX14528 ABS Bit END POS KW9I09 Address 2 147 483 648 2 147 483 647 pulse K600 KD300 K900 KD450 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 7 K607 96KW607 K6086 87 K907 KW907 K9086 87 Word Bit Double word KX9734 35 K604 KD302 K606 KWE606 KX14534 35 K904 KD452 K906 KW9I06 Appendix 2 Positioning Instruction and K area List Initial Dedicated K area D iz EET NE value Xaxs Yads DOSY Coord 0 ABS 1 INC K6184 K9184 9 KX9892 KX14692 Bit
58. Axis setting XGB is set at 3 WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This function is for giving the simultaneous starting instruction to XGB built in positioning simultaneous starting The two axes of XGB positioning are simultaneously started at the rising edge of the input condition For the difference between using the simultaneous starting instruction and starting the two axes consecutively in the PLC ladder program refer to 3 1 7 When the instruction is executed axis X and axis Y simultaneously start by using the operation data of the step number set in n1 and n2 respectively XGB built in positioning does not have axis Z so the set value of n3 does not affect the operation Axis setting of n4 sets the axis to carry out simultaneous starting by bit as follows Bit No dido 2 1 0 Setting Not used Axis Z XGB not used axis Y axis X Each bit refers to the axis to start straight interpolation In the case of XGB built in positioning only axis X and axis Y are available so n4 should be fixed at 3 Otherwise error code 296 is issued and operation does not occur b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed Since this case if an error of execution of the instruction the error in positioning area K error flag
59. BUSY XAns Eror XAxis Move a speed overide Status Acce leration K04200 XAxis BUSY a Devices Used Device Description Axis X error reset output inhibition cancel switch axis X floating origin switch axis X indirect start switch axis X speed override switch Signal during axis X operation Error signal of axis X axis X acceleration signal axis X constant speed signal Chapter 7 Program Examples of Positioning 2 XEC When error occurs resets error and cancels ouptut inhibition 81XD 1 0 SKXb721 P ErrorReset XAxis SW Error 0 0 0 1 Sets axis X floating origin 8IXD 1 1 SKXB720 SKX6721 1 Floating X xis BUSY X xis origin Si Error 0 0 0 Axis X indirect start INST23 81XD 1 2 SKX6720 SKXb721 APM_IST P REQ DONE X IST DONE Indirect XAxis BUSY XAxis start rror 0 x_IST_STAT 0 0 1 Override current speed into 1000pps INST24 81XD 1 4 SKX6720 SKXb721 SKXB 732 APH_SOR P Pi REQ DONE SOR DONE Speed X xis BUSY X xis XAxis Move Dverride rror Status Acc eleration SKXB733 SOR STAT X xis Move Status Con stant 0 0 1000 INSTB APM_RST REQ DONE X RST DONE INSTIO APM_FLT REQ DONE X_FLT_DONE Chapter 7 Program Examples of Positioning 3 a Devices Used Device Description 961X0 1 0 Axis X error reset output inhibition cancel switch 961X0 1 1 axis X floating origin
60. Emergency stop is available by the command EMG Note3 If using DC24V make sure to connect resistor suitable for a driver 1 5K 1 2W in series Note4 Since the positioning pulse of XGB forward reverse rotates by the rotation direction as in the below figure make sure to change the input mode of a servo motor driver into 1 phase input mode prior to use Oo Pulse input OF N F N F O Rotating direction input OF Motor operation ARAN Aan cw CCW WY CCW App 3 3 Appendix 3 Motor Wiring Example 8 Connection to a servo motor driver XGT Servo XDA S a In case of XBM DN S Servo motor Power AC 200 230V 50 60Hz XBM DN S 24V GND24 Input Common Lower limit Upper limit Emergency stop Origin Note2 DOG External power input terminal Direction Output Common Note1 The rating of Origin input for XGB stand type is 24VDC If it is line driver output contact can t be connected In the case use a convert from line driver output to open collector output or use home return only by DOG signal origin sensor of origin signal Note2 Although origin DOC upper lower limit signals are with fixed contact it may be used for general input if they are not used Emergency stop is available by the command EMG Note3 The above wiring is applied when P07 01 27 positioning mode Note4 Since only pulse direction mode is available for XGB standard type make sure to
61. H REQ DONE RST DONE ErrorReset Maxis Switch Error 0 JBASE STATH RST_STAT 0 4SLOT 0 JAXIS 1 4 1NH_ OFF Comment Sets floating origin INSTI 1X0 1 1 SKX6720 SKXB721 APM FLT n 1 1 1 1 REQ DONE FLT DONE Floating r X xis BUSY X xis iginSwitch Error 0 4BASE STATH FLT STAT 0 4SLOT 0 JAXIS Comment Starts axis X current step 1X0 1 7 SKXB720 SKXB721 SKXB864 1 47 1 1 C Axis X X xis BUSY XAxis X xis start Error Start switch Chapter 7 Program Examples of Positioning a Devices Used Device Description 961X0 1 0 Axis X error reset output inhibition cancel switch 961X0 1 1 Axis X axis X floating origin switch 961X0 1 7 Start switch of axis X KX6720 Signal during axis X operation KX6721 Error signal of axis X KX6864 Axis X start 3 Operation Data Setting coordi nates Control pattern Position control Operatio n pattern Operatio n type Single Target position Repeat step Tee 10 000 Acc Dec Operation speed pls s Dwell time ns Position control Single 20 000 Position control 4 Operation Sequence P0041 96IX0 1 1 floating origin switch On set as the floating origin at the current position e 3 times of P0047 961X0 1 7 start switch On Single 30 000 operating now the start instruction is not executed 3 times of singl
62. High speed counter Ch7 Qoo NIITI o NS oO If you want to cancel the speed synchronous instruction after you execute it execute the stop instruction STP for the auxiliary axis The speed synchronous control is executable even when the origin is not fixed The speed synchronous control is synchronized to the speed of the main axis for operation of the auxiliary axis so even if the control method of the auxiliary axis is set as position control starting and stop are alternated by the operation of the main axis with the rotation of the auxiliary axis being in the same direction as the main axis If the M code of the auxiliary axis is On when you execute the speed synchronous instruction error code 353 is issued b Error If the value designated as ax instruction axis is other than O and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction The speed synchronous starting instruction is described with the example of the following program a Example of the Program The following program example is about speed synchronous starting with the synchronization ratio 100 00 and the delay time being 10 ms when the main axis is started if axis Y is the auxiliary axis and axis X is the main axis M0001 K04300 K04301 K04204 T Yaxis SSS YAxis BUSY YAxis Error XAxis 0 command Ongin Fix IL program Chapter 5 Posi
63. K24384 K29384 KX39012 K24382 83 KX47012 K29382 83 KX39010 11 K24381 96KX47010 1 1 K29381 KX39009 KX47009 K24380 K29380 KX39008 K2439 KX47008 K2939 KW 2439 KW2939 Double word Double word Data size Bit Word Address 2 147 483 648 2 147 483 647 pulse K2430 K2930 KD1215 KD1465 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 0 50 000 unit ms App 2 23 K2437 K2937 96KW2437 K24386 87 KW2937 K29386 87 KX39014 15 K2434 KX47014 15 K2934 KD1217 K2436 KD 1467 K2936 SKW 2436 KW2936 Word Double word Appendix 2 Positioning Instruction and K area List Item Setting range pua Pen editz K area Data size value X axis Y axis Coord 0 ABS 1 INC ABS i Latet aiaia Bi KX39172 KX47172 END 41 K24482 83 K29482 83 KX39170 71 KX47170 71 K24481 K29481 KX39169 KX47169 K24480 K29480 KX39168 KX47168 K2449 KW2449 KW2949 Address K2440 K2940 puse 2147 483 648 2 147 483 647 pulse READ 7KD1470 Double word K2447 K2947 P 65 Word Code 0 65 535 KW2447 KW2947 K24486 87 K29486 87 No 1 1 No 2 2 No 3 3 No 4 Bit POR 2 KX39174 75 9 amp KX47174 75 o9 1 100 000 pulse s 12444 K2944 Double word 9 KD1222 KD1472 0 50 000 unit ns Beene 2946 Word KW2446 KW2946 Setting range Initial Dedicate
64. KW2469 9 KW2969 Word Address pulse 2 147 483 648 2 147 483 647 pulse K2460 K2960 KD1230 KD1480 Double word M Code 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 K2464 K2964 1 100 000 pulse 0 Double word Spesa a KD1232 KD1482 K2466 K2966 Dwell 50 tims 0 Te eee al KW2466 KW2966 K2467 K2967 Word KW2467 KW2967 K24686 87 K29686 87 KX39494 95 KX47494 95 Initial Dedicated K area i Data size id ipods value Xaxs Yaxs Coord 0 ABS 1 INC a iun K29784 KX39652 KX47652 Pattern 0 END 1 KEEP 2 CONT END Ke4762 83 K29782 83 KX39650 51 KX47650 51 K24781 K29781 POS 1 SPD ai TEROR KX39649 KX47649 K24780 K29780 Meth SIN 1 REP ROO Jii KX39648 KX47648 K2479 K2979 REP St 0 30 0 80 for high end 0 M 9 KW2479 9 KW2979 Word Address K2470 K2970 2 147 483 648 2 147 483 647 pul 0 Double word pulse 83 pulse KD1235 KD1485 K2477 K2977 0 Word Mode Periode 9 KW2477 9 KW2977 A DNo 0 No 1 1 No 2 2 No 3 3 No 4 K24 786 87 K29786 87 KX39654 55 KX47654 55 K2474 K2974 1 100 000 pulse 0 Double word spree OO 2P0lpulse s KD1237 KD1487 Dwell 0 50 000 unit ns K2476 K296 App 2 25 96KW2476 KW2976 Appendix 2 Positioning Instruction and K area List Setting range Initial Dedicated K area Data size value Xaxis Yaxis K248
65. List of Error Codes Home return ACC time setting error f 136 F Ten 10806 Stop Re adjust home return ACC time lower than 10 000 Home retum ime gt 10 Home return DEC time setting error 137 P DEGI 10 000 Stop R adjust home return Dec time lower than 10 000 Home return ime gt 10 Operation speed 0 setting error of operation data Stop Set operation speed over 0 Operation speed of operation data exceeding the max f 152 Stop Re adjust to be max speed operation speed speed Operation speed of operation data set lower than bias f 153 Stop Re adjust to be operation speed 2 bias speed Speed 2 1 Exceeding dwell time setting range of operation data Stop Set dwell time lower than 50000 155 Exceeding end continuous sequential setting range of Bi Re set operation pattern of operation data as one of O end o operation data 1 continuous or 2 sequential f Check whether command axis was not operating at the time o 0 Home return command is unavailable during operation Stop home return command 0 Home return command is unavailable in case of no output i Check whether command axis was not in no output status at the o status p time of home return command ar i igi j Stop 201 2 214 Floating origin setting command is unavailable during Check whether command axis was not operating at the time o operation floating origin setting command Check whether command axis was not
66. N D R F110 F111 F112 aE CHE CREDERE ced ol e x Rp Ae lh SOR ax o 5 o o Oo i s Oo z 4 7 o n1 o o o o Oo Area Seiting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 Operation speed to change 0 100 000 pps DWORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the speed override instruction to XGB built in positioning This is for changing the operation speed into the speed set in n1 during the operation of the axis designated as ax at the rising edge of the input condition The speed override instructions available in the acceleration and constant speed sections and if the speed override is executed during deceleration or dwell error code 377 is issued and the currently operating operation step continues b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction The speed override instruction is described with the example of the following program Chapter 5 Positioning Instructions a Example of the Program M0000 K04200 K04201 a A a
67. ORG Available areas Flag Instruction con Step Error Zero Carr y puk F L T c s z DxRxstan u N D R E110 E141 E112 ORGS RN E Nol al E c UR DR iA eC Dt ar es A a l ax o o o o o COMMAND os JUPE A Area seting Operand Description Setting range Data size T Slot number where positioning modules are XH defeat WORD mounted ax The axis to give instructions O axis X or 1 axis Y WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is for carrying out the origin return of the XGB built in positioning function It gives the origin return instruction to the axis designated as the ax of positioning built in XGB at the rising edge of the input condition When origin return is completed the origin setting bit axis X K4204 axis Y K4304 turns On and the current address is preset at the address value set in the origin return parameter s Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed This is an error of instruction execution so the error flag axis X K4201 axis Y K4301 of area K for positioning does not turn On 2 Related Device Alarm The parameters and area K devices related to OR
68. Operation At the rising edge of the operation step change signal used as the reference signal the present operation step No of the positioning X axis is changed to the step No set up in the STEP Chapter 5 Positioning Instructions 5 3 18 M Code Release Function Block This instruction APM MOF cancels the M code generated during operation For details of the M code see 3 3 1 M Code Release Instruction APM MOF Description This instruction provides M code release reference to the XGB internal positioning At the rising edge of the input condition the M code On signal X axis KX6723 Y axis KX6883 and the M code number X axis KW428 Y axis KW438 of the axis designated as AXIS are cancelled 2 Sample Instruction a Sample Program Cancel Mcod 3KX6720 3KX6721 3KX6723 APM_MOF P fk A a DONE XAxis BUSY KAXIS Axis M Error Code On STAT b Program Operation At the rising edge of the M code release signal used as the reference signal and if M code is generated to the positioning X axis the ON signal and the number of the M code are cancelled Chapter 5 Positioning Instructions 5 3 19 Present Position Preset Function Block This instruction APM PRS changes present position 1 Present Position Preset Instruction APM PRS Variable Data Type Description Preset Value ERS ADI DINT e Setting range 2 147 483 648 2 147 483 647
69. Req Base Slot Axis ACC DEC time APM_SSP Position synchronization Req Base Slot Axis Step number main axis Main axis position APM_SSSB APM_POR APM_SOR Speed synchronization Position override Speed override Req Base Slot Axis main axis rate of sub axis delay time Req Base Slot Axis position Req Base Slot Axis speed APM_PSO Positioning speed override Req Base Slot Axis position speed APM_INC Inching starting Req Base Slot Axis inching amount APM_SNS Change starting step number Req Base Slot Axis step number APM_MOF Cancel M code Req Base Slot Axis APM_PRS Preset current position Req Base Slot Axis position APM_EMG Emergency stop Req Base Slot APM_RST Reset error cancel output inhibition Req Base Slot Axis Enable Disable pulse output APM_WRT Save parameter operation data Req Base Slot Axis Select area to save Chapter 5 Positioning Instructions 5 2 Details of Positioning Instructions In case of XBC XBM 5 2 1 Origin Return Instructions Origin return is sued to check the origin of the machine when power is supplied to the machine in general If the origin return instruction is given it is executed depending on the setting of the origin return parameter for setting of the origin return parameter refer to 3 2 4 Description Remark
70. X axis dwell status flag as normally closed B contact in the program Chapter 5 Positioning Instructions 5 3 15 Positioning Speed Override Function Block This instruction APM PSO changes the operating speed of the axis which is presently in positioning operation at the position specified in the instruction line For the details of this function see 3 1 10 1 Positioning Speed Override Instruction APM PSO Form Variable Data Type Description APM_PSO REQ DONE Target position Fels ERIT e Setting range 2 147 483 648 2 147 483 647 Operating Speed Pag SRN HEINT e Setting range 1 100 000 a Function This instruction provides positioning speed override reference to the XGB internal positioning At the rising edge of the input condition the axis designate as the AXIS executes positioning speed override When the present position reaches the points set up in the PSO ADDR during operation present speed is overridden by the speed set up by the PSO SPD This instruction is available in the acceleration and constant speed sections of the operation patterns If this override is executed during deceleration or dwelling no error code is generated but the instruction is not executed Chapter 5 Positioning Instructions 3 Sample Instruction a Sample Program IndirectSt art SKXB72 SKXB721 APM_IST P E oY DONE XAxis BUSY Axis Error 0 STAT 0 0 1 INSTI StartPS0 skx6720 S
71. a How to set operation data In the linear interpolation control since two axes operates concurrently it needs attention The following is notice when setting the operation data 1 Determining main axis For linear interpolation first you have to determine the main axis In the XGB built in positioning main axis is determined automatically The one which has a large moving amount becomes main axis 2 Determining control method n the linear interpolation operation control methods of both axes should be specified as position If not error will occur and it will not be executed 3 9 Chapter 3 Before positioning 3 Setting of operation pattern In case of main axis operation pattern should be specified as END or KEEP In case it is specified as CONT it operates as KEEP In case of subsidiary pattern doesn t affect the operation it operates according to main axis pattern b Example It assumes that operation data is specified as shown table 3 6 and current position are X 1000 Y 4000 Ez E Sent ABS N t END POS SI Y 1 ABS En POS REP 3 1000 0 0 2000 20 Table 3 6 operation data example of linear interpolation control by absolute coordinates 0 1000 Start address 1000 4000 Origin incremental Start address 7 000 Target address Target address 8000 1000 0 1000 1000 5000 Origin incremental 3 000 gt Target ad
72. as follows Do not connect the output signal line to the motor driver If there is a problem with the PLC hardware connecting to the motor driver might lead to malfunction or damage to the equipment Contact Point Contact Point No Input Signal Remark iis XBG _XEC ae Axis X P0010 IX0 0 16 Contact point Jog normal direction randomly selected switch Contact point Contact point poder POPLITA randomly selected normally open A Axis X P0012 IX0 0 18 Contact point Jog reverse direction randomly selected switch Contact point Axis Y P0013 IX0 0 19 randomly selected 3 Making the Program for Operation Check Make the program for checking the operation by using XG5000 For the details and making of the program see 4 2 Making of the Program for Operation Check 4 Power Supply and Program Writing If you have finished making the program supply power to XGB PLC and use XGB as the parameter and the program 5 Input Contact Point Operation Check Before switching the operation mode of the PLC to RUN check the normal operation of the input contact point as follows Input Signal EA Ne XE Operation Check i O p normal ae as dicus EES Check whether the LED of the contact eclon Axis Y P0011 761X0 0 17 point turns on while the switch is ON and Jog reverse Axis X P0012 951X0 0 18 the value of the contact point changes into direction Axi
73. at X STEP and Y STEP for X axis and Y axis respectively Here since the XGB internal positioning has no Z axis the set value of Z STEP does not have influence on the operation Chapter 5 Positioning Instructions 2 Exemplary Instruction The sample program below is provided to explain the operation of the simultaneous start up instruction d Sample Program INSTB Simul taneo usStart 3KX6720 3KX6721 KXB880 3KX6881 APM_SST P Td pae resa d pun guam id men n A AMXT23 POS X Bus POS_X_Err POS Bus POS_Y_Err DONE 0 3MI321 STAT SST AXIS X STEP l Y STEP Z STEP e Used Devices Device Description Data Size Exemplary Setting oc i em start reference BOOL KX6720 X axis in operation signal BOOL 90KX6721 X axis error state BOOL 90KX6880 Y axis in operation signal BOOL 90KX6881 Y axis error state BOOL SST AXIS Axis setting USINT 3 X STEP X axis operation step No UINT 1 Y STEP Y axis operation step No UINT 2 Z STEP Z axis operation step No UINT Step Coord Op pe Op Rep Target Accl de Op Speed Dwell No inate Pattern ye Type Step Pos Pulse oe c No pls s Time ms Coor Term Sing 7 000 100 Y 2 Coor Term Pos Sing 2 000 10 f Program Operation At the occurrence of the rising edge of the simultaneous start up used for the simultaneous start up reference signal the APM SST instruction is executed 1 When the simultan
74. by shock which requires caution elf the DEC TIME setting is 0 the positioning stops immediately without deceleration process For other setting values it stops according to the acceleration deceleration number set up in the operation data of the respective operation step or in the APM DST instruction in case of indirect start up or direct start up respectively Chapter 5 Positioning Instructions 2 Sample Instruction The sample program below show the exemplary operation of the deceleration stop a Sample Program Homing SKXb 720 SKXB721 ra KAxis rror XAxis BUSY IndirectSt art SKX6720 SKXb721 n rj KAxis Error XAxis BUSY DECStop SKXB72U SKX6721 P f XAxis Error XAxis BUSY APM_ORG REQ DONE INSTI APM_IST INST2 APM_STP REQ DONE DONE STAT DONE STAT DONE STAT Chapter 5 Positioning Instructions b Used Devices Exemplary Device Description Data Size Setting Return to Reference Return to Home instruction signal Indirect starting Indirect start up reference signal Deceleration stop Deceleration stop reference signal KX6720 X axis in position control signal KX6721 X axis error state d Program Operation At the rising edge of the Indirect Start up signal used as the indirect start up reference signal the Installation instruction is executed In the above program indirect start up for the No 1 step of
75. case of an error of the axis KW427 WORD M code M code of the currently operating step 9 KW428 WORD Busy Whether the axis is operating KX6720 BIT Positioning Whether the positioning has been completed for the axis KX6722 BIT complete M code On M code On Off of the currently operating step KX6723 BIT Origin fix Whether the origin has been fixed KX6724 BIT Output inhibit Whether output is inhibited 90KX6725 BIT Upper limit Whether the upper limit is detected KX6728 KX6888 BIT detection Lower limit Whether the lower limit is detected KX6729 KX6889 BIT detection EMG stop Emergency stop KX6730 KX6890 BIT Normal reverse Normal and reverse rotation KX6731 KX6891 BIT rotation KX6732 KX6892 The operation status of each axis acc dec constant Operation status BIT Speed And AWE KX6735 KX6895 Y KXE736 KX6896 Operation control pattern of each axis position speed Control pattern P P p P BIT interpolation Y KXE738 KX6898 Chapter 6 Positioning Monitoring Package Item Home return Position Sync Speed Sync Jog high speed Jog low speed Inching Displays Whether home return is being conducted Whether position synchronization is being conducted Whether conducted position synchronous operation Whether jog high speed operation is being conducted Whether jog low speed operation is being conducted Whether inching operation is being conducted
76. case of using positioning function of XGB high end basic unit wiring example is as follows XGB main unit Chapter 1 General 1 5 I O wiring by using Smart Link Board 1 5 1 Smart link board When using positioning function easy wiring is available by connecting the I O connector with smart link board The available smart link and I O cable are as follows Smart link Connection cable rere The no Classification Model Model of pin Model Length Content one SLT Main unit DN32S SLP 40 CT401 dn For main unit connection XBM T40P XBM 20Pin 20Pin DN16S SLT XBE SLP DC32A T40P 49 a 1M For extension module SLT connection Extension SLP 40 CT401 T T40P module XBE XBE For extension module TSAA Weis cai connection 40Pin 40 CT101 1m ae RY4A Exclusive for relay built in XBE SLP type It describes wring of XGB SLP T40P and SLT CT101 XBM For wring of other smart link boards or XGB extension module refer to XGB user manual for hardware 1 SLT T40P terminal array Terminal array of SLP T40P is as follows TELELLELLLLLLELLELLLE III IIASA IAA IIIA IAISAS EXE V Item Rated voltage Specification AC DC 125 V Rated current Max 1 A Withstanding 600V 1min voltage Insulation 100M2 DC500V resistor Cable 1 2
77. cause abnormal output or operation In case of data exchange between computer or other external equipment and PLC through communication or any operation of PLC e g operation mode change please install interlock in the sequence program to protect the system from any error If not it may cause abnormal output or operation Safety Instruction Safety Instructions when designing I O signal or communication line shall be wired at least 100mm away from a high voltage cable or power line If not it may cause abnormal output or operation due to noise Safety Instructions when designing Use PLC only in the environment specified in PLC manual or general standard of data sheet If not electric shock fire abnormal operation of the product or flames may be caused Before installing the module be sure PLC power is off If not electric shock or damage on the product may be caused Be sure that each module of PLC is correctly secured If the product is installed loosely or incorrectly abnormal operation error or dropping may be caused also unusual contact with cable is may cause abnormal operation due to poor contact If lots of vibration is expected in the installation environment don t let PLC directly vibrated Electric shock fire or abnormal operation may be caused Don t let any metallic foreign materials inside the product which may cause electric shock fire or abnormal operation Safety Instructio
78. change switch On the current operating step changes into 10 P000F 961X0 1 7 axis X start On indirect start is conducted with the changed step 10 P000A 961X0 1 2 deceleration stop switch On axis X which is being operated with speed control is decelerated and stopped by the deceleration time of the current step 7 14 Chapter 7 Program Examples of Positioning 7 2 6 Simultaneous Start The program example of simultaneous start of axes X Y is as follows 1 XBM XBC P0008 K04201 Fs F P CLR 0 0 1 Emorreset XAxis Error Sw In case of error error reset output inhibit cancel K04301 CLR Y Ais Error P0009 K04200 K04201 M it it FLT XAxis BUSY XAxis Error 15 command set Floating origin K04300 K04301 YAxis BUSY YAxis Error POOOE K04200 K04201 K04300 K04301 H 17H t 1l 0 29 SSTSW XAxis BUSY XAxis Emor YAxis BUSY YAxis Eror XY SST o gt a Devices Used Device Description axes X and Y error reset output inhibition cancel switch axes X and Y floating origin switch simultaneous start switch of axes X and Y Signal during axis X operation Error signal of axis X Signal during axis Y operation Axis Y error signal 7 15 Chapter 7 Program Examples of Positioning 2 XEC Comment When error occurs resets error and cancels ouptut inhibition INSTS APM_RS
79. change the input mode of a servo motor driver into pulse direction mode prior to use Note5 In the above wiring Axis X of XGB standard built in positioning is used App 3 4 Appendix 3 Motor Wiring Example b In case of XBC XEC DN H Servo motor I1 Power AC 200 230V XBC XEC DN H Input Common Lower limit Note2 P0008 IX0 0 8 er limit Upp 2av P0009 IX0 0 9 Origin POOOD IX0 0 13 DOG POOOC IX0 0 12 External DC24V Input terminal 9 Note1 The rating of Origin input for XGB stand type is 24VDC If it is line driver output contact can t be connected In the case use a convert from line driver output to open collector output or use home return only by DOG signal origin sensor of origin signal Note2 Although origin DOC upper lower limit signals are with fixed contact it may be used for general input if they are not used Emergency stop is available by the command EMG Note3 The above wiring is applied when P07 01 27 positioning mode Note4 Since pulse direction mode and CW CCW mode are available for XGB high end type make sure to change the input mode of a servo motor driver according to output mode of positioning module Note5 In the above wiring Axis X of XGB high end type built in positioning is used App 3 5 Appendix 4 Dimension Appendix 4 Dimension Unit mm 1 Standard main unit XBM DN16S 32S
80. command is unavailable for a synchronic 3 Operation operation sub axis 3 Speed override command is unavailable in any other status s but busy Out of speed override range error i Speed override command is unavailable to an sub axis of f Operation linear interpolation operation Speed override command is unavailable to an sub axis of Operation i synchronic operation synchronic operation at the time of speed override command Speed override command is unavailable in a DEC section Operation time of speed override command Positioning speed override command is unavailable in any si Check whether an axis did not stop at the time of positioning speed o other status but operation override command 382 Positioning speed override command is unavailable in any si Check whether an axis was not in speed control operation at the o other operation but positioning operation time of positioning speed override 3 Out of speed override range error of positioning sped st Check whether the speed of positioning speed override command o override command g was not equal to or lower than the max speed set in parameter Check whether an axis was not decelerating for stoppage at the o 3 o Position override command is unavailable for an axis of i Operation linear interpolation operation 52 53 55 56 61 62 63 64 66 71 72 73 75 TT 81 83 APP 1 6 Appendix 1 List of Error Codes Error o D
81. constant speed and deceleration sections of operation patterns If speed override instruction is executed during deceleration or dwelling error code 377 is outputted to STAT and the present operating step does not stop and continues running Chapter 5 Positioning Instructions 2 Sample Instruction The sample program below shows exemplary operation of speed override instruction c Sample Program Indi rectSt art XKX5720 3KX5721 APM IST P LE DONE XAxis BUSY XAxis Error 0 STAT 0 D 1 INSTI Speed verr ide XKXB720 XKX5735 3KX5734 APM SOR P I 1 n d DONE1 Axis BUSY XAxis Move XAxis Move Status Dwe Status Dec I eleration 0 STATI D D 10000 d Program Operation At the rising edge of the indirect start up signal used as the reference for indirect start up signal positioning X axis is started up indirectly by the operating step No 1 lf the rising edge of the speed override reference signal used as the reference signal for the speed override instruction occurs during operation the operation continues by changing the operating speed of the present operation step to 10 000 pps Take care that the speed value of the No 1 step set up with the positioning parameter itself is not changed lf speed override instruction is executed while the operation state is in deceleration or dwelling error code 377 is outputted to STAT To prevent this the start up contact should be connected with the
82. dai KE eee Pattern 0 END 1 KEEP 2 CONT END OILS m Gontro S SPD nee T 29 RTR Method 0 SIN 1 REP SIN n T K759 K1059 REP x 80 for high end SR O SE tention S KW759 KW1059 Word Address K750 K1050 2 147 4 48 2 147 483 647 pul Double word pulse udo dai ieee ae KD375 KD525 K757 K1057 Pe Word Oreos KW757 KW1057 K7586 87 K10586 87 No 1 1 No 2 2 No 3 3 No 4 Bit boca b KX12134 35 me mw K754 K1054 a Double word 1 100 000 pulse s 0 KD377 9 KD527 Double word K756 K1056 Word KW756 KW1056 Setting range Initial Dedicated K area Daia size value Xaxis Yaxis K7684 K10684 i ABS 1 INC ABS Coord 0 KX12292 KX17092 K7682 83 K10682 83 END 1 KEEP 2 CONT END e eA iin ere adi KX12290 91 KX17090 91 EW K7681 K10681 DP 1 SPD POS veo ea rere KX12289 KX17089 Sa K7680 K10680 f IN MEI sS SEE KX12288 KX17088 EN REP Step 0 30 0 80 for high end K769 K1069 9 KW769 9 KW1069 Word Address 147 483 648 2 147 483 647 pul e rec Double word E ouble pulse eres sanos bulsa KD380 KD530 K767 K1067 Word KW767 KW 1067 K7686 87 K10686 87 No 1 1 No 2 2 No 3 3 No 4 UNO SNO ene KX12294 95 mel m K764 K1064 ze 0 Double word Speed 1 00 000 pulse s 9 KD382 9 KD532 Double word K766 K1066 x ms 0 Word App 2 15 Appen
83. depending on absolute coordinate and Incremental coordinate e Emergency stop t immediately stops if meeting emergency stop while performing start related instructions indirect start direct start concurrent start synchronic start linear interpolation start Home Return start jog start and inching start Internal emergency stop generates Error 481 Since it is subject to no output and un defined origin once emergency stop is executed it may run 3 22 Chapter 3 Before positioning positioning operation after executing origin determination Home Return floating origin and the current position preset in case it is operated with absolute coordinate or in determined origin 3 1 12 Manual operation In general manual operations refer to jog operation inching operation which don t use operation data 1 Jog operation Jog operation means positioning by jog operation stat contact point or positioning monitoring package high Classification Jog forward start Jog backward start Sod urge a T XBM XBC K4291 K4292 K4293 XEC 90KX6865 KX6866 KX6867 vad XBM XBC K4391 K4392 K4393 axis XEC KX7025 KX7026 KX7027 e Itis operated by jog speed set in positioning parameter It can be executed when origin is not determined Acceleration deceleration process is controlled by the duration set in jog acceleration deceleration time among parameter settings of this software package
84. edge Input common X Y axis COM Input common Chapter 1 General 3 Example of wiring the external input signal Example of wiring the external input signal is as follows XGB main unit Inner circuit XGB main unit Inner circuit lt Example of wiring the external input signal gt 1 4 2 Allocation of standard type S type output signal 1 Allocation of output signal When using the positioning function the output signal is allocated as shown below Input contact Signal name point no Detail Positioning X axis pulse string output contact X axis P0020 point Open collector output elise pupu Positioning Y axis pulse string output contact Y axis P0021 point Low Active and Open collector output High Active is Positioning X axis direction output contact selectable in Xaxis P0022 point parameter setting d Open collector output DNEGUOR ouput Positioning Y axis direction output contact Y axis P0023 point Open collector output X Y DC12 External 24V ais 2AN For external power 12 24V supply Output NY COM Output common common axis 2 Example of wiring external input signal Example of wiring external output signal is as follows XGB main unit Inner circuit Servo dryer Chapter 1 General 1 4 3 Allocation of high end type H type input signal In case of H type external input signal for built in positioning is allocat
85. edition according to XGB user manual separation 2 Adding contents 1 8 1 IO wiring method through smart link board 3 1 2 Positioning function list 3 26 3 How to check the positioning 6 4 Positioning monitoring package 81 5 Positioning trouble shooting method 3 Modifying contents ee 1 IO signal allocation Positioning parameter setting method 2 3 Positioning instruction contents 4 Modifying safety precaution for safety V1 4 2008 3 1 Adding type and function according to developing XGB compact type basic unit XBC DxxxH V1 2 2009 8 1 Adding type and function according to developing XGB compact type basic unit XEC DxxxH 1 Adding description on positioning flag 2 Adding description on positioning instruction 3 Adding Positioning program example x The number of User s manual is indicated right part of the back cover c 2008 LS Industrial Systems Co Ltd All Rights Reserved About User s Manual About User s Manual Thank you for purchasing PLC of LS Industrial System Co Ltd Before use make sure to carefully read and understand the Users Manual about the functions performances installation and programming of the product you purchased in order for correct use and importantly let the end user and maintenance administrator to be provided with the User s Manual The User s Manual describes the product If necessary you may refer to the following description and order accordingly
86. instruction occurs before the present position reaches 100 000 Pulse during operation the operation continues by changing the target position of the step presently in operation to 100 000 Take care that the target position value of the No 1 step set up with the positioning parameter itself is not changed If position override instruction is executed after the present position has passed 100 000 Pulse deceleration stop occurs elf position override instruction is executed while the operation state is in dwelling error code 362 is outputted to STAT To prevent this the start up contact should be connected with the X axis dwell status flag as normally closed B contact in the program Chapter 5 Positioning Instructions 5 3 14 Speed Override Function Block Speed override instruction APM SOR changes the operating speed of the axis presently in positioning operation to the speed set up in the instruction line For the details of speed override function see 3 1 10 1 Speed Override Instruction APM SOR Form Variable Data Type Description APM SOR REQ DONE SOR Operating Speed SPD BUNT e Setting range 1 100 000 a Function This instruction provides speed override reference to the XGB internal positioning At the rising edge of the input condition the axis designated to be AXIS changes its operating speed to the speed set up in SOR SPD Speed override instruction is available for the acceleration
87. manual control for XGB basic unit It is the user s manual about XGB Cnet I F that describes built in XGB Cnet I F communication function and external Cnet I F module of XGB 10910000816 basic unit 10310000873 XGB FEnet I F It describes how to use XGB FEnet I F module Chapter 1 General 1 1 Generalis ne tti eet a tee du ie ia a Eo leas ERE eka e Pa 1 1 1 1 1 Purpose of position function eeeeseeesseesssssssssssssssssee nennen 1 1 1 1 2 Features E RD OR RN E DE REM I ERES 1 2 1 2 Performance specifications essssssssssssssssssseese eene rennen nnne 1 3 1 2 1 Performance specifications of XGB built in positioning sseususs 1 3 1 3 Operation Sequence of Positioning sess 1 4 1 3 1 Operation Sequence of Positioning 1 4 1 3 2 FIOW Of position signala einean neninn yioo eak eere nequ rhe in te Rep become 1 5 CA TO SIG Mal AUG CAUCE ciini rs iioi iecit esto ne tto e nae an Saal tai th stum eit i suse aea dti 1 6 1 4 1 Allocation of standard type S type l O input signal eese 1 6 1 4 2 Allocation of standard type S type output signal eeeeseeeeessesss 1 7 1 4 3 Allocation of high end type H type input signal seeeeeeeeene 1 8 1 4 4 Allocation of high end type H type output signal eeeeeeeeeeee 1 9 1 5 I O wiring by using Sma
88. o o o o COMMAND sss L L sss si ax nt n2 n3 Area Seiting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 speed synchronous ratio 1 10 000 0 01 100 0096 WORD n2 Delay time 1 10 ms WORD n3 Speed delay main axis setting See 0 9 1 Function WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is for executing the speed synchronous starting for synchronous starting The axis set in the axis designated as ax at the rising edge of the input condition auxiliary axis n3 becomes the main axis and the speed main axis position synchronous starting instruction is executed If the instruction is executed the auxiliary axis stands by without generating actual pulse the operation status flag of the auxiliary axis axis X K4200 axis Y K4300 turns On and nn3 axis which is the main axis it is started according to the speed synchronous ratio set in n1 The synchronous ratio settable in n1 is 0 01 100 0096 set value 1 10 000 If the set speed ratio gets out of this range error code 356 is issued The delay time of n2 refers to the delay time it takes for speed of the auxiliary axis to reach the current main axis speed In XGB built i
89. of the following program a Example of the Program M0000 K04210 K04201 dP Vi Vi e XAxis XAxis Error tum Run Control Pattern Pos ition M0001 K04200 K04201 4 t it IST XAccs BUSY XAxis Error M0002 K04200 K04201 4 4 17 STP XAxis BUSY XAxis Error IL program b Device Used Device Description Data size Example of setting origin return instruction signal Indirect starting instruction signal Deceleration stop instruction signal signal during axis X position control axis X error c Operation of the Program IST instruction is executed when there is the rising edge of M0001 which was used as the indirect starting instruction signal In the program above the indirect starting of No 1 step of axis X is executed e If there is the rising edge of M0002 which is the deceleration stop instruction signal during operation the deceleration stop instruction is executed according to the setting of STP instruction Since sl first Operand and ax second Operand are set at 0 the deceleration stop is executed for axis X of basic unit built in positioning Since the deceleration time is set at 0 if the STP instruction is executed it stops right away without deceleration Note the following in executing the STP instruction If it has been stopped by the deceleration stop instruction because the positioning operation has not been fini
90. operation is as follows 1 XBM XBC P0008 K04201 TT 1 2m Emorreset X xis Error Sw In case of error error reset output inhibit cancel P0008 K04200 K04201 L 1 L J set X axis Floating origin FLT Xis BUSY XAxis Eror P0000 d H JOGCW Start JOG CW Stat JOC CCW JOG highspeed lowspeed elect a Devices Used Device Description Axis X error reset output inhibition cancel switch axis X floating origin switch axis X jog normal direction start switch axis X jog reverse direction start switch Switch for low high speed selection of axis X jog Signal during axis X operation Error signal of axis X Chapter 7 Program Examples of Positioning 2 XEC When error occurs resets error and cancels ouptut inhibition INSTS APM_RST REQ DONE X RST DONE 31X 0 1 0 SKX6721 P ErrorReset XAxis SW Error 0 JBASE STAT X_RST_STAT sets axis X floating origin INSTIO 81X0 1 1 SKX6720 SKX6721 APM_FLT EFI RE ONE X FLT DONE Floating XAxis BUSY X xis origin SW Error 0 4BASE STAT X_FLT_STAT 0 SLOT 0 JAXIS Start CW JOG 1X0 1 5 SKX6865 A JOG CU XAxis CW JOG START Start CCW JOG 1X0 1 6 SKX6866 gt JOG CCW XAxis CCW JOG START Select JOG low speed high speed 81XD 1 7 SKXB867 1 H C2 JOG speed X xis JOG Low Speed Hi sh Speed a Devices Used Devi
