Home

I55E-EN-01 CJ1W-MCH72 Motion Control Unit

1. ATYPE SERVO Mode Comment 40 OFF Position The position loop is closed in the Servo MECHATROLINK II Driver No new motion command is allowed 40 ON Position Recommended mode for position control MECHATROLINK II with MECHATROLINK II axes 41 OFF Speed Recommended mode for speed control MECHATROLINK II with MECHATROLINK II axes Set the speed with S REF 41 ON Position The position loop is closed in Trajexia MECHATROLINK II This gives lower performance than closing the position loop in the Servo Driver 42 OFF Torque Recommended mode for torque control MECHATROLINK II with MECHATROLINK II axes Set the torque with T REF 42 ON Position via torque The position loop is closed in Trajexia MECHATROLINK II The output of the position loop is sent as the torque reference to the Servo Driver 49 OFF Speed Inverter with built in encoder interface controlled on the MECHATROLINK II bus as a servo axis Set the speed with S REF 49 ON Position Inverter with built in encoder interface controlled on the MECHATROLINK II bus as a servo axis The position loop is closed in Trajexia 28 Motion buffers Section 1 9 1 9 Motion buffers AXIS BUFFER BASIC PROGRAM du CONNECT 1 1 AXIS 2 NTYPE MTM GOMMA MOVE S00 PROCESS BUFFER MOVE 1000 m MTYPE Currently executed CONNECT 1 1 MOTION COMMAND
2. CJ1W Servo Driver input signal Description MEDIA Sigma ll Sigma V Junma input 18 DEC DEC DEC Zero point return deceleration 19 PA PA Not used Encoder A phase signal 20 PB PB Not used Encoder B phase signal 21 PC PC Not used Encoder C phase signal 22 EXT1 EXT1 EXT1 First external latch signal 23 EXT2 EXT2 Not used Second external latch signal 24 EXT3 EXT3 Not used Third external latch signal 25 BRK BRK BRK Brake output 26 Reserved HBB E STP Emergency stop switch 27 Reserved Reserved Not used 28 1012 1012 Not used Not used 29 1013 1013 Not used Not used 30 1014 1014 Not used Not used 31 1015 1015 Not used Not used The inputs in the table above are located on the CN1 I O connector of the respective Servo Driver The pin arrangement of this connector is different for the respective Servo Drivers For the Sigma ll and Sigma V Servo Drivers the input signals P OT N OT DEC EXT1 EXT2 EXT3 BRK 1012 1013 1014 1015 can be mapped to pins of the CN1 I O connector To do this you must set the appropriate parameter of the Servo Driver The table below shows the possible settings and parameter values Input signal Parameter name Parameter CN1 pin number setting Sigma ll Sigma V P OT active high Pn50A 3 0 40 SIO 13 SIO E rini B 41 S1 7 811 2 42 512 8 SI2 3 43 513 9 SI3 4 44 514 10 S14 5 45 SI5 11 SI5 6 46 SI6 12
3. 21 Motion sequence and axes Section 1 8 1 8 22 In the example 1 there are two high priority processes 13 and 14 The two HT periods are reserved for these processes one for processes 13 and one for processes 14 The low priority processes 3 2 1 and 0 are executed in the LT period one process per Cycle time here set to 1 0ms In the middle example there is only one high priority process 14 Both HT periods are reserved for this process The low priority processes 2 1 and 0 are executed in the LT period one process per cycle time In the lower example there are no high priority processes Therefore the HT periods can be used for the low priority processes The LT period is also used for the low priority processes Motion sequence and axes AXIS PARAMETER Servo Drive wal Speed loop Torque loop M M J Demanded Speed position i command Motion sequence is the part of the CJ1W MCH72 that controls the axes The actual way that the motion sequence operates depends on the axis type The axis type can be set and read by the parameter ATYPE At start up the Trajexia system automatically detects the configuration of the axes The default value for the parameter ATYPE for MECHATROLINK II axes is 41 MECHATROLINK II speed The default value for the parameter ATYPE for the Encoder Interface is 44 incremental encoder Profile generator
4. oo n AC100 240V INPUT m A PERIPHERAL B o RUN o amm d 88 p go o9 o9 oS o9 P 22 CJ1W MCH72 hardware installation Move the yellow sliders at the top and bottom of the unit to the front Attach the CJ1W MCH72 to the PLC Push the yellow sliders at the top and bottom of the unit to the rear to lock them If the sliders are not properly locked it is possible that the unit does not operate rectly Communication errors can occur in the Encoder Interface when Contact Output Units are installed close to the CJ1W MCH72 This is caused by noise generated by the Con tact Outputs If Contact Output Units and a CJ1W MCH72 are installed on the same rack and com munication errors occur do one of the following Install the Contact Output Units at maximum distance from the CJ1W MCH72 Use surge absorbers for the Contact Outputs After the installation of the unit in a PLC system the following initial setup procedure must be executed Aunique unit number must be set Refer to section 2 3 2 1 I O table must be created in the PLC to register the unit on the PLC CPU Refer to section 2 3 2 2 This initial setup procedure makes sure that the unit can start up properly and can be configured for operation 2 3 2 1 Sett
5. All non allocated axes are set as a virtual axis The value for the parameter ATYPE is 0 Every axis has the general structure as shown in The motion sequence which will be executed at the beginning of each servo period will contain the following elements 1 Transfer any moves from BASIC process buffers to motion buffers see section 1 9 Read digital inputs Load moves See note Calculate speed profile See note Calculate axis positions See note Execute position servo For axis O this also includes the Servo Driver communications See note 7 Update outputs W PY Motion sequence and axes Section 1 8 Note Each of these items will be performed for each axis in turn before moving on to the next item 1 8 1 Profile generator Profile generator ONT Demand Position Basic Program The profile generator is the algorithm that calculates the demanded position for each axis The calculation is made every motion sequence The profile is generated according to the motion instructions from the BASIC programs 1 8 2 Position loop The position loop is the algorithm that makes sure that there is a minimal deviation between the measured position MPOS and the demand position DPOS of the same axis 1 8 3 Axis sequence The motion controller applies motion commands to an axis array that is defined with the BASE command If the motion command concerns one axis
6. 301 Practical examples Section 5 2 302 Pn81bE 4321 To make the Digital inputs in the Servo Driver available for reading through DRIVE INPUTS word restart 1 ENDIF IF restart 1 THEN DRIVE RESET Initial gains For MECHATROLINK SPEED By experience this setting is a good starting point P GAIN INT 214748 3648 max speed enc resolution This is the optimum value Set if needed VFF GAIN INT 60000 1073741824 enc resolution max speed Initial gains For MECHATROLINK POSITION mode Change the rigidity Fn001 according to the mechanical system Change feedforward gain Pn109 if required Initial parameter of the AXIS If set to 1 and Pn202 Pn203 1 the UNITS are encoder counts UNITS 1 Theoretical FE we will have running the motor at max speed without VFF GAIN in MECHATROLINK SPEED FE LIMIT 1073741824 P GAIN UNITS SPEED is set to 1 3 of max speed SPEED max speed73 enc resolution 60 UNITS ACCEL in 200ms from 0 to max speed ACCEL SPEED 0 2 DECEL in 200ms from max speed to 0 DECEL SPEED 0 2 Practical examples Section 5 2 5 2 3 Single axis program 5 2 3 1 Example Trace1 Device1 X x o D 80 100 120 140 160 180 200 Time ms Offset Change
7. UN 17 bit absolute 1 3 Gear encoder 540mm The mechanical system consists of a ball screw It uses a servo motor with a 17 bit absolute encoder The mechanical gear ratio of the gearbox is 1 3 The Screw pitch of the ball screw is 10mm per revolution The total travel distance of the ball screw is 540 mm The mechanical measurement units must be mm With the same procedure as in example 1 we have 17 202 2 revolution 1 ballscrew revolution 203 1 motor revolution 1 ballscrew revolution 10mm 17 2 3 encoder counts 10 mm Therefore Pn202 3 3 3 UNITS 27 gt 22 2 Pn203 10 2 5 5 One solution is UNITS 2 65536 Pn202 3 203 5 The calculation of the multiturn limit setting parameter 205 is not needed in this case because the ball screw is a system with a fixed limited axis It is enough to set this value large enough to have the overflow of the counter out of the effective position Also because of the axis is finite it is not important to set the REP OPTION parameter because REP DIST must be set large enough so it is outside of the maximum effective position 540 mm One solution is REP DIST 1000 REP OPTION 0 With these setting executing MOVE 17 moves the ball screw 17 mm in forward direction 269 How to s Section 5 1 5 1 4 Mapping Servo Driver inputs and outputs
8. ML MSPEED 0 ML DRIVE MONITOR 0 0 0 This program is a simple program to run one axis only GOSUB homing BASE 0 DEFPOS 0 WA 100 loop MOVE 1440 WAIT IDLE WA 100 GOTO loop The units are degrees in this example therefore e 18 bit encoder e Pn202 32 Pn203 45 e UNITS 32 The graph in the figure is typical for this point to point movement with linear acceleration Note the following During linear acceleration the graph of the position is parabolic because the speed is a derivative of the position During constant speed the graph of the position is straight During linear deceleration the graph of the position is counter parabolic During stop the graph of the position is constant When an overflow occurs gt DIST the position jumps to 0 if REP OPTION 1 or to REP DIST if REP_OPTION 0 303 Practical examples Section 5 2 The Following Error is proportional to the speed if you use only Proportional Gain in the position loop The torque which is given by DRIVE MONITOR as a percentage of the nominal torque of the motor when you set DRIVE CONTROL 11 is proportional to the acceleration according to the formula Torquetotal Jtotal x a Torquefriction where Torqu fiction is usually small is the angular acceleration and J the inertia of the system 5 2 4 Position with product detection A ballscrew
9. 3 axis_4 axis_ BA axis 1 2 3 4 92 All BASIC commands Section 4 2 Description Arguments Example Example Example Example The BASE command is used to set the default base axis or to set a specified axis sequence group All subsequent motion commands and axis parameters will apply to the base axis or the specified axis group unless the AXIS command is used to specify a temporary base axis The base axis or axis group is effective until it is changed again with BASE Each BASIC process can have its own axis group and each program can set its own axis group independently Use the PROC modifier to access the parameters for a certain task The BASE order grouping can be set by explicitly assigning the order of axes This order is used for interpolation purposes in multi axes linear and circular moves The default for the base axis group is 0 1 2 30 at start up or when a program starts running on a task The BASE com mand without any arguments returns the current base order grouping This should be used Note If the BASE command does not specify all the axes the BASE command will fill the remaining values automatically Firstly it will fill in any remaining axes above the last declared value then it will fill in any remaining axes in sequence So BASE 2 6 10 sets the internal array of 16 axes to 2 6 10 11 12 13 14 15 0 1
10. Categories Section 4 1 Name Description RUN Executes a program RUNTYPE Determines if a program is run at start up and which task it is to run on SELECT Specifies the current program STEPLINE Executes a single line in a program STOP Halts program execution TROFF Suspends a trace at the current line and resumes normal program execution TRON Creates a breakpoint in a program 4 1 8 Program control commands 4 1 9 Slot parameters and modifiers Name Description FOR TO STEP NEXT GOSUB RETURN Loop allows a program segment to be repeated with increasing decreasing variable Jumps to a subroutine at the line just after label The pro gram execution returns to the next instruction after a RETURN on page 214 is given GOTO Jumps to the line containing the label IF THEN ELSE ENDIF Controls the flow of the program base on the results of the condition ON GOSUB or ON GOTO Enables a conditional jump to one of several labels REPEAT UNTIL Loop allows the program segment to be repeated until the condition becomes TRUE on page 235 WHILE WEND Loop allows the program segment to be repeated until the condition becomes FALSE Name Description ALL Is a modifier that specifies that all items in the controller are concerned FPGA VERSION Returns the FPGA version 4 1 10 System
11. Enables and disables particular axis independently of other axis 66 Categories Section 4 1 Name Description AXISSTATUS Contains the axis status BACKLASH DIST Defines the amount of backlash compensation CLOSE WIN Defines the end of the window in which a registration mark is expected CLUTCH RATE Defines the change in connection ratio when using the CONNECT command CREEP Contains the creep speed D GAIN Contains the derivative control gain DATUM IN Contains the input number to be used as the origin input DECEL Contains the axis deceleration rate DEMAND EDGES Contains the current value of the DPOS axis parameter in encoder edges DPOS Contains the demand position generated by the move commands DRIVE CONTROL DRIVE INPUTS Selects data to be monitored using DRIVE MONITOR for axes connected via the MECHATROLINK II bus For axes connected via the Encoder Interface DRIVE CONTROL sets outputs of the Encoder Interface Holds I O data of the driver connected to MECHATRO LINK II bus Data is updated every servo cycle DRIVE MONITOR Monitors data of the Servo Driver connected to MECHA TROLINK II bus Data are updated every servo cycle DRIVE STATUS Contains the current status of the Servo Driver ENCODER Contains a raw copy of the encoder hardware register ENCODER BITS Sets the number of bits for the absolute encoder con
12. M 17 bit absolute 1 10 Gear encoder Pulley 12 teeth 50mm between teeth Main Wheel 144 stations 50 mm between stations The mechanical system uses a servo motor with a 17 bit absolute encoder The mechanical gear ratio of the gearbox is 1 10 The pulley has got 12 teeth and each two are 50 mm apart One complete turn of the pulley equals 144 stations on the main wheel The distance between two stations is 50 mm The mechanical measurement units must mm Total repeat distance must be the distance between two stations 50mm With the same procedure as in example 1 we have 17 2 encoder counts 10 motor revolution 1 pulley_revolution 1 station 1 motor revolution 1 pulley revolution 12 station 50mm pt 10 encoder counts 12 50 mm Therefore if we use the mechanical system to set the electronic gear ratio we have Pn202 2 10 UNITS 203 50 12 One possible solution is 217 UNITS 50 202 5 203 6 205 4 Because 217 50 is a number with an infinite number of decimal digits we can choose the following Pn202 27 10 _ 27 10 27 1 _ 3 E 2 1 203 50 12 600 60 22 15 15 Therefore the parameters UNITS Section 5 1 5 1 3 8 Example 6 UNITS 2 32768 Pn202 1 203 15 Pn205 4 REP DIST 50 REP OPTION 1 With these settings executing MOVE 50 moves the moving part 50 mm or one station 10mm
13. eee eG IGI NIU M 56 3 4 FINS comimiatids icit etie it e EL e i tec piu divas ince teneo 58 SECTION 4 BASIC commands 0000000000000000000000000000000000000000000000000000000000000000000000000000000000000 65 4 1 Categories xar ete delito gie HP 65 4 9 AIL BASIC commands 75 SECTION 5 Examples 0909090000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 243 SI e 243 5 2 Practical examples ei eie ete peine etenim oem time e PEDE 293 TABLE OF CONTENTS SECTION 6 aec eon 315 6 1 System asi ever nep aee eee dedere rd ded Usi er eate en 315 622 Data sex Change etTOrs e eee ie Hen pt abe eot eden e osa e Pee dert re hee Ree e 315 Revision history T T 323 vi Intended audience Precautions 1 Intended audience This manual is intended for the following personnel who must also have knowledge of electrical systems an electrical engineer or the equivalent Personnel in charge of installing FA systems Personnel in charge of designing FA systems Personnel in charge of managing FA systems and facilities 2 General precautions NWARNING The user must operate the product according to the performance specifications described in the operation manuals
14. 34 Status LEDs LED Color Status Description RUN Green OFF Startup test failed unit not operational Fatal error operation stopped Flashing Detection of MECHATROLINK II slaves and assignment of axes in progress ON Unit is ready to execute BASIC commands ERC Red OFF Unit is in normal operation Flashing Hardware error during startup Flashing Low battery during execution ON Error log access error ERH Red OFF CPU in normal operation ON Communication error with PLC CPU WDOG Green OFF Unit does not operate a Servo Driver ON Unit operates a Servo Driver BF Red OFF Normal operation ON MECHATROLINK II bus fault Also the CJ1W MCH72 has 8 general purpose LEDs The function of the general purpose LEDs can be controlled with the DISPLAY system parameter The table below lists the configuration for the LEDs and the DISPLAYzn command where n ranges from 0 to 7 LED 0 1 2 nz3 nz4 n 5 n 6 n 7 0 INO IN8 IN16 IN24 OUTO OUT8 jOUT16 OUT24 1 IN1 IN9 IN17 IN25 OUT1 OUT9 jOUT17 OUT25 2 IN2 IN10 IN18 IN26 OUT2 OUT10 OUT18 OUT26 3 IN3 IN11 IN19 IN27 OUT3 OUT11 OUT19 OUT27 4 INA IN12 IN20 IN28 OUT4 OUT12 OUT20 OUT28 5 IN5 IN13 IN21 IN29 OUT5 OUT13 OUT21 OUT29 6 IN6 IN14 IN22 IN30 OUT6 OUT14 OUT22 OUT30 7 IN7 IN15 IN23 IN31 OUT7 OUT15 OUT23 OUT31 Unit components Section
15. All BASIC commands Section 4 2 Bit Value Command Description 2 Hex 4 Inverter multifunction Input 3 3 Hex 8 Inverter multifunction Input 4 4 Hex 10 Inverter multifunction Input 5 5 Hex 20 Inverter multifunction Input 6 6 Hex 40 Inverter multifunction Input 7 7 Hex 80 Inverter multifunction Input 8 Only G7 8 Hex 100 External fault 9 200 Fault reset 10 Hex 400 Inverter multifunction Input 9 only G7 11 Hex 800 Inverter multifunction Input 10 only G7 12 Hex 1000 Inverter multifunction Input 11 only G7 13 Hex 2000 Inverter multifunction Input 12 only G7 14 Hex 4000 Fault history data clear 15 Hex 8000 External BB command Arguments Example See also If with function 8 the mode parameter is set to 1 the Inverter is set into servo axis mode The corresponding axis number is assigned by the CJ1W MCH72 using the formula AxisNo MECHATROLINK II Station Number 0x21 Therefore the calculated AxisNo must not be occupied by another axis connected If with function 8 the mode parameter is set to 0 which is the default value at power up the Inverter is set into normal Inverter mode station The MECHATROLINK II station number of the Inverter alarm number The number of the alarm See the Inverter manual Operation signals A bitwise value to control the operation signals See the table below mode The mode to set the Inverter to 0 Inverter m
16. Reserved symbol area for SHELL program handling Do not use these areas in your application programs 293 Practical examples Section 5 2 294 VR 900 status word reports about the status of the system 0 during initialization 1 application stopped with no error 2 errors in the system 3 application running VR 901 VR status bits reports next status BitO Alarm flag 4 Bitl15 ML communication error with one slave VR 902 action send messages to the upper controller 0 during initialization d 1 Push RESET to restart 2 Resetting i 3 System healthy VR 903 VR diag01 gives feedback of the MECHATROLINK initialisation BitO0 Could not get the ML slave number Bitt Slave number is uncorrect Bit15 Detection OK VR 904 VR diag02 gives feedback of the MECHATROLINK Slaves d Bitn Slave n not detected VR 905 VR diag03 gives feedback forUnit detection Bitn Unit n detected VR 906 VR unit detection used in detecting units VR 907 VR signal state gives feedback on signal state VR 908 sys error system error detected VR 909 first error gives the axis number causing a motion error VR 910 912 940 VR servo status taxis n 2 stores AXISSTATUS to report d to upper controller VR 911 913 941 VR servo_alarmtaxis_n 2 stores the alarm code of the servo Omron Auto Generated Symbols Warnin
17. 08 14 EM bank 0 C plc start The start address in PLC memory Note The validity depends on plc area tj area The CJ1W MCH72 memory area used for data exchange Possible values are 00 VR 16 bit signed integer 01 VR 32 bit floating point 02 IN or OP array depending on direction 03 AIN or AOUT array depending on direction 04 Axis Status array only valid if direction is PLC input tj start The tart address in CJ1 W MCH72 memory Note The validity depends on tj area total items The total number of items words and dwords to transfer Note The validity depends on plc area and tj area Example No example See also PLC STATUS Type System parameter read only Syntax PLC STATUS mode Description PLC STATUS 0 system parameter contains the monitored PLC CPU PC21 bus status The status consists of status bits which defini tions are shown in the table below Bit number Description 0 XSRES signal active 1 XSWDTU signal active 7 Cyclic refresh time out 8 PLC Program Mode flag 9 FALS Severe Failure PLC flag 10 FAL Non severe Failure PLC flag 11 LOAD OFF PLC flag All BASIC commands Section 4 2 4 2 184 PMOVE 4 2 185 POS_OFFSET 4 2 186 POWER_UP Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax PLC_STATUS 1 r
18. I 2 2 n op BASE 1 loop CAMBOX in tbl end tbl 1 lnk dst master opt start WAI IDLE GOTO loop filltable The shape of the CAM is stored in TABLE 0 to TABLE 360 npoints 360 in_tb1l 0 end_tbl in_tbl npoints Distance of the master to make the CAM lnk dst 10000 Master axis master 0 CAM start exactly when the master reaches position start opt 2 start 1000 k 100 Fil the TABLE with the suitable waveform FOR i in_tbl TO end_tbl ABLE i k COS PI i npoints 1 2 NEXT i RETURN 310 Practical examples Section 5 2 5 2 8 Flying shear program An example of the Flying shear program In this application there are three axes Axis 0 shear axis the advancement of the shear Axis 1 flying axis is the flying shear Axis 2 line axis transports the material 5 2 8 1 Example ZERO POSITION Initial Y material to cut and shear both in the zero position MOVELINK 0 cut length 1 2 0 0 line axis lenght acc 2 MOVELINK synch dist acc dec synch dist acc 2 1 2 1 dec line axis acc 2 Cut length E Just affer synchronization cut operation is done on the fly during synchronization Cut length acc 2 synch dist Just affer deceleration acc 2 synch dist dec 2 Cut length eg V xr li
19. Same with the other IO devices ELSEIF SYSTEM lt gt 0 THEN Other system error needs initialisation of the system EX ENDIF RETURN warning seg Gl IF READ BIT 15 diag01 THEN Clear servodrive warning if any IF res bit 1 THEN FOR 1 0 TO max axis BASE i IF ATYPE gt 40 AND ATYPE lt 42 THEN IF DRIVE_STATUS AND 2 gt 0 THEN DRIVE_CLEAR ENDIF NEXT i ENDIF ENDIF RETURN 299 Practical examples Section 5 2 monitoring Add monitoring depending on the application RETURN absencoder To be implemented in the future RETURN system detection status word 0 action 0 VR status_bits 0 Omron Auto Generated Units Warning Automated code section any manual code changes will be lost Unit Variables reset R diag01 20 R diag02 0 diag03 0 R unit_detection 0 lt lt lt lt VR unit_detection 0 Detection OK IF VR diag01 0 AND VR diag02 0 AND VR diag03 0 THEN ET BIT 15 diag01 o Omron Auto Generated Units End Start Standard Section Drive Parameters Axis Parameters Variables TABLE DATA Stop Standard Section RETURN 300 Practical examples Section 5 2 5 2 2 Initialization program Note The Initialization program sets the parameters for the axes These parameters are dependant upon the Mo
20. hex 12 CIO1800 CIO1824 5 hex 5 101625 101649 D hex 13 CIO1825 CIO1849 6 hex 6 101650 101674 hex 14 101850 101874 7 hex 7 CIO1675 ClO1699 hex 15 101875 101899 The battery makes sure that the following RAM data is preserved when the power supply is off User programs VR variables Table memory If the battery is not installed or the battery voltage is too low the RAM data is lost when the power supply is off The maximum lifetime of a battery is 5 years when the ambient temperature is 25 C The lifetime of the battery is shorter when the ambient temperature is higher The lifetime of the battery is also shorter when there is no power supply to the unit for long periods 35 Unit components Section 2 1 2 1 3 2 Low battery indicator If a low battery error occurs the ERC LED flashes the BATTERY LOW parameter is ON and bit 3 of status word n 2 is set see section 3 3 1 2 If this occurs perform the following steps 1 Checkifthe battery is installed correctly 2 Ifthe battery is installed correctly replace it When a low battery error occurs the battery can continue to function for 5 days if the ambient temperature is 25 and if power is supplied to the PLC system at least one time per day If the power is not turned off until the battery is replaced the battery failure and the resulting loss of RAM data can be delayed If the ambient temperatur
21. 5 2 5 1 Example nozzle 8 start FOR x 0 TO 4 FOR y 0 TO 4 MOVEABS x 200 y 200 WAIT IDLE OP nozzle ON GOSUB square_rel OP nozzle OFF NEXT y NEXT x GOTO start square_rel OVE 0 100 OVE 100 0 OVE 0 100 OVE 100 0 WAIT IDLE WA 1000 RETURN HAE rr 306 Practical examples Section 5 2 5 2 6 Bag feeder program A bag feeder machine feeds plastic film a fixed distance that is set by the operator The figure shows a typical bag feeder that is part of the machine Bag feeder machines have two modes Without mark Forward feeds the film a set distance for films of a flat colour With mark Forward feeds the film to a printed mark on the film The program in this section shows the typical code for a bag feeder machine 5 2 6 1 Example Position Bag distance expected pos REG POS 5 f Bag distance pu REG POS Time Speed i i H MARK FALSE MARK TRUE Mark not detected MOVEMODIFY no correction MOVEABS MOVEABS REGIST 1 REGIST 1 WAIT IDLE WAIT IDLE DEFPOS 0 DEFPOS 0 IN start signal MOVEABS V t Time gt BAG FEEDER program 307 Practical examples Section 5 2 308 Working with marks if any m
22. 60 01 01 00 00 command code response code word 1 word 2 If var type is C2 or FO and the response code is 0000 the CJ1W MCH72 responds with 01 01 00 00 command code response code dword 1 Note The FINS Write command has these formats The returned words and dwords are in big endian format fvar type is 82 or BO 01 02 00 command code var start fixed total words word 1 type address e fvar type is C2 or FO 01 02 00 command code type start fixed total dwords dword 1 address fvar type is 30 01 02 30 00 command code var start bit_ total_bits bit type address num The parameters can have the following values Parameter Values command_code 01 02 var_type 82 Table memory 16 bit integer format C2 Table memory in 32 bit IEEE floating point format BO VR memory in 16 bit integer format VR memory 32 bit IEEE floating point format 30 VR memory in bit format start_address 0 x start address lt memory size 1 x FFFF total words total dwords 1 total words lt memory size start address 1 1 total dwords lt memory size start address 1 total bits 1 bit 00 or 01 The CJ1W MCH72 responds with these codes FINS commands
23. Axis 1 Axis2 Axis3 Axis 4 Axis 5 Axis6 Axis 7 Address Address Address Address Address Address Address Address 49 4A 4 4D 4E AF 50 4 n cn cn en 07 07 07 07 07 07 07 07 d Te d S 5 SNe RN SRS Wan BOS BOS 90205 9095 S xXe SL 9 A 9 Ado E c Axis 8 Axis9 Axis 10 Axis 11 12 Axis 13 Axis 14 Axis 15 e 1x CJ1W MCH72 16x Sigma ll Servo Driver 1x Encoder Axis 16 SERVO PERIOD 2ms The CJ1W MCH72 supports 2ms SERVO PERIOD with 17 axes 1 7 Program control and multi tasking The Trajexia system has program processes and multi tasking control 1 7 1 Program control The Trajexia system can control 14 processes that are written as BASIC programs When the program is set to run the program is executed Processes 1 to 12 are low priority 13 and 14 are high priority 1 7 2 Processes The low priority process 0 is reserved for the Terminal window of Trajexia Studio This terminal window is used to write direct BASIC commands to the CJ1W MCH72 independent to other programs These commands are executed after you press the Enter button 20 Program control and multi tasking Section 1 7 1 7 3 Multi tasking
24. CHECKSUM Contains the checksum for the programs in RAM CONTROL Contains the type of controller in the system D ZONE MAX Controls the S REF output in conjunction with the Follow ing Error value D ZONE MIN Controls the S REF output in conjunction with the Follow ing Error value DATE Sets or returns the current date held by the real time clock ERROR AXIS Contains the number of the axis which caused the motion error FRAME Specifies operating frame for frame transformations LAST AXIS Contains the number of the last axis processed by the sys tem MOTION ERROR Contains an error flag for axis motion errors NEG OFFSET Applies a negative offset to the S REF signal from the servo loop PLC STATUS Contains the PLC status POWER UP Determines whether programs should be read from flash EPROM on power up or reset POS OFFSET Applies a positive offset to the S REF signal from the servo loop SCOPE POS Contains the current TABLE position at which the SCOPE command is currently storing its first parameter SERVO PERIOD Sets the servo cycle period of the CJ1W MCH72 SYSTEM ERROR TIME Contains the system errors since the last initialization Returns the current time held by the real time clock TSIZE Returns the size of the currently defined Table VERSION Returns the version number of the controller firmware WDOG The software switch that enables Servo Drivers
25. Move an axis forward until it hits the end limit switch then move it in the reverse direction for 25 cm BASE 3 FWD_IN 7 limit switch connected to input 7 FORWARD WAIT IDLE wait for motion to stop on the switch MOVE 25 0 WAIT IDLE A machine that applies lids to cartons uses a simulated line shaft This example sets up a virtual axis running forward to simulate the line shaft Axis 0 is then connected with the CONNECT command to this virtual axis to run the conveyor Axis 1 controls a vacuum roller that feeds the lids on to the cartons using the MOVELINK control BASE 4 ATYPE 0 Set axis 4 to virtual axis REP_OPTION 1 SERVO ON FORWARD starts line shaft BASE 0 CONNECT 1 4 Connects base 0 to virtual axis in reverse WHILE IN 2 ON BASE 1 Links axis 1 to the shaft in reverse direction MOVELINK 4000 2000 0 0 4 2 1000 WAIT IDLE WEND RAPIDSTOP AXIS CANCEL RAPIDSTOP REVERSE UNITS 149 All BASIC commands Section 4 2 4 2 116 FPGA_VERSION 4 2 117 FRAC 4 2 118 FRAME 4 2 119 FREE 150 Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Slot parameter FPGA_VERSION This parameter returns the FPGA version of the CJU1W MCH72 N A N A N A Mathematical function FRAC expression The FRAC function returns the fractional part of the expressio
26. end point The address of the end element in the TABLE array table multiplier The Table multiplier value used to scale the values stored in the TABLE As the Table values are specified in encoder edges use this argument to set the values for instance to the unit conversion factor set by UNITS parameter distance A factor given in user units that controls the speed of movement through the Table The time taken to execute CAM depends on the current axis speed and this distance For example assume the sys tem is being programmed in mm and the speed is set to 10 mm s and the acceleration sufficiently high If a distance of 100 mm is specified CAM will take 10 seconds to execute The SPEED parameter in the base axis allows modification of the speed of movement when using the CAM move Note When the CAM command is executing the ENDMOVE parame ter is set to the end of the previous move 25000 20000 15000 10000 5000 96 All BASIC commands Section 4 2 Example Motion is required to follow the POSITION equation t x x 25 10000 1 cos x where x is in degrees This example table provides a simple oscillation superimposed with a constant speed To load the table and cycle it continuously the program would be FOR deg 0 TO 360 STEP 20 loop to fill in the table rad deg 2 PI 360 convert degrees to radians deg 25 10000 1 COS rad TABLE deg 20 x place v
27. gt LT HT 1 HT 2 COMS lt gt Cycle time Each cycle time is divided into 4 time slices called CPU tasks Processes run in the first 3 CPU tasks according to the priority of the process Motion sequence and low priority processes A are executed in the Low Task LT period High priority processes B are executed in the high Task HT periods HJ Eu Y v LT HT 1 HT 2 COMS Cycle time External communication that are not related to the motion network are updated in the communications COMS period in the fourth CPU task Trajexia can control up to 14 programs at the same time In contrast to low priority processes a high priority process is always available for execution during two of the four CPU tasks The high priority tasks are executed faster than the low priority tasks it is that they have more time available for their execution All the low priority tasks must share one slot of time and the high priority task have their own two slots of time 1 7 4 Multi tasking example 3 14 13 2 14 13 coms 1 14 13 0 14 13 coms 2 ims 1ms 1ms 1ms 3 14 coms 2 14 coms 1 14 cows O 14 COMS 3 1ms 1ms 1ms 1ms 3 2 1 Icoms Om 2 coms 1 Om 3 coms 2 1 coms
28. N A All BASIC commands Section 4 2 Example This example shows the implementation of a stop override button that cuts out all motion CONNECT 1 0 AXIS 1 axis 1 follows axis 0 BASE 0 REPAEAT MOVE 1000 AXIS 0 MOVE 100000 AXIS 0 MOVE 100000 AXIS 0 UNTIL IN 2 OFF stop button pressed RAPIDSTOP WA 10 wait to allow running move to cancel RAPIDSTOP cancel the second buffered move WA 10 RAPIDSTOP cancel the third buffered move AXIS 0 em AXIS 1 203 BASIC commands Section 4 2 Example This example shows the use of RAPIDSTOP to cancel a MOVE on the main axis and a FORWARD on the second axis When the axes have stopped a MOVEABS is applied to re position the main axis BASE 0 REGIST 3 FORWARD AXIS 1 MOVE 100000 apply a long move WAIT UNTIL MARK RAPIDSTOP WAIT IDLE for MOVEABS to be accurate the axis must stop MOVEABS 3000 150 AXIS 0 om AXIS 1 50 SPEED o i 1 SECOND 50 100 150 TIME Example This example shows the use of RAPIDSTOP to break a CONNECT and stop the motion The connected axis stops immediately on the RAPIDSTOP command The forward axis decelerates at the DECEL value BASE 0 CONNECT 1 1 FORWARD AXIS 1 WAIT UNTIL VPSPEED SPEED let the axis get to full speed WA 1000 RAPIDSTOP WAIT IDLE AXIS 1 wait for axis 1 to decel CONNECT 1 1 re connect axis 0 REVERSE AX
29. STEPLINE program name task number All BASIC commands Section 4 2 Description Arguments Example Example See also 4 2 231 STOP Type Syntax Description Arguments Example Example See also 4 2 232 SYSTEM_ERROR Type Syntax The STEPLINE command executes one line i e steps in the pro gram specified by program name The program name can also be specified without quotes If STEPLINE is executed without program name on the command line the current selected program will be stepped If STEPLINE is executed without program name in a program this program will be stepped If the program is specified then all occurrences of this program will be stepped A new task will be started when there is no copy of the pro gram running If the task is specified as well then only the copy of the program running on the specified task will be stepped If there is no copy of the program running on the specified task then one will be started on it program name The name of the program to be stepped task number The number of the task with the program to be stepped Range 1 14 STEPLINE conveyor gt gt STEPLINE maths 2 RUN SELECT STOP TROFF TRON Program command STOP program name task number The STOP command will halt execution of the program specified with program name If the program name is omitted then the currently selected program will be halted The program name c
30. The DEL command deletes a program from the controller DEL without a program name can be used to delete the currently selected program using SELECT The program name can also be specified without quotes DEL ALL will delete all programs DEL can also be used to delete the Table DEL TABLE The name TABLE must be in quotes Note This command is implemented for the Command Line Terminal program name Name of the program to be deleted DEL oldprog COPY NEW RENAME SELECT TABLE Axis parameter read only DEMAND EDGES The DEMAND EDGES axis parameter contains the current value of the DPOS axis parameter in encoder edge units N A No example AXIS DPOS Program command DIR LS The DIR command shows a list of the programs held in the controller the memory size and the RUNTYPE DIR also shows the available memory size power up mode and current selected program of the con troller Note This command is implemented for the Command Line Terminal only N A No example FREE POWER UP PROCESS RUNTYPE SELECT Axis command DISABLE GROUP 1 DISABLE GROUP axis 1 axis 2 All BASIC commands Section 4 2 Description Arguments Example The AXIS_ ENABLE is used to create a group of axes which will be disa bled if there is a motion error in any or more axes in the group After the group is made when an error occurs on one they will all have their AXIS_ENABLE set OFF and SERVO set OF
31. Type Syntax Description Arguments Example See also e expression1 Any valid BASIC expression expression2 Any valid BASIC expression IF 10 THEN label1 If variable a contains a value equal to 10 program execution continues at label label1 Otherwise program execution continues with the next statement N A Mathematical function variable expression The operator z assigns the value of the expression to the variable variable A variable name expression Any valid BASIC expression var 18 Assigns the value 18 to the variable var N A Mathematical function expression1 lt gt expression2 The operator lt gt returns TRUE if expression1 expression2 otherwise it returns FALSE is not equal to e expression1 Any valid BASIC expression expression2 Any valid BASIC expression IF a 10 THEN GOTO label1 If variable a contains a value not equal to 10 program execution contin ues at label label1 Otherwise program execution continues with the next statement N A 77 All BASIC commands Section 4 2 4 2 9 gt 15 greater than Type Syntax Description Arguments Example See also Mathematical function expression1 gt expression2 The operator gt returns TRUE if expression1 expression2 otherwise it returns FALSE is greater than expression1 Any valid BASIC expression expression2 Any valid BASIC expression IF a gt 10 THEN
32. Type Syntax WDOG ON SERVO OFF square S REF AXIS 0 2000 WA 250 S REF AXIS 0 2000 WA 250 GOTO square These lines can be used to force a square wave of positive and nega tive movement with a period of approximately 500ms on axis O AXIS S REF OUT OUTLIMIT SERVO Axis parameter read only S REF OUT The S REF OUT parameter contains the speed reference value being applied to the Servo Driver for both open and closed loop In closed loop SERVO ON the motion control algorithm will output a speed reference signal determined by the control gain settings and the Following Error The position of the servo motor is determined using the Axis commands In open loop SERVO OFF the speed reference sig nal is determined by the S REF axis parameter N A PRINT S REF OUT AXIS 0 288 0000 AXIS S REF OUTLIMIT SERVO System command SCOPE control period table start table stop PO P1 P2 All BASIC commands Section 4 2 Description Arguments Example Example See also The SCOPE command programs the system to automatically store up to 4 parameters every sample period The storing of data will start as soon as the TRIGGER command has been executed The sample period can be any multiple of the servo period The param eters are stored in the TABLE array and can then be read back to a computer and displayed on the Trajexia Studio data trace or written to a file for further a
33. and then stopped Other moves will be immediately stopped The CANCEL command cancels the contents of the current move buffer MTYPE The command CANCEL 1 cancels the contents of the next move buffer NTYPE without affecting the current move in the MTYPE buffer CANCEL works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Note CANCEL cancels only the presently executing move If further moves are buffered they will then be loaded During the deceleration of the current move additional CANCELs will be ignored e CANCEL 1 cancels only the presently buffered move Any moves stored in the task buffers indicated by the PMOVE variable can be loaded into the buffer as soon as the buffered move is cancelled N A 0 5 10 TIME SECS FORWARD WA 10000 CANCEL Stop movement after 10 seconds MOVE 1000 MOVEABS 3000 CANCEL Cancel the move to 3000 and move to 4000 instead MOVEABS 4000 Note that the command MOVEMODIFY is a better solution for modifying end points of moves in this case 107 BASIC commands Section 4 2 4 2 46 CHECKSUM 4 2 47 CHR 108 Example See also Type Syntax Description Arguments Example See also Type Syntax Description 15000 1000 MSEC Two axes are connected with a ratio of 1 2 Axis 0 is cancelled after 1 second then axis 1 is cancelled when the speed drops to a spe
34. 50 25 0 0 1 NEXT layer WAIT IDLE OP motor OFF See also AXIS UNITS REP_OPTION 4 2 161 MOVEMODIFY Type Axis command Syntax MOVEMODIFY position MM position Description MOVEMODIFY command changes the absolute end position of the current single axis linear move MOVE MOVEABS If there is no cur rent move or the current move is not a linear move then MOVEMODIFY is treated as a MOVEABS command The ENDMOVE parameter will contain the position of the end of the current move in user units MOVEMODIFY works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Arguments position The absolute position to be set as the new end of move SHEET GLASS SENSOR 184 All BASIC commands Section 4 2 Example Example ___250 ORIGINAL MOVE SENSOR SEEN A sheet of glass is fed on a conveyor and is required to stop 250 mm after the leading edge is sensed by a proximity switch The proximity switch is connected to the registration input MOVE 10000 Start a long move on conveyor REGIST 3 set up registration WAIT UNTIL MARK MARK becomes TRUE when sensor detects glass edge OFFPOS REG POS set position where mark was seen to 0 WAIT UNTIL OFFPOS 0 wait for OFFPOS to take effect MOVEMODIFY 250 change move to stop at 250mm SENSOR A paper feed system slips To counteract this a proximity sensor is posi tioned one third of the way into
35. 67 Stop MECHATROLINK Section THIS SECTION MUST BE MANUALLY SET BY THE USER ACCORDING TO THE APPLICATION TYPICAL ACTIONS ARE VARIABLE INITIALIZATION SERVO AXIS SETTING NAMING GLOBAL VARIABLES AND START THE SHELL PROGRAM Define Names for global variables GLOBAL project status 100 GLOBAL alarm status 101 GLOBAL action 102 Initialize variables 0 0 project status 0 alarm status 0 action 0 Start SHELL program RUN SHELL 2 STOP The gain setting is related to the mechanical system to which the motor is attached There are three main concepts Inertia ratio Rigidity Resonant frequency These concepts are described in the Hardware Reference Manual in the chapter System Philosophy This section shows example parameter values for Speed Loop Gain Proportional position gain Velocity Feed Forward gain The example values for the program and motion parameters in the Trajexia system are given below Note that they are appropriate for 13 bit encoders Drive Parameter value Description Pn103 716 Inertia ratio Pn110 0012 No autotuning Pn202 1 Gear ratio numerator Pn203 1 Gear ratio denominator Motion Parameter values Description UNITS 1 Working in encoder counts SPEED 200000 Speed setting ACCEL 1000000 Acceleration setting
36. Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems railroad systems aviation systems vehicles combustion systems medical equipment amusement machines safety equipment and other systems machines and equipment that may have a serious influence on lives and property if used improperly consult your OMRON representative Make sure that the ratings and performance characteristics of the product are sufficient for the systems machines and equipment and be sure to provide the systems machines and equipment with double safety mechanisms This manual provides information for using the CJ1W MCH72 Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation It is extremely important that the CJ1W MCHT2 and related devices be used for the specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life You must consult with your OMRON representative before applying the CJ1W MCH72 and related devices to the above mentioned applications 3 Safety precautions NWARNING NWARNING NWARNING NWARNING NWARNING NWARNING Never short circuit the positive and negative terminals of the batteries charge the batteries disassemble them deform them by applying pressure or throw them into a fire The batteries may explode
37. E i ARK 0 THEN REGIST 1 S ENABLE 0 VO 0 CEL 1 Cancel NTYPE 1 CEL 1 Cancel possible program buffer RAPIDSTOP Cancel MTYPE RETURN start application Add all the application programs that should be started with the START signal RUN AP RETURN PLICATION reset all UU M FO ncorr READ ECHAT R i 0 BASI ect system setting BIT 15 diag01 20 THEN GOSUB system detection ROLINK axes reset sequenc max axis i error ATYPE gt 40 AND ATYPE lt 42 THEN Reset sequence for MECHATROLINK communication IF AXISSTATUS AND 4 lt gt 0 THEN PRINT Resetting ML alarm GOSUB system detection ENDIF Reset sequence for DRIVE errors Practical examples Section 5 2 IF AXISSTATUS AND 8 lt gt 0 THEN IF VR servo_alarm i 2 81 OR VR servo_alarmt i 2 SCC THEN GOSUB absencoder ELSE Pending to handle diferently those alarms that cannot be resetted with DRIVE CLEAR DRIVE CLEAR ENDIF ENDIF ENDIF NEXT i Reset sequence for AXIS error DATUM 0 CLEAR BIT 0 status bits MECHATROLINK slaves reset sequenc IF SYSTEM ERROR AND 540000 lt gt 0 THEN Omron Auto Generated ML IO Warning Automated code section any manual code changes will be lost Omron Auto Generated ML IO End
38. If the ERRORMASK parameter has been properly set a motion error will be generated and WDOG enable relay will be reset to 0 This limit is used to guard against fault conditions such as mechanical lock up loss of encoder feedback etc N A No example AXIS AXISSTATUS ERRORMASK FE FE RANGE UNITS Axis parameter FE LIMIT MODE value When this parameter is set to 0 the axis will cause a MOTION ERROR immediately when the FE exceeds the FE LIMIT value If FE LIMIT MODE is set to 1 the axis will only generate a MOTION ERROR when the FE exceeds FE LIMIT during 2 consecu tive servo periods This means that if FE LIMIT is exceeded for one servo period only it will be ignored The default value for FE LIMIT MODE is 0 N A No example N A Axis parameter FE RANGE All BASIC commands Section 4 2 Description The FE_RANGE axis parameter contains the limit for the Following Error warning range in user units When the Following Error exceeds this value on a servo axis bit 1 in the AXISSTATUS axis parameter will be turned on This range is used as a first indication for fault conditions in the applica tion compare FE LIMIT Arguments Example No example See also AXIS AXISSTATUS ERRORMASK FE UNITS 4 2 109 FHOLD IN Type Axis parameter Syntax FHOLD IN FH IN Description The FHOLD IN axis parameter contains the input number to be used as the feedhold input The valid input range is 0 to 31 Values 0 to 15 re
39. SI6 7 Always ON 8 Always OFF 271 How to s Section 5 1 Input signal Parameter name Parameter CN1 pin number setting Sigma ll Sigma V P OT active low Pn50A 3 9 40 SIO 13 SIO ECL Ris A 41 511 7 511 B 42 SI2 8 SI2 43 513 9 513 D 44 514 10 514 E 45 SI5 11 SI5 F 46 SI6 12 SI6 EXT1 active low Pn511 1 0 3 Always OFF actvelow em 106m 5 45 515 11 SI5 6 46 SI6 12 SI6 7 Always ON 8 9 C Always OFF EXT1 active high Pn511 1 D 44 514 10 S14 Praten p ses iss F 46 SI6 12 516 BRK active low Pn50F 2 0 Always OFF 1 25 1 2 27 23 3 29 25 1012 Pn81E 0 0 Always OFF ed em ws 1015 Pn81E 3 2 41 511 7 511 3 42 SI2 8 SI2 4 43 SI3 9 SI3 5 44 514 10 514 6 45 SI5 11 SI5 7 46 516 12 SI6 For the Junma Servo Driver all input signals are mapped to a fixed location on the CN1 I O connector The table below shows the input signals and pin numbers Input signal CN1 pin number P OT active high 4 N OT active high 3 DEC active low 1 EXT1 active low 2 BRK active low 13 E STP active high 6 272 How to s Section 5 1 Note For more information on the CN1 I O connector pins on the Servo Drivers refer to the Sigma ll Servo Driver manual the Sigma V S
40. See also Type Syntax Axis parameter ACCEL expression The ACCEL axis parameter contains the axis acceleration rate The rate is set in units s The parameter can have any positive value includ ing zero N A BASE 0 ACCEL 100 Set acceleration rate PRINT Acceleration rate ACCEL mm s s ACCEL AXIS 2 z 100 Sets acceleration rate for axis 2 ACCEL DECEL UNITS Mathematical function ACOS expression The ACOS function returns the arc cosine of the expression The expression value must be between 1 and 1 The result in radians is between 0 and PI Input values outside the range will return 0 expression Any valid BASIC expression gt gt PRINT ACOS 1 3 1416 N A Axis command ADD_DAC axis Demanded position Demanded position Measured__ position DAC AXIS m Ea Mo SERVO OFF Position loop Final speed reference AXIS n BU DAC OUT AXIS m DAC OU AXIS n T o f 7 SERVO ON 4 Following Speed error command Measured 7 position DAC AXIS n MERI EP SERVO OFF Position loop I bw gt o gt gt SERVO ON Following Speed error command 1 i 81 All BASIC commands Section 4 2 Description The ADD DAC command adds the S REF OUT value of axis to the S REF OUT value of the base axis Use ADD DAC 1 to cancel the sum ADD DAC works on the default basis a
41. Start BASIC program that is already 2201 Wrong mode executing running Stop BASIC program that is not 2202 Wrong mode stopped ning 3 4 6 Stop 0402 If the response code is 0000 the program is started or stopped The FINS Stop command stops a BASIC program It has this format 04 02 00 command_code process The parameters can have the following values Parameter Values process 01 0E Process number The CJ1W MCH72 responds with these codes 63 FINS commands Section 3 4 Condition Response code Description hex All elements valid 0000 OK process invalid 1106 Process number does not exist Stop BASIC program that is not 2202 Wrong mode stopped running Note The FINS Stop command 0402 is equal to the FINS Run command 0401 where mode is equal to 00 3 4 7 Error Data Read 2110 The FINS Error Data Read command reads the error data error line and error code of a process It has this format 21 10 00 command code process The parameters can have the following values Parameter Values process 01 0E Process number The CJ1W MCH72 responds with these codes Condition Response code Description hex All elements valid 0000 OK If the response code is 0000 the CJ1W MCH72 responds with the error data 21 01 00 00 command code response c
42. Termination None Maximum response time registration 0 5 us 41 Wiring Section 2 2 2 2 3 2 2 3 1 42 CJ1W MCH72 STEP d A STEP DIR Circuit configuration for the encoder interface Incremental encoder Encoder input An incremental encoder has the following phase definition An advanced phase A for forward rotation An advanced phase B for reverse rotation By monitoring the relative phase of the 2 signals you can easily detect the rotation direction If signal A leads signal B the movement is clockwise and the counter increments If channel B leads channel A the movement is counterclockwise and the counter decrements Most rotary encodes also provide an additional Z marker This Z marker is a reference pulse within each revolution With these 3 signals you can determine the direction the speed and the relative position The pulse ratio of the CJ1W MCH72 is 1 every encoder edge i e a pulse edge for either phase A or B is equal to one internal count D E Encoder edges The figure shows phase A A phase B B and the number of counts C for forward or clockwise rotation D and reverse or counterclockwise rotation E The signals A B and Z appear physically as A and A B and B and Z and Z They appear as differential signals on twisted pair wire inputs This makes sure that common mode noise is rejected When you use an encoder from other manuf
43. WAIT LOADED OP 8 OFF deactivate cutter at end of outward stroke WEND In this program the controller waits for the roll to feed out 150 m in the first line After this distance the shear accelerates to match the speed of the paper moves at the same speed and then decelerates to a stop within the 1 m stroke This movement is specified using two separate MOVELINK commands This allows the program to wait for the next move buffer to be clear NTYPE 0 which indicates that the acceleration phase is complete Note that the distances on the measurement axis the link distance in each MOVELINK command 150 0 8 1 0 and 8 2 add up to 160 m To make sure that the speed and the positions of the cutter and paper match during the cut process the parameters of the MOVELINK command must be correct The easiest way to do this is to consider the acceleration constant speed and deceleration phases sep arately and then combine them as required according to these 2 rules 182 All BASIC commands Section 4 2 Example Rule 1 In an acceleration phase to a matching speed the link distance must be twice the movement distance Therefore the acceleration phase can be specified alone as MOVELINK 0 3 0 6 0 6 0 1 move is all accel Rule 2 In a constant speed phase with matching speed the two axes move the same distance Therefore the distance to move must be equal the link distance Therefore the constant speed phase can be specified as
44. conveyor 5 gt gt LIST_GLOBAL Global VR conveyor 5 Constant Value cutter 23 0000 N A Mathematical function LN expression 165 All BASIC commands Section 4 2 Description The LN function returns the natural logarithm of the expression The input expression value must be greater than 0 Arguments expression Any valid BASIC expression Example gt gt PRINT LN 10 2 3026 See also N A 4 2 149 LOCK Type System command Syntax LOCK code UNLOCK code Description LOCK command prevents the program from being viewed modi fied or deleted by personnel unaware of the security code The lock code number is stored in the flash EPROM The UNLOCK command allows the locked state to be unlocked The code number can be any integer and is held in encoded form LOCK is always an immediate command and can be issued only when the system is UNLOCKED LOCK is available from within Trajexia Studio users can lock the device from the Online menu Arguments code Any valid integer with maximum 7 digits Example gt gt LOCK 561234 The programs cannot be modified or seen gt gt UNLOCK 561234 The system is now unlocked See also N A Caution The security code must be remembered it will be required to unlock the system Without the security code the system can not be recovered 4 2 150 MARK Type Axis parameter read only Syntax MARK Description The MARK is set to FALSE when the REGIST command has
45. is 0 Terminal window See the table below Input device number Description 0 Programming port 0 5 Trajexia Studio port 0 user channel 5 6 Trajexia Studio port 0 user channel 6 7 Trajexia Studio port 0 user channel 7 variable The name of the variable to receive the ASCII code Example GET 5 This line stores the ASCII character received on the Trajexia Studio port channel 5 in k See also N A 152 All BASIC commands Section 4 2 4 2 124 GLOBAL Type System command Syntax GLOBAL name vr number Description Declares the name as a reference to one of the global VR variables The name can then be used both within the program containing the GLOBAL definition and all other programs in the Trajexia Studio solu tion Note The program containing the GLOBAL definition must be run before the name is used in other programs In addition only that pro gram should be running at the time the GLOBAL is executed otherwise the program error will appear and the program will stop when trying to execute this command For fast startup the program should also be the only process running at power up When the GLOBAL is declared the declaration remains active until the next CJ1W MCH72 reset by switching the power off and back on or by executing the EX command In programs that use the defined GLOBAL name has the same mean ing as VR vr number Do not use the syntax VR name A maximum of 128 GLOBALs can be decl
46. it is applied to the first axis in the BASE array If the motion command concerns more than one axis and makes an orthogonal move the axes are taken from the array in the order defined by the BASE command For more information on the BASE command and the definition of the axis sequence in an axis array refer to the Trajexia Programming Manual chapter 3 BASIC commands f SERVO OFF for one axis the motion commands for that axis are ignored f the Following Error FE in one axis exceeds the parameter value FELIMIT the next action occurs is set to OFF and all axes stop SERVO for the axis that causes the error goes to OFF The current move is cancelled and removed from the buffer 1 8 4 of axis ATYPE Applicable to Name Description 0 All axes Virtual axis Internal axis with no physical out put It is the only valid setting for non allocated axes That is those that are not MECHATROLINK II Servo Drivers 23 Motion sequence and axes Section 1 8 1 8 4 1 24 ATYPE Applicable to Name Description 40 MECHATROLINK II MECHATROLINK II Position loop in the Servo Driver Servo Drivers Position CJ1W MCH72 sends position ref erence to the Servo Driver via MECHATROLINK II 41 MECHATROLINK II Position loop in the Trajexia Speed Default CJ1W MCH72 sends speed refer ence to the Servo Driver via MECHATROLINK II 42