91. origin address for origin Origin address K0469 Double word K0509 Double word sat eturn High speed of origin Sets high speed for origin K0471 Double word K0511 Double word return return Low speed of origin Sets low speed for origin K0473 Double word K0513 Double word return return Acceleration time for Sets acceleration time for m K0475 Word K0515 Word A origin return origin return Deceleration time for Sets deceleration time for X K0476 Word K0516 Word 2 origin return origin return Dwell time for origin Sets dwell time for origin K0477 Word K0517 Word return return Sets high speed for jog Jog high speed K0479 Double word K0519 Double word operation Sets low speed for jog Jog low speed K0481 Double word K0521 Double word operation j t Sets acceleration time for jog Jog acceleration time K0483 Word K0523 Word operation Sets deceleration time for jog Jog deceleration time K0484 Word K0524 Word operation Sets operation speed for Inching speed K0485 Word K0525 Word DN l inching operation 3 55 Chapter 3 Before positioning b In case of XEC Device area Address KD225 Double word KD245 Double word Sets bias speed Speed limit KD226 Double word KD246 Double word Sets maximum speed limit i i KW454 Word KW494 Word Sets acceleration time 1 Deceleration time 1 KW455 Word KW495 Word Sets deceleration time 1 Deceleration time 1 Word KW49E Word Sets accel
92. output Pulse output P20 Direotion output P22 Forward output Reverse output 3 Pulse output mode For only high end type XGB built in positioning can select output mode as one between PLS DIR mode and CW CCW mode eif you use CW CCW mode select 0 If you use PLS DIR mode select 1 About output pulse shape according to each pulse output mode refer to ch 2 2 3 4 M code output mode For only high end type eIn case of using M code function you can set output timing of M code 3 32 Chapter 3 Before positioning M code output mode set in the parameter is applied to all operation step of each axis The user can select one M code output mode among three modes NONE WITH AFTER According to each setting value timing of M code output signal is as follows a NONE mode eIn case M code output mode is selected as NONE though M code is set in operation data M code doesn t occur like the following figure lf the user use this function it can prohibit the M code function set per operation step simultaneously Speed KEEP L Dwell time time wE 1 1 Operation TENE M code On signal Dwell b WITH mode e In case M code output mode is set as WITH like the following figure it outpus M code on signal and M code number when each step runs ed END operation Keep operation pe Dwell time Dwell time Starting ABL 11b 222 Operation l M code vp df 1 sign
93. pattern and single in the operation mode so they operate at 1 000pps to the pulse of absolute coordinates 10 000 and then operates step 2 the next step without waiting for the next operation instruction when the dwell time passes If the dwell time passes after step 2 step 3 is operated 2 Step 3 of which the operation pattern is end operates up to absolute coordinates 30 000 and then stops right away because the dwell time is 0 and the positioning completion bit turns on for a scan 3 45 Chapter 3 Before positioning 3 Since the operation mode of step 3 is single the next step is No 4 4 Step 4 has been set as end repeat 1 it operates up to absolute coordinates 40 000 when step 4 operates by the second operation instruction and stops without dwell time and the next step points at step 1 which has been designated as the Repeat step 5 The operation pattern can be illustrated as follows Mode Keep Single Mode Mode c Mode Keep single End Repeat Step 2 Step 3 gt Dwell time Dwell time Starting Running d Incessant Operation Incessant operation refers to the operation that continues the steps set as continued operation by the operation instruction The continued operation can be explained with the operation data in the following table Relative Continued Position Single Relative End Position Single 1 Since the operation pattern of step 1 has been set as continued
94. set in the step number axis X K426 axis Y K436 word of area K The absolute Incremental coordinates position speed control and acceleration deceleration pattern number are fixed by the setting of each bit of the control word set as n5 Bit F El mo Bil Al sg 8 7 6 5 4 SIN 4 0 number Setting coordinates control Not used Acc dec time Not used item setting method 0 absolute Setting 0 1 12 1 0 position range 2 3 3 4 1 speed Incremental Chapter 5 Positioning Instructions The instruction only sets the item of the operation data and the basic parameter items related to the operation such as the bias speed and speed limit are fixed in the positioning basic parameters If you use the DST instruction the operation pattern is fixed as End operation and the operation method is fixed as the single operation But if continued operation or repeated operation is needed use indirect starting IST instruction b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed This case if an error of execution of the instruction so the error of positioning area K flag axis X K4201 axis Y K4301 does not turn On 2 Example of Use of the Instruction Direct starting instruction is described with the example of the following program The example of use of the D
95. speed and decelerating sections The range of jog low speed is between 1 100 000 unit 1pps Remark When setting JOG high speed it should be Speed limit 2 JOG high speed 2 Bias speed When setting JOG low speed it should be smaller than JOG high speed 10 JOG ACC DEC time It refers to JOG ACC DEC time during jog high low speed operation The range of JOG ACC DEC time is between 0 10 000 unit 1 ms 11 Inching speed The inching operation speed is set e The range of inching speed is between 1 65 535 unit 1pps For detail of inching operation refer to 3 1 12 3 40 Chapter 3 Before positioning 3 3 Positioning Operation Data It describes operation data for XGB positioning If the user select X axis data or Y axis data tap in the positioning parameter setting window the following figure is displayed Each axis can have 30 80 standard type 30 step high end type 80step steps of operation data amp Positioning Contra Method REP Step cee 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 Each of item can have a following data Initial Device area values Xaris Varis f K5384 K8384 0 end 1 continuous 2 K5382 3 K8382 3 Pattern l End Bit sequential KX8610 11 KX13410 11 Control O position control 1 speed Position K5381 K8381 Bi control
96. standby time given before the next positioning operation when one positioning operation is finished Especially when the servo motor is used it might not reach the target position or stay excessive even though the output of the positioning function has been stopped so the dwell time is the data that set the standby time until the stable rest The operation status of the axis of the XGB positioning function during the dwell time maintains Operation and if the dwell time passes the operation status signaling bit axis X K4200 KX6720 axis Y K4300 KX6880 turns Off and the positioning completion signal turns On 3 48 Chapter 3 Before positioning 3 4 Positioning Status Monitoring and Area K for Input and Output The XGB built in positioning function controls positioning by using area K for positioning and the parameters This Chapter describes area K for positioning For the relations between the XGB built in positioning parameters and area K see 3 2 2 XGB built in positioning area K divides into the bit flag word and double word flag The flag in turn divides into the status monitoring flag area for read only and the flag for instruction and command for read and write 3 4 1 Status Monitoring and Flag for Positioning This chapter describes the XGB built in status monitoring flag for positioning for read only The status monitoring flag divides into bit word and double word 1 Bit Area Flag a XB
97. switch IX0 1 2 axis X indirect start switch 961X0 1 4 axis X speed override switch KX6720 Signal during axis X operation 96KX6721 Error signal of axis X KX6732 axis X acceleration signal KX6733 axis X constant speed signal Operation Data Setting Operation coordinat Control Operation Operation Target position Acc Dec a Dwell time Step No Repeat step M code speed pattern pattern type pulse ms ETE ij Position Single 100000 soo control 4 Operation Sequence P0009 96IX0 1 1 floating origin switch On set as the floating origin at the current position P000A 96IX0 1 2 indirect start switch On axis X indirectly starts step 1 P000C 96IX0 1 4 speed override switch On overrides the current speed to 1000pps during acceleration or constant speed operation of axis X 7 2 12 Position Override The program example of position override during operation is as follows 1 XBM XBC P0008 K04201 P Emorreset X is Error SW P0009 K04200 In case of error emor reset output inhibit cancel K04201 IP FLT E set X axis Floating XAxis BUSY XAxis Error origin command P000A K04200 K04201 P 0 Indirect XAxis BUSY XAxis Error X axis indirect start start PODOC K04200 K04201 K0420D IP 1 ovemde 1 1 Position XAxis BUSY XAxis Eror XAxis Move Overide current Status Con position to 60000 stant C
98. than 0 and 1 the error flag F110 is set and the instruction is not executed In this case execution of instruction is error so K area error ocurrence Flag X axis K4201 Y axis K4301 doesn t turn On If the set value of the starting step number gets out of the settable range instruction Error Flag F110 is not set the error flag of positioning area K axis X K4201 axis Y K4301 turns On and the operation does not occur 5 12 Chapter 5 Positioning Instructions 2 Example of Use of the Instruction The indirect starting instruction is described with the example of the following program The example of use of the IST instruction is described on the basis of axis X a Example of the Program M0000 K04200 K04201 PI L Home XAxis BUSY XAxis Error Qj Return Run M0001 K04200 K04201 Pt 1 t 17H IST 0 0 D0000 Indirect XAxis BUSY X oos Error Start Start Step Rung Step Instruction OP1 OPT 0P2 0P2 OP3 o3 o o MO000 Hore us AND NOT K04200 XAws BUSY 3 AND NOT K04201 XAos Error E ORG 0 0 IL program 1 7 LOADP M0001 a 9 AND NOT K04200 XAos BUSY 10 AND NOT K04201 XAws Error IST 0 0 00000 Start Step ENO b Device Used Device Description Data size Example of setting axis X origin return M0000 BIT instruction signal axis X indirect starting M0001 BIT instruction signal signal during axis X K4200 BIT operation K420
99. the X axis is executed At the rising edge of the Deceleration Stop signal used as the deceleration stop during operation reference signal the deceleration stop instruction is executed in accordance with the setting of the STP instruction Since the BASE SLOT and AXIS are set to 0 deceleration stop is executed to the X axis of the internal positioning of the base unit At this time since the deceleration time setting is 0 the STP instruction will result in immediate stop without deceleration time For APM STP instruction execution take care of followings When stopping by deceleration stop instruction positioning operation is not completed until the set up target position Therefore position determination completed signal X axis KX6722 Y axis KX6882 is not created and if M code was set up the M code signal is not turned on neither n this case the present operation step No is maintained f indirect start up instruction is executed again later operation method varies by coordinate system 1 In absolute coordinate system output the residual position output not outputted in the present operation step 2 In Incremental coordinate system operates for the new target position value For example if the target value of the respective step is 20 000 and was stopped at position of 15 000 by deceleration stop instruction and if the indirect start up instruction is executed again in absolute coordinate syst
100. the direction and homing forward with high speed 3 At the moment when target meets rising edge of DOG again and falling edge target changes the direction to backward and repeats step 1 if origin signal is entered origin is determined Xx During homing if external input upper or lower limit is entered object changes direction promptly without deceleration section When stepping motor is used this may cause out of operation So be careful If On time of origin input signal is very short XGB may not recognize the input signal So On time of origin should be larger than 0 2ms Home I I More than U 2ms 3 16 Chapter 3 Before positioning 3 Origin detection after deceleration with DOG set On Operations by home return instruction using DOG and origin signal are as follows pud Decreasing at DOG on Home high speed Home low speed Home is not determined though home signal is inputted during DOG on Servo motor 1 revolution PG 1 revolution Home starting Home processing Home complete H Operation waiting Homing Xwaiting a If homing command ORG instruction is executed it accelerates toward a set home direction and operates at home high speed b At the moment if an external entry DOG signal is entered it decelerates and operates at home return low speed c Origin is determined and it stops if it meets an external entry origin signal with DOG set On
101. the dwell time 100ms There may be a delay as long as dwell time 1 scan time until the origin determining status flag K4204 bit turns On after the output stops 4 Then the current address is preset at 0 which is the origin address set in the parameter Speed Home high speed Decreasing at DOG On Home low speed Time DOG P4 Home P9 Dwell time Executing MO Homing K4215 Complete K4204 The DOG signal and origin signal are respectively fixed as the following contact points Standard Advanced DOG origin DOG origin axis X P0004 P0005 POO0C POO0D axis Y P0006 P0007 POOOE POOOF If the contact points of the DOG and the origin input are used together as the external preset input of the high speed counter or together as the starting signal of the external contact point task the origin detection might be inaccurate The current position address does not change during origin return Chapter 5 Positioning Instructions 5 2 2 Floating Origin Setting Instruction Floating origin setting refers to setting the current position as the origin by force with the instruction without carrying out the actually mechanical origin return 1 Floating origin Setting Instruction FLT Areas available Flag nemen wk rlL T C S z loxRx san u N p R OE pO za ec hcl Ro B SAM sc ci el D D
102. then get it started Chapter 5 Positioning Instructions 2 Example of Use of the Instruction The floating origin setting instruction is described with the example of the following program The example of use of the FLT instruction is described on the basis of axis X a Example of the Program K04200 K04201 V V XAxis BUSY XAxis Error 0 IL program 2 ANDNOT K04200 XAxis BUSY 3 AND NOT K04201 XAxis Error 4 ORG 0 0 n 7 END b Device Used Device Description axis X floating origin instruction M0000 signal K4200 Signal during axis X operation K4201 axis X error c Operation of the Program The FLT instruction is executed when there is the rising edge of M0000 which was used as axis X floating origin instruction signal Not if axis X is operating or in error f the FLT instruction is executed the origin is fixed right away at the current position differently from the origin return the origin determining signal axis X K4204 turns On and the current address is preset at O Chapter 5 Positioning Instructions 5 2 3 Direct Starting Instruction Direct starting refers to designating the operation data of the target position and speed from the positioning instruction DST instruction for operation without using the setting of the step set in the positioning operation data 1 Direct Starting Instruction DST
103. to STAT 2 Sample Instruction The program below is to show exemplary operation of speed synchronization start instruction a Sample Program n the sample program below with the Y axis as the sub axis and the X axis as the main axis the speed synchronization start up is executed at the synchronization ratio of 100 00 96 and delay time of 10 ms when the main axis is started up Axis Speed INST Synchroniz ation SKX6660 SKX6881 SKXb724 APM_SSSB P R F 9 7 F REQ ONE DONE axis BUSY Y xis KAXIS Error Origin Fix BASE STAT STAT Indi rectSt INSTI art APM_ IST REQ DONE DONE1 0 BASE STAT STATI Chapter 5 Positioning Instructions b Program Operation At the rising edge of the Y axis speed synchronization signal used as the speed synchronization reference signal the APM SSSB instruction is executed Here since the AXIS is 1 Y axis Y axis is the sub axis and as the MST AXIS is 0 X axis X axis is the main axis At the rising edge of the indirect start up signal which is the indirect start up reference signal the No 1 step of the X axis starts indirectly When the main axis starts up Y axis is started up at the synchronization ratio of 100 00 set up in the third operand of the APM SSSB instruction and synchronized to the main axis by 10 ms of delay time Chapter 5 Positioning Instructions 5 3 13 Position Override Function Block The position override instruction
104. when the speed synchronization ratio is 100 0096 and delay time is 5 ms and if the present speed of the main axis is 10 000 pps XGB internal positioning adjusts the speed of the sub axis so that it s speed is the same as that of the main axis after 5 ms at every 500 45 When the delay time is longer the synchronization time delay between the main and sub axes is longer but the output pulse is more stable If there is the possibility that the motor may lose synchronism set the delay time longer The range of the delay time that can be set up in DELAY n2 is 1 10 ms If this range is exceeded error code 357 is generated 5 75 Chapter 5 Positioning Instructions The range of the main axis setting of MST AXIS is 0 9 as shown below If this range is exceeded error code 355 is generated To cancel the execution of speed synchronization instruction run the stop instruction APM STP for the sub axis Speed synchronization control can be executed even when the Origin of the sub axis has not be determined eIn speed synchronization the sub axis is synchronized to the main axis Therefore even if the control mode of the sub axis is set up position control it repeats start and stop according to the operation of the main axis and the direction of rotation of the sub axis is the same as that of the main axis elf the M code of the sub axis is ON at the execution of the speed synchronization instruction error code 353 is outputted
105. whether the step number of start step number change number command is unavailable during operation amp command or repeat operation start step number designation op 1 Step 0 2 Step gt 30 80 for high end high end or within the range Present position preset command is unavailable during eee Check whether an axis was not operating at the time of present eration operation position present command Sub position data may not be set exceeding soft T T 2 E Check whether the position of present position present command upper lower limits at the time of present position preset Stop command is equal to or higher than 1 and lower and 30 80 for a oa was within the soft upper lower limits command Remove emergency stop causes and clear the error by executing 481 emergency stop error Stop CLR command Remove emergency stop causes and clear the error with CLR 491 External emergency stop error Stop command Escape from external upper signal range by using jog command 492 Hard upper limit error Stop d TP RE gee es and clear the error with CLR command Escape from external upper signal range by using jog command 493 Hard lower limit error Stop p TE i Vu TE and clear the error with CLR command Escape from soft upper limit range by using jog command and 501 Soft upper limit error Stop P ok a clear the error with CLR command Le Escape from soft lower limit range by using jog command and 502 Soft lower limit
106. 0 No Detect 1 Detect App 2 2 XBM XBC K4872 K5272 XEC KX7794 KX8434 Bit Appendix 2 Positioning Instruction and K area List Appendix 2 2 2 K area of positioning home Home Method Home Direction Home Address Home High Speed Home Low Speed Homing ACC Time Setting range 0 CW 1 CCW Initial value parameter XBM XBC Dedicated K area Data size K4780 K4781 K5180 K5181 XBM XBC KX7648 KX7649 K4782 KX8288 KX8289 K5182 Bit XEC KX7650 KX8290 2 147 483 648 2 147 483 647 pulse XBM XBC K469 K509 Double word XEC KD234 KD254 1 100 000 pulse s 1 100 000 pulse s 0 10 000 unit ms XBM XBC K471 K511 XBM XBC Double word KD235 K473 KD255 K513 XBM XBC Double word KD236 K475 KD256 K515 XEC Word KW475 KW515 Homing DEC Time 0 10 000 unit ms XBM XBC K476 K516 XEC Word KW476 KW516 DWELL Time JOG High Speed JOG Low Speed JOG ACC Time JOG DEC Time Inching Speed 0 50 000 unit ms 1 100 000 pulse s 1 100 000 pulse s 0 10 000 unit ms 0 10 000 unit ms 1 65 535 pulse s 5 000 1 000 XBM XBC K477 K517 XBM XBC Word KW477 K479 KW517 K519 XEC XBM XBC Double word KD239 K481 KD259 K521 XEC KD240_ KD260
107. 0 19 3KX6881 3KX8432 SKX7026 ores ere oe ee Oe re a a a a es EE Y xis JOG Y xis Y xis YAxis CCW CEW Error Position JOG START Enable Chapter 5 Positioning Instructions Chapter 5 Positioning Instructions This chapter describes the definitions functions use of the positioning instructions used in XGB positioning functions and the program examples 5 1 Positioning Instruction Alarm The positioning instructions used for XGB positioning are as follows 1 In case of XBC XBM Instructi Description Conditions ons Start return to the origin Slot instruction axis Set floating origin Slot instruction axis Slot instruction axis position speed dwell time M code Direct starting control word Indirect starting Slot instruction axis step number Linear interpolation starting Slot instruction axis step number axis information Slot instruction axis axis X step axis Y step axis Z step Simultaneous starting axis information Speed position switching Slot instruction axis Position speed switching Slot instruction axis Stop Slot instruction axis deceleration time Slot instruction axis step number main axis position main Position synchronization axis setting Speed synchronization Slot instruction axis synchronization rate delay time Position override Slot instruction axis position Speed override Slot instruction axis speed Positioning speed override Slo
108. 0 91 K25181 KX48290 91 K30181 POS KX40289 SIN KX40288 KX48289 K25180 K30180 KX48288 K3019 KW2519 KW3019 Data size Bit Word Address pulse 2 147 483 648 2 147 483 647 pulse K2510 K3010 KD1255 KD1505 Double word M Code Speed 1 100 000 pulse s 0 Dwell 0 50 000 unit ms 0 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 App 2 27 K2517 K3017 KW2517 K25186 87 KW3017 K30186 87 0 KX40294 95 K2514 KX48294 95 K3014 KD1257 K2516 KD1507 K3016 96KW2516 KW3016 Word Double word Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Dedicated K area X axis Y axis KX40452 KX48452 K30282 83 K25282 83 KX40450 51 KX48450 51 K25281 K30281 KX40449 KX48449 K25280 K30280 KX40448 KX48448 K3029 K2529 KW3029 Initial value ABS Word Address pulse Speed 1 100 000 pulse s Dwell 0 50 000 unit ms 0 Pattern Control Method REP Step Address 2 147 483 648 2 147 483 647 pulse 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 Setting range END 1 KEEP 2 CONT POS 1 SPD SIN 1 REP 0 30 0 80 for high end 2 147 483 648 2 147 483 647
109. 00 KX6880 is on And if DEC stop command is executed it stops after deceleration without dwell time and flag turns off immediately At this time deceleration time conforms to that in operation data not operand of instruction Start signal Under operation Dec Stop signal Not On though it Complete y stops signal lt Figure 3 3 Operation of speed control gt 3 6 Chapter 3 Before positioning 3 1 4 Speed position switching control It change speed control to position control by switching command VTP instruction n case of speed position switching control items affecting the operation are different according to control method Step Patt Cont Met REP Address M Speed Dwell no m rol hod Step pulse Code pls s n5 These items don t affect the operation in case of speed Step Patt Cont Met REP Address M Speed Dwell no em rol hod Step pulse Code pls s ns These items don t affect the operation when changed into position First object moves by speed control If speed position switching control is executed target will move by position control At this time position control is executed by absolute coordinates with initializing the current position as 0 So coordinates item doesn t affect the operation Since control method also changes by speed position switching control method in the operation data doesn t affect the operation In case of speed p
110. 00 K0430 K04204 K04304 i Vt 1 IP i 1 SSP YAxs BUSY YAxis Error XAos YAxis Origin 0 command Origin Fix Fix 19000 ox M0002 K04200 K04201 IST Xs BUSY XAxis Error 12 command 20 IL program b Device Used Device Description Data size Example of setting main axis position synchronous instruction signal main axis instruction signal Signal during auxiliary axis axis Y position control auxiliary axis axis Y Error axis X origin fixed axis Y origin fixed Signal during the main axis axis X position control main axis axis X Error Chapter 5 Positioning Instructions c Operation of the Program The SSP instruction is executed if there is the rising edge of M0001 which was used as the main axis position synchronous instruction signal Since the second operand is 1 axis Y axis Y is the auxiliary axis and as the fifth operand is O axis X so the main axis is axis X No 1 step of axis X is indirectly started if there is the rising edge of M0002 which is the indirect starting instruction signal of the main axis When the current position of the main axis during operation becomes 10 000 Pulse set in the third operand of the SSP instruction axis Y which is the auxiliary axis starts No 1 step which is the operation step set in the fourth operand of the SSP instruction When you use the main axis position synchronous instruction if th
111. 01 1 1 l XAxis BUSY XAxis Erro g command POD0C K04200 re PO A Convert BCD input of vie we POD4 to BIN r set Floating origin Change start step by D0050 D50 PO00A K04200 P H 1 H 0 0 DEC stop with DEC 26 DEC Stop XAxis BUSY time of current step POOOF K04200 1 it Xais stat XAxis BUSY Start XAxis current step SW 7 12 Chapter 7 Program Examples of Positioning a Devices Used Device Description P0008 Error reset output inhibition cancel switch P0009 floating origin switch POOOC Operation step changing switch POOOF axis X start switch POOOA Deceleration stop switch of axis X Signal during axis X operation 2 XEC Error signal of axis X Comment hen error occurs resets error and cancels ouptut inhibition INST2 31X0 1 0 SKXB721 APM_RST P REQ DONE X_RST_DONE ErrorReset XAxis SW Error 0 BASE STAT v RST STAT 0 SLOT 0 AXIS 1 INH OFF Comment Sets axis X floating origin INST 81X0 1 1 SKXb720 SKX6721 APM_FLT f FA REQ DONE X FLT DONE Floating XAxis BUSY X xis origin S Error 0 BASE STAT X_FLT_STAT 0 SLOT 0 AXIS Comment Changes BCD SW input into BIN Changes start step number by value of STEP 81X0 1 4 SKX6720 SKXB 21 BCD_TO_ TA z EN ENO ENO Position X xis BUSY X xis teaching Error amp 1W0 1 1 4 IN QUT STEP BCD SW INSTI APM_SNS REQ DUNE X SNS DONE 0 4BASE S
112. 1 axis X error BIT D0000 Starting step number WORD 3 Step coordin Operatio Control Operatio jen Target position M Acc dec Operation Dwell time No ates n pattern method n mode Step Pulse code No speed pls s ms g inerem d position single 7 000 1 100 10 ental c Operation of the Program e If there is the rising edge of M0001 used as the axis X indirect starting instruction signal the IST instruction is executed Not if axis X is operating or in error If the origin is not fixed when the DST is started error code 224 will appear and operation will not occur In such a case turn on M0000 execute the ORG instruction and thereby carry out the origin return and start the DST instruction 1 If the direct starting instruction IST instruction is executed positioning operation starts as set in the operand as follows Since sl and ax are 0 built in positioning axis X of the basic unit is started Because the starting step number is set as 3 positioning operation is carried out by the data of No 3 step of the positioning operation data That is if the IST instruction is started positioning control is conducted in the Incremental coordinates as set in operation data No 3 step moves up to 7 000 pulse at 100pps stops and when the dwell time of 10ms passes positioning is finished 5 13 Chapter 5 Positioning Instructions 2 Since M code is set at 0 it does not appear and as the operation p
113. 110 a Function This instruction is giving the starting step instruction to XGB built in positioning The current step number of the axis designated as ax at the rising edge of the input condition changes into the step set in n1 If the corresponding axis is operating when the starting step change instruction is executed error code 441 is issue and the instruction is not executed If the set value of n1 gets out of the settable range error code 442 is issued and the instruction is not executed either b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction a Example of the Program M0001 K04200 PH i SNS XAxis BUSY XAxis command Output 0 Inhibit K04205 i7 8 SNS 0 0 LOADP M0001 command AND NOT K04200 XAxis BUSY XAxis L 3 AND NOT K04205 Output Inhibit program 4 SNS 0 0 D0100 1 8 END b Operation of the Program If there is the rising edge of M0001 used as the starting step change instruction signal the current operation step number of positioning axis X changes into the step number set in D0100 Chapter 5 Positioning Instructions 5 2 17 M Code Cancel Instruction M code cancel instruction MOF is for cancelling the M code generated during operation For details refer to 3 3 1 M code cancel instruction MOF
114. 12928 K809 KX17728 K1109 KW809 KW 1109 Word Address pulse 2 147 483 648 2 147 483 647 pulse K800 K1100 KD400 Double word KD550 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 17 K807 K1107 KW807 K8086 87 Word KW1107 K11086 87 KX12934 35 K804 7 Bit K1104 KD402 K806 KD552 K1106 Double word KW806 Y KW 1106 Appendix 2 Positioning Instruction and K area List Setting range Initial Dedicated K area Baiaisize value Xaxis Y axis Coord 0 ABS 1 INC ABS a ae Et KX13092 KX1 7892 K8182 83 K11182 83 P END 1 KEEP 2 CONT END emm KX13090 91 KX17890 91 K8181 K11181 POS 1 SPD POS Control 0 POS 1 S KX13089 KX17889 K8180 K11180 Meth SIN 1 REP ethod 0 KX13088 KX17888 K819 K1119 KW819 KW1119 Word Address K810 Ko 2 147 483 648 2 147 483 647 pul o wore 83 648 pulse KD405 KD555 K817 K1117 Word 0 65 535 KW817 KW1117 0 No 1 1 No 2 2 No 3 3 No 4 K8186 87 11186787 Bit KX13094 95 KX17894 95 1 100 000 pulse s 0 oem eee Double word K816 K1116 KW816 KW1116 Setting range Initial Dedicated K area Data size value Xaxis Yaxis 0 ABS 1 INC ABS K8284 Kid2B4 Bit KX13252 KX18052 K8282 83 K11282 83 KX13250 51 KX18050 51 Bit K8281 K11281 KX13249 KX18049 Bit K8280 K11280
115. 2 Bs Mode 2 AFTER xec Kx7489 KX8129 KX7490 KX8130 Bi d 1 100 000 pulse s 1 MEMES ae Kao d Deublewerd Rp PP XEC kD225 KD245 e wor XBM XBC K452 K492 fini 1 100 000 pulse Speed limit pulse s 100 000 Ee a oag Paben 5 XBM XBC K454 K494 ACC No 1 0 10 000 unit ms 500 XEC o KWA5A 9 KW494 Word DEC No 1 XBM XBC K455 K495 i W G AORE ms ad XEC KW455 KW495 ACC No 2 XBM XBC K456 K496 i 1 W Ve ODOT ii XEC seKW456 KW496 DEC No 2 XBM XBC K457 K497 w SC PRUTE 1 999 XEC KW457 KW497 ACC No 3 0 10 000 unit 1 500 XBMIXBC K458 K498 Word d E 4 r a PRO eens XEC x kwass KW498 5 DEC No 3 XBM XBC K459 K499 it 1 Word 9 do g00tunne me w XEC KW459 KW499 ACC No 4 XBMXBC K460 K500 x it 2 Word dioc oia ii XEC kw460 KW500 DEC No 5 iA XBM XBC K461 K501 0 10 000 unit ms 2 000 o KW461 9 KWSO1 S W Upper Limit 2 147 483 648 2 147 483 647 pulse 2 147 483 647 XBM XBC K462 K502 XEC 9eKD231 KD251 Double word S W Lower Limit 2 147 483 648 2 147 483 647 pulse 2 147 483 648 XBM XBC K464 K504 XEC KD232 KD252 Double word Backlash Compensation 0 65 535 pulse XBM XBC K466 K506 XEC KW466 KW506 Word S W Limit Detect 0 No Detect 1 Detect XBM XBC K4684 K5084 XEC KX7492 KX8132 Bit Upper Lower limit
116. 200 K04201 FA ft FLT XAds BUSY XAxis Eror command poooc K04200 K04201 1 t 4 t Operation XAxis BUSY XAxis Error step set Floating origin P004 D0050 Convert BCD input of P004 to BIN change Change start step by D50 POOOA K04200 K04201 DEC stop with DEC P DEC Stop XAxis BUSY XAxis Error time of current step POOOF K04200 K04201 ft Xais stat XAxis BUSY Xx Eror Start XAxis current step SW a Devices Used Device Description Error reset output inhibition cancel switch Floating origin switch PO00C Operation step change switch axis X start switch Signal during axis X operation Error signal of axis X 7 10 Chapter 7 Program Examples of Positioning 2 XEC Comment When error occurs resets error and cancels ouptut inhibition INST2 1X0 1 0 SKXb721 APM_RST P REQ DO NEL x RST DONE Erro Reset X xis Error Comment Sets axis X floating origin INST 1X0 1 1 SKX6720 SKX6721 APM_FLT m REQ D NEL X FLT DONE Floating X xis BUSY XAxis origin W Error 8IX0 1 4 amp KX6720 SKXB721 rm ENO Position X xis BUSY XAxis teaching Error S1W0 1 1 STEP BCD SW APM SNS REQ DONE X SNS DONE Comment Starts axis X current step 8150 1 7 SkX6720 SKXB721 SKX6G64 t _ _4 4 SYS HAN i Parameter XAxis BUSY XAxis X xis teaching Error Start 7 11 Chapter 7
117. 3 A02 A01 Cont act P28 P29 P2A P2B P2C P2D P2E P2F Chapter 2 General Specification 2 High end type output contact point specification Cont X axis act no Y axis P0020 P0022 QX0 0 0 QX0 0 2 P0021 P0023 QX0 0 1 QX0 0 3 Signal name Pulse string output CW output Direction output CCW output Rated load voltage DC5 24V DC4 75 26 4V Maximum load current Insulation method Inrush current Voltage drop when On Leakage current when Off Response time Circuit configuration and terminal array 0 1A 10r below Photo coupler insulation 1A 10 ms or below DC 0 3V or below 0 1 mA or below 0 1 ms or below rated load resistive load 2 6 CD M 4 UJ 4 UJ Co 4 CD O 4 i a o E og z Rm o Aala ala a4 a j 1 CD ho HA Chapter 2 General Specification 2 3 3 Output pulse level Output pulse of XGB built in positioning consists of Pulse Direction or CW CCW like figure below At this time output level of Low Active and High Active can be specified by positioning parameter and K area flag dedicated for positioning X axis K4871 KX7793 Y axis K5271 KX8433 Output signal level Ri M type High Active mode Low Active mode e preteen a S H bua Tu CW CCW uuur Supported i at H type cew JUUL UUU 2 7 Chapter 3 Before positioning Chapter 3 Before Positioning
118. 35 sees 63304 Double word KD1652 KD1402 K2806 K3306 KW3306 Initial Dedicated K area value Xaxis Yaxis 96KW2806 Data size K28184 K33184 KX45092 KX53092 K28182 83 K33182 83 KX45090 91 KX53090 91 Bit K28181 K33181 KX45089 KX53089 Word END K28180 K33180 KX45088 KX53088 K2819 K3319 KW2819 KW3319 Address pulse 2 147 483 648 2 147 483 647 pulse K2810 K3310 KD1405 KD1655 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 42 K2817 K3317 KW2817 KW3317 K28186 87 K33186 87 KX45094 95 KX53094 95 K2814 K3314 KD1407 KD1657 K2816 K3316 KW2816 KW3316 Word Double word Appendix 2 Positioning Instruction and K area List Setting range Initial Dedicated K area Data size value Xaxis Yaxis INC ABS K28284 K33284 Ja 96KX45252 WKX53252 K28282 83 K33282 83 P END 1 KEEP 2 CONT END aly KX45250 51 KX53250 51 K28281 K33281 POS 1 SPD POS Control 0 POS 1 8 KX45249 KX53249 K28280 K33280 Meth SIN 1 REP SIN ethod 0 S KX45248 KX53248 K2829 KW2829 KW3329 Address 147 483 648 2 147 483 647 pulse eee AL REP Step 0 30 0 80 for high end K2827 KW2827 KW3327 Ko8286 87 K33286 87 No No No No 4 B Orione Ns m NO 9 KX45254 55 KX53254 55 ow it
119. 37 Shows error code in case of an error Shows M code number when M code is M code No KWw428 Word KW438 on 3 4 2 Flag for Positioning Instruction and Command The flag for positioning instruction and command divides as follows You can easily conduct positioning operation without positioning instruction using the flag If you change the flag for instruction of area K the scan ends and applies in the next scan 1 Bit Area Flag a XBM XBC bit area flag Device Area Variables Word Bit_ Address Word Bit Address Start signal K4290 E K4390 Indirect start at rising edge Normal direction jog K4291 1 kaggi D Stopjog 1 normal direction jog operation K429 Backward direction K4292 2 K4392 0 stop jog E l 1 normal direction jog operation Jog high low speed K4293 K4393 s in low cepsese 1 jog high K468 K508 ORARAA 3 51 Chapter 3 Before positioning Upper lower limit detection of S W i allowed during 4 K4684 a kadaa nos ee ne nor allowed 1 detection allowed constant speed operation 0 approximate Return to origin 0 1 K4780 1 4 K5180 1 origin origin OFF m method 1 approximate origin origin On K478 2 approximate origin Return to origin 2 KA782 2 K5182 0 normal direction 1 backward direction direction Pulse Pulse outputlevel level K4871 K5271 0 low Active 1 high Active K487 Pulse output mode K4873 K5273 0 CW CCW 1 PLS DIR
120. 3986 87 K28986 87 Bit KX46374 75 KX38374 75 K2394 K2894 Do ble w id KD1197 KD1447 Word K2396 K2896 SKW2396 KW2896 Appendix 2 Positioning Instruction and K area List Item Coord 0 ABS 1 INC ABS Pattern Control 0 POS 1 SPD POS Method REP Step Setting range 0 END 1 KEEP 2 CONT 0 SIN 1 REP 0 30 0 80 for high end Initial Dedicated K area value Xexs V axis K24084 K29084 KX38532 94KX46532 K24082 83 K29082 83 END Bit KX38530 31 KX46530 31 K24081 K29081 KX38529 KX46529 Bit K24080 K29080 KX38528 KX46528 K2409 K2909 KW2409 KW2909 SIN Address pulse 2 147 483 648 2 147 483 647 pulse K2400 K2900 KD1200 KD1450 Double word Speed Dwell 0 50 000 unit ms 0 Setting range Initial Dedicated K area value Xaxis Yaxis Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s END 1 KEEP 2 CONT POS 1 SPD SIN 1 REP 0 30 0 80 for high end K2407 K2907 Word KW2407 KW2907 0 K24086 87 K29086 87 Bit KX38534 35 KX46534 35 0 2404 K2904 Double word KD1202 KD1452 K2406 K2906 KW2406 KW2906 Data size Word K24184 KX38692 K24182 83 KX38690 91 K29184 KX46692 K29182 83 KX46690 91 K24181 K29181 KX38689 KX46689 K24180 K29180 KX38688 KX46688 K2419 K2
121. 4304 BIT Output inhibit Whether output is inhibited K4205 K4305 BIT Upper limit Whether the upper limit is detected K4208 K4308 BIT detection Lower limit Whether the lower limit is detected K4209 K4309 BIT detection EMG stop Emergency stop K420A K430A BIT Normal reverse Normal and reverse rotation K420B K430B BIT rotation The operation status of each axis acc dec constant K420C K430C Operation status BIT speed and dwell K420F K430F Operation control pattern of each axi ition d K4210 K4310 Control pattern P d P Agen spen BIT interpolation K4212 K4312 6 5 Chapter 6 Positioning Monitoring Package Rel fl Item Displays eto Remark Axis X Axis Y Home return Whether home return is being conducted K4215 K4315 Position Sync Whether position synchronization is being conducted K4216 K4316 Speed Sync Whether position synchronous operation is being K4217 K4317 conducted Jog high speed Whether jog high speed operation is being conducted K4219 K4319 Jog low speed Whether jog low speed operation is being conducted K4218 K4318 BIT Inching Whether inching operation is being conducted K421A K431A b In case of XEC Item Displays BELONGS Remark Axis X Current position Current position of each axis KD211 KD216 DINT Current speed Current speed of each axis KD212 KD217 DINT Currently operating step of each axis KW426 WORD Error code Error code in
122. 48 2 147 483 647 pulse Double word 1 100 000 pulse sec 1 100 000 pulse sec 0 10 000 unit ms Double word Double word Return to origin deceleration time 0 10 000 unit ms Dwell time JOG high speed JOG low speed JOG acceleration time JOG deceleration time Inching speed 0 50 000 unit ms 1 100 000 pulse sec 1 100 000 pulse sec 0 10 000 unit ms 0 10 000 unit ms 1 65 535 pulse sec Double word Double word Chapter 4 Positioning Check 3 Example of the Program The following is an example of the program for positioning check a In case of XBM XBC P0011 K04201 K04870 4 YAxis JOG XAxis Error XAxis cw Position Enable P0011 K04301 K05270 mH YAxis JOG YAxis Error YAxis cw Position Enable P0012 K04201 K04870 H 1H XAxis JOG XAxis Error XAxis ccw Position Enable P0013 K04301 K05270 ara ese eer ee YAxis JOG YAxis Error YAxis Ccw Position Enable 16 b In case of XEC 1X0 0 16 3KX6721 SKx 7792 SKXB8B5 I 4 PM 9 p X Maxis JOG XAxis X xis X xis CW Ci Error Position JOG START Enable 1X0 0 18 3KX6721 SKx7 792 SKXB855 La X xis JOG XAxis X xis XAxis CCW CEW Error Position JOG START Enable 1X0 0 17 3KX6881 3KX8432 SKX7025 Ef Yaxis JOG Y xis Y xis Y xis CW I Error Position JOG START Enable 1X0
123. 5 mi or below specification Terminal screw M3 X 8L 62 kg fcm or Torque above Terminal pet UL94V 0 material Weight 186g Chapter 1 General 2 Wiring of SLT T40P and XGB main unit Wiring of XGB main unit through SLP T40P and SLT CT101 XBM is as follows XBM ON32S SLT CT101 XBM SLP T40P At this time relationship of XGB I O signal and Smart link board terminal number is as follows The following figure describes signal allocation when SLT CT101 XBM is used as connection cable When the user makes the cable make sure that wring is done as figure below EAS TESTES TESTE TESI E ES 3 Ee E EEE EEE EHESERESERHREEEJES a a er Pee snails ren peoo rere cs mer gy cs om nl lal Chapter 2 General Specification Chapter 2 General Specification 2 1 General Specification General specification is as follows Item Specifications Related standards Operating temperature 0 55 C Storage temperature 25 70 C Operating humidity 5 95 RH no condensation Storage humidity 5 95 RH no condensation If intermittent vibration exists Frequency Acceleration Amplitude Times 10 lt f lt 57Hz 0 075mm 57x f lt 150Hz 9 8m s 10 times to If continuous vibration exists X Y and Z Frequency Acceleration Amplitude directions 10 f 57Hz 0 035mm each 57x f lt 150Hz 4 9m s Vibration immunity
124. 50 000 MCODE M Code No e Setting range 0 65 635 POS SPD Position velocity control selection e Setting range 0 1 0 position 1 velocity ABS INC TIME SEL USINT Absolute Incremental coordinates selection e Setting range 0 1 0 absolute 1 Incremental Acceleration deceleration time numbering e Setting range 0 3 0 Accl Dec time 1 1 Accl Dec time 2 2 Accl Dec time 3 3 Accl Dec time 4 Chapter 5 Positioning Instructions 2 Sample Instruction Direct start up instruction is explained with the sample program below This exemplary APM DST instruction is with reference to the X axis a Sample Program KO 5KX8720 5 2X6721 PILL L 3 sux 125 Star tHomin POS X Bus POS X Err DONE 9 y 4 BASE STAT SUNIS21 STAT INSTS APMLDST o eeehe n eh oas DONE wane21 STAT 534 10 ADOR W011 SPEED 5941100 DOWELL 5980101 MODE 59410 POS SPO 5x11 AES NC 54200 TIME SEL Chapter 5 Positioning Instructions b Used Devices Device Description Data Size Exemplary Setting Reference X axis reference return BOOL Decision instruction signal Direct X axis direct start up BOOL Start instruction signal KX6720 X axis in operation signal BOOL KX6721 X axis error state BOOL ADDR Target position DINT 100 000 SPEED Target velocity UDINT 30 000 DWELL Dwell time D
125. 586 87 96KX8934 35 KX13734 35 K554 Double word Dedicated K area KD277 K556 KW556 X axis Y axis KX9092 KX13892 Bit K5682 83 KX9090 91 Bit K5681 KX9089 KX13889 i K5680 K8680 Word K854 KD427 K856 KW856 0 Initial value ABS KX9088 KX13888 K569 K869 KW569 KW869 Address pulse 2 147 483 648 2 147 483 647 pulse K560 K860 KD280 KD430 Double word M Code 0 65 535 0 K367 K867 Word 9 KW567 9 KW867 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 5 K5686 87 K8686 87 Bit Double word KX9094 95 K564 KD282 K566 KW566 KX13894 95 K864 KD432 K866 KW866 Appendix 2 Positioning Instruction and K area List Setting range Initial Dedicated K area Daia siz6 value Xaxis Yaxis Coord Pattern Control Method REP Step 0 ABS 1 INC END 1 KEEP 2 CONT POS 1 SPD SIN 1 REP 0 30 0 80 for high end K5784 99KX9252 K5782 83 96KX9250 51 K5781 KX9249 K5780 KX9248 K579 KW579 K8784 KX14052 K8782 83 KX14050 51 K8781 KX14049 K8780 KX14048 K879 KW879 ABS Word EN POS Address 2 147 483 648 2 147 483 647 pulse K570 KD285 K870 KD435 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms K577 96KW577 K877
126. 6 X axis K27184 KW3206 Dedicated K area Y axis K32184 KX43492 K27182 83 KX43490 91 K27181 KX51 492 K32182 83 KX51490 91 K32181 KX43489 K27180 KX51489 K32180 KX43488 K2719 KX51 488 K3219 KW2719 K2710 K3210 KD1355 KW3219 KD1605 Double word Double word Bit Double word Speed Dwell 0 50 000 unit ms 0 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s App 2 37 K2717 K3217 KW2717 K27186 87 KW3217 0 KX43494 95 0 K2714 K3214 KD1357 KD1607 K2716 K3216 KW2716 KW3216 Word K32186 87 Bit KX51494 95 Double word Appendix 2 Positioning Instruction and K area List Item Settind ranae Initial Dedicated K area RP value Xaxis Yaxis Coord 0 ABS 1 INC ABS Data size K27284 KX43652 K32284 KX51652 K27282 83 K32282 83 END 1 KEEP 2 CONT END oem ie KX43650 51 KX51650 51 Control Method REP Step 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K27281 KX43649 K27280 KX43648 K2729 KW2729 K32281 KX51649 K32280 KX51648 K3229 KW3229 Word Address pulse 2 147 483 648 2 147 483 647 pulse K2720 KD1360 K3220 KD1610 Double word Seaitimrande Initial Dedicated K area Lad alu value Coord Pattern Control Method REP Step
127. 697 KW9Y7 Word K6986 87 K9986 87 KX11174 75 KX15974 75 K694 Kae Double word KD347 KD497 K696 K996 Word 96KW696 95KW996 Setting range Initial Dedicated K area Data size value Xaxis Yaxis Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K7084 K10084 ABS Bit KX11332_ KX16132 K7082 83 K10082 83 KX11330 31 KX16130 31 Bit K7081 K10081 KX11329 KX16129 Bit K7080 K10080 KX1 1328 KX16128 K709 KW709 KW1009 Word Address 2 147 483 648 2 147 483 647 pulse K700 K1000 KD350 KD500 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s K707 K1007 Word KW707 KW 1007 K7086 87 K10086 87 Bit KX11334 35 KX16134 35 0 K704 K1004 Double word KD352 KD502 K706 K1006 x MS 0 Word App 2 12 Appendix 2 Positioning Instruction and K area List Initial Dedicated K area Data size iii picea value 7 Xaxis Yaxis t t Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K7184 KX1 1492 K7182 83 KX11490 91 K10184 KX16292 K10182 83 KX16290 91 Bi ana K7181 K10181 KX11489 KX16289 KX11488 KX16288 K719 K1019 KW719 KW1019 Bit Bi
128. 7 2 4 Setting of Operation Step Single Operation sssssssssssss 7 10 7 2 5 Setting of Operation Step Speed Control sss 7 12 7 2 6 Simultaneous Start sss eene nne 7 15 7 2 7 Position Synchronols SU Pls ues eee en e ii meu he dust epa Decree nee ee Duc eus 7 17 7 2 8 Speed Synchronous SUIT uer c tee eec HEU he E bag nad ond ds 7 20 7 2 9 Emergency Stp sd casses secet a oso au alienate soa tease met adu avenida ote e Ta 7 23 4 210 JOG Operations 2 ee Se eee e 7 25 7 2 11 Speed Override sss eene eene nennen rennen nnns 7 27 F212 Position Override rr te EE eet tete de ease tdv a ape st Ph d Reed 7 29 7 2 13 Speed override with Position essen 7 32 7 2 14 Speed Position and Parameter Teaching ssssssssssssssss 7 34 Chapter 8 Troubleshooting Procedure 8 1 Basic Procedure of Troubleshooting icc escas pecsucs sa stet tat at ee tento da rea touto ett berba traen 8 1 8 2 Check BY USing the cin et 8 2 S MMEZPECITe MEME 8 2 8 9 Check by Error Code no eoe ete o st pt ed ou Seana d aedes Do Pec dee 8 5 8 3 1 How to Check Error Codes sse nene 8 5 8 4 Check of Motor Failures cccccccccccccccceccceeeceeeeeeceeeeeceeceeecaeeeeeceeaecsaeeeaessaeeeeeeseeeeaaeeaas 8 6 8 4 1 If the Motor Doesn t Work sssssssssssssssssem meme enne 8 6 Appendix 1 List of Error Codes APPA
129. 8 KW2599 KW3099 Word Double word Address 2 147 483 648 2 147 483 647 pulse K2590 K3090 KD1295 KD1545 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 31 K2597 K3097 KW2597 K25986 87 KW3097 K30986 87 KX41574 75 K2594 KX49574 75 K3094 KD1297 K2596 KD1547 K3096 KW2596 KW3096 Word Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial Dedicated K area value Xaxis Yaxis ABS K26084 K31084 9oKX41732 KX49732 K26082 83 K31082 83 KX41730 31 KX49730 31 K26081 K31081 KX41729 KX49729 K26080 K31080 KX41 728 KX49728 K2609 KW2609 END KW3109 Address 2 147 483 648 2 147 483 647 pulse K2600 KD1300 K3100 KD1550 Double word Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end 2 147 483 648 2 147 483 647 pulse K2607 kw2607 K26086 87 9 KX41734 35 K2604 KD1302 0 K2606 K3107 Word KW3107 K31086 87 Bi
130. 84 K29884 0 ABS 1 INC ABS ids KX39812 KX47812 K24882 83 K29882 83 END 1 KEEP 2 NT END Panem is KX39810 11 KX47810 11 K24881 K29881 POS 1 SPD POS Contro 0 POS 1 S KX39809 KX47809 K24880 K29880 Meth SIN 1 REP ethod 0 S KX39808 KX47808 K2489 K2989 9 KW2489 9 KW2989 Word Address K2480 K2980 k 48 2 147 483 647 pul Double word pia iar E TE Pa KD1240 KD1490 K2487 K2987 d Word 0 65 535 96KW2487 KW2987 K24886 87 K29886 87 No 1 1 No 2 2 No 3 3 No 4 Bit TTN y k KX39814 15 KX47814 15 EN 1 100 000 pulse s 0 PTS ae Double word K2486 K2986 KW2486 96KW2986 REP Step 0 30 0 80 for high end Word Setting range Initial Dedicated K area Data size value Xaxis Yaxis K24984 K29984 Coord 0 ABS 1 INC s as _ KX39972 KX47972 K24982 83 K29982 83 KX39970 71 KX47970 71 K24981 K29981 POS 1 SPD POS cote ie EOS 2 KX39969 KX47969 Pattern 0 END 1 KEEP 2 CONT K24980 K29980 1 REP Meee eee KX39968 KX47968 K2499 K2999 REP 80 for high end PIED Pe Se GOJA Mg pn KW2499 KW2999 Word Address K2490 K2990 2 147 4 47 Double word pulse Pees ete Ve Vade pM RUSe KD1245 KD1495 K2497 K2997 E Word sur KW2497 KW2997 K24986 87 K29986 87 KX39974 75 KX47974 75 K2494 K2994 1 100 000 pulse s 0 KD1247 KD1497 Double word K2496 K2996 Dw
131. 9 KW3299 Word Double word Word Address 2 147 483 648 2 147 483 647 pulse K2790 K3290 KD1395 KD1645 Double word Speed Dwell 0 50 000 unit ms 0 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s App 2 41 K2797 K3297 KW2797 0 K27986 87 KW3297 K32986 87 KX44774 75 0 K2794 KX52774 75 K3294 KD1397 K2796 KD 1647 K3296 96KW2796 KW3296 Word Double word Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Dedicated K area X axis Y axis K28084 K33084 KX44932 KX52932 K28082 83 K33082 83 KX44930 31 KX52930 31 K28081 K33081 KX44929 KX52929 K28080 K33080 KX44928 KX52928 K2809 K3309 WKW2809 WKW3309 Initial value Word E ND POS SIN Address 2 147 483 648 2 147 483 647 pulse K2800 K3300 KD1400 KD1650 Double word Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K2807 K3307 Word KW2807 KW3307 K28086 87 K33086 87 Bit KX44934 35 KX52934
132. 919 KW2419 KW2919 Address 2 147 483 648 2 147 483 647 pulse 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 22 K2410 K2910 KD1205 KD1455 K2417 K2917 Word KW2417 KW2917 K24186 87 K29186 87 KX38694 95 KX46694 95 E914 Double word K2414 KD1207 KD1457 K2416 K2916 Word KW2416 KW2916 Double word Appendix 2 Positioning Instruction and K area List Setting range Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end nitial Dedicated K area vaue Xaxis Yaxis K24284 K29284 KX38852 K24282 83 KX46852 K29282 83 KX38850 51 K24281 96KX46850 51 K29281 KX38849 K24280 KX46849 K29280 KX38848 K2429 KX46848 K2929 KW2429 KW2929 Data size Word Address 2 147 483 648 2 147 483 647 pulse 0 K2420 K2920 KD1210 K2427 KD1460 K2927 KW2427 K24286 87 KW2927 K29286 87 KX38854 55 KX46854 55 K2424 K2924 KD1212 KD1462 K2426 K2926 KW2426 KW2926 nitial Dedicated K area Setting range Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end value Xaxis Vaxis POS SIN
133. 92 K6682 83 K9682 83 KX10690 91 KX15490 91 K6681 K9681 KX10689 KX15489 K6680 K9680 KX10688 KX15488 K669 K969 96KW669 96KW969 K660 K960 KD330 KD480 END POS Double word Bit Bit Bit it SIN 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 10 K667 K967 Word 96KW667 96KW967 K6686 87 K9686 87 Bit KX10694 95 KX15494 95 R364 Double word KD332 K666 K664 KD482 0 Word KWE66 96KW966 Appendix 2 Positioning Instruction and K area List Seg fande Initial Dedicated K area Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end value Xaxis Yaxis K6784 KX10852 K6782 83 KX10850 51 K6781 KX10849 K6780 KX10848 K679 KWE79 K9784 KX15652 K9782 83 KX15650 51 K9781 KX15649 K9780 KX15648 K979 96KW979 Word Address 2 147 483 648 2 147 483 647 pulse K670 KD335 K970 KD485 Double word Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K677 96KW677 K6786 87 KX10854 55 K674 KD337 K676 KWE76 SL Word KW977 K9786 87 B
134. ADP M0001 AND NOT K04200 AND NOT K04205 IL program b Operation of the Program there is the rising edge of M0001 used as the inching starting instruction signal positioning axis X moves to position 150 at the inching speed set in the positioning origin manual parameter If the axis is in operation or inhibited from output during inching starting it generates error code 401 and 402 respectively and no operation takes place Chapter 5 Positioning Instructions 5 2 16 Starting Step Number Change Instruction The starting step number change instruction is for changing the number of the step to be operated currently by force 1 Starting Step Number Change Instruction SNS Areas available Flag con PMK F L T C S Z Dx iRxsan U N D R Instruction Step Error Zero Carry F110 F111 F112 sl Jo SNS ax o lo lo lo o 1 4 7 o n1 o Oo Oo Oo o COMMAND SNS H SNS sl ax nl Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 Step number to change 1 30 standard 1 80 advanced WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F
135. APM POR changes the target position of the axis which is presently in positioning operation to the target position set up in the instruction For details see 3 1 10 1 Position Override Instruction APM POR Variable Data Type Description POR DINT Position ADDR e Setting range 2 147 483 648 2 147 483 647 a Function This instruction provides position override reference to the XGB internal positioning At the rising edge of the input condition the axis designated as AXIS changes its target position to the position set up in the POR ADDR during operation Position override instruction is available for the acceleration constant speed and deceleration sections of operation patterns If position override instruction is executed during dwelling error code 362 is outputted to STAT Chapter 5 Positioning Instructions 2 Sample Instruction The sample program below show exemplary operation of position override c Sample Program Ind Hogs St APM_IST DONE STAT INST12 Posit ionOy erride 3KX6720 3KX6735 APM POR P LL 4 DONE1 X xis BUSY XAxis Move T a 100000 d Program Operation At the rising edge of the indirect start up signal which is the reference signal for indirect start up positioning X axis is started up indirectly by operation step No 1 elf the rising edge of the position override reference signal used as the reference signal for the position override
136. Appendix 2 Positioning Instruction and K area List Initial Dedicated K area bu PUES value Xaxis Yaxs Coord 0 ABS 1 INC ABS Pattern Control Method REP Step 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Data size Word K23884 KX38212 K23882 83 KX38210 11 K23881 KX38209 K23880 KX38208 K2389 KW2389 KW2889 K28884 KX46212 K28882 83 KX46210 1 1 K28881 KX46209 K28880 KX46208 K2889 Address 2 147 483 648 2 147 483 647 pulse K2380 K2880 Double word KD1190 KD1440 K2387 K2887 KW2387 KW2887 K23886 87 K28886 87 9 KX38214 15 KX46214 15 0 K2384 K2884 Double word KD1192 KD1442 K2386 K2886 96KW2386 KW2886 Setting range Initial Dedicated K area Data size value Xaxis Yaxis Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K23984 K28984 KX38372 KX46372 Bit Bn K23981 K28981 Bit KX38369 KX46369 Word END K23980 K28980 KX38368 KX46368 K2399 K2899 KW2399 KW2899 Address 2 147 483 648 2 147 483 647 pulse K2390 K2890 KD1195 KD1445 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 21 K2397 K2897 Word KW2397 KW2897 K2
137. BC XEC DNxxH system configuration fe O 6 P0040 96 X0 1 0 P0041 96 X0 1 1 0 Q P0042 96 X0 1 2 XBE DC324 BBBBHBSE Vatalelaielalele A d P0043 96 X0 1 3 P0044 96 X0 1 4 Bo P0045 IX0 1 5 POO46 1K0 1 6 Oo O P0047 IX0 1 7 130A SOBOHZ Out 24V00 Ot o BCD Digital switch Servo motor Servo driver Chapter 7 Program Examples of Positioning 7 2 Program Examples 7 2 1 Floating Origin Setting Single Operation The example program of the single operation after the floating origin setting by using the XGB positioning function is as follows 1 XBM XBC Pooo40 K04201 When error occurs IP H H resets error and Error Xhxis cancels output O reset SW Error inhibition P0004 K04200 K04201 FLT 0 0 17H VA Sets Axis X f loati Axis X XAxis BUSY XAxis origin ae float ing Error 8 origin SW P0004 K04200 K04201 K04290 k XN V bus t Xa i Saris a deal xis xis xis xis 5 start SW Error Start END 0 a Devices Used Device Description Axis X error reset output inhibition cancel switch Axis X axis X floating origin switch Start switch of axis X Signal during axis X operation Error signal of axis X Axis X start Comment When error occurs resets error and cancels prohibiting output INSTIO 3130 1 0 SKXB721 APM_RST P
138. D 0 SIN 1 REP 0 30 0 80 for high end K2627 96KW2627 K26286 87 KX42054 55 K2624 KD1312 K2626 KW2626 K3127 Word KW3127 K31286 87 Bit KX50054 55 Ries Double word KD1562 K3126 KW3126 KX42212 KX50212 K26382 83 K31382 83 l KX42210 11 KX50210 11 Bit K31381 KX50209 Bit K26380 K31380 KX42208 KX50208 K2639 K3139 KW2639 KW3139 Initial Dedicated K area value Xaxs V axis ABS K26384 K31384 END Address 2 147 483 648 2 147 483 647 pulse 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 0 50 000 unit ms App 2 33 K2630 K3130 KD1315 KD1565 0 K2637 K3137 KW2637 KW3137 K26386 87 K31386 87 Bit KX42214 15 KX50214 15 K2634 Double word KD1317 K2636 KW2636 KD1567 K3136 KW3136 Appendix 2 Positioning Instruction and K area List Initial Dedicated K area zm EATUR value Xaxis Yaxis Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Data size K26484 KX42372 K31484 KX50372 K26482 83 K31482 83 KX42370 71 KX50370 71 K26481 K31481 KX42369 KX50369 K26480 K31480 Word POS KX42368 KX50368 K2649 K3149 KW2649 KW3149 Address pulse 2 147 483 648 2 147 483 647 pulse K2640 K3140 KD1320 KD1570 Double word
139. D1595 Double word Speed 1 100 000 pulse s Dwell 0 50 000 unit ms 0 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 App 2 36 K2697 KW2697 K26986 87 KX43174 75 K2694 KD1347 K2696 KW2696 K3197 Word KW3197 K31986 87 KX51174 75 Ko Double word KD1597 K3196 KW3196 Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial value X axis K27084 Dedicated K area Y axis K32084 ABS KX43332 K27082 83 KX51332 K32082 83 K27081 KX43330 31 KX51330 31 K32081 KX43329 K27080 KX51329 K32080 END POS SIN KX43328 KX51328 K2709 K3209 KW2709 KW3209 Address pulse Pattern Control Method REP Step Address 2 147 483 648 2 147 483 647 pulse 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end 2 147 483 648 2 147 483 647 pulse Initial value K2700 K3200 KD1350 K2707 KD1600 K3207 KW2707 K27086 87 KW3207 K32086 87 KX43334 35 K2704 KX51334 35 K3204 KD1352 K2706 KD1602 K3206 KW270
140. D320 Double word KD470 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s App 2 9 K647 K947 96KW647 K6486 87 Word 96KW947 K9486 87 KX10374 75 K644 KD322 KX15174 75 Double word KD472 K946 K646 KW646 KWI46 Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Address Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end 2 147 483 648 2 147 483 647 pulse Initial Dedicated K area value Xaxis Yaxis ABS K6584 K9584 KX10532 KX15332 END K9582 83 KX10530 31 KX15330 31 POS K6581 K9581 KX10529 KX15329 K6580 K9580 KX10528 KX15328 K659 K959 96KW659 9o0KW959 K650 K950 KD325 KD475 Bit Bit Bit it Double word SIN Pattern Control Method REP Step Address pulse 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end 2 147 483 648 2 147 483 647 pulse K657 K957 Word 96KW657 96KW957 K6586 87 K9586 87 Bit KX10534 35 KX15334 35 K654 K954 Double word KD327 KD477 939 Word 96KW656 96KW956 Initial Dedicated K area value Xaxis Yaxis ABS K6684 K9684 KX10692 KX154
141. END operation single It assumes that operation data is set as follows to describe END Repetition Address Speed Paien Pulse l pls s Dwell ms 1 By first start command target moves to 10 000 pulse with 1 000pps speed and stops At this time since Method is SIN the next operation step becomes the no 2 step current operation step 1 2 By second start command target moves to 20 000 with 500pps and stops At this time Method is REP the next operation step becomes no 1 step set in REP Step not no 3 step 3 If third start command is inputted target moves to 10 000 ABS coordinates with 1 000 pps 4 Like this no 1 step and no 2 step are repeated whenever start command is executed so no 3 step is not operated 3 44 Chapter 3 Before positioning Remark Running Mode End Single End Repeat1 Step 2 Mode End Single lime i i i i i 4 i i i i i i i D i i i 4 i i i D Dwell elf the operation mode is set as single set the operating step number in the IST at 0 then the step specified in the current step number axis X K426 KW426 axis Y K436 KW436 in area K for positioning elf the operation mode is set as Repeat and the Repeat step is set at 0 the step stops operating and the next step changes into O In this case the operating step gets out of the range of
142. Error INST SKX5881 APM RST REQ OONE v RST DONE 0 BASE STAT X_RST_STAT Y xis Error D BASE STAT Y_RST_STAT 0 SLOT 0 0 AXIS 1 1 NH_ OFF 1 Comment Sets axis X V floating origin INSTIO 81X0 1 1 SKX5720 SKXB721 APM FLT REQ DONE X FLT DONE Floating XAxis BUSY X xis origin W Error INST11 APM FLT AKXbGB aKX5a81 REQ DONE v FLT DONE 4BASE STATH X FLT STAT LA E V xis BUSY VAxis Error 0 BASE STATH v FLT STAT 4SLOT 0 AXIS 7 18 Chapter 7 Program Examples of Positioning Comment When axis Y is 2000 starts axis X step 1 LI INSTIS 81XD 1 5 SKX5720 SKX5721 M rayo deer a PositionSy XAxis BUSY X xis nc Start Error 8I1XD 1 7 SKX6080 SKX6661 REQ DO 1H emy Axis V V xis BUSY V xis start Si Error Lae 0 BASE ST LN 0 DEO 1 1 130 a Devices Used APH_SSP REQ DONE SSP_OONE APM_IST E SSP_STAT NE ST DONE ATE IST STAT Device Description 961X0 1 0 axes X and Y error reset output inhibition cancel switch 961XO0 1 1 axes X and Y floating origin switch 961X0 1 5 Axis X position synchronous switch 961X0 1 7 Indirect start switch f axis Y KX6720 Signal during axis X operation 96KX6721 Error signal of axis X KX6880 Signal during axis Y operation KX6881 Axis Y error signal 3 Operation Data Setting coordinat Control Operation Operation Repeat step e
143. F110 is set and the instruction is not executed Since this case if an error of execution of the instruction the error in positioning area K error flag axis X K4201 axis Y K4301 does not turn On If the set value of the starting step number gets out of the settable range instruction Error Flag F110 is not set the error flag of positioning area K axis X K4201 axis Y K4301 turns On and the operation does not occur 2 Example of Use of the Instruction a Example of the Program M0000 K04200 K04201 lel i i Home XAxis BUSY XAxis Error M0001 K04200 K04201 UN JP 1 F ya 0 0 D0000 D0001 Liner XAxis BUSY XAxis Error Operation Axis data T END 9 m nat ction or Erem L E IL program b Device Used Device Description Data size Example of setting M0000 axis X origin return BIT i instruction signal M0001 Interpolation starting BIT instruction signal K4200 signal l during axis X BIT operation K4201 axis X error BIT D0000 Operation step number WORD 10 D0001 Axis information WORD 3 5 16 Chapter 5 Positioning Instructions coordi Operatio Control Operatio Target position Acc dec Operation Dwell time nates n pattern method n mode Pulse No speed pls s ms Rel End positio Single 7 000 1 100 positio Rel End n Single 2 000 2 300 c Operation of the Program The LIN instruction is exe
144. G instructions are as follows Parameter Data size Item Setting range Properties DOG Home Off DOG Home On Read write 2 bit 0 origin return method 1 2 DOG 0 1 OW CCW 2 147 483 648 2 147 483 647 pulse origin return Read write Double word direction Origin address Read write Double word origin return high speed 1 100 000 pps Read write Double word Chapter 5 Positioning Instructions Parameter Data size Setting range Data size Properties origin return low speed origin reum 9 40 000 ms Read write Word acceleration time origin return deceleration time Dwell time 0 50 000 ms Read write Word 1 100 000 pps Read write Double word 0 10 000 ms Read write Word 3 Examples of Instructions The origin return instructions are described as follows with the examples of the parameters and programs The examples of the ORG instructions are described on the basis of axis X a Parameter Setting Parameter Item Value origin return 1 DOG Home Method 1 DOG HOME ON method lorigin On Home Direction 1 CCW origin return 1 reverse Home Address O pls Home High Speed 5000 pls s Home Low Speed 500 pls s Origin address 0 Homing ACC Time 100 ms Home Homing DEC Time 100 ms origin return high 50 000 pps Raenetet DWELL Time 100 ms speed origin return low speed origin return accelera
145. INT 100 MCODE M code No UINT 123 Position velocity control POS SPD selection BOOL 0 Absolute Incremental ABS INC coordinates selection BOOL 0 TIME SEL Acce dec time numbering BOOL 0 d Program Operation APM DST instruction is executed when the rising edge of the direct start up used as the X axis direct start up instruction signal is generated However if X axis is in operation or error state the instruction is not executed elf reference has not been defined at the start of DST error code 224 is outputted to STAT 1 and the instruction is not executed In such case turn on the reference determination signal ON and perform reference return with APM ORG instruction before starting up the APM DST instruction 1 When the direct start up instruction APM DST instruction is executed positioning operation is started as set up in the operand as shown below Because the BASE SLOT and AXIS are 0 the built in positioning X axis of the base unit is started The target position is the 100 000 pulse set up in ADDR as DINT The target velocity is 30 000 pps set up in SPEED as UDINT After the positioning the dwell time is 100ms set up in the DWEELL and as for M code the 123 stored in the MCODE is stored in the KW428 Because POS SPD and ABS _INC are 0 positioning control operation is based on absolute coordinates Since TIME SEL is 0 the acceleration deceleration pattern follows 1 which is the acceleration time in the
146. If jog speed is set out of allowable range it generates an error and operation is not available High speed jo ane s 1 100 000 operation Unit 1pps Low speed jo DEOS jog high speed operation Remark Make sure to follow the cautions Bias speed lt Jog high speed lt Speed limit 2 Inching operation As one of manual operations it outputs as much as pulse set at the speed for origin manual parameter inching speed While operation by jog instruction may not exactly move to the start end points inching instruction may easily reach to a target point as much as desirable distance Therefore it is probable to move close to an operation position by jog instruction and then move to an exact target position by inching operation instruction The available range is between 2 147 483 648 2 147 483 647 Pulse Chapter 3 Before positioning 3 1 13 Stroke Upper Lower Limits Positioning is subject to external input stroke limit external input upper limit external input lower limit and software stroke limit software upper limit software lower limit 1 External input stroke upper lower limits External input stroke limit is an external input connector of positioning external input upper limit external input lower limit It is used to immediately stop a positioning module before reaching to stroke limit stroke end by setting up stroke limits of positioning module inside stroke limit st
147. In addition you may connect our website htip eng sis biz and download the information as a PDF file Relevant User s Manuals No of User s Title Description Manual XG5000 user s It describes how to use XG5000 software about online functions manual such as programming printing monitoring and debugging when 10310000512 for XGK XGB using XGB series products XG5000 user s It describes how to use XG5000 software about online functions manual such as programming printing monitoring and debugging when 10310000834 for XGI XGR XEC using XGB IEC language series products didis It is th i f ing t lain how t is the users manual for programming to explain how to use Instructions amp PM j j 10310000510 instructions that are used PLC system with XGB CPU Programming XGI XGR XEC us ri t is the user s manual for programming to explain how to use Instructions amp ii i i 10310000833 instructions that are used in XGB IEC language CPU Programming ROB It describes power IO extension specification and system 10310000693 configuration built in high speed counter of XGB main unit It describes power IO extension specification and system XGB hardware IEC p NE 10310000983 configuration built in high speed counter of XGB IEC main unit It describes how to use the analog input analog output AGB Analog it 10310000920 temperature input module system configuration and built in PID user s
148. In case of XGB standard type since only pulse direction mode is available change input mode of servo motor driver to 1 phase input mode Note4 The above figure is example of XGB standard type For high end type Origin DOG upper lower limit input contact point is different with standard type Pulse input OFF Rotating direction input 9 P OFF cw Motor operation m App 3 2 Appendix 3 Motor Wiring Example 2 Connection to a servo motor driver FDA 5000 AC Servo Driver Note2 K7M DRT U i Q Ch P2 co ow ro i Doe Pos J ZIN z S Q Oo Ss g x Slo Sl ols s amp DOG Cow im POO f Foz por Pas input Eel erm Common COMO Inpu R 3 Note4 Max 2m FDA 5000 iss 1 5K 1 2W p 24G s rnv sy P24V q 1 5K 1 2W Note1 30 Pz7O0 gt P24V v 24G o e oo o o oo ae o v Note1 The rating of XGB is 24VDC If it is line driver output contact is not connected In the case use a convert from line driver output to open collector output or use home return only by DOG signal origin sensor of origin signal Note2 Although origin DOC upper lower limit signals are with fixed contact it may be used for general input if they are not used
149. Initial Dedicated K area value Xaxis Yaxis ABS K7384 K10384 KX11812 KX16612 K7382 83 K10382 83 KX11810 11 KX16610 11 K7381 K10381 KX1 1809 KX16609 K7380 K10380 KX1 1808 KX16608 K739 K1039 WKW739 9o6KW1039 END POS Word Address pulse 2 147 483 648 2 147 483 647 pulse K730 K1030 Double word KD365 KD515 Pattern Control Method REP Step Address 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end 2 147 483 648 2 147 483 647 pulse K737 K1037 KW737 KW 1037 K7386 87 K10386 87 KX11814 15 KX16614 15 K734 K1034 KD367 KD517 K736 K1036 KW736 KW 1036 Word Double word Initial Dedicated K area value Xaxis Yaxis ABS K7484 K10484 KX11972 KX16772 K7482 83 K10482 83 KX11970 71 KX16770 71 K7481 K10481 KX11969 KX16769 K7480 K10480 KX1 1968 KX16768 K749 K1049 KW749 KW1049 Double word KD370 KD520 END POS 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s App 2 14 K747 K1047 96KW747 96KW1047 K7486 87 K10486 87 KX11974 75 KX16774 75 K744 K1044 KD372 KD522 K746 K1046 96KW746 96KW1046 Word Double word Appendix 2 Positioning Instruction and K area List pookb OBS FANE
150. KXB735 SKXb734 APM_PSO P REQ DONE DONET Ss XAxis BUSY XAxis Move XAxis Move Status Dwe Status Dec II eleration 50000 15000 b Program Operation At the rising edge of the Indirect Start up signal used as the indirect start up reference signal the positioning X axis is started indirectly by operation step No 1 elf the rising edge of the PSO start reference signal which is used as the reference signal for the positioning speed override instruction occurs during operation operation continues by changing the speed to 15 000 pps at the moment when the position of the present operation step reaches 50 000 Chapter 5 Positioning Instructions 5 3 16 Inching Start Function Block This instruction APM INC is for the movement at the inching speed set up by the positioning Origin manual parameter in the instruction For details about inching operation see 3 1 12 1 Inching Start Instruction APM INC Variable Data Type Description Inching Distance INERMIS BINT e Setting range 2 147 483 648 2 147 483 647 a Function This instruction provides inching operation reference to the XGB internal positioning At the rising edge of the input condition the axis designated as AXIS moves by the distance and speed set up by the INCH VAL and positioning parameter respectively 2 Sample Instruction a Sample Program Start INCHI NG SKX6720 SKXB725 APM_ INC P F Fi DONE
151. LED point status Output level Error and actions to take Direction signals are being output in the normal FOW AGING direction normal Direction signals are being output in the reverse direction normal Pulse is not being normally output Positioning operation has finished normal HIGH Active Start the next operation instruction There is an error that makes positioning operation impossible gt Check the positioning error code and remove the Direction P22 P23 cause output Q02 Q03 Direction signals are being output in the reverse direction normal Pulse is not being normally output Positioning operation has finished normal Low Active Start the next operation instruction There is an error that makes positioning operation impossible gt Check the positioning error code and remove the cause Direction signals are being output in the normal HIGH Active direction normal b When the pulse output mode is the CW CCW mode CW CCW contact contact Error and actions to take point point Off CW pulse is being normally output normal Flashing The pulse is being abnormally output Flashing Contact an A S office or customer center Pulse is not being output normal Positioning operation has finished normal Start the next operation instruction There is an error that makes positioning operation impossible Check the positioning error
152. M XBC bit area flag Device Area Variables Axis X Word Bit Address Word Bit Address In operation o K4200 o K4300 O stop 1 operation Error Ho ket Positioning 2 K4202 2 K4302 0 not completed 1 completed completed M code signal 0 M code Off 1 M code On 0 origin not decided 1 origin decided No pulse output 0 output available 1 no output 0 not stopped Stopped og K4306 1 stopped Upper limit detected Be K4308 0 undetected 1 detected Lower limit detected K420 Io K4309 sanded 1 detected normal 1 abnormally Emergency stop A K430A m Normal backward 0 normal direction 1 rotation bar SR backward direction Operation K430C accelerated acceleration sled Operation K430D constant speed constant speed ad ae Operation 0 decelerated 1 deceleration PUE oe Operation dwell F K430F 0 not during dwell 1 during dwell Operation 0 position not controlled aU K4310 s positioning 1 position controlled Operation 4 K4311 0 speed not controlled speed control 1 speed controlled Operation control ne straight 2 K4312 0 interpolation not controlled 1 interpolation controlled interpolation Return to origin 5 iiie PSDOISTURIRO fo ordin 1 returning to origin Position 0 position not synchronized ie K4316 i synchronization 1 position synchronized 3 49 Origin settled Chapter 3 Before positioning Speed 7 K4217 7 K4317 0 sp
153. Oo Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 deceleration time 0 65535 WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the deceleration stop instruction to XGB built in positioning The axis designated as ax at the rising edge of the input condition conducts deceleration stop for the deceleration time set in the corresponding operation step b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed If the deceleration time is set at 0 it stops right away without deceleration in XGB positioning In this case note that there might be shock noise or damage to the motor f the deceleration time of n1 is set at 0 it stops right away without deceleration Otherwise it stops according to the operation data of the operation data and the acceleration deceleration number set in the DST instruction respectively in case of indirect starting and direct starting Chapter 5 Positioning Instructions 2 Example of Use of the Instruction The deceleration stop instruction is described with the example
154. PM_SNS 3 The following program is an example of the program that indirectly starts with the operation data displayed in the current step number K426 on axis X by setting the starting signal whenever 3 52 Chapter 3 Before positioning the external input starting switch POOOF turns On POOOF K04200 K04201 K04290 A 2 B Starting XAxis BUSY XAxis Error XAxis Start switch POOOF K04290 y Starting XAxis Start 1 switch Device Descriptio Axis X starting external POOOF IX0 0 15 PA K4201 KX6721 Axis X error switc Axis X signal during Axis X starting instruction K4200 KX6720 K4290 KX6864 operation flag The program above is an example of the program that indirectly starts with the operation data of the current step number K426 word on axis X by setting the starting signal whenever the external input starting switch POOOF turns On When the starting switch turns On the starting commanding flag K4290 is set and axis X starts and when the starting switch turns Off the starting contact point is reset Note that the set coil is used for axis X starting commanding flag K4290 instead of ordinary coil output For example if a toggle switch is used for the starting switch and if the starting commanding flag K4290 is not set but ordinary coil output is used there might be the problem that it is automatically restarted by the bit Off during operation when positioning is completed To
155. Program Examples of Positioning a Devices Used Device Description 961X0 1 0 Error reset output inhibition cancel switch 961X0 1 1 Floating origin switch 961X0 1 4 Operation step change switch 961X0 1 7 axis X start switch KX6720 Signal during axis X operation KX6721 Error signal of axis X 3 Operation Data Setting l y m Operation coordi Operatio Operatio Target position Acc Dec Dwell time Control pattern Repeat step speed nates n pattern n type pulse pls s ns pls s Position control Position control Position control Single Single Single Position control Position control Position control Single Single Single 4 Operation Sequence e P0009 96IX0 1 1 floating origin switch On set as the floating origin at the current position e BCD SNS STEP switch input enters the operation step to change in POO4 enters 10 in this example e POOOC operation step change switch On the currently operating step changes into 10 e POO0F axis X start On indirect start is conducted with the changed step 10 7 2 5 Setting of Operation Step Speed Control The program example of conducting speed control by setting the operation step is as follows 1 XBM XBC P0008 K04201 aT P pieeo i Emorreset X xis Error SW In case of error error reset output inhibit cancel P0009 K04200 K042
156. REQ DONE v STP DONE Axis Y YAxis BUSY V xis DEC stop Error 0 BASE STAT _STP_STAT 0 SLOT Chapter 7 Program Examples of Positioning Comment JAxis X speed sync start Sync 508 Delay Ims INSTIB 81x0 1 4 SKX6720 SKXb721 IES IE E ef SSS DONE Speed XAxis BUSY XAxis sync Error start 0 IBASE STAT SSS_STAT 0 4SLOT 0 JAKES JST AXIS 5000 Tur DEL INSTIS 1X0 1 7 SKX6880 SKX6881 APM_IST T REQ DOMEL Y IST DONE Axis Y Y xis BUSY Y xis start SII Error 0 JBASE STAT Y IST STAT 0 JSLOT 1 JAXIS 1 JSTEP a Devices Used Device Description 961X0 1 0 axes X and Y error reset output inhibition cancel switch 9elX0 1 1 IX0 1 2 axis X deceleration stop switch Floating origin switch of axes X and Y IX0 1 3 deceleration stop switch of axis X 96IX0 1 4 axis X speed synchronous start switch 9elX0 1 7 indirect start switch of axis Y KX6720 Signal during axis X operation 96KX6721 Error signal of axis X KX6880 Signal during axis Y operation Y KX688 1 Axis Y error signal Chapter 7 Program Examples of Positioning 3 Operation Data Setting Target Operation r o Acc Dec Dwell time Repeat step position speed ns pulse i pls s coordina Control Operatio Operatio tes pattern n pattern ntype X auxiliary Position Single 10 000 axis control STIS Speed Single 15000 axis control
157. ST instruction is described on the basis of axis X a Example of the Program M0000 K04200 K04201 ip Vi yr Home XAxis BUSY XAxis Error Q Return Run K04200 K04201 17H 17H Direct Stat XAxis BUSY XAxis Error D0002 Target speed D0005 IL program b Device Used Device Description axis X origin return M0000 BIT instruction signal Data size Example of setting axis X direct starting M0001 BIT instruction signal signal during axis X K4200 BIT operation K4201 axis X error BIT D0000 Target position DINT 100 000 D0002 Target speed DWORD 30 000 D0004 Dwell time WORD 100 D0005 M code number WORD 123 Doo06 Control word WORD H 20 x H 20 Bit5 6 1 No 2 acceleration deceleration pattern Bit 4 O absolute coordinates BitO O position control 5 10 Chapter 5 Positioning Instructions c Operation of the Program If there is the rising edge of M0001 used as the direct starting instruction signal of axis X the DST instruction is executed Not if axis X is operating or in error If the origin is not fixed when the DST is started error code 224 will appear and operation will not occur In such a case turn on M0000 execute the ORG instruction and thereby carry out the origin return and start the DST instruction 1 Ifthe DST instruction is executed the positioning operation gets started as set in the operand as follows Si
158. T XIX0 1 0 SKXB721 p REQ DONE X RST DONE ErrorReset XAxis SW Error INST SKX6881 APM_RST REQ DONE v RST DONE 0 BASE STATE X RST STAT Y xis Error Comment Sets axis X Y floating origin INSTIO APM FLT REQ D NEL X FLT DONE 8IXD 1 1 SKXB 720 SKX6721 1 4 Floating XAxis BUSY XAxis origin SW Error INST11 APM_FLT REQ DONE v FLT DONE 0 BASE STAT X FLT STAT SKX6880 SKXBB81 r YAxis BUSY YAxis Error 0 BASE STATE _FLT_STAT 0 D 0 1 Comment X Y Simultaneous start INSTI2 8IX0 1 5 SKXB720 SKX6721 SKX5880 SKX6881 APM SST S4 Re 4 REQ DONE SST_DONE Simultaneo XAxis BUSY X xis Y xis BUSY Y xis us start Error Error SW D SST STAT 0 3 l 2 0 7 16 Chapter 7 Program Examples of Positioning a Devices Used Device Description 961X0 1 0 axes X and Y error reset output inhibition cancel switch 961XO0 1 1 axes X and Y floating origin switch 961X0 1 6 simultaneous start switch of axes X and Y KX6720 Signal during axis X operation KX6721 Error signal of axis X KX6880 Signal during axis Y operation KX6881 Axis Y error signal 3 Operation Data Setting Operation coordinat Control Operation Operation Target position Acc Dec v Dwell time Repeat step speed es pattern pattern type pulse ms pls s Absolu Position te control Absolu Position te control 10 000 20 000
159. T REQ DONE X RST DONE JBASE STATH X RST STAT SLOT JAXIS 4 INH OFF INST APM_FLT te it ONE X FLT DONE 4BASE STATH X FLT STAT SKXB854 XAxis Start Device Description IX0 1 0 Axis X error reset output inhibition cancel switch 961X0 1 1 axis X floating origin switch 961X0 1 2 switch 9elX0 1 7 axis X deceleration stop axis X start switch KX6720 Signal during axis X operation KX6721 Error signal of axis X Chapter 7 Program Examples of Positioning 3 Operation Data Setting Operation Wis coordina Operatio Operatio Target position Acc Dec P Dwell time Control pattern Repeat step M code speed n pattern n type pulse pls s ns 4 Operation Sequence P0009 96IX0 1 1 floating origin switch On set as the floating origin at the current position P000F 961X0 1 7 start switch On indirect start of axis X is started P000A 961X0 1 2 deceleration stop switch On Since the deceleration time is not O when the deceleration stop instruction is given it does deceleration stop for the deceleration time 100ms of the currently operating step 7 2 4 Setting of Operation Step Single Operation The example program of conducting the single operation by setting the operation step is as follows 1 XBM XBC P0008 K04201 iP 1 H Eror reset XAxis Eror sw In case of error emor reset output inhibit cancel P0009 K04
160. TAT X SNS STAT 0 SLOT 0 JAIS STEP jSTEP 7 13 Chapter 7 Program Examples of Positioning Comment Deceleration stop with current DEC time LM INST3 81X0 1 2 SKXB720 SKXB 21 APM_STP PH ey REQ DUNE DEC Sto X xis BUSY XAxis Error 0 0 0 1 Comment Starts axis X current step 181 81X0 1 7 SKX6720 SKXB 21 SKXB854 yana Parameter X xis BUSY X xis X xis teaching Error Start a Devices Used Device Description 961X0 1 0 Error reset output inhibition cancel switch 961XO0 1 1 floating origin switch 961X0 1 4 Operation step changing switch 961X0 1 7 axis X start switch 961X0 1 2 Deceleration stop switch of axis X KX6720 Signal during axis X operation KX6721 Error signal of axis X 3 Operation Data Setting i f S Operation A coordi Operatio Operatio Target position Acc Dec Dwell time Control pattern Repeat step speed nates n pattern n type pulse pls s ms pls s Position control Position control Position control Single Single Single Speed control Position control Position control Single Single Single 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position BCD SNS STEP switch input enters the operation stop to change in P004 enters 10 in this example P000C 96IX0 1 4 operation step
161. The example program of deceleration stop during operation is as follows 1 XBM XBC P0008 K04201 ip H 1 Emorreset X xis Error sw In case of emor error reset output inhibit cancel P0008 K04200 K04201 M t 1 FLT XAxis BUSY XAxis Error g command POOOF K04200 K04201 K04290 3 953 3 MM XAxis BUSY XAxis Error XAxis Start set Floating origin X axis start X Axis current start sw POOOA K04201 I 20 DEC Stop XAxis Eror 1 DEC Stop a Devices Used Device Description Axis X error reset output inhibition cancel switch axis X floating origin switch axis X deceleration stop switch axis X start switch Signal during axis X operation Error signal of axis X Chapter 7 Program Examples of Positioning 1 XEC E SKX6721 31X0 1 0 P XAxis Error Error reset SII eel i a Coment sets axis X floating origin i3 ig is Z C 18 1X0 1 1 SKX5720 SKX5721 Floating X xis BUSY X xis origin Error i10 EU NE Comment Starts axis X current step Lf5 81X0 1 7 SKX6720 SKXb721 Fa Z Axis start X xis BUSY X xis Sy Error Comment DEC Stop INST 81X0 1 2 SKX6721 PM STP TA REQ DONE DEC Stop X xis Error 0 0 0 a Devices Used E 4A EM STP D NE STP STAT INSTI APM RS