47. param number param size VR mode INVERTER WRITE O station 2 value INVERTER WRITE O station value INVERTER WRITE writes the parameter speed reference or torque reference from the Inverter connected to the system via the MECHA TROLINK II bus There are three INVERTER_WRITE functions 0 Writes an Inverter parameter 2 Writes the speed reference e 3 Writes the torque reference To use an Inverter via MECHATROLINK II you should put the command and the reference via communication option Inverter MV V7 N3z3 N49 e Inverter F7 G7 B1 01 3 B1 02 3 Make you sure that the Inverter firmware supports the MECHATRO LINK II board The command returns 1 if successfully executed and 0 if failed The result if any is returned in the selected VR station The MECHATROLINK II station number of the Inverter param number The number of the parameter to write See the Inverter manual param size The size of the parameter to write 2 or 4 bytes Most of the Inverter parameters are 2 bytes long See the Inverter manual VR The address in the VR memory of the CJ1W MCH72 where the new value for the parameter is mode 0 just write 12 write and enter 2 write and config value The new value that is written 163 All BASIC commands Section 4 2 Note 4 2 143 JOGSPEED 4 2 144 LAST_AXIS 4 2 145 LINKAX 164 Example See also gt gt INVERTER_WRITE 1 23 2 3500 gt gt INVERTER
48. reset_1_flag 1 ENDIF IF reset O0 flagz1 AND IN 0 ON THEN GOSUB group enableO FORWARD AXIS 0 reset O 0 ENDIF IF reset 1 flagz1 AND IN 1 ON THEN GOSUB group enable1 FORWARD AXIS 1 reset 1 flagz0 ENDIF WEND group BASE 0 DATUM 0 clear motion error on axis 0 WA 10 AXIS ENABLE ON RETURN group enable1 BASE 1 DATUM 0 clear motion error on axis 0 WA 10 AXIS ENABLEZON SERVO ON RETURN 126 All BASIC commands Section 4 2 Example One group of axes in a machine must be reset if a motion error occurs without affecting the remaining axes This must be done manually by clearing the cause of the error pressing a button to clear the error flags of the controllers and re enabling the motion DISABLE_GROUP 1 remove any previous axis groupings DISABLE_GROUP 0 1 2 group axes 0 to 2 GOSUB group enable enable the axes and clear errors WDOG ON SPEED 1000 FORWARD WHILE IN 2 ON check axis 0 but all axes in the group will disable together IF AXIS ENABLE 0 THEN PRINT Motion error in group 0 PRINT Press input 0 to reset IF IN 0 20 THEN checks if reset button is pressed GOSUB group enable clear errors and enable axis FORWARD restarts the motion ENDIF ENDIF WEND STOP stop program running into sub routine group enable Clear group errors and enable axes DATUM 0 clear any motion errors WA 10 FOR axis 0 TO 2 AXIS ENABLE AXIS axis_no ON enable axes SERVO AXIS axis_no ON
49. start the homing sequence WAIT IDLE See also ACCEL AXIS AXISSTATUS CREEP DATUM IN DECEL MOTION_ERROR SPEED Note The current Trajexia firmware version 1 6652 does not properly support this command for Sigma V Servo Drivers 4 2 66 DATUM IN Type Axis parameter Syntax DATUM IN DAT IN Description The DATUM IN axis parameter contains the input number to be used as the datum switch input for the DATUM command The valid input range is given by 0 to 31 Values 0 to 15 represent physically present inputs of CJ1W MCH72 I O connector and are common for all axes Values 16 to 31 are mapped directly to driver inputs that are present on the CN1 connector They are unique for each axis It depends on the type of Servo Driver which Servo Driver inputs are mapped into inputs 16 to 31 For more information on Servo Driver I O mapping into the Trajexia I O space refer to section 5 1 4 Note The origin input is active low i e the origin switch is set when the input is OFF The feedhold reverse jog forward jog forward and reverse limit inputs are also active low Active low inputs are used to enable fail safe wiring Arguments N A Example DATUM IN AXIS 0 5 See also AXIS DATUM 4 2 67 DECEL Type Axis parameter Syntax DECEL Description The DECEL axis parameter contains the axis deceleration rate The rate is set in units s The parameter can have any positive value includ ing 0 Arguments 121 All BASIC comman
50. the absolute encoder position is read from the motor and written to MPOS using the following conversion For MPOS 1 Pn203 UNITS Pn202 Absolute MPOS abs position encoder This is correct if encoder counts lt 27 203 Pn205 1 202 If this value is greater than 224 MPOS can have incorrect values at start up To avoid this problem add the program code DEFPOS ENCODER UNITS after all UNITS initializations To make sure that the absolute position is always correct you must make sure that 205 1 encoder resolution lt 2 and that Pn208 4 Pn205 1 encoder resolution lt 2 Pn202 Note that this is not obvious for the high resolution encoders of the Sigma V motors 265 How to s Section 5 1 5 1 3 5 Example 3 Total length perimeter of belt 4160 M r 17 bit absolute 1 6 31 encoder Gear r 320 2 1 turn 320mm move The mechanical system uses a servo motor with an 17 bit absolute encoder The mechanical gear ratio of the gearbox is 1 6 31 One rotation of the pulley moves the moving part on the belt 320 mm The total length of the belt and therefore the total moving range of the motion part is 4160 mm The mechanical measurement units must be mm This means that all axis parameters and commands given to the CJ1W MCH72 are expressed in mm Using the same procedure as in example 1 the equation expressing the relations
51. 2 1 For example if the command DISPLAYz1 is executed LED 5 reflects the activity of input IN13 pin 16 of the 28 pin I O connector 2 1 2 Unit number selector switch 2 1 2 1 2 1 3 2 1 3 1 The unit number identifies each individual CPU bus unit when more than one CPU bus unit is connected to the same PLC The unit number must be unique for each CPU bus unit If the unit number is not unique the PLC system cannot start correctly A56 Wee UNIT X No 33999 Unit number selector switch The unit number can range from 0 hex to F hex Word allocations for CPU bus units Battery Battery lifetime Words are automatically allocated in the CIO area of CJ series PLC systems The CJ1W MCH72 uses these words to receive control data from the CPU and to notify the CPU of its status and the status of the communication The word addresses in the allocated areas depend on the unit number Because the word addresses are hard coded in user programs a user program becomes invalid when the unit number is changed The table below gives the relation between the unit number and the allocated CIO area words Unitnumber Allocated words Unitnumber Allocated words 0 hex 0 CIO1500 CIO1524 8 hex 8 CIO1700 CIO1724 1 hex 1 CIO1525 ClO1549 9 hex 9 CIO1725 CIO1749 2 hex 2 CIO1550 CIO1574 hex 10 CIO1750 CIO1774 3 hex 3 CIO1575 ClO1599 hex 11 CIO1775 CIO1799 4 hex 4 101600 101624
52. 2 3 4 Cycle time 1ms 500 us time intervals for a SERVO PERIOD of 2 0 ms 1 2 3 4 4 Cycle time 2 ms 1mstime intervals for a SERVO PERIOD of 4 0 ms a 1 ms lt gt A IL T 1 2 3 4 lt gt Cycle time 4 ms The processes that can be carried out in each time interval depends on the SERVO_PERIOD that is set Cycle time Section 1 6 The operations executed in each CPU task are CPU task Operation First CPU task Motion Sequence Low priority process Second CPU task High priority process Third CPU task Motion Sequence only if SERVO PERIOD 0 5ms LED Update High priority process Fourth CPU task External Communications Note The Motion sequence execution depends on setting of the SERVO PERIOD parame ter 1 6 1 Servo period The SERVO PERIOD can be set at 0 5 1 2 or 4 ms The processes that take place within the cycle time depend on the setting of the SERVO PERIOD parameter The SERVO PERIOD parameter is a Trajexia parameter that must be set according to the system configuration The factory setting is 1ms SERVO PERIODz1000 A change is set only after a restart of the CJ1W MCH72 Note Only the Sigma lll Servo Driver and the Sigma V Servo Driver support the 0 5 ms trans mission cycle 1 6 1 1 Servo period 0 5 ms CPU task 1 Motion sequence Low priority task 0 1 2 3 CPU task 2
53. 3 4 5 7 8 9 Note BASE command without any arguments should only be used on the Command Line Terminal The command can take up to 16 arguments axisi The number of the axis set as the base axis and any subsequent axes in the group order for multi axis moves BASE 1 UNITS 2000 Set unit conversion factor for axis 1 SPEED 100 Set speed for axis 1 ACCEL 5000 Set acceleration rate for axis 1 BASE 2 UNITS 2000 Set unit conversion factor for axis 2 SPEED 125 Set speed for axis 2 ACCEL 10000 Set acceleration rate for axis 2 It is possible to program each axis with its own speed acceleration and other parameters BASE 0 MOVE 100 23 1 1250 In this example axes 0 1 and 2 will move to the specified positions at the speed and acceleration set for axis 0 BASE 0 sets the base axis to axis 0 which determines the three axes used by MOVE and the speed and acceleration rate gt gt BASE 0 2 1 On the command line the base group order can be shown by typing BASE RUN PROGRAM 3 BASE PROC 3 0 2 1 Use the PROC modifier to show the base group order of a certain task 93 All BASIC commands Section 4 2 Example See also 4 2 40 BASICERROR Type Syntax Description Arguments Example See also 4 2 M1 BATTERY LOW Type Syntax Description Arguments Example See also 4 2 42 BREAK RESET Type Syntax 94 BASE 2 PRINT
54. ADDAX command has been issued the link between the two axes remains until broken Use ADDAX 1 to cancel the axis link ADDAX allows an axis to perform the moves specified for 2 axes added together Combinations of more than two axes can be made by applying ADDAX to the superimposed axis as well ADDAX works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Note The ADDAX command sums the movements in encoder edge units Arguments axis The axis to be set as a superimposed axis Set the argument to 1 to cancel the link and return to normal operation 82 All BASIC commands Section 4 2 Example UNITS AXIS 0 21000 UNITS AXIS 1 20 Superimpose axis 1 on axis 0 ADDAX 1 AXIS 0 MOVE 1 AXIS 0 MOVE 2 AXIS 1 Axis 0 will move 1 1000 2 20 1040 edges ENCODER AXIS 2 83 All BASIC commands Section 4 2 Example Pieces are placed randomly onto a belt that moves continuously Fur ther along the line they are transferred to a second flighted belt A detection system indicates if a piece is in front of or behind its nominal position and how far expected 2000 sets expected position BASE 0 ADDAX 1 CONNECT 1 2 continuous geared connection to flighted belt REPEAT GOSUB getoffset get offset to apply MOVE offset AXIS 1 make correcting move on virtual axis UNTIL IN 2 OFF repeat until stop signal on input 2 RAPIDSTOP ADDAX 1 clear ADDAX conn
55. Absolute EnDat encoder ATYPE 47 With SERVO OFF the position of the external absolute EnDat encoder is read 1 8 4 9 Absolute SSI encoder ATYPE 48 With SERVO OFF the position of the external absolute SSI encoder is read 1 8 4 10 Inverter axis ATYPE 49 CJ1W MCH72 INVERTER SERVO OFF H Position loop i SERVO OFF E i ML II o T i gt o Speed gt Speed Loop Profile generator i 7 1 command 1 Demanded position 0 Following Speed error command PE Ric cU EM 4 Measured 7 position DPRAM REFRESH EVERY 5ms e This type allows Inverters with built in encoder interface to be controlled on the MECHATROLINK II bus as servo axes From the controller point of view Inverter axes are handled the same as servo axes in MECHATROLINK II Speed Mode ATYPE 44 Unlike the other axis types this Inverter axis must be defined programmatically with function 8 of the command INVERTER COMMAND 27 Motion sequence and axes Section 1 8 The Speed command to the Inverter and the feedback from the encoder is refreshed in the Inverter every 5 ms This is a DPRAM limitation This means that the use of the Inverter is similar to the use of a Servo Driver but the performance is lower 1 8 4 11 Summary of axis types and control modes The following table lists the axis types and their recommended modes for speed control position control and torque control
56. BASIC commands FOR opnum 8 TO 13 OP opnum ON NEXT opnum This loop turns on outputs 8 to 13 loop FOR dist 5 TO 5 STEP 0 25 MOVEABS dist GOSUB pick up NEXT dist The STEP increment can be positive or negative 147 All BASIC commands 4 2 115 FORWARD 148 Example See also Type Syntax Description Arguments Section 4 2 loop1 FORH z1T0O8 loop2 FORI2z1TO6 MOVEABS 11 100 12 100 GOSUB 1000 NEXT 12 NEXT 11 FOR TO STEP NEXT statements can be nested up to 8 levels deep provided the inner FOR and NEXT commands are both within the outer FOR TO STEP NEXT loop REPEAT UNTIL WHILE WEND Axis command FORWARD FO The FORWARD command moves an axis continuously forward at the speed set in the SPEED axis parameter The acceleration rate is defined by the ACCEL axis parameter FORWARD works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Note The forward motion can be stopped by executing the CANCEL or RAPIDSTOP command or by reaching the forward limit If stopped by execution of the CANCEL or RAPIDSTOP command the axis deceler ates to a stop at the programmed DECEL rate N A All BASIC commands Section 4 2 Example Example Example See also Run an axis forwards When an input signal is detected on input 12 bring the axis to a stop FORWARD wait for stop signal WAIT UNTIL IN 12 ON CANCEL WAIT IDLE
57. BUILT IN TJ1 PLC interface The system philosophy is centred around the relationship between System architecture Cycle time Program control and multi tasking Motion sequence and axes Motion buffers A clear understanding of the relationship between these concepts is necessary to obtain the best results for the Trajexia system Glossary Motion sequence The Motion Sequence is responsible for controlling the position of the axes Servo period Defines the frequency at which the Motion Sequence is executed The servo period must be set according to the configuration of the physical axes The available settings are 0 5 ms 1 ms 2 ms or 4 ms Cycle time Is the time needed to execute one complete cycle of operations in the CJ1W MCH72 The cycle time is divided in 4 time slices of equal time length called CPU Tasks The cycle time is 1ms if SERVO PERIOD 0 5 ms or SERVO PERIOD 1 ms 2 ms if the SERVO PERIOD 2 ms and 4 ms if the SERVO PERIOD 4 ms Motion control concepts Section 1 3 1 2 1 4 CPU tasks The operations executed in each CPU task are CPU task Operation First CPU task Motion Sequence Low priority process Second CPU task High priority process Third CPU task Motion Sequence only if SERVO PERIOD 0 5 ms LED Update High priority process Fourth CPU task External Communications 1 2 1 5 Program 1 2 1 6 Process A program is a piece of BASIC code Is a program in execut
58. Caution Be sure that no Parameter Unit or Personal Computer Software is connected to the 4 2 83 EDIT 4 2 84 ELSE 4 2 85 ELSEIF 134 Servo Driver when executing this command Otherwise the program task will be paused until the connection of the other device to the Servo Driver is removed Type Syntax Description Arguments Example See also Program command EDIT line number ED line number The EDIT command starts the built in screen editor allowing a program in the controller to be modified using a Command Line Terminal The currently selected program will be edited The editor commands are as follows Quit Editor CTRL K and D Delete Line CTRL Y This command is implemented for a Command Line Terminal line number The number of the line at which to start editing No example SELECT See IF THEN ELSE ENDIF See IF THEN ELSE ENDIF All BASIC commands Section 4 2 4 2 86 ENCODER Type Syntax Description Arguments Example See also 4 2 87 ENCODER_BITS Type Syntax Description Arguments Example Example See also 4 2 88 ENCODER CONTROL Type Syntax Axis parameter read only ENCODER The ENCODER axis parameter contains a raw copy of the encoder hardware register or the raw data received from the drive via MECHA TROLINK II On axes with absolute encoders the ENCODER parame ter contains a value using a number of bits programmed with ENCODER B
59. Configurable data The amount of configurable data that is exchanged between the PLC CPU and the CJ1W MCH72 each PLC cycle is 8 blocks from the PLC CPU to the CJ1W MCH72 and 8 blocks vice versa Thus 16 blocks of data are exchanged in one PLC cycle A block is a continuous memory area or array area The total size of all 16 blocks must be less than or equal to 2000 words The configurable data can be exchanged between the VR IN OP AIN AOUT and Axis Status memory areas of the CJ1W MCH72 and the CIO DM and EM memory areas of the PLC CPU 57 FINS commands Section 3 4 Because the PLC CPU and the CJ1W MCH72 use different numeric formats the data that is exchanged must be cast The table below lists the casting of numeric data per memory area PLC data format CJ1W MCH72 Memory area Data format 32 bit IEEE float VR floating point 16 bit word VR floating point IN bit array OP bit array AIN floating point AOUT floating point 3 3 2 1 Axis Status array The Axis Status array is a special array that exists of 4 fields The table below lists the Axis Status fields and the corresponding PLC data type Axis Status field Description PLC data type Status BASIC command AXISSTATUS 16 bit word Position BASIC command MPOS 32 bit integer Monitor BASIC command DRIVE MONITOR 16 bit word Drive status Status of the drive 16 bit word 3 4 FINS commands FINS Factory Intelligent Net
60. EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or machines The actual products have been checked for conformity to EMC standards see the following note Whether the products conform to the standards in the system used by the customer however must be checked by the customer EMC related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel in which the OMRON devices are installed The customer must therefore perform final checks to confirm that devices and the overall machine conform to EMC standards Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN61000 6 2 EMI Electromagnetic Interference EN61000 6 4 Radiated emission 10 m regulations Conformance to EC Directives The CJ1W MCH72 complies with EC Directives To ensure that the machine or device in which a CJ1W MCH72 is used complies with EC Directives the CJ1W MCH72 must be installed as follows 1 The CJ1W MCH72 must be installed within a control panel 2 Reinforced insulation or double insulation must be used for the DC power supplies used for the communications and I O power supplies 3 Units complying with EC Directives also conform to the Common Emission Standard EN61000 6 4 With regard to the radiated emission 10 m regulati
61. GOTO label1 If variable a contains a value greater than 10 program execution contin ues at label label1 Otherwise program execution continues with the next statement N A 4 2 10 gt Is greater than or equal to Type Syntax Description Arguments Example See also 4 2 11 Is less than Type Syntax Description Arguments Example See also 78 Mathematical function expression1 gt expression2 The operator gt returns TRUE if expression1 is greater than or equal to expression2 otherwise it returns FALSE expression1 Any valid BASIC expression expression2 Any valid BASIC expression IF a 2210 THEN GOTO label1 If variable a contains a value greater than or equal to 10 program exe cution continues at label label1 Otherwise program execution contin ues with the next statement N A Mathematical function expression1 expression2 The operator lt returns TRUE if expression is less than expression2 otherwise it returns FALSE expression1 Any valid BASIC expression expression2 Any valid BASIC expression IF a 10 THEN GOTO label1 If variable a contains a value less than 10 program execution continues at label label1 Otherwise program execution continues with the next statement N A All BASIC commands Section 4 2 4 2 12 lt Is less than or equal to Type Syntax Description Arguments Example See also 4 2 13 Hexadecimal inp
62. MHELICAL 0 6 0 3 1 180 1 WAIT IDLE MOVECIRC Mathematical function expression1 MOD expression2 The MOD function returns the expression2 modulus of expression This function will take the integer part of any non integer input e expression1 Any valid BASIC expression expression2 Any valid BASIC expression gt gt PRINT 122 MOD 13 5 0000 N A System parameter read only MOTION ERROR 171 All BASIC commands Section 4 2 Description The MOTION_ERROR parameter contains a bit pattern showing the axes which have a motion error For example if axis 2 and 6 have the motion error the MOTION_ERROR value would be 68 4 64 A motion error occurs when the AXISSTATUS state for one of the axes matches the ERRORMASK setting In this case the enable switch WDOG will be turned off and MOTION_ERROR contains a bit pattern showing all axes which have the motion error The ERROR_AXIS parameter will contain the number of the first axis to have the error A motion error can be cleared executing a DATUM 0 command or resetting the controller with an EX command Arguments N A Example No example See also AXIS AXISSTATUS DATUM ERROR_AXIS ERRORMASK WDOG 4 2 157 MOVE Type Axis command Syntax MOVE distance_1 distance 2 distance 3 distance_4 MO distance 1 distance 2 distance 3 distance 4 Description The MOVE command moves with one or more axes at the demand speed and acceleration a
63. MOVELINK 0 4 0 4 0 0 1 all constant speed The deceleration phase is set in this case to match the acceleration MOVELINK 0 3 0 6 0 0 6 1 all decel The movements of each phase can be added to give the total move ment MOVELINK 1 1 6 0 6 0 6 1 Same as 3 moves above But in the example above the acceleration phase is kept separate MOVELINK 0 3 0 6 0 6 0 1 MOVELINK 0 7 1 0 0 0 6 1 This allows the output to be switched on at the end of the acceleration phase MOVELINK can be used to create an exact ratio gearbox between two axes Suppose it is required to create a gearbox link of 4000 3072 This ratio is inexact 1 30208333 If this ratio is entered into a CONNECT command the axes will slowly creep out of synchronisation To prevent this problem set the link option to 4 to make MOVELINK repeat con tinuously MOVELINK 4000 3072 0 0 linkaxis 4 NON SERVO SPINDLE MOTOR E am 183 BASIC commands Section 4 2 Example In this example on coil winding the unit conversion factors UNITS are set so that the payout movements are in mm and the spindle position is measured in revolutions The payout eye therefore moves 50 mm over 25 revolutions of the spindle with the command MOVELINK 50 25 0 0 linkax To accelerate over the first spindle revo lution and decelerate over the final 3 use the command MOVELINK 50 25 1 3 linkax OP motor ON Switch spindle motor on FOR layer 1 TO 10 MOVELINK 50 25 0 0 1 MOVELINK
64. Mounting or dismounting Power Supply Units I O Units CPU Units Memory Cassettes or any other Units Assembling the Units Setting DIP switches or rotary switches Connecting cables or wiring the system Connecting or disconnecting the connectors Be sure that all mounting screws terminal screws and cable connector screws are tightened to the torque specified in this manual Incorrect tightening torque may result in malfunction Wire correctly Incorrect wiring may result in burning Mount the Unit only after checking the terminal block completely Resume operation only after transferring to the new CJU1W MCH72 Unit the contents of the VR and table memory required for operation Not doing so may result in an unexpected operation When replacing parts be sure to confirm that the rating of a new part is correct Not doing so may result in malfunction or burning Use the dedicated connecting cables specified in operation manuals to connect the Units Using commercially available RS 232C computer cables may cause failures in external devices or the Unit Outputs may remain on due to a malfunction in the built in transistor outputs or other internal circuits As a countermeasure for such problems external safety measures must be provided to ensure the safety of the system Failure to abide by the following precautions may lead to faulty operation of the PLC the CJ1W MCH72 or the system or could damage the PLC or CJ1W MCH
65. Note The mapping of the registration signals in the table above applies to the Sigma ll Servo Driver For the mapping of the registration signals of the Sigma V Servo Driver refer to section 5 1 6 207 All BASIC commands Section 4 2 Inclusive windowing lets the registration to occur only within a specified window of axis positions With this windowing function registration events are ignored if the axis measured position is not greater than the OPEN_WIN axis parameter and less than the CLOSE_WIN parameter Exclusive windowing allows the registration to occur only outside of the specified window of axis positions With this windowing function the registration events are ignored if the axis measured position is not less than the OPEN_WIN axis parameter and greater than the CLOSE_WIN parameter Arguments mode The mode parameter specifies the registration input and event for use and the signal edge the registration event occurs The mode parameter also specifies the use of the windowing function and filter ing The mode parameter differs between MECHATROLINK II and Encoder Interface The function of each bit in the mode parameter is explained in the tables below Bit Function MECHATROLINK II 1 0 Primary registration occurs for 00 Z mark of the encoder e 01 EXT1 input CN1 pin programmed with Pn511 1 e 10 EXT2 input CN1 pin programmed with Pn511 2 11 EXT3 input CN1 pin programmed with Pn511 3 2
66. Section 3 4 Condition Response code Description hex All elements valid 0000 OK var type invalid 1101 No area type start address invalid 1103 Address range designation error bit number invalid 1103 Address range designation error Number of elements invalid 1104 Address out of range totals 3 4 3 Parameter Area Read 0201 The FINS Parameter Area Read command reads the memory mapping configuration that is written with the FINS Parameter Area Write command see section 3 4 4 The Parameter Area Read command has this format 02 01 00 00 00 08 command code area code start address byte count The parameters can have the following values Parameter Values hex command code 02 01 area code e 0100 0107 for PLC output area 8 areas available e 8100 8107 for PLC input area 8 areas available start address 0000 byte count 0008 The CJ1W MCH72 responds with these codes Condition Response code Description hex All elements valid 0000 OK area code invalid 1101 No area type start address invalid 1103 Address range designation error byte count invalid 1104 Address out of range area code not configured 2003 The registered table does not exist If the response code is 0000 the CJ1W MCH72 responds with the data configured previously 02 01 00 00 00 00 00 08 command response _ start byt
67. See also 4 2 131 IDLE The I GAIN parameter contains the integral gain for the axis The inte gral output contribution is calculated by multiplying the sums of the Fol lowing Errors with the value of the GAIN parameter The default value is 0 Adding integral gain to a servo system reduces positioning error when at rest or moving steadily but it can produce or increase overshooting and oscillation and is therefore only suitable for systems working on constant speed and with slow accelerations Note In order to avoid any instability the servo gains should be changed only when the SERVO is off Note Servo gains have no affect on stepper output axis ATYPE 46 N A No example D GAIN OV GAIN P GAIN VFF GAIN See WAIT IDLE 4 2 132 IEEE IN Type Syntax Description Arguments Example See also 4 2 133 IEEE OUT Type Syntax Description Arguments 156 Mathematical function IEEE IN byteO byte1 byte2 byte3 The IEEE IN function returns the floating point number represented by 4 bytes which typically have been received over a communications link such as ModbusTCP or FINS Note byteO is the high byte of the 32 bit IEEE floating point format byteO byte3 Any combination of 8 bit values that represents a valid IEEE floating point number VR 20 IEEE IN b0 b1 b2 b3 N A Mathematical function byte n IEEE OUT value n The IEEE OUT function returns a single byte in IEEE format extracted
68. The INT function returns the integer part of the expression Note To round a positive number to the nearest integer value take the INT function of the value added by 0 5 Similarly to round for a negative value subtract 0 5 to the value before applying INT expression Any valid BASIC expression gt gt PRINT INT 1 79 1 0000 N A System command INVERT IN input on off The INVERT IN command allows the input channels 0 31 to be individ ually inverted in software This is important as these input channels can be assigned to activate functions such as feedhold The INVERT function sets the inversion for one channel ON or OFF It can only be applied to inputs 0 31 input Any valid BASIC expression gt gt IN 3 0 0000 gt gt INVERT_IN 3 ON gt gt IN 3 1 0000 N A 159 All BASIC commands Section 4 2 4 2 139 INVERT_STEP Type Syntax Description Arguments Example See also Axis parameter INVERT_STEP INVERT_STEP is used to switch a hardware Inverter into the stepper pulse output circuit This can be necessary for connecting to some step per drivers The electronic logic inside the Trajexia stepper pulse gener ator assumes that the FALLING edge of the step output is the active edge which results in motor movement This is suitable for the majority of stepper drivers Setting INVERT_STEP ON effectively makes the RISING edge of the step signal the active edge INVERT_STEP should be set i
69. The measured position will be changed accordingly in order to keep the Following Error OFFPOS can therefore be used to effectively datum a system at full speed The value set in OFFPOS will be reset to 0 by the system as the offset is loaded Note The offset is applied on the next servo period Other commands may be executed prior to the next servo period Be sure that these com mands do not assume the position shift has occurred This can be done by using the WAIT UNTIL statement see example Arguments N A Example Change the current position by 125 with the Command Line Terminal gt gt DPOS 300 0000 gt gt OFFPOS 125 gt gt DPOS 425 0000 Example Define the current demand position as 0 OFFPOS DPOS WAIT UNTIL OFFPOS 0 wait until applied This is equivalent to DEFPOS 0 e W 40 0 Example A conveyor transports boxes Labels must be applied onto these boxes The REGIST function can capture the position at which the leading edge of the box is seen Then the OFFPOS command can adjust the measured position of the axis to make it O at that point Thus after the registration event has occurred the measured position seen in MPOS reflects the absolute distance from the start of the box The mechanism that applies the label can take advantage of the absolute position start mode of the MOVELINK or CAMBOX commands to apply the label BASE conv REGIST 3 WAIT UNTIL MARK OFFPOS REG POS Leading edge of box is now ze
70. Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also The statement separator separates multiple BASIC statements on one line You can use it on the command line and in programs N A PRINT THIS LINE GET low PRINT DOES THREE THINGS N A Special character The symbol is used to specify a communications channel to be used for serial input output commands Note Communications Channels greater than 3 will only be used when running the Trajexia Studio software N A PRINT 1 RS232 PRINT 2 RS485 N A Mathematical function ABS expression The ABS function returns the absolute value of an expression expression Any valid BASIC expression IF ABS A gt 100 THEN PRINT A is outside range 100 100 N A Axis command ACC rate Sets the acceleration and deceleration at the same time This command gives a quick method to set both ACCEL and DECEL Acceleration and deceleration rates are recommended to be set with the ACCEL and DECEL axis parameters rate The acceleration deceleration rate in units s You can define the units with the UNITS axis parameter ACC 100 Sets ACCEL and DECEL to 100 units s ACCEL DECEL UNITS All BASIC commands Section 4 2 4 2 19 ACCEL 4 2 20 ACOS 4 2 21 ADD_DAC Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example
71. When you read them they return their current status Use the command IN to read these inputs Digital inputs 16 255 These inputs can be mapped to the PLC memory If they are not mapped they are software inputs only They do not physically exist on the CJ1W MCH72 but you can read them You use them mostly in BASIC programs to accomplish some control sequences that require inputs which do not need to be physical Use the command IN to read these inputs All inputs are unique to the controller They are not accessed per axis 5 1 4 1 MECHATROLINK II Servo Drivers inputs in the CJ1W MCH72 I O space With the BASIC command IN you can access the physically present inputs in a BASIC program These inputs can be built in the controller or connected via the MECHATROLINK II bus Servo Drivers can have additional inputs that are located on their I O connectors These inputs can be used as forward and or reverse limit switches or origin switches They are mapped into the CJ1W MCH72 I O space Thus they can be accessed from BASIC programs The CJ1W MCH72 only supports this for Servo Drivers connected to the CJ1W MCH72 system via the MECHATROLINK II bus It is not supported for Flexible Axis Servo Drivers CJ1W Servo Driver input signal Description MERE Sigma Il Sigma V Junma input 16 POT P OT P OT Forward limit switch 17 N OT N OT N OT Reverse limit switch 270 Section 5 1
72. address Bits 8 15 of the address are the EnDat MRS field settings and bits 0 7 are the offset within the EnDat MRS block If a CRC error occurs this command will return 1 For more information see EnDat absolute encoder interface specification address Specifies the EnDat MRS field to read VR 100 ENCODER READ A10D AXIS 7 This command will read the number of encoder bits and put that value in VR 10 memory location AXIS ENCODER ENCODER BITS Axis parameter read only ENCODER TURNS The ENCODER TURNS parameter returns the number of multi turn count from the encoder This is applicable only to Flexible axis absolute EnDat axis with ATYPE value 47 The multi turn data is not automatically applied to the axis MPOS parameter after initialization The application programmer must apply this from the program using OFFPOS or DEFPOS commands as required If applied to axis of ATYPE value other than 47 the parameter returns 0 N A PRINT ENCODER TURNS AXIS 1 This command will print absolute encoder multi turn counts for axis 1 AXIS ENCODER ENCODER BITS Axis command ENCODER WhITE address value 137 All BASIC commands Section 4 2 Description The ENCODER_WRITE command is applicable only to Flexible axis absolute EnDat axis with ATYPE value 47 The command writes to an encoder parameter specified by the address Bits 8 15 of the address are the EnDat MRS field settings and bits 0 7 are the offset wi
73. approximately 1 We can now rewrite the last equation to Pn202 10 UNITS 2 Pn203 360 One solution to this equation is UNITS 2 8192 Pn202 10 Pn203 360 When we consider the third recommendation from the above list avoid situations where Pn202 Pn203 is less than 0 01 or greater than 100 we can rewrite the last equation to Pn202 13 10 382 amp 32 UNITS 2 2 2 203 360 36 36 This gives us the solution UNITS 2 256 Pn202 32 Pn203 36 With these values the command MOVE 28 rotates the table 28 degrees in positive direction 5 1 3 3 Absolute encoder setting The absolute encoder keeps the current motor position even if there is no power supplied The absolute encoder gives the position within one turn that is a fraction from 0 to and excluding 1 and it has a multiturn counter You can set the multiturn behaviour of the absolute encoder with the parameter Pn205 of the Sigma ll Servo Driver This parameter adjusts the maximum number of turns that the counter counts before it has an overflow For more information on Servo Driver parameter Pn205 see the Sigma ll Servo Driver manual Taking this parameter value into account the maximum position value the encoder can signal is max encoder count value Pn205 1 encoder counts 1 which makes it Pn205 complete turns plus the position within one turn the fraction from 0 to and excluding 1 When the MECHATROLINK II co
74. axes at a constant speed forward or reverse by manual operation of the digital inputs Different speeds are also selectable by input Refer to the FWD_JOG REV_JOG and FAST_JOG axis parameters 1 4 Servo system principles The servo system used by and the internal operation of the CJ1W MCH72 are briefly described in this section 1 4 1 Semi closed loop system The servo system of the CJ1W MCH72 uses a semi closed or inferred closed loop system This system detects actual machine movements by the rotation of the motor in relation to a target value It calculates the error between the target value and actual movement and reduces the error through feedback 12 Servo system principles Section 1 4 1 4 2 Internal operation of the CJ1W MCH72 Inferred closed loop systems occupy the mainstream in modern servo systems applied to positioning devices for industrial applications The figure shows the basic principle of the servo system as used in the CJ1W MCH72 1 The CJ1W MCH72 performs actual position control The main input of the controller is the Following Error which is the calculated difference between the demand position and the actual measured position 2 The Position Controller calculates the required speed reference output determined by the Following Error and possibly the demanded position and the measured position The speed reference is provided to the Servo Driver 3 The Servo Driver controls the rotational s
75. been detected PRINT Mark not detected failed failed l IF failed max fail THEN After several consecutive misdetection stop the application PRINT Mark definitelly lost program alarm 3 STOP ENDIF ENDIF ENDIF Wait until the feed movement has finished WAIT IDLE GOTO loop 5 2 7 table inside a program It shows how to create a CAM table inside a program and use the CAMBOX motion command The profile used is the COS square one This is a quite typical profile for feeder type applications as The motion provides a smooth acceleration without sudden acceleration changes so the material slip is minimized It gives a fast deceleration so the cycle time is reduced During deceleration there is no material slip and the friction helps to the stop to zero Trace1 Device1 u ib Avit I a 9 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 Time ms lay Plot Parameter Change MLO MSPEED MLO MPOS ML1 MSPEED ML1 MPOS 309 Practical examples Section 5 2 5 2 7 1 Example start GOSUB filltable WDOG 1 Set servos to RUN BASE 1 SERVO 1 B S Enable position loop in axis 1 Dp SE 0 RVO 1 Enable position loop in axis 0 he position counter counts from 0 to 11999 nd then back to 0 again EP OPTION 1 EP DIST 12000 ED 200 FORWARD H tH
76. buffer Reading the current Measured Position MPOS Calculating the next Demanded Position DPOS e Executing the Position loop Sending the Axis reference Error handling 15 Cycle time Section 1 6 1 5 3 Motion buffers Motion buffers are the link between the BASIC commands and the Axis control loop When a BASIC motion command is executed the command is stored in one of the buffers During the next motion sequence the profile generator executes the movement according to the information in the buffer When the movement is finished the motion command is removed from the buffer 1 5 4 Communication 1 5 5 Peripherals 1 6 Cycle time 16 The CJ1W MCH72 can exchange data with memory areas in the PLC This enables the CJ1W MCH72 to use the inputs and outputs connected to the PLC Also programs in the CJ1W MCH72 and PLC programs can exchange control and status data For more information on communication and data exchange refer to chapter 3 All inputs and outputs are used with the set of parameters IN OP AIN AOUT The inputs and outputs are automatically detected and mapped in Trajexia Inverters are considered a peripheral device and have a set of BASIC commands to control them All processes in the Trajexia system are based on the cycle time The cycle time is divided into four CPU tasks 250 us time intervals for a SERVO PERIOD of 0 5 and 1 0 ms 250us M ILLI 1
77. commands and functions 72 Name Description HEXADECIMAL INPUT Assigns a hexadecimal number to a variable AXIS Sets the axis for a command axis parameter read or assignment to a particular axis BASICERROR Is used to run a specific routine when an error occurs in a BASIC command Categories Section 4 1 Name Description CLEAR Clears all global variables and the local variables on the current task CLEAR BIT Clears the specified bit of the specified VR variable CLEAR PARAMS Clears all parameter sand variables stored in flash EPROM to their default values CONSTANT Declares a constant for use in BASIC program DATE Prints the current date as a string EX Resets the controller FLAG Sets and reads a bank of 32 bits FLAGS Read and sets FLAGS as a block FREE Returns the amount of available memory GLOBAL Declares a reference to one of VR variables HALT Stops execution of all programs currently running INITIALISE Sets all axes and parameters to their default values INVERT_IN Inverts input channels 0 31 in the software INVERTER_COMMAND Reads I O and clears alarm of the Inverter INVERTER_READ Reads parameter alarm speed and torque reference of the Inverter INVERTER_WRITE Writes to parameter speed and torque reference of the Inverter LIST_GLOBAL Shows all GLOBAL and CONSTANT variables LOC
78. connected via the MECHATROLINK II bus the registration is done in the Servo Driver hardware If an axis is connected via the Encoder Interface the registration is done in the hardware of the CJ1W MCH72 The different registrations are described below 5 1 6 2 Registration the Sigma ll and Sigma V Servo Driver Registration in the Sigma Il and Sigma V Servo Driver occurs when an axis assigned to this Servo Driver is connected to the Trajexia system via the MECHATROLINK II bus There are three registration inputs on these Servo Drivers but only one hardware latch so only one input can be used at a time For Sigma ll Servo Drivers the physical inputs in pins CN1 44 CN1 45 and CN1 46 on the 50 pins CN1 connector For Sigma V Servo Drivers the physical inputs are in pins CN1 10 CN1 11 and CN1 12 on the 26 pins CN1 connector Trajexia uses logical inputs EXT1 EXT2 and EXTS to associate the physical inputs to logical ones This association is done by setting the parameter Pn511 of the Servo Driver For more information on setting this association and Pn511 parameter refer to section 4 2 198 table 1 The input used for registration is determined by the argument of the REGIST command Latch input Position NG Interpolated position 280 How to s Section 5 1 The delay in the capture the Sigma ll Servo Driver is about 3 us As the encoder information is refreshed every 62 5 us it is necessary to make int
79. digital output specifications of output 8 to output 15 for the I O Item Specification Type PNP Maximum voltage 24 VDC 10 Current capacity 100 mA for each output 800 mA in total for the group of 8 outputs Protection Over current Over temperature 2 A fuse on common Maximum response time 250 us for ON 350 us for OFF if the servo period equals 0 5 ms or 1 0 ms 500 us for ON 600 us for OFF if the servo period equals 2 0 ms 150 us when the HW PSWITCH is used CJ1W MCH72 28 24V output supply Q External power supply Equivalent 24V circuit Internal circuits galvanically lated from the system 150 To other output circuits Circuit configuration for output 4 to output 15 40 Wiring Section 2 2 2 2 2 Encoder connector The connections of the pins are given in the table below 2 2 2 1 Specifications 5 9 4 8 7 3 2 6 1 Encoder connector pins Pin Incremental Incremental Stepper output SSI EnDat encoder input encoder output 1 NC 2 Step Clock 3 A A Step Clock 4 B B Dir 5 B B Dir 6 5 V Encoder power supply 7 2 Enable Enable Data 8 Z Enable Enable Data 9 0 V Encoder ground Shell FG The table below shows the specifications Specification Signal level EIA RS 422A Standards Input impedance 48 min Current capacity 20 mA
80. execute a program at startup when the device is switched on it executes the program You can set the startup priority for a program in Trajexia Studio with the Priority property in the Properties window If you click the ellipsis button in the edit field of this property the StartUp Priority window shows StartUp Priority Run at Power Up StartUp Priority window To set the program to run at power up select the Run at Power Up check box and select a priority in the list Possible priority values are Default or 1 lowest priority to 14 highest priority To set the program not to run at startup clear the Run at Power Up check box Note The SHELL program by default runs at startup at priority 1 Note OMRON recommends that the statement RUN your program is used at the end of the Startup program to start your application program The application program starts when the startup program is executed successfully and without errors If you set an application program to Run at startup there is a risk that the machine starts if there is an error on the MECHATROLINK II bus 243 How to s Section 5 1 5 1 1 2 Example THE FIRST PART OF HE PROGRAM CONSISTS OF A CHECK SEQUENCE TO VERIFY THAT THE DETECTED AXIS CONFIGURATION IS THE EXPECTED ONE UTECYES HE PROGRAM FINISHES AND STARTS SHELL IF NOT HE PROGRAM STOPS AND NO OTHER PROGRAM START
81. factor of 1 and has a 1000 line encoder Note that a 1000 line encoder gives 4000 edges turn MOVE 40000 move 10 turns on the motor 172 All BASIC commands Section 4 2 Example Example Axes 3 4 and 5 must move independently that is without interpolation Each axis moves at its own programmed SPEED ACCEL and DECEL etc setup axis speed and enable BASE 3 SPEED 5000 ACCEL 100000 DECEL 150000 SERVO ON BASE 4 SPEED 5000 ACCEL 150000 DECEL 560000 SERVO ON BASE 5 SPEED 2000 ACCEL 320000 DECEL 352000 SERVO ON WDOG ON MOVE 10 AXIS 5 start moves MOVE 10 AXIS 4 MOVE 10 AXIS 3 WAIT IDLE AXIS 5 wait for moves to finish WAIT IDLE AXIS 4 WAIT IDLE AXIS 3 An X Y plotter can write text at any position within its working envelope Individual characters are defined as a sequence of moves relative to a start point Therefore the same commands can be used regardless of the plot origin The command subroutine for the letter M is write_m MOVE 0 12 move A gt B MOVE 3 6 move gt C MOVE 3 6 move gt D MOVE 0 12 move D gt E RETURN 173 All BASIC commands Section 4 2 See also AXIS MOVEABS UNITS 4 2 158 MOVEABS Type Axis command Syntax MOVEABS distance_1 distance 2 distance 3 distance 4 I1D MA distance 1 distance 2 distance 3 distance 4 Description The MOVEABS command moves one or more axes at the deman
82. goes to the step pulse output Pulse Count Out numerator denominator MPOS STEP_RATIO affects both MOVECIRC and CAMBOX Notes The STEP RATIO function operates before the divide by 16 factor in the stepper axis Large ratios should be avoided as they will lead to either loss of res olution or much reduced smoothness in the motion The actual physical step size x 16 is the BASIC resolution of the axis and use of this command may reduce the ability of the Motion Controller to accurately achieve all positions STEP RATIO does not replace UNITS Do not use STEP RATIO to remove the x16 factor on the stepper axis as this will lead to poor step frequency control denominator An integer number between 0 and 16777215 that is used to define the denominator in the above equation numerator An integer number between 0 and 16777215 that is used to define the numerator in the above equation Two axes are set up as X and Y but the axes steps per mm are not the same Interpolated moves require identical UNITS values on both axes in order to keep the path speed constant and for MOVECIRC to work correctly The axis with the lower resolution is changed to match the higher step resolution axis so as to maintain the best accuracy for both axes Axis 0 500 counts per mm 31 25 steps per mm Axis 1 800 counts per mm 50 00 steps per mm BASE 0 STEP RATIO 500 800 UNITS 800 BASE 1 UNITS 800 N A Program command
83. gt gt CLEAR gt gt PRINT VR 0 VR 20 VR 300 0 0000 0 0000 0 0000 RESET VR System command CLEAR BlIT bit number vr number The CLEAR BIT command resets the specified bit in the specified VR variable Other bits in the variable keep their values bit number The number of the bit to be reset Range 0 23 vr number The number of the VR variable for which the bit will be reset Range 0 1023 gt gt PRINT VR 17 112 0000 gt gt CLEAR_BIT 5 17 gt gt PRINT VR 17 80 0000 READ BIT SET BIT VR System command CLEAR PARAMS Clears all variables and parameters stored in flash EPROM to their default values The CLEAR will erase set to 0 all the VRs stored using FLASHVR command This command cannot be performed if the controller is locked 109 All BASIC commands Section 4 2 4 2 51 CLOSE WIN Arguments Example See also Type Syntax Description Arguments Example See also 4 2 52 CLUTCH RATE 4 2 53 COMPILE 110 Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also N A No example N A Axis parameter CLOSE WIN CW The CLOSE WIN axis parameter defines the end of the window inside or outside which a registration mark is expected The value is in user units N A CLOSE WIN 10 AXIS OPEN WIN REGIST UNITS Axis parameter CLUTCH RATE The CLUTCH RATE axis parameter defines
84. in a change of the end_pos parameter happen most of the time when the axes are not linked i e when the CAMBOX command is not executed Suppose furthermore that very rarely the condition changes when the axes are linked The change of the end_pos parameter triggers the recalculation of the CAM table while the CAMBOX command is executed The consequence is that the part of the demanded position of the slave axis follows the profile before the change and the other part follows the profile after the change In the end this leads to a discontinuation of the profile which causes an indefinite speed of the axis and ends up with this error the WDOG goes off and all axes stop The scenario above is hard to analyze when you do not know what happens The only thing that the user sees is that the slave axis has an error once every few hours or even less often But the oscilloscope can clearly show where the problem is In order to be able to use the oscilloscope all desired parameters must be captured at the time of an error This can be achieved by arranging the application programs in a certain way The good programming practice suggests to have a separate start up program that is set to run automatically on power up of the system and checks the integrity of the system whether all the expected slaves are connected and initialized For an example of a start up program see section 5 1 1 It is recommended to let the start up program when it is finished s
85. is reset to zero OFFPOS REG POSB REGIST reg ELSEIF MARK THEN on R input output 8 is toggled IF reg 6 THEN select registration mode 8 falling edge R rising edge Z reg 8 OP 8 ON ELSE reg 6 OP 8 OFF ENDIF REGIST reg ENDIF WEND CANCEL See also AXIS MARK MARKB REG POS REG POSB OPEN WIN CLOSE WIN Note The current Trajexia firmware version 1 6652 does not properly support this command for Sigma V Servo Drivers 4 2 199 REMAIN Type Axis parameter read only Syntax REMAIN Description The REMAIN parameter contains the distance remaining to the end of the current move It can be checked to see how much of the move has been completed The units in which REMAIN is expressed depends on the type of the motion command e master axis is moved by MOVELINK or CAMBOX REMAIN is expressed in user units set by UNITS e slave axis is moved by MOVELINK or CAMBOX REMAIN is expressed in encoder counts e Ifa master or a slave axis is moved by a motion command that is not MOVELINK or CAMBOX REMAIN is expressed in user units set by UNITS The CONNECT command moves an axis without a defined end For this command REMAIN has the fixed value of 1000 Arguments 211 All BASIC commands Section 4 2 Example See also 4 2 200 REMOTE_ERROR Type Syntax Description Arguments Example See also 4 2 201 RENAME Type Syntax Description Arguments Example See also 4 2 202
86. link option 1 which means that the link to the master axis starts when the registration event occurs on link master axis The corresponding program sequence is REGIST 2 AXIS master MOVELINK dst Ink dst Ink acc Ink dec master 1 AXIS slave For more information on the MOVELINK command and the link option argument refer to section 4 2 160 i Master Speed x Slave Speed 1 ES I 1 i 1 i Correction in the slave according to the latch Extra position the first cycle is equal to the lost position Servo Period Registration input signal The picture shows how the position of the slave axis is corrected using the registration event on the master axis to start the movement of the slave axis The influence of SERVO PERIOD and the fact that the registration event can happen at any time inside the SERVO PERIOD is completely eliminated 286 How to s Section 5 1 5 1 7 Tracing and monitoring 5 1 7 1 Oscilloscope functionality in Trajexia Studio The software oscilloscope is a standard part of Trajexia Studio The oscilloscope can be used to trace and graphically represent axis and system parameters This can help you with development commissioning and troubleshooting of the motion system For more information on the software oscilloscope and its features and capabilities refer to the Trajexia Studio manual You can trigger
87. moves forward at a creep speed until it reaches a product a microswitch IN 2 turns on The ballscrew is stopped immediately the position at which the product is sensed is indicated and the ballscrew returns at a rapid speed back to the start position INO IN 2 A CANCEL WAIT IDLE Forward t Moveabs SPEED 10 FORWARD WAIT UNTIL IN 2 ON Start WAIT UNTIL IN 1 ON WAIT UNTIL IN 1 ON PRINT Product position SPEED 100 MOVEABS 0 WAIT IDLE 5 2 4 1 Example start WAIT UNTIL IN 1 ON 304 Practical examples Section 5 2 SPEED 10 FORWARD WAIT UNTIL IN 2 ON prod pos MPOS CANCEL WAI IDLE PRINT Product Position prod pos SPEED 100 MOVEABS 0 WAIT IDLE GOTO start 5 2 5 Position on a grid A square palette has sides 1m long It is divided into a 5 x 5 grid and each of the positions on the grid contains a box which must be filled using the same square pattern of 100mm by 100mm A dispensing nozzle controlled by digital output 8 must be turned on when filling the box and off at all other times 305 Practical examples Section 5 2 t Square rel 14 Square rel gt ss 1 13 4 b Y 4 t i y x speed EO R m t y speed 5 MOVEABS 0 200 MOVEABS 0 400 OP nozzle
88. nected to the Encoder Interface ENCODER CONTROL Controls operating mode of the EnDat absolute encoder ENCODER RATIO Sets scaling value for incoming encoder counts ENCODER TURNS Returns the multi turn count of the absolute encoder ENDMOVE Holds the position of the end of the current move ERRORMASK Contains the mask value that determines if MOTION ERROR occurs depending on the axis status FAST JOG Contains the input number to be used as the fast jog input FASTDEC Defines ramp to zero deceleration ratio when an axis limit Switch or position is reached FE Contains the Following Error FE LATCH Contains the FE value which caused the axis to put con troller MOTION ERROR state FE LIMIT Contains the maximum allowable Following Error FE LIMIT MODE Defines how FE influences MOTION ERROR state FE RANGE Contains the Following Error warning range limit FHOLD IN Contains the input number to be used as the feedhold input 67 Categories Section 4 1 68 Name Description FHSPEED Contains the feedhold speed FS LIMIT Contains the absolute position of the forward software limit FWD IN Contains the input number to be used as a forward limit input FWD JOG Contains the input number to be used as a jog forward input GAIN Contains the integral control gain INVERT STEP Switches a hardware
89. of two expressions NOT Performs a NOT operation on corresponding bits of the integer part of the expression OR Performs an OR operation between corresponding bits of the integer parts of two expressions SGN Returns the sign of an expression SIN Returns the sine of an expression SQR TAN Returns the square root of an expression Returns the tangent of an expression XOR Performs an XOR function between corresponding bits of the integer parts of two expressions 4 1 7 Program commands Name Description COMMENT FIELD Enables a line not to be executed STATEMENT SEPARATOR Enables more statements on one line AUTORUN Starts all the programs that have been set to run at start up COMPILE Compiles the current program COPY Copies an existing program in the motion control ler to a new program DEL Deletes a program from the motion controller DIR Displays a list of the programs in the motion con troller their size and their RUNTYPE on the stand ard output EDIT Allows a program to be modified using a VT100 Terminal EPROM Stores a program in the flash memory LIST Prints the program on the standard output NEW Deletes all lines of the program in the motion con troller PROCESS Returns the running status and task number for each current task RENAME Changes the name of a program in the motion controller 71