162. W787 KW 1087 K7886 87 K10886 87 KX12614 15 KX17414 15 K784 K1084 Double word KD542 KD392 K1086 K786 96KW786 KW 1086 Appendix 2 Positioning Instruction and K area List Setting range Initial Dedicated K area Daisisiza value Xaxis Yaxis Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K7984 K10984 KX12772 K7982 83 KX17572 KX12770 71 K7981 K10982 83 l KX17570 71 Bit K10981 KX12769 K7980 KX17569 K10980 KX12768 K799 KX17568 K1099 KW799 KW1099 Word Address pulse 2 147 483 648 2 147 483 647 pulse K790 K1090 KD395 Double word KD545 Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K797 K1097 KW797 K7986 87 Word KW 1097 K10986 87 KX12774 75 0 K794 Bit KX17574 75 K1094 KD397 K796 Double word KD547 K1096 SKW796 Initial value X axis K8084 Dedicated K area KW 1096 Y axis K11084 KX12932 K8082 83 KX17732 KX12930 31 K8081 K11082 83 KX17730 31 Bit K11081 KX12929 K8080 KX17729 K11080 KX
163. X xis BUSY XAxis Dutput Inhibit STAT b Program Operation At the rising edge of the inching start signal used as the reference signal for inching start the positioning X axis moves by 150 at the inching speed in Incremental coordinate set up in the positioning Origin manual parameter At inching start if the axis is in operation or being prohibited from output error codes 401 and 402 respectively are outputted to STAT and does not operate Chapter 5 Positioning Instructions 5 3 17 Start Step Number Change Function Block This instruction APM SNS changes the number of the step to be operated 1 Start Step No Change Instruction APM SNS Variable Data Type Description Operation Step No SIEP INT e Setting range 1 80 a Function This instruction provides start step change reference to the XGB internal positioning At the rising edge of the input condition the present step number of the axis designated to be AXIS is changed to the step set up in the STEP If the axis has been in operation when this instruction is given error code 441 is generated and the instruction is not executed If the setting value in the STEP exceeds allowable range error code 442 is generated and the instruction is not executed 2 Sample Instruction a Sample Program ChangeStep amp KX6720 SKXB725 APH_SNS P fH Fr REQ DONE DONE XAxis BUSY Xaxis Output Inhibit 0 BASE STAT STAT b Program
164. XGB PLC and check the LED of the input and output contact point related to positioning Ost IOOC O SAIP IAC 1 PWR LED Check Check the PWR LED status and take the following actions PLC trouble Actions to take The power supply is normal so check whether there is another cause Rated voltage is normally supplied to XGB One of the following might be the Check the voltage and current of the power cause supply Rated voltage current set for the Remove the input and output lines re supply XGB is not being supplied power and check again Problem with the PLC hardware f there still is the same problem contact the Problem with external lines A S office or customer center Flashing Power is not being supplied e Supplied voltage is lower than the rated voltage The cable is severed There is a problem with the PLC hardware Check whether rated voltage is being normally supplied to the PLC If normally supplied contact an A S office or customer center Off Chapter 8 Troubleshooting Procedure 2 RUN LED Check PLC trouble Actions to take The program is being normally operated Check whether there is another cause The program has stopped The running of the program has Check the ERR LED to find whether it is stopped because of an error or the operation mode is STOP
165. XGB series main unit is as follows 2 2 1 Standard type XBM DN S power specification Item Specification Rated input voltage DC24V Input voltage range DC20 4 28 8V 1596 2096 Inrush current 70APeak or below Input Input current Max 1A Typ 550 m Efficiency 6096 or above Allowed temporary 1 ms or below cutoff Output voltage DCSV 296 Output Output current Max 1 5 A Voltage status display When power is normal PWR LED On Cable specification 0 75 2 m 2 2 2 High end type XBC XEC DN H power specification lt Specification em XBC XEC DR32 DN32H XBC XEC DR64 DN64H Rated input voltage AC 100 240 V Input voltage range AC85 264V 15 10 BER Inrush current 50APeak or less p Input current 0 5A or less 220V 1A or less 110V Efficiency 65 or above Allowed temporary cutoff 10 ms or less Checking is necessary Rated DC5V 2A 3A output DC24V 0 4A 0 6A Output Output DC5V DC 4 9 5 15V 296 4396 DC 4 9 5 1V 42 voltage DC24V DC21 4 26 4 V 2 ripple Voltage status display In case output voltage is normal LED On Cable specification 0 75 2 mm Checking is necessary For protection of power supply use power supplier which has maximum 4A fuse 22 Chapter 2 General Specification 2 3 I O Specification It describes I O specification when P0000 POOOF is used for built in positio
166. al Mexe C w XO w MOF instruction M code output timing in case of WITH mode c AFTER mode In case M code output mode is set as AFTER like the following figure if each operation of step is completed it outputs M code On signal and M code number Chapter 3 Before positioning Speed END operation Keep operation ATE Dwell time Dwelfltime 4 Starting J LLL LLL pen M code on f FF signal M code M n MOF instruction l lt M code output timing in case of AFTER mode gt 5 Bias speed Considering that torque of stepping motor is unstable when its speed is almost equal to 0 the initial speed is set during early operation in order to facilitate motor s rotation and is used to save positioning time The speed set in the case is called bias speed In case of XGB built in positioning setting range of bias speed is 0 100 000 unit pps Bias speed may be used for 1 Positioning operation by start instruction IST DST SSTetc 2 Home operation JOG operation 3 Main axis of interpolation operation not available for sub axis Speed limit L qq x Operation when bias speed is set ACC time iIDEC time EXE ACC DEC slope when bias speed is not set EEUU ACCIDEC slope when bias is set lt Operation when setting bias speed gt The figure above shows operation when setting bias speed The entire operation time may be advantage
167. al Module Monitoring with XGB PLC connected to XG5000 the special module monitoring display is invoked as follows If XGB is not connected to XG5000 Special Module Monitoring is inactivated in the Monitoring menu Thus make sure that XGB is connected to XG5000 before using positioning monitoring Montw Qebug pa gi c Gurt Monter When you want to carry out the positioning monitoring package double click on the positioning module or select the positioning module and then click on the Monitoring button at the bottom And the positioning monitoring package is started as follows 6 1 Chapter 6 Positioning Monitoring Package M Code OFF Spd Overtide Functions Remark Monitors the positioning of the axis or gives commands Checks and modifies the positioning parameter of each axis Checks and modifies the operation data of axis X Checks and modifies the operation data of axis Y Carried out positioning monitoring Stops positioning monitoring Permanently saves the changed parameter and operation data in WRT PLC function Saves the changed parameter and operation data in XG5000 project For details of each menu refer to 6 2 6 2 Chapter 6 Positioning Monitoring Package 6 2 Menus and Functions of Positioning Monitoring The following is the function and use of the menus of the XGB monitoring package 6 2 1 Monitoring and Command The positioning monitor
168. arameter Title Value Origin returning method 1 DOG HOME On Origin returning 1 reverse Home Method 1 DOG HOME ON direction Home Direction 1 COW Origin address 0 Home Address O pls Origin return at Home High Speed 50000 pls s high speed 50 000 pps Home Low Speed 500 pls s H Homing ACC Time 100 ms 500 pps pi Homing DEC Time 100 ms DWELL Time 100 ms Origin return at low speed Origin return accelerating time Origin return decelerating time Dwell time 100 ms 100 ms 100 ms b Sample Program MAD SKXb720 SKXB721 APM_ORG As 7 amp MX123 StartHomin P S X Bus POS X Err DONE g y amp MBIO amp MI321 BASE STAT amp MBI 1 SLOT amp MB12 AXIS c Devices Used Device Description StartHoming Signal for X axis Origin return start up KX6720 Signal for X axis in operation KX6721 X axis in error status Chapter 5 Positioning Instructions d Program Operation At the ascending edge of the starting up Origin return used for the Origin return start up signal for X axis the APM ORG instruction is executed At this time the X axis is in operation or error status the instruction will not be executed 1 When the Origin return instruction APM ORG is executed the operation will be Origin return at high speed 50 000 pps accelerated reversely as set up in the Origin return parameter 2 If an ascending edge of DOG signal occur
169. as the main axis If the movements are equal axis X is the main axis The speed of the auxiliary axis does not follow the setting of the operation data but conducts operation by calculating the operation speed acceleration time deceleration time and bias speed automatically by the following operations main axis speed x auxiliary axis distance uxiliary axis speed main axis distance main axis the axis where there is more movement of positioning auxiliary axis the axis where there is less movement of positioning The operation pattern that can use straight interpolation operation is limited to End and Continued operation If the main axis is set as Continued and the interpolation operation is started no error is issued in XGB built in positioning but the operation pattern of the main axis is changed into Continued If the auxiliary axis is set as Continued it does not affect the straight interpolation 1 Straight Interpolation Starting Instruction LIN Areas available Flag Instruction eon Step Error Zero Car ry PMKF L T C S Z Dx pedi U N D R F110 F111 F112 sl o LIN ax o o o o o 4 7 l n1 o o o o o n2 o o o o o COMMAND LIN AL LIN s ax nt n2 A Area Seiting Operand Description Se
170. ased on operation start point 2 000 target position changes 35000 20 000 15 000 3 If override is executed at the time current position is 38 000 during operation since it passes 15 000 based on operation start point 2 000 target speed decreases and stops b Position override command is available in the ACC KEEP DEC section among operation pattern If position override command is executed during dwell error code 362 occurs c In case operation pattern is set as CONT override is executed based on start position of operation step used at this time d Position override ranges 2 147 483 648 2 147 483 647 Pulse 3 19 Chapter 3 Before positioning 2 Speed override While positioning by operation data it is used to change operation speed by speed override command SOR instruction speed Initial Dwell time speed On Starting Speed override f command Speed override command is available during acceleration constant speed operation section and executing speed override instruction in deceleration section during operation or dwell section may cause Error 377 but the operation continues Speed override setting ranges 1 100 000pps setting unit 1pps Note that if a sudden difference between the current speed used for operation and a new speed newly changed by speed override is excessive it may cause a Step over During speed override if target speed is smaller than bias speed it will be operat
171. ate Not Immediate Error status D No change lower limit stop detected stop Error 502 Decelerating Decelerating Decelerating Error 322 Decelerating No change Stop by stop instruction stop stop keep running es tl ite Si Error status eee 3 y P Immediate stop Error 481 Off instruction No output Forward External upper Error status ae Immediate stop immediate 6 No change limit On Error 492 Stop by externa stop signal Backward External lower Error status 2 Immediate stop immediate 6 No change limit On Error 493 stop Stop by AS Decelerating Immediate Immediate Error 322 i monitoring d Stopping No change stop instruction stop stop keep running package Remark 1 Positioning refers to position control speed control position speed switching control and speed position switching position by positioning data 2 If Home Return is complete DOG and Home Signal which are external input signals do not affect positioning control 3 If axial operation is no output after being stopped run a instruction to cancel No Output Then No output is cancelled and error number is reset 4 Soft upper lower limits by parameters are unavailable in speed control operation mode 5 Sequence program refers to XGB program method 6 Error 495 may occur depending on a rotation direction 3 21 Chapter 3 Before positioning 2 Stop Process and Priority a S
172. ating origin switch 961X0 1 2 axis X indirect start switch 961X0 1 4 axis X position override switch KX6720 Signal during axis X operation KX6721 Error signal of axis X KX6733 axis X constant speed signal 3 Operation Data Setting Operation coordinat Control Operation Operation Target position Acc Dec P Dwell time Step No Repeat step M code Speed pattern pattern type pulse pls s ms pls s Absolut Position End Single 100000 5000 100 e control 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position POO0A IX0 1 2 indirect start switch On axis X indirectly starts step 1 P000C 96IX0 1 4 position override switch On overrides the current position to 60 000 when the current position is below 60 000 Chapter 7 Program Examples of Positioning 7 2 13 Speed Override with Position The program example of positioning speed override during operation is as follows 1 XBM XBC P0008 K04201 In case of emor emor reset output inhibit cancel P Emorreset X is Error SW P0008 K04200 K04201 set X axis Floating origin u H FLT XAxis BUSY XAxis Eror g command POOOA K04200 K04201 Pz Indirect X is BUSY XAxis Eror X axis indirect start start P0000 K04200 K04201 K0420D PSO 0 50000 Override current P PSO XAxis BUSY XAxis Eror XAxis Move position to 60000 St
173. ation speed at the speed value set in the set position Conducts home return as the home return method set in the positioning parameter Presets the current position with the set value Changes the start step with the set step Conducts inching operation to the set position inching amount at the inching speed set in the positioning parameter Conducts jog operation at the jog speed set in the parameter Command Remark SOR APM SOR 5 2 13 5 3 14 POR APM POR 5 2 12 5 3 13 PSO APM_PSO 5 2 14 5 83 15 ORG APM ORG 5 2 1 5 3 2 5 2 2 5 3 3 PRS APM_PRS 5 2 18 5 3 19 SNS APM_SNS 5 2 16 5 3 17 INCH APM INC 5 2 15 5 3 16 2 isc Cl gt Normal high speed Normal low speed Reverse Reverse high speed low speed Jog stop Changes from speed control to position control Changes from position control to speed control Speed synchronous operation at the set main axis speed ration and delay time Speed synchronous operation at the set main axis step and position Simultaneous start with the operation step set for each axis Straight interpolation operation for axes X and Y with the set operation step 6 4 VTP APM_VTP 5 2 7 5 3 8 PTV APM_PTV 5 2 8 5 3 9 SSS APM_SSS 5 2 11 5 3 12 SSP APM_SSP SST APM_SST 5 2 6 5 3 7 LIN APM LIN Chapter 6 Positioning Monitoring Package Remark Note that the positio
174. attern is End the step number axis X K426 of area K is changed into 4 which is step 1 Speed 100pps 0 o Start address 7 000 target address Starting M0001 K420F Complete i L K4202 n addition to executing indirect operation by using the IST instruction indirect starting can also be started by using the starting signal instruction contact point axis X K4290 axis Y K4390 of area K gt If starting is done by using the starting signal instruction contact point the operation step is fixed at the current operation step number axis X K426 axis Y K436 Therefore if you want to change the operation step when starting by using the starting signal instruction contact point change the operation step by using the Starting step number changing instruction and turn on the starting instruction contact point For details refer to 3 4 2 5 14 Chapter 5 Positioning Instructions 5 2 5 Straight Interpolation Starting Instruction Straight interpolation starting refers to the operation so that the path of axes X and Y is straight from the starting address current stop location to the target address target address Straight interpolation control divides into control by absolute coordinates and Incremental coordinates For details refer to 3 1 2 When the instruction of straight interpolation starting is given the axis where there is more movement is designated
175. atus Con stant a Devices Used Device Description Axis X error reset output inhibition cancel switch axis X floating origin switch axis X indirect start switch axis X positioning speed override switch Signal during axis X operation Error signal of axis X axis X constant speed signal Chapter 7 Program Examples of Positioning 2 XEC When error occurs resets error and cancels ouptut inhibition 1X0 1 0 3KX6721 P ErrorReset XAxis SW Error Sets axis X floating origin 8IXD 1 1 SKXB720 Z Floating X xis BUSY origin Si axis X indirect start 81X0 1 2 SKX6720 P d Indirect X xis BUSY start 3KXb721 A X xis Error INST23 3KX8721 APM_IST 7 H REN DONE Xhsis rror 0 4BASE STATH 0 SLOT 0 jAXIS 1 STEP Override speed into 5000 when current postion becomes 50000 81x0 1 5 SKXB720 Speed XAxis BUSY override with position INST26 SKXB721 SKXB733 APM_PSO Z H RED DONE X xis XAxis Move Error Status Con stant 0 BASE STATE 0 JSLOT 0 JAXIS 50000 JPSO ADDR 5000 JPSO SPO X_IST_OONE X_IST_STAT PS D NE PSO_STAT INSTB APM_RST REQ DONE X_RST_DONE INSTIO APM_FLT REQ DONE X_FLT_DONE Chapter 7 Program Examples of Positioning 3 a Devices Used Device Description 961X0 1 0 Axis X error reset output inhibition cancel switch 961X0 1 1 axis X floating origin switch 961X0 1 2
176. available in any other status but busy o 3 o speed synchronic command synchronic command Check whether the main axis of speed synchronic command was 1 main sub axis were set equally not set equally with command axis Check whether the synchronization ratio of speed synchronic command was not set between 0 10 000 Stop Check whether delay time was set between 1 10ms Check whether an axis did not stop at the time of position override command S S Check whether an axis was not dwelling at the time of position override command Check whether an axis was not operating by position control at the time of position override command Check whether an axis was not in linear interpolation operation at the time of position override command Check whether an axis was not operating as a sub axis of Position override command is unavailable during dwelling Position override command is unavailable in any other Operation status but positioning operation synchronic operation at the time of position override command top top top Check whether an axis did not stop at the time of speed override op command Re set the speed of speed override command equal to or lower than the max speed set in the basic parameter Check whether an axis was not operating as a sub axis of linear interpolation at the time of speed override command Check whether an axis was not operating as a sub axis of i Position override
177. avoid this use a push button switch for the external input switch and use a set coil and reset coil according to the On Off of the input switch for the starting commanding flag Chapter 3 Before positioning b Jog Operation 1 The following program is an example of the program that carries out the jog operation of axis X by turning on off the flag for commanding the normal backward direction jog according to the external input signal low high XAxis JOG speed Low Speed High 0 Speed P0008 K04201 K04291 1 1 k gt JOG XAxis Error XAxis CW forward JOG START 2 P0009 K04201 K04292 1 t d JoG XAxis Error XAxis CCW reverse JOG START jo Device Description External input of P0008 IX0 0 8 K4201 KX6721 Flag displaying axis X error normal direction jog External input of Flag commanding normal P0009 IX0 0 9 MM K4201 0KX6865 backward direction jog direction jog of axis X Flag commanding External input of jo POOOA 96IX0 0 10 i 109 K4292 KX6866 backward direction jog of low speed high speed axis X K4200 KX6720 Signal of axis X during K4293 KX6867 Flag commanding jog o operation low high speed of axis X The program above is an example of the program that carries out the jog operation in the corresponding direction while the external input normal direction jog switch P0008 or backward direction jog switch P0009 in On Then the operation speed is jog high
178. axis K30684 KX41092 END K25682 83 KX49092 K30682 83 KX41090 91 POS K25681 K30681 KX41089 SIN K25680 KX49090 91 KX49089 Bit it Bit K30680 Bit KX41088 K2569 KX49088 K3069 KW2569 9 KW3069 Word Address 2 147 483 648 2 147 483 647 pulse K2560 K3060 KD1280 Double word KD1530 Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K2567 K3067 KW2567 K25686 87 Word KW3067 K30686 87 KX41094 95 K2564 Bit KX49094 95 ow K3064 KD1282 0 K2566 KD1532 Double word Word KW2566 KW3066 woa Initial value Xaxis ABS KX41252 END K25782 83 Dedicated K area Y axis K25784 K30784 KX49252 K30782 83 KX41250 51 POS K25781 K30781 KX41249 SIN K25780 Bit KX49250 51 it KX49249 K30780 KX41248 K2579 KW2579 KX49248 KW3079 Word Address 2 147 483 648 2 147 483 647 pulse K2570 K3070 KD1285 Double word KD1535 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s App 2 30 K2577 K3077 KW2577 K25786 87 Word KW3077 K30786 87 KX41254 55 K2574
179. axis X K4201 axis Y K4301 does not turn On If the set value of the starting step number gets out of the settable range instruction Error Flag F110 is not set the error flag of positioning area K axis X K4201 axis Y K4301 turns On and the operation does not occur 5 18 Chapter 5 Positioning Instructions 2 Example of Use of the Instruction The instruction is described with the example of the following program simultaneous starting instruction a Example of the Program M0001 K04200 K04201 K04300 K04301 ler 1 t 1 t i t i t SST XAxis BUSY X os Error YAxis BUSY YAxis Error 0 command o 00000 00001 00002 00003 Xaxisstep Yaxisstep Zaxisstep Axis setting Dummy IL program b Device Used Description Data size simultaneous starting instruction signal K4200 signal during axis X BIT i operation K4201 axis X error BIT K4300 signal l during axis Y BIT operation K4301 axis Y Error BIT D0000 axis X operation Step No WORD 1 D0001 axis Y operation Step No WORD 2 D0002 axis Z operation Step No WORD D0003 Axis setting WORD 3 Operat ER A 7 coordin Operatio Control us Target position Acc dec Operation Dwell time ates n pattern method mede Pulse No speed pls s ms position Position c Operation of the Program SST instruction is executed it the rising edge of M0001 which
180. axis X indirect start switch 961X0 1 5 axis X positioning speed override switch KX6720 Signal during axis X operation KX6721 Error signal of axis X KX6733 axis X constant speed signal Operation Data Setting Operation coordinat Control Operation Operation Target position Acc Dec P Dwell time Step No Repeat step M code speed pattern pattern type pulse pls s ms pls s ioc TORIO Single 100000 10000 control 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position P000A 96IX0 1 2 indirect start switch On axis X indirectly starts step 1 P000D 961X0 1 5 positioning speed override switch On overrides the current speed to 5000 when the current position reaches 50 000 7 2 14 Speed Position and Parameter Teaching The program example of teaching of speed position and operation parameter is as follows 1 XBM XBC PE E en e o os Jem DEL case of error error pesison Aces Error reset ouput inhibit teaching ny ye 99 i 3 X iP set X mos Flosing FLT Xaus BUSY Xs Error eign command FLT PODIA 04200 x04201 P Pp b n MA BUSY Mos Error Nis eta 04200 04201 if X xis BUSY XAss Error DMOV 010 04200 04201 fe XAxs BUSY XAxs Error 04200 04201 Pd Xs BUSY Xs Error Chapter 7 Program Examples of Positioning a Devices Used Device Description
181. axis position synchronization position synchronization instruction is executed with the Y axis as the sub axis and the X axis as the main axis In this state if a rising edge of the X axis position synchronization signal occur the position synchronization instruction reference is generated with the X axis as the sub axis and the Y axis as the main axis In this case because the Y axis which is used as the main axis has already been started up as the sub axis of the position synchronization instruction the X axis outputs error code 349 to the STAT1 and is not started Axis posit ionSynchro ApM SSP nization REQ DONE BASE STAT 100000 xisxPosit ionSynchro APM SSP nization REQ DONE BASE STAT 100000 Chapter 5 Positioning Instructions 5 3 12 Speed Synchronization Function Block This instruction APM SSSB is for the operation at synchronized speed at the preset rate with the axis set up in the instruction as the sub axis when the main axis is started up For details of speed synchronization function see 3 1 8 1 Speed Synchronization Start up Instruction APM SSSB Form Variable Data Type Description e Main axis setting range Setting Main Axis Setting Main Axis INST8 Value Setting Value Setting APM SSS 0 X axis 5 High Speed REQ DNE Counter Ch3 Met USINT di s CH BASE STAT AXIS cuir 2 High Speed 7 High Speed Counter ChO Counter C
182. basic parameters In particular when the APM DST instruction is started positioning is controlled in absolute coordinates operated at 30 000 pps up to 100 000 pulse position and stopped and positioning is completed after 100ms of dwell time and the M code outputs 123 2 When the position has been determined by direct start up the position determination completion signal X axis KX6722 turns on for one scan Chapter 5 Positioning Instructions 5 3 5 Indirect Start up Function Block In the indirect start up position determination operation is performed with the operation step data set up in the position determination operation data 1 Indirect Start up Instruction APM IST Data Type Form Variable Description APM_ ST REQ DONE Operation step No STEP UINT e Setting range 0 80 a Function This instruction provides an indirect start up reference to the XGB built in positioning At the rising edge of input condition indirect start up is executed in the axis defined to be the axis of XGB positioning When the instruction is executed positioning is performed using the operation data in the K area according to the step No designated to the STEP If the STEP is 0 the operation step indicated at the step No X axis KW426 Y axis KW436 word in the exclusive K area is executed With indirect operation instruction diversified composition and execution of operation patterns can be imple
183. ce Description 961X0 1 0 Axis X error reset output inhibition cancel switch 961X0 1 1 axis X floating origin switch 961X0 1 5 axis X jog normal direction start switch 961X0 1 6 axis X jog reverse direction start switch 96IX0 1 7 Switch for low high speed selection of axis X jog KX6880 Signal during axis X operation KX6881 Error signal of axis X Chapter 7 Program Examples of Positioning 3 Operation Sequence P0009 96IX0 1 1 floating origin switch On set as the floating origin at the current position P000D 961X0 1 5 jog normal direction switch On axis X starts normal direction jog operation P000F 96IX0 1 7 jog speed switch On axis X is converted to jog high speed P000D 9261X0 1 5 jog normal direction switch Off axis X does jog stop POOOE IX0 1 6 jog reverse direction switch On axis X starts reverse direction jog operation POOOE IX0 1 6 jog reverse direction switch Off axis X does jog stop 7 2 11 Speed Override The program example of speed override during operation is as follows 1 XBM XBC Wei o1 1 1 CLR 0 0 1 In case of emor emor reset output inhibit 2 XAxis Error cancel P0009 K04200 K04201 set X axis Floating IP 1 ft FLT XAxis BUSY XAxis Error origin 8 command POOOA K04200 K04201 1P t 1 F X axis indirect start Indirect XAxis BUSY XAxis Error POD0C K04200 K04201 K0420C 1P 1 1 1 Speed XAxis
184. celerating times of the sub axis Y do not follow the set up values but automatically calculated for operation 5 in particular with the APM LIN instruction the X axis and Y axis become main and sub axes respectively and travels by 7000 2000 in elative position basis before operation stopped Chapter 5 Positioning Instructions 5 3 7 Simultaneous Start up Function Block Simultaneous start up instruction APM SST starts the steps of the 2 axes designated in the instruction simultaneously For details see 3 1 7 1 Simultaneous Start up Instruction APM SST Form Variable m Description ype e Simultaneous start up operation axis SST_ Ais mfonnaNai Setting Operation Axis YSNT 37 dd Value axis axis BIT1 axis BITO ON 1 ON 1 3 X Y Operation step No ZOSTER SINT e Setting range 0 80 Operation Step No TSSIEP SINT e Setting range 0 80 Z STEP UINT Dummy variable a Function This instruction gives simultaneous start up reference to the XGB internal positioning At the rising edge of the input condition the 2 axes of the XGB positioning are started up simultaneously See 3 1 7 for the difference between using simultaneous start up instruction and continuous start up of 2 axes continuously with PLC ladder programming When this instruction is executed of the XGB s positioning axes X and Y axes are simultaneously started up using the operation data set up
185. celeration_time1 axis X deceleration time 1 setting data 50 3 Operation Data Setting Operation Control Operation Operation Target position Acc Dec r Dwell time coordinates Repeat step M code speed pattern pattern type pulse No ms EUH 100 100 1 Relative Position Repeat ETE control 4 Positioning Basic Parameter Setting Parameter Set value Speed limit 100 000 Acceleration time 1 Deceleration time 1 100 100 Chapter 7 Program Examples of Positioning b Operation Sequence P0009 96IX0 1 1 floating origin switch On set as the floating origin at the current position P000A 96IX0 1 2 indirect start switch On axis X indirectly starts step 1 speed 1 000 pps target position 10 000 Pulse acceleration deceleration time 100 ms POO0E 961X0 1 6 speed teaching switch On after positioning is completed speed of step 1 changes to 3 000 pps P000A 961X0 1 2 indirect start switch On axis X indirectly starts step 1 again speed changes to 3 000 pps and operates target position 10 000 Pulse acceleration deceleration time 100 ms POOOB IX0 1 3 position teaching switch On after positioning is completed the target position of step 1 changes to 5 000 POOOA IX0 1 2 indirect start switch On axis X indirectly starts step 1 again speed 3 000 pps target position changes to 5 000 Pulse and operates acceleration deceleratio
186. cial K area for positioning corresponding to each item They are summarized as the table below Dedicated Initial alga Setting range Valli X axis Y axis Data size XBM XBC XBM XBC XEC XEC 0 origin detection after DOG off Home Return 1 origin detection after deceleration K4780 81 K5180 81 2 Bit method when DOG is On KX7648 49 KX8288 89 2 origin detection by DOG Bit Home Return K4782 K5182 0 forward 1 backward KX7650 KX8290 Origin address 2 147 483 648 2 147 483 647 pulse 163 K503 Double word KD234 KD254 Home Return high i i99 e00ipuiselsi pub S11 Double word speed KD235 KD255 direction Home Return tows il io oaoipulse st 500 K513 Double word speed KD236 KD256 Home Return ACC 0 10 000 unit ms K475 K515 Word time KW475 KW515 Home Return DEC 0 10 000 unit ms K476 K516 Word time KW476 KW516 K477 K517 Dwell time 0 50 000 unit ms KWAFI P ISWENT Word o o Jog high speed 1 100 000 pulse s 5 000 Dd d Double word KD239 KD259 K481 K521 Jog low speed 1 100 000 pulse s 1 000 SK HOMO woes Double word Jog ACC time 0 10 000 unit ms 1 000 K483 K923 Word 96KW483 96KW523 Jog DEC time 0 10 000 unit ms 1 000 KasA Qa Word KW484 96KW524 Inching speed 1 65 535 pulse s 100 es K923 Word KW485 KW525 3 38 Chapter 3 Before positioning 1 Home Return method There are three home return methods as follows a DOG Origin Off If orig
187. ckage 6 3 2 Change of Position Operation Data 1 How to Change the Position Operation Data You can change the operation data of each axis during operation by using the positioning monitoring package Note that the change of the operation data is applied when the next operation is started after the currently operating step ends If you select the axis X data or axis Y data tabs in the positioning monitoring package the window is invoked where you can set the operation data of each axis as follows along with the operation data saved in XG5000 Ill Positioning Corirol Method REP Step peer oooo 4D 74 0 UV de Q9 IND 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 oooo ooooo Selecting X Axis Dats To change the operation data first of all change the operation data value to change and select Write PLC Then the changed operation data is transferred to PLC the operation data saved in PLC is changed and the parameter and operation data that have been changed are applied when the next operation step is started If you execute Write PLC the position parameter set in the positioning monitoring package and the operation data of each axis are all transferred to XGB The parameter and operation data displayed when the positioning monitoring package is executed are not the data read from XGB but the parameter and operation data currently saved in XG5000 Therefore if you change
188. code and remove the cause Flashing CCW pulse is being normally output normal If PWR RUN and ERR LED are all off there is a problem with the internal operation system of XGB In such a case XGB PLC cannot normally operate so inquire of the customer center Chapter 8 Troubleshooting Procedure 8 3 Check by Error Code If there is found to be an error as a result of the check of the LED related to positioning access XGB with XG5000 check the positioning error code and remove the cause This chapter only describes how to check the positioning error codes With respect to the details of error codes and actions to take refer to Appendix 1 1 8 3 1 How to Check Error Codes The built in positioning error code can be checked by using the XGB positioning monitoring package or the positioning error code device of area K in the following procedure 1 Positioning Monitoring Package a Access PLC with XG5000 b Select Monitor gt Special Module Monitor gt Positioning Module the following monitoring package is executed Select Start Monitor at the left bottom you can check the error code I Positioning Command Indeect Stat Ena Reset t Reset Output Enable j Pos Oph Spd 1 ph s Drel Ome Direct Stat Moode oj A ABS error code POS Monitor aueent Stop Montor Wite PLC Save Pract status
189. control transfer instruction a Sample Program INST specie ionSwitchi ng SKXB737 SKX6721 eni P ___ DONE Axis Axis Control Error Pattern Sp eed 0 STAT 0 8MBI2 b Used Devices Description Data Size Velocity Position Velocity Position Transfer Transfer reference signal Exemplary Setting KX6737 dinis in velocity control KX6721 X axis error state Chapter 5 Positioning Instructions c Program Operation At the occurrence of the rising edge of the velocity to position transfer used as the velocity to position transfer reference signal the VTP instruction is executed if presently under velocity control the mode is changed to position control and the present position is preset to 0 and position control is carried out until the target position At this time the target position is classified as follows according to being in the indirect or direct start up 1 If presently in indirect start up the target position of the step in operation becomes the target position after transfer from velocity to position control 2 If presently in direct start up the target position value set up as the operand with the APM DST instruction becomes the target position after transfer from velocity to position control When using this velocity position transfer instruction as shown in the sample program above use the indicator flag X axis KX6737 Y axis KX6897 during velocity control to prevent instr
190. ction of XGB high end basic unit wiring example of input signal is as follows XGB main unit Inner circuit XGB main unit Inner circuit XGB high end positioning input signal wiring example gt 1 4 4 Allocation of high end type H type output signal 1 Allocation of output signal In case of using built in positioning of XGB high end type basic unit output signal is allocated as follows Operation content Input contact point no Signal name Pulse Direction CWICCW mode Reference Axis XBC XEC mode Positioning X axis X axis CW pulse string X axis P0020 QX0 0 0 pulse string Open output Pulse output collector output Open collector output CW output Positioning Y axis Y axis CW pulse string Y axis P0021 QX0 0 1 pulse string Open output collector output Open collector output Low Active and X axis direction High Active is X axis CCW pulse d output contact point selectable in Xaxis P0022 QX0 0 2 Open collact r string output parameter setting irection output Open collector output output Y E direction CCW output o t t constant voint Y axis CCW pulse Y axis P0023 QX0 0 3 p p string output Open collector Open collector output output External 24V XY p Terminal for external power 12 24V to axis implement the transistor Input common 2d COMO Output common terminal 2 Wiring example of external input signal In
191. cuted if the rising edge of M0001 is generated which was used as the instruction signal of the straight interpolation starting If it is in operation of axis X or in error it does not operate If axis Y is in operation error code 242 is issued and it does not operate 1 If the straight interpolation instruction LIN instruction is executed the straight interpolation operation is started as set in operand 2 Since sl is 0 built in positioning of the basic unit operates straight interpolation Because the starting step number is set as 3 positioning operation is carried out by the data of No 3 step of the positioning operation data That is if the IST instruction is started positioning control is conducted in the Incremental coordinates as set in operation data No 3 step moves up to 7 000 pulse at 100pps stops and when the dwell time of 10ms passes positioning is finished 3 As the ax is set at 0 the straight interpolation instruction for axis X is started For actual zero the main and auxiliary axes of axis X and axis Y are calculated according to the size of the target position for starting to the ax operand does not affect the operation 4 Since the step number of n1 operation is set at 10 the main and auxiliary axes are automatically selected by No 10 operation data of axis X and axis Y In this example because the target position of axis X is larger axis X is the main axis and axis Y is the auxiliary axis 5 The acce
192. d 2 147 483 648 2 147 483 647 pulse K2740 K3240 Double word KD1370 KD1620 Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Coord 0 ABS 1 INC ABS Pattern END Control Method REP Step 71 Address pulse M Code Initial value ABS END POS K2747 K3247 SKW2747 KW3247 K27486 87 K32486 87 Word KX43974 75 KX51974 75 K2744 K3244 Double word KD1372 KD1622 K2746 K3246 KW2746 KW3246 Dedicated K area X axis Y axis K27584 K32584 KX44132 KX52 132 K27582 83 K32582 83 KX44130 31 KX52130 31 K27581 K32581 KX44129 KX52 129 K27580 K32580 KX44128 KX52 128 K2759 K3259 KW2759 9 KW3259 Word Address pulse 2 147 483 648 2 147 483 647 pulse K2750 K3250 Double word KD1375 KD1625 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 39 K2757 K3257 Word KW2757 KW3257 K27586 87 K32586 87 KX44134 35 KX52134 35 K2754 K3254 Double word KD1377 KD1627 K2756 K3256 KW2756 KW3256 Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END
193. d 9 AND K04200 XAxis BUSY XAcis Move 10 ANDNOT K0420F Status Dwel n POR 0 0 10000 2 6 END b Operation of the Program The positioning axis X is indirectly started with operation step 1 when there is the rising edge of M0000 used as the indirect starting instruction signal f there is the rising edge of M0001 used as the instruction signal of the position override instruction before the current position during operation reaches 100 000 Pulse operation continues by changing the target position of the currently operating step into 100 000 Note that the value of the target position of No 1 step set in the positioning parameter is not changed f the position override instruction is executed when the current position has passed 100 000 Pulse itis decelerated and stops If the position override instruction is executed during dwell operation error code 362 is issued To prevent this make the program by connecting the axis X dwell flag to the starting contact point with the normally closed contact point contact point B Chapter 5 Positioning Instructions 5 2 13 Speed Override Instruction The speed override instruction SOR is for changing the operation speed of the axis during current positioning operation into the speed set in the instruction For details refer to 3 1 10 1 Speed Override Instruction SOR Areas available Flag Instruction Step Error Zero Carry PMK F LT C S Z DxRxsta U
194. d XAxis BUSY SKXb720 1 XAxis BUSY SKXB720 1 XAxis BUSY INST23 SKXB721 APM_IST REQ DONE X IST DONE X xis rror 0 BASE STATE X IST STAT 0 0 1 SKXB721 ENO Kaxis Error Axisx_Step D1 speed SKD267 XAxis Step l Speed SKXB721 ENO_1 Xaxis Error xisX Step D1 positio n SKD265 XAxis Step Position SKXB721 ENO 2 X xis rror AxisX_Spee d limit SKD225 X xis Speed Limit ENO 3 AxisX Acce leration T imel SKI54 X xis Accelerat i on Time 1 ENO 4 Axis Xdece leration T imel SKW455 KAxis Decelerat i on Time 1 Chapter 7 Program Examples of Positioning a Devices Used Device Description 9601X0 1 0 Axis X error reset output inhibition cancel switch 9 IX0 1 1 axis X home return switch 94X0 1 2 axis X start switch 96IX0 1 6 axis X speed teaching switch 96IX0 1 3 axis X position teaching switch 96IX0 1 7 axis X parameter teaching switch 90KX6720 Signal during axis X operation KX6721 Error signal of axis X KD267 axis X step 1 operation speed AxisX_Step01_Speed axis X speed change data 3000 KD265 axis X step 1 target position AxisX_Step01_Position axis X speed change data 5000 KD266 axis X speed limit KW 454 axis X acceleration time KW455 axis X deceleration time AxisX_Speed_limit axis X speed limit setting data 10000 AxisX_acceleration_time1 axis X acceleration time 1 setting data 50 AxisX_de
195. d D d ug ed Er 2 EM N ax o arre so i ai ee er ee Pe v Area Setting Operand Description Setting range Data size Slot number where positioning module is sl XGB is fixed at 0 WORD mounted ax Axis to give instruction O axis X or 1 axis Y WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is for setting the floating origin to the XGB built in positioning The instruction of setting the floating origin is given to the axis designated as ax of XGB positioning at the rising edge of the input condition If the instruction is carried out the current position address becomes 0 and the origin determining bit axis X K4204 axis Y K4304 turns On b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed Floating origin setting presets the current position at O and only fixs the origin so you need to note the following when you use the instruction of setting the floating origin Check whether there is an error before carrying out the floating origin setting instruction If there is an error remove the cause of the error reset the error CLR instruction and terminate the output inhibition Now set the floating origin change the step number to operate into the starting step change instruction SNS and
196. d K area Data size value X axis 0 ABS 1 INC Aps clue A ES KX39332_ _ KX47332 Pattern 0 END 1 KEEP 2 CONT END nee ee te eee Bit KX39330 31 KX47330 31 K24581 K29581 DP 1 SPD P Soo RETES OS aKxaosco KX47329 Bit Method 0 SIN 1 REP K24580 K29580 KX39328 KX47328 K2459 K2959 9 KW2459 9 KW2959 Word Address 147 483 648 2 147 483 647 pul 2490 K2950 Double word 5 OoubDie wor Miss pulse KD1225 KD1475 K2457 K2957 Word 0 65 535 96KW2457 KW2957 0 No 1 1 No 2 2 No 3 3 No 4 SedSGOSB I K29586787 Bit KX39334 35 KX47334 35 1 100 000 pulse s net Reds Double word KD1227 KD1477 0 50 000 unit ns Kab eo Word KW2456 _ KW2956 B Pattern 0 END 1 KEEP 2 CONT N Control 0 POS 1 SPD POS Method 0 SIN 1 REP REP Step O 30 0 80 for high end REP Step O 30 0 80 for high end App 2 24 Appendix 2 Positioning Instruction and K area List Item Setting range uua Bediesiedis area Data size value Xaxis_ Yaxis Coord 0 ABS 1 INC ABS K24684 K23084 KX39492 KX47492 Pattern Control Method REP Step 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K24682 83 K29682 83 KX39490 91 KX47490 91 K24681 K29681 KX39489 KX47489 K24680 K29680 KX39488 KX47488 K2469 K2969 9
197. d de unavaa na oulont Check whether an axis with error was not contained in concurrent Belus start command and whether it was not in no output status at the time of the command Check whether an axis with error was not contained in concurrent Concurrent start command is not available with M code On Stop start command and whether M code signal was not On at the time of the command Concurrent start command is unavailable without origin set Concurrent start command with origin set 296 When concurrent start command axis is incorrectly set Re set the axis date as 3 of concurrent start command operating Switching command controlling speed of speed position switching command EZ Gia I Check whether operation had a move amount at the time of target position speed position switching command operating Switching command axis of synchronic operation sub axis at the time of position speed switching command e HIC uni DEC stop command is unavailable while not operating Stop command DEC stop command is not available during jog operation Operation command operation synchronic command Check whether an axis was not in no output status at the time of status position synchronic command pug eese ee Check whether M code signal of an axis was not On at the time of On SP position synchronic command n f Absolute coordinate operation is not available without origin set Position synchronic command is unavailable without orig
198. d to the speed limit set in parameter Using bias would be a time consumed to reach from bias speed set to the speed limit set in parameter b DEC time a duration required to reach from the speed limit set in parameter up to O stop speed Using bias would be a time consumed to reach from bias speed set to the speed limit set in parameter f Speed limit Operation speed time Actual ACC time Time Actual DEC DEC tima LU ACC time Time to take from stop status to speed limit D TEUER Time to take from stop status to operation speed The range is between O 10 000 unit 1 ms per axis ACC DEC time is set with 4 types and it can be set differently according to each operation data 8 S W Upper Lower Limit A range of a machine s move is called stroke limit and it sets the upper lower limits of stroke into software upper limit and software lower limit and does not execute positioning if it operates out of ranges set in the above Therefore it is used to prevent against out of range of upper lower limits resulting from incorrect positioning address or malfunction by program error and it needs installing emergency stop limit switch close to a machine s stroke limit Except S W upper limit and lower limit install limit switch for emergency stop near stroke limit of machine 3 35 Chapter 3 Before positioning Moving range Software lower limit Software upper limit Range of S W
199. de Speed 1 100 000 pulse s 0 Dwell 0 50 000 unit ms 0 Initial Dedicated K area Setting range value Xaxis Yaxis Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K2547 KW2547 K25486 87 KX40774 75 K2544 KD1272 K2546 KW2546 K3047 Word KW3047 K30486 87 Bit KX48774 75 K3044 Double word KD1522 K3046 Word KW3046 Data size K30584 KX48932 K25582 83 K30582 83 KX40930 31 KX48930 31 K25581 K30581 KX40929 KX48929 Word K25584 KX40932 POS K25580 K30580 KX40928 KX48928 K2559 K3059 KW2559 KW3059 Address pulse 2 147 483 648 2 147 483 647 pulse K2550 K3050 KD1275 KD1525 Double word Speed 1 100 000 pulse s 0 Dwell 0 50 000 unit ms 0 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 App 2 29 K2557 K3057 Word 96KW2557 KW3057 K25586 87 K30586 87 KX40934 35 KX48934 35 K2554 K3054 Double word KD1527 KD1277 K3056 K2556 96KW2556 KW3056 Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Initial ABS K25684 Dedicated K area value Xaxis Y
200. direct start 81x0 1 2 SKX6720 pa Indirect X xis BUSY Start 81x0 1 3 SKX6720 EMG STOP XAxis BUSY SKX6721 X xis Error INST20 SKXb721 PM IST REQ D NEL X IST DONE XAxis Error 0 BASE STATE X_IST_STAT 0 0 1 INST21 SKXb721 PM EMG REQ DUNE X EMG DONE XAxis Error a Devices Used Device Description IX0 1 0 INSTB APM_RST R J_ RE ONE X_RST_DONE 4BASE STAT X_RST_STAT SLOT AXIS 4 INH OFF INSTIO APM_FLT LE Kes KSs PE DONE X FLT DNE 4BASE STAT X_FLT_STAT Error reset output inhibition cancel switch in case of emergency stop IX0 1 1 axis X home return switch IX0 1 7 emergency stop switch during home return KX6720 Signal during axis X operation Chapter 7 Program Examples of Positioning 3 Operation Data Setting Operation coordinat Control Operation Operation Target position Acc Dec k Dwell time Step No Repeat step M code speed pattern pattern type pulse EA ms dide Speed Single 10000 1000 control 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position POOOA IX0 1 2 indirect start switch On axis X indirectly starts step 1 and starts speed control P000B 961X0 1 7 emergency stop switch On axis X does emergency stop without deceleration and the output is inhibited 7 2 10 Jog Operation The program example of jog
201. dix 2 Positioning Instruction and K area List Setting range Initial Dedicated K area Data size value Xaxis Yaxis Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K7784 KX12452 K7782 83 KX12450 51 K7781 KX12449 K7780 KX12448 K779 KW779 K10784 SKX1 7252 K10782 83 KX17250 51 Bit K10781 KX17249 Bit K10780 Word KX17248 K1079 KW1079 Address pulse 2 147 483 648 2 147 483 647 pulse K770 KD385 K777 96KW777 K1070 Double word KD535 K1077 Word K7786 87 K10786 87 Bit KX12454 55 KX17254 55 0 Kera ITUR Double word KD387 KD537 96KW776 KW1076 Setting range Initial Dedicated K area Dis size value Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K7884 KX12612 K7882 83 K10884 9 KX17412 za K10882 83 a KX12610 11 KX17410 11 K7881 K10881 m KX12609 KX17409 Word POS K7880 K10880 KX12608 KX17408 K789 K1089 KW789 KW 1089 SIN Address pulse 2 147 483 648 2 147 483 647 pulse K780 K1080 KD390 KD540 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 16 K787 K1087 Word K
202. dress Start address X incremental 8000 1000 7000 lt Figure 3 6 linear interpolation operation by absolute coordinates gt If linear interpolation starts main axis is determined automatically based on moving amount of X and Y axis In table 3 6 since moving amount of X axis is larger than Y axis X X axis becomes main axis So operation pattern speed A D number dwell time of Y axis is ignored and it is specified automatically according to operation data of X axis Figure 3 7 indicates operation of linear interpolation control 3 10 Chapter 3 Before positioning X complete o L signal On Y complete signal lt Figure 3 7 operation of linear interpolation control gt 2 Control by incremental coordinates It executes the linear interpolation control based on current position by incremental coordinates At this time Address of operation data means how long object moves from current position Direction is determined sign of Address In case Address is positive number forward In case Address is negative number backward a Example t assumes that operation data is specified as shown table 3 7 and current position are X 1000 Y 4000 Step Metho Rep Address M A D Speed X 1 INC END POS SIN 0 6000 0 0 500 100 Y 1 INC KEEP POS REP 3 2000 0 0 2000 20 lt Table 3 7 operation data example of linear interpolation control by absolute coordinates gt 0 1000 7000 Start address
203. e axis set as the main axis has already been started as the main axis position synchronous auxiliary axis error code 349 is issued and it is not executed If the following example axis Y becomes the auxiliary axis and axis X becomes the main axis at the rising edge of M0001 and the main axis position synchronous instruction is executed If there is the rising edge of M0100 the position synchronous instruction is issued with axis X being the auxiliary axis and axis Y being the main axis In this case since axis Y used as the main axis is already being started as the auxiliary axis of the main axis position synchronous instruction axis X generates error code 349 and is not started Chapter 5 Positioning Instructions 5 2 11 Speed Synchronous Instruction The speed synchronous instruction SSS instruction is for speed synchronization at the set synchronous speed rate and operation when the main axis is started with the axis set in the instruction being the auxiliary axis For details refer to 3 1 8 1 Speed Synchronous Starting Instruction SSS Areas available Flag Instruction con Step PMHK FILIT CI ISIZ DxIRxista U N DIR Error ore Cary F110 F111 F112 sl Jo ax o lo o o o T SSS n1 o o 7 o o o 4 7 o n2 o o o o o n3 o
204. e by bias speed 3 Speed override with position Positioning speed override instruction changes its speed and keeps operating once it reaches the set position during positioning operation by using speed override with position PSO instruction Speed Changed speed Designated position Initial Dwell time speed On Starting i a a Speed override With position Positioning speed override instruction is available only in acceleration and regular speed sections among operation patterns while the available operation modes are end operation continuous operation and sequential operation Chapter 3 Before positioning 3 1 11 Positioning stop signal 1 Stop instruction and stop factors Stop instructions and factors are summarized as follows and divided into individual stop and concurrent stop Individual axis stop instructions or the stop factors affect the only axis axes of which stop instruction is On or stop factor exists However interpolation control operation axis stops if an axis is with stop instruction or stop factor during linear circular interpolation UNE Axis operation T Operation status Positioning X M code On T Home Jog operation status after stop Stop factor A oe Signal status instruction SUR Excess of soft Immediate Not Immediate Error status VENE o change ud upper limit stop detected stop Error 501 9 parameter setting g Excess of soft Immedi
205. e operation repeat operation continuous operation sequential operation linear interpolation operation speed position switching operation with position indicated during constant speed operation and inching operation n case operation pattern is KEEP or CONT positioning completion signal is yielded when operation pattern stops completely The operations in single operation mode are as follows Dwell Time Dwell Time ax L 1 mL 4 Operation l signal Complete The operations in continuous mode are as follows Dwell Time Dwell Time Starting Operation f signal Complete signal The operations in sequential operation mode are as follows I 4 Dwell Time Dwell Time Starting f Chapter 3 Before positioning 3 2 Positioning Parameter It describes positioning parameter and operation data setting 3 2 1 Positioning parameter setting sequence Positioning parameter can be set more than V1 2 high end type can be set more than XG5000 V2 2 and it has the following sequence This manual is described by using XG5000 V2 2 1 Opening parameter setting window e Select Parameter gt Embedded Parameter gt Positioning and double click to open positioning parameter setting window If project is not displayed press View gt Project Window to open project window shortcut key ALT 1 Project Window x hens sds Q9 NewPLCOXGB XBCH Offine
206. e operation steps 1 3 If it is Chapter 7 Program Examples of Positioning 7 2 2 Straight Interpolation Operation The example program of the straight interpolation operation after the floating origin is set is as follows 1 XBM XBC P0008 K04201 n n P H 0 0 In case of error error Emorreset XAxis Error Sw reset output inhibit cancel K04301 1 YAxis Error P0009 K04200 K04201 Lon set Floating origin K04301 T YAxis Error POOOF K04200 K04201 K04300 K04301 1 1 1 PA 1 Linear interpolation Xadis start XAxis BUSY XAxis Eror YAxis BUSY YAxis Error start sw a Devices Used Device Description Axis X error reset output inhibition cancel switch floating origin switch Straight interpolation start switch Signal during operation of axis X Signal of axis X error Signal during operation of axis Y Signal of axis Y error Chapter 7 Program Examples of Positioning 2 XEC Comment When error occurs resets error and cancels output inhibition amp 1X0 1 0 3KX5721 P ErrorReset X xis SW Error INST SKX6881 PM RST REQ DONE v RST DONE 0 Y xis Error Comment Sets axis X floating origin 8IXD 1 1 SKXB720 SKXB721 lm Floating X xis BUSY XAxis origin Si Error INST2 PM FLT REQ DONE v FLT DONE 0 Kb SKX681 LE V xis BUSY YAxis Error 0 0 1 Domment Start
207. e rising edge of DOG and determines the origin Home low speed Horhe high sped Home decision 3 18 Chapter 3 Before positioning 3 1 10 Position and speed override Override means changing target address or speed without stop during positioning The XGB positioning provides three type of override position override speed override speed override with position 1 Position override If changing a target position during positioning operation with positioning data it may be changed by using position override command POR instruction Target position Changed position Dwell time On Starting Position override command When using position override be careful the followings a That is if passing a position to change during operation it decelerates stops and keeps positioning operation by the subsequent operation pattern if not passing a position it starts positioning operation as taking a Incremental position as much as override set in the start point of the step of position override instruction Ex It assumes that current location is 10 000 and operation data is specified as table below It assumes that position override amount is 15 000 Address Speed Pulse pls s 40 000 500 1 If operation step 3 starts target moves to 40 000 by absolute coordinates forward 2 If override is executed at the time current position is 30 000 during operation since it doesn t pass 15 000 b
208. ea RES I ee ee lt a ax o o o o o COMMAND Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This is for giving the emergency stop instruction to XGB built in positioning With respect to the positioning of the axis designated as ax at the rising edge of the input condition the output immediately stops the output stop status flag axis X K4205 axis Y K4305 turns On and error code 481 is issued If the emergency stop instruction is executed output is inhibited and the origin gets undecided so in order to resume operation set the origin return or floating origin or preset the current position to decide the origin b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction a Example of the Program M0001 K04200 Ir it EMG Xis BUSY 0 command END 0 o LOADP M0001 EMG command 2 ANDNOT K04200 XAxis BUSY EMG 0 0 IL program o w END b Operation of the Program If there is the rising edge of M0001 used as the emergency stop instruction signal the positioning axis X immediately stops the current operati
209. ed as follows 1 I O terminal block array Array of XGB high end transistor output type basic unit is as figure below Input PO E em rz enel s per eo pan one Pa PF P E P on pzs e em oma e ros e P one Output P2 based on XBC DN32H 2 Allocation of external input signal Input contact point no Signal name NE XBC DNOCH XEC DNFIEH Operation content Reference f Detected at the falling edge of input External lower X axis P0008 IX0 0 8 contact point limit eee i i Normally LimitL o Detected at the falling edge of input Y axis POOOA 01X0 0 10 contact point closed Detected at the falli d f input sinn S etected at the falling edge of input B contact External upper Xaxis P0009 IX0 0 9 contact point bain limit LimitH Y axis POOOB 1X0 0 11 Detected at the falling edge of input contact point X axis POOOC 1X0 0 12 When homing detected at rising edge DOG signal gt I Normally Y axis POOOE o1X0 0 14 When homing detected at rising edge opened contact point X axis POOOD IX0 0 13 When homing detected at rising edge Em contact ORIGIN signal P Y axis POOOF IX0 0 15 When homing detected at rising edge X Y Input common ais COM Input common terminal Chapter 1 General 3 Wiring example of external input signal In case of using positioning fun
210. ed controlled Operation control straight KX6738 9 KX6898 0 interpolation not controlled interpolation 1 interpolation controlled Return to origin KX6741 KX6901 P norrena Song 1 returning to origin Position A A 0 position not synchronized synchronization AKXG A2 Pepe 1 position synchronized Speed P 0 speed not synchronized synchronization ARXA AKKO 1 speed synchronized Jog low speed KX6744 KX6904 O egnobarlowepeed 1 jog at low speed 2 0 jog not at high speed 0 0 Jog high speed JoKX6745 JoKX6905 1 jog at high speed Inching operation 9 KX6746 KX6906 enor adn ena ape radon 1 during inching operation 3 50 Chapter 3 Before positioning 2 Status Monitoring Data Area a XBM XBC status monitoring area Device Area Variables i Axis X Address Address ey a 7 Double Current position word Current speed Mr Double word Shows current speed Shows current operation step Shows error code in case of an error Double word Shows current Shows current positon Error code Shows M code number when M code M code No is on b XBM XBC status monitoring area Device Area Variables i Axis Y Address Address Properties Double Double n Current position KD211 word KD216 word Shows current position Double Double Current speed KD212 word KD217 word Shows current speed Double P Step No KWA426 word KW436 Shows current operation step Error code KW427 Word KW4
211. edicated K area for area Mode change positioning Saving parameter Actual operation and operation data data Monitoring data WRT command lt Relationship between positioning parameter and K area gt XGB has a built in parameter area to save operation data and parameter written in the XG5000 and a dedicated K area for use of real positioning operation lf writing the embedded positioning parameter and operation data the downloaded data is saved in the built in parameter area permanently And in case of reading it reads built in parameter area XGB executes the initialization by copying the parameter and operation data saved in the built in parameter area to K area dedicated for positioning 1 In case of restarting after power cut 2 In case of changing PLC operation mode 3 In case of restarting PLC by reset command XGB built in positioning is executed by using data of K area and Flags that indicate the current operation status and monitoring data are displayed in the K area So the user can change operation data easily by changing the K area data eIn order to preserve the current K area data K area data should be applied to built in parameter area by using application command WRT command For detail list of K area refer to A2 2 After changing K area and not using WRT instruction if restarting after power cut or changing PLC operation mode K area is initialized For more detail of WRT instruction refer to 5 2 21 Cha
212. eed not synchronized synchronization 1 speed synchronized Jog low speed K4218 Kasis y S Panora lowspeed 1 jog at low speed 0 jog not at high speed Jog high speed E K4219 b K4319 1 jog at high speed Inching operation A K421A A Kaaa o notdunng inehing operation 1 during inching operation a XEC bit area flag Variables asx msy KX6720 KX6880 0 stop 1 operation KX6721 KX6881 Positioning KX6722 KX6882 0 not completed 1 completed completed M code signal 96KX6723 96KX6883 0 M code Off 1 M code On Origin settled 96KX6724 KX6884 0 origin not decided 1 origin decided No pulse output KX6725 KX6885 0 output available 1 no output Stopped KX6726 9 KX6886 0 not stopped 1 stopped Upper limit detected 90KX6728 KX6888 0 undetected 1 detected Lower limit detected KX6729 96KX6889 0 undetected 1 detected Emergency stop KX6730 KX6890 0 normal 1 abnormally stopped Normal backward 9 KX6731 9 KX6891 normal direction 1 backward rotation direction meque KX6732 KX6892 0 not accelerated 1 accelerated Operation KX6733 9 KX6893 0 not constant speed 1 constant constant speed speed operanon KX6734 KX6894 0 not decelerated 1 decelerated deceleration Operation dwell KX6735 KX6895 0 not during dwell 1 during dwell Operation K n 0 position not controlled positioning PEROT AKXGYIG 1 position controlled Operation P n 0 speed not controlled speed control PESTS AKXGYI 1 spe
213. eeeeeseeneeescees 5 29 5 2 12 Position Override Instruction i e ter e ERI E ctiesetenanehadens 5 32 5 2 13 Speed Override Instruction sssssssss eee 5 34 5 2 14 Positioning Speed Override Instruction eeeeeceeeceeeenee 5 36 5 2 15 Inching Starting Inst actlafkc s a ua cocoa i Meo peo dre ri better tito rette btedens 5 38 5 2 16 Starting Step Number Change Instruction ssseeeeeeeeeee 5 39 5 2 17 M Code Cancel Instruction 53 pe ee tig endet ie uh te ree Ree pepe de tein eued 5 40 5 2 18 Current Position Preset Instruction suse iE aet iei Re EE PUR RR ERU Deed 5 41 5 2 19 Emergency Stop Instrucliori aede dien enero nec toco tts tee dde eps 5 42 5 2 20 Error Reset Output Inhibition Inhibition Termination ssssssseee 5 43 5 2 21 Parameter Operation Data Save sssssssssseee eee 5 45 5 3 Positioning Function Blocks for BG uscite oesetu mte umo rato eni beato sei rotto beet tas tetaed 5 47 5 3 1 General Tor Function Block 7 dco npe tae e Eae rather taste tas ER Rt Rr aretUs 5 47 5 3 2 Function Block for Return to Origin sssseses e 5 48 5 3 3 Function Block for Floating Origin Setting ssse 5 51 5 3 4 Direct Start up Function Block sssssssssss eee 5 53 5 3 5 Indirect Start up Function BIOCK cccccccccceeecceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeess 5 56 5 3 6 Li
214. eeeeseeneneseeeees 5 88 5 3 21 Error Reset Output Cut off Release Function BIOCK ccccccccceseeesssseeeeeeeeees 5 89 5 3 22 Parameter Operation Data Write Function BIOCK ccccccccsseccceeseeeeeseseeeeeeees 5 91 Chapter 6 Positioning Monitoring Package 6 1 Introduction to Positioning Monitoring Package ceeeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaaaes 6 1 6 1 1 Introduction of Positioning Monitoring Package seeeeeen 6 1 6 2 Menus and Functions of Positioning Monitoring eeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaaaees 6 3 6 2 1 Monitoring and Command 3 m etes iiti ates Mb antt dirt ei perd an eI si DEA Dxtatte bleu depaus 6 3 6 3 Parameter Operation Data Setting Using Monitoring Package usus 6 8 6 3 1 Changing the Position Parameter eeeeee eene ense 6 8 6 3 2 Change of Position Operation Data epp note eade reet o Eie Peste edt 6 9 Chapter 7 Program Examples of Positioning 7 1 System Composition and Setting of Input and Output sssseseeeseeeeess 7 1 T 2 Program Examples uc auieaet elite tick te tetera fus enfe ecu as uae M tud ie b reddat 7 3 7 2 1 Floating Origin Setting Single Operation eeeeem 7 3 7 2 2 Straight Interpolation Operation sssssssssssssssssse ee 7 5 7 2 3 Deceleratiori Stop tre eet eite tone cer Pe E NE e ede Ye Ede a Le at 7 8
215. ell 50 ums 0 Word ul Vr ARAROA KW2496 KW2996 word 0 No 1 1 No 2 2 No 3 3 No 4 App 2 26 Appendix 2 Positioning Instruction and K area List nitial Dedicated K area Step Item Setting range l Coord Pattern Control 0 POS 1 SPD POS Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 SIN 1 REP 0 30 0 80 for high end value Xaxis Vaxis K25084 K30084 Data size KX40132 K25082 83 KX48132 K30082 83 KX40130 31 K25081 KX48130 31 K30081 KX40129 K25080 KX48129 K30080 KX40128 K2509 KX48128 K3009 KW2509 KW3009 Word Address pulse 2 147 483 648 2 147 483 647 pulse K2500 K3000 KD1250 KD1500 Double word M Code Coord Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 Speed 1 100 000 pulse s 0 Dwell 0 50 000 unit ms 0 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K2507 K3007 KW2507 K25086 87 KW3007 K30086 87 Word KX40134 35 K2504 KX48 134 35 K3004 KD1252 K2506 KD1502 K3006 Double word KW2506 KW3006 nitial Dedicated K area step Item Setting range value Xaxis Vaxis K25184 K30184 KX40292 K25182 83 KX48292 K30182 83 KX4029
216. em the system travels for the rest value of 5 000 and stops at position 20 000 and in Incremental coordinate system the system travels 20 000 again and stops at 35 000 Chapter 5 Positioning Instructions 5 3 11 Position Synchronization Function Block As shown below this is a synchronous start up instruction with the axis set up by the position synchronization instruction APM SSP as the sub axis according to the present position of the main axis For details see 3 1 8 Time Time main axis position synchronous i execution contact point i i i main axis starting contact point 1 Position Synchronization Start up Instruction APM_SSP Form Variable Data Type Description REN DNE Operation step No STEP MINE e Setting range 0 80 MST _ Main axis AXIS USINT e Setting range 0 1 0 X axis 1 Y axis MST_ DINT Target position of main axis ADDR e Setting range 2 147 483 648 2 147 483 647 a Function This instruction executes position synchronization start up to the XGB internal positioning At the rising edge of the input condition synchronized start up instruction is executed where the axis designated as AXIS is the sub axis and that designated in the MST_AXIS is the main axis Chapter 5 Positioning Instructions When the instruction is executed the sub axis does not out real pulses at this time the in operation state flag X axis KX6720 Y axi
217. embling machine grinder small machine center lifter and etc Servo Stepping Driver D H lt XGB positioning function general gt Stepping driver Stepping motor Program setting data moun CW puse string PLL CCW puse strng lt Positioning system inner block diagram gt Chapter 1 General 1 1 2 Features Positioning function features the followings 1 Max two axis 100kpps positioning XGB PLC can execute positioning of up to 2 axes with up to 100kpps 2 Diversity of positioning function XGB PLC contains various functions necessary for position system such as position control at any temporary position or constant speed operation a Operation data containing position address operation method and operation pattern may be set up to 80 steps per axis based on H type It executes position function by using this operation data b Linear control is available by using each operation data The control can also perform singular position control by one operation data and continual position control by several operation data c linear interpolation control is available d According to operation data and control types designated by parameters position control speed control position speed switching control and position speed switching control are available e It also provides various homing return functions 1 Homing return can be chosen among the following three Origin detectio
218. eous start up instruction APM SST is executed the 2 axes start up simultaneously as set up in the instruction operands set forth below 2 Since the BASE and SLOT are 0 the internal positioning of the base unit performs simultaneous start up 3 Since the operation step numbers of the X and Y axes are set to 1 and 2 respectively the 2 axes start up simultaneously using the operation data set up in the operation steps 4 Since the XGB internal positioning has no Z axis the Z axis operation step No has no influence on the operation 5 63 Chapter 5 Positioning Instructions 5 3 8 Velocity to Position Transfer Function Block Velocity Position transfer instruction APM VTP changes the axis presently in velocity control to position control and determines position to the target position For details see 3 1 4 1 Velocity Position Transfer APM VTP Form Description INST REQ DONE reference system to the target position APM YIP This instruction provides XGB internal positioning with velocity position transfer At the rising edge of the input condition the axis designated as the AXIS is transferred from velocity operation to position operation At this time the present position outputted from the previous velocity control operation is initialized to 0 and the system operates in absolute coordinates 2 Sample Instruction The sample program below shows the operation of the velocity position
219. eration step although M code comes out In this case M code Off instruction can be carried out even during operation For example the output timing of M code signals in case of After Mode can be illustrated as follows Mode Mode Keep single End Single Indirect starting Hunning M code On M code Off 3 47 Chapter 3 Before positioning Remark With M code signal On if you execute the next operation step number error code 233 will come out and the operation will not happen Therefore for positioning of the next operation step number with M code signal On you must reset M code signal as M code Off instruction MOF 7 Acceleration Deceleration Numbers Sets the Acc Dec numbers to be used in the step during the acceleration deceleration time set in the basic positioning parameter The setting range is 1 4 For details about the acceleration deceleration time see 3 2 3 8 Operation Speed Set the target speed at which to operate in the step The setting range is 1 100 000 pulse unit 1pps The operation speed should be set higher than or equal to the bias speed set in the basic positioning parameter and lower than or equal to the speed limit 9 Dwell Time The dwell time to be applied to the operation step The dwell time refers to the time needed to maintain the precise stop of the servo motor in controlling the positioning by using the servo motor and also the
220. eration time 2 Word KW497 Word Sets deceleration time 2 Word 960KW498 Word Sets acceleration time 3 Word 96KW499 Word Sets deceleration time 3 Word KW500 Word Sets acceleration time 4 Word KW501 Word Sets deceleration time 1 Upper limit of Doublewerd dos Daie Weri Sets upper limit value of software software Lower limit of Sets lower limit value of KD232 Double word KD252 Double word software Y Sets backlash correction Backlash correction 96KW466 Word 96KW506 Word value o 9 ES lee o Sets origin address for origin Origin address KD234 DPouble word o Kp254 Double word 9 g return High speed of origin Sets high speed for origin gn sp g KD235 Double word KD255 Double word g p g return return Low speed of origin R q KD236 Double werd KD256 Double word Sets low speed for origin return i i Sets acceleration time for origin KW475 Word jokwsi5 Word g return Deceleration time for Sets deceleration time for origin KW476 Word jokwsie Word s return Dwell time for origin 9llekwazz We d lekws4z Word sets dwell time for origin return Sets high speed for jo KD239 Double word 9 KD259 Double word g p Jog operation KD240 Double word o gg Double word Den low speed for jog operation eer Sets acceleration time for jog 96KWA483 Word 96KW523 Word j operation ar Sets deceleration time for jog KW484 Word KW524 Word operation Sets operation speed for Inching s
221. ermanently le Setting Value 0 1 2 Karea tobe Positioning Pigh speed PID Control Counter preserved Data Data Data If WRT AXIS is set to 0 the present operation data in the WRT AXIS USINT exclusive K area of the positioning functions X axis and Y axis are permanently stored as the positioning parameters If it is set to 1 the setting data in the exclusive K area of all the high speed counter channels are stored permanently as the high speed counter parameters If it is set to 2 the setting data in the exclusive K area in the internal PID s 16 loop are stored permanently as the PID parameters At this time although the value set up with AXIS is the operand which does not have influence on the execution of the APM_WRT instruction however be careful that if it exceeds the setting range 0 1 11 is outputted to STAT and the instruction is not executed Chapter 5 Positioning Instructions 2 Sample Instruction a Sample Program SavePositi oninaData APM WRT c Program Operation At the rising edge of the store positioning data signal used as the parameter saving reference signal the operation data in the exclusive K area of the positioning functions X axis and Y axis are permanently stored as the parameters in the XGB s flash memory Take care that when the APM WRT instruction is executed the positioning parameters previously stored are replaced with the operation data
222. error Stop clear the error with CLR command 511 Direction turning error during sequential operation Check whether the direction are turned during sequential operation NT A step over 30 was set in a command Re set step number 512 Step number error during indirect start Stop between 1 30 Cosa Check whether it repetitively operates a step of which address is 0 513 Address error during indirect start Stop KA during indirection start APP 1 7 Appendix 2 Positioning Instruction and K area List Appendix 2 Positioning Instruction and K area List Appendix 2 1 Positioning instruction list Instruction used in the XGB positioning is as follows For detail refer to ch 5 2 Instructi on Command Home starting Instruction condition Slot command axis Float origin setting Slot command axis Direct starting Slot command axis position speed dwell time M code control word Indirect starting Slot command axis step no Linear interpolation starting Slot command axis step no axis information Simultaneous starting Speed position change Slot command axis X step Y step Z step axis information Slot command axis position speed change Stop Slot command axis Slot command axis DEC time Position synchronization Slot command axis step no main axis position main axis setting Speed synchronization Slot command axis sy
223. escription Operation Countermeasures code 384 Positioning speed override command is unavailable to an E Check whether an axis was not operating as a sub axis of linear eration sub axis of linear interpolation operation j interpolation at the time of positioning speed override command Check whether an axis was not operating as a sub axis of Positioning speed override command is unavailable to an TOUR Operation synchronic operation at the time of positioning speed override sub axis of synchronic operation Y command f Check whether an axis was not operating at the time of inching 401 Inching command is unavailable during operation Operation command f Check whether an axis was not in no output status at the time of 402 Inching command is unavailable in no output status Stop ner inching command f Check whether an axis was not operating at the time of jog start 411 Jog start command is unavailable during operation Operation command Check whether an axis was not in no output status at the time of 412 Jog start command is unavailable in no output status Stop i jog start command Start step number change repeat operation start step f ae f i f Check whether an axis was not operating at the time of start step number designation command is unavailable during Operation number change command operation Start step number change repeat operation start step Check
224. fer signal used as the position velocity transfer reference signal the PTV instruction is executed Present position control mode is changed to velocity control mode The present position is not preset and only control mode is changed After changed to velocity control to stop operation used the stop instruction APM STP When using this position velocity transfer instruction as shown in the sample program above use the position control indicator flag X axis KX6736 Y axis KX6896 to prevent instruction from being executed during velocity operation Chapter 5 Positioning Instructions 5 3 10 Deceleration Stop Function Block This APM STP instruction decelerates a running axis at the rate specified in the instruction to stop it For the details of the stop function in positioning operation including deceleration stop see 3 1 11 1 Decelerate to Stop Instruction APM STP Form Variable Data Type Description APM_STP REQ DONE Deceleration time peeve at e Setting range 0 65 535 a Function This instruction executes deceleration stop to XGB internal positioning At the rising edge of the input condition the axis designated to be the AXIS decelerates and stops at the deceleration time set up in the respective operation step elt the deceleration time setting is 0 the XGB positioning stops immediately without waiting the time for deceleration In this case the motor may make impact sound
225. fic position set in the instruction For details refer to 3 1 10 1 Positioning speed override instruction PSO Areas available Flag Instruction n Step Error Zero Carry PMK F L T C S Z Dx kiea U N D R F110 F111 F112 SE ec SUR Sex el Sel eee 8e s t Is bre ee a PSO ax o o o o o 4 7 i n1 o o o o o n2 o o o o o COMMAND Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 Position to change the speed 2 147 483 648 2 147 483 647 DINT n2 Operation speed to change 0 100 000 pps DWORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the positioning speed override instruction to XGB built in positioning The positioning speed override is executed at the axis designated as ax at the rising edge of the input condition and if the current position reaches the position set in n1 during operation the current operation speed is overridden to the speed set in n2 The positioning speed override instruction is available in the deceleration and acceleration sections and if the positioning speed override is executed durin
226. g deceleration or dwell no error code is issued but the instruction is not executed either b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed Chapter 5 Positioning Instructions 2 Example of Use of the Instruction a Example of the Program K04200 K04201 k7 XAxs BUSY XAxis Error K04200 K0420F K0420E n A XAxis BUSY XAxis Move XAxis Move Status Dwe Status Dec 1 eleraton ANO KD4200 XAx amp BUSY IL program XM M 1 ANO NO KD420F Status Owei LU XAxs Move 1 ANO NOT K0420 Status Dece leeaton 13 PSO 0 0 50000 15000 19 END b Operation of the Program e If there is the rising edge of M0000 used as the indirect starting instruction signal positioning axis X is indirectly started with operation step 1 f there is the rising edge of M0001 used as the instruction signal of the positioning speed override instruction during operation operation continues by changing the operation speed to 15 000 pps when the position of the currently operating step reaches 50 000 Chapter 5 Positioning Instructions 5 2 15 Inching Starting Instruction The inching starting instruction INCH is moving to the position set in the instruction at the inching speed set in the origin manual parameter For details refer to 3 1 12 1 inching starting instruction INCH
227. g decision After completing Origin return the Origin determination bit X axis 96KX6724 Y axis KX6884 turns on and the present address is preset to the address setup with the Origin return parameter 2 Related Device List The parameters related with the APM ORG instruction and the exclusive K area devices are presented in the table below Parameter Exclusive K Area Data Type Title Setting Range X axis Y axis Attribute Origin returning 9 DOG Origin Ofi KX7648 KX8288 Read Writ Bool 1 DOG Origin On method 2 DOG KX7649 KX8289 e Origin returning o normal 1 reverse KX7650 wxa29o Read Writ direction e 2 147 483 648 Read Writ 2 147 483 647 pulse KD234 KD254 E Origin address Origin return high 1 100 000 pps KD235 KD255 Read Writ speed e Origin return low 1 100 000 pps KD236 KD256 Read Writ speed e Origin return Read Writ e 0 10 000 ms KWA475 KW515 accelerating time e Origin retum 0 40 000 ms KWA476 KWws16 Read Writ decelerating time e Read Writ e Dwell time 0 50 000 ms 90KWA477 KW517 Chapter 5 Positioning Instructions 4 Exemplary Instruction An example of return to Origin instruction execution is explained with the exemplary parameters and sample program as presented below The example of the APM ORG instruction is with reference to the X axis a Parameter Setting P
228. h axis is operating If it is executed during stop it may cause error If position speed switching command is executed during operation by speed control the command is ignored But at this time error is not occurred 3 1 5 Position speed switching control It change position control to speed control by switching command VTP instruction In case of position speed switching control items affecting the operation are different according to control method In case position control all items affect the operation but in case of speed some items affect the operation as shown below Step Patt Cont Met REP Address AID No Speed Dwell no em rol hod Step pulse pls s ns These items don t affect the operation in case of position speed switching First object moves by position control If position speed switching control is executed object will move by speed control At this time the current position is not initialized Only control method changes into speed control and it continues operation When control method changes some items in operation data doesn t affect the operation 1 Example e tassumes that operation data is specified as shown table 3 5 zn Coord Contr Metho Rep Address A D Speed hed bebe ach pusa LES pam LOLJEGERN CE EE lt EAE 3 5 operation data example of position speed NEN E control gt If step no 1 in table 3 5 starts object moves by position control according to