90. pallet is defined as position 0 0 with the DEFPOS command The part of the program to position the canis ters in the pallet is FOR x 0 TO 5 FOR y 0 TO 7 MOVEABS 340 516 5 move to pick up point WAIT IDLE GOSUB pick call pick up subroutine PRINT Move to Position x 6 y 1 MOVEABS x 185 y 185 move to position in grid WAIT IDLE GOSUB place call place down subroutine NEXT y NEXT x AXIS MOVE MOVEABS UNITS Axis command MOVECIRC end 1 end 2 centre 1 centre 2 direction MC end 1 end 2 centre 1 centre 2 direction The MOVECIRC command interpolates 2 orthogonal axes in a circular arc at the tool point The path of the movement is determined by the 5 arguments which are incremental from the current position The arguments end 1 and centre 1 apply to the BASE axis and end 2 and centre 2 apply to the following axis All arguments are given in user units of each axis The speed of movement along the circular arc is set by the SPEED ACCEL and DECEL parameters of the BASE axis The first four distance parameters are scaled according to the current unit conversion factor for the BASE axis MOVECIRC works on the default basis axis group set with BASE unless AXIS is used to specify a temporary base axis For MOVECIRC to be correctly executed the two axes moving in the circular arc must have the same number of encoder pulses per linear axis distance If they do not it is possible to adjust the encoder scales in many cases by adjustin
91. parameters WHILE NOT MOTION ERROR Cambox that will start in AXIS 0 position 1 WEND HALT 0 999 UNITS 10 0 2 WAIT UNTIL MPOS AXIS 0 lt 1 The capture a position Between The previous cap SCOPE POS 1000 will start w 0 and ture h IF SCOP TRIGGER F the permission E_POS 1000 AND VR activate trigger ON THEN PRINT Triggered ENDIF WAIT IDL 1 Device1 e 5 10 v ILJA s ri hen the master axis is in 1 Additional conditions as finished VR activate_trigger ON 1 1 1 80 1 100 1 1 1 1 1 120 140 160 180 200 Time ms The result is given in the figure 289 How to s Section 5 1 In the example given above the value of the UNITS parameter is set to encoder counts The position of the master axis MPOS AXIS 0 is given in red The position increases linearly because the speed of the master axis is constant The demanded position of the slave axis DPOS AXIS 1 is given in blue This graph is a cosine curve It corresponds to the created CAM table The measured speed of the slave axis MSPEED AXIS 1 is given in yellow This graph is a sinusoidal curve because the speed is a derivative of the position and the derivative of the cosine is the sine At high speeds there are some ripples The green graph is the torque of the motor for t
92. position to move every axis to in user units starting with the base axis 174 All BASIC commands Section 4 2 Example Example A machine must move to one of 3 positions depending on the selection made by 2 switches The options are home if both switches are off position 1 if the first switch is on and the second switch is off and posi tion 2 if the first switch is off and the second switch is on Position 2 has priority over position 1 define absolute positions home 1000 position_1 2000 position_2 3000 WHILE IN run_switch ON IF IN 6 ON THEN switch 6 selects position 2 MOVEABS position_2 WAIT IDLE ELSEIF IN 7 ON THEN switch 7 selects position 1 MOVEABS position_1 WAIT IDLE ELSE MOVEABS home WAIT IDLE ENDIF WEND An X Y plotter has a pen carousel The position of this carousel is fixed relative to the absolute zero position of the plotter To change pens an absolute move to the carousel position finds the target irrespective of the plot position MOVEABS 28 5 350 move to just outside the pen holder area WAIT IDLE SPEED pen_pickup_speed MOVEABS 20 5 350 move in to pick up the pen 175 All BASIC commands Section 4 2 4 2 159 MOVECIRC 176 Example See also Type Syntax Description A pallet consists of a 6 by 8 grid in which gas canisters are inserted 185 mm apart by a packaging machine The canisters are picked up from a fixed point The first position in the
93. program task will be paused until the connection of the other device to the Servo Driver is removed 4 2 80 DRIVE RESET Type Syntax Axis command DRIVE RESET 131 All BASIC commands Section 4 2 Description The DRIVE RESET command resets the Servo Driver connected via the MECHATROLINK II bus The command is executed on the driver for the base axis set by BASE The base axis can be changed with the AXIS modifier as with all the other axis commands and parameters Arguments N A Example No example See also N A Caution Be sure that no Parameter Unit or Personal Computer Software is connected to the Servo Driver when executing this command Otherwise the program task will be paused until the connection of the other device to the Servo Driver is removed 4 2 81 DRIVE STATUS 132 Type Axis parameter read only Syntax DRIVE STATUS Description For MECHATROLINK II axes this parameter is set from the STATUS field in the MECHATROLINK II communication frame and is updated every servo period Those bits can be seen in the drive configuration window in Trajexia Studio and can be used in programs The explana tion of each bit is given in the table below Note Only bits relevant to MECHATROLINK II axes are listed For the detailed explanation for these status bits see the MECHATROLINK II manual Bit Description MECHATROLINK II 0 Alarm 1 Warning Ready Servo on Power on Machine Lock
94. quotes Note This command is implemented for a Command Line Terminal N A No example COPY DEL RENAME SELECT TABLE See FOR TO STEP NEXT Type Syntax Mathematical operation NOT expression All BASIC commands Section 4 2 Description The NOT operator performs the logical NOT function on all bits of the integer part of the expression The logical NOT function is defined as in the table below Bit Result Arguments expression Any valid BASIC expression Example gt gt PRINT 7 AND NOT 1 6 0000 See also N A 4 2 169 NTYPE Type Axis parameter read only Syntax NTYPE Description The NTYPE parameter contains the type of the move in the next move buffer Once the current move has finished the move present in the NTYPE buffer will be executed The values are the same as those for the MTYPE axis parameter NTYPE is cleared by the CANCEL 1 command Arguments Example No example See also AXIS MTYPE 4 2 170 OFF Type Constant read only Syntax OFF Description The OFF constant returns the numerical value 0 Arguments Example OP lever OFF The above line sets the output named lever to OFF See also N A 4 2 171 OFFPOS Type Axis parameter Syntax OFFPOS 189 All BASIC commands Section 4 2 Description The OFFPOS parameter contains an offset that will be applied to the demand position DPOS without affecting the move which is in progress in any other way
95. return a value The range for this parameter depends on the number of additional digital I O connected to the PLC If there are no digital I O connected the range for this parameter is 0 31 The following lines can be used to move to the position set on a thumb wheel multiplied by a factor The thumb wheel is connected to inputs 4 5 6 and 7 and gives output in BCD moveloop MOVEABS IN 4 7 1 5467 WAIT IDLE GOTO moveloop The MOVEABS command is constructed as follows Step 1 IN 4 7 will get a number between 0 and 15 Step 2 The number is multiplied by 1 5467 to get required distance Step 3 An absolute move is made to this position In this example a single input is tested test WAIT UNTIL IN 4 ON Conveyor is in position when ON GOSUB place OP All BASIC commands Section 4 2 4 2 136 INITIALISE 4 2 137 INT 4 2 138 INVERT_IN Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also System command INITIALISE Sets all axes system and process parameters to their default values The parameters are also reset each time the controller is powered up or when an EX software reset command is performed In Trajexia Stu dio the menu Reset Device on the Online menu performs the equiva lent of an EX command N A No example e EX Mathematical function INT expression
96. shown in the figure encoder 2 pulses LIE Lg p gp dg d tt pg dg 1 rg J yi dg dg 1 min limit switch itu i 1 10 max limit switch 1 X REVERSE FORWARD The possible scenarios for origin search using encoder reference pulse Zero Mark depending on the position of the moving part on power on are shown in the figure The program example that does this origin search sequence is given below Origin and left limit switch INO Right limit switch IN1 REV IN 1 BASE 0 DATUM IN 0 SERVO ON WDOG ON DATUM 6 WA 1 WAIT IDLE 5 1 5 5 Static origin search forcing a position from a user reference This origin search procedure performs a static origin search by directly forcing an actual position It does not perform any physical move DATUM 0 5 1 5 6 Static origin search forcing a position from an absolute encoder 5 1 6 Registration This origin search procedure sets the actual position to the position of an absolute encoder It does not perform any physical move It is only possible with an axis with an absolute encoder in a control loop Registration also called latch or print registration is about real time storing of the position of an axis when an external input is activated The information that is registered i e stored is processed later not in real time by the application program Registration is dif
97. specified as a positive distance link axis The axis to link to link option See the table below link option value Description Link starts when registration event occurs on link axis Link starts at an absolute position on link axis see link position CAMBOX repeats automatically and bidirectionally This option is cancelled by setting bit 1 of REP OPTION parameter REP OPTION REP OPTION OR 2 Combination of options 1 and 4 Combination of options 2 and 4 All BASIC commands Section 4 2 Example link position The absolute position where CAMBOX will start when link option is set to 2 Note When the CAMBOX command is executing the ENDMOVE parameter is set to the end of the previous move The REMAIN axis parameter holds the remainder of the distance on the link axis 2000 1500 1000 500 0 TITTTTTTTTTTTTTTTTTTTTTTTTT 0 3 6 9 12 15 18 21 24 27 30 Subroutine to generate a SIN shape speed profile Uses p is loop counter num p is number of points stored in tables pos 0 num_p scale is distance travelled scale factor profile_gen num_p 30 scale 2000 FOR p 0 TO num_p TABLE p SIN PI 2 p num_p PI 2 p num_p scale NEXT p RETURN This graph plots TABLE contents against table array position This cor responds to motor POSITION against link POSITION when called using CAMBOX The SPEED of the motor will correspond to the derivative
98. start position loop servo NEXT axis no RETURN See also N A 4 2 73 DPOS Type Axis parameter read only Syntax DPOS Description The DPOS axis parameter contains the demand position in user units which is generated by the move commands in servo control When the controller is in open loop SERVO OFF the measured position MPOS will be copied to the DPOS in order to maintain a 0 Following Error The range of the demand position is controlled with the REP DIST and REP OPTION axis parameters The value can be adjusted without doing a move by using the DEFPOS command or OFFPOS axis param eter DPOS is reset to 0 at start up or controller reset Arguments Example PRINT DPOS AXIS 0 34 0000 The above line will return the demand position in user units See also AXIS DPOS DEFPOS DEMAND EDGES FE MPOS REP DIST REP OPTION OFFPOS UNITS 127 All BASIC commands Section 4 2 4 2 74 DRIVE ALARM Type Axis command Syntax DRIVE ALARM VR alarm number Description The DRIVE ALARM function reads the current alarm of the Servo Driver that is connected to the Trajexia system via MECHATROLINK II Upon successful execution the command returns 1 and stores the value in the VR memory location specified by the VR parameter If the command cannot be executed the value 0 is returned The command is executed on the driver for the base axis set by BASE The base axis can be changed with the AXIS modifier as with all t
99. tenth of degree M 17 bit absolute 1 12 24 Gear encoder The mechanical system uses a servo motor with a 17 bit absolute encoder The mechanical gear ratio of the gearbox is 1 12 24 The mechanical measurement units must be tenths of an angle degree Therefore the total repeat distance for the full turn of the moving part is 3600 tenths of an angle degree With the same procedure as in example 1 we have 17 Pn202 TS 2 encoder counts 12 24 motor revolution 1 pulley revolution _ Pn203 7 1 revolution 1 machine revolution 3600 tenth of degree 7 21 42 24 encoder counts 3600 tenth of degree Therefore Pn202 47 1224 UNITS 203 360000 One solution is UNITS 2 131072 Pn202 1224 Pn203 360000 Because the greatest common divisor of Pn202 and Pn203 must be 1 we get Pn202 17 and Pn203 500 Therefore the parameters are UNITS 131072 Pn202 17 Pn203 500 Pn205 16 REP DIST 3600 REP OPTION 1 To calculate the multiturn limit setting Pn205 we have 267 How to s Section 5 1 5 1 3 7 Example 5 268 m motor_revolution n machine cycle n 12 24 motor_revolution The evident solution is n 100 and m 1224 Or when we simplify the factors n 25 and m 306 Therefore Pn205 m 1 305 With these settings executing MOVE 180 moves the moving part 180 tenths of an angle degree or 18 angle degrees in forward direction
100. the battery compartment Unit components Section 2 1 Battery A and battery connector B Remove the battery connector B of the old battery Connect the battery connector B of the new battery Install the new battery A in the battery compartment Close the battery compartment CONDO When the new battery is installed the low battery error is cleared NWARNING These actions can cause the battery to leak burn or rupture which can lead to fire injury loss of property and death Do not short circuit the battery terminals Do not charge the battery Donotdisassemble the battery Do not heat the battery or set fire to the battery NWARNING Do not use a battery that is dropped on the floor or that is subjected to a shock The battery can leak 2 1 4 I O connector The I O connector is a 28 pin connector used to wire to an external I O All 1 Os are general purpose l Os Functions like limit inputs and origin proximity inputs can be allocated The recommended connector is the Weidmuller B2L 3 5 28 LH connector 2 1 5 MECHATROLINK II connector The MECHATROLINK II connector is used to connect the CU1W MCH 72 unit to a MECHATROLINK II network 2 1 6 Encoder connector The encoder connector of the MCH72 supports different types of encoders It can also act as a reference output It supports the following ncremental encoder input for line driver type encoders Two different absolute encoder standards S
101. the change in connection ratio when using the CONNECT command The rate is defined as amount of ratio per second The default value is set to a high value 1000000 in order to ensure compatibility with other units Note The operation using CLUTCH RATE is not deterministic in posi tion If required use the MOVELINK command instead to avoid unnec essary phase difference between base axis and linked axis N A CLUTCH RATE 4 This setting will imply that when giving CONNECT 4 1 it will take one second to reach the full connection AXIS CONNECT MOVELINK Program command COMPILE The COMPILE command forces the compilation of the currently selected program to intermediate code Program are compiled automat ically by the system software prior to program execution or when another program is selected This command is not therefore normally required N A No example N A All BASIC commands Section 4 2 4 2 54 CONNECT Type Syntax Description Arguments Example Axis command CONNECT ratio driving_axis CO ratio driving_axis The CONNECT command connects the demand position of the base axis to the measured movements of the axis specified by driving_axis to achieve an electronic gearbox The ratio can be changed at any time by executing another CONNECT command on the same axis To change the driving axis the CONNECT command needs to be cancelled first CONNECT with different driving axis will be ignored T
102. the movement This detects at which position the paper passes and thus how much slip has occurred The move is then modified to account for this variation paper length z4000 DEFPOS 0 REGIST 3 MOVE paper_length WAIT UNTIL MARK slip REG_POS paper_length 3 offset slip 3 MOVEMODIFY paper_length offset 185 BASIC commands Section 4 2 4 2 162 MPOS 186 Example Type Syntax Description Arguments A satellite receiver sits on top of a van It must align correctly to the sat ellite from data processed in a computer This information is sent to the controller through the serial link and sets VR 0 and VR 1 This infor mation is used to control the two axes MOVEMODIFY is used so that the position can be continuously changed even if the previous set position is not achieved bearing 0 set lables for VRs elevationz1 UNITS AXIS 0 2360 counts per UNITS AXIS 1 2360 counts per rev1 WHILE IN 2 ON MOVEMODIFY VR bearing AXIS 0 adjust bearing to match VRO MOVEMODIFY VR elevation AXIS 1 adjust elevation to match VR1 WA 250 WEND RAPIDSTOP stop movement WAIT IDLE AXIS 0 MOVEABS 0 AXIS 0 return to transport position WAIT IDLE AXIS 1 MOVEABS 0 AXIS 1 Axis parameter read only MPOS The MPOS parameter is the measured position of the axis in user units as derived from the encoder This parameter can be set using the DEFPOS command The OFFPOS axis parame
103. the oscilloscope to start tracing given axis and system parameters in two ways manually or by a program Triggering manually is done using the data trace The parameters are stored in the Table memory of the controller The range of the Table memory where the parameters are stored can be set in the Memory Manager of the device configuration see the Trajexia Studio manual With manual triggering the user can see the changes of axis and system parameters in real time as the system runs A change in parameter values is graphically represented as soon as the change happens The limitation of manual triggering is that it requires user interaction which means that the start of tracing is not synchronized with the movement that is analyzed Also with manual triggering the tracing range is limited to 200 samples per channel 5 1 7 2 Using the oscilloscope 5 1 7 3 Example The alternative triggering by a program does not have the limitations of manual triggering of the tracing Triggering by a program stores the axis and system parameters in the memory of the CJ1W MCH72 Later the parameters are given to the oscilloscope for graphical representation The axis and system parameters are stored in the Table memory The memory range used is defined by the parameters of the SCOPE command When the parameters are in the Table memory the oscilloscope can be configured to show a range of Table memory locations instead of axis and system parameters The ex
104. the program Arguments program name The name of the program whose RUNTYPE is being set auto run 0 Running manually on command 1 Automatically execute on power up All non zero values are considered as 1 task number The number of the task on which to execute the program Range 1 14 Example gt gt RUNTYPE progname 1 3 This line sets the program progname to run automatically at start up on task 3 Example gt gt RUNTYPE 0 This line sets the program progname to manual running See also AUTORUN EPROM EX 4 2 214S REF Type Axis parameter Syntax S REF Description This parameter contains the speed reference value which is applied directly to the Servo Driver when the axis is in open loop SERVO OFF The range of this parameter is defined by the number of available bits For MECHATROLINK II axes REF takes 32 bits so the available range is 2147483648 2147483648 which corresponds to a voltage range 10V 10V For Flexible axis axes S REF takes 16 bits so the available range is 32768 32767 which corresponds to a voltage range 10V 10V These ranges can be limited by using the OUTLIMIT parameter The value currently being applied to the driver can be read using the S REF OUT axis parameter Arguments 221 All BASIC commands Section 4 2 4 2 215 S REF OUT 4 2 216 SCOPE 222 Example See also Type Syntax Description Arguments Example See also
105. 1 8 1 8 4 4 MECHATROLINK II torque ATYPE 42 CJ1W MCH72 SERVO Position loop SERVO OFF 1 ML II gt command SERVO OFF 1 o Profile generator i Torque 1 Demanded position command i Following Measured position With SERVO ON the torque loop is closed in the CJ1W MCH72 The torque reference in the Servo Driver depends on the FE and the gain With SERVO OFF the torque reference is sent directly via the T REF command 0x40000000 is the maximum torque of the servomotor Note To monitor the torque in the servo in DRIVE MONITOR set DRIVE CONTROL 11 1 8 4 5 Stepper output ATYPE 43 The position profile is generated and the output from the system is a pulse train and direction signal This is useful to control a motor via pulses or as a position reference for another motion controller 1 8 4 6 Servo axis ATYPE 44 CJ1W MCH72 Measured Position With SERVO OFF the position of the external incremental encoder is read 26 Motion sequence and axes Section 1 8 1 8 4 7 Encoder output ATYPE 45 CJ1W MCH72 Profile generator NO miS aS AXIS 1 Demanded ATYPE 45 position The position profile is generated and the output from the system is an incremental encoder pulse This is useful to control a motor via pulses or as a position reference for another motion controller 1 8 4 8
106. 1 measured position VR 65 VR 0 MPOS AXIS 1 PRINT VR 65 GOTO loop See also CLEAR_BIT READ_BIT SET_BIT TABLE 238 All BASIC commands Section 4 2 4 2 256 VRSTRING Type System command Syntax VRSTRING vr_start Description Combines the contents of an array of VR variables so that they can be printed as a text string All printable characters will be output and the string will terminate at the first null character found i e VR n contains 0 Arguments start number of first VR in the character array Example PRINT Z5 VRSTRING 100 See also N A 4 2 257 WA Type System command Syntax WA time Description The WA command pauses program execution for the number of milli seconds specified for time The command can only be used in a pro gram Arguments time The number of milliseconds to hold program execution Example The following lines would turn ON output 7 two seconds after turning off output 1 OP 1 OFF WA 2000 OP 7 ON See also N A 4 2 258 WAIT IDLE Type System command Syntax WAIT IDLE Description The WAIT IDLE command suspends program execution until the base axis has finished executing its current move and any buffered move The command can only be used in a program WAIT IDLE works on the default basis axis set with BASE unless AXIS is used to specify a tem porary base axis Note The execution of WAIT IDLE does not necessarily mean that the axis will be stationary in a serv
107. 1015 1020 TABLE INDEX A motor on Axis 0 is required to emulate a rotating mechanical CAM The position is linked to motion on axis 3 The shape of the motion profile is held in TABLE values 1000 1035 The table values represent the mechanical cam but are scaled to range from 0 4000 TABLE 1000 0 0 167 500 999 1665 2664 3330 3497 3497 TABLE 1010 3164 2914 2830 2831 2997 3164 3596 3830 3996 3996 TABLE 1020 3830 3497 3330 3164 3164 3164 3330 3467 3467 3164 TABLE 1030 2831 1998 1166 666 333 0 BASE 3 MOVEABS 130 WAIT IDLE start the continuously repeating cambox CAMBOX 1000 1035 1 360 3 4 AXIS 0 FORWARD start camshaft axis WAIT UNTIL IN 2 OFF REP OPTION 2 cancel repeating mode by setting bit 1 WAIT IDLE AXIS 0 waits for cam cycle to finish CANCEL stop camshaft axis WAIT IDLE Note The system software resets bit 1 of OPTION after the repeating mode has been cancelled 103 All BASIC commands Section 4 2 Setting bit 3 value 8 of the link options parameter enables the CAMBOX pattern mode This mode enables a sequence of scale val ues to be cycled automatically This is normally combined with the auto matic repeat mode so the options parameter must be set to 12 This diagram shows a typical repeating pattern which can be automated with the CAMBOX pattern mode The parameters for this mode are treated differently to the standard CAMBOX function CAMBOX start end control block pointer link d
108. 11 DEMAND POSITION Profile generator The motion buffer is a temporary store of the motion instruction from the BASIC program to the profile generator The BASIC program continues while the instruction waits in the buffer There are three types of buffer MTYPE The current movement that is being executed MTYPE relates to the axis and not to the process NTYPE The new movement that waits for execution NTYPE relates to the axis and not to the process Process Buffer The third buffered movement cannot be monitored The process buffer relates to the process and not to the axis It is possible to check if the process buffer is full by checking the PMOVE process parameter Process 1 Process Buffer WAITING EXECUTING Process 2 CE Process Buffer NTYPE Process 3 Process Buffer NTYPE gt MTYPE Process 4 J Process Buffer NTYPE gt Process 5 C Process Buffer Process 6 2 Process Buffer gt MTYPE Process 7 a Process Buffer Process Program Buffer NTYPE P MTYPE Each process has its own Each Axis has its own Process Buffer 2 buffers NTYPE amp MTYPE When a motion instruction is executed in the BASIC program the instruction is loaded into the process buffer and distributed to the corresponding axis buffer in the next motion sequence
109. 16 This parameter works in conjunction with D ZONE MAX to clamp the S REF output to zero when the demand movement is complete and the magnitude of the Following Error is less than the D ZONE MIN value The servo loop will be reactivated when either the Following Error rises above the D ZONE MAX value or a fresh movement is started N A D ZONE MIN 3 D ZONE MAX 10 With these 2 parameters set as above the S REF output will be clamped at zero when the movement is complete and the Following Error falls below 3 When a movement is restarted or if the Following Error rises above a value of 10 the servo loop will be reactivated D ZONE MAX System parameter read only DATE Returns the current date held by the real time clock of the PLC N A gt gt PRINT DATE 36956 This prints the number representing the current day This number is the number of days since 1st January 1900 with 1 Jan 1900 represented as 1 N A System command DATE Prints the current date DD MM YY as a string to the communication port A 2 digit year description is given N A PRINT 1 This will print the date in format for example 20 10 05 N A Axis command DATUM sequence All BASIC commands Section 4 2 Description Arguments The DATUM command performs one of 6 origin search sequences to position an axis to an absolute position and also reset the error bits in AXISSTATUS axis parameter DATUM uses both the creep a
110. 16 arguments posi The absolute position for base i axis in user units Refer to the BASE command for the grouping of the axes All BASIC commands Section 4 2 Example After 2 axes returned to their homing positions it is required to change the DPOS values so that the home positions are not zero but some defined positions instead DATUM 5 AXIS 1 home both axes At the end of the DATUM DATUM 4 AXIS 3 procedure the positions are 0 0 WAIT IDLE AXIS 1 WAIT IDLE AXIS 3 BASE 1 3 set up the BASE array DEFPOS 10 35 define positions of the axes to be 10 and 35 Example Set the axis position to 10 then start an absolute move but make sure the axis has updated the position before loading the MOVEABS DEFPOS 10 0 WAIT UNTIL OFFPOS 0 Makes sure that DEFPOS is complete before next line MOVEABS 25 03 BEFORE AFTER Example From the Command Line of the Terminal window quickly set the DPOS values of the first four axes to 0 gt gt BASE 0 gt gt DP 0 0 0 0 See also AXIS DATUM DPOS OFFPOS MPOS UNITS 4 2 69 DEL Type Program command Syntax DEL program_name RM program_name 123 All BASIC commands Section 4 2 Description Arguments Example See also 4 2 70 DEMAND_EDGES Type Syntax Description Arguments Example See also 4 2 71 DIR Type Syntax Description Arguments Example See also 4 2 72 DISABLE_GROUP Type Syntax 124
111. 2 bits so the available range is 2147483648 2147483648 which corre sponds to a voltage range 10V 10V For Flexible axis axes T REF takes 16 bits so available range is 32768 32767 which corresponds to a voltage range 10V 10V These ranges can be limited by using the OUTLIMIT parameter The actual torque reference is depending on the servo motor Arguments N A Example T REF AXIS 0 21000 See also AXIS S REF 4 2 234 TABLE Type System command Syntax TABLE address value value TABLE address 230 All BASIC commands Section 4 2 Description Arguments Example The TABLE command loads data to and reads data from the TABLE array The TABLE has a maximum length of 64000 elements The TABLE values are floating point numbers with fractions The TABLE can also be used to hold information as an alternative to variables The TABLE command has two forms TABLE address value value writes a sequence of values to the TABLE array The location of the first element to write is specified by address The sequence can have a maximum length of 20 elements TABLE address returns the TABLE value at the entry specified by address A value in the TABLE can be read only if a value of that number or higher has been previously written to the TABLE For example printing TABLE 1001 will produce an error message if the highest TABLE loca tion previously written to the TABLE is location 1000 The total TABLE si
112. 245 How to s 5 1 2 1 246 Section 5 1 Motion Parameter values Description DECEL 1000000 Deceleration setting MOVEMENT 81920 10 Turns Speed mode examples CJ1W MCH72 DRIVE T 10V Position loop 1 SERVO OFF i 1 SERVO OFF ii Ut N B cag Profile generator 3 P Following Speed Error j Command Demanded Position Measured Position a Encoder Signal In this mode the position loop is closed in Trajexia and the Speed loop is closed in the Servo Driver The Speed axis parameter is sent to the Servo Driver and reads the position feedback BASE 0 ATYPE 44 Servo axis encoder mode SERVO 1 WDOG 1 DEFPOS 0 loop MOVE 81920 WAIT IDLE WA 100 DEFPOS 0 GOTO loop How to s Section 5 1 Example 1 Trace1 Device1 hd x u 3 JEJE I Ja 1 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 Time ms lay Plot Parameter ML MPOS ML MSPEED DigitalInput 2 ML FE Only proportional gain has a set value the Following Error is proportional to the speed The parameter values for the example are Motion Parameter values P Gainz131072 VFF GAIN 0 Fn001 4 Note The colours and scale of the oscilloscope for speed mode are as follows Red MSPEED Measured Axis speed Units is 50 units ms division Blue FE Followi
113. 3 Tracing and monitoring 287 Explanation Communication 16 Cycle time 16 Motion buffers 29 Motion sequence 15 22 Multi tasking 21 Peripherals 16 317 Program control 15 Servo period 17 F FINS 58 Error Data Read 64 Parameter Area Read 61 Parameter Area Write 62 Read 59 Run 63 Stop 63 Write 60 Flying shear example 311 Function I O 69 Mathematical 70 System 72 G Gain example 245 H Homing example 274 I O connector 37 Wiring 38 Incremental encoder Hardware PSWITCH 43 Input 42 Output 44 Registration 43 Wiring 42 Inertia ratio 30 Initialization example 301 Installation 48 MECHATROLINK II Connecting slaves 51 Inverter as axis 27 Position control 25 Specifications 54 Speed control 25 Torque control 26 MECHATROLINK II connector 37 Index Modifier Slot 72 Motion buffers 16 29 Motion control 3 Continuous path 7 Electronic gearing 8 Point to point 4 Motion sequence 2 15 MTYPE 29 Multi tasking example 21 N NTYPE 29 O Operand 70 Mathematical 70 Origin search example 274 P Parameter Axis 66 Communication 69 T O 69 Slot 72 System 74 Task 75 Peripherals 16 Position control 25 Position loop algorithm 23 Position mode example 255 Position on a grid example 305 Position reference 26 27 Position with product detection example 304 Priority Program control 20 Process 3 Process 0 20 P
114. 43 CAM Type Axis command Syntax CAM start_point end_point table_multiplier distance Description The CAM command is used to generate movement of an axis following a position profile which is stored in the TABLE variable array The TABLE values are absolute positions relative to the starting point and are specified in encoder edges The TABLE array is specified with the TABLE command The movement can be defined with any number of points from 3 to the maximum table size available 64000 The CJ1W MCH72 moves con tinuously between the values in the TABLE to allow a number of points to define a smooth profile Two or more CAM commands can be exe cuted simultaneously using the same or overlapping values in the TABLE array The TABLE profile is traversed once CAM requires that the start element in the TABLE array has value zero The distance argument together with the SPEED and ACCEL parame ters determine the speed moving through the TABLE array Note that in order to follow the CAM profile exactly the ACCEL parameter of the axis must be at least 1000 times larger than the SPEED parameter CAM works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis 95 All BASIC commands Section 4 2 Arguments Start point The address of the first element in the TABLE array to be used Being able to specify the start point allows the TABLE array to hold more than one profile and or other information
115. 5 1015 1015 Not used Not used The recommended setting is Pn81E 4321 amp Pn5112654x Refer to section 5 1 4 for more information about mapping Servo Driver inputs and outputs The command is executed on the driver for the base axis set by BASE The base axis can be changed with the AXIS modifier as with all the other axis commands and parameters Arguments N A Example No example See also N A 4 2 78 DRIVE MONITOR Type Axis parameter Syntax DRIVE MONITOR Description This parameter contains the monitored data of the Servo Driver con nected to the system via the MECHATROLINK II bus The data to be monitored is selected using DRIVE CONTROL and can be displayed in the Trajexia Studio scope or used inside a program The monitored data is updated each SERVO PERIOD The command is executed on the driver for the base axis set by BASE The base axis can be changed with the AXIS modifier as with all the other axis commands and param eters Arguments N A Example No example 130 All BASIC commands Section 4 2 See also 4 2 79 DRIVE_READ Type Syntax Description Arguments Example See also N A Axis command DRIVE_READ parameter size VR The DRIVE_READ function reads the specified parameter of the Servo Driver connected to the Trajexia system via the MECHATROLINK II bus Upon successful execution this command returns 1 and puts the read value in the VR memory location specified by
116. 50000 Fn001 6 How to s Section 5 1 5 1 2 2 Position mode examples CJ1W MCH72 SERVO SERVO OFF SERVO OFF 2 c Se M ML II PO gt o gt Position Position Loop Profile generator H command 1 Speed Loop ces cure Sr Torque Looj i Position loop EM a 17 Position Loop is deactivated prad a telat SUD Gains are not 1 cK i ou used Demanded 1 Following Speed position error command Measured 7i position MISS ee isi eee a In this mode the position and speed loop are closed in the Servo Driver The CJ1W MCH72 sends the position command through the MECHATROLINK II network to the Servo Driver and reads the position feedback Note that this system has no sample delay as compared to the position loop in the Servo Driver the Demanded Position in cycle n with the Measured Position in cycle n The CJ1W MCH72 for the internal handling continues to use its own position loop so the Following Error that read in the Axis parameter in the CJ1W MCH72 is not the real one in the Servo Driver To read the correct Following Error use DRIVE MONITOR Adjust the rigidity of the servo the speed loop gain and the position loop gain at the same time using just proportional position gain The results are similar to the MECHATROLINK II Speed mode with the advantages T
117. 60 1 160 160 0 1000 300 Set up running control block TABLE 300 1000 1 1000 4999 0 1 1 Run whole lot with single CAMBOX Third parameter is pointer to first control block CAMBOX 100 150 200 5000 1 20 WAIT UNTIL IN 7 OFF TABLE 305 0 Set zero repeats This will stop at end of pattern Note The axis to which the is linked can run in a positive or negative direction In the case of a negative direction link the pattern executes in reverse In the case where a certain number of pattern repeats is specified with a negative direction link the first control block produces one repeat less than expected This is because the CAMBOX loads a zero link position which immediately goes negative on the next servo cycle triggering a REPEAT COUNT This effect only occurs when the CAMBOX is loaded not on transitions from CONTROL BLOCK to CONTROL BLOCK This effect can easily be compensated for either increase the required number of repeats or set the initial value of REPEAT POSITION to 1 See also AXIS CAM REP_OPTION TABLE 4 2 45 CANCEL Type Axis command Syntax CANCEL 1 CA 1 106 All BASIC commands Section 4 2 Description Arguments Example Example The CANCEL command cancels the move on an axis or an interpolat ing axis group Speed profiled moves FORWARD REVERSE MOVE MOVEABS MOVECIRC MHELICAL and MOVEMODIFY will be decelerated at the deceleration rate as set by the DECEL parameter
118. 7 Not used 9 8 Windowing function choice 00 No windowing 01 Inclusive windowing 10 Inclusive windowing 11 Exclusive windowing 10 Not used Bit Function Encoder Interface 1 0 Primary registration occurs for 00 Z mark of the encoder 01 REG 0 input 10 REG 1 input 2 Set this bit to use primary registration event 3 Primary registration event occurs on signal Q rising edge 1 falling edge 5 4 Secondary registration occurs for 00 Z mark of the encoder 01 REGO input 10 REG 1 input 6 Set this bit to use secondary registration event 7 Secondary registration event occurs on signal 0 rising edge 1 falling edge 208 All BASIC commands Section 4 2 Bit Function Encoder Interface 9 8 Windowing function choice 00 No windowing 01 Inclusive windowing 10 Inclusive windowing 11 Exclusive windowing 10 Set this bit to use filtering function Example Z MARK SERVO MOTOR A disc used in a laser printing process requires registration to the Z marker before it can start to print The example code locates to the Z marker and then sets it as the zero position REGIST 1 set registration point on Z mark FORWARD start movement WAIT UNTIL MARK CANCEL stops movement after Z mark WAIT IDLE MOVEABS REG POS relocate to Z mark WAIT IDLE DEFPOS 0 set zero position S
119. 72 Always heed these precautions ix Application precautions 5 A Caution A Caution A Caution A Caution A Caution A Caution Fail safe measures must be taken by the customer to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary power interruptions or other causes Interlock circuits limit circuits and similar safety measures in external circuits i e not in the Programmable Controller must be provided by the customer Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning Install the PLC Unit as far as possible from sources of strong harmonic noise Lock the sliders securely until they click into place when connecting the Power Supply Unit CPU Unit I O Units Special I O Units or CPU Bus Units Functions may not work correctly if the sliders are not locked properly e Always attach the End Cover provided with the CPU Unit to the Unit on the right end of the PLC The CJ series PLC will not operate properly if the End Cover is not attached Always use the power supply voltages specified in the operation manuals An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied in places where the power supply is unstable
120. 9 UNLOCK See LOCK 4 2 250 UNTIL See REPEAT UNTIL 4 2 251 VERIFY Type Axis parameter Syntax VERIFY Description The verify axis parameter is used to select different modes of operation on a stepper encoder axis VERIFY OFF Encoder count circuit is connected to the STEP and DIRECTION hardware signals so that these are counted as if they were encoder signals This is particularly useful for registration as the registration circuit can therefore function on a stepper axis VERIFY ON Encoder circuit is connected to external A B Z signal Note On the Flexible Axis when VERIFY OFF the encoder counting circuit is configured to accept STEP and DIRECTION signals hard wired to the encoder A and B inputs If VERIFY ON the encoder circuit is configured for the usual quadrature input Make sure that the encoder inputs do not exceed 5 volts Arguments N A 236 All BASIC commands Section 4 2 4 2 252 VERSION 4 2 253 VFF_GAIN 4 2 254 VP_SPEED Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also VERIFY AXIS 3 ON N A System parameter read only VERSION The VERSION parameter returns the current firmware version number of the current system installed in the CJ1W MCH72 N A gt gt PRINT VERSION 1 6100 N A Axis parameter VFF_GAIN The V
121. ABLE and VR data can be accessed from all different running tasks To avoid problems of two program tasks writing unexpectedly to one global variable write the programs in such a way that only one program writes to the global variable at a time Arguments address The address of the VR variable Range 0 1023 Example In the following example the value 1 2555 is placed into VR variable 15 The local variable val is used to name the global variable locally val 15 VR val 1 2555 Example A transfer gantry has 10 put down positions in a row Each position may at any time be full or empty VR 101 to VR 110 are used to hold an array of ten 1 s 0 s to signal that the positions are full 1 or empty 0 The gantry puts the load down in the first free position Part of the program to achieve this would be as follows movep MOVEABS 115 Move to first put down position FOR VR 0 101 TO 110 IF VR VR 0 0 THEN GOSUB load MOVE 200 200 is spacing between positions NEXT VR 0 PRINT All positions are full WAIT UNTIL IN 3 ON GOTO movep load Put load in position and mark array OP 15 OFF VR VR 0 1 RETURN The variables are backed up by a battery so the program here could be designed to store the state of the machine when the power is off It would of course be necessary to provide a means of resetting com pletely following manual intervention Example loop Assign VR 65 to VR 0 multiplied by axis
122. ABLE value remote offset The memory offset on the destination FINS server Range 0 65535 Note that this range will be more limited to the maximum TABLE or VR addresses if the destination is another Trajexia system length The number of items to be transferred The range will depend upon the FINS frame length and the capabilities of the client and remote servers The range for a Trajexia system is from 1 to 700 integer val ues or 1 to 350 floating point values local_area The local source memory area Note that this area must be one of the following values 0x00 Integer VR value 0x01 Integer TABLE value 0x02 float TABLE value J ocal offset The offset of the first value in the local source memory area The range depends upon the VR or TABLE array size and value for the length argument timeout The number of milliseconds to wait for a response from the destina tion FINS server before timing out FINS COMMSY O 0 0 0 82 1000 20 0 500 5000 This command reads 20 words length 20 of DM PLC memory area remote_area 82 starting from DM1000 remote_offset 1000 and writes it in the CJ1W MCH72 VR memory in integer format local area 0 starting from VR 500 local offset 500 Thus values in PLC memory range DM1000 to DM1019 are placed in CJ1W MCH72 memory VR 500 to VR 519 The timeout is set to 5 seconds FINS COMMS 1 0 0 0 80 50 10 0 300 3000 This command writes 10 words length 10 of
123. AXIS line axis line speed I Cutting movement at synchronized speed line cut synch dist l 1 dec shear cut synch dist l acc 2 1 dec 2 MOVELINK shear cut line cut l acc l dec line axis AXIS flying axis WAIT UNTIL MPOS AXIS flying axis l acc 2 Activate the shear when it is in synchronization with the line Slow speed to cut Practical examples Section 5 2 SPEED AXIS shear axis cut speed MOVEABS end pos AXIS shear axis MOVEABS 0 AXIS shear axis WAIT UNTIL NTYPE AXIS shear axis 2 Fast speed to return WAIT LOADED AXIS shear axis SPEED AXIS shear axis return speed cut counter cut counter 4linch Return back synchronized with the master in such a way that there is no wait time line back cut length synch dist l1 1 acc shear cut 1l acc 2 tsynch dist l dec 2 MOVELINK shear cut line back l acc 4 1 dec 4 line axis AXIS flying axis GOTO loop The speed time graph shows the steps of the above example The steps are 1 The initial cycle the slave waits for the right length in the product to cut cut length distance to accelerate 2 It is necessary to divide distance to accelerate when we use the MOVELINK command because when we synchronize the master moves twice the distance of the slave The slave accelerates to synchronize with the master When the acceleration finishes the
124. All BASIC commands Section 4 2 4 1 12 Task commands and parameters Name Description ERROR_LINE Contains the number of the line which caused the last BASIC program error PMOVE Contains the status of the task buffers PROC Lets a process parameter from a particular process to be accessed PROC_STATUS Returns the status of the process specified PROCNUMBER Contains the number of the task in which the currently selected program is running RUN_ERROR Contains the number of the last BASIC error that occurred on the specified task TICKS Contains the current count of the task clock pulses 4 2 All BASIC commands 4 2 1 Addition Syntax Description Arguments Example See also 4 2 2 Subtraction Type Syntax Description Arguments Example See also 4 2 3 Multiplication Type Mathematical function expression1 expression2 The operator adds two expressions e expression1 Any valid BASIC expression expression2 Any valid BASIC expression result 4 3 Assigns the value 7 to the variable result N A Mathematical function expression1 expression2 The operator subtracts expression2 from expression1 e expression1 Any valid BASIC expression expression2 Any valid BASIC expression result 10 2 Assigns the value 8 to the variable result N A Mathematical function 75 All BASIC commands Section 4 2 Syntax Descripti
125. An incorrect power supply may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Connection of bare stranded wires may result in burning Leave the label attached to the Unit when wiring Removing the label may result in malfunction if foreign matter enters the Unit Remove the label after the completion of wiring to ensure proper heat dissipation Leaving the label attached may result in malfunction Do not apply voltages to the Input Units in excess of the rated input voltage Excess voltages may result in burning Do not apply voltages or connect loads to the Output Units in excess of the maximum switching capacity Excess voltage or loads may result in burning Check the user program for proper execution before actually running it on the Unit Not checking the program may result in an unexpected operation Besure that the terminal blocks Memory Units expansion cables and other items with locking devices are properly locked into place Improper locking may result in malfunction Double check all wiring and switch settings before turning ON the power supply Incorrect wiring may result in burning Disconnect the LR and GR terminals when performing insulation resistance or withstand voltage tests Not disconnecting the functional ground terminal may result in burning Confirm that no adverse effect will occur in the system before attempting any of the followi
126. Axis parameter Syntax AXIS ENABLE ON OFF Description The AXIS ENABLE axis parameter is used to enable or disable partic ular axis independently of others This parameter can be set ON or OFF for each axis individually The default value on start up is ON or all axes The axis will be enables if both AXIS ENABLE for that axis is ON and WDOG is on For MECHATROLINK II axes setting AXIS ENABLE to OFF will disable Servo Driver output to the motor For Flexible axis Servo axis setting AXIS ENABLE to OFF will force both voltage out puts to 0 For Flexible axis Stepper Out and Encoder Out axes setting AXIS ENABLE to OFF will block pulses generation on the outputs Arguments N A Example AXIS ENABLE AXIS 3 OFF This command will disable axis 3 independently of other axes in the sys tem See also AXIS DISABLE GROUP 4 2 35 AXISSTATUS Type Axis parameter read only Syntax AXISSTATUS Description The AXISSTATUS axis parameter contains the axis status and is used for the motion error handling of the controller The axis status consists of status bits which definitions are shown in the table below Bit Description Value Character number 0 1 1 Following error warning range 2 w 2 Servo Driver communication error 4 a 3 Servo Driver alarm 8 m 4 in forward limit 16 f 5 In reverse limit 32 r 6 Datuming 64 d 7 Feed hold input 128 h 8 Following error exceeds limit 256 e 9 In forward software limit 512 x 90 A
127. B reset all status word 1 Programs stopped NO error ENDIF ELSE action 3 OK IF run_bit 1 THEN PRINT Start application GOSUB start_application status_word 3 Application runnin ENDIF IF stop bit 1 AND status word 3 THEN PRINT Stop by command GOSUB stop all status word 1 ENDIF NDIF g Evaluates rising edge in RUN STOP amp RES ET bits GOSUB sequence Checks for alarms in the system and monitors the System status GOSUB alarm sequence Upgrade values for showing in the HMI amp GOSUB monitoring Reports and reset warnings in servodrive GOSUB warning seq GOTO loop PLC Sequence Define here your signals to STOP START RESET This example uses the following signals Rising edge of bit 0 of VR signal state as Rising edge of bit 1 of VR signal state as Rising edge of bit 2 of VR signal state as RUN run ant run act run act READ BIT 0 signal state run bit run act AND NOT run ant STOP stop ant stop act UN STO signal P signal RES ET signal Practical examples Section 5 2 Stop act READ BIT 1 signal state stop bit stop act AND NOT stop ant RESET res ant res act res act READ BIT 2 signal state res bit res act AND NOT res ant RETURN alarm sequence Alarm notification SYSTEM ERROR 0 AND MOTION_ERRO
128. BASE 2 0000 Printing BASE will return the current selected base axis AXIS System command BASICERROR The BASICERROR command can be used to run a routine when a run time error occurs in a program BASICERROR can only be used as part of an ON GOSUB or ON GOTO command This command is required to be executed once in the BASIC program If several com mands are used only the one executed last is effective N A ON BASICERROR GOTO error routine no error z 1 STOP error routine IF no error 0 THEN PRINT The error RUN ERROR O PRINT occurred in line ERROR LINE O ENDIF STOP If an error occurs in a BASIC program in this example the error routine will be executed The IF statement is present to prevent the program going into error rou tine when it is stopped normally ERROR LINE ON RUN ERROR System parameter read only BATTERY LOW This parameter returns the current state of the battery condition If BATTERY LOWZON then the battery needs to be changed If BATTERY LOWZOFF then battery condition is ok N A No example N A System command BREAK RESET program name All BASIC commands Section 4 2 Description Used by Trajexia Studio to remove all break points from the specified program Arguments program_name The name of the program from which you want to remove all break points Example BREAK_RESET simpletest Will remove all break points from program simpletest See also N A 4 2
129. CJ1W MCH72 VR mem ory as integers local area 0 starting from VR 300 local offset 300 to the CIO area of the PLC remote area 80 starting from CIO50 remote offset 50 Thus the values in the CJ1W MCH72 memory range VR 300 to VR 309 are placed in mem CIO50 to CIO59 of the PLC The timeout is set to 3 seconds 145 All BASIC commands Section 4 2 4 2 112 FLAG 4 2 113 FLAGS 146 See also N A Type System command Syntax FLAG flag number value Description FLAG command is used to set and read a bank of 24 flag bits The FLAG command can be used with one or two parameters With one parameter specified the status of the given flag bit is returned With two parameters specified the given flag is set to the value of the second parameter The FLAG command is provided to aid compatibility with earlier controllers and is not recommended for new programs Arguments flag number The flag number is a value from 0 23 value If specified this is the state to set the given flag to i e ON or OFF This can also be written as 1 or 0 Example FLAG 21 ON Set flag bit 21 on See also N A Type System command Syntax FLAGS value Description Read and set the FLAGS as a block The FLAGS command is provided to aid compatibility with earlier controllers and is not recommended for new programs The 24 flag bits can be read with FLAGS and set with FLAGS value Arguments
130. EC axis parameter contains fast deceleration ration Its default value is zero If a non zero FASTDEC is specified the axis will ramp to zero at this deceleration rate when an axis limit switch or posi tion is reached N A No example N A Axis parameter read only FE The FE axis parameter contains the position error in user units This is calculated by the demand position DPOS axis parameter minus the measured position MPOS axis parameter The value of the Following Error can be checked by using the axis parameters FE_LIMIT and FE_RANGE N A No example AXIS DPOS FE LIMIT FE RANGE MPOS UNITS Axis parameter read only FE LATCH 141 All BASIC commands Section 4 2 4 2 106 FE_LIMIT Description Arguments Example See also Type Syntax Description Arguments Example See also 4 2 107 FE LIMIT MODE 4 2 108 FE RANGE 142 Type Syntax Description Arguments Example See also Type Syntax Contains the initial FE value which caused the axis to put the controller into MOTION ERROR This value is only set when the FE exceeds the FE LIMIT and the SERVO parameter has been set to OFF FE LATCH is reset to 0 when the SERVO parameter of the axis is set back to ON N A No example N A Axis parameter FE LIMIT FELIMIT The FE LIMIT axis parameter contains the maximum allowed Following Error in user units When exceeded bit 8 of the AXISSTATUS parame ter of the axis will be set
131. ENSOR BEAM SENSOR 209 BASIC commands Section 4 2 210 Example Components are placed on a flighted belt The flights are 120 mm apart The components are on the belt 30 mm from the flights When a compo nent is found an actuator pushes it off the belt To prevent that the sen sor finds a flight instead of a component registration with windowing is used REP DISTz120 sets repeat distance to pitch of belt flights REP_OPTION ON OPEN_WIN 30 sets window open position CLOSE_WIN 90 sets window close position REGIST 4 256 R input registration with windowing FORWARD start the belt box_seen 0 REPEAT WAIT UNTIL MPOS lt 60 wait for centre point between flights WAIT UNTIL MPOS gt 60 so that actuator is fired between flights IF box seenz1 THEN was a box seen on the previous cycle OP 8 ON fire actuator WA 100 OP 8 OFF retract actuator box_seen 0 ENDIF IF MARK THEN box_seen 1 set box seen flag REGIST 4 256 UNTIL IN 2 OFF CANCEL stop the belt WAIT IDLE GLUE APPLICATOR SENSOR ENCODER All BASIC commands Section 4 2 Example A machine adds glue to the top of a box To do this it must switch output 8 It must detect the rising edge appearance and the falling edge end of a box Also the MPOS must be set to zero when the Z position is detected reg 6 select registration mode 6 rising edge R rising edge Z REGIST reg FORWARD WHILE IN 2 OFF IF MARKB THEN on a Z mark mpos
132. F Multiple groups can be made although an axis cannot belong to more than one group All groupings can be cleared using DISABLE_GROUP 1 Note For use with MECHATROLINK II only axisi A BASIC expression that evaluates to an axis number A machine has 2 functionally separate parts which have their own emergency stop and operator protection guarding If there is an error on one part of the machine the other part can continue to run while the cause of the error is removed and the axis group restarted For this 2 separate axis groupings must be set up DISABLE GROUPY 1 remove any previous axis groupings DISABLE GROUP 0 1 2 6 group axes 0 to 2 and 6 DISABLE GROUP 3 4 5 7 group axes 3 to 5 and 7 WDOGZzON turn on the enable relay and the remote drive enable FOR ax 0 TO 7 AXIS ENABLE AXIS ax ON enable the 8 axes SERVO AXIS ax ON start position loop servo for each axis NEXT ax 125 All BASIC commands Section 4 2 Example Two conveyors operated by the same Motion Coordinator are required to run independently to make sure that the second conveyor does not stop if the first conveyor is blocked DISABLE_GROUP 0 put axis 0 in its own group DISABLE GROUPY 1 put axis 1 in another group GOSUB group enableO GOSUB group enable1 WDOG ON FORWARD AXIS 0 FORWARD AXIS 1 WHILE TRUE IF AXIS_ENABLE AXIS 0 0 THEN PRINT motion error axis 0 reset_0_flag 1 ENDIF IF AXIS_ENABLE AXIS 1 0 THEN PRINT motion error axis 1
133. FF_GAIN parameter contains the speed feed forward gain The speed feed forward output contribution is calculated by multiplying the change in demand position with the VFF_GAIN parameter value The default value is 0 Adding speed feed forward gain to a system decreases the Following Error during a move by increasing the output proportionally with the speed Note In order to avoid any instability the servo gains should be changed only when the SERVO is off N A No example D GAIN I GAIN OV GAIN P GAIN Axis parameter read only VP SPEED The VP SPEED parameter contains the speed profile speed in user units s The speed profile speed is an internal speed which is acceler ated and decelerated as the movement is profiled N A Wait until at command speed MOVE 100 WAIT UNTIL SPEED VP SPEED AXIS MSPEED UNITS 237 All BASIC commands Section 4 2 4 2 255 VR Type System command Syntax VR address Description The VR command reads or writes the value of a global VR variable These VR variables hold real numbers and can be easily used as an element or as an array of elements The CJ1W MCH72 has in total 1024 VR variables The VR variables can be used for several purposes in BASIC program ming The VR variables are globally shared between tasks and can be used for communications between tasks VR variable memory area is battery backed so all VR variables retain their values between power ups Notes The T