229. h5 3 High Speed 8 High Speed Counter Ch1 Counter Ch6 4 High Speed 9 High Speed Counter Ch2 Counter Ch7 Speed ratio of sub axis SCVOSAT BITE e Setting range 1 10 000 0 01 100 0096 Sub axis delay time BEN USINT e Setting range 1 10 1 10ms a Function This is the instruction for executing speed synchronized start up to the XGB internal positioning At the rising edge of the input condition speed position synchronized start up instruction is executed with the AXIS as the sub axis and the axis designated in the MST AXIS as the main axis When the instruction is executed the sub axis does not output real pulse at this time the in operation state flag X axis KX6720 Y axis KX6880 of the sub axis is ON and when the main axis MST AXI starts the sub axis starts at the speed synchronization ratio set up in the AXIS The synchronization ratio which can be set up in the SLV RAT is 0 0196 100 0096 setting value 1 10 000 If the setting exceeds this range error code 356 is created The DELAY time is the time required for the speed of the sub axis to reach the present speed of the main axis In the XGB internal positioning function for speed synchronization control the present speed of the main axis is detected at every 500 45 to control the speed of the sub axis Here if the speed of the sub axis is synchronized to that of the main axis without delay time the motor and drive may receive excessive impact For example
230. hapter 7 Program Examples of Positioning a Devices Used Device Description Axis X error reset output inhibition cancel switch axis X floating origin switch axis X indirect start switch axis X position override switch Signal during axis X operation Error signal of axis X axis X constant speed signal 2 XEC When error occurs resets error and cancels ouptut inhibition INSTB 1X0 1 0 SKXb721 APM RST P REQ DONE X RST DONE ErrorReset XAxis SW Error 0 4BASE STAT X_RST_STAT 0 SLOT 0 JAXIS 1 4 NH_ OFF sets axis X floating origin INST1O S1X0 1 1 SKXB720 SKXB721 APM_FLT LL AZpL PQREQ UONEL X FLT DONE Floating XAxis BUSY XAxis origin SW Error 4BASE STAT X FLT STAT Chapter 7 Program Examples of Positioning Axis X indirect start INST23 81X0 1 2 SKXB720 SKXB721 APM_IST IP l l REQ GONE X IST DONE Indirect X xis BUSY X xis start Error 0 BASE STATE X_IST_STAT 0 SLOT 0 AXIS 1 STEP Override position into 60000 INST25 81XD 1 4 SKXB720 SKXB721 SKXB733 APM POR REQ DONE POR DONE Position X xis BUSY X xis X xis Move Override Error Status Con stant 0 BASE STAT POR STAT 0 SLOT 0 AXIS 60000 a Devices Used Device Description 961X0 1 0 Axis X error reset output inhibition cancel switch 961X0 1 1 axis X flo
231. he product and in the user s manual have the following meanings AN Be careful Danger may be expected AN Be careful Electric shock may occur After reading this user s manual it should be stored in a place that is visible to product users Safety Instruction Safety Instructions when designing gt Please install protection circuit on the exterior of PLC to protect the whole control system from any error in external power or PLC module Any abnormal output or operation may cause serious problem in safety of the whole system Install applicable protection unit on the exterior of PLC to protect the system from physical damage such as emergent stop switch protection circuit the upper lowest limit switch forward reverse operation interlock circuit etc If any system error watch dog timer error module installation error etc is detected during CPU operation in PLC the whole output is designed to be turned off and stopped for system safety However in case CPU error if caused on output device itself such as relay or TR can not be detected the output may be kept on which may cause serious problems Thus you are recommended to install an addition circuit to monitor the output status Never connect the overload than rated to the output module nor allow the output circuit to have a short circuit which may cause a fire Never let the external power of the output circuit be designed to be On earlier than PLC power which may
232. hen M code is output after the step operation is completed For XGB built in positioning the standard type has only the After mode and the advanced type has all modes For example if M code output mode is set as the After mode the positioning of the step is completed and at the same time the M code On signal axis X K4203 KX6723 axis Y K4303 99KX6883 is set and the M code number set in the M code item of the step operation data is output in the M code output device axis X K428 KW428 axis Y K438 KW438 M code can be set differently for the operation steps of the positioning operation data The setting range is 1 65 535 If you don t want to use M code function for the step just set it at O If you don t want to use M code function for any step set the M code output mode parameter as NONE If there is the M code signal you can reset it by using the M code Off instruction MOF If there is the M code signal the operation differs depending on the current operation pattern a End Stops with M code coming out For operation of the next operation step the M code should be reset and the operation instruction should be executed b Continued Enters the Stand by status for operation of the next step with M code coming out For operation of the next operation step if the M code is reset the next operation step is operated without additional operation instructions c Incessant Does not stop and operates the next op
233. here refer to relevant driver s user manual 1 Connection to a servo motor driver MR J2 J2S A HC MF HA FF Series motor In torque limit 97 9 1 E Analog torque limit 10V Max limit Less than 2m TLA NF i y Ges Power supply 71 V 3 phase 200VAC aN i i w A EMG Bi X Peu Rs ea p 24VDC Be 1 Electronical brake i Off by server On signal j i XGB PLC Less than Max 2m Cutoff by alarm signal Detector CN2 H ne Note3 Common 1 Common COM COM 24V Input oc2av oceav L1 l L l jJ Note 2 onan ros Pos Ede e uim Poo Poe oo mi A ois Pej to e oS o o oy ee ee E porsona s p M 5 i8 ff O computer Common COMO Input l pp ied Tes External Emg stop ONIE Deere ee ie js en eee samy Monitor output Proportional control rpc GND ii ii A fo teint a 8 L 4e ma roma iperation limi LSP 16 soia Reverse operation limit mI el 10k z Less than 2m VDD 3 Zero speed detection pttocr ber m9 Luc 6 L 1 ma 79 Note1 The rating of XGB origin input is DC24V Make sure to connect the open collector output of a driver Note2 Although origin DOC upper lower limit signals are with fixed contact it may be used for general input if they are not used Emergency stop is available by the command EMG Note3
234. il hongkonk vip 163 com Tel 86 28 8612 9151 Fax 86 28 8612 9236 a LS Industrial Systems Qingdao Office gt gt China Address 12th Floor Guodong building No52 Jindun Road Chengdu China e mail bellkuk hanmail net Tel 86 532 580 2539 Fax 86 532 583 3793 X LS Industrial Systems constantly endeavors to improve its product so that 2009 8 Information in this manual is subject to change without notice LS Industrial systems Co Ltd 2006 All Rights Reserved
235. in is i Stop Check whether operation data to operate and the current origin set set Position speed switching command is unavailable during ssl Check whether an axis was not in linear interpolation operation at eration linear operation 4 the time of position speed switching command 292 293 94 296 301 302 304 312 314 321 322 341 342 343 344 APP 1 5 Appendix 1 List of Error Codes Error 346 Position synchronic command is unavailable without origin si Check whether main axis was without origin set at the time of o of main axis set n position synchronic command 347 There is an error of setting main sub axis of position st Check whether main axis of position synchronic command was not o synchronic command j set equally with command axis 351 Speed synchronic command is unavailable during PEN Check whether an axis was not operating at the time of speed eration operation d synchronic command Speed synchronic command is unavailable in no output st Check whether an axis was not in no output status at the time of o status n speed synchronic command f Check whether M code signal of an axis was not On at the time of Speed synchronic command is unavailable with M code On 3 3 There is an error of main sub axis setting of speed 3 2 set of main axis gt 5 3 There is an error of synchronization ratio setting of speed synchronic command Delay time setting error Position override command is un
236. in signal is inputted it detects the origin signal after DOG changes On gt Off b DOG Origin On When DOG is on it detects the origin after deceleration If DOG signal is on and origin signal is inputted after deceleration it detects the origin c DOG It detects the origin by using DOG signal For more detail of home return method refer to 3 1 9 2 Home Return direction Home Return direction is divided into CW forward and CCW backward depending on pulse output direction ecuing Bone Relay Pulse output operation of XGB positioning module value direction 0 Forward Executing forward home return 1 Backward Executing backward home return 3 Origin address It is used to change the current address to a value set in home return address when home return is completed by home return instruction setting range 2 147 483 648 2 147 483 647 unit Pulse 4 Home Return high speed As a speed when it returns home by home return instruction it is divided into high speed and low speed t refers to a speed operating in regular speed section via accelerating section by home return instruction The range of home return high speed is between 1 100 000 unit pps 5 Home Return low speed t refers to a speed operating in regular speed section via decelerating section from home return high speed by home return instruction The range of home return low speed is between 1 100 000 unit pps When setting home
237. ing Position Sync Position synchronization reference signal Indirect start Main axis indirect start reference signal Sub axis Y axis position being controlled signal KX6881 Sub axis Y axis in error state KX6724 X axis reference determined state KX6884 Y axis reference determined state Main axis X axis position being 0 liia controlled signal KX6721 Main axis X axis in error state KX6880 c Program Operation At the rising edge of the position synchronization signal used as the position synchronization reference signal APM SSP instruction is executed At this time since the AXIS is 1 Y axis Y axis is the sub axis and as the MST AXIS is 0 X axis X axis is the main axis At the rising edge of the indirect start up signal which is the indirect start up reference signal of the main axis No 1 step of the X axis starts indirectly During operation when the present position of the main axis reaches 100 000 Pulse set up in the MAST ADDR of the APM SSP instruction the Y axis which is the sub axis starts up the operation step No 1 set up in the STEP of the APM SSP instruction Chapter 5 Positioning Instructions elf the axis set up as the main axis has been started up as the sub axis of position synchronization error code 349 is outputted to STAT and the position synchronization instruction is not executed In the example shown below at the rising edge of the Y
238. ing operation is unavailable when the f n i Stop Check whether operation data to operate and the current origin origin of linear interpolation s sub axis is not set i set Main axis and sub axis of linear interpolation are set Stop Re set the axis date as 3 of linear interpolation command incorrectly Check whether the target position of operation data of a step for B 2v Linear interpolation is not available when the target B a M Stop linear interpolation was not the present status in case of absolute position of main axis does not have a target position coordinate or set to 0 in case of Incremental coordinate TA ps Check whether the control method of main axis operation data Linear interpolation is unavailable when main axis is step for linear interpolation operation was not set by speed controlling speed e e o o 5 control APP 1 4 Appendix 1 List of Error Codes Error E Code Description Operation Countermeasures 355 Linear interpolation is unavailable when sub axis is St Check whether the control method of sub axis operation data step o controlling speed for linear interpolation was not set by speed control Check whether an axis with error was not contained in concurrent 291 Concurrent start command is unavailable during operation Operation start command and whether there wasn t any operating axis at the time of the command Cohcdmshbstanccomman
239. ing package consists of the command window for positioning test operation and positioning monitoring window as shown above If you click on the Start Monitor button at the left bottom of the package the monitoring and command function is activated to make various commands and current status monitoring functions available f you start the command on the left the corresponding functions are activated without the program and the status is displayed on the monitoring window on the right Wil Positioning Command v Anis Signal Axis Indirect Start Step 4 Position Error Reset 1 Reset Output Enable Run Speed Step No Error Code M Code BUSY Pos D pls Spd 1 pls s Dwell Oms Direct Start Mcode 0 Position Complete Acc Dec No No 1 M Code ON Cordinate ABS Origin Fix Control POS Output Inhibit M Code OFF Stop Dec Stop Time Oms Upper Limit EMG Stop Lower Limit ON EMG Spd Spd Override p CW CEW Pos Override Pos Operation Status Spd Mots with Pos Control Pattern asition Home Return Home Return Position Syne FLT Speed Sync Pasition Preset JOG High Speed Start Step No JOG Low Speed in mugscccul Inching Inching Joa Ext Signal Axis Axis Signal Y xis Signal INR Chan Upper Limit P1 P3 OFF Monitoring Stop Monitor Write PLC Save Project
240. ion operation it may cause error Operation method operation pattern speed limit dwell time is specified as that of main axis Speed acceleration deceleration time bias speed of subsidiary axis is calculated again automatically Backlash compensation amount SW upper lower limit is specified as it is for each axis 3 1 7 Concurrent start control It starts each step for each axis concurrently by concurrent start control SST instruction If SST instruction is used it can remove delay of start caused by scan time delay carting arp ud ssr O xsiepn o ystep xo dummy dummy 1 ist 2 Xaus stepeo speed speed Targe speed 777777777 speeq Dwell time gt time Time Targel 1 Tar i gel 5 i speed i 1 i l Dwell aped i NP time Dwell time EN H gt time i d Time rH E On 3 Eg stating ry i 4 On X axis i i i Complete d On X complete T i signal On signal Y axis Complete BEE Y complete signal signal In case of starting each axis in the In case of using SST command scan program SST instruction can be executed when two axes stop If SST instruction is executed again after stop in case of incremental coordinates the current position is initialized as 0 3 12 Chapter 3 Before positioning 3 1 8 Sync control eIn sy
241. ira K840 Double word pulse KD270 KD420 K547 K847 M Code 0 65 535 Word 96KW547 96KW847 A D No 0 No 1 1 No 2 2 No 3 3 No 4 psig Bea EN KX8774 75 KX13574 75 Speed 1 100 000 pulse s 0 pot Ren Double word KD272 KD422 Dwell 0 50 000 unit ms 946 5848 Word 9 KW546 9 KW846 A D No 0 No 1 1 No 2 2 No 3 3 No 4 0 Method 0 SIN 1 REP REP Step 0 30 0 80 for high end App 2 4 Appendix 2 Positioning Instruction and K area List Item Setting range Initial Dedicated K area Data size value Xaxis Yaxis Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K5584 KX8932 K5582 83 KX8930 31 KX13729 K5580 K8580 Kx8928 KX13728 K559 K859 9 KW559 9 KW859 K8584 KX13732 K8582 83 KX13730 31 Bit SIN Word Address pulse 2 147 483 648 2 147 483 647 pulse K550 K850 KD275 KD425 Double word M Code Speed Dwell 0 50 000 unit ms 0 LN Coord Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K557 K857 Word KW557 KW857 K5586 87 K8
242. is time setting of subsidiary axis is ignored and operates according to the operating status of main axis Chapter 3 Before positioning Positioning Em Instru function Operation description CHOR Ref DERI ORG Ch 5 2 1 MINE VUE pat m APM Ch 5 3 2 ORG Operation dicta 1 pattern T Home return 8 5 4 Operation It goes to home direction and detects the mechanical origin P At this time home method can be specified by operation parameter POR Ch 5 2 12 Speed APM_ Ch 5 3 13 POR Operation Fi i Li Position override pattern aa EE time b dii i i ien fi Operation It changes the target position by position override command speed SOR Ch 5 2 13 APM_ CH 5 3 1 SOR 4 Changed speed Initial setting Operation Speed override pattern a aaa mil Speed ee til Operation It changes the speed by speed override command speed PSO Ch 5 2 14 APM_ Ch 5 3 15 PSO Changed speed Be Initial setting speed H Operation NUN Speed override pattern j Dwaltime with position i sm f Speed override fi command with position Operation It changes the speed at the designated position by speed override with position command 3 3 Chapter 3 Before positioning 3 1 2 Position control Position control is to move the designated axis from start address present po
243. it KX15654 55 K974 Double word KD487 K976 0 Dedicated K area X axis Y axis K6884 K9884 KX11012 KX15812 K6882 83 K9882 83 KX11010 11 KX15810 11 KW976 K6881 K9881 wm KX11009 KX15809 m fat KX15808 K989 KW989 Initial value ABS END POS KX11008 K689 KW689 Word Address 2 147 483 648 2 147 483 647 pulse K680 KD340 K980 KD490 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 11 K687 KWE87 K6886 87 KX11014 15 K684 KD342 K686 Y KWE86 K987 Word 96KW987 K9886 87 KX15814 15 BUT Double word KD492 K986 KW986 Appendix 2 Positioning Instruction and K area List Setting range Initial Dedicated K area Datasize value Xaxis Yaxis Coord Pattern Control Method REP Step 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end 25 K6984 K9984 om KX11172 KX15972 ERE K6982 83 K9982 83 a KX11170 71 KX15970 71 Pos K6981 K9981 NM 9 KX11169 KX15969 K6980 K9980 EN KX11168 KX15968 K699 K999 KW699 KW999 Word Address 2 147 483 648 2 147 483 647 pulse K690 K990 KD345 KD495 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms K697 K997 KWE
244. ition set in n1 of the instruction by force If the origin is not fixed the origin fixed status axis X K4202 axis Y K4304 turns On and the origin is fixed If the current position preset instruction is executed and if the axis is currently operating error code 451 is issued and the instruction is not executed b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction a Example of the Program K04200 L M0001 e t Q PRESET XAxis BUSY 0 0 LOADP M0007 PRESET ANDNOT K04200 XAxis BUSY PRS 0 0 IL program eo b Operation of the Program If there is the rising edge of M0001 used as the current position preset the current position of the positioning axis X changes into 0 which has been set in the instruction and the origin determining bit turns On Chapter 5 Positioning Instructions 5 2 19 Emergency Stop Instruction The emergency stop instruction is immediately stopping the current positioning operation and the output For details refer to 3 1 11 1 Emergency Stop Instruction EMG Areas available Flag Instruction d Step Error Zero Car ry PMK F L T C S Z Dx din U N D R F110 F111 F112 eie
245. k whether pulse is actually supplied to the motor driver by using the oscilloscope If the motor driver isn t working despite the pulse actually being supplied refer to the manual of the motor driver and check whether there is an error of the driver Appendix 1 List of Error Codes Appendix 1 List of Error Codes 1 1 List of PLC Error Codes The general error codes that might occur during XGB operation are as follows To check the error codes access XGB with XG5000 and execute online gt PLC error warning menu LED Detected Action to take status during There is a problem with the i 0 5 second Re download and run the project program to run Flicker 0 5 second BUNC de 24 Over I O parameter Check the preservation by reading I O parameter or basic Minor Flicker Sr ereic parameter according to the error code type If there is a problem correct it to Write with PLC and check the operation Reset If the problem still goes on replace the basic unit 05 second RUN mode Flicker conversion Over basic parameter The module set in I O parameter does not match the actually mounted module Correct the I O parameter for it to match the actually mounted 0 5 second RUN mode module and write with PLC icker conversion Module is removed or another f 1 second module is mounted during Turn OFF gt ON Serious icker Every scan i operation Data of input and output 1 second modules duri
246. lectable from 4 types of acceleration deceleration patterns 100 kpps lt Performance specifications gt 1 3 Chapter 1 General 1 3 Operation Sequence of Positioning 1 3 1 Operation Sequence of Positioning Operation sequence is as follows Summary of built in positioning Installing PADT Configuring positioning system Wiring PLC driver external device Setting positioning parameter Setting servo parameter Supplying power Testing basic operation Checking m al i Yes Writing program for positioning Executing positioning H al operation Yes Check the summary of XGB built in positioning Check the general contents such as characteristic performance spedfication of XGB positioning function XBM DN S V1 2 or above XBC DN H V2 2 or above XEC DN H V3 0 or above Install XG5000 to use XGB Check the version Select deiae to configure positioning system Check the XGB s pulse type and suitable device XGB supports open collector type Wire signal line such ss power IO between PLC and peripheral Set common parameter such as Home Method ACC DEC time ABS INC coordinates Set servo driver parameter according to positioning parameter of XGB Test the operation by using XG5000 By XG5000 spedsl module monitor Programming for positioning 1 4 Chapter 1 General 1 3 2 Flow of position signal Flow of position signal is as follows xG main unit D
247. leration and deceleration time and speed of axis Y which is the auxiliary axis does not follow the set value but automatically calculated for operation 6 That is axis X and axis Y are designated as the main and auxiliary axes respectively by starting of the LIN instruction it moves by 7000 2000 to the relative position and the operation ends 5 17 Chapter 5 Positioning Instructions 5 2 6 Simultaneous Starting Instruction The simultaneous starting instruction SST instruction is for simultaneously starting the steps of the axes set in the instruction For details refer to 3 1 7 1 simultaneous starting instruction SST Areas available Flag Instruction em Step Error Zero Car ry PMK F L T C S Z D x R x pa U N D R F110 E111 E112 sl Oo E ax o Oo fe e o SST n1 o o Oo Oo Oo 4 7 g n2 o o Oo Oo Oo n3 o o o o n4 o o o o o a Area Seiting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 axis X Step No 0 30 standard 0 80 advanced WORD n2 axis Y Step No 0 30 standard 0 80 advanced WORD n3 axis Z Step No Not used WORD n4
248. mented such as termination continue continuous single or repeated operation etc Chapter 5 Positioning Instructions 2 Sample Instruction Indirect start up instruction is explained with the sample program shown below The sample IST instruction is described with reference to X axis a Sample Program MAD SKXb720 SKXB721 APM_ORG PEL s S amp MX123 StartHomin POS X Bus POS X Err DONE g y D amp MIIS21 STAT 0 0 INST4 amp MX321 SKXB 72D SKXb721 APM_IST a se REQ DONE SMX123 IndirectSt _POS_X_Bus _POS_X_Err DONE art y 0 sM321 STAT 0 0 amp MII123 STEP b Used Devices Device Description Data Size Setting Examples Reference X axis reference return BOOL Determination instruction signal X axis indirect start up Indirect Start BOOL instruction signal KX6720 X axis in operation signal BOOL KX6721 X axis error state BOOL STEP Start up step No UINT 3 Chapter 5 Positioning Instructions Step Coordi Op Contro Op Rep Target M Accl de Op Speed Dwell No nate Pattern Type Type Step Pos Pulse Code c No pls s Time ms s re rem me 9m o vm o 1 w v c Program Operation When the rising edge of the Indirect Start up uses as the X axis indirect start reference signal is generated the APM IST instruction is executed However if X axis is in operation or error state the instruction is not executed elf the O
249. n Safety Instructions when wiring Prior to wiring be sure that power of PLC and external power is turned off If not electric shock or damage on the product may be caused Before PLC system is powered on be sure that all the covers of the terminal are securely closed If not electric shock may be caused N Caution Let the wiring installed correctly after checking the voltage rated of each product and the arrangement of terminals If not fire electric shock or abnormal operation may be caused Secure the screws of terminals tightly with specified torque when wiring If the screws of terminals get loose short circuit fire or abnormal operation may be caused And if the screws of terminals too tighten it may cause dropping of product short circuit or abnormal operation may be caused due to damage of screw or module Surely use the ground wire of Class 3 for FG terminals which is exclusively used for PLC If the terminals not grounded correctly abnormal operation may be caused Don t let any foreign materials such as wiring waste inside the module while wiring which may cause fire damage on the product or abnormal operation Connector of extension connection is using designated tools pressing or properly soldering Safety Instruction Safety Instructions for test operation or repair gt Don t touch the terminal when powered Electric shock or abnormal operation may occur Prior to cleaning or tigh
250. n DC 19V above 3 4 MA above voltage current DC 6V less 1 1 mA less voltage current Response time 0 5 ms Jess used for input for positioning Min input width 200 4s above No Contact No Contact TB1 RX TB2 485 TB3 TX TB4 485 TB5 SG POO TER P01 IX0 0 0 TB7 P02 IX0 0 1 TB8 P03 IX0 0 2 TB9 P04 IX0 0 3 TB10 IP configuration Tp12 PS LIX0 0 5 and terminal 1X0 0 6 TB13 P07 array Pog IX0 0 7 TB14 Po 1X0 0 8 TB15 POA IX0 0 9 TB16 ue 1X0 0 10 TB17 POC IX0 0 11 TB18 Po IX0 0 12 TB19 POE 1X0 0 13 TB20 POF IX0 0 14 TB21 1X0 0 15 TB22 COM TB23 24G TB24 24V 24 Chapter 2 General Specification 2 3 2 Output specification 1 Standard type output contact point specification Conta X axis ctno Y axis Signal name Pulse string output DC5 24V DC4 75 26 4V Rated load voltage P0020 P0021 P0022 P0023 ction output Dire Max load current Insulation method Inrush current 1A 10 ms or below Voltage drop when On Leakage current when Off Response time 0 1A 1 point or below Photo coupler insulation DC 0 3V or below 0 1 mA or below 0 1 s or below Rated load resistor load Circuit configuration and connector array standard type Internal circuit wa N 8 B 2 5 Contact 02 12 24V 01 No A10 A09 A08 A07 A06 A05 A04 A0
251. n after DOG Off When DOG On Origin detection after deceleration Origin detection by DOG 2 temporary position can be set as machine s origin by using floating origin setting function 3 Easy maintenance It saves data such as position data and parameter into flash memory of main unit permanently The modified data during positioning can be preserved in the flash memory by application instruction WRT APM WRT instruction 4 XG5000 can perform self diagnosis monitor and test a Diagnosing of I O signal line b It can test all functions of built in positioning or check the current operation status without program through special module monitoring c It is easy to take action because the user can check error by error occurrence flag Ch0 K4201 Ch1 K4301 KX6881 and error code Ch0 K427 KW427 Ch1 K437 KW437 easily XGB positioning system Reference For parameter setting refer to Ch3 2 and Marce for operation data setting refer to Ch3 3 XGB series For instruction of positioning refer to Ch5 i For I O signal refer to Ch1 4 Chapter 1 General 1 2 Performance specifications 1 2 1 Performance speci fications of XGB built in positioning The performance specifications of positioning function are as follows Here standard type s name is XBM DNooS and high end type s name is XBC XEC DNooH Each type is indicated as S type an
252. n positioning when controlling the speed synchronization the speed of the current main axis is detected every 500 4s and thereby the speed of the auxiliary axis is adjusted If the speed of the auxiliary axis is synchronized to the current main axis speed without a delay time and immediately changed there might be damage or shock noise to the motor due to the sudden change of the auxiliary axis speed For example assuming the speed ratio is 100 0096 and the delay time is 5 ms if the speed of the main axis is 10 000 pps the XGB built in positioning adjusts the speed of the auxiliary axis according to the speed of the main axis every 500 4S by adjusting the current speed for the speed of the auxiliary axis to reach 10 000 pps The longer the delay time the longer the delay time between the main axis and auxiliary axis but the output pulse is stably output If there is likely to be step out of the motor lengthen the delay time 5 29 Chapter 5 Positioning Instructions The delay time settable for n2 is 1 10 ms If it gets out of the settable range error code 357 is issued The main axis of n3 is settable between 0 and 9 If it gets out of the settable range error code 355 is issued Set Main axis setting Remark value axis X axis Y High speed counter ChO High speed countCh1 High speed countCh2 High speed countCh3 High speed counter Ch4 High speed counter Ch5 Only the advanced type is High speed counter Ch6 settable
253. n time 100 ms e POOOF IX0 1 7 parameter teaching switch On after positioning is completed positioning basic parameter is changed POOOA IX0 1 2 indirect start switch On axis X indirectly starts step 1 again speed 3 000 pps target position 5 000 Pulse acceleration deceleration time changes to 50 ms and operates Permanent Storage of Teaching Data If you have changed the operation data and parameter by using the DMOV instruction you need to use the WRT instruction to save the changed value in the flash memory Otherwise it is initialized to the value saved in the previous flash memory when the power is off or the mode is changed Chapter 8 Troubleshooting Procedure Chapter 8 Troubleshooting Procedure This chapter describes the errors that occur during the use of XGB PLC and the built in positioning function the method of finding the cause of the error and the actions to take 8 1 Basic Procedure of Troubleshooting Although t is important to use a highly reliable device for normal operation of the system it is important as well how to deal with a trouble quickly In case of a trouble if you want to restart the system it is critical to find the cause of the trouble and take an action as soon as possible The basic troubleshooting points you need to keep in mind are as follows 1 Check with Naked Eye Check the following with your naked eye e Operation of the machine in motion not in moti
254. nc control position or speed of subsidiary axis is synchronized with that of main axis There are two types in sync control speed sync control and position sync control 1 Position sync control Position sync control means starting the operation step of subsidiary at the time when position of main axis is same with position set in SSP instruction Sync control Time Time Start Position f sync start main as fil P P Position sync control can be executed when origin of both axes is determined When executing the SSP instruction if origin of main axis is not determined error code 346 occurs and for subsidiary axis error code 344 When using SST instruction specify the main axis to be different with subsidiary axis If not error code 347 will occur f synch control is executed though pulse is not yielded until main axis goes to designated axis flag indicating whether subsidiary axis moves or not turns on X axis K4200 KX6720 Y axis K4300 KX6880 After executing position sync control if the user wants to cancel the execution of position sync control execute the STP instruction stop command 2 Speed sync control f main axis starts as figure below subsidiary axis moves with speed of sync speed rate set in the SSS instruction speed sync command control Start main axis 3 13 Chapter 3 Before positioning It can be executed when origin of subsidiary axis is not dete
255. nce sl and ax are 0 built in positioning axis X is started The target position will be 100 000 pulse set as double word in D0002 The target speed will be 30 000 pps set as double word in D0002 After positioning is finished the dwell time becomes 100ms set in D0004 and No 123 designated in D0005 will be output as the M code Since the control word of D0006 is H 20 the acceleration deceleration pattern will follow the acceleration time 2 and deceleration time 2 of the basic parameter and the positioning operation will be done as the absolute coordinates If the DST instruction is started the position control will be executed in the absolute coordinates it will operate up to the 100 000 pulse at 30 000 pps then stop and after the dwell time of 100 ms passes the positioning is finished and M code outputs 123 2 If positioning is finished by direct starting positioning finish signal axis X K4202 turns on for a scan Moving amount 100 000 pulse Speed 4 100m On Starting mooo1f 3 On During Dwell K420F Complete K4202 5 11 Chapter 5 Positioning Instructions 5 2 4 Indirect Starting Instruction Indirect starting refers to execution of the positioning operation by using the operation step data set in the positioning operation data 1 Indirect Starting Instruction IST
256. nchronization rate delay time Position override Slot command axis position Speed override Slot command axis speed Speed override with position Slot command axis position speed Inching starting Slot command axis inching amount starting step no change Slot command axis step no M code cancel Slot command axis Current position preset Slot command axis position EMG stop Slot command axis Error reset output inhabit cancel Slot command axis pulse output inhabit allowed XGB positioning dedicated instruction is operated at rising edge Namely When starting point is on it is executed only one time Parameter operation data saving Slot command axis storage area selection App 2 1 Appendix 2 Positioning Instruction and K area List Appendix 2 2 Positioning Dedicated K area List Appendix 2 2 1 K area of positioning basic parameter Setting range Initial value XBM XBC K area for positioning Y axis K4870 K5270 Data size Positioni Not use 1 bit ositioning ot use use XEC 9 KX7792 9 KX8432 l 0 Low Active XBM XBC K4871 K5271 Pulse output level es bit High Active XEC KX7793 KX8433 l l XBM XBC K4873 K5273 Pulse output mode CW COW 1 PLS DIR KX7795 KX8435 Bit K4681 K5081 M Code Output 0 NONE 1 WITH XBM XBC 682 K508
257. nding on position and speed settings special shapes besides a ladder can be witnessed as below In case position is smaller than speed In case operation speed is same with bias speed speed Speed Dwell time eee Starting Operation Complete 1 In case target address is far less than speed it can t pass the acceleration regular speed deceleration section In this case the positioning is complete without regular speed section 2 In case operation speed is same with bias speed target moves with regular speed bias speed and it stops without deceleration section 3 43 Chapter 3 Before positioning It assumes that operation data is as follows to describe END SIN operation Pattern T RE E Dwell ms 1 ABS END POS SIN 0 10 000 0 1 1 000 100 2 ABS END POS SIN 0 20 000 0 1 500 100 3 ABS END POS SIN 0 30 000 0 1 1 000 100 In the above table operation pattern is set as END target moves once by once start command and since Method is set as SIN the next step becomes current operation step 1 To operate the next step one more start command is necessary END mode END mode END mode Starting Running Dwell b END operation Repetition n case END operation repetition operation of currently started operation is same with END operation single But The next step becomes the step set in the REP Step which is different with
258. near Interpolation Start up Function BIOCK ccccccccecceeeceeeececeeeeeeeeeeeeeeeeeeeeess 5 59 5 3 7 Simultaneous Start up Function Block ssssssssssmRR RR 5 62 5 3 8 Velocity to Position Transfer Function BIOCK ccccecccceeeeeeeeeeeeeeeeeeeeeeeeeneeenaaas 5 64 5 3 9 Position Velocity Transfer Function BIOCK eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeaaaas 5 66 5 3 10 Deceleration Stop Function BIOCK ccccccccccccecceeeceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeseneeteess 5 68 5 3 11 Position Synchronization Function Block ssseeeeneee 5 71 5 3 12 Speed Synchronization Function Block sssseeee 5 75 5 3 13 Position Override Function BIOCK ssssssss RR 5 78 5 3 14 Speed Override Function Block cccccceccecccececeecceeeeeeeeeeeeeeeeeeeeeeeeeeeseneseneeeeess 5 80 5 3 15 Positioning Speed Override Function Block ccccececceccceeeceeeeeeeeeeeeeeeeeteeteees 5 82 5 3 16 Inching Start Function BIOCK es iooeec ei aset poet rto o eat bebA otdtte e iiechemes 5 84 5 3 17 Start Step Number Change Function Block seeee 5 85 5 3 18 M Code Release Function Block ssssssssse RH 5 86 5 3 19 Present Position Preset Function Block cccccccccccceeeceeecceeeeeeeeeeeeeeeeeeeseeeneness 5 87 5 3 20 Emergency Stop Function BIOCK cccccccceeeeseseeeeeeeeeeeeeeeeeeeeensee
259. ng operation are Serious MR Scan end i not normally collected Replace the module and restart it after checking the input and Data of speciallcomm module output where the error took place by using XG5000 0 1 second during operation are not Serious Scan end Flicker normally collected Number of additionally mounted No more than 7 layer can be added remove the excessively 1 second Serious Every scan modules exceeded added modules and restart cker PLC CPU operation overload or 1 If repeated when resupply power call A S 1 second A F Serious f Any time failure due to noise or hardware 2 Carry out noise action cker Program scan time during operation exceeds the set scan delay monitoring time Check the scan delay monitoring time of the basic parameter 5 second Program and modify it or the program and restart icker running Operation error during sequence Check the step where the operation error took place remove 0 5 second Program program the cause and restart Flicker running Modify the timer index program write the program and 0 5 second restart icker Timer index use error Scan end Serious failure is detected in external device due to sequence program Refer to the serious failure detecting error flag of external 1 second Serious Scan end device repair it and restart icker Remove the cause of error that started the E STOP function 1 second Program E STOP function
260. ning For using POOO0 POOOF as general I O refer to XGB user manual for hardware 2 3 1 Input Specification 1 Standard type input contact point specification X axis P0000 P0001 P0004 P0005 i P0002 P0003 P0006 P0007 External low External upper Rated input voltage Rated input current Insulation method Input impedance On voltage current Off voltage current Response time Min input width DC24V DC20 4 28 8V 15 20 ripple rate less than 5 about 7 mA 24V About 4 mA 24V Photo coupler insulation About 3 3 ks About 5 6 KQ DC 19V above 5 7 m above DC 19V above 3 4 MA above DC 6V less 1 8 m less DC 6V less 1 1 m less 0 5 ms less Used for positioning Contact Contact point point 100 4s above Circuit configuration and connector BET Po Poe Pos i EN array lm POS ECH 4 Intemal Circuit coaogongoagagoaaa coogcogoagcoana a 2 3 Chapter 2 General Specification 2 High end type input contact point specification P0008 P0009 PO00C POOOD 961X0 0 8 1X0 0 9 961X0 0 12 961X0 0 13 POOOA POOOB POOOE POOOF 961X0 0 10 961X0 0 1 1 961X0 0 14 961X0 0 15 Signal name External External upper DOG HOME lower limit limit ER DC24V DC20 4 28 8V 15 20 ripple rate 5 less Ratsa input About 4 n 24V current Insulation method Photo coupler insulation NW About 5 6 KQ impedance O
261. ning command through the XGB positioning monitoring package is executed regardless of the operation mode of PLC e If the PLC operation mode is Run mode the positioning command is executed in the positioning monitoring package and if a different command is executed in the instruction of the program XGB PLC executes them both Therefore in such a case it might operate differently from the intent of the user or an error might occur Note that if you use the positioning monitoring package positioning by the instruction in the program is not executed 2 Positioning Monitoring Window The monitoring window on the right of the monitoring package displays the current status according to the positioning command The information displayed in the positioning monitoring window is as follows a In case of XBM XBC Related fla Item Displays z Remark Axis X Axis Y Current position Current position of each axis K432 DINT Current speed Current speed of each axis K434 DINT Currently operating step of each axis K436 WORD Error code Error code in case of an error of the axis K427 K437 WORD M code M code of the currently operating step K428 K438 WORD Busy Whether the axis is operating K4200 K4300 BIT Positioning Whether the positioning has been completed for the axis K4202 K4302 BIT complete M code On M code On Off of the currently operating step K4203 K4303 BIT Origin fix Whether the origin has been fixed K4204 K
262. oduct considering the safety for system configuration or applications Environmental Policy LS Industrial Systems Co Ltd supports and observes the environmental policy as below Environmental Management About Disposal LS Industrial Systems considers the LS Industrial Systems PLC unit is designed environmental preservation as the to protect the environment For the disposal preferential management subject and every separate aluminum iron and synthetic resin staff of LS Industrial Systems use the cover from the product as they are reasonable endeavors for the pleasurably reusable environmental preservation of the earth LS values every single customer Quality and service come first at LSIS Always at your service standing for our customers LS Industrial Systems m HEAD OFFICE LS tower Hogye dong Dongan gu Anyang si Gyeonggi do 1026 6 Korea http eng Isis biz Tel 82 2 2034 4689 4888 Fax 82 2 2034 4648 a LS Industrial Systems Tokyo Office gt gt Japan Address 16F Higashi Kan Akasaka Twin Towers 17 22 2 chome Akasaka Minato ku Tokyo 107 8470 Japan Tel 81 3 3582 9128 Fax 81 3 3582 2667 e mail jschuna lsis biz LS Industrial Systems Dubai Rep Office gt gt UAE Address P O BOX 114216 API World Tower 303B Sheikh Zayed road Dubai UAE e mail hwyim lsis biz Tel 971 4 3328289 Fax 971 4 3329444 LS VINA Industrial Systems Co Ltd gt gt Vietnam Address LSIS VINA Congt
263. of the Program VTP instruction is executed when there is the rising edge of M0001 which was used as the speed position switching instruction signal It the speed control is going on currently it is switched into position control the current position is preset to 0 and position control is carried out up to the target position Now the target position divides into the following cases according to the direct and indirect starting 1 In case of indirect starting the target position of the operating step becomes the target position after the speed position switching 2 In case of direct starting the target position set as the operand in the DST instruction becomes the target position after the speed position switching When using the speed position switching instruction make sure that the instruction is not executed during the position operation by using the display flag axis X K4211 axis Y K4311 during speed control as the program example above Chapter 5 Positioning Instructions 5 2 8 Position Speed Switching Instruction This is operation by switching the axis operating by the current position control into speed control by the position speed switching instruction PVT instruction For details refer to 3 1 5 1 Position Speed Switching Instruction PTV Areas available Flag Instruction Con
264. of the exclusive K area Take care that when APM WRT instruction is executed the existing positioning parameters in the flash memory are replaced with the operation data in the exclusive K area therefore the scan time of the scan in which the instruction has been executed becomes longer Chapter 6 Positioning Monitoring Package Chapter 6 Positioning Monitoring Package 6 1 Introduction to Positioning Monitoring Package You can monitor the status of XGB PLC built in positioning and carry out test operation without the program by changing the parameters and operation data if you use the XGB monitoring package 6 1 1 Introduction of Positioning Monitoring Package You can easily and conveniently monitor the current positioning operation or change the parameter or operation data by using the following positioning monitoring package with XGB PLC connected to XG5000 f you use the positioning monitoring package you can easily carry out test operation without the program adjust the parameter and operation data and permanently save it in PLC after the adjustment This chapter describes how to run the XGB positioning monitoring package XGB positioning monitoring package is available with over XG5000 V1 2 over V2 2 for XBC over V3 0 for XEC and it is carried out in the following sequence This manual has been made by using XG5000 V2 2 1 Opening the Monitoring Package Select Monitoring gt Speci
265. og Home Upper limit Lower limit Test operation JOG Inching Indirect start Direct start Linear interpolation Position sync Speed sync Operation by servo driver Control target lt XGB Positioning signal flow gt 1 5 Chapter 1 General 1 4 I O Signal Allocation 1 4 1 Allocation of I O signal for standard type S type In case of S type external I O signal for built in function is allocated as follows 1 Pin array of I O connector Pin array of I O connector of XGB standard type transistor type basic unit is as follows Input Output PO P2 PO2D P026 2 Allocation of external input signal Input contact point Signal name TEC Detail detected at the falling edge of input contact External lower X axis P0000 point Gi limit signal LimitL detected at the falling edge of input contact l TA Poops point Normally closed detected at the falli d f input tact Ca etected at the falling edge of input contact B contact point External upper X axis P0001 point econ DONI limit signal LimitH Y axis P0003 detected at the falling edge of input contact point X axis P0004 When homing detected at the rising edge DOG signal Y axis P0006 When homing detected at the rising edge Normally open contact point X axis P0005 When homing detected at the rising edge A contact point ORIGIN signal Y axis P0007 When homing detected at the rising
266. olute coordinate speed control method is speed Linear interpolation start is unavailable when main axis of Goss linear interpolation s operating interpolation command N wo O Linear interpolation start is unavailable when sub axis of Check whether sub axis was not operating at the time of linear eration linear interpolation is operating p interpolation command f Linear interpolation start is unavailable when main axis o Check whether main axis was not in Output disabled status at linear interpolation is in Output disabled status the time of linear interpolation command f Linear interpolation start is unavailable when sub axis o Check whether a sub axis was not in Output disabled status at linear interpolation is in Output disabled status the time of linear command of linear interpolation command of linear interpolation Absolute coordinate operation is not available without origin set Linear interpolation start is unavailable when the M code signal of linear interpolation s main axis is On Linear interpolation start is unavailable when M code signal of linear interpolation s sub axis is On Absolute coordinate positioning operation is unavailable LL 2 f Bp Check whether operation data to operate and the current origin when the origin of linear interpolation sub axis is not set l set TE sues Absolute coordinate operation is not available without origin set Absolute position
267. on e Power supply whether the rated voltage is normally supplied to XGB PLC e Condition of the input and output devices e Distribution input and output lines communication cables expansion e Check the Indicators PWR LED RUN LED STOP LED input and output LED and access the peripheral devices to check the PLC operation and program contents 2 Trouble Check When you manipulate the device as follows observe how the trouble develops e Turn the operation mode switch to STOP and turn On Off 3 Supposition of the Cause of Trouble Suppose which of the following the cause of the trouble is e Whether the cause is in the PLC or an external device e If the trouble is in the PLC decide whether it is the trouble of the basic unit or other expansion modules e In the former is the case decide whether there is a problem with the PLC parameter program or hardware Chapter 8 Troubleshooting Procedure 8 2 Check by Using the LED If there is trouble in using the XGB built in positioning function you can roughly presume the cause of the trouble by checking the LED of XGB PLC This chapter describes the LED related to the trouble of the positioning function With respect to the trouble that occurs during use of other functions of the basic unit refer to Hardware section of the XGB Manual 8 2 1 LED Check If there is trouble during use of the positioning function check the status of PWR LED RUN LED and ERR LED of
268. on issues error code 481 and inhibits output Chapter 5 Positioning Instructions 5 2 20 Error Reset Output Inhibition Inhibition Termination The error reset instruction is resetting the current error and terminating the output inhibition 1 Error Reset Instruction CLR Areas available Flag Instruction Cons Step Error Zero Carry PMK F L T C S Z D xIRx isnt UIN DIR F110 F111 F112 sl f fe fe fe of CLR ax o o o o o 4 7 o n1 o o o Oo E Oo E COMMAND Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD n1 Whether output inhibition is 0 65 535 WORD terminated Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the error reset instruction to XGB built in positioning At the rising edge of the input condition the error code generated in the axis designated as ax is cancelled and if the value set in n1 is 0 only the error code is cancelled with the output inhibition maintained If the value set in n1 is other than O0 the output inhibition is also cancelled b Error If the value designated as ax instruction axis
269. operating at the time of 221 Direct start command is unavailable during operation l direct start command APP 1 3 Appendix 1 List of Error Codes Error Side Description Countermeasures 222 Direct start command is unavailable in case of no output 5i Check whether command axis was not in no output status at the o status d time of direct start command Check whether M code of command axis was not On at the time 223 Direct start command is unavailable in case of M code On Stop of direct start command f D Absolute coordinate operation is not available without origin set Direct start command is unavailable without origin set in M Stop Check whether operation data to operate and the current origin absolute coordinate i set f Check whether command axis was not operating at the time of 231 Indirect start command is unavailable during operation Operation indirect start command Indirect start command is unavailable in case of no Check whether command axis was not in no output status at the time of indirect command Check whether M code signal of command axis was not On at the time of indirect start command Absolute coordinate operation is not available without origin set output status Indirect start command is unavailable in case of M code Indirect start command is unavailable without origin set in Check whether operation data to operate and the current origin abs
270. operation data in table 3 5 because Control is POS If position speed switching command VTP instruction is executed during position control object moves by speed control until stop command If object stops by stop command it will stop without dwell time and positioning complete flag will not be on 3 8 Chapter 3 Before positioning Speed control I LU L Position speed Switching signal n Dec stop signal t lt Figure 3 5 Operation of position speed switching control gt LU i D command H On LU LU Remark Position speed switching command is executed only when each axis is operating If itis executed during stop it may cause error If speed position switching command is executed during operation by position control the command is ignored and causes error But at this time positioning doesn t stop 3 1 6 Linear interpolation control Object moves by linear interpolation control from start address to target address using two axes X Y There are two method in linear interpolation control absolute coordinates and incremental coordinates 1 Control by absolute coordinates When linear interpolation control is executed object moves based on the origin designated by Home return Direction is determined by start address and target address for each axis start address target address Forward start address gt target address Backward
271. origin return method Set origin return method Starting direction during origin return operation Origin address origin address in detecting origin origin origin retum speed high low speed during origin return return operation parameter origin return dec acc time dec acc time during origin return operation origin return deceleration Set deceleration time during origin return time operation Time it takes to remove remaining pulse of DWELL time the deviation counter right after origin return is finished origin return direction In general the origin return divides into two ways one of which is using the DOG and the other is not using it In XGB positioning function the following three ways can be used that use the DOG for details of the origin return method refer to 3 1 9 Origin return method Necessary input signals Detect origin after DOG turns Off 0 DOG origin OFF When DOG is On detect the origin is what is displayed in after deceleration DOG signal origin signal the positioning 1 DOG origin On origin manual parameter Detect the origin by DOG 2 DOG DOG signal origin signal DOG signal The following diagram is an example of origin detection by DOG among the three ways of origin return Home setting direction Home low speed Direction change Home command Chapter 5 Positioning Instructions 1 Origin return Instruction
272. osition address Chapter 3 Before positioning Direction i Error by backlash E compensation Ibacklash i The above figure describes difference of backlash setting or no backlash setting In case of not setting backlash compensation amount it moves as many as 100 000 pulse forward and changes the direction and moves backward as many as 100 000 pulse It may cause error by backlash For example it assumes that backlash is 500 pulse in case of not setting backlash final stop location is 500 To compensate this setting backlash compensation as 500 when changing the direction 100 500 pulse is yielded adding 500 pulse set as backlash compensation amount So target stops at the precise stop position The following table indicates real pulse output and stop position in case of setting backlash Absolute coordinates is used Operation Backlash setting Target Direction Real output Stop step amount address conversion pulse positio 10 000 10 000 10 000 500 30 000 X 20 000 30 000 0 o 30 500 0 Forward output 10 000 output 20 000 Stop position 10 800 Stop position 30 000 10 000 i output 30 500 Stop position 0 Reverse Once backlash compensation amount is set or changed home return should be executed otherwise there can be error at the current position by backlash compensation amount 10 S W upper lower limits during constant speed operation t is used to stop pulse output by S W u
273. osition switching object keeps its previous direction 1 Example tassumes that operation data is specified as shown table 3 4 Step Coord Contr Metho Rep Address M A D Speed ise es Denm Pt ne eno seo sw o wm lt Table 3 4 operation data example of speed position switching control gt Position initialized as 0 in case of speed position switching Speed control o 1 000 Increment 1 000 Tar adde signal Complete signal M code _ i occurrence flag lt Figure 3 4 Operation of speed position switching control gt Chapter 3 Before positioning If step no 1 in table 3 4 starts object moves forward by speed control because Control is SPD and Address is positive number If speed position switching command VTP instruction is executed during speed control current position will be initialized as 0 and object moves by position control until 1000 If object reaches target position complete flag and M code occurrence flag will be on after dwell time At this time M code number 11 is displayed as set in operation data Positioning complete flag will be on during one scan and M code occurrence flag keeps on status until it is turned off by off command Remark M code occurrence flag is turned off by MOF instruction Using MOF instruction M code occurrence flag and M code number will be clear simultaneously Speed position switching command is executed only when eac
274. ously reduced if bias speed is highly set but excessive value may cause impact sound at the start end time and unreasonable operation on a machine Bias speed should be set within the following range a Bias speed lt Positioning speed b Bias speed Home Return low speed lt Home Return high speed 3 34 Chapter 3 Before positioning c Bias speed lt JOG high speed If home return speed is set lower than bias speed it generates Error 133 if operation speed is set lower than bias speed during positioning it generates Error 153 if JOG high speed is set lower than bias speed it generates Error 121 6 Speed limit It refers to the allowable max speed of positioning operation e In Pulse unit the range is between 1 1 000 000 unit pps During position operation operation speed home return speed and jog operation speed are affected by speed limit and if they are set higher than speed limit it detects error 1 If home return speed is higher than speed limit Error 133 2 If positioning speed is higher than speed limit Error 152 3 If jog operation speed is higher than speed limit Error 121 7 ACC DEC time It is applied to sequential operation instruction speed override positioning speed override during positioning operation as well as start end time of positioning operation At this time ACC and DEC time is defined as shown below a ACC time a duration required to reach from O stop spee
275. peed KW485 Word KW525 Word f inching operation S F lS g g o 6 amp g E 5 5 3 pm 0 oO Oo p gt E ali S 5 35 35 3 D S bas c c c c o o o o o a a a a c Q rab 5 3 D Q 2 LE O Q D D n ib D Q 9 m m D D Oo o 2 2 c e 3 3 D D 3 56 Chapter 3 Before positioning 3 Status Monitoring and Commanding Flag by Operation Step a In case of XBM XBC Step 01 Device area Variables properties Address Double Step 01 target position K0530 word Double Step 01 operation speed word ETHER ETHER kosseo m Koes Step 01 operation pattern K05382 K08382 Low Step 01 operation pattern K05383 K08383 High Step 01 coordinates K05384 K08384 Step 01 acc dec number K05386 K08386 Step 01 acc dec number K05387 K08387 Step 01 coordinates K0539 3 57 Chapter 3 Before positioning b In case of XBM XBC EMEN ae 01 Deiceeaea area properties Double Step 01 target position KD265 KD415 word Double Step 01 operation speed KD267 KD417 word Step 01 M code number Kwsa7 iKWB37 wos 0000000 Step 01 operation pattern KX8610 KX13410 Low Step 01 operation pattern KX8611 KX13411 High amp KX8612 kx13412 Step 01 acc dec number KX8614 KX13414 Low Step 01 acc dec number KX8615 KX13415 High vaxws39 vKws39 The table above shows the area K for positioning of the operation step 1
276. peration parameter jog high speed range exceeding error A js k eie R nA r Stop Re adjust to be max speed2jog high speed2bias speed 3 Jog high speed 0 4 Jog high speed lt Jog low speed Manual operation parameter jog low speed range exceeding error 1 Jog low speed lt bias speed 2 Jog low speed gt max speed 3 Jog low speed 0 Re adjust to be jog high speedzjog low speed 1 4 Jog low speed gt Jog high speed Manual operation parameter inching speed range 123 exceeding error Re adjust to be max speed 2 inching speed bias speed 1 inching speed lt bias speed 2 inching speed gt gt max speed 131 Home return parameter home return mode value range T Re adjust to be 0 lt home return parameter lt 3 o exceeding error i 1 Dog origin On 2 upper lower limit origin 3 DOG Home return parameter home return address range 132 l Stop exceeding error Home return parameter home return high speed range 133 exceeding error 1 home return high speed lt bias speed 2 home return high speed gt max speed Home return parameter home return low speed range exceeding error Re adjust to be home return high speed 2home return low speed 1 home return low speed bias speed bias speed 2 home return low speed gt home return high speed Home return dwell time out error of home return parameter 135 Stop Re adjust dwell time lower than 50000 Home return dwell time gt 50 000 APP 1 2 Appendix 1
277. performed J Serious runnin in the program and re supply power cker g Data memory backup error Re supply power converted to STOP mode in remote mode Warning 1 second Flicker Power On APP 1 1 Appendix 1 List of Error Codes 1 2 List of Positioning Error Codes Error code that can be occurred in the XGB positioning is as follows The user can check error code through XGB dedicated positioning monitoring package or K area X axis K427 Y axis K437 Error code occurs according to dedicated K area applied at starting For checking the relationship between positioning parameter and dedicated K area refer to ch 3 2 Error code Description Operation Countermeasures Exceeding the max speed range of basic parameter Change the max speed value Exceeding the bias speed of basic parameter 1 bias speed 2 Speed limit Re adjust it lower then the max speed of basic parameter 2 bias speed 0 ACC time setting error 1 ACC time gt 10 000 Re adjust ACC time of basic parameter lower than 10 000 2 Jog ACC time gt 10 000 DEC time setting error 1 DEC time gt 10 000 Re adjust DEC time of basic parameter lower than 10 000 2 Jog DEC time gt 10 000 Setting non use dedicated positioning at parameter Setting dedicate positioning Expansion parameter soft upper lower limit error es 111 Stop Re adjust S W upper limit equal to or larger than the lower limit S W upper gt S W lower Manual o
278. pper lower limit detection during constant speed operation by speed control 3 37 Chapter 3 Before positioning n the case S W upper lower limit detection is available as long as origin is set and the position mark during constant speed operation is Mark 11 Use of Upper Lower Limits To use upper lower limits during operation it should be set as Use Upper Lower limit input contact point is fixed as the table below and it can be used as normally closed contact point B contact point If No use is set it does not detect upper lower limits and is available with general input contact e Signal Input contact point number deme Standard High end Operation content Reference External Detects the X axis external lower limit low limit ooo eee P0008 at the rising edge of input contact point Acts as signal j imit normall LimitL Yaxis P0002 POOOA Detects the Y axis external lower limit eee y at the rising edge of input contact point contact point Detects the X axis external upper limit B contact External j AO POOR Foo at the rising edge of input contact point point upper limit signal Detects the Y axis external upper limit LimitH TAKIS n Ones Foes at the rising edge of input contact point 3 2 4 Origin Manual Parameter Setting for Positioning Here describes setting range method of origin manual parameter for positioning and spe
279. pter 3 Before positioning 3 2 3 Setting basic positioning parameters It describes the range of setting basic parameters and special K area for positioning Item Positioning Range 0 No use 1 use Y axis K area for positioning Initial value Data size XBM XBC XBM XBC K4870 KX7792 K5270 KX8432 Pulse output level 0 Low Active 1 High Active K4871 KX7793 K5271 KX8433 Pulse output mode 0 CW CCW 1 PLS DIR K4873 KX7795 K5273 KX8435 M code output 0 NONE 1 WITH 0 K4681 2 K5081 2 mode 2 AFTER KX7489 90 KX8129 30 K450 K490 Double 1 100 000 pulse sec 1 KD225 KD245 word Speed limit 1 100 000 pulse sec 100 000 uot M ponis ACC time 1 0 10 000 unit ms 500 m SK WAS DEC time 1 K455 K495 0 10 000 unit ms 500 9 KW455 9 KWA495 A K456 K496 0 10 000 unit ms 1 000 KW456 KW496 K457 K497 KW457 KW497 K458 K498 KW458 96KWA4A98 fe K459 K499 0 10 000 unit ms 1 500 9 KWA59 9 KW499 ACC time 4 K460 K500 0 10 000 unit ms 2 000 9 KW460 9 KW500 K501 KW501 K502 Bias speed ACC time 2 DEC time 2 0 10 000 unit ms 1 000 ACC time 3 DEC time 3 0 10 000 unit ms 1 500 DEC time 4 it bu 0 10 000 unit ms 2 000 9 KWA61 2 147 483 648 K462 Double S W upper limit 2 147 483 647 2 147 483 647 pulse KD231 KD251 word S W lower limit 2 147 483 648 2 147 483 647 pulse
280. pulse KW2529 K3020 K2520 KD1260 KD1510 K3027 K2527 KW2527 KW3027 K30286 87 K25286 87 KX40454 55 KX48454 55 K3024 K2524 KD1262 KD1512 K3026 Double word Double word K2526 KW2526 KW3026 Dedicated K area X axis Y axis K25384 K30384 KX40612 KX48612 K25382 83 KX40610 11 KX48610 11 K25381 K30381 KX40609 KX48609 K25380 K30380 KX40608 KX48608 K2539 K3039 WKW2539 KW3039 Double word KD1265 KD1515 wor Initial value 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 28 K2537 K3037 KW2537 KW3037 K25386 87 K30386 87 Bit KX40614 15 KX48614 15 ow Word K2534 K3034 KD1267 KD1517 K2536 K3036 KW2536 KW3036 Double word Appendix 2 Positioning Instruction and K area List Item Settind ranae Initial Dedicated K area ns value Xaxis Yaxis Coord Pattern Control Method REP Step Address pulse 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end 2 147 483 648 2 147 483 647 pulse Data size Double word K25484 KX40772 K25482 83 KX40770 71 K25481 KX40769 K25480 KX40768 K2549 KW2549 K2540 KD1270 K30484 KX48772 K30482 83 KX48770 71 K30481 KX48769 K30480 KX48768 K3049 KW3049 K3040 KD1520 M Co
281. rameter and the parameter saved in XG5000 is displayed as well L Positioning SAW Upper Limit S W Lower Lint Backlash Compensation S W Lint Detect Uppex Lowe Lint 1 Use 1 Use Home Method 1 DOG HOME ON 0 DOG HOMEIOFF 1 COW 1 CCW Home A 0 pis Oph Mome High Speed 5000 pls s Home Low Speed Hemng ACC Tene Hom DEC T me OWELL Tine JOG High Speed JOG Low Speed OG ACC Time JOG DEC Tene Vor to Posison Parameter 25s o Stat Montor To change the parameter first of all change the parameter value to change and select Write PLC Then the changed parameter is transferred to PLC the position parameter saved in PLC is changed and the parameter and operation data that have been changed are applied when the next operation step is started Remark If you execute Write PLC the position parameter set in the positioning monitoring package and the operation data of each axis are all transferred to XGB The parameter and operation data displayed when the positioning monitoring package is executed are not the data read from XGB but the parameter and operation data currently saved in XG5000 Therefore if you change the parameter or operation data in the positioning monitoring package and save them in the XGB PLC be sure to press the Save Project button to save them in the XG5000 project Otherwise the settings of XG5000 might be different from XGB 6 8 Chapter 6 Positioning Monitoring Pa
282. ration data Forward Address is positive number Backward Address is negative number n the speed control direction is determined by sign of target address regardless of current position and target position For example current position is 100 and target position is 90 though target position is less than current position since sign is positive it moves forward Chapter 3 Before positioning In case of speed control some items as figure below doesn t affect the operation Step Patt Cont Met REP Address M Speed Dwell no m roi hod Step pulse Code pls s ns These items don t affect the operation in case of speed f Control is specified as SPD coordinates pattern method M code dwell time doesn t affect the operation So in case of speed control when object stops by STP command it stops without dwell time and M code doesn t operate 1 Example e tassumes that operation data is specified as shown table 3 3 Step Coord Contr Metho Rep Address AID Speed oe 00 panem Ca MST Sap Pues LER pem ENLICJEJEJERNEXEES Table 3 3 operation data example of CIEN ENEE In table 3 3 since Control is SPD step no 1 is operation data of speed control Since Address is positive number and Speed is 100 target moves forward with 100 pls s speed regardless of current position until stop command DEC stop or EMG stop If object moves flag X axis K4200 KX6720 Y axis K43
283. rdinate and Incremental coordinate For more detail refer to 3 1 2 3 Operation pattern END KEEP CONT and operation method SIN REP The user can select one pattern among three operation patterns per step It can configure how to use the positioning operation data Operation pattern can be set as follows according to Control and Method on the operation data Control Method Pattern Reference Linear interpolation is not available Linear interpolation is not available Linear interpolation is not available Linear interpolation is not available Not available Linear interpolation is not available Linear interpolation is not available Not available In case Method is set as SIN the next operation step become current operation step 1 And in case Method is set as REP the next operation step become the step set in REP Step 3 42 Chapter 3 Before positioning a END SIN t refers to execute the positioning to target address by using the data of operation step and complete the positioning after dwell time ACC Section constant speed section DEC section Speed Dwell time Starting Operation On ACC On constant On DEC On dwell Complete Generally with END operation position operation is executed according to pre arranged speed and position like above picture as ladder shape with accelerated constant and decelerated intervals However depe
284. re as follows Error Code 0 Function block normally executed 1 Base No exceeded setting range Set the base No to 0 for internal positioning 3 Slot No exceeded setting range Set the slot No to 0 for internal positioning Error Type Countermeasures Adjust the axis No within the allowable range of the function block 0 X axis 1 Y axis Axis range No exceeded setting range A new function block was executed while the previous instruction has not been completed Set up auxiliary input value exceeded allowable range Modify the program so that a new function block can be executed after completion of the previous instruction Adjust the value within the allowable range For other error code see Appendix 1 Error Code List 5 47 Chapter 5 Positioning Instructions 5 3 2 Function Block for Return to Origin Return to Origin instruction is usually used to confirm the Origin of machine when applying power This instruction is executed in accordance with the set up parameters shown below see 3 2 4 for setting up of the return to Origin parameters 1 Return to Origin Function Block APM ORG Form Description APM ORG REQ DONE This instruction is for the execution of the Origin return of the XEC DN H internal positioning function BASE STAT At the ascending edge of the input condition the return to Origin instruction is given to the axis defined to be the axis of the internal positionin
285. return speed it should be speed limit 2 home return high speed 2 home return low speed It is recommended to set home return low speed as low as possible when setting home return speed Origin signal detection may be inaccurate if low speed is set too fast 6 Home Return ACC DEC time When it returns home by home return instruction it returns home at the speed of home return high speed and home return low speed by ACC DEC time The range of home return ACC DEC time is between 0 10 000 unit 1 ms 7 Dwell time It sets Dwell time applied to Home Return Dwell time is necessary to maintain precise stop of servo motor when positioning by using a servo motor The actual duration necessary to remove remaining pulse of bias counter after positioning ends is called dwell time 3 39 Chapter 3 Before positioning The range of home return dwell time is between 0 50 000 unit 1 ms 8 JOG high speed Jog speed is about jog operation one of manual operations and is divided into jog low speed operation and jog high speed operation Jog high speed operation is operated by patterns with accelerating regular speed and decelerating sections Therefore job is controlled by ACC DEC instruction in accelerating section and decelerating section The range of jog high speed is between 1 100 000 unit 1pps 9 JOG low speed Jog low speed operation is operated with patterns of accelerating regular
286. rigin Setting In floating Origin setting the present position is set up as the Origin by instruction without executing mechanical operation of Origin return 1 Floating Origin setting instruction APM FLT Form Description INSTI APM_FLT This is the instruction for floating Origin setting in the XGB REQ DONE internal positioning At the ascending edge of the input condition floating Origin instruction is given to the axis selected as the axis for the XGB positioning When this instruction is executed the present position address becomes 0 and the Origin determination bit X axis 96KX6724 Y axis KX6884 becomes On For floating Origin setting the present position is preset to O and only Origin is determined Therefore following cautions should be taken for this instruction gt Before executing this instruction check it an error has been occurred If occurred correct the cause of the error and reset the error with APM RST instruction to lift the output interruption Then set up the floating Origin and change the step No for operation to the start up step change instruction APM SNS and start up Chapter 5 Positioning Instructions 2 Example of Instruction The floating Origin setting instruction is explained with a sample program shown below This exemplary APM FLT instruction is with reference to the X axis a Sample Program FixFloatin gOrigin 3KX6720 XKX672
287. rigin has not been defined at the start up of the APM IST error code 224 is outputted to the STAT 1 and the operation is not executed In such case turn the Reference Decision on to execute APM ORG instruction to return to reference before starting the APM IST instruction 1 When direct start up instruction APM IST instruction is executed positioning operation is started as set up in the instruction line operand as set forth below Since the BASE SLOT and AXIS are 0 the built in positioning X axis of the base unit is started up Because the start up step No was appointed by 3 positioning operation is carried out with the data in the No 3 step of the positioning operation data In particular when the APM IST instruction is stated positioning is carried out as set up in the operation data No 3 step in Incremental coordinates move to 7 000 pulse position at 100 pps velocity and stop and after 10ms of dwell time the positioning is completed 2 Here as the M code was set to 0 it is not generated and as the operation pattern is terminated the step No X axis KW426 of the exclusive K area is changed to 4 which is the present operation step 1 Speed 100pps 0 IndirectSta MX321 Mow Start address aaa 7 000 target address Dwell KX6735 i On Complete KX6722 tL eIn addition to using indirect start instruction indirect start can be done using the start signal reference contact X a
288. rmined Since subsidiary axis moves according to speed of main axis whether main axis moves by speed control or position control doesn t matter At this time direction of subsidiary axis is same as that of main axis When sync control is executed and main axis stops though pulse is not outputted flag indicating whether subsidiary axis moves or not turns on X axis K4200 KX6720 Y axis K4300 KX6880 In case of speed synch control sync speed rate is 0 00 100 0095 If it is out of range error code 356 occurs After executing speed sync control if the user wants to cancel the execution of speed sync control execute the STP instruction stop command When executing speed sync control if M code is on error code 353 will occur The user can set X axis Y axis channel 0 3 of High speed counter as main axis in the speed sync control For more detail refer to Ch 5 2 12 3 1 9 Home return Home return is used to fine mechanical origin when starting machine Home return is executed according to home parameter for each axis In home parameter items affecting homing are as follows For setting of each parameter refer to Ch 3 2 Description Home Method Setting home method Home Direction Start direction when homing Home Address Origin address when detecting origin Home parameter Home High Low speed High Low speed when homing Homing ACC DEC Time ACC DEC time when homing Time required to remove offset pul
289. ro Carry PMK F L T C SZ D x R x tart U NI D R F110 F111 F112 REESE ERE ERE ee WRT ax o ze 59 ME os o o 4 7 o n1 o o o o o COMMAND Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Not used in XGB 0 1 Dummy Operand WORD n1 Set the parameter to save 0 2 WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function The instruction is for permanently preserving the operation data of positioning area K in the XGB built in flash memory The operation data of positioning area K are permanently preserved in the XGB built in flash memory according to the setting of n1 at the rising edge as follows Set value 0 1 2 Area k to be permanently Positioning data High speed counter data PID control function data preserved f n1 has been set at 0 the current operation data of area K of axis X and axis Y for positioning are permanently preserved as the positioning parameter If set at 1 the data of area K of all the channels of the high speed counter are permanently preserved as the positioning parameter If set at 2 the data set in area K of 16 loop of the built in PID are permanently preserved as the PID parameter Although the value set as ax is the operand that does not affect
290. roke end of drives At the moment if exceeding upper limit it generates Error 492 while if exceeding lower limit it generates Error 493 Upper Available range of XGB poem Lower limit z H ta Stop by upper limit positioning Drive device Note that positioning operation is not available if it stops out of positioning range If it stops due to external input stroke limit detection move it into the controllable range of positioning by manual operation jog operation inching operation manual pulse generator operation External input stroke upper lower limit error is detected by edge during positioning so manual operation is available although it exceeds stroke range 2 Stroke upper lower limits Stroke upper lower limit function does not execute positioning operation if it is operated out of ranges of stroke upper lower limits which are set in positioning parameters When it starts operation or is in operation stroke upper lower limits are checked Moving range Software lower limit Software upper limit Remark Software stroke upper lower limits are not detected unless origin is determined Chapter 3 Before positioning 3 1 14 Output of positioning completion signal Regarding positioning completion output time the completion signal X axis 4202 KX6722 Y axis K4302 KX6882 is on and it turns off after on is maintained as much as 1 scan time after positioning is completed during singl
291. rt Link Board ssssssseeenm enn 1 10 1 5 1 Smart link board cec cie eee cete ere AEREE EEE AEE EEEE ne E teens 1 10 Chapter 2 General Specification 2 1 General Specification esses nennen nennen enne 2 1 2 2 Power Specification eesssessssssssessesse esee eerte there rhe n hern nenne nnne nnne 2 2 2 2 1 Standard type XBM DNocS power specification seeeseeeeeeees 2 2 2 2 2 High end type XBC DNooH power specification eeeeeeeeeeeseesss 2 2 2 3 O specifiGatiOIi E E EET ree EN ERE RE FR ERR A OU pare e e expe Fn Eoo aed 2 3 2 3 1 Input Specification rere e eR Hebe rr E IH ER EE dena 2 3 2 3 2 Qutput specification or eee eo et eec eie irre rte tt 2 5 2 373 Output pulse level rreren tie e prec ta tru Ledesma petia ets 2 7 Chapter 3 Before Positioning 3 1 Positioning FUMCTOM e 3 1 3 1 1 Positioning TUnICUOT HIE caia eoe e ea eet ep e nea ete btt n tu rise E Dp Eee E ienasi 3 1 EZ OSIUOTOODEFO Gainen rb ccc ta Dv A ice DeL einen e oce 3 4 3 1 3 Speed control ee e greet e rt toa RR RECEN A TUR ERREUR RS PERSE RRERERR PeeNE ed 3 5 3 1 4 Speed position switching control sssssssssemR Rem 3 7 3 1 5 Positiori speed switching control i iei rto I eL eo EL eerie ee 3 8 3 1 6 Linear interpolation control sssssss
292. s KX6880 of the sub axis is ON and the STEP of the sub axis starts up when the main axis MST AXIS is at the position set up in the MST ADDR The position synchronization instruction can be executed only when the Origins for both of the main axis and sub axis have been determined if the Origin of the main axis or sub axis has not been determined at the start of the APM SSP instruction error code 346 or 344 respectively will be outputted to STAT When using this instruction set up the main axis and sub axis with different axis Otherwise error code 347 will be outputted to STAT To cancel the execution of position synchronization instruction after it is given execute the stop instruction APM STP to the sub axis 2 Sample Instruction the sample program below shows the operation of the position synchronization start up instruction a Sample Program eIn the sample program below where the Y axis is the sub axis and X axis is the main axis when the main axis position is at 100 000 the operation data in the No step of the sub axis is started up PositionSy nchronizat APM_SSP ion SKX6880 SKX6881 SKXB724 SKX6884 7 P f m 4 DONE Yaxis BUSY Y xis Axis Y xis Error Origin Fix Origin Fix 0 STAT 0 1 1 0 100000 ji INST4 IndirectSt art XKX6720 Kx6721 APM_IST P fA A DONET X xis BUSY Axis Error 0 STATI 0 0 Chapter 5 Positioning Instructions b Used Devices Description Data Size Exemplary Sett
293. s Step Error Zero Carry PMK F L T C S Z D x R x fant UINIDJR F110 F111 F112 pT ea ee ee ae oe css ax o o o o O COMMAND PTV Al PTV si ax Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the position speed control switching instruction to XGB built in positioning The axis designated as ax at the rising edge in the input condition is switched from the position operation to speed operation The current position which was output during the previous speed control operation is not initialized to 0 and only the control method is switched to speed control with the operation continued b Error e If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction The position speed control switching instruction is described with the example of the following program a Example of the Program M0001 K04210 K0420 Pe ey PTV XAxis XAxis Error command Control Pattern Pos 0 ibon 2 Rung Step Instruction OP OP o2 lo 0 LOADP m0001 Piy command IL XMos program 2 A EM Pa
294. s Y P0013 IX0 0 19 1 in the device monitor of XG5000 e If the device doesn t work as described in the table above there might be a problem with the LED or the input hardware so contact the customer center 4 1 Chapter 4 Positioning Check 6 Operation Check through Jog Operation Check the operation of XGB positioning doing jog operation in the following sequence This manual describes the axis X operation check when the pulse output mode is PLS DIR mode and the pulse output level is set as Low Active Check the operation of axis Y in the same manner a Check of Normal Direction Rotation of Jog e Turn on the normal direction switch P0010 of axis X with the reverse direction switch of the jog set at Off Check whether the XGB positioning function normally generates jog normal direction output 1 Check of the output LED P0020 QxX0 0 0 flashes quickly P0022 QX0 0 2 stays ON 2 Check of area K Check whether the current position address is increasing by checking the current position address area axis X K422 double word with XG5000 b Check of Normal Direction Stop of Jog Turn Off the jog normal direction switch P0010 IX0 0 16 during jog normal direction operation and check whether the output LED P0020 QX0 0 0 P0022 96QX0 0 2 is Off the current position address area axis X K422 KD211 double word with XG5000 and whether the current position address has stopped increasing
295. s axis X Y linear interpolation 1X0 1 7 SKX6720 SKX6721 SKX6880 SKX6881 4 se SF 4 A Linear XAxis BUSY X xis V xis BUSY YAxis interpolat Error Error ion start 0 0 1 3 INSTI APH_RST REQ OONE X RST DONE INST3 APM FLT REQ DONE X FLT DONE PM LIN REQ DONE LIN DONE LIN STAT Chapter 7 Program Examples of Positioning a Devices Used Device Description 961X0 1 0 Axis X error reset output inhibition cancel switch 961X0 1 1 floating origin switch 961X0 1 7 Straight interpolation start switch KX6720 Signal during operation of axis X KX6721 Signal of axis X error KX6880 Signal during operation of axis Y KX688 1 3 Operation Data Setting coordinat es Absolute Control pattern Position control Operation pattern Signal of axis Y error Operation type Single Repeat step Target position pulse Acc Dec Operation speed pls s Dwell time Is Absolute Position control 4 Operation Sequence e P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position POOOE IX0 1 7 straight interpolation start switch On the straight interpolation start of axes X Y is started Single Y increment 5000 Start address X increment Target address Chapter 7 Program Examples of Positioning 7 2 3 Deceleration Stop