134. G 1 1 1 BASE labeller CONNECT 1 conveyor ADDAX virtual FORWARD AXIS conveyor REGIST 1 WAIT UNTIL MARK 0 loop WAIT UNTIL MARK correction REG_POS expected_pos MOVE correction AXIS virtual WAIT IDLE AXIS virtual OFFPOS label length tcorrection REGIST 1 WAIT UNTIL MARK 0 GOTO loop System errors Section 6 1 Troubleshooting 6 1 System errors Indication Problem Solution ERC LED flashes Hardware error Replace the CJ1W MCH72 at startup ERC LED flashes or empty battery Replace the battery during execution RUN LED is on ERC LED is on Error log access error Replace the CJ1W MCH72 ERH LED is on Communication error between Turn the PLC system off and PLC CPU and CJ1W MCH72 then on 6 2 Data exchange errors If the PLC CPU memory area and the CJ1W MCH72 memory area are configured for data exchange but it appears that no data is exchanged try one of the following solutions Check the range of the memory areas Make sure that the start address and the end address of the memory area are in range Checkthe exchange direction of the memory area Make sure that data for PLC output units is transferred from the CJ1W MCH72 to the PLC CPU Make sure that data from PLC input units is transferred from the PLC CPU to the CJ1W MCH72 315 Data exchange errors Section 6 2 316 Absolute EnDat 27 SSI 27 Absolute en
135. High priority task 13 14 CPU task 3 Motion sequence 1ms LED refresh High priority task 13 14 CPU task 4 Communication L sien pie 9 The SERVO PERIOD has a value of 0 5ms and the motion sequence is executed every 0 5ms 17 Cycle time Section 1 6 1 6 1 2 Servo period 1 ms CPU task 1 Motion sequence Low priority task 0 1 2 3 CPU task 2 High priority task 13 14 CPU task 3 LED refresh pms High priority task 13 14 CPU task 4 Communication L a The SERVO PERIOD has a value of 1ms and the motion sequence is executed every 1ms As the motion sequence is not executed during CPU task 3 there is more time for the program execution High priority programs run faster 1 6 1 3 Servo period 2 ms CPU task 1 Motion sequence Low priority task 0 1 2 3 CPU task 2 High priority task 13 14 CPU task 3 LED refresh ns High priority task 13 14 CPU task 4 Communication E a a The SERVO_PERIOD has a value of 2ms and the motion sequence is executed every 2 0ms 1 6 1 4 Servo period rules 18 The number of axes and MECHATROLINK II slaves in the Trajexia system determines the value of the SERVO PERIOD system parameter There are 2 types of MECHATROLINK II slaves that are supported by the CJ1W MCH72 units Servo Drivers The CJ1W MCH72 considers Servo Drivers as axes Inverters The CJ1W MCH72 does not consider Inverters as axes You mu
136. Home Position At Position Speed Output Completed o NI Ooj O0 A C Torque Limit ak Latch Completed In Range Speed Limit For Flexible Axis axes this parameter holds the status of registration and auxiliary inputs as well as registration selection The explanation of each bit is given in the second table below Note Only bits relevant to Flexible axis are listed Bit Description Flexible Axis 0 MARK 1 MARKB All BASIC commands Section 4 2 Bit Description Flexible Axis REG 0 selected current value REG 1 selected current value REG 0 current value Tr REG 1 current value Arguments Example Example See also 4 2 82 DRIVE_WRITE Type Syntax Description N A PRINT DRIVE_STATUS AXIS 4 This command will print the current value of DRIVE_STATUS for axis 4 BASE 3 ATYPE 44 IF DRIVE_STATUS AND 32 32 THEN PRINT REG 0 input is ON for axis 3 ENDIF AXIS MARK MARKB REGIST Axis command DRIVE WRITE parameter size value mode The DRIVE WRITE function writes to the specified parameter of the Servo Driver via the MECHATROLINK II bus Upon successful execu tion this command returns 1 If the command cannot be executed the value 0 is returned The command is executed on the driver for the base axis set with BASE It can be changed using the AXIS mod
137. INS server capability FINS 0102 can be used to write data to devices with FINS server capability This command returns one of the following values depending on out come of the execution 1 The command executed successfully 0 The command failed 1 Request not sent because the client or the FINS protocol is busy 2 One or more of the request parameters are invalid 3 Invalid source memory area 4 Request was sent but no response from remote server received within timeout period 5 Error response code received from remote server All BASIC commands Section 4 2 Arguments Example Example type The type of the FINS command 0 means FINS 0101 read memory from remote FINS server 1 means FINS 0102 write memory to the remote server network The destination network For more details see the Communication Commands Reference Manual cat num W342 E1 Section 3 node The node of the destination FINS server For more details see the Communication Commands Reference Manual cat num W342 E1 Section 3 unit The unit number of the destination FINS server For more details see the Communication Commands Reference Manual cat num W342 E1 Section 3 remote area The area of memory accessed on the destination FINS server Range 128 255 Note that this area must be one of the following values if the destination is another Trajexia system OxBO Integer VR value 0x82 Integer TABLE value OxC2 float T
138. IS 1 WAIT UNTIL VPSPEED SPEED WA 1000 RAPIDSTOP WAIT IDLE AXIS 1 See also CANCEL MTYPE NTYPE 4 2 194 READ BIT Type System command Syntax READ BIT bit number vr number 204 All BASIC commands Section 4 2 Description The READ_BIT command returns the value of the specified bit in the specified VR variable either 0 or 1 Arguments bit number The number of the bit to be read Range 0 23 vr number The number of the VR variable for which the bit is read Range 0 1023 Example No example See also CLEAR BIT SET BIT 4 2 195 READ OP Type command Syntax READ OPr output no READ OPr first output no last output no Description READ OP output no returns the binary value 0 or 1 of the digital output output no READ OPr first output no last output no returns the number that is the decimal representation of the concatenation of the binary values of the range first output no to final output no Note The difference between first output no and last output no must be less than 24 Note Outputs 0 to 7 do not physically exist on the CJ1W MCH72 They cannot be written Their return value is always 0 Note READ OP checks the state of the output logic READ OP can return the value 1 even if no actual output is present Arguments output no The number of the output first output no The number of the first output of the output range last output no The number of the last output of th
139. ITS The MPOS axis parameter contains the measured position calculated from the ENCODER value automatically allowing for overflows and off sets N A No example AXIS MPOS Axis parameter ENCODER BITS value This axis parameter configures the interface for the number of encoder bits for Flexible axis SSI and EnDat absolute encoder axes The param eter is applicable only to axes of ATYPE values 47 and 48 When applied to Flexible axis EnDat absolute encoder axis bits O 7 of the parameter should be set to the total number of encoder bits Bits 8 14 should be set to the number of multi turn bits to be used When applied to Flexible axis SSI absolute encoder axis bits 0 5 of the parameter should be set to the number of encoder bits Bit 6 should be 1 for binary operation or 0 for Gray code For SSI encoders of the Balluff brand bits 8 10 allow an additional hardware shift to be specified Normally bits 8 10 are 0 Note If using Flexible axis absolute encoder axis it is essential to set this parameter for the axis before setting the ATYPE N A ENCODER BITS 25 256 12 ATYPE z 47 In this example a 25 bit EnDat encoder is used that has 12 bits for multi turn value and 13 bits per one revolution ENCODER BITS 12 64 1 ATYPE 48 In this example a 12 bit 4096 positions per revolution SSI encoder is used with binary output type AXIS Axis parameter ENCODER CONTROL value 135 All BASIC co
140. If a fourth motion instruction is executed and the three buffers are full the BASIC program stops execution until a process buffer is free for use 29 Mechanical system Section 1 10 EXAMPLE BASIC PROGRAM MOVE 500 lt BUFFER MOVE 1000 DATUM 3 uns NTYPE IUE Em 1 All buffers are empty MEUM AVE MOVE 200 and a movement is ene MTYPE MOVE 500 loaded movement BASIC PROGRAM starts to execute MOVE 500 BUFFER MOVE 1000 NTYPE MOVE 1000 ESI MOVE 800 DATUM 3 2 A second movement is MOVE 500 loaded while the first one is not finished The new movement waits in the MOVE 200 BASIC PROGRAM second buffer MOVE 500 BUFFER MOVE 1000 bitume dem DATUMQ MOVE 200 3 Athird movement can 1000 E still be stored in the process buffer MOVE 500 If the basic program reaches MOVE 200 it will wait MOVE 500 BASIC PROGRAM MOVE 500 BUFFER MOVE 200 NTYPE DATUM MOVE 1000 4 The first movement has finished The buffer moves by one position The next movement starts to execute DATUMQ MOVE 200 4m MTYPE MOVE 1000 MOVE 1000 BASIC PROGRAM BUFFER 5 As the sent movements are finished the buffer empties p DATUM 3
141. Inverter into the stepper output cir cuit JOGSPEED Sets the jog speed LINKAX Contains the axis number of the link axis during any linked move MARK Detects the primary registration event on a registration input MARKB Detects the secondary registration event on a registration input MERGE Is a software switch that can be used to enable or disable the merging of consecutive moves MPOS Is the position of the axis as measured by the encoder MSPEED Represents the change in the measured position in the last servo period MTYPE Contains the type of move currently being executed NTYPE Contains the type of the move in the Next Move buffer OFFPOS Contains an offset that will be applied to the demand posi tion without affecting the move in any other way OPEN WIN Defines the beginning of the window in which a registration mark is expected OUTLIMIT Contains the limit that restricts the speed reference output from the CJ1W MCH72 OV GAIN Contains the output velocity control gain P GAIN Contains the proportional control gain REG POS Contains the position at which a registration event occurred REG POSB Contains the position at which the secondary registration event occurred REMAIN Is the distance remaining to the end of the current move REMOTE ERROR Returns number of errors on MECHATROLINK II connec tion of the Servo Driver REP DIST Contains or sets the repeat distance REP OPTION Controls the applicatio
142. J1W MCH72 compiles programs before they are executed this means that a little under twice the memory is required to be able to exe cute a program Arguments Example gt gt PRINT FREE 47104 0000 See also DIR TABLE 4 2 120 FS_LIMIT Type Axis parameter Syntax FS_LIMIT FSLIMIT Description The FS_LIMIT axis parameter contains the absolute position of the for ward software limit in user units A software limit for forward movement can be set from the program to control the working range of the machine When the limit is reached the CJ1W MCH72 will ramp down the speed of an axis to 0 and then can cel the move Bit 9 of the AXISSTATUS axis parameter will be turned on while the axis position is greater than FS_LIMIT FS_LIMIT is disabled when it has a value greater than REP_DIST Arguments Example No example See also AXIS AXISSTATUS REP_DIST UNITS 4 2 121 FWD_IN Type Axis parameter Syntax FWD_IN Description The FWD_IN axis parameter contains the input number to be used as a forward limit input The valid input range is 0 to 31 Values 0 to 15 repre sent physically present inputs of CJ1W MCH72 I O connector and are common for all axes Values 16 to 31 are mapped directly to driver inputs that are present on the CN1 connector They are unique for each axis It depends on the type of Servo Driver which Servo Driver inputs are mapped into inputs 16 to 31 For more information on Servo Driver I O mapping into t
143. K Prevents the programs from being viewed or modified PLC_EXCHANGE Reads or sets the mapping of PLC memory to CJ1W MCH72 memory READ BIT Returns the value of the specified bit in the specified VR variable RESET Resets all local variables on a task SCOPE Programs the system to automatically store up to 4 parameters every sample period to the TABLE variable array SET_BIT Sets the specified bit in the specified VR variable to one TABLE Writes and reads data to and from the TABLE variable array TABLEVALUES Returns list of values from the TABLE memory Prints the current time as a string TRIGGER Starts a previously set SCOPE command VR Writes and reads data to and from the global VR vari ables VRSTRING Combines VR memory values so they can be printed as a string 73 Categories Section 4 1 4 1 11 System parameters 74 Name Description WA Holds program execution for the number of millisec onds specified WAIT IDLE Suspends program execution until the base axis has finished executing its current move and any buffered move WAIT LOADED Suspends program execution until the base axis has no moves buffered ahead other than the currently exe cuting move WAIT UNTIL Repeatedly evaluates the condition until it is TRUE Name Description BATTERY LOW Returns the current status of the battery condition
144. Link starts when registration event occurs on link axis 2 Link starts at an absolute position on link axis see link position 4 MOVELINK repeats automatically and bidirectionally This option is cancelled by setting bit 1 of REP OPTION parameter that is REP OPTION REP OPTION OR 2 Combination of options 1 and 4 Combination of options 2 and 4 link position The absolute position where MOVELINK will start when link option is set to 2 Note The command uses the BASE and AXIS and unit conversion fac tors in a similar way to other MOVE commands Note The link axis may move in either direction to drive the output motion The link distances specified are always positive 181 All BASIC commands Section 4 2 ENCODER AXIS 7 Example A flying shear that moves at the speed of the material cuts a long sheet of paper into cards every 160 m The shear can move up to 1 2 metres of which 1m is used in this example The paper distance is measured by an encoder The unit conversion factor is set to give units of metres on both axes Note that axis 7 is the link axis WHILE IN 2 ON MOVELINK 0 150 0 0 7 dwell no movement for 150m MOVELINK 0 3 0 6 0 6 0 7 accelerate to paper speed MOVELINK 0 7 1 0 0 0 6 7 track the paper then decelerate WAIT LOADED wait until acceleration movelink is finished OP 8 ON activate cutter MOVELINK 1 0 8 4 0 5 0 5 7 retract cutter back to start
145. MCH72 has a maximum of 31 non virtual axes e 30 MECHATROLINK II axes 1 Flexible axis on the Encoder Interface MECHATROLINK II slaves can have a station address that ranges from 41 hex to 5F hex These station addresses correspond to axis numbers 0 to 29 The first non assigned axis number that is the first axis number that is not assigned to a MECHATROLINK II station address is used for the flexible axis on the CJ1W MCH72 encoder interface 31 Axis numbers Section 1 11 32 Unit components Section 2 1 SECTION 2 Installation and wiring 2 1 Unit components The CJ1W MCH72 Motion Control Unit has the following components m M DES 1 MCH72 m som F PO ERHI e 03 1 wooc D EE NC UNIT OPEN AS ne 7 26 No 57 eae MLK 0o000000000000 00 0000000000000 0 CJ1W MCH72 Motion Control Unit Label Description Status LED indicators Unit number selector switch MECHATROLINK II connector Encoder connector connector mm O gt Battery compartment 2 1 1 Status LED indicators The CJ1W MCH72 has 5 status LEDs They indicate the operational mode and the status of the CJ1W MCH72 The status LEDs are given in the table below 33 Unit components Section 2 1
146. MECHATROLINK II Position loop in the Trajexia Torque CJ1W MCH72 sends torque refer ence to the Servo Driver via MECHATROLINK II 43 External driver con Stepper output Pulse and direction outputs Posi nected to encoder tion loop is in the driver CJ1W input MCH72 sends pulses and receives no feed back 44 Servo axis CJ1W MCH72 receives position Default from an incremental encoder Encoder 45 Encoder The same as stepper but with the output phase differential outputs emulat ing an incremental encoder 47 Absolute EnDat Feedback is received from an EnDat absolute encoder 48 Absolute Feedback is received from an SSI SSI absolute encoder 49 MECHATROLINK II Inverter as Inverters with built in encoder Inverters axis interface are controlled on the MECHATROLINK II bus as servo axes Virtual axis ATYPE 0 Profile generator MEASURED POSITION DEMAND POSITION You can split a complex profile into two or more simple movements each assigned to a virtual axis These movements can be added together with the BASIC command ADDAX then assigned to a real axis Motion sequence and axes Section 1 8 1 8 4 2 MECHATROLINK II position ATYPE 40 CJ1W MCH72 SERVO SERVO OFF SERVO OFF AN Pu ML II ro No gt Posiion Profile generator command 1 Speed Loop rin ded SS SSS ads Torque Loo Position Loop is LEN gt E i r deactivated adc Gains a
147. MOVE 200 MTYPE DATUM 3 C MOVE 1000 BASIC PROGRAM MOVE 500 BUFFER MOVE 1000 DATUM mE NTYPE IDLE MOVE 200 4 MTYPE MOVE 200 6 If no new movements are executed finally the PATUM Move 200 buffer will become empty and the profile generator becomes inactive MOVE 1000 Example of buffered instructions 1 10 Mechanical system 1 10 1 Inertia ratio 1 10 2 Rigidity The inertia ratio is a stability criterion The higher the intertia of the load in relation to the intertia of the motor the lower the gains you can set in your system before you reach oscillation and the lower the performance you can reach With a ratio of 1 30 for small Servo Drivers and a ratio of 1 5 for big Servo Drivers you can reach the maximum dynamic of the motor driver combination If a machine is more rigid and less elastic you can set higher gains without vibration and you can reach higher dynamic and lower Following Error 1 10 3 Resonant frequency 30 A mechanical system has at least one resonant frequency If you excite your mechanical system to the resonant frequency it starts oscillating For motion systems it is best to have mechanical systems with a very high resonant frequency that is with low inertia and high rigidity The resonant frequency of the mechanical system is the limit for the gain settings Axis numbers Section 1 11 1 11 Axis numbers The CJ1W
148. Motion Control Unit OPERATION MANUAL Notice OMRON products are manufactured for use by a trained operator and only for the purposes described in this manual The following conventions are used to classify and explain the precautions in this manual Always heed the information provided with them NWARNING Indicates information that if not heeded could possibly result in serious injury or loss of life Caution Indicates information that if not heeded could possibly result in minor or relatively serious injury damage to the product or faulty operation OMRON product references All OMRON products are capitalized in this manual The first letter of the word Unit is also capitalized when it refers to an OMRON product regardless of whether it appears in the proper name of the product The abbreviation PLC means Programmable Logic Controller Visual aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product iii Trademarks and copyrights MECHATROLINK is a registered trademark of Yaskawa Corporation Trajexia is a registered trademark of OMRON All other product names company names logos or other designations mentioned herein are trademarks of their respective owners Copyright Copyright 2008 OMRON All rights reserved No part of this publication may be
149. N two times the value in example 1 The Following Error is half but there is vibration due to the excessive gains The parameter values for the example are Motion Parameter values P Gainz262144 VFF_GAIN 0 Fn001 6 250 How to s Section 5 1 Example 5 Tracel Device1 X x IXlao I 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 Time ms lay Plot Parameter Offset Change ML MPOS 0 ML MSPEED 0 C The value of the parameter P_GAIN is set to the value in example 1 The value of VFF_GAIN is increased The Following Error is reduced without a reduction to the stability The Following Error is not proportional to the speed The parameter values for the example are Motion Parameter values P_Gain 131072 VFF_GAIN 1400000 Fn001 6 251 How to s Section 5 1 Example 6 Trace1 Device1 Af I a 9 1 1 1 1 lU I 0 20 40 60 80 100 120 140 160 180 200 5 C L C L With this value of VFF_GAIN the Following Error is proportional to the acceleration and smaller than with just proportional gain the scaling is 20 units division The Following Error approaches zero during constant speed The negative effect of this set of values is the overshoot and undershoot when the acceleration changes thi
150. OGRAM selected RUN This example executes the currently selected program Example RUN sausage This example executes the program named sausage Example RUN sausage 3 This example executes the program named sausage on task 3 See also HALT STOP Type Task parameter read only Syntax RUN ERROR Description The RUN ERROR parameter contains the number of the last BASIC run time error that occurred on the specified task Each task has its own RUN ERROR parameter Use the PROC modi fier to access the parameter for a certain task Without PROC the cur rent task will be assumed The table below gives an overview of error numbers and the associated error messages Number Message Number Message 1 Command not recognized 70 Value is incorrect 2 Invalid transfer type 71 Invalid I O channel 3 Error programming Flash 72 Value cannot be set Use CLEAR_PARAMS command 4 Operand expected 73 Directory not locked 5 Assignment expected 74 Directory already locked 6 QUOTES expected 75 Program not running on this process 7 Stack overflow 76 Program not running 8 Too many variables 77 Program not paused on this process 9 Divide by zero 78 Program not paused 10 Extra characters at end of line 79 Command not allowed when running Trajexia Studio 11 expected in PRINT 80 Directory structure invalid 12 Cannot modify a special pro 81 Directory is locked gram 13 THEN expected in IF ELSEIF 82 Cannot edit program All BASIC commands S
151. OX loads a zero link position which immedi ately goes negative on the next servo cycle triggering a REPEAT COUNT This effect only occurs when the CAMBOX is loaded not on transitions from CONTROL BLOCK to CONTROL BLOCK This effect can easily be compensated for either by increasing the required number of repeats or setting the initial value of REPEAT POSITION to 1 NEXT CONTROL BLOCK RAN If set to 1 the pattern will finish when the required number of repeats are done Alternatively a new control block pointer can be used to point to a further control block 105 All BASIC commands Section 4 2 Example A quilt stitching machine runs a feed cycle that stitches a plain pattern before it starts a patterned stitch The plain pattern must run for 1000 cycles Then it must runs a pattern continuously until requested to stop at the end of the pattern The cam profile controls the motion of the nee dle bar between moves The pattern table controls the distance of the move to make the pattern The same shape is used for the initialisation cycles and the pattern This shape is held in TABLE values 100 150 The running pattern sequence is held in TABLE values 1000 4999 The initialisation pattern is a single value held in TABLE 160 The initialisation control block is held in TABLE 200 TABLE 206 The running control block is held in TABLE 300 TABLE 306 Set up Initialisation control block TABLE 200 1
152. R 0 AND READ_BIT 15 diag01 1 TH alarm_bit 0 ial 2 ELSE IF MOTION ERROR 0 THEN SET BIT O0 status bits Motion error flag first error ERROR AXIS ENDIF alarm bit 1 ENDIF MECHATROLINK axis alarm monitoring FOR 1 0 TO max axis BASE i VR servo statusti 2 AXISSTATUS if stopped by alarm notify the alarm code IF ATYPE gt 40 AND ATYPE 42 THEN IF status word 2 THEN if no response notify communication alarm IF AXISSTATUS AND 4 lt gt 0 THEN VR servo_alarm i 2 SE6 ELSEIF NOT DRIVE ALARM servo alarm ti 2 HEN VR servo_alarm i 2 SE6 ELSEIF VR servo_alarm i 2 0 THEN VR servo_alarm i 2 Sbb ENDIF if no alarm notify RUN 99 or BaseBlock BB ELSEIF DRIVE STATUS AND 8 THEN VR servo_alarm i 2 99 E ELSE VR servo_alarm i 2 bb ENDIF ENDIF NEXT i lt sys_error SYSTEM_ERROR RETURN 297 Practical examples Section 5 2 298 stop al Th th suddenl is is example if the application program is stopped y all the movements are cancelled and all th axes ar set to BaseBlock Modify this section if you require a different STOP procedure STOP A WDOG 0 FOR i BAS SER CAN WA CAN NEXT i PPLICATION 0 TO max axis
153. REGIST 256 3 WAIT UNTIL MARK See also CLOSE_WIN REGIST UNITS Type Mathematical operation Syntax expression1 OR expression2 Description The OR operator performs the logical OR function between correspond ing bits of the integer parts of two valid BASIC expressions The logical OR function between two bits is defined as in the table below Bit 1 Bit 2 Result 0 0 0 0 1 1 1 0 1 1 1 1 Arguments expression1 Any valid BASIC expression expression2 Any valid BASIC expression 193 BASIC commands Section 4 2 Example result 10 OR 2 1 9 The parentheses are evaluated first but only the integer part of the result 18 is used for the operation Therefore this expression is equiv alent to the following result 10 OR 18 The OR is a bit operator and so the binary action taking place is 01010 OR 10010 11010 Therefore result will contain the value 26 Example IF VR 0 1 OR VR 0 2 THEN GOTO label See also N A 4 2 178 OUTLIMIT Type Axis parameter Syntax OUTLIMIT Description The output limit restricts the demand output from a servo axis to a lower value than the maximum The value required varies depending on the maximum demand output possible If the voltage output is generated by a 16 bit S REF value an OUTLIMIT of 32767 will produce the full 10v range A MECHATROLINK II speed axis has a 32 bit maximum demand Arguments N A Example OUTLIMIT AXIS 1 16384 The above will limit the voltage output to a 5V
154. REP_DIST Type Syntax 212 To change the speed to a slower value 5mm from the end of a move start SPEED 10 MOVE 45 WAIT UNTIL REMAIN lt 5 SPEED 1 WAIT IDLE AXIS UNITS Axis parameter REMOTE_ERROR Returns the number of errors on the MECHATROLINK II communica tion link of a driver N A gt gt PRINT REMOTE ERROR 1 0000 N A Program command RENAME old program name new program name The RENAME command changes the name of a program in the CJ1W MCH72 directory The program names can also be specified without quotes Note This command is implemented for a Command Line Terminal only and should not be used from within programs Old program name The current name of the program new program name The new name of the program RENAME car voiture COPY DEL NEW Axis parameter REP DIST All BASIC commands Section 4 2 Description The REP_DIST parameter contains the repeat distance which is the allowable range of movement for an axis before the demand position DPOS and measured position MPOS are corrected REP_DIST is defined in user units The exact range is controlled by REP_OPTION The REP_DIST can have any non 0 positive value When the measured position has reached its limit the CJ1W MCH72 will adjust the absolute positions without affecting the move in progress or the servo algorithm Note that the demand position can be outside the range because the measured position
155. REV_JOG 20 CAMBOX 21 CONNECT 22 MOVELINK 187 All BASIC commands Section 4 2 4 2 165 NEG_OFFSET 4 2 166 NEW 4 2 167 NEXT 4 2 168 NOT 188 Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also MTYPE can be used to determine whether a move has finished or if a transition from one move type to another has taken place A non idle move type does not necessarily mean that the axis is actually moving It can be at 0 speed part way along a move or interpolating with another axis without moving itself N A No example AXIS NTYPE System parameter NEG_OFFSET value For Piezo Operation This allows a negative offset to be applied to the output S_REF signal from the servo loop An offset of 327 will represent an offset of 0 1 volts It is suggested that as offset of 65 to 70 of the value required to make the stage move in an open loop situation is used value A BASIC expression No example N A Program command NEW program name The NEW command deletes all program lines of the program in the con troller NEW without a program name can be used to delete the cur rently selected program using SELECT The program name can also be specified without quotes NEW ALL will delete all programs The command can also be used to delete the TABLE memory NEW TABLE The name TABLE must be in
156. ROFF program Description The TROFF command suspends a trace at the current line and resumes normal program execution for the program specified with program_name The program name can also be specified without quotes If the program name is omitted the selected program will be assumed Arguments program name The name of the program for which to suspend tracing Example TROFF lines See also SELECT TRON 4 2 245 TRON Type Program command Syntax TRON 234 All BASIC commands Section 4 2 Description The TRON command creates a breakpoint in a program that will sus pend program execution at the line following the TRON command The program can then for example be executed one line at a time using the STEPLINE command Notes Program execution can be resumed without using the STEPLINE command by executing the TROFF command The trace mode can be stopped by issuing a STOP or HALT com mand Arguments Example TRON MOVE 0 10 MOVE 10 0 TRON MOVE 0 10 MOVE 10 0 See also SELECT TROFF 4 2 246 TRUE Type Constant read only Syntax TRUE Description The TRUE constant returns the numerical value 1 Arguments Example test t IN 0 AND IN 2 IF t TRUE THEN PRINT Inputs are ON ENDIF See also N A 4 2 247 TSIZE Type System parameter read only Syntax TSIZE Description The TSIZE parameter returns the size of the TABLE array which is one more than the currently highest de
157. S THIS PROGRAM MUST BE SET TO RUN AT POWER UP IN A LOW PRIORITY TASK 1 IN THIS EXAMPLE Start MECHATROLINK Section Check detected slaves Unit O IF NOT MECHATROLINK 0 3 0 THEN PRINT Error getting slave count for unit 0 STOP I ELSE IF VR 0 3 THEN PRINT Incorrect slave count for unit 0 STOP ENDIF ENDIF IF NOT MECHATROLINK 0 4 0 0 THEN PRINT Error getting address for unit 0 station 0 STOP ELSE IF VR 0 65 THEN PRINT Incorrect address for unit 0 station 0 STOP ENDIF ENDIF IF NOT MECHATROLINK 0 4 1 0 THEN PRINT Error getting address for unit 0 station 1 STOP ELSE IF VR 0 66 THEN PRINT Incorrect address for unit 0 station 1 STOP ENDIF ENDIF IF NOT MECHATROLINK 0 4 2 0 THEN PRINT Error getting address for unit 0 station 2 STOP ELSE IF VR 0 67 THEN PRINT Incorrect address for unit 0 station 2 STOP ENDIF ENDIF Set axis types Unit O ATYPE AXIS 0 ATYPE AXIS 1 A AXIS 2 Set drives into run mode Er 244 How to s Section 5 1 5 1 2 Gain settings Unit O MECHATROLINK 0 20 65 MECHATROLINK 0 20 66 M FE CHATROLINK 0 20
158. SI and EnDat ncremental encoder output to simulate a line driver type encoder Stepper output to control stepper drivers 37 Wiring Section 2 2 2 2 2 2 1 38 Wiring l O connector The I O connector is a 28 pin connector Input 0 and input 1 can also be used as registration inputs OW y It 11 13 Ta 19 21 29 25 27 m ni i pl i A N y 12 ololololalsio 3 14 52920 C 22 e KE 24 Te xc 26 TE KE 28 I O connector pins The connections of the pins are given in the table below Pin Connection Pin Connection 1 Input common 2 Input common 3 Registration input 0 4 Registration input 1 5 Input 2 6 Input 3 7 Input 4 8 Input 5 9 Input 6 10 Input7 11 Input 8 12 Input9 13 Input 10 14 Input 11 15 Input 12 16 Input 13 17 nput 14 18 Input 15 19 Output 8 PSWITCH 20 Output 9 21 Output 10 22 Output 11 23 Output 12 24 Output 13 25 Output 14 26 Output 15 Specifications Section 2 2 Pin Connection Pin Connection 27 0V Output common 28 24 V Power supply input for the outputs The table below shows the digi
159. SIC commands Section 4 2 Description The BACKLASH command allows the parameters for the backlash compensation to be loaded The backlash compensation is achieved as follows An offset move is applied when the motor demand is in one direc tion The offset move is reversed when the motor demand is in the oppo site direction These moves are superimposed on the command axis movements The backlash compensation is applied after a change in the direction of the DPOS parameter The backlash compensation can be seen in the TRANS_DPOS parameter which is equal to DPOS backlash com pensation Arguments on off Either ON or OFF distance The offset distance expressed in user units speed The speed of the compensation move expressed in user units accel The acceleration or deceleration rate of the compensation move expressed in user units Example BACKLASH ON 0 5 10 50 AXIS 0 BACKLASH ON 0 4 8 50 AXIS 1 This applies backlash compensation on axes 0 and 1 See also DPOS TRANS DPOS 4 2 38 BACKLASH DIST Type Axis parameter Syntax BACKLASH DIST Description BACKLASH DIST is the amount of backlash compensation that is applied to the axis when BACKLASH ON Arguments N A Example IF BACKLASH_DIST gt 100 THEN OP 10 ON show that backlash compensation reached this value ELSE OP 10 OFF END IF See also BACKLASH 4 2 39 BASE Type Axis command Syntax BASE BASE axis 1 2
160. The CJ1W MCH72 has got a digital I O space that consists of 256 digital inputs and 256 digital outputs The digital outputs range has four parts Digital outputs O 7 These outputs do not physically exist on the CJ1W MCH72 If you write these outputs nothing happens If you read these outputs they return Digital outputs 8 15 These outputs physically exist on the CJ1W MCH72 You can physically access them on the 28 pin screwless connector on the front side of the CJ1W MCH72 If you write these outputs they become active and give a 24 VDC signal If you read these outputs they return their current status Use the command OP to write and read these outputs Digital outputs 16 255 These outputs can be mapped to the PLC memory If they are not mapped they are software outputs only They do not physically exist on the CJ1W MCH72 but you can write them and read their correct status You use these outputs mostly in BASIC programs to accomplish some control sequences that require outputs which do not need to be physical Use the command OP to write and read these outputs All outputs are unique to the controller They are not accessed per axis The digital input range has three parts Digital inputs O 15 These inputs physically exist on the CJ1W MCH72 You can physically access them on the 28 pin screwless connector on the front side of the CJ1W MCH72 These inputs are active ON when a 24 VDC signal is applied to them
161. _READ 1 23 2 100 gt gt PRINT VR 100 3500 0000 N A If you have to transfer many parameters at the same time the most efficient way is to use MODE 0 for all but the last parameter and MODE 1 for the last parameter MODE 0 is executed faster than MODE 1 Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Axis parameter JOGSPEED The JOGSPEED parameter sets the jog speed in user units for an axis A jog will be performed when a jog input for an axis has been declared and that input is low A forward jog input and a reverse jog input are available for each axis respectively set by FWD_JOG and REV_JOG The speed of the jog can be controlled with the FAST_JOG input N A No example AXIS AXIS FAST_JOG FWD_JOG REV_JOG UNITS System parameter read only LAST_AXIS The LAST_AXIS parameter contains the number of the last axis proc essed by the system Most systems do not use all the available axes It would therefore be a waste of time to task the idle moves on all axes that are not in use To avoid this to some extent the CJ1W MCH72 will task moves on the axes from 0 to LAST_AXIS where LAST_AXIS is the number of the highest axis for which an AXIS or BASE command has been proc essed whichever of the two is larger N A No example AXIS BACKLASH Axis parameter read only LINKAX Returns the axi
162. act moment when the tracing is started can be exactly determined because it is controlled by the TRIGGER command This means the start of tracing is synchronized with the movement There is no limitation of 200 samples per channel the oscilloscope shows as many samples Table entries as configured This section gives you a practical example on the use of the SCOPE and TRIGGER commands and how to use them in combination with the oscilloscope to monitor axis parameters and troubleshoot the system For more information on the SCOPE and TRIGGER commands refer to sections 4 2 216 and 4 2 243 287 How to s Section 5 1 Suppose the motion system consists of two axis AXIS 0 and AXIS 1 0 is the master axis It makes a simple forward movement AXIS 1 is the slave axis It must follow the master axis in accordance to cosine rule E ee ee 2 999 where is the position of the master AXIS 0 and x is the position of the slave AXIS 1 You can link the two axis with the CAMBOX command For more details refer to section 4 2 44 Suppose furthermore that the parameter end pos is not constant but it can change due to different conditions of the motion system The part of the program that creates the CAM table is Initial CAM values 15 current end pos VR end pos FOR i 0 TO 999 TABLE i pos 1 COS 2 PI i 999 2 NEXT i loop IF VR end pos current end pos THEN Recalc
163. acturers check the encoder specification for the phase Wiring Section 2 2 Note 2 2 3 2 Registration advancement carefully If the phase definition is different from the phase definition of the standard OMRON equipment reverse the B phase wiring between the CJ1W MCH72 and the encoder The encoder interface of the CJ1W MCHT72 does not have termination inside In case of long distances or disturbed communication add external termination to the interface When using the incremental encoder interface of the CJ1W MCH72 the CJ1W MCH72 can capture the position of the Flexible Axis in a register when an event occurs The event is called the print registration input On the rising or falling edge of an input signal either the Z marker or one of the first 2 digital inputs the CJ1W MCH72 captures the position of the axis in the hardware You can use this position to correct possible errors between the actual position and the desired position To set up the print registration you can use the REGIST command The position is captured in the hardware which means that there is no software overhead Therefore you do not have to deal with timing issues For more information on how to use the registration inputs refer to the REGIST command in section 4 2 198 2 2 3 3 Hardware PSWITCH The MCH72 has one output output 8 that can be used as a hardware position switch This output goes on when the measured position of the Flexible Axis is r
164. alid sector clus ter reference 59 Process already selected 128 File error Disk full 60 Duplicate axes not permitted 129 File error File not found 61 PLC type is invalid 130 File error Filename already exists 62 Evaluation error 131 File error Invalid filename 63 Reserved keyword not availa 132 File error Directory full ble on this controller 64 VARIABLE not found 133 Command only allowed when running Trajexia Studio 65 Table index range error 134 expected 66 Features enabled do not allow 135 FOR expected ATYPE change 67 Invalid line number 136 INPUT OUTPUT APPEND expected 68 String exceeds permitted 137 File not open length 69 Scope period should exceed 138 End of file number of AIN parameters Arguments N A 220 All BASIC commands Section 4 2 Example gt gt PRINT RUN_ERROR PROC 5 9 0000 See also BASICERROR ERROR_LINE PROC 4 2 213 RUNTYPE Type Program command Syntax RUNTYPE program name auto run task number Description The RUNTYPE command determines whether the program specified by program name is run automatically at start up or not and which task it is to run on The task number is optional if omitted the program will run at the highest available task The current RUNTYPE status of each programs is displayed when a DIR command is executed If any program has compilation errors no programs will be started at power up To set the RUNTYPE using Tra jexia Studio set the Priority property of
165. alue of x in table NEXT deg WHILE IN 2 ON repeat cam motion while input 2 is on CAM 0 18 1 200 WAIT IDLE WEND Note The subroutine camtable loads the data into the cam TABLE as shown in the figure and in the table below TABLE position Degree Value 1 0 0 2 20 1103 3 40 3340 4 60 6500 5 80 10263 6 100 14236 7 120 18000 8 140 21160 9 160 23396 10 180 24500 11 200 24396 12 220 23160 13 240 21000 14 260 18236 15 280 15263 16 300 12500 17 320 10340 18 340 9103 19 360 9000 97 BASIC commands Section 4 2 98 Example OP 15 TRIGGER A masked wheel is used to create a stencil for a laser to shine through for use in a printing system for the ten numerical digits The required digits are transmitted through port 1 serial port to the controller as ASCII text The encoder used has 4000 edges per revolution and so must move 400 between each position The cam table goes from 0 to 1 which means that the CAM multiplier needs to be a multiple of 400 to move between the positions The wheel is required to move to the pre set positions every 0 25 sec onds The speed is set to 10000 edges second and we want the profile to be complete in 0 25 seconds So multiplying the axis speed by the required completion time 10000 x 0 25 gives the distance parameter equals 2500 GOSUB profile_gen WHILE IN 2 ON WAIT UNTIL KEY 1 Waits for chara
166. am profile into the table SPEED 10000 ACCEL SPEED 1000 DECEL SPEED 1000 WHILE IN 2 ON OP 15 ON on suction load AIN 0 capture load value distance 100 load calculate the distance parameter CAM 0 200 50 distance move 50mm forward in time calculated WAIT IDLE OP 15 OFF turn off suction WA 100 CAM 0 200 50 5000 move back to pick up position WEND profile_gen num_p 201 scale 400 set scale so that multiplier is in mm FOR p 0 TO num_p 1 TABLE p SIN PI 2 p num_p PI 2 p num_p scale NEXT p RETURN See also ACCEL AXIS CAMBOX SPEED TABLE 4 2 44 CAMBOX Type Axis command Syntax CAMBOX start_point end_point table_multiplier link_distance link axis link option link position 99 All BASIC commands Section 4 2 100 Description Arguments The CAMBOX command is used to generate movement of an axis fol lowing a position profile in the TABLE variable array The motion is linked to the measured motion of another axis to form a continuously variable software gearbox The TABLE values are absolute position rel ative to the starting point and are specified in encoder edges The TABLE array is specified with the TABLE command The move ment can be defined with any number of points from 3 to the maximum table size available 64000 Being able to specify the start point allows the TABLE array to be used to hold more than one profile and or other information The CJ1W MCH72 move
167. ample See also Type Syntax Description Arguments The ATYPE parameters are set by the system at start up For axes con trolled by the Servo Drivers connected to the system via MECHATRO LINK II bus the default ATYPE value is 41 MECHATROLINK II Speed for Sigma Il Servo Drivers or 40 MECHATROLINK II Position for JUNMA Servo Drivers For axes controlled by the Servo Drivers con nected to the system via the Encoder Interface the default ATYPE value is 44 Encoder Interface In N A ATYPE AXIS 1 45 This command will set axis 1 as Flexible axis encoder output axis AXIS Program command AUTORUN The AUTORUN command starts all the programs that have been set to run at start up Note This command should only be used on the Command Line Termi nal N A No example RUNTYPE System command AXIS axis number The AXIS modifier sets the axis for a single motion command or a single axis parameter read write to a particular axis AXIS is effective only for the command or axis parameter operation If it is required to change the axis used to a particular axis in every subsequent command use the BASE command instead axis number Any valid BASIC expression specifying the axis number 89 All BASIC commands Section 4 2 Example Example Example See also 4 2 34 AXIS ENABLE BASE 0 PRINT VP SPEED AXIS 2 MOVE 300 AXIS 0 REP DIST AXIS 1 100 BACKLASH Type
168. ample 1 ON and 2 ON gives a ratio of 6 1 BASE 1 FORWARD AXIS 0 WHILE IN 3 ON WA 100 gear IN 0 2 CONNECT gear 0 WEND RAPIDSTOP cancel the FORWARD and the CONNECT 15 AXIS 1 107 5 AXIS 0 0 4 SEC 8 SEC 12 SEC CONNECT 2 0 CONNECT 0 0 CANCEL 112 All BASIC commands Section 4 2 4 2 55 CONSTANT 4 2 56 CONTROL Example See also Type Syntax Description Arguments Example See also Type Syntax Axis 0 is required to run a continuous forward Axis 1 must connect to axis 0 If CONNECT is called it results in a step change Therefore CLUTCH_RATE is used together with an initial and final connect ratio of zero to get the required motion FORWARD AXIS 0 BASE 1 CONNECT 0 0 set intitial ratio to zero CLUTCH RATE O 5 set clutch rate CONNECT 2 0 apply the required connect ratio WA 8000 CONNECT 0 0 apply zero ratio to disconnect WA 4000 wait for deceleration to complete CANCEL cancel connect AXIS CANCEL CLUTCH RATE CONNECT RAPIDSTOP System command CONSTANT name value Declares the name as a constant for use both within the program con taining the CONSTANT definition and all other programs in the Trajexia Studio solution Note The program containing the CONSTANT definition must be run before the name is used in other programs In addition only that pro gram should be running at the time the CONSTANT is executed other wise the program error
169. an also be speci fied without quotes In case of multiple executions of a single program on different tasks the task number can be used to specify the specific task to be stopped program name The name of the program to be stopped task number The number of the task with the program to be stopped Range 1 14 STOP progname The lines from label on will not be executed in this example STOP label PRINT var RETURN HALT RUN SELECT System parameter read only SYSTEM ERROR 229 All BASIC commands Section 4 2 Description The SYSTEM_ERROR parameter contains system errors that occurred in the Trajexia system since the last time it was initialized The bits in the SYSTEM_ERROR parameter are given in the table below Bit Description 0 BASIC error 1 Battery low error 2 7 Reserved for future use 8 Configuration unit error Any unit in the system 9 Configuration device error Any device in the system 10 15 Reserved for future use 16 Unit lost error Any unit in the system 17 Terminator not fitted 18 Device lost error Any device in the system Arguments Example No example See also N A 4 2 233 T REF Type Axis parameter Syntax T REF Description The T REF parameter contains the torque reference value which will be applied to the servo motor The range of this parameter is defined by the number of available bits For MECHATROLINK II axes T REF takes 3
170. ancels the axis errors DATUM 1 This does an origin search in forward direction using the Z mark of an encoder as homing switch DATUM 2 Does an origin search in reverse direction using the Z mark of an encoder as homing switch DATUM 3 Does an origin search in forward direction using the input selected in DATUM IN as homing switch DATUM 4 Does an origin search in reverse direction using the input selected in DATUM IN as homing switch DATUM 5 Does an origin search in forward direction using the input selected in DATUM as homing switch and searches the next Z mark of an encoder DATUM 6 Does an origin search in reverse direction using the input selected in DATUM as homing switch and searches the next Z mark of an encoder For more details on these pre defined homing sequences see section 4 2 65 In some situations more complex homing sequences are required Absolute switch origin search plus limit switches Origin search against limit switches Origin search against hardware parts blocking movement 274 How to s Section 5 1 Origin search using encoder reference pulse Zero Mark Static origin search forcing a position from a user reference Static origin search forcing a position from an absolute encoder OFF JON OFF origin limit switch min limit switch ON OFF encoder max limit switch OFF ON The figure shows a general origin search scenario This simpl
171. and speed is V The acceleration rate is a The deceleration rate is d Acceleration time V a 2 Acceleration distance V 2a Deceleration time V d 2 Deceleration distance V 2d Va d Constant speed distance p V a d 2ad Total time D Va d V 2ad 1 3 1 2 Continuous moves The FORWARD and REVERSE commands can be used to start a continuous movement with constant speed on a certain axis The FORWARD command moves the axis in positive direction and the REVERSE command in negative direction For these commands also the axis parameters ACCEL and SPEED apply to specify the acceleration rate and demand speed Both movements can be cancelled by using either the CANCEL or RAPIDSTOP command The CANCEL command cancels the move for one axis and RAPIDSTOP cancels moves on all axes The deceleration rate is set by DECEL Motion control concepts Section 1 3 1 3 2 CP control Continuous Path control enables to control a specified path between the start and end position of a movement for one or multiple axes The CJ1W MCH72 supports the following operations Linear interpolation Circular interpolation CAM control 1 3 2 1 Linear interpolation A In applications it can be required for a set of motors to perform a move operation from one position to another in a straight line Linearly interpolated moves can take place among several axes The commands MOVE and MOVEABS are also used for the linear i
172. ar path with fol lowing third axis 169 BASIC commands Section 4 2 Example The command sequence follows a rounded rectangle path with axis 1 and 2 Axis 3 is the tool rotation so that the tool is always perpendicular to the product The UNITS for axis 3 are set such that the axis is cali brated in degrees REP DIST AXIS 3 360 REP OPTION AXIS 3 ON all 3 axes must be homed before starting MERGE ON MOVEABS 360 AXIS 3 point axis 3 in correct starting direction WAIT IDLE AXIS 3 MOVE 0 12 MHELICAL 3 3 3 0 1 90 MOVE 16 0 MHELICAL 3 3 0 3 1 90 MOVE 0 6 MHELICAL 3 3 3 0 1 90 MOVE 2 0 MHELICAL 3 3 0 3 1 90 170 All BASIC commands Section 4 2 Example See also 4 2 155 MOD Type Syntax Description Arguments Example See also 4 2 156 MOTION_ERROR Type Syntax A PVC cutter uses 2 axes similar to a X Y plotter The third axis is used to control the cutting angle of the knife To keep the resultant cutting speed for the x and y axis equal when cutting curves mode 1 is applied to the helical command BASE 0 1 2 MERGE ON merge moves into one continuous movement MOVE 50 0 MHELICAL 0 6 0 3 1 180 1 MOVE 22 0 WAIT IDLE MOVE 90 AXIS 2 rotate the knife after stopping at corner WAIT IDLE AXIS 2 MOVE 0 50 MHELICAL 6 0 3 0 1 180 1 MOVE 0 50 WAIT IDLE pause again to rotate the knife MOVE 90 AXIS 2 WAIT IDLE AXIS 2 MOVE 22 0
173. ared Arguments name Any user defined name containing lower case alpha numerical or underscore characters vr number The number of the VR to be associated with name Example GLOBAL srew pitch 12 GLOBAL ratio1 534 ratio1 3 56 screw pitch z 23 0 PRINT screw pitch ratio1 See also N A 4 2 125 GOSUB RETURN Type Program control command Syntax GOSUB label RETURN Description The GOSUB structure enables a subroutine jump GOSUB stores the position of the line after the GOSUB command and then jumps to the specified label Upon reaching the RETURN statement program execu tion is returned to the stored position Note Subroutines on each task can be nested up to 8 levels deep Arguments label A valid label that occurs in the program An invalid label will give compilation error before execution Labels can be character strings of any length but only the first 15 characters are significant Alternatively line numbers may be used as labels 153 All BASIC commands Section 4 2 Example main GOSUB routine GOTO main routine PRINT Measured position MPOS CHR 13 RETURN See also GOTO 4 2 126 GOTO Type Program control command Syntax GOTO label Description The GOTO structure enables a jump of program execution GOTO jumps program execution to the line of the program containing the label Arguments label A valid label that occurs in the program An invalid label will give a compilation error before execution Label
174. ark is missing feed the theoretical distance But if the mark is missing for a number of consecutive bags stop the operation A digital output is activated a certain time to cut the bag Variable initialisation start signal 7 max fail 3 program alarm 0 failed 0 feeder_axis 2 BASE feeder_axis Position counter MPOS DPOS goes from 0 to 999999 0 again ITS 27 EED 100 CEL 1000 ECEL 1000 P DIST 1000000 P OPTION 1 RVO ON DOG ON z TU Q 1 E p gt uogWuU uc ain program loop Define current position as zero DEFPOS 0 Wait for rising edge in Digital Input start signal WAIT UNTIL IN start signal WAIT UNTIL IN start signal ll Move bag length MOVEABS bag distance WAIT UNTIL MTYPE 2 To verify that the MOVEABS is being executed If we work with Mark activate the trigger MARK FALSE when triggered and TRUE when not triggered IF work with mark AND MARK THEN REGIST 1 WAIT UNTIL MARK 0 ENDIF Wait until movement finished or mark detected WAIT UNTIL 0 OR MARK AND work with mark Working with mark IF work with mark THEN IF MARK THEN If position is corrected MOVEMODIFY bag distanc xpected POS the mark has been detected th Practical examples Section 5 2 failed 0 ELSE If the mark has not
175. ars bit 1 of REP OPTION Arguments Example No example See also AXIS CAMBOX MOVELINK REP_DIST 4 2 204 REPEAT UNTIL Type Program control command 213 All BASIC commands Section 4 2 Syntax REPEAT commands UNTIL condition Description The REPEAT UNTIL structure allows the program segment between the REPEAT and the UNTIL statement to be repeated a number of times until the condition becomes TRUE Note REPEAT UNTIL construct can be nested indefinitely Arguments commands Any valid set of BASIC commands condition Any valid BASIC logical expression Example A conveyor is to index 100mm at a speed of 1000mm s wait for 0 5s and then repeat the cycle until an external counter signals to stop by turning on input 4 cycle SPEED 1000 REPEAT MOVE 100 WAIT IDLE WA 500 UNTIL IN 4 ON See also FOR TO STEP NEXT WHILE WEND 4 2 205 RESET Type System command Syntax RESET Description The RESET command sets the value of all local variables of the current BASIC task to 0 Arguments N A Example No example See also CLEAR 4 2 206 RETURN See GOSUB RETURN 4 2 207 REV_IN Type Axis parameter Syntax REV_IN 214 All BASIC commands Section 4 2 Description The REV IN parameter contains the input number to be used as a reverse limit input The valid input range is 0 to 31 Values 0 to 15 repre sent physically present inputs of CJ1W MCH72 I O connector and are common for all ax
176. at station number The station numbers are a sequence O x for all the attached slaves 1 is returned if no slave is allocated to that station It is used by the STARTUP program to check that the number of detected MECHA TROLINK II stations corresponds with the expected MECHATROLINK 0 5 station VR Reads and clears missed message count A Non Axis MECHATRO LINK II slave does not report automatically a network problem so use this command to poll the Inverter for checking that the network is alive Note You can use the command MECHATROLINK 0 5 station VR to monitor the status of a slave during a program execution If the contents of the VR address is greater than 0 a communication error with the slave occurs and the slave can malfunction You can use this command to stop your program when the slave has an error 167 All BASIC commands Section 4 2 4 2 153 MERGE 4 2 154 MHELICAL 168 Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Note This command has two forms depending upon the function required Master and Station Functions All MECHATROLINK functions return TRUE 1 if the command was successful or FALSE 0 if the command failed The functions are separated out into 2 types Master functions that work on a unit and Station functions that work on specific station_address of a given unit All functions that retrieve a value st
177. at or in binary format and if the resolution is 24 bits or less The number of bits and therefore the number of clock pulses sent to the encoder in each frame is programmable You set this number with the BASIC command ENCODER_BITS n When you have initialized the CJ1W MCH72 with the ENCODER_BITS command the CJ1W MCH72 continuously sends clock pulses to the encoder These clock pulses are sent in frames of n 2 pulses where n is the bit count set The clock rate is fixed at 200 kHz The clock interval between frames is 32 us The resulting maximum cable length between the controller and the sensor is 200 m Wiring Section 2 2 CLELFLFLTLELFLELE Lp TABOO 8 UUUUU x ULL G G SSI pulses The labels in the figure are Timing diagram Clock sequence Clock Data MSB Most Significant Bit LSB Least Significant Bit Clock frame When the data is clocked into the CJ1W MCH72 the position value is interpreted With this position value it produces a value for MPOS and a position error that is used to close the control loop The connections for SSI are Pin Signal Clock Clock 5V Data Data OV o N wy N Note The CJ1W MCH72 encoder interface does not have a termination inside In case of long distances or disturbed communication add an external termination to the inter face The table below and the figure give an example o