296. s during the operation of Origin return at high speed it will be decelerated and operated at the Origin return at low speed 500 pps set up in the parameter The decelerating time will be 100 ms set up in the parameter 3 If the Origin signal which is an external signal enters after being changed to Origin return at low speed the output is immediately stopped and the Origin determination status flag KX6724 is turned on after the dwell time 100ms set up in the parameter From the interruption of the output to the turning On of the Origin determination status flag KX6724 there may be dwell time 1 scan time of delay 4 Here the present address will be preset to 0 which is the address of the Origin set up in the parameter Speed Home high speed Decreasing at DOG On Home low speed Time DOG 961X0 0 12 Home 961X0 0 13 Start Homing MX0 Homing The DOG signal and Origin signal are fixed to the contact points shown below XEC DNxxH DOG Origin point X axis IX0 0 12 901X0 0 13 Y axis 901X0 0 14 901X0 0 15 Take care that if both the DOG and Origin input contact are used as the external preset inputs of the high speed counter or as the start up signals for the external contact the Origin detection may become incorrect During returning to Origin the present position address is not changed Chapter 5 Positioning Instructions 5 3 3 Function Block for Floating O
297. s falling edge of DOG signal At this time though Origin signal is inputted while DOG signal is On Origin is not determined c If first origin signal is entered after DOG signal changes from On to Off it stops Remark While DOG signal is On origin is not determined by origin signal That is origin may be determined as soon as origin signal is inputted after DOG signal changes from On to Off Home is not determined though home signal is M inputted during DOG on 3 15 Chapter 3 Before positioning Remark In speed decreasing section origin is not determined Though DOG changed from On to Off and Origin signal is inputted in speed decreasing section origin is not determined Origin is determined at first Origin signal after speed decreasing section Home is not determined on the decreasing section t operates as follows if it meets an external lower limit while waiting for origin entry after DOG signal changes Off gt On gt Off The following figure is example when home direction is backward Forward Reverse Home command DOG External input lower limit Home 1 If object starts home return backward by homing command and meets rising edge of DOG it changes homing with slow speed and if it meets falling edge again it waits to determine the origin at the first origin signal 2 At this status if external low limit input signal B contact point is entered target changes
298. s pattern pattern type Absolu Position te control Target position pulse Acc Dec Operation speed pls s Dwell time s Absolu Position te control 7 19 Chapter 7 Program Examples of Positioning 4 Operation Sequence P0009 96IX0 1 1 floating origin switch On set as the floating origin at the current position P000D 96IX0 1 5 synchronous start switch On axis X tarts position synchronous start with axis Y being the main axis P000F 96IX0 1 7 Axis Y start switch On axis Y starts the step operation If the position of axis Y reaches 2 000 axis X is synchronized to this starting step 1 7 2 8 Speed Synchronous Start The program example of speed synchronous start is as follows 1 XBM XBC P0008 K04201 PH In case of error emor reset output inhibit cancel Emorreset XAxis Error SW K04301 Y Axis Error P0009 K04200 K04201 i 2 z set X axis Floating FLT XAxis BUSY XAxis Error origin command K04300 K04301 set Y axis Hoating YAxis BUSY YAxis Error wm POOOA K04200 K04201 1 1 z X axis DEC Stop DEC Stop XAxis BUSY XAxis Eror P000B K04300 K04301 1 ft Y axis DEC YAxis BUSY YAxis Error Y axis DEC Stop Stop PO00C K04200 K04201 z rs xs X axis SSS start 1 12H 12 E Synchrous rate 50 SSS stat XAxis BUSY XAxis Eror delay time 1ms POOOF K04300 K04301 Pj Y axis s
299. se of DWELL time remaining bias counter immediately after positioning ends When origin is determined by homing though the user inputs homing signal and DOG signal those are ignored 1 Type of Home method Generally home method can be divided into one using DOG and another not using DOG In the XGB built in positioning there are three methods using DOG Home method Necessary input signal Reference Origin detection after DOG off 0 DOG HOME OFF Content of is displayed in Origin detection after DEC when the Home Parameter of DOG on DOG Origin 1 DOG HOME On XG5000 DOG Origin Origin detection by DOG 2 DOG ROG 3 14 Chapter 3 Before positioning 2 Origin detection after DOG Off The operations by Home Return instruction using DOG and origin signal are as follows speed Home high speed Decreasing at rising edge of DOG Home low speed i Movement after DOG on Home is not determined though home signal is inputted during DOG on ervo motor 1 revolution evolution Home starting Home processing Home complete operation waiting X Homing X waiting a If home return command ORG instruction is executed it accelerates toward a preset home return direction and with Home high speed b During operating with Home Return High speed if rising edge of DOG signal occurs it operates with Home Return Low speed and monitors if there i
300. se of error Complete signal is on during one scan 3 4 Chapter 3 Before positioning 2 Control by incremental coordinates Object moves from current position as long as the address set in operation data At this time target address is based on start address Direction is determined by sign In case Address is positive number forward positioning Direction increasing address In case Address is negative number backward positioning Direction decreasing address a Example t assumes that operation data is specified as shown table 3 2 For how to set operation parameter refer to the Ch 3 3 Step Rep Address M A D Speed Pt we eno eos 5m o 7m0 o wo 0 lt Table 3 2 operation data example of incremental coordinates type gt n table 3 1 since coordinates is INC control method is POS step no 1 is position control by incremental coordinates t assumes that current position is 5000 Since object moves as long as 7000 target stop at 2000 absolute coordinates as shown figure 3 2 At this time increment is 7000 pulse and direction is backward Increment 7 000 Start address Target address lt Figure 3 2 operation example of incremental coordinates type 3 1 3 Speed control Speed control means that object moves with steady speed steady pulse string until stop command Incase of speed control direction is determined by sign of Address set in ope
301. shed to the set target position no positioning completion signal axis X K4202 axis Y K4302 is generated and if M code is set the M code signal does not turn On either In this case the operation step number maintains the current step If the indirect starting instruction is executed again afterwards the operation methods differs according to the coordinates type 1 Absolute coordinates The remaining position output which has not been output from the current operation step is output 2 Incremental coordinates Operation is conducted as much as the new target position For example if the target value of the corresponding step is 20 000 and it has been stopped at 15 000 by the deceleration stop instruction and if the indirect starting is executed again in case of absolute coordinates operation is done as much as 5 000 and stops at 20 000 and in case of Incremental coordinates it newly moves 20 000 and stops at 35 000 5 25 Chapter 5 Positioning Instructions 5 2 10 Main axis position synchronous Instruction As follows this is the instruction for synchronous starting according to the current position of the main axis with the axis set in the SSP being the auxiliary axis For details refer to 3 1 8 Speed Time main axis position synchronous execution contact point main axis starting contact point 1 Main axis position synchronous Starting Instruction SSP
302. sification Variable Data Type Description Name Request for function block execution If the condition in connection with this area is REG PIGE satisfied during the software running and 0 1 edge or level the function block is executed Base Number This area is for setting up the number of the base Input BASE USINT where the positioning module is mounted In the Variables internal positioning of XGB fix this to 0 Slot Number This area is for setting up the number of the slot SLOT USINT feed where the positioning module is mounted In the internal positioning of XGB fix this to 0 Number of the axis in use AXIS USINT X axis 0 Y axis 1 Indicates completion of the function block execution If the function block is executed without error DONE PE 1 is outputted and maintained until the next execution If erroneous 0 is outputted Output Error State Indication Variables This area indicates the number of the error occurred in the start up of the function block STAT UINT The errors occurred during operation are indicated in the K area which outputs error codes Other I O variables excluding the common variables presented in the above table are described below 1 Common Error Codes for Function Block The types and description of the common error codes which may occur in the starting up of the function blocks related with internal positioning a
303. sition up to target address movement There are two position control methods absolute and incremental 1 Control by absolute coordinates Absolute coordinates Object moves from start address to target address Position control is performed based on the address designated in Home Return home address Direction is determined by start address and target address Start address target address forward positioning Start address gt target address backward positioning a example t assumes that operation data is specified as shown table 3 1 For how to set operation parameter refer to the Ch 3 3 oe Rep Address A D aoe MEENET lt Table 3 1 operation data EE of absolute coordinates type n table 3 1 since coordinates is ABS control method is POS step no 1 is position control by absolute coordinates e It assumes that the current poison is 1000 Since address in step no 1 is 8000 object moves to 8000 as shown figure and increment is 8000 1000 7000 Object moves forward because target address is larger than start address 100pps 0 Start address ICrement 77 000 Target address Figure 3 1 operation example of absolute coordinates type Remark Every position speed control is available as long as the origin is determined preliminarily If it is executed while origin is not determined error code 234 occurs and it doesn t move In case error occurs refer to App 1 2 and remove the cau
304. speed if the jog low high speed external input P0004 is On and high low if Off and can be changed during jog operation too As the start and stop of jog operation is done by the level of the input signals if the input signal P0008 P0009 is On it operates and if Off it carries out jog stop f both jog normal direction operation and backward direction operation are On there is no error code in XGB built in positioning but it stops if it is currently in operation Remark If you do jog operation by adding the signal K4200 KX6720 K4300 KX6880 during operation as the normally closed contact point contact point B for the jog operation input condition it alternates starting and stopping according to the On Off of the signal during operation Chapter 3 Before positioning 2 a Data Area for Positioning Setting In case of XBM XBC ERES Area Variables Axis Y Sets bias speed Sets maximum speed limit K0454 Sets acceleration time 1 Sets deceleration time 1 Sets acceleration time 2 Sets deceleration time 2 Sets acceleration time 3 Sets deceleration time 3 Sets acceleration time 4 Wod Sets deceleration time 1 Upper limit Sets upper limit value of K0462 Double word K0502 Double word software software Lower limit Sets lower limit value of K0464 Double word K0504 Double word software software Sets backlash correction Backlash correction K0466 Word K0506 Word value Sets
305. sssseeeenneenenenne nnne 3 9 3 1 7 Simultaneous start control aene ta inh r M p re Ee eo RR te stata be ER Apr nip fee 3 12 3 1 8 Synchronized control p eater pee SERIO Re RERO TERR Te FRRYR M E DR codes 3 13 momen p 3 14 3 1 10 Position and speed override ssssssssssse Ree 3 19 321 POSITIONING stop sigfal ace e reete ier Rare rs NUR ERR AR aoai SER A DERI MRENLAEER 3 21 3 1 12 Manual operation peta ee nir m m e enn raaka 3 23 3 1 13 Stroke Upper Lower Limits ccc ecccccccccecccceccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeseneeteess 3 24 3 1 14 Output of positioning completion Signal cccceccccecceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeteees 3 25 3 2 Positioning Parameter octies decia doit cie ftia utes otn Lea eiae niaka 3 26 3 2 1 Positioning parameter setting sequence ssessseeee 3 26 3 2 2 Relationship between positioning parameter and dedicated K area 3 30 3 2 3 Setting basic positioning Dararmelersus uote cuti tte oid be le Re sient 3 31 3 2 4 Origin Manual Parameter Setting for Positioning sseeeesesse 3 38 3 3 Positioning Operation Data eto rb teeth irn fates ERR S ux HU vta ER re ELE uid 3 41 3 4 Positioning Status Monitoring and Area K for Input and Output 3 49 3 4 1 Status Monitoring and Flag for Positioning sseeeeeee 3 49 3 4 2 Flag for Positioning Instruction and Command
306. struction has been executed output is cut off and Origin is undetermined To resume operation Origin must be determined by reference return floating reference setting or present position preset function 2 Sample Instruction a Sample Program EMGStop SkKX6720 APM_EMG P y DONE Maxis BUSY 0 STAT 0 b Program Operation At the rising edge of the emergency stop signal used as the reference signal both X axis and Y axis of the XEC internal positioning stop operation immediately Error code 481 is generated and output is cut off Chapter 5 Positioning Instructions 5 3 21 Error Reset Output Cut off Release Function Block This instruction reset present error and releases output cut off 1 Error Reset Instruction APM RST Form Variable Data Type Description APM_RST REQ DONE Output cut off release e Setting range 0 1 0 output cut off not released 1 output cut off released INH OFF BOOL a Function This instruction provides error reset reference to the XGB internal positioning At the rising edge of the input condition the error code applied to the axis designated as the AXIS is released At this time if the setting value of the INH OFF is 0 only the error code is released but the output cut off is maintained and it the value is 1 output cut off is released too Chapter 5 Positioning Instructions 2 Sample Instruction a Sample Program
307. t Word Address pulse 2 147 483 648 2 147 483 647 pulse K710 K1010 KD355 KD505 Double word Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end K717 K1017 Word KW717 KW1017 K7186 87 K10186 87 Bit KX11494 95 KX16294 95 BAS ple Double word KD507 KD357 K1016 Dedicated K area Data size X axis K716 KW1016 K7284 K10284 Bit Initial value ABS KW716 KX11652 KX16452 K7282 83 K10282 83 KX11650 51 KX16450 51 Bit K7281 K10281 KX16449 Bit KX1 1649 K10280 Word END POS K7280 KX1 1648 KX16448 K729 KW729 K1029 KW 1029 Address pulse 2 147 483 648 2 147 483 647 pulse K720 KD360 K1020 KD510 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s 0 50 000 unit ms App 2 13 K727 SKW727 K7286 87 KX11654 55 K724 KD362 K726 96KW726 K1027 Word 96KW1027 K10286 87 Bit KX16454 55 mies Double word KD512 K1026 KW 1026 Appendix 2 Positioning Instruction and K area List Pattern Control Method REP Step Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end
308. t KX49734 35 S104 Double word KD1552 Word KW2606 KW3106 owes Initial Dedicated K area value Xaxis Yaxis ABS K26184 K31184 KX41892 KX49892 K26182 83 K31182 83 KX41890 91 KX49890 91 B END K26181 K31181 iui KX4 1889 SI 0 amp KX49869 WO41888 Kx49888 K2619 w2619 AKG K2610 K3110 K01305 401555 Double word 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 App 2 32 K2617 K3117 KW26 17 KW3 117 K26186 87 K31186 87 KX41894 95 KX49894 95 KO 1307 KD 1557 KW26 16 Word Double word K3116 KWS 116 Appendix 2 Positioning Instruction and K area List Setia Tames Initial Dedicated K area Vi value Xaxis Yaxis Coord 0 ABS 1 INC ABS Pattern Control Method REP Step 0 END 1 KEEP 2 CONT 0 POS 1 SPD 0 SIN 1 REP 0 30 0 80 for high end Data size K31284 KX50052 K31282 83 Fae KX50050 51 Bit K31281 KX50049 Bit K31280 Word K26284 KX42052 K26282 83 KX42050 51 K26281 KX42049 K26280 KX42048 K2629 KW2629 END KX50048 K3129 KW3129 Address 2 147 483 648 2 147 483 647 pulse K2620 KD1310 K3120 Double word KD1560 Pattern Control Method REP Step 0 65 535 0 No 1 1 No 2 2 No 3 3 No 4 1 100 000 pulse s Setting range 0 ABS 1 INC 0 END 1 KEEP 2 CONT 0 POS 1 SP
309. t instruction axis position speed Inching starting Slot instruction axis inching amount Change starting step number Slot instruction axis step number Cancel M code Slot instruction axis Preset current position Slot instruction axis position Emergency stop Slot instruction axis Reset error cancel output Slot instruction axis inhibit allow pulse output inhibition Save parameter operation Slot instruction axis select the storage area data XGB positioning instructions are activated at the rising edge That is when the execution contact point is On it carried out the instruction only once Chapter 5 Positioning Instructions 2 In case of XEC Function Block Description APM ORG Start return to the origin Conditions Req Base Slot Axis Remark APM FLT Set floating origin Req Base Slot Axis APM DST Direct starting Req Base Slot Axis Position speed dwell time M code position speed absolute incremental ACC DEC time APM IST Indirect starting Req Base Slot Axis step number APM LIN Linear interpolation starting Req Base Slot Axis step number APM_SST Simultaneous starting Req Base Slot Axis X axis step Y axis step Z axis step APM_VTP Speed position switching Req Base Slot Axis APM_PTV Position speed switching Req Base Slot Axis APM_STP Stop
310. tat YAxis BUSY YAxis Eror SW a Devices Used Device Description axes X and Y error reset output inhibition cancel switch Floating origin switch of axes X and Y axis X deceleration stop switch deceleration stop switch of axis X axis X speed synchronous start switch indirect start switch of axis Y Signal during axis X operation Error signal of axis X Signal during axis Y operation Axis Y error signal Chapter 7 Program Examples of Positioning 2 XEC Comment When error occurs resets error and cancels ouptut inhibition if INSTa 1X0 1 0 SKXB721 IP ErrorReset XAxis SII Error APM_RST REQ DONE X_RST_DONE INST SKX6881 APM_RST REQ DONE v RST DONE 0 BASE STATH X_RST_STAT VAxis Error 0 jBASE STATE _RST_STAT 0 0 SLOT 0 1 JAXIS 1 1 JINH OFF Comment Sets axis X Y floating origin INSTIO amp 1XD 1 1 SKXb720 SKX5721 PM FLT RE ONE X FLT DONE Floating XAxis BUSY X xis origin W Error INSTI XKX6880 XKXE88 APHFLT 7 y H Ped DONE V FLT DONE 0 BASE STAT X FLT STAT VANS BUS YAKis rror 0 4BASE STAT v FLT STAT 0 SLOT 0 jAXIS Comment is X DEC stop INSTIB 81X0 1 2 SKX6720 SKX6721 APM STP REQ DONE X STP DONE DEC Sto X xis BUSY X xis Error 0 H X_STP_STAT 0 0 1 Comment JAxis Y DEC stop INSTI 1X0 1 3 SKX5880 SKX5881 APM STP 1
311. tening the terminal screws let all the external power off including PLC power If not electric shock or abnormal operation may occur Please connect the battery accurately and Don t let the battery recharged disassembled heated short or soldered Heat explosion or ignition may cause injuries or fire Don t remove PCB from the module case nor remodel the module Fire electric shock or abnormal operation may occur gt Prior to installing or disassembling the module let all the external power off including PLC power If not electric shock or abnormal operation may occur gt Keep any wireless installations or cell phone at least 30cm away from PLC If not abnormal operation may be caused gt Before use edit function during operate make sure to carefully read and understand the User s Manual If not it may be caused damage to the product or accident due to disoperation Do not drop and give an impact to battery It may be caused leak of liquid of inside battery due to damage the battery Do not use any battery that had been fell on the floor or had been shocked Also let skilled worker take in charge of the operation of changing battery Safety Instruction Safety Instructions for waste disposal Product or battery waste shall be processed as industrial waste The waste may discharge toxic materials or explode itself Revision History Version Date Remark Page V 1 0 2008 1 1 Positioning first
312. the Program If there is the rising edge of M0001 used as the M code cancel instruction signal and if there is an M code in positioning axis X the M code On signal and M code number are cancelled Chapter 5 Positioning Instructions 5 2 18 Current Position Preset Instruction The current position preset instruction PRS instruction is for changing the current position by force 1 Current Position Preset Instruction PRS Areas available Flag Instruction dh Step Error Zero Carry PMKF L T C S Z Dx iliud U N D R F110 F111 F112 sl Jo PRS ax o o o o o 4 7 o E n1 o o o Oo 3 fo COMMAND PRS PRS sl ax ni Area Setting Operand Description Setting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD ni Curent position value 10 5 147 453 648 2 147 483 647 DINT change Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the instruction of changing the current position to XGB built in positioning The current position of the axis designated as ax at the rising edge of the input condition is changed to the pos
313. the execution of WRT instruction if it gets out of the setting range instruction execution error flag F110 turns On and the instruction is not executed b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed Chapter 5 Positioning Instructions 2 Example of Use of the Instruction a Example of the Program WRT command IL program 2 WRT 0 1 c 1 6 0 0 LOADP M0001 END b Operation of the Program f there is the rising edge of M0001 used as the parameter save instruction signal the operation data of area K of positioning axis X and axis Y are permanently preserved as the positioning parameter of XGB built in flash memory If WRT instruction is executed the previously saved positioning parameter is deleted and the parameter is changed to the operation data of the current area K Be careful that if WRT instruction is executed the scan time of the scan where the instruction has been executed because the previous positioning parameter of the flash memory is deleted and the operation data of area K is written Chapter 5 Positioning Instructions 5 3 Positioning Function Blocks for XEC 5 3 1 General for Function Block In the XEC PLC the input output variables and their functions which are applied commonly for all the function blocks used for internal positioning are as follows Clas
314. the parameter or operation data in the positioning monitoring package and save them in the XGB PLC be sure to press the Save Project button to save them in the XG5000 project Otherwise the settings of XG5000 might be different from XGB For details refer to 3 2 and 3 3 6 9 Chapter 7 Program Examples of Positioning Chapter 7 Program Examples of Positioning This chapter describes the program examples of the instructions of XGB positioning function 7 1 System Composition and Setting of Input and Output This section describes the setting of the positioning system and the input and output signals for the program example of XGB positioning If there is no separate description all the example programs addressed in Chapter 7 were made according to the settings of the input and output signals described in this chapter 1 XBM DNxxS system configuration BCD digital switch ECCECCCCCCECCECCCECC J a N F Servo motor Servo driver Remark Be sure to set the basic parameter positioning as 1 Use when you use the positioning function L Positioning Positioning ie v 0 Not Use Pulse Output Level D Low Active D Low Active Bias Speed 1 pls s 1 pls s Speed Limit 100000 pls s 100000 pls s ACC No 1 500 ms 500 ms DEC No 1 500 ms 500 ms ACC No 2 1000 ms 1000 ms DEC No 2 1000 ms 1000 ms Pesci ACC No 3 1500 ms 1500 ms NEC Na TANN me TANN me Chapter 7 Program Examples of Positioning 2 X
315. ting item gt 3 27 Chapter 3 Before positioning 3 Operation data setting e If the user select X Axis Data or Y Axis Data tap on the positioning parameter setting window the user can set operation data of 30 steps as show below Standard type can set up to 30 steps high end type can set up to 80 steps E Positioning 0 5 CO 74 0 UI d wn 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 cocOcoOooocoococooooooooooooooooooooo pooooooooooooocooooooooooocoooooooocco poooooocoooooooooooooooooooooooo Operation data setting lt Position operation data setting window gt Items of operation data is as table below For detail of operation data refer to 3 3 Item Description Initial value Coord Setting Cood of each step ABS INC ABS Pattern Setting operation pattern of each step END KEEP CONT END Control Setting control method of each step POS SPD POS Method Setting operation method of each step SIN REP SIN REP step In case of repeated operation setting the next step no 0 Address Setting target address of each step O Pulse In case of using M code number indicated when M code M Code occurred 0 In case of setting as 0 M code function is not used A D No Setting A D no of each step No 1 Speed Operation speed of each step O pps Dwell After ending step time necessary to remove remaining pulse of offset counter O ms
316. tion Interpolation start reference Start signal PORE KX6720 X axis in operation signal BOOL KX6721 X axis error state BOOL LIN_AXIS Axis information USINT 3 STEP Operation step No UINT 10 Axis Step Coord Op EU Op Rep Target M Accl de Op Speed Dwell No inate Pattern Type Type Step Pos Pulse Code c No pls s Time ms FX o me Tom Pos sre 0 roo 0 1 wo 9 E oe ma Tem f sea 0 200 9 2 39 10 Chapter 5 Positioning Instructions d Program Operation At the rising edge of the Interpolation Start up used as the linear interpolation start up reference signal the APM LIN instruction is executed If X axis is in operation or error condition it is not executed If Y axis is in operation error code 242 is outputted to STAT 1 and operation is not performed 1 When linear interpolation instruction APM LIN is executed linear interpolation operation is carried out as set up in the instruction operand as set forth below 2 Since the BASE and SLOT are 0 the internal positioning of the base unit performs linear interpolation operation 3 Since the STEP operation step No was set to 10 main and sub axes are automatically selected with the No 10 operation data of the X axis and Y axis In this example since the target position of the X axis is larger X axis becomes the main the Y axis becomes the sub axis 4 Here the velocity and the accelerating and de
317. tion time origin return deceleration time Dwell time 100 ms direction direction 500 pps 100 ms 100 ms b Examples of the Program M0000 K04200 K04201 iP H 17 1 t Home XAxis BUSY XAxis Error 0 Retrun Run Instruction OP 1 Home 0 0 LOADP M0000 R letrun Run IL program 2 AND NOT K04200 XAxis BUSY 3 AND NOT K04201 XAxis Error 4 ORG 0 0 1 7 END c Devices Used Device Description M0000 Starting signal of axis X origin return K4200 Signal during axis X operation K4201 axis X error Chapter 5 Positioning Instructions d Program Operation The ORG instruction is executed when there is the rising edge of M0000 which was used as the starting signal of the axis X origin return It doesn t work if axis X is operating or in error 1 If the origin return instruction ORG instruction is executed it is decelerated in the reverse direction as set in the origin return parameter and operates at origin return high speed 50 000pps 2 If there is the rising edge of the DOG signal during origin return high speed operation it is decelerated and operates at origin return low speed 500pps The deceleration time is 100ms set in the parameter 3 If the origin signal is input which is the external input signal after switch to the origin return low speed the output immediately stops and the origin determining status flag K4204 bit turns On after
318. tioning Instructions b Operation of the Program e SSS instruction is executed if there is the rising edge of M0001 which was used as the speed synchronous instruction signal Since the second operand is 1 axis Y axis Y becomes the auxiliary axis and because the fifth operand is O axis X the main axis is axis X f there is the rising edge of M0002 which is the indirect starting instruction signal of the main axis No 1 step of axis X is indirectly started When the main axis is started axis Y is started at the synchronous ratio speed of 100 00 set in the third operand of SSS instruction and is synchronized to the main axis with the delay time of 10 ms set in the fourth operand for operation Chapter 5 Positioning Instructions 5 2 12 Position Override Instruction The position override instruction POR is for changing the target position of the axis being operated for the current positioning into the target position set in the instruction For details refer to 3 1 10 1 position override instruction POR Areas available Flag Instruction sen Step Error Zero Car ry PMK F LITICIS Z D x R x va U NIDI R F110 F111 F112 siale s es fei Se e s s a n etes s a POR a o lo l l f ol l lol l l lol l 47 E n1 o o o o o 2 POR POR sl ax nl Area Setting
319. top Process Since positioning operation is not complete if it stops due to deceleration stop instruction After Mode among M code modes is not On because it does not generate positioning completion signal After then if indirect start instruction step number current step number is generated Absolute method operation operates as much as the remaining distance of the current operation step yet output while Incremental method operation operates as much as the target distance b Process of emergency stop and external input upper lower limits f emergency stop instruction or external input upper lower limits are input during positioning control it stops positioning control and turns No output generating an error c Stop process priority The priority of positioning module stop process is as follows Decelerating stop Immediate stop n case of any immediate stop factor during decelerating stop it processes as follow By DEC stop DEC stop EMG stop l stop e Immediate stop factors Dinternal emergency stop external input upper lower limit Soft upper lower limits d Interpolation stop It decelerates and stops if it meets a stop instruction during interpolation operation If indirect start instruction is executed in the current step when re starting after decelerating stop it resumes operating the positioning operation data to the target position At the moment it operates differently
320. ttern Posi ton 3 AND NOT K04201 XAxis Error 4 PTV 0 0 1 7 END Chapter 5 Positioning Instructions b Device Used Device Description Data size Example of setting position speed switching instruction signal signal during axis X position control axis X error c Operation of the Program e PVT instruction is executed when there is the rising edge of M0001 which was used as the position speed switching instruction signal t the position control is going on currently it is switched into speed control and the current position is not preset but only the control method is switched to speed control When using the position speed switching instruction make sure that the instruction is not executed during the speed operation by using the display flag axis X K4210 axis Y K4310 during position control as the program example above To stop the operation after switching to speed control use the stop instruction STP Chapter 5 Positioning Instructions 5 2 9 Deceleration Stop Instruction The currently operating axis is decelerated and stopped at the speed designated by the deceleration stop instruction STP instruction For details refer to 3 1 11 1 Deceleration Stop Instruction STP Areas available Flag STUER Sen Step Error Zero Car ry PMK F L T C S Z D x R x Ea U N D R F110 F111 E112 STP ee rcr c e e e s e s pee eee n1 o o Oo o
321. tting range Data size B Slot number of positioning XGB is fixed at 0 WORD module ax Axis to give instruction 0 axis X or 1 axis Y WORD nt Step number fo carry out 9 4o se ndard 0 80 advanced WORD straight interpolation n2 Set the axis to carry out XGB is set at 3 WORD straight interpolation Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 5 15 Chapter 5 Positioning Instructions a Function This instruction is giving the straight interpolation starting instruction to XGB built in positioning The two axes of XGB positioning conduct straight interpolation starting at the rising edge of input condition f the instruction is executed the two axes of XGB positioning carried out the straight interpolation operation according to the axis setting designated in n2 The step number to be operated is the step number set in n1 n setting of the axis of n2 the axis to carry out the straight interpolation operation as follows Bit number 15 2 1 0 Setting Not used Axis Z XGB is not axis Y axis X used Each bit refers to the axis to start the straight interpolation In the case of XGB built in positioning n2 should be fixed as 3 since only axis X and axis Y are available Otherwise error code 253 is issued and it does not operate b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag
322. tting range Data size sl Slot No of positioning module XGB is fixed at 0 WORD ax Axis to give instruction 0 axis X or 1 axis Y WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is giving the speed position control switching instruction to XGB built in positioning The axis designated as ax at the rising edge in the input condition is switched from the speed operation to position operation The current position which was output during the previous speed control operation is initialized to 0 and operated to the target position by absolute coordinates method b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction The program speed position control switching instruction is described with the following example a Example of the Program M0001 K04211 K04201 ler lr ir VTP XAxis XAxis Error command Contro Pattern Spe ed VIP 0 0 LOADP M0001 command XAxis 2 AND K04211 Control Pattem Spe IL program ed 3 AND NOT K04201 XAxis Error 4 VTP 0 0 1 7 END Chapter 5 Positioning Instructions b Device Used Description Data size Example of setting speed position switching instruction signal Signal during axis X speed control axis X error c Operation
323. uction from being executed during position operation Chapter 5 Positioning Instructions 5 3 9 Position Velocity Transfer Function Block This APM PTV instruction changes the axis presently in position control to velocity control For details see 3 1 5 1 Position Velocity Transfer Instruction APM PTV Form Description INSTI APM PTV This instruction provides position velocity transfer reference to the XGB internal REQ DONE positioning At the rising edge of the input condition the axis designated as the AXIS is transferred from position operation to velocity operation At this time the present position obtained from the previous velocity control operation is not initialized to 0 and only the control mode is changed from position to velocity to continue to operate 2 Sample Instruction The sample program below shows the operation of the position velocity control transfer instruction a Sample Program INST8 EE eedswitchi ng SKXb 735 SKXb721 ideali P I DONE Axis Axis Cont ral Error Pattern Po sition 0 STAT 0 8MB12 b Used Devices Device Description Data Size Exemplary Setting Position Velocity Position Velocity transfer Transfer reference signal 9 KX6736 X axis in position control signal KX6721 X axis error state Chapter 5 Positioning Instructions c Program Operation At the occurrence of the rising edge of the position velocity trans
324. upper limit and lower limit is checked when starting positioning and operating If an error is detected by setting software upper lower limits software upper limit error 501 software lower limit error 502 pulse output of positioning module is prohibited Therefore to resume operation after an error is detected it is prerequisite to cancel No output No output status is displayed at K4205 KX6725 for X axis and K4305 KX6885 for Y axis t can be set according to each axis and range is as follows S W upper limit address value range 2 147 483 648 2 147 483 647 unit Pulse S W lower limit address value range 2 147 483 648 2 147 483 647 unit Pulse 9 Backlash Compensation Amount A tolerance that a machine does not operate due to wear when its rotation direction is changed if it is moving with motor axis combined with gear and screw is called backlash Therefore when changing a rotation direction it should output by adding backlash compensation amount to positioning amount The range is between 0 65 535 unit Pulse per axis It is available for positioning operation inching operation and jog operation js ST Gear 1 Gear 1 Gear 2 Backlash compensation outputs backlash compensation amount first and then address of positioning operation inching operation and jog operation move to the target positions At this time output as many as backlash amount is not added to the current p
325. was used as the instruction signal of the simultaneous starting is generated 1 If the simultaneous starting instruction SST is executed the two axes are simultaneously started as set in the operand as follows 2 Since sl is 0 built in positioning of the basic unit operates simultaneous starting 3 If the set value of ax does not exceed the setting range it does not affect the operation 4 Since the step numbers of axis X and axis Y are set 1 and 2 respectively the two axes are simultaneously started by using the operation data of the operation step 5 Since there is no axis Z in XGB built in positioning even if a random value is input as the step number of axis Z operation the operation is not affected 5 19 Chapter 5 Positioning Instructions 5 2 7 Speed Position Switching Instruction This is positioning according to the target position by switching the axis operated by speed control to position control through speed position switching instruction VTP instruction For details refer to 3 1 4 1 Speed Position Switching Instruction VTP Areas available Flag Instruction con Step Error Zero Car ry PMK F L T C S Z DxIRXx d U NIDI R F110 F111 F112 vie HH a ea oc gt ax o o o o Oo COMMAND VTP VTP sl ax Area Setting Operand Description Se
326. xiliary axis axis X K4200 axis Y K4300 turns On and n2 step of the auxiliary axis is started when n3 axis which is the main axis is positioned as set in n1 The position synchronous starting instruction can be executed only when the origins of both the main axis and auxiliary axis are fixed If the origin of the main axis is not decided when the main axis position synchronous instruction SSP is started error code 346 is issued and if the origin of the auxiliary axis is not decided when the main axis position synchronous instruction SSP is started error code 344 is issued When you use the main axis position synchronous instruction set the main axis and auxiliary axis at different axes If they are set at the same axis error code 347 is issued If you want to cancel the main axis position synchronous instruction after you executed it execute the stop instruction of the auxiliary axis STP b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction The main axis position synchronous starting instruction is described with the example of the following program a Example of the Program The following program example is starting No 1 step operation data of the auxiliary axis when axis Y is the auxiliary axis and axis X is the main axis and the position of the main axis is 10 000 M0001 K043
327. xis KX6864 Y axis KX7024 in the K area 2 In the start up using the start signal reference contact the operation step is fixed to the present operation step number which is X axis KW426 Y axis KW436 gt Therefore to change operation step in starting up using start signal reference contact change the operation step with starting step number change instruction APM_SNS and then turn the start reference contact ON For the details of the starting method using starting signal reference see 3 4 2 Chapter 5 Positioning Instructions 5 3 6 Linear Interpolation Start up Function Block In linear interpolation start up both X and Y axes are used in the manner that the movement paths of the 2 axes from the start address present stationary position to the target address position is linear This method can be classified into absolute coordinates control and Incremental coordinates control For details see 3 1 2 At the linear interpolation start up instruction the axis having greater movement for positioning becomes the main axis automatically If the 2 axes move the same distance X axis is set up as the main axis Here the velocity of the subsidiary axis does not follow the setting of the operation data The operation velocity accelerating and decelerating times and bias velocity are calculated automatically with the formula below to perform the operation main axis speed x auxiliary axis distance
328. y che tao may dien Viet Hung Dong Anh Hanoi Vietnam e mail srjo hn vnn vn Tel 84 4 882 0222 Fax 84 4 882 0220 LS Industrial Systems Hanoi Office gt gt Vietnam Address Room C21 5th Floor Horison Hotel 40 Cat Linh Hanoi Vietnam Tel 84 4 736 6270 1 Fax 84 4 736 6269 Dalian LS Industrial Systems co Ltd gt gt China Address No 15 Liaohexi 3 Road economic and technical development zone Dalian China e mail lixk lgis com cn Tel 86 411 8273 7777 Fax 86 411 8730 7560 WwWW lsis biz 10310000927 a LS Industrial Systems Shanghai Co Ltd gt gt China Address Room E G 12th Floor Huamin Empire Plaza No 726 West Yan an Road Shanghai China Tel 86 21 5237 9977 a LS Industrial Systems Wuxi Co Ltd gt gt China Address 102 A National High amp New Tech Industrial Development Area Wuxi Jiangsu China e mail Xugh Igis com cn Tel 86 510 534 6666 Fax 86 510 522 4078 a LS Industrial Systems Beijing Office gt gt China Address B tower 17th Floor Beijing Global Trade Center building No 36 BeiSanHuanDong Lu DongCheng District Beijing China Tel 86 10 5825 6025 a LS Industrial Systems Guangzhou Office gt gt China Address Room 1403 14F New Poly Tower 2 Zhongshan Liu Rad Guangzhou China e mail zhangch g lgis com cn Tel 86 20 8326 6754 Fax 86 20 8326 6287 LS Industrial Systems Chengdu Office gt gt China Address Room 2907 Zhong Yin B D No 35 Renminzhong 2 Road Chengdu China e ma
Download Pdf Manuals
Related Search
Related Contents
「安全運転の手引き」PDFダウンロード Euro-Pro S3306HC User's Manual 3Com 10014302 Network Router User Manual Toshiba R950-S9521 Laptop User Manual ProFX8 and ProFX12 8100 Eco-clean 5W-30 Vigor610 Wireless Adapter User's Guide Copyright © All rights reserved.
Failed to retrieve file