178. ations of the sample program below BASE N REGIST 0 WAIT UNTIL MARK 0 loop WAIT UNTIL MARK 1 RINT Position captured in REG POS REGIST 0 WAIT UNTIL MARK 0 GOTO loop ro 5 1 6 6 Registration and windowing function The windowing function enables for registration to occur only within a specified range of axis positions This function is selected by giving the right value as an argument for the REGIST command The windowing function is controlled by two axis parameters OPEN_WIN and CLOSE_WIN For more information on REGIST OPEN_WIN and CLOSE_WIN refer to sections 4 2 198 4 2 176 and 4 2 51 There are two types of windowing 1 20 CLOSE WIN 40 i OUTSIDE THE WINDOW INSIDE THE WINDOW OUTSIDE MARK TRUE REG_POS 27 282 How to s Section 5 1 nclusive windowing allows the registration to occur only within the specified window of axis positions With this windowing function registration events are ignored if the axis measured position is less than the OPEN_WIN axis parameter or greater than the CLOSE_WIN parameter Exclusive windowing allows the registration to occur only outside the specified window of axis positions With this windowing function the registration events are ignored if the axis measured position is greater than the OPEN_WIN axis parameter or less than the CLOSE_WIN parameter When the windowing function is used the internal process
179. axis respectively all axes will cancel their current move The encoder feedback for controlling the position of the motor is incremental This means that all movement must be defined with respect to an origin point The DATUM command is used to set up a procedure whereby the CJ1W MCH72 goes through a sequence and searches for the origin based on digital inputs and or Z marker from the encoder signal 11 Servo system principles Section 1 4 1 3 4 3 Print registration The CJ1W MCH72 can capture the position of an axis in a register when an event occurs The event is referred to as the print registration input On the rising or falling edge of an input signal which is either the Z marker or an input the CJ1W MCH72 captures the position of an axis in hardware This position can then be used to correct possible error between the actual position and the desired position The print registration is set up by using the REGIST command The position is captured in hardware and therefore there is no software overhead and no interrupt service routines eliminating the need to deal with the associated timing issues 1 3 4 4 Merging moves MERGE 0 MERGE 1 A If the MERGE axis parameter is set to 1 a movement is always followed by a subsequent movement without stopping The figures show the transitions of two moves with MERGE value 0 and value 1 In the figure A is the time axis and B is the speed axis 1 3 4 5 Jogging Jogging moves the
180. been exe cuted and is set to TRUE when the primary registration event occurs Only when this parameter is TRUE the REG POS value is correct Arguments N A Example loop WAIT UNTIL IN punch clr ZON MOVE index length REGIST 3 WAIT UNITL MARK MOVEMODIFY REG POS offset WAIT IDLE GOTO loop See also AXIS REGIST REG POS 166 All BASIC commands Section 4 2 4 2 151 MARKB Type Syntax Description Arguments Example See also 4 2 152 MECHATROLINK Type Syntax Axis parameter read only MARKB The MARKB is set to FALSE when the REGIST command has been executed and is set to TRUE when the primary registration event occurs Only when this parameter is TRUE the REG_POSB value is correct N A IF MARKB AXIS 2 THEN PRINT Secondary registration event for axis 2 occurred ENDIF AXIS REGIST REG_POSB System command MECHATROLINK 0 0 Detects and connects slaves on the MECHATROLINK II connection It is necessary to use it to reset the network from a communication prob lem and to re detect servos that have been not detected EG when the A letter in the AXISSTATUS word becomes capital red MECHATROLINK 0 3 VR Returns the number of detected MECHATROLINK II slaves after a MECHATROLINK 0 0 It is used by the STARTUP program to check that the number of detected MECHATROLINK II stations corresponds with the expected MECHATROLINK 0 4 station VR Returns the address of MECHATROLINK II slave at th
181. before the new servo period will be applied Value Description 500 0 5 ms 1000 1 0 ms 2000 2 0 ms 4000 4 0 ms Arguments Example No example See also EX When the parameter has been set a power down or software reset using EX must be performed for the complete system Not doing so may result in undefined behaviour Type Syntax Description Arguments Example See also Type Syntax Description System command SET BIT bit number vr number The SET BIT command sets the specified bit in the specified VR varia ble to one Other bits in the variable will keep their values bit number The number of the bit to be set Range 0 23 vr number The number of the VR variable for which the bit is set Range 0 1023 No example CLEAR BIT READ BIT VR Mathematical function SGN expression The SGN function returns the sign of a number It returns value 1 for positive values including 0 and value 1 for negative values 225 All BASIC commands Section 4 2 Arguments Example See also 4 2 223 SIN Type Syntax Description Arguments Example See also 4 2 224 SPEED Type Syntax Description Arguments Example See also 4 2 225 SPEED_SIGN Type Syntax 226 expression Any valid BASIC expression gt gt PRINT SGN 1 2 1 0000 N A Mathematical function SIN expression The SIN function returns the sine of the expression Input values are in radians an
182. bsolute origin search plus limit switches These scenarios depend on the position of the moving part when the power comes on The program example that does this origin search sequence is given below Absolute origin switch INO Left limit switch IN1 Right limit switch IN2 BASE 0 DATUM_IN 0 FW_IN 2 RV_IN SERVO ON WDOG ON DATUM 4 WA 1 WAIT UNTIL MTYPE 0 OR IN 1 OFF IF IN 1 ON FORWARD WAIT UNTIL IN 0 ON WAIT UNTIL IN 0 OFF CANCEL DATUM 4 WA 1 WAIT IDLE ENDIF How to s Section 5 1 5 1 5 2 Origin search against limit switches e omm min limit switch OFF OFF ON max limit switch This origin search function is performed by searching for an external sensor using limit switches only The example for this homing procedure is shown in the figure min limit switch max limit switch 4 REVERSE FORWARD The possible scenarios for origin search against limit switches depending on the position of the moving part on power on are shown in the figure The program example that does this origin search sequence is given below Origin and left limit switch INO Right limit switch IN1 BASE 0 DATUM_IN 0 SERVO ON WDOG ON DATUM 4 WA 1 WAIT IDLE 277 How to s Section 5 1 5 1 5 3 Origin search against hardware parts b locki
183. by the axis parameters Some relevant parameters are Parameter Description UNITS Unit conversion factor ACCEL Acceleration rate of an axis in units s DECEL Deceleration rate of an axis in units s SPEED Demand speed of an axis in units s Defining moves ACCEL 10 DECEL 10 SPEED 10 MOVE 40 The speed profile in this figure shows a simple MOVE operation Axis A is the time axis B is the speed The UNITS parameter for this axis has been defined for example as meters The required maximum speed has been set to 10 m s In order to reach this speed in one second and also to decelerate to zero speed again in one second both the acceleration as the deceleration rate have been set to 10 m s The total distance travelled is the sum of distances travelled during the acceleration constant speed and deceleration segments Suppose the distance moved by the MOVE command is 40 m the speed profile is given by the figure ACCEL 5 10 Lb DECEL 10 SPEED 10 MOVE 40 The two speed profiles in these figures show the same movement with an acceleration time respectively a deceleration time of 2 seconds Again Axis A is the time axis B is the speed Motion control concepts Section 1 3 ACCEL 10 DECEL 5 SPEED 10 MOVE 40 Move calculations The following equations are used to calculate the total time for the motion of the axes The moved distance for the MOVE command is D The dem
184. centre1 centre2 direction distance3 mode MH end1 end2 centre1 centre2 direction distance3 mode All BASIC commands Section 4 2 Description Arguments Performs a helical move that is moves 2 orthogonal axes in such a way as to produce a circular arc at the tool point with a simultaneous lin ear move on a third axis The first 5 parameters are similar to those of a MOVECIRC command The sixth parameter defines the simultaneous linear move Finish 1 and centre 1 are on the current BASE axis Finish 2 and centre 2 are on the following axis The first 4 distance parameters are scaled according to the current unit conversion factor for the BASE axis The sixth parameter uses its own axis units end1 Position on BASE axis to finish at end2 Position on next axis in BASE array to finish at centre1 Position on BASE axis about which to move centre2 Position on next axis in BASE array about which to move direction The direction is a software switch which determines whether the arc is interpolated in a clockwise or anti clockwise direction The parameter is set to 0 or 1 See MOVECIRC distance3 The distance to move on the third axis in the BASE array axis in user units mode 0 Interpolate the third axis with the main two axis when calculating path speed true helical path 1 Interpolate only the first two axes for path speed but move the third axis in coordination with the other 2 axes circul
185. cified level After the first cancel axis 1 decelerates at the DECEL rate When the CONNECT of axis 1 is cancelled axis 1 stops instantly BASE 0 SPEED 10000 FORWARD CONNECT 0 5 0 AXIS 1 WA 1000 CANCEL WAIT UNTIL VP_SPEED lt 7500 CANCEL AXIS 1 AXIS MTYPE NTYPE PMOVE RAPIDSTOP System parameter read only CHECKSUM The CHECKSUM parameter contains the checksum for the programs in RAM At start up the checksum is recalculated and compared with the previously held value If the checksum is incorrect the program will not run N A No example N A command CHR x The CHR command is used to send individual ASCII characters which are referred to by number PRINT CHR x is equivalent to PUT x in some other versions of BASIC All BASIC commands Section 4 2 Arguments Example See also 4 2 48 CLEAR Type Syntax Description Arguments Example See also 4 2 49 CLEAR BIT Type Syntax Description Arguments Example See also 4 2 50 CLEAR PARAMS Type Syntax Description e x A BASIC expression gt gt PRINT CHR 65 A N A System command CLEAR The CLEAR command resets all global VR variables to 0 and sets local variables on the process on which the command is run to 0 When you use it in a program it resets all local variables defined to 0 N A gt gt VR 0 22 VR 20 44 3158 VR 300 12 gt gt PRINT VR 0 VR 20 VR 300 22 0000 44 3158 12 0000
186. coder Wiring 44 Architecture 15 Axis sequence 23 Axis type 23 B Bag feeder program example 307 BASIC commands 65 BASIC program 3 Battery 35 Replace 36 Buffer types 29 Buffers 16 29 C CAM table example 309 Command Axis 65 Communication 69 I O 69 Program 71 Program control 72 System 72 Task 75 Communication 16 Complex profile 24 Components CJ1W MCH72 33 Configuration examples 19 Connector Encoder 37 I O 37 MECHATROLINK II 37 Constants 69 Correction example 314 CPU task 3 Cycle time 2 16 D Data exchange 55 Index Configurable data 57 Configuration 56 Control data 56 Errors 315 Memory areas 55 Status data 56 Definition CPU task 3 Cycle time 2 Motion sequence 2 Process 3 Program 3 Servo period 2 Description Motion buffers 16 E Encoder connector 37 Wiring 41 Encoder output 27 EnDat 27 Errors Data exchange 315 System 315 Example Bag feeder program 307 CAM table 309 Configuration 19 Correction program 314 Flying shear program 311 Gain settings 245 Homing 274 Initialization program 301 Motion buffers 30 Multi tasking 21 Origin search 274 Position mode 255 Position on a grid 305 Position with product detection 304 Registration 279 Servo Driver characteristics 270 Servo period 17 Setting units 260 Shell program 293 Single axis program 303 Speed mode 246 Startup program 24
187. combust or leak liquid The CJ1W MCH72 outputs will go off due to overload of the output transistors protection As a countermeasure for such problems external safety measures must be provided to ensure safety in the system The CJ1W MCH72 will turn off the WDOG when its self diagnosis function detects any error As a countermeasure for such errors external safety measures must be provided to ensure safety in the system Never attempt to disassemble any Units while power is being supplied Doing so may result in serious electric shock Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock Never touch any of the terminals while power is being supplied Doing so may result in serious electric shock vii Operating environment precautions 4 NWARNING A Caution A Caution A Caution A Caution A Caution A Caution Provide safety measures in external circuits i e not in the Programmable Controller to ensure safety in the system if an abnormality occurs due to malfunction of the PLC malfunction of the CJ1W MCH72 or external factors affecting the operation of the PLC or CJ1W MCH72 Not providing sufficient safety measures may result in serious accidents Emergency stop circuits interlock circuits limit circuits and similar safety measures must be provided in external control circuits The PLC will turn OFF all outputs when its self
188. cter on port 1 GET 1 k IF k gt 47 AND k lt 58 THEN check for valid ASCII character position k 48 400 convert to absolute position multiplier position offset calculate relative movement check if it is shorter to move in reverse direction IF multiplier gt 2000 THEN multiplier multiplier 4000 ELSEIF multiplier lt 2000 THEN multiplier multiplier 4000 ENDIF CAM 0 200 multiplier 2500 set the CAM movment WAIT IDLE OP 15 ON trigger the laser flash WA 20 OP 15 OFF offset k 48 400 calculates current absolute position ENDIF WEND All BASIC commands Section 4 2 profile_gen num_p 201 scale 1 0 FOR p 0 TO num_p 1 TABLE p SIN PI 2 p num_p PI 2 p num_p scale NEXT p RETURN Example A suction pick and place system must vary its speed depending on the load carried The mechanism has a load cell which inputs to the control ler on the analogue channel AIN The move profile is fixed but the time taken to complete this move must be varied depending on the AIN The AIN value varies from 100 to 800 which must result in a move time of 1 to 8 seconds If the speed is set to 10000 units per second and the required time is 1 to 8 seconds then the distance parameter must range from 10000 to 80000 distance speed x time The return trip can be completed in 0 5 seconds and so the distance value of 5000 is fixed for the return movement The Multiplier is set to 1 to reverse the motion GOSUB profile gen loads the c
189. d speed acceleration and deceleration to a position specified as absolute position i e in reference to the origin In multi axis moves the move ment is interpolated and the speed acceleration and deceleration are taken from the base axis The specified distances are scaled using the unit conversion factor in the UNITS axis parameter If for example an axis has 4 000 encoder edges mm then the number of units for that axis would be set to 4000 and MOVEABS 12 5 would move to a position 12 5 mm from the ori gin MOVEABS works on the default basis axis group set with BASE unless AXIS is used to specify a temporary base axis Argument distance 1 is applied to the base axis distance 2 is applied to the next axis etc By changing the axis between individual MOVE com mands uninterpolated unsynchronised multi axis motion can be achieved Absolute moves can be merged for profiled continuous path movements by turning on the MERGE axis parameter Considering a 2 axis movement the individual speeds are calculated using the equations below Given command the current position ay ay2 and the profiled speed as calculated from the SPEED ACCEL and DECEL parameters from the base axis and the total multi axes distance L SQR x x2 where x ax The individual speed for axis at any time of the movement is calculated aS Vj XiX vp L Arguments The command can take up to 16 arguments distance i The
190. d for a Command Line Terminal Trajexia Studio automatically selects programs when you click on their entry in the list in the control panel N A gt gt SELECT PROGRAM PROGRAM selected gt gt RUN COMPILE DEL EDIT LIST NEW RUN STEPLINE STOP TROFF Axis parameter SERVO The SERVO parameter determines whether the base axis runs under servo closed loop control SERVOZON or open loop SERVO OFF In closed loop the motion control algorithm will output a speed reference signal determined by the control gain settings and the Following Error The position of the servo motor is determined using the Axis com mands In open loop the speed reference signal is completely determined by the S REF axis parameter N A SERVO AXIS 0 ON Axis 0 is under servo control SERVO AXIS 1 OFF Axis 1 is run open loop All BASIC commands Section 4 2 See also 4 2 220 SERVO_PERIOD A Caution 4 2 221 SET_BIT 4 2 222 SGN AXIS FE_LIMIT S_REF S_REF_OUT WDOG Type System parameter Syntax SERVO_PERIOD Description The SERVO PERIOD parameter sets the servo cycle period of the CJ1W MCH72 The timing of the execution of the program tasks and the refreshing of the control data and I O of the Unit are all depending on this setting The parameter is defined in microseconds The CJ1W MCH72 can be set in either 0 5 1 0 2 0 or 4 0 ms servo cycle See the table below The controller must be reset
191. d may have any value The result value will be in the range from 1 to 1 expression Any valid BASIC expression gt gt PRINT SIN PI 2 1 0000 N A Axis parameter SPEED The SPEED parameter contains the demand speed for an axis in units s It can have any positive value including 0 The demand speed is the maximum speed for the speed profiled motion commands N A SPEED 1000 PRINT Set speed SPEED ACCEL AXIS DATUM DECEL FORWARD MOVE MOVEABS MOVECIRC MOVEMODIFY REVERSE UNITS Axis parameter SPEED_SIGN All BASIC commands Section 4 2 Description The SPEED_SIGN parameter configures the voltage range of the ana logue speed reference output of the Encoder Interface when the axis type ATYPE is set to 44 If SPEED SIGN OFF the voltage range of the analogue speed refer ence output is 10V 10V The positive reference voltage corresponds to forward movements in which case DPOS and MPOS increment The negative reference voltage corresponds to reverse movements in which case DPOS and MPOS decrement OFF is the default setting at power on If SPEED SIGN ON the voltage range of the analogue speed refer ence output is OV 10V The OUT1 signal of the Encoder Interface for the corresponding axis is used as a direction signal During forward movements the controller sets OUT1 to OFF During reverse move ments the controller sets OUT1 to ON This setting is to be used for Servo Drivers that requir
192. d with the teaching function Execute online edit only after confirming that no adverse effects will be caused by extending the cycle time Otherwise the input signals may not be readable Confirm the safety of the destination node before transferring a program to the node or changing the contents of I O memory Doing either of these without confirming safety may result in injury Do not save data into the flash memory during memory operation or while the motor is running Otherwise unexpected operation may be caused Operating environment precautions A Caution A Caution Do not operate the control system in the following locations Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Take appropriate and sufficient countermeasures when installing systems in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Application precautions 5 A Caution Application N WARNING N WARNING Z N WARNING A Caution A Caution A Caution A Ca
193. dec 2 MOVELINK I acc 12 synch dist dec 2 cut lenght synch dist 1 dec acc acc 4 1 dec 4 line axis 2 PP Cut length l acc 2 311 Practical examples Section 5 2 312 FLYING SHEAR program Typical example of flying shear application One axis line axis transport the material Second axis flying axis is the flying shear itself Third axis shear axis is the shear advancement The distance in synchronization must be long enough to allow the cut at maximum speed The return of the flying shear is done at such a speed that the wait time is zero optimization of the movement Again it is assumed that everithing has been calculated to not exceed the maximum motor speed at maximum line speed cut counter 0 line axis 2 shear axis 0 flying axis 1 SERVO AXIS line axis ON SERVO AXIS flying axis ON SERVO AXIS shear axis ON WDOG ON FIRST CYCLE Make a first material cut MOVEABS end pos AXIS shear axis WAIT UNTIL MTYPE AXIS shear axis 2 WAIT IDLE AXIS shear axis First time we have a certain wait time because th material has been just been cut wait distance cut lenght 1l acc 2 MOVELINK 0 wait distance 0 0 line axis AXIS flying axis WAIT UNTIL MTYPE AXIS flying axis 22 We start the line FORWARD AXIS line axis loop Update the line speed every cycle SPEED
194. diagnosis function detects any error or when a severe failure alarm FALS instruction is executed As a countermeasure for such errors external safety measures must be provided to ensure safety in the System The PLC or CJ1W MCH72 outputs may remain ON or OFF due to deposits on or burning of the output relays or destruction of the output transistors As a countermeasure for such problems external safety measures must be provided to ensure safety in the system When the 24 V DC output service power supply to the PLC is overloaded or short circuited the voltage may drop and result in the outputs being turned OFF As a countermeasure for such problems external safety measures must be provided to ensure safety in the system External safety measures must also be taken to ensure safety in the event of unexpected operation when connecting or disconnecting the connectors of the CJ1W MCH72 User programs written to the CJ1W MCH72 will not be automatically backed up in the CJ1W MCH72 flash memory flash memory function Tighten the screws on the terminal block of the Power Supply Unit to the torque specified in this manual Loose screws may result in burning or malfunction When positioning to a position determined using the teaching function set the position designation setting in the positioning sequence to absolute positioning If it is set to relative positioning positioning will be performed to a position other than the one obtaine
195. ds Section 4 2 4 2 68 DEFPOS 122 Example See also Type Syntax Description Arguments DECEL 100 Set deceleration rate PRINT Deceleration rate is DECEL mm s s ACCEL AXIS UNITS Axis command DEFPOS pos 1 pos 2 pos 3 pos 4 11 DP pos_1 pos_2 pos_3 pos_4 The DEFPOS command defines the current demand position DPOS as a new absolute position The measured position MPOS will be changed accordingly in order to keep the Following Error DEFPOS is typically used after an origin search sequence see DATUM command as this sets the current position to 0 DEFPOS can be used at any time As an alternative also the OFFPOS axis parameter can be used This parameter can be used to perform a relative adjustment of the current position DEFPOS works on the default basis axis or axis sequence group set with BASE unless AXIS is used to specify a temporary base axis Note The changes to the axis position made using DEFPOS or OFF POS are made on the next servo update This can potentially cause problems when a move is initiated in the same servo period as the DEF POS or OFFPOS The following example shows how the OFFPOS parameter can be used to avoid this problem DEFPOS commands are internally converted into OFFPOS position offsets which provides an easy way to avoid the problem by programming as follows DEFPOS 100 WAIT UNTIL OFFPOS 0 MOVEABS 0 The command can take up to
196. e plc tj tj total code code code address count area start area start items Refer to section 3 4 4 for more information on the fields plc area plc start tj area tj start and total items 61 FINS commands Section 3 4 3 4 4 Parameter Area Write 0202 The FINS Parameter Area Write command sets the memory mapping configuration It has this format 02 02 00 00 00 00 00 08 command response _ start byte_ plc_ plc_ tj tj total_ code code code address count area start area start items The parameters can have the following values Parameter Values hex command code 02 02 area code 0100 0107 for PLC output area 8 areas available 8100 8107 for PLC input area 8 areas available start address 0000 byte count 0008 plc area 01 CIO 03 0 04 WR 05 HR 08 14 EM bank 0 C plc start Start address in PLC memory Validity depends on plc area tj area e 00 VR 16 bit signed integer 01 VR 32 bit floating point 02 IN or OP array depending on direction 03 AIN or AOUT array depending on direction 04 Axis Status array only valid if direction is PLC input tj start Start address in CJ1 W MCH72 memory Validity depends on tj area total items Total items words and dwords to transfer Validity depends on plc a
197. e assumed N A gt gt PRINT ERROR LINE PROC 4 23 0000 BASICERROR PROC RUN ERROR Axis parameter ERRORMASK The ERRORMASK axis parameter contains a mask value that is ANDed bit by bit with the AXISSTATUS axis parameter on every servo cycle to determine if a motion error has occurred If the result of the AND operation is not zero the motion error has occurred When a motion error occurs the enable switch WDOG will be turned off the MOTION ERROR parameter will have value different than 0 and the ERROR AXIS parameter will contain the number of the first axis to have the error Check the AXISVALUES parameter for the status bit allocations The default setting of ERRORMASK is 268 139 All BASIC commands Section 4 2 A Caution 4 2 99 EX 4 2 100 EXP 4 2 101 FALSE 140 Arguments Example See also N A No example AXIS AXISSTATUS MOTION ERROR WDOG It is up to the user to define in which cases a motion error is generated For safe operation it is strongly recommended to generate a motion error when the Following Error has exceeded its limit in all cases This is done by setting bit 8 of ERRORMASK Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also System command EX option Resets the controller as if it were being powered up again There are two types of res
198. e both speed and direction signals as a speed reference Arguments Example No example See also ATYPE S REF S REF OUT 4 2 226 SOR Type Mathematical function Syntax SQR expression Description The SQR function returns the square root of the expression The expression must have positive including 0 value Arguments expression Any valid BASIC expression Example PRINT SQR 4 2 0000 See also N A 4 2 227 SRAMP Type Axis parameter Syntax SRAMP Description The SRAMP parameter contains the S curve factor The S curve factor controls the amount of rounding applied to the trapezoidal profiles A value of 0 sets no rounding A value of 10 sets maximum rounding The default value of the parameter is O SRAMP is applied to the FORWARD MOVE MOVEABS MOVECIRC MHELICAL and REVERSE commands Notes Using S curves increases the time required for the movement to complete The S curve factor must not be changed while a move is in progress Arguments Example No example 227 All BASIC commands Section 4 2 See also 4 2 228 STEP AXIS See FOR TO STEP NEXT 4 2 229 STEP_RATIO Type Syntax Description Arguments Example See also 4 2 230 STEPLINE Type Syntax 228 Axis command STEP_RATIO output_count dpos_count This command sets up a ratio for the output of the stepper axis Every servo period the number of steps is passed through the STEP_RATIO function before it
199. e is more than 25 the battery can only continue for less than 5 days If the ambient temperature is 40 the battery can continue for 4 days If the ambient temperature is 55 C the battery can continue for 2 days 2 1 3 3 Replacing the battery 36 Note When replacing the battery make sure that the following is adhered to e Use the CJ1W BATO 1 as a replacement battery Donotuse areplacement battery that is older than 2 years The production date of the battery is shown on the label in the format yy mm where yy is the year and mm is the month OMRON CJ1W BATO1 08 03 Production date of the battery March 2008 Make sure that the sensitive internal components of the CJ1W MCH72 cannot be damaged by static electricity when the battery is replaced This can be done in two ways 1 Turn the power off This is the recommended way 2 Leave the power on and touch a grounded piece of metal to discharge static electricity before replacing the battery Make sure that an experienced technician is in charge when the battery is replaced This is required by UL standards To replace the battery perform the following steps 1 Make sure that the power to the unit is on for at least 5 minutes 2 Turn the power to the unit off You must perform the following steps within 5 minutes If you do not perform the steps within 5 minutes the RAM can be deleted 3 Open the battery compartment 4 Remove the old battery A from
200. e only to axes with ATYPE values 43 44 and 45 MECHATROLINK II registration can be performed using encoder Z marker or external registration inputs EXT1 EXT2 or on a Servo Driver Unlike Flexible axis axes only one registration position can be captured When a registration event has occurred the MARK axis parameter is set to ON and the position is stored in the POS axis parameter The registration signals EXT1 EXT2 and EXT3 must be allocated to CN1 inputs with the driver parameter Pn511 For example Pn511 654x sets the connections of EXT1 to CN1 pin44 EXT2 to CN1 pin45 and EXT3 to CN1 pin46 of the Sigma II Servo Driver The table below shows how to configure the external inputs individually Note To configure EXT1 EXT2 and EXTS registration signals parame ter numbers Pn511 1 Pn511 2 and Pn511 3 are used respectively Pn511 0 is not used Refer to the user manual of the Servo Driver for more details Registra Parameter Parameter Description tion signal number value EXT 1 Pn511 1 0 to 3 Not used 4 Input from CN1 pin44 Rising edge 5 Input from CN1 pin45 Rising edge 6 Input from CN1 pin46 Rising edge 7 Signal always OFF 8 Signal always ON 9to C Not used D Input from CN1 pin44 Falling edge E Input from CN1 pin45 Falling edge F Input from CN1 pin46 Falling edge EXT2 Pn511 2 As for EXT 1 As for EXT 1 EXT Pn511 3 As for EXT 1 As for EXT 1
201. e origin search sequence has 3 steps 1 Search for a signal 2 Search for another signal 3 Move the axis to a predefined position Note For safety reasons limit switches are normally closed For this reason in this figure and in the following figures in this section the low signal level is indicated as ON and the high signal level is indicated as OFF It is important to note that before any homing procedure is executed it is necessary to set the axis parameters UNITS DIST and REP OPTION and Servo Driver parameters Pn202 Pn203 and Pn205 properly and in accordance with the mechanical system and desired measurement units used in programming Those parameters have influence to the origin search especially if an absolute encoder is used For more information on setting these parameters see section 5 1 2 5 1 5 1 Absolute switch origin search plus limit switches OFF JON OFF origin limit switch min limit switch ON OFF d max limit switch OFF ON The origin search function is performed by searching for an external limit switch that is positioned absolutely and the position of which defines the origin position The example for this homing procedure is shown in the figure 275 How to s Section 5 1 276 min limit switch origin limit switch ma 8 max limit switch REVERSE FORWARD The figure shows the possible scenarios for a
202. e output range Example If output 11 has value 1 output 12 has value 1 output 13 has value 0 and output 14 has value 1 READ OP 11 14 returns 13 1101 bin Example In this example a single output is tested WAIT UNTIL READ OP 12 ON GOSUB place Example Check a range of 8 outputs and call a routine if one of them has value 1 op bits READ OP 16 23 IF op bits 0 THEN GOSUB check outputs ENDIF See also N A 4 2 196 REG POS Type Axis parameter read only Syntax REG POS 205 All BASIC commands Section 4 2 4 2 197 REG_POSB 4 2 198 REGIST 206 Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax The REG_POS parameter stores the position in user units at which the primary registration event occurred N A A paper cutting machine uses a CAM profile shape to quickly draw paper through servo driven rollers and stop the paper so it can be cut The paper is printed with a registration mark This mark is detected and the length of the next sheet is adjusted by scaling the CAM profile with the third parameter of the CAM command Example Registration Program using CAM stretching Set window open and close length 200 OPEN_WIN 10 CLOSE_WIN length 10 GOSUB Initial Loop TICKS 0 Set millisecond counter to 0 IF MARK THEN offset REG_POS This next line makes offset ve if at end of sheet IF ABS offset length lt offset THEN offse
203. e reverse software limit in user units A software limit for reverse movement can be set from the program to control the working range of the machine When the limit is reached the CJ1W MCH72 will decelerate to 0 and then cancel the move Bit 10 of the AXISSTATUS axis parameter will be turned on while the axis posi tion is smaller than below RS LIMIT N A No example AXIS FS LIMIT UNITS Program command RUN program task number The RUN command executes the program in the CJ1W MCH72 as specified with program name RUN with the program name specifica tion will run the current selected program The program name can also be specified without quotes The task number specifies the task number on which the program will be run If the task number is omitted the program will run on the highest available task RUN can be included in a program to run another pro gram Note Execution continues until one of the following occurs There are no more lines to execute HALTis typed at the command line to stop all programs STOP is typed at the command line to stop a single program The STOP command in the program is encountered Arun time error is encountered 217 All BASIC commands 4 2 212 RUN_ERROR 218 Section 4 2 Arguments program_name Any valid program name task number Any valid task number Range 1 14 Example gt gt SELECT PROGRAM PR
204. each Therefore the machine cycle is 60 degrees When we apply the last equation to the above we get 10 motor revolution 1 machine revolution 6 machine cycle Simplification of this equation gives 5 motor revolution machine cycle This results in Pn205 5 1 4 We calculate the parameters as we did in example 1 This gives UNITS 2 2048 202 32 203 36 How to s Section 5 1 A Caution A Caution A Caution A Caution To guarantee the correct overflow both in the CJ1W MCH72 and in the Servo Driver we must set two additional axis parameters REP_DIST 60 and REP OPTION 1 With these settings the command MOVE 35 rotates the table 35 degrees in positive direction The range of possible MPOS and DPOS values is from 0 degrees to 60 degrees You must initialize the absolute encoder before you use it for the first time when the battery is lost during power off and when the multiturn limit setting in the parameter Pn205 is changed The initialization can be done on the display of the Servo Driver or with the software tool For more detail on initialising absolute encoder please see the Sigma ll Servo Driver manual It is possible to reset the multiturn counter but it is not possible to reset the position within one turn the fraction from 0 to and excluding 1 To adjust zero offset use the parameter Pn808 For more details see the NS115 MECHATROLINK II Interface Unit manual At power up
205. eached It goes off when another measured position is reached The output is driven by hardware only This means that the response times do not have software delays For more information on using the position switch refer to section 4 2 129 on the HW PSWITCH command 2 2 3 4 Connection example The table below and the figure give an example of the OMRON E6B2 CWZ1Z encoder connected to the CJ1W MCH72 CJ1W MCH72 Encoder input connection E6B2 CWZ1Z encoder CJ1W MCH72 encoder interface Signal Wire color Pin Signal A Black 2 A A Black red 3 A B White 4 B B White red 5 B 43 Wiring Section 2 2 E6B2 CWZ1Z encoder CJ1W MCH72 encoder interface Signal Wire color Pin Signal Z Orange 7 2 Z Orange red 8 Z 0 V COM Blue 9 0 V Encoder ground 5 VDC Brown 6 5V 2 2 3 5 Encoder output Encoder edges The CJ1W MCH72 can generate encoder type pulses For each internal count C the CJ1W MCH72 produces one encoder edge for phase A A or phase B B 2 2 4 Absolute encoder 2 2 4 1 44 SSI SSI Synchronous Serial Interface is a digital system for transferring data in serial form SSI is the most widely used serial interface between absolute sensors and controllers SSI uses a pulse train from the controller to clock out the data from the sensor The SSI interface of the CJ1W MCH72 accepts absolute values from an encoder if the data is in Gray Code form
206. ected via the Encoder Interface port Use the HW_PSWITCH command e switch The switch number Range 0 15 enable The switch enable Range on off axis The number of the axis providing the position input OUtput number The physical output to set Range 8 31 Output state The state to output Range on off Set position The absolute position in user units at which output is set reset position The absolute position in user units at which output is reset 201 All BASIC commands Section 4 2 Example See also 4 2 193 RAPIDSTOP Type Syntax Description Arguments 202 A rotating shaft has a cam operated switch which has to be changed for different size work pieces There is also a proximity switch on the shaft to indicate the TDC of the machine With a mechanical cam the change from job to job is time consuming This can be eased by using PSWITCH as a software cam switch The proximity switch is wired to input 7 and the output is output 11 The shaft is controlled by axis 0 The motor has a 900ppr encoder The output must be on from 80 units PSWITCH uses the unit conversion factor to allow the positions to be set in convenient units First the unit conversion factor must be calcu lated and set Each pulse on an encoder gives four edges for the CJ1W MCH72 to count There are thus 3 600 edges rev or 10 edges degree If you set the unit conversion factor to 10 you can work in degrees Next
207. ection STOP getoffset sub routine to register the position of the piece and calculate the offset BASE 0 REGIST 3 WAIT UNTIL MARK seenat REG_POS offset expected seenat RETURN Axis 0 in this example is connected to the encoder of the second con veyor A superimposed MOVE on axis 1 is used to apply offsets ENCODER AXIS 2 84 All BASIC commands Section 4 2 Example See also An X Y marking machine must mark boxes as they move along a con veyor Using CONNECT enables the X marking axis to follow the con veyor A virtual axis is used to program the marking absolute positions this is then superimposed onto the X axis using ADDAX ATYPE AXIS 3 0 set axis 3 as virtual axis SERVO AXIS 3 ON DEFPOS 0 AXIS 3 ADDAX 3 AXIS 0 connect axis 3 requirement to axis 0 WHILE IN 2 ON REGIST 3 registration input detects a box on the conveyor WAIT UNTIL MARK OR IN 2 OFF IF MARK THEN CONNECT 1 2 AXIS 0 connect axis 0 to the moving belt BASE 3 1 set the drawing motion to axis 3 and 1 Draw the M MOVEABS 1200 0 move A gt B MOVEABS 600 1500 move B gt C MOVEABS 1200 3000 move C gt D MOVEABS 0 0 move E WAIT IDLE BASE 0 CANCEL stop axis 0 from folowing the belt WAIT IDLE MOVEABS 0 move axis 0 to home position ENDIF WEND CANCEL ADDAX_AXIS AXIS OUTLIMIT Z N WARNING Beware that giving several ADDAX commands in a system can create a dangerous loop when for instance one axis is linked to a
208. ection 4 2 Number Message Number Message 14 Error erasing Flash 83 Too many nested OPER ANDS 15 Start of expression expected 84 Cannot reset when drive servo on 16 expected 85 Flash Stick blank 17 expected 86 Flash Stick not available on this controller 18 Command line broken by ESC 87 Slave error 19 Parameter out of range 88 Master error 20 No process available 89 Network timeout 21 Value is read only 90 Network protocol error 22 Modifier not allowed 91 Global definition is different 23 Remote axis is in use 92 Invalid program name 24 Command is command line 93 Program corrupt only 25 Command is runtime only 94 More than one program run ning when trying to set GLO BAL CONSTANT 26 LABEL expected 95 Program encrypted 27 Program not found 96 TOKEN definition incorrect 28 Duplicate label 97 Cannot change program type once it has been created 29 Program is locked 98 Command expected 30 Program s running 99 Invalid command 31 Program is stopped 100 Invalid parameter for com mand 32 Cannot select program 101 Too many tokens in block 33 No program selected 102 Invalid mix of modal groups 34 No more programs available 103 Variable defined outside include file 35 Out of memory 104 Invalid program type 36 No code available to run 105 Variable not declared 37 Command out of context 106 expected 38 Too many nested structu
209. ee also DRIVE_STATUS 128 All BASIC commands Section 4 2 Caution Be sure that no Parameter Unit or Personal Computer Software is connected to the Servo Driver when executing this command Otherwise the program task will be paused until the connection of the other device to the Servo Driver is removed 4 2 76 DRIVE CONTROL Type Axis parameter Syntax DRIVE CONTROL Description When applied to an axis driven by the Servo Driver connected to the system via the MECHATROLINK II bus this parameter selects the data to be monitored by DRIVE MONITOR according to the table below Code Description 2 Following error this is the real FE when ATYPE 40 is used 8 Feedback speed With ATYPE 41 Units Max Speed 40000000H with other ATYPE Units reference units s 9 Command speed units same as in Feedback Speed 10 Target speed units same as in Feedback Speed 11 Torque Force reference With ATYPE 42 Units Max Torque 40000000H with other ATYPE Units 96 over nominal Torque 14 Monitor selected with Pn813 0 Useful to monitor servo monitors Unxxx 15 Monitor selected with Pn813 1 Useful to monitor servo monitors Unxxx When applied to an axis driven by the Servo Driver connected to the System via the Encoder Interface this parameter sets outputs of the Encoder Interface Set bit 8 of this parameter to switch on OUT 0 for an axis Set bit 9 of this parameter to switch on OUT 1 for an axis Keep in m
210. efine a position profile for the axis to move The CAM command moves an axis according to position values stored in the CJ1W MCH72 Table array The speed of travelling through the profile is determined by the axis parameters of the axis The figure corresponds to the command CAM 0 99 100 20 A is the time axis B is the position axis Electronic Gearing control allows you to create a direct gearbox link or a linked move between two axes The MC Unit supports the following operations Electronic gearbox Linked CAM Motion control concepts Linked move Adding axes 1 3 3 1 Electronic gearbox The CJ1W MCH72 is able to have a gearbox link from one axis to another as if there is a physical gearbox connecting them This can be done using the CONNECT command in the program In the command the ratio and the axis to link to are specified Section 1 3 In the figure A is the Master axis and B is the CONNECT axis Axes Ratio CONNECT command 1 1 CONNECT 1 0 AXIS 1 2 1 CONNECT 2 0 AXIS 1 1 2 CONNECT 0 5 0 AXIS 1 Motion control concepts Section 1 3 1 3 3 2 Linked CAM control 1 3 3 3 Linked move 10 Next to the standard CAM profiling tool the CJ1W MCH72 also provides a tool to link the CAM profile to another axis The command to create the link is called CAMBOX The travelling speed through the profile is not determined by the axis parameters o
211. erpolation to obtain the right captured position value see the picture Since the motor speed cannot change much during 62 5 us the resulting accuracy is very high The delays in transmission of the information are Delay in triggering the registration 0 625 ms to 4 ms e Delay in receiving the registration 3 5 ms Delay in capturing the registration 3 us It is also possible to use the encoder Z mark to register an axis position This is also done with the argument of the REGIST command 5 1 6 3 Registration in the Junma Servo Driver Registration in the Junma Servo Driver is the same as registration in the Sigma ll Servo Driver with one difference There is only one physical input and one logical latch too so no settings of Servo Driver parameters are necessary The physical input is associated to logical latch EXT1 and only the rising signal edge can be used for registration 5 1 6 4 Registration in the Encoder Interface The CJ1W MCH72 has three physical registration inputs and two latch circuits which can be used independently Therefore two independent registration inputs can be used at the same time For more information on how to use both registration inputs of the CJ1W MCH72 at the same time refer to sections 4 2 150 4 2 151 4 2 196 4 2 197 and 4 2 198 The delay in the capture is 0 5 us Because the encoder position is read continuously from the line drive encoder input interpolation is not necessary The delay fo
212. ervo Driver manual and the Junma series Servo Driver manual Servo Driver inputs that are mapped into the CJ1 W MCH72 I O space like this are accessed within the program per axis and cannot be accessed in the usual way with the IN command The only way you can use these inputs in the program is to assign them to the axis parameters DATUM IN FHOLD IN FWD IN and REV IN The inputs of the axis Servo Driver are used depending on the axis of which the parameters are set Example We have a Sigma ll and a Junma driver assigned to controller axes 0 and For the Sigma ll driver we want to use input signal EXT1 mapped to CN1 44 if Pn511 2 is set to 4 to serve as reverse limit input for axis 0 For the Junma driver we want to use input signal EXT1 CN1 2 as reverse limit for axis 3 We can do this with these commands REV IN AXIS 0 22 REV IN AXIS 3 22 Note that even though REV IN parameters for both axes have the same value the real inputs used are not the same For axis 0 the input on CN1 44 of the Sigma ll driver assigned to axis 0 is used but for axis the input on CN1 41 of the Junma driver assigned to axis 3 is used Therefore we say that those inputs are accessed per axis they are not unique for the whole controller In general these two inputs have a different status at the same time Also note that neither of these two inputs can be accessed using the command IN For example the command IN 22 returns the status of contr
213. es Values 16 to 31 are mapped directly to driver inputs that are present on the CN1 connector They are unique for each axis It depends on the type of Servo Driver which Servo Driver inputs are mapped into inputs 16 to 31 For more information on Servo Driver I O mapping into the Trajexia I O space refer to section 5 1 4 As default the parameter is set to 1 no input is selected If an input number is set and the limit is reached any reverse motion on that axis will be stopped Bit 5 of the AXISSTATUS axis parameter will also be set Note This input is active low Arguments Example No example See also AXIS AXISSTATUS FWD 4 2 208 REV JOG Type Axis parameter Syntax REV JOG Description The REV JOG parameter contains the input number to be used as a jog reverse input The input can be from 0 to 31 As default the parame ter is set to 1 no input is selected Note This input is active low Arguments Example No example See also AXIS FAST JOG FWD JOG JOGSPEED UNITS 4 2 209 REVERSE Type Axis command Syntax REVERSE RE Description The REVERSE command moves an axis continuously in reverse at the speed set in the SPEED parameter The acceleration rate is defined by the ACCEL axis parameter REVERSE works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Note The reverse motion can be stopped by executing the CANCEL or RAPIDSTOP command or by reachi
214. et performed by the EX command EX without the argument or EX 0 does the software reset of the controller EX 1 does the hardware reset of the controller N A No example N A Mathematical function EXP expression The EXP function returns the exponential value of the expression expression Any valid BASIC expression gt gt PRINT EXP 1 0 2 7183 N A Constant read only FALSE The FALSE constant returns the numerical value 0 N A test res IN 0 OR IN 2 IF res FALSE THEN PRINT Inputs are off ENDIF N A All BASIC commands Section 4 2 4 2 102 FAST_JOG 4 2 103 FASTDEC 4 2 104 FE 4 2 105 FE_LATCH Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Axis parameter FAST_JOG The FAST_JOG axis parameter contains the input number to be used as the fast jog input The number can be from 0 to 31 As default the parameter is set to 1 no input is used for the fast jog The fast jog input controls the jog speed between two speeds If the fast jog input is set the speed as given by the SPEED axis parameter will be used for jogging If the input is not set the speed given by the JOGSPEED axis parameter will be used Note This input is active low N A No example AXIS FWD_JOG JOGSPEED REV_JOG SPEED Axis parameter FASTDEC The FASTD
215. eturns the elapsed time in milliseconds since the last cyclic refresh mode 0 or 1 to return the status or the elapsed time since the last cyclic refresh No example PLC_EXCHANGE Task parameter read only PMOVE The PMOVE parameter contains the status of the task buffers The parameter returns TRUE if the task buffers are occupied and FALSE if they are empty When the task executes a movement command the task loads the movement information into the task move buffers The buffers can hold one movement instruction for any group of axes PMOVE will be set to TRUE when loading of the buffers has been completed When the next servo interrupt occurs the motion generator loads the movement into the next move NTYPE buffer of the required axes if they are available When this second transfer has been completed PMOVE is cleared to 0 until another move is executed in the task Each task has its own PMOVE parameter Use the PROC modifier to access the parameter for a certain task Without PROC the current task will be assumed N A No example NTYPE PROC System parameter POS_OFFSET value For Piezo Operation This keyword allows a positive offset to be applied to the output S REF signal from the servo loop An offset of 327 will represent an offset of 0 1 volts for axis with servo output generated by a 16 bit S_REF It is suggested that as offset of 65 to 70 of the value required to make the stage move in an open loop situation
216. f how to connect the Stegmann ATM 60 A encoder to the CJ1W MCH72 Encoder CJ1W MCH72 encoder inter face Pin Signal Wire color Pin Signal 2 Data White 7 Data 10 Data Brown 8 Data 3 Clock Yellow 2 Clock 11 Clock Lilac 3 Clock 45 Wiring 2 2 4 2 EnDat 46 Note Section 2 2 Encoder CJ1W MCH72 encoder inter face Pin Signal Wire color Pin Signal 1 GND Blue 9 0 V Encoder ground 8 Us Red See footnote 1 Use an external power supply CJ1W MCH72 24 VDC Power Supply Stegmann ATM 60 A connection You can configure the CJ1W MCHT2 to interface directly to EnDat absolute encoders EnDat absolute encoders respond on a dedicated Clock and Data 1 MHz RS485 serial interface when their position is requested by the controller When you set the encoder to the relevant encoder mode the axis transmits an information request to the encoder on a fixed 250 us cycle The connections for EnDat are Pin Signal Clock Clock 5V Data Data o N OV The CJ1W MCH72 encoder interface does not have a termination inside In case of long distances or disturbed communication add an external termination to the inter face The table below and the figure give an example of the connection of the Heidenhain ROC 425 2048 5XS08 C4 encoder to the CJ1W MCH72 Encoder CJ1W MCH72 encode
217. f required prior to enabling the controller with WDOG ON Default is off Note If the setting is incorrect a stepper motor may lose position by one step when changing direction Note This parameter is applicable only to Flexible axis stepper output axes with ATYPE 46 With other types of axes this parameter has no effect N A No example N A 4 2 140 INVERTER_COMMAND Type Syntax Description System command INVERTER_COMMAND 0 station 1 alarm number INVERTER COMMANDOYO station 8 mode INVERTER COMMANDOYO station 7 operation signals INVERTER COMMAND controls inputs and clears alarm of the Inverter connected to the system via the MECHATROLINK II bus There are three INVERTER COMMAND functions 1 Clears an alarm e 7 Controls operation signals 8 Set an Inverter to Servo Driver mode so it acts as a servo axis This is possible only for Inverters with an encoder feedback option card connected To use an Inverter via MECHATROLINK II you must put the command and the reference via communication option Inverter MV V7 N3 3 N4 9 Inverter F7 G7 1 01 3 B1 02 3 Make sure that the Inverter firmware supports the MECHATROLINK II board The command returns 1 if successfully executed and 0 if failed The command sent to the Inverter corresponds with the bits given in the table below Bit Value Command Description 0 Hex 1 Run forward 1 Hex 2 Run reverse 160
218. f the axis but by the position of the linked axis This is like connecting two axes through a cam In the figure A is the Master axis 0 position and B is the CAMBOX Axis 1 position A The MOVELINK command provides a way to link a specified move to a master axis The move is divided into an acceleration deceleration and constant speed part and they are specified in master link distances This can be particularly useful for synchronizing two axes for a fixed period The labels in the figure are Time axis Speed axis Master axis 1 Synchronized MOVELINK axis 0 gt Motion control concepts Section 1 3 1 3 3 4 Adding axes B BASE 0 ADDAX 2 FORWARD MOVE 100 AXIS 2 MOVE 60 AXIS 2 gt It is very useful to be able to add all movements of one axis to another One possible application is for instance changing the offset between two axes linked by an electronic gearbox The CJ1W MCH 72 provides this possibility by using the ADDAX command The movements of the linked axis will consists of all movements of the actual axis plus the additional movements of the master axis In the figure A is the time axis and B is the speed axis 1 3 4 Other operations 1 3 4 1 Cancelling moves 1 3 4 2 Origin search In normal operation or in case of emergency it can be necessary to cancel the current movement from the buffers When the CANCEL or RAPIDSTOP commands are given the selected
219. ferent from processing an interrupt input or signal With registration no event is generated when the registration input is activated Also the normal execution of the application program is not disturbed or 279 How to s Section 5 1 interrupted Only the position of an axis is stored This information can be used like other parameters or values in a program The registration information is available to a program immediately after the registration The advantage of registration is that it is done very quickly Therefore the axis position that is stored is very accurate To achieve this speed and accuracy registration is implemented with hardware and the registration input must be on the same board as the encoder input that provides information on the axis position Capturing and storing the axis position is done in real time by the hardware Processing this information is done not in real time by the application program 5 1 6 1 The REGIST axis command In Trajexia you do a registration with the REGIST axis command This command takes one argument This argument determines which external input is registered whether the registration is executed on the rising edge or on the falling edge of the input signal whether the windowing function is used and other options For more information on the REGIST command refer to section 4 2 198 The registration differs for different axes depending on their connection to the system If an axis is
220. fined TABLE element TSIZE is reset to 0 when the TABLE array is deleted using DEL TABLE or NEW TABLE on the command line Arguments Example The following example assumes that no location higher than 1000 has been written to the TABLE array TABLE 1000 3400 PRINT TSIZE 1001 0000 See also DEL NEW TABLE 235 All BASIC commands Section 4 2 4 2 248 UNITS Type Axis parameter Syntax UNITS Description The UNITS parameter contains the unit conversion factor The unit con version factor enables the user to define a more convenient user unit like m mm or motor revolutions by specifying the amount of encoder edges to include in a user unit Axis parameters like speed acceleration deceleration and the Axis commands are specified in these user units Note The UNITS parameter can be any non zero value but it is recom mended to design systems with an integer number of encoder pulses per user unit Changing UNITS will affect all axis parameters which are dependent on UNITS in order to keep the same dynamics for the sys tem Arguments N A Example A leads crew arrangement has a 5mm pitch and a 1 000 pulse rev encoder The units must be set to allow moves to be specified in mm The 1 000 pulses rev will generate 1 000 x 4 4 000 edges rev One rev is equal to 5mm Therefore there are 4 000 5 800 edges mm UNITS is thus set as following gt gt UNITS 1000 4 5 See also AXIS ENCODER_RATIO 4 2 24
221. from the floating point value for transmission over a communications link The function will typically be called 4 times to extract each byte in turn Note Byte 0 is the high byte of the 32 bit IEEE floating point format value Any BASIC floating point variable or parameter n The byte number 0 3 to be extracted All BASIC commands Section 4 2 Example See also 4 2 134 IF THEN ELSE ENDIF Type Syntax Description Arguments Example Example Example a MPOS AXIS 2 byte0 IEEE OUT a 0 byte1 IEEE OUT a 1 byte2 IEEE OUT a 2 byte3 IEEE OUT a 3 N A Program control command IF condition 1 THEN commands ELSEIF condition i THEN commands ELSE commands ENDIF IF condition_1 THEN commands This structure controls the flow of the program based on the results of the condition If the condition is TRUE the commands following THEN up to ELSEIF ELSE or ENDIF are executed If the condition is FALSE and the command of a subsequent ELSEIF substructure is TRUE the commands of this substructure are executed If all conditions are FALSE the commands following ELSE will be executed or the program will resume at the line after ENDIF in case no ELSE is included The ENDIF is used to mark the end of the conditional block Note IF THEN ELSE ENDIF sequences can be nested without limit For a multi line IF THEN construction there must not be any statement after THEN A single line construct
222. g Automated code section any manual code changes will be lost Omron Auto Generated Globals GLOBAL status word 900 GLOBAL action 902 GLOBAL sys error 908 Practical examples Section 5 2 GLOBAL first error 909 Omron Auto Generated Constants CONSTANT max axis 15 CONSTANT status bits 901 CONSTANT 01 903 CONSTANT diag02 904 CONSTANT diag03 905 CONSTANT unit detection 906 CONSTANT signal state 907 CONSTANT servo status 910 CONSTANT servo alarm 911 PLC Exchange Settings Omron Auto Generated CAM TABL Omron Auto Generated Symbols End Omron Auto Generated Local Variables alarm bit 0 i 0 Servo Parameters res 0 Servo Parameters res act 0 res ant 0 res bit 0 run act 0 run ant 0 run bit 0 stop act 0 stop ant 0 stop bit 0 Omron Auto Generated Local Variables End VR signal state 0 At least the right system needs to be properly detected once GOSUB system detection Stop all potential programs movements GOSUB stop all status word 1 loop IF alarm bit THEN action 1 Alarm push RESET to restart IF status word 2 THEN PRINT Stop with Alarm GOSUB stop all status word 2 Programs stopped with error ENDIF 295 Practical examples Section 5 2 296 IF res bit 1 THEN action 2 Resetting PRINT Resetting GOSU
223. g with ENCODER RATIO axis parameters for the axis All BASIC commands Section 4 2 Arguments 2 DIRECTION 1 2 J F 1 DIRECTION 0 TT 4 end_1 The end position for the BASE axis end_2 The end position for the next axis centre_1 The position around which the BASE axis is to move centre_2 The position around which the next axis is to move direction A software switch that determines whether the arc is interpolated in a clockwise or counterclockwise direction Value 0 or 1 If the two axes involved in the movement form a right hand axis set direction to 0 to produce positive motion about the third possibly imaginary orthogonal axis If the two axes involved in the move ment form a left hand axis set direction to 0 to produce negative motion about the third possibly imaginary orthogonal axis See the table below Direction Right hand axis Left hand axis 0 Positive Negative 1 Negative Positive 177 BASIC commands Section 4 2 178 SPECIFIED END POINT e ACTUAL END POINT I xu Note In order for the MOVECIRC to be correctly executed the two axes generating the circular arc must have the same number of encoder pulses versus linear axis distance If this is not the case it is possible to adjust the encoder scales in many cases by using ENCODER RATIO parameter Note The MOVECIRC computes the radius and the total angle of ro
224. gical XOR function between two bits is defined as in the table below Bit 1 Bit 2 Result 0 0 0 0 1 1 1 0 1 1 1 0 Arguments expression1 Any valid BASIC expression expression2 Any valid BASIC expression Example VR 0 10 XOR 18 The XOR is a bit operator and so the binary action taking place is as fol lows 01010 XOR 10010 11000 The result is therefore 24 See also N A 242 How to s Section 5 1 SECTION 5 Examples This chapter gives 2 categories of examples and tips How tos Practical examples 5 1 How to s 5 1 1 Startup program The purpose of this program is to compare the detected MECHATROLINK II configuration with the expected one the expected configuration is the configuration existing in the moment you create the program The STARTUP program does these actions Checks the number of nodes in the system Checks that the node numbers agrees e Checks if all slaves are connected and have power Any non agreement the program stops Sets the correct ATYPE as selected in the intelligent axis window Sets the mode Run or Commisioning 5 1 1 1 How to set a startup program When you add a new CJ1W MCH72 device to the solution in Trajexia Studio 2 programs are created by default the SHELL program and an application program called APPLICATION amp 3 Programs SHELL E APPLICATION Default programs SHELL and APPLICATION A CJ1W MCH72 device can
225. gital I O connected to the PLC If there are no digital I O connected the range for this parame ter is 8 31 value The value to be output either OFF 0 or ON 1 All non 0 values are considered as ON binary pattern The integer equivalent of the binary pattern is to be output Example OP 12 1 OP 12 ON These two lines are equivalent Example OP 18 256 This line sets the bit pattern 10010 on the first 5 physical outputs out puts 13 to 17 would be cleared The bit pattern is shifted 8 bits by multi plying by 256 to set the first available outputs as outputs 0 to 7 do not exist Example VR 0 OP VR 0 VR 0 AND 65280 OP VR 0 192 This routine sets outputs 8 to 15 ON and all others off The above programming can also be written as follows OP OP AND 65280 All BASIC commands Section 4 2 4 2 176 OPEN_WIN 4 2 177 val 8 The value to set mask OP AND NOT 15 256 Get current status and mask OP mask OR val 256 Set val to OP 8 to OP 11 This routine sets value val to outputs 8 to 11 without affecting the other outputs by using masking See also IN Type Axis parameter Syntax OPEN WIN OW Description The OPEN WIN parameter defines the beginning of the window inside or outside which a registration event is expected The value is in user units Arguments N A Example only look for registration marks between 170 and 230 OPEN WIN 170 CLOSE WIN 230
226. he Trajexia I O space refer to section 5 1 4 For more information on setting driver parameter Pn81E see Servo Driver manual As default the parameter is set to 1 no inputs selected If an input number is set and the limit is reached any forward motion on that axis will be stopped Bit 4 of the AXISSTATUS will also be set Note This input is active low 151 All BASIC commands Section 4 2 Arguments N A Example No example See also AXIS AXISSTATUS REV_IN 4 2 122FWD JOG Type Axis parameter Syntax FWD JOG Description The FWD JOG axis parameter contains the input number to be used as a jog forward input The input can be set from 0 to 31 As default the parameter is set to 1 no input is selected Note This input is active low Arguments N A Example No example See also AXIS FAST JOG JOGSPEED REV JOG 4 2 123 GET Type command Syntax GET n variable Description The GET command assigns the ASCII code of a received character to a variable If the serial port buffer is empty program execution will be paused until a character has been received Channels 5 to 7 are logical channels that are superimposed on the programming port 0 when using Trajexia Studio Note Channel 0 is reserved for the connection to Trajexia Studio and or the command line interface Please be aware that this channel may give problems for this function Arguments n The specified input device When this argument is omitted the port
227. he CONNECT command can be cancelled with a CANCEL or RAPIDSTOP command The CLUTCH_RATE axis param eter can be used to set a specified connection change rate CONNECT works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis EDE D CONNECT 1 1 CONNECT 2 1 CONNECT 0 5 1 ratio The connection ratio of the gearbox The ratio is specified as the encoder edge ratio not units It holds the number of edges the base axis is required to move per edge increment of the driving axis The ratio value can be either positive or negative and has sixteen bit fractional resolution driving axis The Master axis which will drive the base axis Note To achieve an exact connection of fractional ratio s of values such as 1024 3072 the MOVELINK command can be used with the continuous repeat link option set to ON In a press feed a roller is required to rotate at a speed that is equal to one quarter of the measured rate from an encoder installed on the incoming conveyor The roller is wired to the master axis 0 The refer ence encoder is connected to axis 1 BASE 0 SERVO ON CONNECT 0 25 1 111 BASIC commands Section 4 2 Example A machine has an automatic feed on axis 1 that must move at a set ratio to axis 0 This ratio is selected using inputs 0 2 to select a particular gear This ratio can be updated every 100 ms Combinations of inputs select the intermediate gear ratios For ex
228. he MECHATRO LINK II board The command returns 1 if successfully executed and 0 if failed The result if any is returned in the selected VR Arguments station The MECHATROLINK II station number of the Inverter param number The number of the parameter to read See the Inverter manual param size The size of the parameter to read 2 or 4 bytes Most of the Inverter parameters are 2 bytes long See the Inverter manual VR The address in the VR memory of the CJ1W MCH72 where the read information is put When the function is 4 the result is returned as a bitwise value See the table below Bit Value Command Description 0 Hex 1 Run forward 1 Hex 2 Run reverse 2 Hex 4 Inverter multifunction Input 3 3 Hex 8 Inverter multifunction Input 4 4 Hex 10 Inverter multifunction Input 5 5 Hex 20 Inverter multifunction Input 6 6 Hex 40 Inverter multifunction Input 7 8 Hex 100 External fault 9 Hex 200 Fault reset 14 Hex 4000 Fault history data clear 162 All BASIC commands Section 4 2 Bit Value Command Description 15 Hex 8000 External BB command alarm number The number of the alarm to read See the Inverter manual from The start address of the input to read length The length of the input to read Example No example See also N A 4 2 142 INVERTER WRITE Type Syntax Description Arguments System command INVERTER WRITE 0 station 0
229. he MECHATROLINK II slaves are connected up to 16 nodes within 30 m or up to 15 nodes within 50 m no repeater unit is required For more nodes or longer distances a repeater unit is required You can use the OMRON FNY REP2000 repeater or the Yaskawa JEPMC REP2000 repeater For more details refer to the Yaskawa Sigma ll Series SGDH MECHATROLINK II Application Module User Manual for model JUSP NS115 manual number SIEPC71080001 MECHATROLINK II slaves can have a station address that ranges from 41 hex to 5F hex These station addresses correspond to axis numbers 0 to 29 2 4 Specifications 2 4 1 Unit dimensions oc Hy i Dimensions of the CJ1W MCH72 2 4 2 Unit specifications 52 Specification Ambient operating temperature 0 C to 55 When all digital inputs are on max 45 When max 8 digital inputs are on max 55 Ambient storage temperature 20 C to 70 Ambient operating humidity 10 to 90 RH Ambient storage humidity 90 max without condensation Atmosphere No corrosive gases Specifications Section 2 4 Item Specification Vibration resistance 10 to 57 Hz 0 075 mm amplitude 57 to 100 Hz Accelerati
230. he P GAIN parameter value The default value of P GAIN for MECHA TROLINK II Speed axis ATYPE 41 is 131072 The default value for Encoder Interface In ATYPE z 44 is 1 0 The proportional gain sets the stiffness of the servo response Values that are too high will cause oscillation Values that are too low will cause large Following Errors Note In order to avoid any instability the servo gains should be changed only when the SERVO is off N A No example D GAIN I GAIN OV GAIN VFF GAIN Constant read only PI The PI constant returns the numerical constant value of approximately 3 14159 N A circum 100 PRINT Radius 2 N A System command PLC_EXCHANGE 0 area code PLC_EXCHANGE 1 area code plc area plc start tj area tj start total items PLC EXCHANGEX O prints the mapping of the PLC memory area specified by area code to the CJ1W MCH72 memory The output of this command is area code plc area plc start tj area tj start total items PLC_EXCHANGE 1 configures the mapping of the PLC memory to the CJ1W MCH72 memory 195 All BASIC commands Section 4 2 4 2 183 PLC_STATUS 196 Arguments area code The PLC area Possible values are 0100 0107 for PLC output area 8 areas available 8100 8107 for PLC input area 8 areas available plc area The PLC memory area used for data exchange Possible values are 01 CIO 03 DM 04 WR 05 HR
231. he other axis com mands and parameters This command waits for the response from the axis The execution of the command can be slow and variable in time If you require a quick response do not use this command Arguments VR The alarm value is stored on the VR address on successful execu tion alarm number Optional parameter to set which alarm to read 0 means the last alarm default 1 means the penultimate alarm etc alarm number ranges from 0 to 9 Example IF NOT DRIVE ALARM 10 AXIS 2 THEN PRINT Failed to readalarm for Servo Driver ELSE IF VR 10 OTHEN PRINT ServoDriver healthy ELSE PRINT Servoalarm code VR 10 ENDIF ENDIF This example reads an alarm of the Servo Driver driving axis 2 and present that information to the user See also N A 4 2 75 DRIVE CLEAR Type Axis command Syntax DRIVE CLEAR Description The DRIVE CLEAR command clears the alarm status of the Servo Driver connected via the MECHATROLINK II bus This command is not capable of clearing all the possible alarm states Some alarms can only be cancelled by turning off the power supply both the CJ1W MCH72 and the Servo Driver and then turning it on again Also an alarm will not be cleared if the cause of the alarm is still present The command is executed on the driver for the base axis set by BASE The base axis can be changed with the AXIS modifier as with all the other axis com mands and parameters Arguments N A Example No example S
232. he slave axis set with DRIVE COMMAND z11 as a percentage of the nominal torque The torque is proportional to the acceleration Because the acceleration is a derivative of the speed and the speed is sinusoidal curve the acceleration and also the torque is a cosine curve There is one peak at the start and another peak at the stop because there is a discontinuity in the acceleration There is also a high frequency oscillation in the torque curve suggesting a resonance frequency that can be eliminated using the notch filter settings in the Sigma ll Servo Driver The high frequency is reinforced because it is also reflected in the speed curve For more information on notch filter settings refer to the Sigma Il Servo Driver manual 5 1 7 4 Troubleshooting with the oscilloscope When the desired data is captured and recorded into the Table memory entries you can use the oscilloscope to visualize this data This can help you when you commission and troubleshoot the system This section gives an example of how a bug which is difficult to analyze can be clearly explained and solved using the captured data and the oscilloscope The parameter end_pos which defines the values in the CAM table depends on external conditions of the system Therefore a program that runs in another task or even a controlling device using FINS communication can change it while the main program that links two axis runs Suppose that these changes in conditions which result
233. he tuning is more simple only the rigidity Fn001 and if necessary the feedforward gain Pn109 needs to be set The position loop in the servo is faster 250 5 than in the CJ1W MCH72 and it is turned together with the speed loop There is no sample time delay between Target position and Measured position To do a finetune the different gain parameters can be changed individually BASE 0 ATYPE 41 MECHATROLINK Position mode SERVO 1 DRIVE CONTROL 2 To monitor the Following Error in DRIVE MONITOR WDOG 1 DEFPOS 0 loop MOVE 81920 WAIT IDLE WA 100 DEFPOS 0 GOTO loop 255 How to s Section 5 1 Example 1 1 Device1 hd x Gv IX 0 1 1 1 1 i 0 20 40 60 80 100 120 140 160 180 200 5 Offset ML MPOS ML MSPEED DigitalInput 2 ML DRIVE MONITOR The Following Error is proportional to the speed There is a soft profile due to the low rigidity setting low gain Note The colours and scale of the oscilloscope for position mode are as follows Red MSPEED Measured Axis speed Units is 50 units ms division Blue DRIVE MONITOR set as Following Error in the Servo Driver Units is depend ing on the graph Green MPOS Measured Axis position 50000 units division The parameter values for the example are Motion Parameter values Fn001 4 Pn109 0 256 H
234. he value negative and cause an error because a negative speed is not valid for any move type except FORWARD or REVERSE See also N A 4 2 25 ALL Type Slot modifier Syntax ALL Description The ALL modifier is used with the commands DEL and NEW It indi cates that these commands are applied to all items in the directory structure of the controller Arguments N A Example DEL ALL This deletes all programs and the TABLE memory of the controller Example HALT NEW ALL STORE This creates the memory of the controller See also DEL NEW 4 2 26 AND Type Mathematical operation Syntax expression1 AND expression2 86 All BASIC commands Section 4 2 Description The AND operator performs the logical AND function on the corre sponding bits of the integer parts of two valid BASIC expressions The logical AND function between two bits is defined as follows 0 AND 0 0 0 AND 1 0 1 0 1 AND 1 1 Arguments expression1 Any valid BASIC expression expression2 Any valid BASIC expression Example VR 0 10 AND 2 1 9 The parentheses are evaluated first but only the integer part of the result 18 is used for the AND operation Therefore this expression is equivalent to the following VR 0 10 AND 18 The AND is a bit operator and so the binary action is as follows 01010 AND 10010 00010 Therefore VR 0 will contain the value 2 Example IF MPOS AXIS 0 0 AND MPOS AXIS 1 0 THEN GOTO cycle1 If meas
235. hen the feedhold input turns on The current move is not cancelled FHSPEED can have any positive value including 0 The default value is 0 This default value is applicable to most appli cations as motion is usually ramped down to zero speed when the free hold input is set In some cases it may be desirable for the axis to ramp to a known constant speed when the freehold input is set Note This feature only works on speed controlled moves Moves which are not speed controlled CAMBOX CONNECT and MOVELINK are not affected N A No example AXIS AXISSTATUS FHOLD_IN UNITS Communication command FINS COMMS type network node unit remote area remote offset length local area local offset timeout FINS Factory Interface Network Service is a Proprietary OMRON com munication protocol A subset of this protocol has been implemented in Trajexia The FINS protocol has been implemented with the intention of enabling seamless communication with other OMRON devices PLCs HMls etc and software CX Drive CX Server etc For more informa tion on FINS communication protocol see the Communication Com mands Reference Manual cat num W342 E1 Sections 3 and 5 Trajexia has built in FINS client capabilities so it can initiate the FINS communications with FINS slave devices using FINS COMMS Only FINS 0101 Read Memory and FINS 0102 Write Memory commands are implemented With FINS 0101 memory can be read from other devices with F
236. hip between user units and encoder counts is 17 Pn202 2 encoder_counts 6 31 motor revolution 1 pulley revolution ITS Pn203 1 motor revolution 1 pulley revolution 320mm 17 2 6 31 encoder counts 320 mm Therefore 17 17 Pn202 2 6 31 2 631 12 631 12 631 9 631 UNITS 5 2 2 2 Pn203 320 2 1000 8 125 2 125 125 One solution is UNITS 2 512 Pn202 631 Pn203 125 Note that we have not used the pulley radius in the calculation This is to avoid the use of which cannot be expressed as a fractional number In toothed pulleys the number of teeth and mm per tooth is commonly used The calculation of the multiturn limit setting is m motor revolution n machine cycle 4160 pulley revolution motor revolution machine cycle n 13 revolution 320 machine_cycle 6 31 motor revolution n 13 82 03 pulley revolution 1 pulley revolution n 82 03 The smallest integer m for which this equation is valid is 8203 This results in Pn205 8202 266 How to s 5 1 3 6 Example 4 Section 5 1 In addition to limit the motion units range to the moving range of the motion part the following axis parameters must be set DIST 4260 and REP OPTION 1 With these settings executing MOVE 38 moves the moving part 38 mm in forward direction The range of possible MPOS and DPOS values is 0 mm to 4160 mm Full turn 360 3600 x
237. ifier as with all other axis commands and parameters For some parameters to be written the driver needs to be powered off and on again The DRIVE RESET command can be used for that purpose Note This command waits for the response of the axis so its execution is slow and the time variable Do not use this command together with other commands that require quick execution Note Executing a DRIVE WRITE will temporarily disable the Servo Driver Front Panel display Note DRIVE WRITE returns 1 on success It also returns 1 with no parameter read if the parameter number does not exist or has the wrong size 133 BASIC commands Section 4 2 Arguments parameter The number of the parameter to write to Note that the parameter numbers are hexadecimal The format of the data can be found in the Refer to the Servo Driver manual for the format of the data size Size of the parameter is specified in bytes For most parameters the size is normally 2 bytes Some special parameters may be 4 bytes long Sizes for each parameter can be found in the Servo Driver manual value The value to be written into driver parameter mode The write mode Possible values 0 or omitted write and store in RAM 1 write and store in EPROM Example IF DRIVE WRITE 100 2 90 THEN PRINT The new speed loop gain is 90 ELSE PRINT The speed loop gain could not be written in RAM ENDIF See also DRIVE READ DRIVE RESET HEXADECIMAL INPUT
238. in either absolute or relative terms An absolute move takes the axis A to a specific predefined position with respect to the origin point A relative move takes the axis from the current position to a position that is defined relative to this current position The figure shows an example of relative command MOVE and absolute command MOVEABS linear moves In point to point positioning each axis is moved independently of the other axis The CJ1W MCH72 supports the following operations Relative move Absolute move Continuous move forward Continuous move reverse Relative and absolute moves B MOVEABS 100 AXIS 0 MOVEABS 50 AXIS 1 To move a single axis either the command MOVE for a relative move or the command MOVEABS for an absolute move is used Each axis has its own move characteristics which are defined by the axis parameters Suppose a control program is executed to move from the origin to an axis no 0 A coordinate of 100 and axis no 1 B coordinate of 50 If the speed parameter is set to be the same for both axes and the acceleration and deceleration rate are set sufficiently high the movements for axis 0 and axis 1 will be as shown in the figure Motion control concepts Section 1 3 At start both the axis O and axis 1 moves to a coordinate of 50 over the same duration of time At this point axis 1 stops and axis 0 continues to move to a coordinate of 100 The move of a certain axis is determined
239. ind that the same outputs are used by the HW PSWITCH command The command is executed on the driver for the base axis set by BASE The base axis can be changed with the AXIS modifier as with all the other axis commands and parameters Arguments Example DRIVE_CONTROL AXIS 2 256 In this example OUT 0 is switched on for axis 2 connected using the Encoder Interface See also N A 4 2 77 DRIVE INPUTS Type Syntax Description Axis parameter DRIVE INPUTS This parameter monitors the status of the inputs of the Servo Driver con nected via the MECHATROLINK II bus The parameter value is updated each SERVO PERIOD cycle It is a bit wise word with the bits as listed in the table below 129 All BASIC commands Section 4 2 Bit Servo Driver input signal Description number Sigma Il Sigma V Junma 0 P OT P OT P OT Forward limit switch 1 N OT N OT N OT Reverse limit switch 2 DEC DEC DEC Zero point return deceleration 3 PA PA Not used Encoder A phase signal 4 PB PB Not used Encoder B phase signal 5 PC PC Not used Encoder C phase signal 6 EXT1 EXT1 EXT1 First external latch signal 7 EXT2 EXT2 Not used Second external latch signal 8 EXT3 Not used Third external latch signal 9 BRK BRK BRK Brake output 10 Reserved HBB E STP Emergency stop switch 11 Reserved Reserved Not used 12 1012 1012 Not used Not used 13 1013 1013 Not used Not used 14 1014 1014 Not used Not used 1
240. ing the unit number To set the unit number perform the following steps 1 Turn off the power supply to the PLC system 2 Usea small screwdriver to set the unit number selector switch to the new unit number 49 Installation Section 2 3 Caution Do not damage the unit number selector switch Note Note Note The factory setting of the unit number selector switch is 0 3 Turn on the power supply to the PLC system The unit reads the unit number during the initialization after a power up It does not read the unit number after a software reset Thus the power must always be turned off before the unit number is set If the unit number is set for the first time or if the unit number is changed an I O table must be created for the PLC system 2 3 2 2 Creating an I O table 50 The I O table identifies the units connected to the PLC and allocates I O to these units The I O table is stored in the PLC CPU It is loaded at start up If the configuration of a unit connected to the PLC is changed the I O table must be created again to register the units to the CPU To create the I O table connect a programming device such as a programming console or the CX Programmer software to the PLC The following programming console can be used Model number C2090H PRO27 E Key sheet required CS1W KS001 E Recommended cable required CS1W CN224 2 m CS1W CN624 6 m For CX Programmer refer to the CX Programmer U
241. ion must not use ENDIF condition i A logical expression commands One or more BASIC commands IF MPOS gt 0 22 VR 0 THEN exceeds length IF IN O ON THEN count count 1 PRINT COUNTS count fail 0 ELSE fail fail 1 ENDIF IF IN stop ON THEN OP 8 ON VR cycle_flag 0 ELSEIF IN start_cycle ON THEN VR cycle_flag 1 ELSEIF IN step1 ON THEN VR cycle_flag 99 ENDIF 157 All BASIC commands Section 4 2 Example See also 4 2 135 IN Type Syntax Description Arguments Example Example See also 158 IF key_char 31 THEN GOSUB char_1 ELSEIF key_char 32 THEN GOSUB char_2 ELSEIF key_char 33 THEN GOSUB char_3 ELSE PRINT Character unknown ENDIF N A function IN input number final_input_number IN The IN function returns the value of digital inputs N input number final input number will return the binary sum of the group of inputs in range input number final input number The two arguments must be less than 24 apart N input number will return the value of the particular input speci fied by the parameter input number input number The number of the input for which to return a value The range for this parameter depends on the number of additional digital I O con nected to the PLC If there are no digital I O connected the range for this parameter is 0 31 final input number The number of the last input for which to
242. ion with a certain priority assigned Process 0 to 12 are Low priority processes and Process 13 and 14 are High priority processes First the process priority High or Low and then the process number from high to low will define to which CPU task the process will be assigned 1 3 Motion control concepts The CJ1W MCH72 offers these types of positioning control operations 1 Point to Point PTP control 2 Continuous Path CP control 3 Electronic Gearing EG control This section introduces some of the commands and parameters used in the BASIC programming of the motion control application Coordinate system Positioning operations performed by the CJ1W MCH72 are based on an axis coordinate system The CJ1W MCH72 converts the position data from either the connected Servo Driver or the connected encoder into an internal absolute coordinate system The engineering unit that specifies the distances of travelling can be freely defined for each axis separately The conversion is performed through the use of the unit conversion factor which is defined by the UNITS axis parameter The origin point of the coordinate system can be determined using the DEFPOS command This command re defines the current position to zero or any other value Motion control concepts Section 1 3 1 3 1 1 3 1 1 PTP control i MOVEABS 30 MOVE 60 MOVEABS 50 2 1 MOVE 50 MOVE 30 A move is defined
243. is as follows 1 REGIST window is executed in the program 2 MARK 0 and the latch is triggered 3 The position is captured and transmitted to the Trajexia processor 4 1 the captured position inside the inclusive window or outside the exclusive window f yes MARK 1 and REG POS is updated If not return to point 2 trigger the latch again transparently to the user Position CLOSE WIN OPEN WIN t H No Registration the position The trigger is active REGIST 0 is outside the window T 1 The trigger is active REGIST 0 N MARK 1 MARK 0 MARK 0 MARK 1 MARK 0 1 j REG_POS xxx REG_POS XXX REG_POS Pos1 Registration Input The figure shows the sequence of execution of the above commands and the occurrence of registration events when you use inclusive windowing There are delays between these events Trajexia receives the latch Trajexia decides to trigger the latch again The latch is triggered Because of these delays there is an uncertainty in the edges of the window when marks may be detected near the edges This is more notable for axes connected to the system via the MECHATROLINK II bus due to bus delays To compensate for these delays a user must set the window margins large enough 283 How to s Section 5 1 5 1 6 7 Example Correcting the position of an axis Mandrel for Printed mark bag forming Em X os ee ee 7 Exter
244. is used N A No example N A System parameter POWER_UP 197 All BASIC commands Section 4 2 Description This parameter is used to determine whether or not programs should be read from flash EPROM on power up or software reset EX Two values are possible 0 Use the programs in battery backed RAM 1 Copy programs from the controllers flash EPROM into RAM Programs are individually selected to be run at power up with the RUNTYPE command Notes POWER UP is always an immediate command and therefore can not be included in programs This value is normally set by Trajexia Studio Arguments N A Example No example See also EPROM 4 2 187 PRINT Type command Syntax PRINT n expression expression 4n expression expression Description The PRINT command outputs a series of characters to the communica tion ports PRINT can output parameters fixed ASCII strings and single ASCII characters By using PRINT n any port can be selected to out put the information to Multiple items to be printed can be put on the same line separated by a comma or a semi colon A comma separator in the print command places a tab between the printed items The semi colon separator prints the next item without any spaces between printed items The width of the field in which a number is printed can be set with the use of w x after the number to be printed The width of the column is given by w and the number of deci
245. is used to trigger the adjust ment When measured position reaches REP_DIST twice that distance is subtracted to ensure that the axis always stays in the range REP_DIST REP_DIST assuming that REP_OPTION OFF or in the range 0 REP_OPTION assuming that REP_OPTION ON For every occurrence DEFPOS OFFPOS MOVEABS MOVEMODIFY which defines a position outside the range the end position will be redefined within the range The default value for all axes is 5000000 Arguments Example No example See also AXIS DPOS MPOS REP_OPTION UNITS 4 2 203 REP_OPTION Type Axis parameter Syntax REP_OPTION Description The REP_OPTION parameter controls the application of the REP_DIST axis parameter and the repeat option of the CAMBOX and MOVELINK Axis commands The default value is 0 See the table below Bit Description The repeated distance range is controlled by bit 0 of the REP_OPTION param eter f REP OPTION bit 0 is off the range of the demanded and measured posi tions will be between REP_DIST and REP_DIST f REP OPTION bit 0 is on the range of the demanded and measured posi tions will be between 0 and DIST The automatic repeat option of the CAMBOX and MOVELINK commands are controlled by bit 1 of the REP OPTION parameter The bit is set on to request the system software to end the automatic repeat option When the system soft ware has set the option off it automatically cle
246. ist link axis options The start and end parameters specify the basic shape profile ONLY The pattern sequence is specified in a separate section of the TABLE mem ory There is a new TABLE block defined The Control Block This block of seven TABLE values defines the pattern position repeat con trols etc The block is fixed at 7 values long Therefore in this mode only there are 3 independently positioned TABLE blocks used to define the required motion SHAPE BLOCK This is directly pointed to by the CAMBOX com mand as in any CAMBOX CONTROL BLOCK This is pointed to by the third CAMBOX param eter in this options mode only It is of fixed length 7 table values It is important to note that the control block is modified during the CAMBOX operation It must therefore be re initialised prior to each use PATTERN BLOCK The start and end of this are pointed to by 2 of the CONTROL BLOCK values The pattern sequence is a sequence of scale factors for the SHAPE The table below gives the CONTROL BLOCK parameters Note READ WRITE values can be written to by the user program dur ing the pattern CAMBOX execution Value Parameter R W Description 0 CURRENT R The current position within the TABLE of the pattern POSITION sequence This value should be initialised to the START PATTERN number 1 FORCE R W Normally this value is 1 If at the end of a SHAPE the POSITION user program has written a value into this TABLE po
247. l to the numerical value 0 ON Equal to the numerical value 1 PI Equal to the numerical value 3 1416 TRUE Equal to the numerical value 1 4 1 5 I O commands functions and parameters Name AIN Description Holds the value of the analogue channel 69 Categories Section 4 1 Name Description AOUT Holds the value of the analogue channel GET Waits for the arrival of a single character and assigns the ASCII code of the character to variable IN Returns the value of digital inputs OP Sets one or more outputs or returns the state of the first 24 outputs PRINT Outputs a series of characters to a serial port PSWITCH Turns on an output when a predefined position is reached and turns off the output when a second position is reached READ OP Returns the value of the digital outputs 4 1 6 Mathematical functions and operands 70 Name Description ADDITION Adds two expressions SUBTRACTION Subtracts two expressions MULTIPLICATION Multiplies two expressions DIVISION Divides two expressions POWER Takes the power of one expression to the other expres sion IS EQUAL TO Checks two expressions to see if they are equal ASSIGNMENT Assigns an expression to a variable lt gt IS NOT EQUAL TO Checks two expressions to see if they are different gt IS GREATER THAN Checks two expressions
248. label is used and so on If the value of the expression is less than 1 or greater than the number of labels then an error occurs Once the label is selected subroutine GOTO jump to that label is performed expression Any valid BASIC expression label Any valid label in the program 191 All BASIC commands Section 4 2 Example REPEAT GET 1 char UNTIL 1 lt char and char lt 3 ON char mover stopper change See also N A 4 2 175 OP Type command Syntax OP output number value OP binary pattern OP Description OP command sets one or more outputs or returns the state of the first 24 outputs OP has three different forms depending on the number of arguments Command OP output_number value sets a single output channel The range of output number depends on the number of additional digital I O connected to the PLC and value is the value to be output either O or 1 Command OP binary pattern sets the binary pattern to the 24 out puts according to the value set by binary pattern Function OP without arguments returns the status of the first 24 outputs This allows multiple outputs to be set without corrupting oth ers which are not to be changed Note The first 8 outputs 0 to 7 do not physically exist on the CJ1W MCH72 They can not be written to and will always return 0 Arguments output number The number of the output to be set The range for this parameter depends on the number of additional di
249. lied CAM Moves an axis according to values of a movement profile stored in the TABLE variable array CAMBOX Moves an axis according to values of a movement profile stored in the TABLE variable array The motion is linked to the measured motion of another axis to form a continu ously variable software gearbox CANCEL Cancels the move on an axis CONNECT Connects the demand position of an axis to the measured movements of the axis specified for driving axis to pro duce an electronic gearbox DATUM Performs one of 7 origin search sequences to position an axis to an absolute position or reset a motion error DEFPOS Defines the current position as a new absolute position 65 Categories Section 4 1 Name Description DISABLE GROUP Groups axes together for error disabling DRIVE ALARM Monitors the current alarm DRIVE CLEAR Clears the alarm status of the Servo Driver DRIVE READ Reads the specified parameter of the Servo Driver DRIVE RESET Resets the Servo Driver DRIVE WRITE Writes a specific value to the specified parameter of the Servo Driver ENCODER READ Reads a parameter of the EnDat absolute encoder ENCODER WRITE Writes to a parameter of the EnDat absolute encoder FORWARD Moves an axis continuously forward at the speed set in the SPEED parameter HW PSWITCH Sets on and off the hardware swi
250. ll BASIC commands Section 4 2 4 2 36 B_SPLINE 4 2 37 BACKLASH Bit Description Value Character number 10 In reverse software limit 1024 y 11 Cancelling move 2048 12 Encoder out overspeed 4096 Arguments Example IF AXISSTATUS AND 16 gt 0 THEN PRINT In forward limit See also AXIS ERRORMASK Type Axis command Syntax B SPLINE type data in number in data out expand Description Expands an existing profile stored in the TABLE using the B Spline mathematical function The expansion factor is configurable and the B SPLINE stores expanded profile to another area in the TABLE This is ideally used where the source CAM profile is too course and needs to be extrapolated into a greater number of points Arguments type Reserved for future expansion Always set this to 1 data in Location in the TABLE where the source profile is stored number in Number of points in the source profile data out Location in the TABLE where the expanded profile will be stored expansion ratio The expansion ratio i e if the source profile is 100 points and expansion ratio is set to 10 the resulting profile will be 1000 point 100 10 Example BASE 1 SPLINE 1 0 10 200 10 This command expands a 10 point profile in TABLE locations 0 to 9 to a larger 100 points profile starting at TABLE location 200 See also N A Type Axis command Syntax BACKLASH on off distance speed accel 91 All BA
251. ll be stored in TABLE locations O to 499 the DPOS parameters in TABLE locations 500 to 999 The SCOPE function will wrap and start storing at the beginning again unless stopped Sampling will not start until the TRIGGER command is executed SCOPE OFF This above line turns the scope function off SCOPE POS TABLE TRIGGER 223 All BASIC commands Section 4 2 4 2 217 SCOPE_POS 4 2 218 SELECT 4 2 219 SERVO 224 Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example System parameter read only SCOPE_POS The SCOPE_POS parameter contains the current TABLE position at which the SCOPE command is currently storing its parameters N A No example SCOPE Program command SELECT program_name The SELECT command specifies the current program for editing run ning listing etc SELECT makes a new program if a program with the name entered does not exist The program name can also be specified without quotes When a program is selected the commands COMPILE DEL EDIT LIST NEW RUN STEPLINE STOP and TROFF will apply to the cur rently selected program unless a program name is specified in the com mand line When another program is selected the previously selected program will be compiled The selected program cannot be changed when a program is running Note This command is implemente
252. lled by the POWER UP system parameter Note Trajexia Studio offers this command as a command on the Online menu Arguments N A Example No example 138 All BASIC commands Section 4 2 See also 4 2 96 ERROR AXIS Type Syntax Description Arguments Example See also 4 2 97 ERROR LINE Type Syntax Description Arguments Example See also 4 2 98 ERRORMASK Type Syntax Description POWER UP RUNTYPE System parameter read only ERROR AXIS The ERROR AXIS axis parameter contains the number of the axis which has caused the motion error A motion error occurs when the AXISSTATUS state for one of the axes matches the ERRORMASK setting In this case the enable switch WDOG will be turned off the MOTION ERROR parameter will have value different than 0 and the ERROR AXIS parameter will contain the number of the first axis to have the error Note The value of ERROR AXIS is not cleared when the error condi tion is fixed It is only changed when a new error occurs N A No example AXISSTATUS ERRORMASK MOTION ERROR WDOG Task parameter read only ERROR LINE The ERROR LINE parameter contains the number of the line which caused the last BASIC run time error in the program task This value is only valid when the BASICERROR parameter is TRUE Each task has its own ERROR LINE parameter Use the PROC modi fier to access the parameter for a certain task Without PROC the cur rent task will b
253. mal places is given by x Using only one parameter x takes the default width and specifies the number of decimal places to be printed The numbers are right aligned in the field with any unused leading characters being filled with spaces If the number is too long then the field will be filled with asterisks to signify that there was not sufficient space to display the number The maximum field width allowable is 127 characters The backslash command can be used to print a single ASCII charac ter Arguments n The specified output device When this argument is omitted the port is 0 Terminal window See the table below Value Description Programming port O default Trajexia Studio port 0 user channel 5 Trajexia Studio port 0 user channel 6 aj Trajexia Studio port 0 user channel 7 expression The expression to be printed 198 All BASIC commands Section 4 2 Example Example Example Example Example Example Example See also 4 2 188 PROC Type Syntax Description Arguments Example See also 4 2 189 PROC_STATUS Type Syntax Description PRINT CAPITALS and lower case CAN BE PRINTED Consider VR 1 6 and variab 1 5 the print output will be as follows PRINT 123 45 VR 1 variab 123 4500 4 5000 length PRINT DISTANCE mpos DISTANCE 123 0000 In this example the semi colon separator is used This does not tab into the nex
254. mand MOVELINK distance link distance link acceleration link deceleration link axis link option link position ML distance link distance link acceleration link deceleration link axis link option link position 179 All BASIC commands Section 4 2 Description The MOVELINK command creates a linear move on the base axis linked via a software gearbox to the measured position of a link axis The link axis can move in either direction to drive the output motion The parameters show the distance the BASE axis moves for a certain distance of the link axis link_distance The link axis distance is divided into three phases that apply to the movement of the base axis These parts are the acceleration the constant speed and the decelera tion The link acceleration and deceleration distances are specified by the link_acceleration and link_deceleration parameters The con stant speed link distance is derived from the total link distance and these two parameters The three phases can be divided into separate MOVELINK commands or can be added up together into one Consider the following two rules when setting up the MOVELINK com mand Rule 1 In an acceleration and deceleration phase with matching speed the link_distance must be twice the distance See the figure Rule 2 In a constant speed phase with matching speeds the two axes travel the same distance so the distance to move must equal the link_distance MOVELINK w
255. ment and that is comma delimited text Note TABLEVALUES is provided mainly for Trajexia Studio to allow for fast access to banks of TABLE values Arguments address Number of the first point to be returned number of points Total number of points to be returned format Format for the list Example No example See also N A 4 2 236 TAN Type Mathematical function Syntax TAN expression Description The TAN function returns the tangent of the expression The expression is assumed to be in radians Arguments expression Any valid BASIC expression Example gt gt print TAN PI 4 1 0000 See also N A 4 2 237 THEN See IF THEN ELSE ENDIF 4 2 238 TICKS Type Task parameter Syntax TICKS Description The TICKS parameter contains the current count of the task clock pulses TICKS is a 32 bit counter that is decremented on each servo cycle TICKS can be written and read It can be used to measure cycles times add time delays etc Each task has its own TICKS parameter Use the PROC modifier to access the parameter for a certain task Without PROC the current task will be assumed Arguments N A 232 All BASIC commands Section 4 2 Example delay TICKS 3000 OP 9 ON test IF TICKS lt 0 THEN OP 9 OFF ELSE GOTO test ENDIF See also N A 4 2 239 TIME Type System parameter read only Syntax TIME Description Returns the time from the real time clock The time returned as an inte ger is the number of seco
256. meters Pn202 and Pn203 encoder pulses and mechanical measurement units is Pn202 yencoder counts UNITS Pn203 x user units where y is the number of encoder counts and x is the amount in user units Full turn 360 M 13 bit incremental 1 10 Gear encoder The mechanical system consists of a simple rotary table A servo motor with 13 bit incremental encoder is used The gear ratio of the gearbox is 1 10 The desired user units are degree of angle This system can be described with the following equations 1 motor_revolution 2 encoder counts 10 motor revolution 1 machine cycle 1 machine cycle 360 The combination of these equations results in 13 Pn202 2 encoder counts 10 motor revolution 1 machine revolution Pn203 1 motor revolution 1 machine revolution 360 13 2 10 encoder counts 360 degree And therefore Pn202 27 40 UNITS Pn203 36 From this equation we can derive the values for Pn202 Pn203 and UNITS given the following restrictions and recommendations How to s Section 5 1 1 Pn202 and Pn203 are integers 2 UNITS must not have an infinite number of decimal digits This can create rounding errors that result in small position errors that add up to large accumulative position errors 3 For reasons of stability it is necessary to avoid situations where Pn202 Pn203 is less than 0 01 or greater than 100 It is recommended that Pn202 Pn203 is
257. mmands Section 4 2 Description The ENCODER_CONTROL parameter is applicable only to Flexible axis absolute EnDat axis with ATYPE value 47 The parameter controls the mode in which EnDat encoder return its position The encoder can be set to either cyclically return its position or it can be set to a parame ter read write mode The default after initialization is cyclic position return mode For more information see EnDat absolute encoder inter face specification Arguments N A Example ENCODER CONTROL AXIS 1 0 This command sets cyclic position return mode Example ENCODER CONTROL AXIS 1 1 This command sets parameter read write mode See also AXIS ENCODER ENCODER BITS 4 2 89 ENCODER RATIO Type Axis parameter Syntax ENCODER RATIO denominator numerator Description This command allows the incoming encoder count to be scaled by a non integer number using the equation MPOS numerator demoninator x encoder edges input Unlike the UNITS parameters ENCODER RATIO affects commands like MOVECIRC and CAMBOX since it affects the number of encoder edges within the servo loop at the low level It is necessary to change the position loop gains after changing encoder ratio in order to maintain performance and stability Note Large ratios should be avoided as they will lead to either loss of resolution or much reduced smoothness in the motion The actual phys ical encoder count is the basic resolution of the axis and the use
258. mple are Motion Parameter values Fn001 6 Pn109 95 259 How to s Section 5 1 Example 5 1 Device1 X x Oa aw it I rA 1 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 5 Display Plot Parameter Value Offset Change v ML MPOS 0 E ML MSPEED 0 mm Digitalinput 2 0 mm vi ML DRIVE MONITOR 0 mm With the feedforward set to 100 the Following Error is very small and proportional to the acceleration The optimum value of 100 correction is the maximum value that can be set The parameter value of Pn109 is easier to set than the parameter value of VFF GAIN The parameter values for the example are Motion Parameter values Fn001 6 Pn109 100 5 1 3 Setting the UNITS axis parameter and gear ratio 260 In controlling the mechanical axis with the CJ1 W MCH72 a Servo Driver and a servo motor the only measurement units that the hardware understands are encoder counts All commands to the driver to move an axis are expressed in encoder counts All feedback information about axis positions is also expressed in encoder counts When writing programs in BASIC to achieve movements or a sequence of movements a user can prefer to work with user defined units such as millimeter centimeter meter degree of angle product rotation stations The UNITS axis parameter contains the conversion facto
259. mum 250 KB 53 Specifications Section 2 4 2 4 4 MECHATROLINK II specifications Item Specification Electrical characteristics Conforms to the MECHATROLINK standard Communication ports 1 MECHATROLINK II master port Transmission speed 10 Mbps Communication cycle 0 5 ms 1 ms 2 ms 4 ms Slave types Servo Drivers Frequency Inverters Number of slaves per master Cycle time Max 30 slaves 4 ms Max 16 slaves 2 ms Max 8 slaves 1 ms Max 4 slaves 0 5 ms Transmission distance Max 50m 2 4 5 Encoder interface specifications 54 Item Specification Number of axes 1 Electrical characteristics Control method EIA RS 422 A Standards line driver Pulse Train output open loop only Encoder position speed feedback Incremental and absolute Absolute encoder standards sup SSI 200 kHz ported EnDat 1 MHz Encoder input maximum edge rate 6 M edges s Encoder pulse output maximum 2 M edges s edge rate Maximum cable length SSI 100 m max EnDat 40 m max Encoder input 100 m max Encoder stepper output 100 m max Introduction Section 3 1 SECTION 3 Data exchange 3 1 Introduction The CJ1W MCH72 can exchange data with memory areas in the PLC This enables the CJ1W MCH72 to use the inputs and outputs connected to the PLC Also programs in the CJ1W MCH72 and PLC programs can exchange c
260. n expression Any valid BASIC expression gt gt PRINT FRAC 1 234 0 2340 N A System parameter FRAME value Used to specify which frame to operate within when employing frame transformations Frame transformations are used to allow movements to be specified in a multi axis coordinate frame of reference which do not correspond one to one with the axes An example is a SCARA robot arm with jointed axes For the end tip of the robot arm to perform straight line movements in X Y the motors need to move in a pattern determined by the robots geometry Frame transformations to perform functions such as these need to be compiled from C language source and loaded into the controller system software Contact OMRON if you need to do this A machine system can be specified with several different frames The currently active frame is specified with the FRAME System parameter The default FRAME is 0 which corresponds to a one to one transforma tion N A FRAME 1 N A System function FREE All BASIC commands Section 4 2 Description The FREE function returns the remaining amount of memory available for user programs and TABLE array elements Note Each line takes a minimum of 4 characters bytes in memory This is for the length of this line the length of the previous line number of spaces at the beginning of the line and a single command token Additional commands need one byte per token most other data is held as ASCII The C
261. n of the REP DIST axis parameter REV IN Contains the input number to be used as a reverse limit input Categories Section 4 1 Name Description REV JOG Contains the input number to be used as a jog reverse input RS LIMIT Contains the absolute position of the reverse software limit S REF Contains the speed reference value which is applied when the axis is in open loop S REF OUT Contains the speed reference value being applied to the Servo Driver for both open as closed loop SERVO Determines whether the axis runs under servo control or open loop SPEED Contains the demand speed in units s SPEED SIGN Configures the voltage range of the analogue speed refer ence output of the Encoder Interface SRAMP Contains the S curve factor T REF Contains the torque reference value which is applied to the servo motor TRANS DPOS Contains axis demand position at output of frame transfor mation UNITS Contains the unit conversion factor VERIFY Selects different modes of operation on a stepper output axis VFF GAIN Contains the speed feed forward control gain VP SPEED Contains the speed profile speed 4 1 3 Communication commands and parameters 4 1 4 Constants Name Description FINS_COMMS Sends FINS Read Memory and Write Memory to a desig nated FINS server unit Name Description FALSE Equal to the numerical value 0 OFF Equa
262. n order to finish the movement at a defined position after the registration mark Therefore the same distance in respect to the registration mark is always guaranteed Feeder 2 The new target position is recalculated speed TARGET POS CAPTURED POS D 1 The rising edge of The area below the graph the registration captures distance is D the feeder position The motion profile and its modification due to the registration mark are shown In The BASIC program for this example is DEFPOS 0 REGIST 3 Trigger the mark registration MOVE bag_length Move to the theoretical distance WA 1 WAIT UNTIL MARK OR MTYPE 0 IF MARK THEN end_position REG_POSt distance_after_mark MOVEMODIFY end_position Correct the distance according to the mark ENDIF 285 How to s Section 5 1 5 1 6 8 Example Starting a slave axis in precise position of a master axis Slave axis Flying shear E Transporting belt Master axis The picture shows a flying shear cutting the head of wood tables When the wood comes the edge of the wood is detected by the photocell and at the exact moment the movement of the flying shear starts to be synchronized with the right position on the wood If the movement is started by the program upon detecting a signal from the photocell there is always at least one SERVO PERIOD of time of uncertainty Instead the movement is started using the MOVELINK command with
263. nal encoder for slip compensation The picture shows the vertical fill and seal machine for packaging products into bags The bag material comes from a plastic film coil that is unwinded then it is shaped into the tube by a mechanical mandrel and at the same time the tube is sealed vertically The feeder movement is intermittent and the feed length corresponds with the bag length Once the bag is fed the horizontal sealer closes the bag so it can be filled with the product After that the process starts again feeding the new bag After 1 bag After 20 bag After 100 bag The feeder can work in two modes without registration mark and with registration mark Working without the registration mark is a simple point to point incremental movement In this case there is no guarantee that the feeder moves exactly the same distance as the design pattern For example suppose the bag length that needs to be fed is 200 mm but the real pattern is 200 1 mm With simple point to point incremental movement without 284 How to s Section 5 1 correction an error of 0 1 mm per bag is accumulated With a small number of bags the difference is not visible but after 500 bags the error is 50 mm which is a 2596 of the bag length When working with registration marks the motion controller executes an incremental movement to a certain position If during the positioning the registration mark is detected the target position is changed on the fly i
264. nalysis using the Create Table file option on the File menu The current TABLE position for the first parameter which is written by SCOPE can be read from the SCOPE_POS parameter Notes 1 Trajexia Studio uses the SCOPE command when running the Oscillo scope function 2 To minimize calculation time for writing the real time data the SCOPE command is writing raw data to the TABLE array For example a The parameters are written in encoder edges per second and there fore not compensated for the UNITS conversion factor b The MSPEED parameter is written as the change in encoder edges per servo period 3 Applications like the CAM command CAMBOX command and the SCOPE command all use the same TABLE as the data area control Set on or off to control SCOPE execution If turned on the SCOPE is ready to run as soon as the TRIGGER command is executed period The number of servo periods between data samples table start The address of the first element in the TABLE array to start storing data table stop The address of the last element in the TABLE array to be used e PO First parameter to store P1 Optional second parameter to store e P2 Optional third parameter to store e Optional fourth parameter to store SCOPE ON 10 0 1000 MPOS AXIS 1 DPOS AXIS 1 This example programs the SCOPE function to store the MPOS param eter for axis 1 and the DPOS parameter for axis 1 every 10 servo cycles The MPOS parameter wi
265. nd deceleration to a position specified as increment from the current position In multi axis moves the movement is interpolated and the speed acceleration and deceleration are taken from the base axis The specified distances are scaled using the unit conversion factor in the UNITS axis parameter If for example an axis has 4 000 encoder edges mm then the number of units for that axis would be set to 4000 and MOVE 12 5 would move 12 5 mm MOVE works on the default basis axis group set with BASE unless AXIS is used to specify a temporary base axis Argument distance 1 is applied to the base axis distance 2 is applied to the next axis etc By changing the axis between individual MOVE commands uninterpo lated unsynchronised multi axis motion can be achieved Incremental moves can be merged for profiled continuous path movements by turn ing on the MERGE axis parameter Considering a 2 axis movement the individual speeds are calculated using the equations below Given command MOVE x x gt and the pro filed speed v as calculated from the SPEED ACCEL and DECEL parameters from the base axis and the total multi axes distance L SQR x x52 The individual speed v for axis at any time of the movement is calcu lated as x Vp L Arguments The command can take up to 16 arguments distance i The distance to move for every axis in user units starting with the base axis Example A system works with a unit conversion
266. nd demand speed for the origin search The creep speed in the sequences is set with the CREEP axis parame ter and the demand speed is set with the SPEED axis parameter The datum switch input number used for sequences 3 to 6 is set by the DATUM parameter DATUM works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Note The origin input set with the DATUM IN parameter is active low i e the origin switch is set when the input is OFF The feedhold reverse jog forward jog forward and reverse limit inputs are also active low Active low inputs are used to enable fail safe wiring sequence See the table below sequence value Description The DATUM 0 command will clear the motion error The currently measured position is set as the demand position this is especially use ful on stepper axes with position verification also clears the Following Error that exceeded the FE LIMIT condition in the AXISSTATUS register for ALL axes It sets these bits in AXXISSTATUS to zero Bit 1 Following Error Warning Bit 2 Remote Driver Comms Error Bit 3 Remote Driver Error Bit 8 Following Error Limit Exceeded Bit 11 Cancelling Move Note that the status can not be cleared if the cause of the problem is still present DATUM 0 must only be used after the WDOG is set to OFF otherwise there will be unpredictable errors on the motion The axis moves at c
267. nds since midnight 00 00 00 Arguments Example gt gt PRINT TIME gt gt 48002 0000 See also N A 4 2 240 TIMES Type System command Syntax TIME Description Prints the current time as defined by the real time clock as a string in 24 hour format Arguments Example When the time is 13 20 00 gt gt PRINT gt gt 13 20 00 See also N A 4 2 241 TO See FOR TO STEP NEXT 4 2 242 TRANS DPOS Type Axis parameter read only Syntax TRANS DPOS 233 All BASIC commands Section 4 2 Description Axis demand position at output of frame transformation TRANS DPOS is normally equal to DPOS on each axis The frame transformation is therefore equivalent to 1 1 for each axis For some machinery configu rations it can be useful to install a frame transformation which is not 1 1 these are typically machines such as robotic arms or machines with par asitic motions on the axes Frame transformations have to be specially written in the C language and downloaded into the controller It is essen tial to contact OMRON if you want to install frame transformations Arguments N A Example No example See also FRAME 4 2 243 TRIGGER Type System command Syntax TRIGGER Description The TRIGGER command starts a previously set SCOPE command Note Trajexia Studio uses TRIGGER automatically for its oscilloscope function Arguments N A Example No example See also SCOPE 4 2 244 TROFF Type Program command Syntax T
268. ng Not doing so may result in an unexpected operation Changing the operating mode of the PLC including the operating mode at power up Force setting force resetting any bit in memory Changing the present value of any word or any set value in memory Do not pull on the cables or bend the cables beyond their natural limit Doing either of these may break the cables Do not place objects on top of the cables or other wiring lines Doing so may break the cables Resume operation only after transferring the system parameter data to the CJ1W MCH72 and saving the data to flash memory Not doing so may result in an unexpected operation Confirm that set parameters and data operate properly Check the pin numbers before wiring the connectors Conformance to EC Directives 6 6 4 A Caution A Caution A Caution A Caution Perform wiring according to specified procedures Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static build up Not doing so may result in malfunction or damage Do not drop the Unit or subject it to abnormal shock or vibration Confirm the safety of the destination node before transferring a program to the node or changing the contents of I O memory Doing either of these without confirming safety may result in injury Conformance to EC Directives Applicable directives Concepts Note EMC Directives OMRON devices that comply with
269. ng Error Units is depending on the graph Green MPOS Measured Axis position 50000 units division 247 How to s Section 5 1 Example 2 Trace1 Device1 hd x Gb vd IX 0 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 5 Offset ML MPOS ML MSPEED DigitalInput 2 ML FE The value for rigidity is increased The error magnitude remains the same but the ripple the speed stability and overshoot are better The parameter values for the example are Motion Parameter values P Gainz131072 VFF_GAIN 0 Fn001 6 248 How to s Section 5 1 Example 3 Trace1 Device1 u d c EG xvid IX D 0 1 1 1 1 100 120 140 160 180 200 Time ms 1 80 Plot Parameter ML MPOS ML MSPEED DigitalInput 2 ML FE Offset 0 0 0 0 The parameter P GAIN is increased further The Following Error decreases proportionally The parameter values for the example are Motion Parameter values P Gain 200000 VFF_GAIN 0 Fn001 6 249 How to s Section 5 1 Example 4 Trace1 Device1 hd x Gv I n a 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 5 Offset ML MPOS ML MSPEED DigitalInput 2 ML FE The value of the parameter P GAI
270. ng movement uc This origin search procedure performs origin search against a physical object and mechanically blocks the movement There are no limit switches no absolute position switch an detected by detecting a pa d no reference pulses The origin position is rticular amount of torque against the blocking objects An adequate torque limit is required in order not to damage the mechanics during the origin search process The example for this homing procedure is shown in the figure The program example that does this origin search sequence is given below BASE 0 D SERVO ON WDOG ON SP R EED CREEP EVERSE WA 1 RIVE CONTROL 11 Monitor torque with DRIVE MONITOR WAIT UNTIL DRIVE MONI OR 100 Wait for particul CANCEL DEFPOS 0 lar amount of applied torque MOVEABS 10 This is necessary otherwise the position is kept pushing the hardware limit of the machine and the motor trips by overload 5 1 5 4 Origin search using encoder reference 278 min limit switch _ON OFF pulse Zero Mark encoder max limit switch OFF ON How to s Section 5 1 This origin search procedure performs origin search by searching for the Zero Mark signal of the encoder This signal is also known as marker or reference pulse It appears one time per full encoder revolution The example for this homing procedure is
271. ng the change in Following Error with D_GAIN The default value is 0 Add the derivative gain to a system to produce a smoother response and to allow the use of a higher proportional gain that could not be used otherwise High values can cause oscillation Note The servo gain must only be changed when the SERVO is off Note Servo gains have no affect on stepper output axis ATYPE 46 N A D_GAIN 0 25 AXIS GAIN OV GAIN P GAIN GAIN System parameter D ZONE MAX value This parameter works in conjunction with D ZONE MIN to clamp the S REF output to zero when the demand movement is complete and the magnitude of the Following Error is less than the D ZONE MIN value The servo loop will be reactivated when either the Following Error rises above the D ZONE MAX value or a fresh movement is started N A D ZONE MIN 3 D ZONE MAX 10 With these 2 parameters set as above the S REF output will be clamped at zero when the movement is complete and the Following Error falls below 3 When a movement is restarted or if the Following Error rises above a value of 10 the servo loop will be reactivated D ZONE MIN System parameter D ZONE MlN value 115 All BASIC commands Section 4 2 Description Arguments Example See also 4 2 63 DATE Type Syntax Description Arguments Example See also 4 2 64 DATE Type Syntax Description Arguments Example See also 4 2 65 DATUM Type Syntax 1
272. ng the reverse limit inhibit or ori gin return limit Arguments 215 All BASIC commands Section 4 2 Example Run an axis in reverse When an input signal is detected on input 5 stop the axis back REVERSE WAIT UNTIL IN 0 ON Wait for stop signal CANCEL 10 20 a ul a 30 40 MPOS 129 45 0 MPOS 300 Example Run an axis in reverse When it reaches a certain position slow down DEFPOS 0 set starting position to zero REVERSE WAIT UNTIL MPOS lt 129 45 SPEED slow_speed WAIT UNTIL VP_SPEED slow_speed wait until the axis slows OP 11 ON turn on an output to show that speed is now slow 216 All BASIC commands Section 4 2 4 2 210 RS_LIMIT 4 2 211 RUN Example See also Type Syntax Description Arguments Example See also Type Syntax Description A joystick is used to control the speed of a platform A deadband is required to prevent oscillations from the joystick midpoint This is done with the REVERSE command which sets the correct direction relative to the operator Then the joystick adjusts the speed through analogue input 0 REVERSE WHILE IN 2 ON IF AIN 0 lt 50 AND AIN 0 gt 50 THEN sets a deadband in the input SPEED 0 ELSE SPEED AIN 0 100 sets speed to a scale of AIN ENDIF WEND CANCEL AXIS CANCEL FORWARD RAPIDSTOP Axis parameter RS_LIMIT RSLIMIT The RS_LIMIT parameter contains the absolute position of th
273. nnection is established with the drive the absolute encoder position is read from the drive and the value is written in MPOS after the conversion UNITS x Pn202 Pn203 When the mechanical system has a limited travel distance to move like in a ball screw the value of the parameter Pn205 should be set large enough to have an overflow of the counter out of the effective position This is 263 How to s Section 5 1 5 1 3 4 Example 2 264 called limited axis or finite axis A typical example of a limited axis is a ball screw as shown in When the mechanical system always moves in the same direction it reaches the overflow of the multiturn counter In this case the value of Pn205 must guarantee that the overflow always occurs in the same position with respect to the machine This is called unlimited axis and a typical example of it is a turntable shown in It can be achieved with the following equation the smallest value of m such that n machine cycles motor revolution Because n and m are integers Pn205 1 This setting is explained in the following example Full turn 360 M 16 bit absolute 1 10 Gear encoder The mechanical system consists of simple rotary table shown in the figure A servo motor with 16 bit absolute encoder is used The gear ratio of the gearbox is 1 10 The desired user units are degree of angle The rotary table is divided in six sections of 60 degrees
274. nning PROCNUMBER is often required when multiple copies of a program are running on differ ent tasks Arguments N A Example MOVE length AXIS PROCNUMBER See also PROC_STATUS PROC 4 2 192 PSWITCH Type command Syntax PSWITCH switch enable axis output_number output_state set_position reset_position 200 All BASIC commands Section 4 2 Description Arguments The PSWITCH command turns on an output when a predefined position is reached and turns off the output when a second position is reached The positions are specified as the measured absolute positions There are 16 position switches each of which can be assigned to any axis Each switch has assigned its own ON and OFF positions and out put number The command can be used with 2 or all 7 arguments With only 2 argu ments a given switch can be disabled PSWITCHes are calculated on each servo cycle and the output result applied to the hardware The response time is therefore 1 servo cycle period approximately Note An output may remain ON if it was ON when the PSWITCH was disabled In such cases the OP command can be used to turn off an output as follows PSWITCH 2 OFF OP 14 OFF Turn OFF pswitch controlling OP 14 Note The physical switches that are used with PSWITCH are not fast hardware switches so switching is done by software which can intro duce some small delays in operation Fast hardware switching can be used only with an axis conn
275. nother and vice versa This may cause instability in the system 4 2 23 ADDAX_AXIS Type Syntax Description Arguments Example See also Axis parameter read only ADDAX_AXIS The ADDAX_AXIS axis parameter returns the number of the axis to which the base axis is currently linked to by ADDAX If the base axis in not linked to any other axis the ADDAX_AXIS parameter returns 1 N A gt gt BASE 0 gt gt ADDAX 2 gt gt PRINT ADDAX_AXIS 2 0000 gt gt ADDAX 1 gt gt PRINT ADDAX_AXIS 1 0000 ADDAX AXIS 85 All BASIC commands Section 4 2 4 2 24 AIN Type command Syntax AIN analogue_chan Description The AIN reads a value from an analogue input Analogue input chan nels are provided by the analogue input modules connected to the PLC Arguments Analogue input channel number 0 31 Example MOVE 5000 REPEAT a AIN 1 IF lt 0 THEN 0 SPEED a 0 25 UNTIL MTYPE 0 The speed of a production line is governed by the rate at which material is fed onto it The material feed is via a lazy loop arrangement which is fitted with an ultra sonic height sensing device The output of the ultra sonic sensor is in the range OV to 4V where the output is at 4V when the loop is at its longest Note The analogue input value is checked to ensure it is above zero even though it always should be positive This is to allow for any noise on the incoming signal which could make t
276. nterpolation In this case the commands will have multiple arguments to specify the relative or absolute move for each axis Consider the three axis move in a 3 dimensional plane in the figure It corresponds to the MOVE 50 50 50 command The speed profile of the motion along the path is given in the diagram The three parameters SPEED ACCEL and DECEL that determine the multi axis movement are taken from the corresponding parameters of the base axis The MOVE command computes the various components of speed demand per axis A is the time axis B is the speed axis Motion control concepts Section 1 3 1 3 2 2 Circular interpolation 1 3 2 3 CAM control 1 3 3 control 50 50 0 50 It may be required that a tool travels from the starting point to the end point in an arc of a circle In this instance the motion of two axes is related via a circular interpolated move using the MOVECIRC command Consider the diagram in the figure It corresponds to the MOVECIRC 100 0 50 0 0 command The centre point and desired end point of the trajectory relative to the start point and the direction of movement are specified The MOVECIRC command computes the radius and the angle of rotation Like the linearly interpolated MOVE command the ACCEL DECEL and SPEED variables associated with the base axis determine the speed profile along the circular move Additional to the standard move profiles the CJ1W MCH72 also provides a way to d
277. o Driver will control the servo motor depending on the speed and torque reference values WDOG can be turned on and off under program con trol on Command Line Terminal The Servo Driver will automatically be disabled when a MOTION_ERROR occurs A motion error occurs when the AXISSTATUS state for one of the axes matches the ERRORMASK set ting In this case the software switch WDOG will be turned off the MOTION ERROR parameter will have value different than 0 and the ERROR AXIS parameter will contain the number of the first axis to have the error N A No example AXISSTATUS ERROR AXIS ERRORMASK MOTION ERROR SERVO Program control command WHILE condition commands WEND The WHILE WEND structure allows the program segment between the WHILE and the WEND statement to be repeated a number of times until the condition becomes FALSE In that case program execution will continue after WEND Note WHILE WEND loops can be nested without limit condition Any valid logical BASIC expression 241 All BASIC commands Section 4 2 Example WHILE IN 12 OFF MOVE 200 WAIT IDLE OP 10 0FF MOVE 200 WAIT IDLE OP 10 ON WEND See also FOR TO STEP NEXT REPEAT UNTIL 4 2 263 XOR Type Mathematical operation Syntax expression1 XOR expression2 Description XOR eXclusive OR operator performs the logical XOR function between corresponding bits of the integer parts of two valid BASIC expressions The lo
278. o motor system Arguments Example MOVE 1000 WAIT IDLE PRINT Move Done The print statement is printed at the end of the movement 239 All BASIC commands Section 4 2 Note 4 2 260 WAIT UNTIL 240 Example Explanation See also MOVE 1000 WAIT UNTIL MTYPE 0 PRINT Movement finished The print statement is printed most of the times BEFORE the move ment starts and sometimes when the movement is finished Motion programs and motion sequence work in parallel and unsynchro nized One complete cycle can occur before the movement is loaded into the buffer The program executes MOVE 1000 but the movement is not loaded to the buffer until the start of the next motion sequence so when you check 0 it is 0 because the movement HAS NOT STARTED YET not because it has finished AXIS WAIT LOADED WAIT IDLE is a command specifically designed to wait until the previous movement has been finished so it handles the delay from when the previous command is exe cuted in the program until the command is correctly loaded in the motion buffer 4 2 259 WAIT LOADED Type Syntax Description Arguments Example See also Type Syntax Description Arguments System command WAIT LOADED The WAIT LOADED command suspends program execution until the base axis has no moves buffered ahead other than the currently execut ing move The command can only be used in a program This is useful fo
279. ode This is the default value at power up 1 Servo Driver mode gt gt INVERTER_WRITE 0 23 2 4500 gt gt INVERTER_COMMAND 0 23 7 2 gt gt WA 10000 gt gt INVERTER_COMMAND 0 23 7 0 The sequence above controls an Inverter connected via MECHATRO LINK II bus to station number 23 hex using following steps Step 1 Speed reference is set to 45 00 Hz Step 2 The Inverter is set to run in reverse direction for 10 seconds with speed reference defined in previous step Step 3 The Inverter is stopped N A 161 All BASIC commands Section 4 2 4 2 141 INVERTER_READ Type System command Syntax INVERTER READY O station 0 param number param size VR INVERTER READY O station 1 alarm number VR INVERTER READY O station 2 VR INVERTER READY O station 3 VR INVERTER READY O station 4 from length VR Description INVERTER READ reads the parameter speed reference torque refer ence or alarm from the Inverter connected to the system via the MECHATROLINK II bus There are five INVERTER READ functions 0 Reads an Inverter parameter 1 Reads the Inverter alarm 2 Reads the speed reference 8 Reads the torque reference 4 Reads the Inverter inputs To use an Inverter via MECHATROLINK II you must put the command and the reference via communication option Inverter MV V7 N3 3 N4 9 e Inverter F7 G7 1 01 3 B1 02 3 Make you sure that the Inverter firmware supports t
280. ode error line error code error line is equal to the return value of the BASIC command ERROR LINE PROC process error code is equal to the return value of the BASIC command RUN ERROR PROC process 64 Categories Section 4 1 4 1 Categories SECTION 4 BASIC commands This section lists all BASIC commands divided by categories The categories Axis commands Axis parameters Communication commands and parameters Constants commands functions and parameters Mathematical functions and operations Program commands Program control commands Slot parameters and modifiers System commands and functions System parameters Task commands and parameters The lists are quick reference guides only A complete description of the commands is given in alphabetical order in the next section 4 1 1 Axis commands Name Description ACC Changes the ACCEL and DECEL at the same time ADD_DAC Sum to the REF value of one axis to the analogue out put of the base axis ADDAX Sets a link to a superimposed axis All demand position movements for the superimposed axis will be added to any moves that are currently being executed B SPLINE Expands the profile stored in TABLE memory using the B Spline mathematical function BACKLASH Allows the backlash compensation to be loaded BASE Used to set the base axis to which the commands and parameters are app
281. of the position curve above 160 1205 80 40 0 ECP Err Pe DET EGeEEGSG TG TIT 0 3 6 9 12 15 18 21 24 27 30 101 All BASIC commands Section 4 2 Example A pair of rollers feeds plastic film into a machine The feed is synchro nised to a master encoder and is activated when the master reaches a position held in the variable start This example uses the table points 0 30 generated in the example above start 1000 FORWARD AXIS 1 WHILE IN 2 OFF CAMBOX 0 30 800 80 15 2 start WA 10 WAIT UNTIL MTYPE 0 OR IN 2 ON WEND CANCEL CANCEL AXIS 1 WAIT IDLE The arguments of the CAMBOX command are Oisthe start of the profile shape in the TABLE 30 is the end of the profile shape in the TABLE 800 scales the TABLE values Each CAMBOX motion therefore totals 800 2000 encoder edges steps 80isthe distance on the product conveyor to link the motion to The units for this parameter are the programmed distance units on the link axis 15 specifies the axis to link to 2isthe link option setting It means Start at absolute position on the link axis The variable start holds a position The motion will execute when this position is reached on axis 15 102 All BASIC commands Section 4 2 TABLE VALUE x 1000 W NW EE STATICOFFSET o Example T T T 50 100 150 200 250 300 350 DEGREES 1025 1030 1000 1005 1010
282. of this command may reduce the ability of the Motion Controller to accurately achieve all positions Note ENCODER RATIO does not replace UNITS Only use ENCODER RATIO where absolutely necessary For all other axis scal ing use UNITS Arguments denominator A number between 0 and 16777215 that is used to define the denominator in the above equation numerator A number between 0 and 16777215 that is used to define the numerator in the above equation Example 7200 is the closest to the encoder resolution that can be devided by an integer to give degrees 7200 20 360 ENCODER_RATIO 8192 7200 UNITS 20 axis calibrated in degrees resolution is 0 05 deg A rotary table has a servo motor connected directly to its centre of rota tion An encoder is mounted to the rear of the servo motor and returns a value of 8192 counts per revolution The application requires the table to be calibrated in degrees but so that one degree is an integer number of counts 136 All BASIC commands Section 4 2 See also 4 2 90 ENCODER_READ Type Syntax Description Arguments Example See also 4 2 91 ENCODER TURNS Type Syntax Description Arguments Example See also 4 2 92 ENCODER WRITE Type Syntax N A Axis command ENCODER READ address The ENCODER READ command is applicable only to Flexible axis absolute EnDat axis with ATYPE value 47 The parameter returns a 16 bit encoder parameter stored at specified
283. olation all using simple motion commands The CJ1W MCH72 has the following features A MECHATROLINK II connection for MECHATROLINK II network with up to 30 axes The motion cycle time is selectable 0 5 ms 1 ms 2 ms or 4 ms An Encoder Interface connection It supports the main absolute encoder protocols allowing the connection of an external encoder to the system The possibility to exchange analogue and digital input and output data with the PLC CPU A wide choice of rotary linear and direct drive servos as well as Inverters are available to fit your needs in compactness performance and reliability The Inverters connected to the MECHATROLINK II are driven at the same update cycle time as the Servo Drivers The Trajexia system supports 3 kinds of MECHATROLINK II slaves Servo Drivers Inverters and I Os The CJ1W MCH72 only supports 2 kinds of MECHATROLINK II slaves Servo Drivers and Inverters It does not support I Os System philosophy Section 1 2 1 2 1 2 1 1 2 1 1 1 2 1 2 1 2 1 3 System philosophy AXIS CONTROL LOOP CJ1W MCH72 AXIS TYPE Buffer amp Program Buffer profile Position gererator Loop Y BASIC PROGRAMS All other Process 1 Servo Process 2 Servo Driver Drivers Process 3 Position Process 14 Speed Loop Comm Torque Loop
284. oller software input 22 unique for all axes which has a different status than Servo Driver inputs mapped to the same number However the command INVERT IN 22 inverts the status of input 22 read by the controller It affects not only the unique software input 22 which is accessible with the IN command but all axis specific inputs 22 which in this example are the EXT1 inputs of the connected Servo Drivers If a forward limit reverse limit and origin input signal are used for an axis it is strongly recommended to use the following settings for the axis BASE axis number DAT IN 18 DEC input in the corresponding Servo Driver is assigned FWD IN 16 INVERT IN 16 ON P OT input in the corresponding Servo Driver is assigned It is necessary to invert the signal because a Normally Closed input is expected REV IN 17 INVERT IN 17 ON N input in the corresponding Servo Driver is assigned It is necessary to invert the signal because a Normally Closed input is expected Also note that INVERT IN inverts the selected input in all axes 273 How to s Section 5 1 5 1 5 Origin search The origin search or homing functionality is often seen as a particular sequence of movements of an axis at the start up phase of the machine This sequence is done automatically in most cases without the input from the operator of the machine In general an origin search procedure couples a position to a specific axis It de
285. on Arguments Example See also 4 2 4 Division Type Syntax Description Arguments Example See also 4 2 5 Power Type Syntax Description Arguments Example See also 4 2 6 15 equal to Type Syntax Description 76 expression1 expression2 The operator multiplies two expressions expression1 Any valid BASIC expression expression2 Any valid BASIC expression result 3 7 Assigns the value 21 to the variable result N A Mathematical function expression1 expression2 The operator divides expression by expression2 expression1 Any valid BASIC expression expression2 Any valid BASIC expression result 11 4 Assigns the value 2 75 to the variable result N A Mathematical function expression1 expression2 The power expression2 This operation uses floating point algorithms and may give small devia tions for integer calculations operator raises expressioni to the power of expression1 Any valid BASIC expression expression2 Any valid BASIC expression result 2 5 Assigns the value 32 to the variable result N A Mathematical function expression1 expression2 The operator returns TRUE if expression1 is equal to expression2 otherwise it returns FALSE All BASIC commands Section 4 2 Arguments Example See also 4 2 7 Assignment Type Syntax Description Arguments Example See also 4 2 8 lt gt Is not equal to
286. on 9 8 m s in X Y and Z directions for 80 minutes Shock resistance 143 m s 3 times each X Y and Z directions Insulation resistance 20 MO Dielectric strength 500 V Protective structure IP20 International standards CE EN61131 2 RoHS compliant Power supply 5 V Supplied via PLC bus Current consumption 450 mA max without external load 680 mA max with maximum external load Maximum current ratings Incremental 150 mA Encoder Interface 5 V output SSI 100 mA EnDat 80 mA Stepper 80 mA Weight 180 gr 2 4 3 System specifications Item Specification Number of axes 32 Number of inverters Max 8 Cycle time Selectable 0 5 ms 1 ms 2 ms 4 ms Programming language BASIC like motion language Multi tasking Max 14 tasks running simultaneously Built in digital I O 16 Inputs 2 with registration functionality 8 Outputs 1 with hardware position switch func tionality Measurement units User definable Available memory for user 756 1006 KB grams Data storage capacity RAM memory 1024 KB minus the size of the user programs VR memory 4 KB Saving program data unit SRAM with battery backup and Flash ROM Saving program data PC Trajexia Studio manages a backup on the hard disk of the PC Firmware update Via Trajexia Studio 1 The available memory for user programs depends on the size of the Table memory which is minimum 0 KB and maxi
287. ons countermeasures will vary depending on the devices connected to the control panel wiring the configuration of the system and other conditions The customer must therefore perform final checks to confirm that devices and the overall machine conform to EC Directives Installation within Control Panel Unnecessary clearance in cable inlet or outlet ports operation panel mounting holes or in the control panel door may cause electromagnetic wave leakage or interference In this case the product may fail to meet EC Directives In order to prevent such interference fill clearances in the control panel with xi Conformance to EC Directives 6 conductive packing In places where conductive packing comes in contact with the control panel ensure electrical conductivity by removing the paint coating or masking these parts when painting xii Overview Section 1 1 1 1 Overview Note SECTION 1 Introduction The CJ1W MCH72 is a Trajexia style motion control unit that can be connected to a CJ1 series PLC It acts as an interface between PLC systems and Trajexia style motion control systems Trajexia is the OMRON motion platform that offers you the performance and the ease of use of a dedicated motion system It maximum flexibility and scalability At the heart of Trajexia lies the TJ1 multi tasking motion coordinator Powered by a 32 bit DSP it can do motion tasks such as e cam e gearbox registration control and interp
288. ontrol and status data Because the CJ1W MCH72 can only access the input and output data via the PLC the data exchange requires an extra PLC cycle This section describes the issues related to cyclic data exchange 3 2 Memory areas PLC CPU CJ1W MCH72 E VR N H CIO AIN Digital and analogue inputs and outputs HR AOUT WR Data exchange memory areas The PLC CPU uses the following memory areas for data exchange with the CJ1W MCH72 EM Expanded Memory CIO Common I O memory DM Data Memory WR memory HR memory The CJ1W MCH72 uses the following memory areas to exchange data with the PLC CPU VRmemory IN array for digital inputs OP array for digital outputs AIN array for analogue inputs e AOUT array for analogue outputs Axis Status array see section 3 3 2 1 The mapping of memory areas for cyclic data exchange in the PLC CPU to memory areas in the CJ1W MCH72 can be freely configured This can be done in the PLC program or in the CJ1W MCH72 It is recommended to configure the memory mapping either in the startup program of the PLC or in the startup program of the CJ1W MCH72 55 Data Section 3 3 It is possible to configure the mapping of memory areas both in the PLC program and in the CJ1W MCH72 This is not practical because the last configuration overwrites the first Note Data exchange with the Table memory of the CJ1W MCH72 is not possible However
289. ore it in the VR variable indicated in the last parameter If this parameter has the value 1 then the value is printed to the command line port N A No example N A Axis parameter MERGE The MERGE parameter is a software switch that can be used to enable or disable the merging of consecutive moves When MERGE is ON and the next move already in the next move buffer NTYPE the axis will not ramp down to 0 speed but will load up the following move enabling a seamless merge The default setting of MERGE is OFF It is up to the programmer to ensure that merging is sensible For exam ple merging a forward move with a reverse move will cause an attempted instantaneous change of direction MERGE will only function if the following are all true 1 Only the speed profiled moves MOVE MOVEABS MOVECIRC MHELICAL REVERSE FORWARD and MOVEMODIFY can be merged with each other They cannot be merged with linked moves CONNECT MOVELINK and CAMBOX 2 There is a move in the next move buffer NTYPE 3 The axis group does not change for multi axis moves When merging multi axis moves only the base axis MERGE axis parameter needs to be set Note If the moves are short a high deceleration rate must be set to avoid the CJ1W MCH72 decelerating in anticipation of the end of the buffered move N A MERGE OFF Decelerate at the end of each move MERGE ON Moves will be merged if possible AXIS Axis command MHELICAL end1 end2
290. orks on the default basis axis group set with BASE unless AXIS is used to specify a temporary base axis The axis set for link_axis drives the base axis MOVELINK is designed for controlling movements such as Synchronization to conveyors Flying shears Thread chasing tapping etc Coil winding Note If the sum of link acceleration and link deceleration is greater than link distance they are both reduced in proportion in order to equal the sum to link distance Acceleration Dec eleration link Speed dimos Speed distance ink speed ink speed 180 All BASIC commands Section 4 2 Arguments distance The incremental distance in user units to move the BASE axis as a result of the measured link distance movement on the link axis link distance The positive incremental distance in user units that is required to be measured on the link axis to result in the distance motion on the BASE axis link acceleration The positive incremental distance in user units on the link axis over which the base axis will accelerate link deceleration The positive incremental distance in user units on the link axis over which the base axis will decelerate Note If the sum of parameter 3 and parameter 4 is greater than parameter 2 they are both reduced in proportion until their sum equals parameter 2 linkaxis The axis to link to link option See the table below link option Description 1
291. output range from the Encoder Interface This will apply to the DAC command if SERVO OFF or to the voltage output by the servo loop if SERVO ON See also AXIS S REF S REF OUT SERVO 4 2 179 OV GAIN Type Axis parameter Syntax OV GAIN Description The OV GAIN parameter contains the output velocity gain The output velocity output contribution is calculated by multiplying the change in measured position with the OV GAIN parameter value The default value is 0 Adding NEGATIVE output velocity gain to a system is mechanically equivalent to adding damping It is likely to produce a smoother response and allow the use of a higher proportional gain than could oth erwise be used but at the expense of higher Following Errors High val ues may cause oscillation and produce high Following Errors Note Negative values are normally required for OV GAIN Note In order to avoid any instability the servo gains should be changed only when the SERVO is off Arguments N A Example No example See also D GAIN I GAIN P GAIN VFF GAIN 194 All BASIC commands Section 4 2 4 2 180 P_GAIN Type Syntax Description Arguments Example See also 4 2 181 PI Type Syntax Description Arguments Example See also 4 2 182 PLC EXCHANGE Type Syntax Description Axis parameter P GAIN The P GAIN parameter contains the proportional gain The proportional output contribution is calculated by multiplying the Following Error with t
292. oves forward at creep speed until the datum switch is reset The axis continues forward at creep speed until the Z marker of the encoder is encountered The demand position is then reset to 0 and the measured position corrected so as to maintain the Following Error All BASIC commands Section 4 2 Example Example A production line must stop if something blocks the product belt which causes a motion error The obstacle must be removed and a reset but ton must be pressed to restart the line FORWARD start production line WHILE IN 2 ON IF MOTION_ERROR 0 THEN OP 8 ON green light on line is in motion ELSE OP 8 OFF GOSUB error correct ENDIF WEND CANCEL STOP error correct REPEAT OP 10 ON WA 250 OP 10 OFF red light to show crash WA 250 UNTIL IN 1 OFF DATUM 0 reset axis status errors SERVO ON turn the servo back on WDOG ON turn on the watchdog OP 9 ON sound siren that line will restart WA 1000 OP 9 OFF FORWARD restart motion RETURN 15 0 MOVE Z MARK The position of an axis must be defined by the Z marker This position must be set to zero Then the axis must move to this position Using the datum 1 the zero point is set on the Z mark But the axis starts to decel erate at this point and therefore it stops after the mark A move is used to bring it back to the Z position SERVO ON WDOG ON CREEP 1000 set the search speed SPEED 5000 set the return s
293. ow to s Section 5 1 Example 2 Trace1 Device1 X x Givi IxXlao 10 9 8 4 7 6 54 44 3 2 4 14 0 1 1 1 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 Time ms lay Plot Parameter Offset ML MPOS 0 ML MSPEED DigitalInput 2 0 ML DRIVE MONITOR 0 The Following Error reduces as the rigidity increases The parameter values for the example are Motion Parameter values Fn001 6 Pn109 0 257 How to s Section 5 1 Example 3 Trace1 Device1 hd x Gv IX 0 1 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 5 Offset ML MPOS ML MSPEED DigitalInput 2 ML DRIVE MONITOR With high gain the motor starts to vibrate but the profile is more stable that in MECHATROLINK II Speed mode The parameter values for the example are Motion Parameter values Fn001 8 Pn109 0 258 How to s Section 5 1 Example 4 Trace1 Device1 X x uz b 3 Sitv 19 9 1 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 Time ms lay Plot Parameter Offset ML MPOS 0 ML MSPEED DigitalInput 2 0 ML DRIVE MONITOR 0 The effect of the Feedforward gain is that the Following Error is reduced and the effect is proportional to the acceleration The parameter values for the exa
294. p is to analyze the CAM table to see which values were used for demanding the position of the slave axis To do that we change the data trace to show a block of values from Table 0 to Table 999 in red because these entries are where the CAM table is created see the part of the program that creates the CAM table above The changed configuration is shown in the figure 291 How to s Section 5 1 Note Trace1 Device1 X x EE vi Ixao 1 0 0 20 40 60 80 100 120 140 160 180 200 Time ms The result is given in the figure The red graph clearly shows a discontinuity in the position values that the slave axis must follow Because the speed is a derivative of the position at the point of discontinuity of the position curve the speed gets a high value This value equals infinity in theory in practice the value is just very big This causes the error The red graph shows where the root of the problem is The amplitude of the cosine curve and therefore the end pos parameter has been changed during the execution of the CAMBOX command The solution is simple A change of the end pos parameter during CAMBOX execution must be prevented To do this either modify the programs in Trajexia or in some other controller if the parameter is changed outside of the scope of the application programs for example by a FINS message The time base of the CAM TABLE points is not the same as the capture of the o
295. parameter can be set to minimise the Following Error at a constant machine speed after other gains have been set The speed feed forward gain axis parameter is called VFF_GAIN The default settings are given in the table along with the resulting profiles Fractional values are allowed for gain settings Gain Default value Proportional gain 0 1 Integral gain 0 0 Derivative gain 0 0 Output speed gain 0 0 Speed feedforward gain 0 0 1 5 Trajexia system architecture The system architecture of the Trajexia is dependant upon these concepts Program control Motion Sequence Motion buffers Communication Peripherals These concepts depend upon the value set in the SERVO PERIOD parameter The relationship between the value of SERVO PERIOD and the different concepts of the system architecture are describes as follows 1 5 1 Program control Programs make the system work in a defined way The programs are written in a language similar to BASIC and control the application of the axes and modules 14 Programs can be executed in parallel The programs can be set to run at system power up started and stopped from other programs and executed from Trajexia Studio Programs execute commands to move the axes control inputs and outputs and make communication via BASIC commands 1 5 2 Motion sequence The motion sequence controls the position of all 32 axes with the actions as follows Reading the Motion
296. peed DATUM 1 register on Z mark and sets this to datum WAIT IDLE MOVEABS 0 moves to datum position 119 BASIC commands Section 4 2 15 10 0 SWITCH Example A machine must return to its home position defined by the limit switch which is found at the rear of the move before operation This can be achieved through using DATUM 4 which moves in reverse to find the switch SERVO ON WDOG ON REV_IN 1 temporarily turn off the limit switch function DATUM _IN 5 sets input 5 for registration SPEED 5000 set speed for quick location of limit switch 500 set creep speed for slow move to find edge of switch DATUM A4 find edge at creep speed and stop WAIT IDLE DATUM IN 1 REV IN 5 restore input 5 as a limit switch again 15 10 0 SWITCH Z MARK 120 All BASIC commands Section 4 2 Example A machine similar to the machine in the example above must locate a home switch which is at the forward end of the move The machine then moves backwards to the next Z marker and set this Z marker as the datum This is done with DATUM 5 which moves forward at SPEED to locate the switch then reverses at CREEP to the Z marker If required a move is made to the datum Z marker SERVO ON WDOG ON DATUM_IN 7 sets input 7 as home switch SPEED 5000 set speed for quick location of switch CREEP 500 set creep speed for slow move to find edge of switch DATUM 5
297. peed of the servo motor corresponding to the speed reference The rotational speed is proportional to the speed reference 4 The rotary encoder generates the feedback pulses for both the speed feedback within the Servo Driver speed loop and the position feedback within the CJ1W MCH72 position loop The labels in the figure are CJ1W MCH72 Servo system Demand position Position control Speed reference Speed control Motor Encoder Measured speed Measured position c T0onmoou 1 4 3 Motion control algorithm The servo system controls the motor by continuously adjusting the speed reference to the Servo Driver The speed reference is calculated by the motion control algorithm of the CJ1W MCH72 which is explained in this section 13 Servo system principles Section 1 4 14 The motion control algorithm uses the demand position A the measured position D and the Following Error B to determine the speed reference The Following Error is the difference between the demanded and measured position The demand position the measured position and the Following Error are represented by the axis parameters MPOS DPOS and FE Five gain values have been implemented for the user to be able to configure the correct control operation for each application C is the output signal Proportional gain The proportional gain Kp creates an output Op that is proportional to the Following Error E Op K E All prac
298. pends on the encoders used absolute or relative on the system used linear or circular and on the mechanical construction of the machine Absolute encoders do not need a movement during the origin search procedure because the exact positions are transferred directly to the system For other encoder types a movement is necessary since there is no knowledge of the exact position within the system Basically this movement is at low speed in some direction until a certain measuring point is reached Such a measuring point can be scanned from both directions to increase the precision At startup the current positions of the axes using incremental encoders are 0 Because these positions do not match with the mechanical 0 of the machine it is necessary to execute the homing sequence If an absolute encoder is used the absolute position is read at startup from the encoder and homing is not necessary In this case a startup sequence must be executed one time during the machine commissioning In practice there are several different origin search sequences They are different in these areas The means used to detect limit positions of the moving part sensors switches etc Origin home position or reference Possible positions of the moving part related to limit positions and origin position The CJ1W MCH72 includes some pre defined basic homing sequences e DATUM 0 This is not really an origin search This command sets DPOS MPOS and c
299. pre sent physically present inputs of CJ1W MCH72 I O connector and are common for all axes Values 16 to 31 are mapped directly to driver inputs that are present on the CN1 connector They are unique for each axis It depends on the type of Servo Driver which Servo Driver inputs are mapped into inputs 16 to 31 For more information on Servo Driver I O mapping into the Trajexia I O space refer to section 5 1 4 As default the parameter is set to 1 no input is used for feedhold Note This input is active low If an input number is set and the feedhold input turns set the speed of the move on the axis is changed to the value set in the FHSPEED axis parameter The current move is not cancelled Furthermore bit 7 of the AXISSTATUS parameter is set When the input turns reset again any move in progress when the input was set will return to the programmed speed Note This feature only works on speed controlled moves Moves which are not speed controlled CAMBOX CONNECT and MOVELINK are not affected Arguments Example No example See also AXIS AXISSTATUS FHSPEED UNITS 4 2 110 FHSPEED Type Axis parameter Syntax FHSPEED 143 All BASIC commands Section 4 2 4 2 111 FINS COMMS 144 Description Arguments Example See also Type Syntax Description The FHSPEED axis parameter contains the feedhold speed This parameter can be set to a value in user units s and defines at which speed the axis will move w
300. r activating events at the beginning of a move or at the end when multiple moves are buffered together WAIT LOADED works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis N A Switch output 8 ON at start of MOVE 500 and OFF at end MOVE 800 MOVE 500 WAIT LOADED 8 MOVE 400 WAIT LOADED OP 8 OFF AXIS WAIT IDLE System command WAIT UNTIL condition The WAIT UNTIL command repeatedly evaluates the condition until it is TRUE After this program execution will continue The command can only be used in a program condition Any valid BASIC logical expression All BASIC commands Section 4 2 Example Example See also 4 2 261 WDOG Type Syntax Description Arguments Example See also 4 2 262 WHILE WEND Type Syntax Description Arguments In this example the program waits until the measured position on axis 0 exceeds 150 and then starts a movement on axis 1 WAIT UNTIL MPOS AXIS 0 gt 150 MOVE 100 AXIS 1 The expressions evaluated can be as complex as you like provided they follow BASIC syntax for example WAIT UNTIL DPOS AXIS 2 lt 0 OR IN 1 ON The above line would wait until the demand position of axis 2 is less than or equal to 0 or input 1 is on N A System parameter WDOG The WDOG parameter contains the software switch which enables the Servo Driver using the RUN Servo on input signal The enabled Serv
301. r between encoder counts and user defined units All axis parameters related to motion and arguments of axis commands that determine the amount of motion are expressed in these user units This parameter enables the user to define the most convenient units to work with For example for a moving part that makes a linear motion you can prefer mm or fraction of mm For a moving part that makes a rotation motion you can prefer a degree of angle or its fraction For more information on the UNITS axis parameter see section 4 2 248 How to s Section 5 1 5 1 3 1 However the user must be aware that not only the UNITS axis parameter matters in the conversion between encoder counts and user defined units Certain Servo Driver parameters and some characteristics of the mechanical system are also important The following sections describe which Servo Driver parameters are important for this conversion We also give examples of how to set those parameters and the UNITS axis parameter taking the characteristics of the mechanical system into account Conversion between encoder counts and user defined units Note Two very important parameters of the Servo Drivers for conversion of encoder counts into user units are the electronic gear ratio numerator and the electronic gear ratio denominator The table below gives these parameters for the Servo Drivers Servo Driver Numerator Denominator Sigma ll Pn202 Pn203 Sigma V Pn20E Pn210 J
302. r interface Pin Signal Wire color Pin Signal 3 Data Grey 7 Data 4 Data Pink 8 Data 7 Clock Violet 2 Clock Wiring Section 2 2 Encoder CJ1W MCH72 encoder interface Pin Signal Wire color Pin Signal 6 Clock Yellow 3 Clock 5 GND White green 9 0 V Encoder ground 2 OV White See footnote 1 Up Blue 2 2 4 3 Stepper 1 Use an external power supply CJ1W MCH72 5 VDC Power Supply Heidenhain ROC 425 2048 5XS08 C4 connection The CJ1W MCH72 can generate pulses to drive an external stepper motor amplifier You can use single step half step and microstepping drivers with this interface The applicable signals are Enable Step Direction UUE DIRECTION WDOG ON MOVE 4 MOVE 4 The applicable signals when a MOVE operation is performed 47 Installation Section 2 3 2 3 Installation 2 3 1 Hardware installation Caution Obey the following precautions when you install the CJ1 W MCH72 in a PLC system Turn off the power supply to the PLC before the installation or connection of the CJ1W MCH72 Use separate conduits or ducts for the I O lines This prevents noise from high tension lines or power lines Do not remove the label on top of the CJ1W MCH72 during the installation and wiring The label makes sure that no foreign matter can enter the unit Remove the label on top of the CJ1W MCH72 after
303. r the transmission of the captured information is just one SERVO PERIOD cycle 5 1 6 5 Using registration in application programs There is one axis command REGIST and two axis parameters MARK and REG_POS With these commands and parameter you can control and use the registration functionality in BASIC programs REGIST captures the axis position when a registration signal is detected The available settings depend on the axis type Refer to section 4 2 198 MARK is a flag that signals whether the position has been captured or not For the second registration input of the Encoder Interface the parameter MARKB is also available For more information refer to sections 4 2 150 and 4 2 151 REG POS holds the captured axis position Only if the MARK flag signals that the position was captured successfully you can regard the REG POS value as valid For the second registration input of the Encoder Interface the parameter REG POSB is also available For more information refer to sections 4 2 196 and 4 2 197 281 How to s Section 5 1 Position gt t The trigger is active The trigger is active The position If the trigger is information is not active S available the registration is REGIST 0 ignored REGIST 0 MARK i MARK 0 MARK 1 MARK 1 MARK 0 REG_POS xxx REG POS Pos1 REG POS Pos Registration Input The picture gives the sequence of executing the commands and the registr
304. re not Doc ter DOCK used Demanded Following Speed position 1 eror commandi BERE Gare car Measured i positon With SERVO ON the position loop is closed in the Servo Driver Gain settings in the CJ1W MCH72 have no effect The position reference is sent to the Servo Driver Note Although MPOS and FE are updated the real value is the value in the Servo Driver The real Following Error can be monitored by the DRIVE_MONITOR parameter by set ting DRIVE_CONTROL 2 Note The MECHATROLINK II position ATYPE 40 is the recommended setting to obtain a higher performance of the servo motor 1 8 4 3 MECHATROLINK II speed ATYPE 41 CJ1W MCH72 SERVO SERVO OFF Position loop SERVO OFF ML II i mo Speed gt _ gt Speed Loop Loop Profile generator I Torque Loop Demanded Following Speed command position Measured 7 position With SERVO ON the speed loop is closed in the CJ1W MCH72 Speed reference is sent to the Servo Driver This setting is not recommended since there is one cycle delay in the loop DPOS n is compared with MPOS n 1 With SERVO OFF the speed reference is sent via S REF command 0x40000000 means maximum speed of the servomotor This is the recommended setting 25 Motion sequence and axes Section
305. rea and tj area The CJ1W MCH72 responds with these codes Condition Response code Description hex All elements valid 0000 OK area code invalid 1101 No area type start address invalid 1103 Address range designation error byte count invalid 1104 Address out of range plc area plc start 110C Other parameter error tj area or tj start invalid total items greater than 2103 Data has not been registered 2000 words If the response code is 0000 the cyclic area number specified in area code is configured to exchange data between the PLC CPU and the CJ1W MCH72 62 FINS commands Section 3 4 3 4 5 Run 0401 The FINS Run command starts or stops a BASIC program The FINS Run command has these formats To start a BASIC program 04 01 00 01 command code process mode program name To stop a BASIC program 04 01 00 i 00 command_code process mode The parameters can have the following values Parameter Values mode 00 Stop 01 Start process 01 0E Process number program name A string that represents the program name The string does not have zero termination The CJ1W MCH72 responds with these codes Condition Response code Description hex All elements valid 0000 OK process invalid 1106 Process number does not mode invalid exist or invalid mode program_name invalid 2402 Program name does not exist
306. reep speed forward until the Z marker is encoun tered The demand position is then reset to 0 and the measured position corrected so as to maintain the Following Error The axis moves at creep speed in reverse until the Z marker is encoun tered The demand position is then reset to 0 and the measured position corrected so as to maintain the Following Error The axis moves at the demand speed forward until the datum switch is reached The axis then moves reverse at creep speed until the datum Switch is reset The demand position is then reset to 0 and the meas ured position corrected so as to maintain the Following Error The axis moves at the demand speed in reverse until the datum switch is reached The axis then moves forward at creep speed until the datum Switch is reset The demand position is then reset to 0 and the meas ured position corrected so as to maintain the Following Error 117 All BASIC commands Section 4 2 118 sequence value Description The axis moves at demand speed forward until the datum switch is reached The axis then reverses at creep speed until the datum switch is reset The axis continues in reverse at creep speed until the Z marker of the encoder is encountered The demand position is then reset to 0 and the measured position corrected so as to maintain the Following Error The axis moves at demand speed reverse until the datum switch is reached The axis then m
307. relative distance between the edge of the product and the shear is cut length This is the synchronization part the relative distance between the edge of the product and the shear remains the same The cut in the material is made This gives a new material edge The deceleration part the material continues and the shear stops Move back at high speed the distances are calculated such that when the slave reaches it original position the edge of the product is in the correct position to start a new cut A 313 Practical examples Section 5 2 A new movement starts step 2 5 2 9 Correction program 5 2 9 1 314 Example This application is for a rotary labeller The constants are The product arrives on a conveyor master axis that runs at a constant speed A rotary labeller that is synchronized 1 1 to the conveyor attaches the labels The distance between products is fixed and mechanically guaranteed The distance between labels is never exactly constant so a correction is needed This is done by superimposing a virtual axis onto the movement of the labeller The difference between the expected position and the actual position is measured with a photocell This is the correction factor Every time a correction is made the origin position is updated accordingly OFFPOS speed correction labeller conveyor conveyor 0 labeller 1 virtual 15 SERVO AXIS conveyor SERVO AXIS labeller WDO
308. reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication iv TABLE OF CONTENTS Precautions 090000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 vii 1 uomo een utpmieba eom COI IP DReg vii 2 General precautions e EE vii 3 Safety PLECAULLOMS wv Vii 4 Operating environment precautions essere nenenne thee nete enne tret nrennen trennen tentent eterne ene viii 5 Application precautions oen preter eee tite Fe edet e eene ne iden ie eic potis ix 6 Conformance to EC Directives oneni eaer aE T r E E AS ERE AS EEE IR EREI S RUKE ES innen rennen nene xi SECTION 1 oos dcos ceto Aree deese coe deo x eaae EO vuv osea UR v Cos eeeveue vr Cer vea eve dese EI O
309. res 107 Number expected 39 Structure nesting error 108 AS expected 40 ELSE ELSEIF ENDIF without 109 STRING VECTOR or ARRAY previous IF expected 41 WEND without X previous 110 String expected WHILE 42 UNTIL without previous 111 Invalid MSPHERICAL input REPEAT 43 Variable expected 112 Too many labels 219 All BASIC commands Section 4 2 Number Message Number Message 44 TO expected after FOR 113 Symbol table locked 45 Too may nested FOR NEXT 114 Incorrect symbol type 46 NEXT without FOR 115 Invalid mix of data types 47 UNTIL IDLE expected after 116 Command not allowed when WAIT running Trajexia Studio 48 GOTO GOSUB expected 117 Parameter expected 49 Too many nested GOSUB 118 Firmware error Device in use 50 RETURN without GOSUB 119 Device error Timeout waiting for device 51 LABEL must be at start of line 120 Device error Command not supported by device 52 Cannot nest one line IF 121 Device error CRC error 53 LABEL not found 122 Device error Error writing to device 54 LINE NUMBER cannot have 123 Device error Invalid response decimal point from device 55 Cannot have multiple 124 Firmware error Cannot refer instances of REMOTE ence data outside current block 56 Invalid use of 125 Disk error Invalid MBR 57 VR x expected 126 Disk error Invalid boot sector 58 Program already exists 127 Disk error Inv
310. ro See also AXIS DEFPOS DPOS MPOS UNITS 190 All BASIC commands Section 4 2 4 2 172 ON 4 2 173 ON GOSUB 4 2 174 ON GOTO Type Syntax Description Arguments Example See also Type Syntax Description Arguments Example See also Type Syntax Description Arguments Constant read only ON The ON constant returns the numerical value 1 N A OP lever ON The above line sets the output named lever to ON N A Program control command ON expression GOSUB label label The ON GOSUB and ON GOTO structures enable a conditional jump The integer expression is used to select a label from the list If the expression has value 1 the first label is used for value 2 the second label is used and so on Once the label is selected subroutine GOSUB jump to that label is performed Note If the expression is not valid e g the result of the expression is less than 1 or greater that the number of available labels in the program no jump is performed expression Any valid BASIC expression label Any valid label in the program REPEAT GET 5 char UNTIL 1 lt char and char lt 3 ON char GOSUB mover stopper change GOSUB RETURN GOTO Program control command ON expression GOTO label label The expression is evaluated and then the integer part is used to select a label from the list If the expression has the value 1 then the first label is used 2 then the second
311. rocess buffer 29 Profile generator 23 Program control 15 Program control priority 20 R Registration example 279 Resonant frequency 30 Rigidity 30 S Servo axis 26 Servo Driver characteristics example 270 Servo period 2 Examples 17 Rules 18 Servo system 12 CJ1W MCH72 operation 13 Motion control algorithm 13 Semi closed loop 12 Shell example 293 Single axis example 303 Specifications Dimensions 52 Encoder connector 41 Encoder interface 54 connector 39 MECHATROLINK II 54 System 53 Unit 52 Speed control 25 Speed mode example 246 Speed reference 26 27 EnDat 27 SSI 27 SSI 27 Startup example 243 Status LEDs 33 35 50 Stepper output 26 System architecture 15 T Torque control 26 Tracing and monitoring example 287 Troubleshooting Data exchange errors 315 System errors 315 U Unit components 33 Index Unit number 35 Create I O table 50 Setting 49 Units example 260 V Virtual axis 24 W Wiring 38 Word allocations 35 319 Index 320 Revision history Revision history A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No I55E EN 01 Revision code The following table outlines the changes made to the manual during each revision The page numbers of a revision refer to the previous version Revision code Date Revised content 01 August 2008 First ve
312. rsion 321 322 OMRON Authorized Distributor Cat No I55E EN 01 Note Specifications subject to change without notice Printed in Europe
313. s can be character strings of any length but only the first 15 characters are significant Alternatively line numbers may be used as labels Example loop PRINT Measured position MPOS CHR 13 WA 1000 GOTO loop See also GOSUB RETURN 4 2 127 HALT Type System command Syntax HALT Description The HALT command stops execution of all program tasks currently run ning The command can be used both on Command Line Terminal as in programs The STOP command can be used to stop a single program task Note HALT doesn t stop any motion Currently executing or buffered moves will continue unless they are terminated with a CANCEL or RAP IDSTOP command Arguments N A Example No example See also PROCESS STOP 4 2 128 HEX Type I O command Syntax HEX Description This command is used in a print statement to output a number in hexa decimal format Arguments N A 154 All BASIC commands Section 4 2 Example PRINT 5 HEX IN 8 16 See also N A 4 2 129 HW_PSWITCH Type Axis command Syntax HW_PSWITCH mode direction opstate table_start table_end Description The HW_PSWITCH command turns on digital output 8 for the axis when the predefined axis measured position is reached and turns the output off when another measured position is reached Positions are defined as sequence in the TABLE memory in range from table_start to table_end and on execution of the HW_PSWITCH command are stored in FIFO queue This command is applicable only
314. s can be reduced but not eliminated by increasing the speed loop gain if the mechanical system can cope with a high gain The parameter values for the example are Motion Parameter values P_Gain 131072 VFF_GAIN 1573500 Fn001 6 252 How to s Section 5 1 Example 7 Trace1 Device1 X x uz i 3 Sitv 19 9 1 1 1 1 1 0 20 40 60 80 100 120 140 160 180 200 Time ms lay Plot Parameter ML MPOS ML MSPEED DigitalInput 2 ML FE The value of the rigidity is increased from 6 to 8 The overshoot undershoot is smaller but the motor has more vibration The parameter values for the example are Motion Parameter values P Gainz131072 VFF_GAIN 1573500 Fn001 8 253 How to s Section 5 1 254 Example 8 Trace1 Device1 hd x 0 1 1 1 1 i 0 20 40 60 80 100 120 140 160 180 200 5 Change L L L L J Opposite to the P_GAIN where the higher the better the limit is when the mechanical system starts vibrating for the VFF_GAIN there is an optimum value the one in test 6 values higher than this value has an error proportional to the speed acceleration but with different sign The required correction is too large The parameter values for the example are Motion Parameter values P_Gain 131072 VFF_GAIN 16
315. s continuously between the val ues in the TABLE to allow a number of points to define a smooth profile Two or more CAMBOX commands can be executed simultaneously using the same or overlapping values in the TABLE array The CAMBOX command requires the start element of the TABLE to have value zero Note also that CAMBOX command allows traversing the TABLE backwards as well as forwards depending on the Master axis direction The link_option argument can be used to specify different options to start the command and to specify a continuous CAM For example if the link option is set to 4 then the CAMBOX operates like a physical CAM CAMBOX works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Note While CAMBOX is being executed the ENDMOVE parameter will be set to the end of the previous move The REMAIN axis parameter will hold the remainder of the distance on the link axis Start point The address of the first element in the TABLE array to be used end point The address of the end element in the TABLE array table multiplier The Table multiplier value used to scale the values stored in the TABLE As the TABLE values are specified in encoder edges use this argument to set the values for instance to the unit conversion factor set by UNITS parameter link distance The distance in user units the link axis must move to complete the specified output movement The link distance must be
316. s number that the axis is linked to during any linked moves Linked moves are where the demand position is a function of another axis e g CONNECT CAMBOX and MOVELINK N A All BASIC commands Section 4 2 Example See also 4 2 146 LIST Type Syntax Description Arguments Example See also 4 2 147 LIST_GLOBAL Type Syntax Description Arguments Example See also 4 2 148 LN Type Syntax No example CONNECT CAMBOX MOVELINK Program command Trajexia Studio command line only LIST program name TYPE program name For use only with the Command Line Terminal interface LIST is used as an immediate command line command only and must not be used in programs The LIST command prints the current selected program or the program specified by program name The program name can also be specified without quotes If the program name is omitted the current selected program will be listed Note This command is implemented for an offline Command Line Ter minal Within Trajexia Studio users can use the terminal window program name The program to be printed No example SELECT System command terminal only LIST GLOBAL When executed from the Command Line Terminal interface channel 0 all the currently set GLOBAL and CONSTANT parameters will be printed to the terminal N A In an application where the following GLOBAL and CONSTANT have been set CONSTANT cutter 23 GLOBAL
317. ser Manual Below is given the procedure to create an I O table with a programming console Installation Section 2 3 Attach a key sheet to the programming console 2 Connect the programming console to the peripheral port of the CPU Do not connect it to the RS 232C port 3 Follow the steps on the programming console given in the figure Initial screen CH Save or clear the CPU Bus Unit System Setup Create I O table 2 3 3 Connecting MECHATROLINK II slaves Note The Trajexia system supports 3 kinds of MECHATROLINK II slaves Servo Drivers Inverters and I Os The CJ1W MCH72 only supports 2 kinds of MECHATROLINK II slaves Servo Drivers and Inverters It does not support I Os To connect MECHATROLINK II slaves use a MECHATROLINK II cable for W series with ring core and USB connector on both ends These cables are not included The table below lists the MECHATROLINK II cables OMRON model Yaskawa model Cable length FNY W6003 A5 JEPMC W6003 A5 0 5m FNY W6003 01 JEPMC W6003 01 1m FNY W6003 03 JEPMC W6003 03 3m FNY W6003 05 JEPMC W6003 05 5m FNY W6003 10 JEPMC W6003 10 10m FNY W6003 20 JEPMC W6003 20 20m FNY W6003 30 JEPMC W6003 30 30m 51 Section 2 4 Specifications Note To terminate the MECHATROLINK II slaves connect an OMRON FNY W6022 terminator or a Yaskawa JEPMC W6022 terminator to the MECHATROLINK II connector of the last MECHATROLINK II slave When t
318. si tion the pattern will continue at this position The system software will then write 1 into this position The value written must be inside the pattern such that the value CB 2 lt CB 1 lt CB 3 2 START R The position in the TABLE of the first pattern value PATTERN 3 END R The position in the TABLE of the final pattern value PATTERN 4 REPEAT R W The current pattern repeat number Initialise this number POSITION to 0 The number will increment when the pattern repeats if the link axis motion is in a positive direction The number will decrement when the pattern repeats if the link axis motion is in a negative direction Note that the counter runs starting at zero 0 1 2 3 104 All BASIC commands Section 4 2 Value Parameter R W Description REPEAT COUNT R W Required number of pattern repeats If 1 the pattern repeats endlessly The number should be positive When the ABSOLUTE value of CB 4 reaches CB 5 the CAMBOX finishes if CB 6 1 The value can be set to 0 to terminate the CAMBOX at the end of the current pat tern The axis the CAMBOX is linked to can run in a positive or negative direction In the case of a negative direction link the pattern will execute in reverse In the case where a certain number of pattern repeats is specified with a negative direction link the first control block will produce one repeat less than expected This is because the CAMB
319. so the response frame does not contain any additional data Data can only be returned depending on the command when the response code is 0000 The CJ1W MCH72 supports the following FINS commands Read 0101 Write 0102 Parameter Area Read 0201 Parameter Area Write 0202 Run 0401 Stop 0402 For more information on FINS refer to the Communication Commands Reference manual W342 E1 The FINS Read command has this format 01 01 00 command code var type start address fixed element count The parameters can have the following values Parameter Values hex command code 01 01 var type 82 Table memory in 16 bit integer format C2 Table memory in 32 bit IEEE floating point format BO VR memory in 16 bit integer format FO VR memory in 32 bit IEEE floating point format start_address 0 lt start address lt memory size 1 lt FFFF element_count 1 lt element count lt memory size start address The CJ1W MCH72 responds with these codes Condition Response code Description hex All elements valid 0000 OK var type invalid 1101 No area type start address invalid 1103 Address range designation error Number of elements invalid 1104 Address out of range If var type is 82 or BO and the response code is 0000 the CJ1W MCH72 responds with 59 FINS commands Section 3 4 3 4 2 Write 0102
320. st obey the most restrictive rules when you set the SERVO PERIOD parameter An incorrect value of the SERVO PERIOD parameter results in an incorrect detection of the MECHATROLINK II slaves The most restrictive rules are given in the tables below For each unit the table lists the maximum number of slaves the unit can control at the given SERVO PERIOD setting Cycle time Section 1 6 SERVO PERIOD Highest axis Max number of Max number of number MECHATROLINK II_ MECHATROLINK II axes inverters 0 5 ms 7 4 4 1 0 ms 15 8 8 2 0 ms 31 16 8 4 0 ms 31 30 8 1 6 1 5 Configuration examples Example 1 Servo Driver B B E 9 Oo o 5 d 3 Address Address Address Terminator 1 Axis 0 Axis 2 Axis 3 Axis 4 1x CJ1W MCH72 Sigma ll Servo Driver 1x Encoder Axis 0 SERVO PERIOD 1ms The CJ1W MCH72 supports 1 0ms SERVO PERIOD with 4 axes 19 Program control and multi tasking Section 1 7 Example 2 Servo Driver Address Address Address Address Address Address Address Address 41 42 43 44 45 46 47 48 07 o 0 0 0 0 0 o dS Se SES XS SER LR S STS 3 2 o o o S 3 S 3 S 3 S Es Es Es oa 881 4D 42 42 4 42 41 4
321. t column allowing the programmer more freedom in where the print items are placed PRINT VR 1 4 1 variab 6 2 6 0 1 50 params PRINT DISTANCE 0 SPEED v 2 DISTANCE 123 SPEED 12 34 PRINT ITEM total OF limit CHR 13 gt gt PRINT HEX 15 HEX 2 F FFFFA HEXADECIMAL INPUT Task command PROC task_number The PROC modifier allows a process parameter from a particular proc ess to be read or written If omitted the current task will be assumed task number The number of the task to access WAIT UNTIL PMOVE PROC 3 0 N A Task parameter PROC STATUS The PROC STATUS parameter returns the status of the process or task specified The parameter is used with the PROC modifier and can return values listed in the table below Value Description Process stopped Process running Process stepping Process paused Arguments N A 199 All BASIC commands Section 4 2 Example WAIT UNTIL PROC_STATUS PROC 3 0 See also PROCNUMBER PROC 4 2 190 PROCESS Type Program command Syntax PROCESS Description The PROCESS command displays the running status of all current tasks with their task number Arguments N A Example No example See also HALT RUN STOP 4 2 191 PROCNUMBER Type Task parameter read only Syntax PROCNUMBER Description The PROCNUMBER parameter contains the number of the task in which the currently selected program is ru
322. t offset length PRINT Mark seen at offset 5 1 ELSE offset 0 PRINT Mark not seen ENDIF Reset registration prior to each move DEFPOS 0 REGIST 3 768 Allow mark at first 10mm last 10mm of sheet CAM 0 50 length offset 0 5 cf 1000 WAIT UNTIL TICKS lt 500 GOTO Loop Note variable cf is a constant that is calculated depending on the draw length of the machine per encoder edge AXIS MARK REGIST Axis parameter read only REG_POSB The REG_POSB parameter stores the position in user units at which the secondary registration event occurred N A No example AXIS MARKB REGIST Axis command REGIST mode All BASIC commands Section 4 2 Description The REGIST command sets up the registration operation The com mand captures an axis position when a registration signal is detected With an Encoder Interface the capture is done by the hardware so soft ware delays do not affect the accuracy of the position that is captured With a MECHATROLINK II axis the capture is done by the Servo Driver With an Encoder Interface a REGIST command can capture two regis tration positions using separate registration inputs When a primary reg istration event has occurred the MARK axis parameter is set to ON and the position is stored in the REG_POS axis parameter For the second ary registration event the MARKB axis parameter is set to ON and the position is stored in the REG_POSB axis parameter MARKB and REG POSB are applicabl
323. ta tion from the centre and end point If the end point is not on the calcu lated path the move simply ends at the computed end and not the specified end point It is the responsibility of the programmer to ensure that the two points correspond to correct points on a circle Note Neither axis may cross the set absolute repeat distance REP DIST during a MOVECIRC Doing so may cause one or both axis to jump or for their FE value to exceed FE LIMIT All BASIC commands Section 4 2 4 2 160 MOVELINK Example Example See also Type Syntax The following command sequence plots the letter O MOVE 0 6 Move A gt B MOVECIRC 3 3 3 0 1 Move B gt C MOVE 2 0 Move C gt D MOVECIRC 3 3 0 3 1 Move D gt E MOVE 0 6 Move E gt MOVECIRC 3 3 3 0 1 Move F gt G MOVE 2 0 Move G gt H MOVECIRC 3 3 0 3 1 Move H gt A A machine is required to drop chemicals into test tubes The nozzle can move up and down and also along its rail The most efficient motion for the nozzle is to move in an arc between the test tubes BASE 0 1 MOVEABS 0 5 move to position above first tube MOVEABS 0 0 lower for first drop WAIT IDLE OP 15 ON apply dropper WA 20 OP 15 OFF FOR x 0 TO 5 MOVECIRC 5 0 2 5 0 1 arc between the test tubes WAIT IDLE OP 15 ON Apply dropper WA 20 OP 15 OFF NEXT x MOVECIRC 5 5 5 0 1 move to rest position AXIS ENCODER RATIO UNITS Axis com
324. tal input specifications of input 0 to input 3 for the I O Specification Type NPN PNP Maximum voltage 24 VDC 10 Input current 8 mA at 24 VDC ON voltage 17 VDC min OFF voltage 5 VDC max Maximum response time 1250 us if the servo period equals 0 5 ms or 1 0 ms 2500 us if the servo period equals 2 0 ms Registration response time 1 us typical Inputs 0 and 1 Ambient operating temperature 0 C 55 When all digital inputs are on max 45 When max 8 digital inputs are on max 55 E n External power sin supply 24V CJ1W MCH72 Common for Input circuits Circuit configuration for input 0 to input The table below shows the digital input specifications of input 4 to input 15 for the I O Item Specification Type NPN PNP Maximum voltage 24 VDC 10 Input current 3 2 mA at 24 VDC ON voltage 12 VDC min OFF voltage 5 VDC max Maximum response time 1250 us if the servo period equals 0 5 ms or 1 0 ms 2500 us if the servo period equals 2 0 ms Ambient operating temperature 0 C to 55 C When all digital inputs are on max 45 C When max 8 digital inputs are on max 55 C 39 Wiring Section 2 2 CJ1W MCH72 External power 77 1 supply 24V gt Common for Input circuits Circuit configuration for input 4 to input 15 The table below shows the
325. tart only one program that takes care of the safety and 290 How to s Section 5 1 integrity of the application and execution of all other application programs This program is usually referred to as a SHELL program For more information on designing a SHELL program see section 5 2 1 Suppose that program is designed in a way the it contains a following fraction of code When there is an error we stop all programs No new oscilloscope captures are done And we have stored in the selected TABLES the last data trace in which the error has occurred Therefore we can recover this trace and analyze it loop IF MOTION ERROR 0 THEN HALT GOTO loop Trace1 Device1 hd x IXao 0 1 1 1 1 0 0 20 40 60 80 100 120 140 160 180 200 Time ms This programming code causes all the programs and tracing to stop when an error happens on any axis The data is already captured in the Table memory and we can start using the oscilloscope to see the status of the desired parameters at the moment the error occurred The measured position of the master axis given in red does not seem to be the cause because there is no discontinuity on it We discard a mechanical problem as well because the torque given in green has low values An the moment of the problem the speed of the slave axis given in yellow was smooth and low therefore this is no problem either The next ste
326. tch on output 0 of the Encoder Interface when predefined positions are reached MECHATROLINK MHELICAL Initializes MECHATROLINK II bus and performs various operations on MECHATROLINK II stations connected to the bus Interpolates 3 orthogonal axes in a helical move MOVE Moves one or more axes at the demand speed accelera tion and deceleration to the position specified as increment from the current position MOVEABS Moves one or more axes at the demand speed accelera tion and deceleration to the position specified as absolute position MOVECIRC Interpolates 2 orthogonal axes in a circular arc MOVELINK Creates a linear move on the base axis linked via a soft ware gearbox to the measured position of a link axis MOVEMODIFY Changes the absolute end position of the current single axis linear move MOVE or MOVEABS RAPIDSTOP Cancels the current move on all axes REGIST Captures an axis position when a registration input or the Z mark on the encoder is detected REVERSE Moves an axis continuously in reverse at the speed set in the SPEED parameter STEP RATIO Sets the ratio for the axis stepper output 4 1 2 Axis parameters Name ACCEL Description Contains the axis acceleration rate ADDAX AXIS Contains the number of the axis to which the base axis is currently linked to by ADDAX ATYPE Contains the axis type AXIS ENABLE
327. te This command is implemented for the Command Line Terminal program name Name of the program to be copied new program name Name to use for the new program COPY prog newprog DEL NEW RENAME Mathematical function COS expression The COS function returns the cosine of the expression Input values are in radians and may have any value The result value will be in the range from 1 to 1 expression Any valid BASIC expression gt gt PRINT COS 0 1 0000 N A Axis parameter CREEP The CREEP axis parameter contains the creep speed for the axis The creep speed is used for the slow part of an origin search sequence CREEP can have any positive value including 0 The creep speed is entered in units sec with the unit conversion factor UNITS For example if the unit conversion factor is set to the number of encoder edges inch the speed is set in inches sec All BASIC commands Section 4 2 4 2 60 D GAIN Arguments Example See also Type Syntax Description Arguments Example See also 4 2 61 D ZONE MAX 4 2 62 D ZONE MIN Type Syntax Description Arguments Example See also Type Syntax N A BASE 2 CREEP 10 SPEED 500 DATUM 4 CREEP AXIS 1 10 SPEED AXIS 1 500 DATUM 4 AXIS 1 AXIS DATUM UNITS Axis parameter D_GAIN The D_GAIN axis parameter contains the derivative gain for the axis The derivative output contribution is calculated by multiplyi
328. ter can also be used to shift the origin point MPOS is reset to 0 at start up or after the controller has been reset The range of the measured position is controlled with the REP DIST and REP OPTION axis parameters N A All BASIC commands Section 4 2 Example WAIT UNTIL MPOS gt 1250 SPEED 2 5 See also UNITS AXIS DEFPOS ENCODER FE OFFPOS REP_DIST REP_OPTION UNITS 4 2 163 MSPEED Type Axis parameter read only Syntax MSPEED Description The MSPEED parameter contains the measured speed in units s It is calculated by taking the change in the measured position in user units in the last servo period and divide it by the servo period in seconds The servo period is set with the SERVO_PERIOD parameter MSPEED represents a snapshot of the speed and significant fluctua tions which can occur particularly at low speeds It can be worthwhile to average several readings if a stable value is required at low speeds Arguments Example No example See also AXIS SERVO_PERIOD VP_SPEED UNITS 4 2 164 MTYPE Type Axis parameter read only Syntax MTYPE Description The MTYPE parameter contains the type of move currently being exe cuted The possible values are given in the table below Move number Move type 0 IDLE no move 1 MOVE 2 MOVEABS 3 MHELICAL 4 MOVECIRC 5 MOVEMODIFY 10 FORWARD 11 REVERSE 12 DATUM 13 CAM 14 JOG_FORWARD refer to FWD_JOG 15 JOG_REVERSE refer to
329. the VR parameter If the command cannot be executed the value 0 is returned The com mand is executed on the driver for the base axis set with BASE It can be changed using the AXIS modifier like with all the other axis com mands and parameters Note This command waits for the response of the axis therefore its execution is slow and the time variable Do not use this command together with other commands that require quick execution Note Executing a DRIVE READ will temporarily disable the Servo Driver Front Panel display Note DRIVE READ returns 1 on success It also returns 1 with no parameter read if the parameter number does not exist or has the wrong size parameter The number of the parameter to be read Note that the parameter numbers are hexadecimal The format of the data can be found in the Servo Driver manual Size Size of the parameter is specified in bytes For most parameters the size is normally 2 bytes Some special parameters may be 4 bytes long Sizes for each parameter can be found in the Servo Driver manual e VR The VR address where the read parameter is stored upon success ful execution IF DRIVE READ 100 2 1 THEN PRINT The Speed loop gain is VR 1 ELSE PRINT The speed loop gain could not be read ENDIF DRIVE WRITE HEX HEXADECIMAL INPUT Caution Be sure that no Parameter Unit or Personal Computer Software is connected to the Servo Driver when executing this command Otherwise the
330. the installation and wiring of the unit This makes sure that the unit cannot become overheated The CJ1W MCH72 can be installed in any slot in a CJ series CPU rack or in a CJ series expansion CPU rack The CJ series PLC supports up to 4 expansion CPU racks Up to 16 CPU bus units can be connected to one PLC Also the maximum number of CJ1W MCH72 units that can be connected to one PLC is 16 PLC CPU rack 10 Units max Expansion Backplane 10 Units max End cover Expansion Backplane 10 Units max End cover Expansion Backplane 10 Units max End cover PI SII Lee PS Power Supply Unit CPU CPU Unit IC I O Control Unit II Interface Unit Expansion racks 48 Installation Section 2 3 2 3 2 Setup Note Note Note The maximum current consumption of the CJ1W MCH72 is 680 mA Make sure that the total current consumption of all units connected to the same CPU backplane or expan sion backplane is not greater than the output capacity of the Power Supply Unit To connect the CJ1W MCH72 to the PLC perform the following steps 1 Align the connectors of the units Connector PAJOSR en Ron MCH72
331. ther sig nals The discontinuity in the CAM red graph coincides in time with the interruption of the movement To analyze this check the position values individually with a spread sheet program To analyze the point values in detail you can export the TABLE points to a spreadsheet program for a more complex analysis Practical examples Section 5 2 5 2 5 2 1 5 2 1 1 Practical examples SHELL program Example GLOBAL amp CONSTANTdefinition System initialization Stop Application programs and movements programs programs programs and and movements movements i Start Stop Stop Reset Application Application Application sequence Update of status Other monitoring Good programming practice requires a good SHELL program A SHELL program starts stops and resets the application programs The SHELL program is not necessary but gives structure to the applications and makes the method to program the motion controller more effective Find below an example of a SHELL program Make sure that you modify the program to the specific needs of the application Check the correct operation before you rely on the safe operation of the program This program is typically set to run at power up at low priority This SHELL program is an example that OMRON provide as recommended This program should be modified for the particular user application x
332. thin the EnDat MRS block If a CRC error occurs this command will return 0 Writing to address 0 performs an encoder reset function For more infor mation see EnDat absolute encoder interface specification In order to successfully write an encoder parameter with this command the ENCODER_CONTROL parameter must be set to 1 encoder parameter read write mode Arguments address Specifies the EnDat MRS field to write to value Any valid BASIC expression Example No example See also AXIS ENCODER ENCODER BITS ENCODER CONTROL 4 2 93 ENDIF See IF THEN ELSE ENDIF 4 2 94 ENDMOVE Type Axis parameter Syntax ENDMOVE Description The ENDMOVE axis parameter holds the position of the end of the cur rent move in user units If the SERVO axis parameter is ON the ENDMOVE parameter can be written to produce a step change in the demand position DPOS Note As the measured position is not changed initially the Following Error limit FE LIMIT should be considered when writing to ENDMOVE to produce a step change If the change of demanded position is too big the limit will be exceeded Arguments N A Example No example See also AXIS DPOS FE_LIMIT UNITS 4 2 95 EPROM Type Program command Syntax EPROM Description The EPROM command stores the BASIC programs in the CJ1W MCH72 battery backed up RAM memory in the flash EPROM memory Whether the programs stored in the flash EPROM memory are copied to RAM at start up is contro
333. tical systems use proportional gain For many just using this gain parameter alone is sufficient The proportional gain axis parameter is called P GAIN Integral gain The integral gain creates an output that is proportional to the sum of the Following Errors that have occurred during the system operation O kK XE Integral gain can cause overshoot and so is usually used only on systems working at constant speed or with slow accelerations The integral gain axis parameter is called I GAIN Derivative gain The derivative gain Ky produces an output Og that is proportional to the change in the Following Error E and speeds up the response to changes in error while maintaining the same relative stability Og 2 AE Derivative gain may create a smoother response High values may lead to oscillation The derivative gain axis parameter is called D GAIN Output speed gain The output speed gain produces an output that is proportional to the change in the measured position Pm and increases system damping Oo Koy APR Trajexia system architecture Section 1 5 The output speed gain can be useful for smoothing motions but will generate high Following Errors The output speed gain axis parameter is called OV GAIN Speed feed forward gain The speed feedforward gain Ky produces an output Oyg that is proportional to the change in demand position Pg and minimizes the Following Error at high speed Ovt AP The
334. to Flexible axis axes with ATYPE val ues 43 44 and 45 The command can be used with either 1 or 5 parameters Only 1 param eter is needed to disable the switch or clear FIFO queue All five param eters are needed to enable switch After loading FIFO and going through the sequence of positions in it if the same sequence has to be executed again FIFO must be cleared before executing HW_PSWITCH command with the same parameters Arguments mode 0 disable switch 1 on and load FIFO 2 clear FIFO direction 0 decreasing 1 increasing opstate Output state to set in the first position in the FIFO ON or OFF table start Starting TABLE address of the sequence table end Ending TABLE address of the sequence Example HW PSWITCH 1 1 ON 21 50 This command will load FIFO with 30 positions stored in TABLE mem ory starting from TABLE 21 in increasing direction When the position stored in TABLE 21 is reached output 8 will be set ON and then alter natively OFF and ON on reaching following positions in the sequence until the position stored in TABLE 50 reached Example HW PSWITCH 0 This command will disable switch if it was enabled previously but will not clear the FIFO queue Example HW PSWITCH 2 This command will clear FIFO queue if loaded previously See also AXIS 4 2 1301 GAIN Type Axis parameter Syntax GAIN 155 All BASIC commands Section 4 2 Description Arguments Example
335. to see if the expression on the left is greater than the expression on the right gt IS GREATER THAN OR EQUAL TO Checks two expressions to see if the expression on the left is greater than or equal to the expression on the right lt IS LESS THAN Checks two expressions to see if the expression on the left is less than the expression on the right lt IS LESS THAN OR Checks two expressions to see if the expression on the left EQUAL TO is less than or equal to the expression on the right ABS Returns the absolute value of an expression ACOS Returns the arc cosine of an expression AND Performs an AND operation on corresponding bits of the integer parts of two expressions ASIN Returns the arc sine of an expression ATAN Returns the arc tangent of an expression ATAN2 Returns the arc tangent of the non zero complex number made by two expressions COS Returns the cosine of an expression EXP Returns the exponential value of an expression Categories Section 4 1 Name Description FRAC Returns the fractional part of an expression IEEE IN Returns floating point number in IEEE format represented by 4 bytes IEEE OUT Returns single byte extracted from the floating point number in IEEE format INT Returns the integer part of an expression LN Returns the natural logarithm of an expression MOD Returns the modulus
336. tor Encoder resolution and the motor maximum speed Refer to the Servo Driver and the motor data sheet for this information EXAMPLE INITIALIZATION PROGRAM THIS VERSION IS DESIGNED FOR MECHATROLINK II SERVOS ADAPT THIS PROGRAM ACCORDING TO YOUR APPLICATION BASE restart 0 inertia_ratio set_load_inertia_ratio EXAMPLE 1 SGMAH 01AAA61D OY motor data enc resolution 2 13 13 bit encoder max speed 5000 5000 rpm max speed EXAMPLE 2 SGMAH 01A1A61D OY motor data enc resolution 2 16 16 bit encoder max speed 5000 5000 rpm max speed WRIT PARAMETERS IN THE SERVO DRIVE WRITE 103 2 inertia ratio Write inertia ratio DRIVE READ 110 2 10 IF VR 10 lt gt 0012 THEN DRIVE WRITE 110 2 0012 1 Pn11020012h autotuning disabled restart 1 ENDIF DRIVE_READ 202 2 10 IF VR 10 lt gt 1 HEN DRIVE WRITE 202 2 1 1 Pn202 1 gear ratio numerator in the drive Default is 4 restart 1 ENDIF DRIVE_READ 511 2 10 IF VR 10 lt gt 6548 THEN DRIVE_WRITE 511 2 6548 1 511 set the registration inputs in the Servo Driver restart 1 ENDIF DRIVE_READ 81E 2 10 IF VR 10 lt gt 4321 THEN DRIVE_WRITE 81E 2 4321 1
337. tting bit 2 to 0 has no function Bits 3 15 of word ignored 3 3 1 2 Status data 56 Status words n 1 and n 2 return the status of the CJ1W MCH72 The table below lists the layout of these status words Data Section 3 3 Word Bit Description Value Function n 1 0 Unit operational 0 Unit not operational 1 Unit operational 1 Watchdog on 0 Axes watchdog off 1 Axes watchdog on 2 15 N A Always 0 2 0 MECHATROLINK II 0 No MECHATROLINK II error 1 Error on MECHATROLINK II bus 1 Axes error 0 No axes error 1 Axes error See control and status words n 7 and n 8 2 BASIC error 0 No BASIC error 1 BASIC error for a running process 3 Battery error 0 Battery OK 1 Battery low or empty 4 15 N A Always 0 Status words n 3 n 12 return the status of the axes and processes of the CJ1W MCH72 Word Bit Description n3 0 15 Servo On flags for axes 0 15 n 4 0 15 Servo On flags for axes 16 31 5 0 15 Axis Enable flags for axes 0 15 n6 0 15 Axis Enable flags for axes 16 31 n7 0 15 Axis Error flags for axes 0 15 n8 0 15 Axis Error flags for axes 16 31 n9 0 15 Axis In Commissioning Mode flags for axes 0 15 n 10 0 15 Axis In Commissioning Mode flags for axes 16 31 11 0 13 Process Running flags for processes 1 14 14 15 Always 0 n 12 0 13 Process Error flags for processes 1 14 14 15 Always 0 3 3 2
338. ulate the CAM Table FOR i 0 TO 999 ABLE i VR end pos 1 COS 2 PI 1 999 2 NEXT i current end pos VR end pos ENDIF GOTO loop The VR end pos value can be changed from some other program or externally from another controller using FINS messaging In this case the CAM table must be recalculated The creation of the CAM table is complete The initialization of the desired axis and system parameters for tracing is Initializations FOR i 0 TO 1 BASE i ATYPE 40 UNITS 8192 REP_DIST 20 REP_OPTION 1 FE_LIMIT 1 DRIVE_CONTROL 11 SPEED 8 A D D S CCEL 50 ECEL 50 EFPOS 0 ERVO ON CANCEL NEXT i WDOG ON BASE 1 Scope settings 288 How to s Section 5 1 1 sample each 2 servo cycles Information stored in TABLE 1000 to TABLE 4999 Because we capture 4 channels we have 1000 samples per channel MPOS AXIS 0 is stored in TABLE 1000 to TABLE 1999 DPOS AXIS 1 is stored in 2000 to TABLE 2999 Torque reference for AXIS 1 is stored in TABLE 3000 to TABLE 3999 MSPEED AXIS 1 is stored in TABLE 4000 to TABLE 4999 The capture covers 1000 samples 2ms sample 2seconds SCOPE ON 2 1000 4999 MPOS AXIS 0 DPOS DRIVE MONITOR MSPEED FORWARD AXIS 0 Move the master axis forward TRIGGER Start tracing and storing of
339. unma Pn20E Pn210 The remainder of this section uses the parameters of the Sigma ll Servo Driver that is Pn202 and Pn203 If you use a Sigma V or a Junma Servo Driver you must use the corresponding parameters If a servo motor with an absolute encoder is used setting parameter Pn205 Multiturn limit is also necessary CJ1W MCH72 Servo Driver MOVE x encoder counts the ultimate minimum distance you can recognize and depends on the encoder reference units the minimum unit you can set internally to the servo driver UNITS Pn202 Pn203 Motor encoder Parameter Pn202 is the electronic gear ratio denominator G1 Parameter Pn203 is the electronic gear ratio numerator G2 The servo motor rotates using the value of the position command signal sent by the CJ1W MCH72 multiplied by the electronic gear Pn202 Pn203 On the output servo motor side the signal is expressed in number of encoder pulses For more information on Servo Driver parameters 202 and Pn203 see the Sigma ll Servo Driver manual The UNITS axis parameter effectively expresses the ratio between user units that the user wants to use in the program and the position sent to the Servo Driver via the MECHATROLINK II bus Taking the electronic gear setting into 261 How to s Section 5 1 5 1 3 2 Example 1 262 account the equation expressing the relation between user units the UNITS parameter para
340. ured positions MPOS of both axis 1 and axis 2 are greater than Zero program execution continues at label cycle1 Otherwise program execution continues with the next statement See also N A 4 2 27 AOUT Type command Syntax AOUT analogue_chan Description The AOUT command sets the output value of the analogue output channels that are provided by the analogue output modules connected to the PLC The range of the value set is 32000 32000 for full output range The output range depends on the analogue unit used and can be one of the following 10V 10V OV 10V or OV 5V for voltage and OmA 20mA or 4mA 20mA for current output Arguments analogue chan Analogue output channel number 0 31 Example No example See also N A 4 2 28 ASIN Type Mathematical function Syntax ASIN expression Description The ASIN function returns the arc sine of the argument The argument must have a value between 1 and 1 The result in radians is between Pl 2 and PI 2 Input values outside this range return 0 Arguments expression Any valid BASIC expression 87 All BASIC commands Section 4 2 Example gt gt PRINT ASIN 1 1 5708 See also N A 4 2 29 Mathematical function Syntax ATAN expression Description The function returns the arc tangent of the argument expression can have any value The result is in radians and is between Pl 2 and 2 Arguments expression Any
341. ut Type Syntax Description Arguments Example See also 4 2 14 Comment field Type Syntax Description Arguments Example See also 4 2 15 Statement separator Type Syntax Mathematical function expression1 lt expression2 The operator lt returns TRUE if expression1 is less than or equal to expression2 otherwise it returns FALSE e expression1 Any valid BASIC expression expression2 Any valid BASIC expression IF a lt 10 THEN label1 If variable a contains a value less than or equal to 10 program execu tion continues at label label1 Otherwise program execution continues with the next statement N A System command hex_num The command makes the number that follows a hexadecimal number hex num A hexadecimal number consisting of the characters 0 9 and A F hex num ranges from 0 to FFFFFF gt gt TABLE 0 F ABCD gt gt print TABLE 0 TABLE 1 15 0000 43981 0000 HEX PRINT Program command marks all that follows it on a line as comment and not program code Comment is not executed when the program is run You can use at the beginning of a line or after a valid statement N A This line is not printed PRINT Start N A Program command 79 All BASIC commands Section 4 2 4 2 16 4 2 17 ABS 4 2 18 ACC 80 Description Arguments Example See also Type Syntax Description Arguments Example See also
342. ution A Caution A Caution A Caution A Caution Locations subject to possible exposure to radioactivity Locations close to power supplies The operating environment of the PLC System can have a large effect on the longevity and reliability of the system Improper operating environments can lead to malfunction failure and other unforeseeable problems with the PLC System Be sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system precautions Do not start the system until you check that the axes are present and of the correct type The numbers of the axis will change if MECHATROLINK II network errors occur during start up or if the MECHATROLINK II network configuration changes Check the user program for proper execution before actually running it in the Unit Not checking the program may result in an unexpected operation Observe the following precautions when using the CJ1W MCH72 or the PLC Failure to abide by the following precautions could lead to serious or possibly fatal injury Always heed these precautions Always connect to a ground of 100 or less when installing the Units Not connecting to a ground of 100 O or less may result in electric shock Always turn OFF the power supply to the PLC before attempting any of the following Not turning OFF the power supply may result in malfunction or electric shock
343. valid BASIC expression Example gt gt PRINT ATAN 1 0 7854 See also N A 4 2 30 ATAN2 Type Mathematical function Syntax ATAN2 expression1 expression2 Description The 2 function returns the arc tangent of the non zero complex number expression1 expression2 which is equivalent to the angle between a point with coordinate expression expression2 and the x axis If expression2 gt 0 the result is equal to the value of ATAN expression1 expression2 The result in radians will be between PI and PI Arguments expression1 Any valid BASIC expression expression2 Any valid BASIC expression Example gt gt PRINT ATAN2 0 1 0 0000 See also N A 4 2 31 ATYPE Type Axis parameter Syntax ATYPE value Description The ATYPE axis parameter indicates the axis type for the axis The valid values depend on the port the Servo Driver controlling the axis is connected to See the table below AXIS type ATYPE value Virtual 0 MECHATROLINK II Position 40 88 All BASIC commands Section 4 2 AXIS type ATYPE value MECHATROLINK II Speed 41 MECHATROLINK II Torque 42 Flexible axis Stepper Out 43 Encoder Interface In 44 Flexible axis Encoder Out 45 Flexible axis Absolute EnDat 47 Flexible axis Absolute SSI 48 MECHATROLINK II Inverter 49 4 2 32 AUTORUN 4 2 33 AXIS Arguments Example See also Type Syntax Description Arguments Ex
344. value The decimal equivalent of the bit pattern to which the flags must be set See the table below Bit number Decimal value 0 1 1 2 2 4 3 8 4 16 5 32 6 64 7 128 Example FLAGS 146 2 16 128 Set Flags 1 4 and 7 on all others off All BASIC commands Section 4 2 Example See also 4 2 114 FOR TO STEP NEXT Type Syntax Description Arguments Example Example IF FLAGS and 8 lt gt 0 then GOSUB somewhere Test if Flag 3 is set N A Program control command FOR variable start TO end STEP increment commands NEXT variable The FOR NEXT loop allows the program segment between the FOR and the NEXT statement to be repeated a number of times On entering this loop the variable is initialized to the value of start and the block of commands is then executed Upon reaching the NEXT command the variable is increased by the increment specified after STEP The STEP value can be positive or negative if omitted the value is assumed to be 1 While variable is less than or equal to end the block of commands is repeatedly executed until variable is greater than end at which time program execution will continue after NEXT Note FOR NEXT statements can be nested up to 8 levels deep in a BASIC program variable Any valid BASIC expression start Any valid BASIC expression end Any valid BASIC expression increment Any valid BASIC expression commands One or more
345. very P 1 1 2 System phulosophy t i eb cete og ur eh E Oe E RE E EEA 2 1 3 Motion control concepts ree Peter tete eet tree tee eene ee e bean enn reet ee 3 I 4 Servo ssystenrprinclIples eren citer er eee ipe e ei enit dr ayes ei dert n 12 I 5 Trajexia system architecture i o rne Oe repe tie b e te OE P DEO PE peteret sheets 15 1 6 Cycle time nde t eee e ED EO e Oe AR ERE OO HE reis 16 1 7 Program control and multi tasking cette tte trier eher erbe eiit her tte ste essesi E tid 20 1 8 Motion sequence and axes sonnin E EE REN E E e E E e AEE IEO oe ORE EREE i EEEN 22 1 9 Motion 5 o eroi Rte e Rete ue E E e CE REI ont 29 1 10 Mechanical system noh ep RP prete ete ae wed i end ise deti eee reno 30 IS UN AXIS numbers EE 31 SECTION 2 Installation and wiring siiesstcsisiseess cess ssidiscecudasssessscaseascusicesessscedesesscssacstiss 2 Umtcompohents 5 ener pipe edet etd e ete o nn sp Re e re Partei Heer ees 33 2 2 WC i ee REIN UON E 38 2 3 Installations tee EUER SD UR REOR UE Ue Eua e teet E e seat pete eeu 48 2 4 Specifications tide ette tte pp ee aet E e einn 52 SECTION 3 iP IE Wo dI ud H OS 3 Introd ction A cet ce ANM tI OR adea is 55 3 2 m 55 3 89 E E
346. will appear and the program will stop when trying to execute this command For fast startup the program should also be the only process running at power up When the CONSTANT is declared the declaration remains active until the next CJ1W MCH72 reset by switching the power off and back on or by executing the EX command A maximum of 128 CONSTANTS can be declared name Any user defined name containing lower case alpha numerical or underscore characters value The value assigned to name CONSTANT nak 15 CONSTANT start button 5 IF IN start_button ON THEN OP led1 ON IF key charznak THEN GOSUB no ack received N A System parameter read only CONTROL 113 All BASIC commands Section 4 2 Description Arguments Example See also 4 2 57 COPY Type Syntax Description Arguments Example See also 4 2 58 COS Type Syntax Description Arguments Example See also 4 2 59 CREEP Type Syntax Description 114 The CONTROL parameter returns the type of controller in the system The value of this system parameter for the CJ1W MCH72 is 264 Note When the Motion Controller is locked 1000 is added to the value so a locked CJ1W MCH72 will return 1264 N A No example N A Program command COPY program name new program name The COPY command copies an existing program in the controller to a new program with the specified name The program name can be spec ified without quotes No
347. with the FINS Write command you can write the Table memory of the CJ1W MCH72 3 2 1 Configuration of memory areas in the PLC program To configure the memory areas for cyclic data exchange in the PLC you must use the FINS Parameter Area Write command For more information on this FINS command refer to section 3 4 4 3 2 2 Configuration of memory areas in the CJ1W MCH72 3 3 1 3 3 1 1 To configure the memory areas for cyclic data exchange in the CJ1 W MCH72 you must use the PLC EXCHANGE BASIC command For more information on this BASIC command refer to section 4 2 182 Data Two types of data are exchanged during a data exchange Control and status data Configurable data Control and status data The CJ1W MCH72 has 13 control and status words The control and status data is in the PLC ClO memory at word location n where nis equal to 1500 25 x unit_number Control data The PLC program can directly control the CJ1W MCH72 with control word n It can execute the following functions Function Action Disable all program execution Set bit 0 to 0 Execute BASIC command HALT Enable all program execution Set bit 0 to 1 On the first edge after reset or power on the startup program is executed Set the axes watchdog off Set bit 1 to 0 Start deceleration Set bit 2 to 1 Execute BASIC commands HALT RAPIDSTOP Note e Only if bit 1 has value 1 the CJ1W MCH72 can react to the axes watchdog Se
348. work Services commands are message service communications commands developed by OMRON for Factory Automation control devices They do not depend on a particular transmission path and can be used to Read from and write to the PLC memory or the CJ1W MCH72 memory Control various operations The FINS communications can be issued from a PLC CPU or a host computer and they can also be sent to any of these The specific commands that can be sent depend on the destination A FINS command is defined by its command code and its response code A command code is a 2 byte hexadecimal code FINS commands always begin with a 2 byte command code The required parameters come after the command code The response code is a 2 byte hexadecimal code that indicates the results of the command execution The first byte provides the main response code MRES which classifies the results The table below lists the MRES codes The second byte provides the sub response code SRES which contains details about the results MRES Execution result 00 Normal completion 01 Master unit error 02 Slave device error 58 FINS commands Section 3 4 3 4 1 Note Read 0101 MRES Execution result 04 Service not supported 10 Command format error 11 Parameter error 20 Read not possible 22 Status error If the FINS command was not completed normally the 2 byte response code is not equal to 0000 Al
349. xis set with BASE unless AXIS is used to specify a temporary base axis Note 1 Be aware that the control loop gains for both axes need to be deter mined with care As different encoders with different resolutions are used the gains are not identical 2 Set the OUTLIMIT parameter to the same value for both linked axes 3 This command has no meaning for a MECHATROLINK II axis in position mode ATYPE 40 because the value of S REF OUT is ignored Arguments axis The axis from which to sum the speed reference output to the base axis Set the argument to 1 to cancel the link and return to normal operation Example No example See also AXIS S REF OUT OUTLIMIT 4 2 22 ADDAX Type Axis command Syntax ADDAX axis Description ADDAX command is used to superimpose two or more movements to build up a more complex movement profile The ADDAX command takes the demand position changes from the superimposed axis as specified by the axis argument and adds them to any movement running on the axis to which the command is issued The axis specified by the parameter can be any axis and does not have to physically exist in the system The ADDAX command therefore allows an axis to perform the moves specified on two axes added together When the axis parameter is set to OFF on an axis with an encoder interface the measured position MPOS is copied into the demanded position DPOS This allows ADDAX to be used to sum encoder inputs After the
350. you have to determine a value for all the PSWITCH arguments sw The switch number can be any switch that is not in use In this example you will use number 0 en The switch must be enabled to work set the enable to 1 axis The shaft is controlled by axis O opno The output being controlled is output 11 opst The output must be on so set to 1 setpos The output is to produced at 80 units rspos The output is to be on for a period of 120 units This can all be put together in the following lines of BASIC code switch UNITS AXIS 0 10 Set unit conversion factor REP DIST 360 REP OPTION ON PSWITCH 0 ON 0 11 ON 80 200 This program uses the repeat distance set to 360 degrees and the repeat option on so that the axis position will be maintained between 0 and 360 degrees HW PSWITCH OP UNITS Axis command RAPIDSTOP RS The RAPIDSTOP command cancels the current move on all axes from the current move buffer MTYPE Moves for speed profiled move com mands MOVE MOVEABS MOVEMODIFY FORWARD REVERSE MOVECIRC and MHELICAL will decelerate to a stop with the deceler ation rate as set by the DECEL parameter Moves for other commands will be immediately stopped Notes RAPIDSTOP cancels only the presently executing moves If further moves are buffered in the next move buffers NTYPE or the task buffers they will then be loaded During the deceleration of the current moves additional RAPIDSTOPs will be ignored
351. ze is indicated by the TSIZE parameter Note that this value is one more than the highest defined element address The TABLE can be deleted with by using DEL TABLE or NEW TABLE on the com mand line Notes Applications like the CAM command CAMBOX command and the SCOPE command in Trajexia Studio all use the same TABLE as the data area Do not use the same data area range for different pur poses The TABLE and VR data can be accessed from all different running tasks To avoid problems of two program tasks writing unexpectedly to one global variable write the programs in such a way that only one program writes to the global variable at a time address The first location in the TABLE to read or write Range 0 63999 value The value to write at the given location and at subsequent locations TABLE 100 0 120 250 370 470 530 550 The above line loads an internal table as below Table entry Value 100 0 101 120 102 250 103 370 104 470 105 530 106 550 Example See also The following line will print the value at location 1000 PRINT TABLE 1000 CAM CAMBOX DEL NEW SCOPE TSIZE VR 231 All BASIC commands Section 4 2 4 2 235 TABLEVALUES Type System command Syntax TABLEVALUES address number_of_points format Description Returns a list of TABLE points starting at the number specified There is only one format supported at the mo

I55E-EN-01 CJ1W-MCH72 Motion Control Unit

Contents

Download Pdf Manuals

Related Search

Related Contents