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1. 10 27 M0200 Pos dec stt cond Error signal In operation M0200 SET P0049 0021 0030 0031 D M0211 Speed Teach Error signal In operation com cond M0211 00000 M013 BIN P000 M014 SET P004E P0022 P0030 P0031 N D M0220 Origin pointret Error In operation cond S M0220 SET 004 0023 0030 0031 D M0501 Inching Error In operation com cond mE M0501 BIN P000 RST M0064 SET P004F P0024 P0030 P0031 D M0502 Inching Error signal In operation com cond State total Read Present pos address displayed on BCD digital displayer Positioning start On Set speed No 0 Set speed value Speed Teach com On Origin point ret com On Set inching amount Set Inching forward Inch com On v Continued Chapter 10 MK Program 10 28 M0502 BIN P000 M011 SET M0064 SET 4 P0025 P0030 P0031 1 1 1 1 SET M0063 JOG Error In command signal operation cond RST M0064 M028 P0026 P0030 P0031 1 1 RST M0063 JOG Error In command signal operation cond SET M0064 M0
2. 2 Program F0010 00001 00000 M000 00006 P0000 P0027 11 171 D 0200 Continuous Pos Teaching cond M0200 1 DADD 009 0000001000 M009 M0300 SET P004D Teaching command stop signal P0000 P0027 a PET DNOT M0202 Command complete signal RST P004D M0202 INC M007 L 007 00009 SET M0300 P0001 P0027 1 1 D 0204 Continuous Speed Teaching condition M0204 01 00000 MOV 00100 014 gt Mom 00001 ADDP 014 00050 014 M0400 SET POO4E P0001 P0027 D 0206 RST POO4E M0206 INCP M013 M013 00010 SET M0400 P0002 RAM Teaching mode setting condition P0003 PUT 00001 00015 00000 00002 ROM Teaching mode setting condition F0010 PUT 00001 00015 00001 00002 PUT 00001 00006 M006 00009 10 24 Status total Read Teaching com On whenever Pos Teaching cond Is complete if Pos Teaching cond is On Position address increased by 1000 I scan On with com complete signal at falling edge Teaching command Off Increase Position Teaching op step No Stopped if op step No is 9 Teaching com On whenever Speed Teach cond Is complete if Speed Teach co
3. Pin No Class Internal circuit G3F G4F G6F G4F Signal POPA POPB POPA POPA 1 2 20 7 X_24V X axis pulse output external supplied power DC 24V 9 1 17 24 21 11 X 5V X axis pulse output external supplied power DC 5V wok to 2 26 1 2 _ X axis forward direction pulse output wo 11 4 2 3 X RP X axis reverse direction pulse output w Dh l 10 22 1 X GND X axis pul d Pulse 23 23 a axis pulse output groun output terminal 1 2 24 Y 24V Y axis pulse output external supplied power DC 24V 17 24 25 Y 5V Y axis pulse output external supplied power DC 5V wr 2 25 3 Y FP Y axis forward direction pulse output WO 1l 11 3 4 Y RP Y axis reverse direction pulse output e 1 26 10 23 27 Y GND pulse output Ground X axis phase Z input Open Collector 24 18 5 9 X ZOC DC 24V X axis phase Z input Line Driver 25 28 6 4 X_ZL DC 5V ELI Starting 15 6 7 8 X_ZCOM X axis phase Z input Ground point input Y axis phase Z input Open Collector 24 17 8 Y ZOC DC 24V 1 Y axis phase Z input Line Driver 25 27 9 Y ZL DC 5V FL 15 5 10 Y ZCOM Y axis phase Z input Ground 2 8 Chapter 2 Specification Pin No Class Internal circuit G3F car G6F G4F Signal POPA POPB POPA POPA 18 21 12 13 X
4. Speed JOG high speed forward P0000 On forward 20 000 p gt Present position address reverse JOG low speed reverse P0001 0n v F0010 GET 00001 00000 M000 00006 Normally On PUUUU a SET M0063 JOG high speed forward RST M0064 M0210 P0001 RST M0063 JOG low speed reverse SET M0064 M0220 P0002 P0020 P0021 LEM 73 1 pe mu Teaching Error signal In operation 10 21 State total Read JOG high speed points On JOG forward add 6 4 contact Off JOG aux contact JOG low speed add 6 3 contact Off JOG reverse add 6 4 contact On JOG aux contact scan On if teaching condition On v Continued Chapter 10 MK Program M0230 DMOV M004 M009 10 22 MOV 00003 M007 SET P003D P0027 RST P003D Com complete signal F0010 PUT 00001 00006 M006 00009 M0210 P003C M0220 END t Send present pos add to preset position address t Set op step No to teach to3 Position Teaching command On Position Teaching command Off Common used RAM command amp data Write Chapter 10 MK Program 10 3 3 Continuous teaching Position Teaching Speed Teaching Teaching means a function to assign a position address to move which is called as Position teaching to
5. Operation pattern 2 Step Override Re xii m M code Speed No Dwell 10 Absolute Disable Continuous Valid Continuous 500 000 0 2 50 11 Absolute Disable Continuous Valid Continuous 900 000 0 3 50 12 Absolute Disable Continuous Valid Single 0 0 4 50 13 Absolute Disable Continuous Invalid Single 0 0 0 0 14 Absolute Disable Continuous Invalid Single 0 0 0 0 E Speed data No Data 0 3000 1 5000 2 2000 3 6000 4 4000 5 0 6 0 W Operational description Operation Sequence Origin point Return P022 gt Positioning start P020 gt Speed Change P021 Positioning start P020 gt Positioning start P020 gt Operation Data No Change P024 Positioning start P020 gt Next Move P023 gt Operation Data No Change P024 Positioning start P020 10 17 Chapter 10 MK Program Speed change operation Positioning Start Speed change com P021 36000pps Speed 30000pps Position No 0 Operatio B gt Distance Pulse 100000 WM Next Move operation Positioning start P020 Next Move command P023 60000pps Normal operation Speed P Next Move command 20000pps Position No 11 N operation Position No 10 Operation 4 p gt Time Position No 12 40000pps v W Operation of operation data No change Pos No 0 25 Pos No 1 75 Pos No 2 AT JUMP
6. VT Speed teaching Mor POSB MOF code off POSP VCG POSP VCG vce POSP vce Speed change gu POSP NM NM POSP NM ontinuous operation uD Operation POSP OR POSP OR POPB OR POSP OR Speedoverride POSP SMC POSP SMC JPOPB SMC POSP SMC Setting operation step No Error Output prohibited cancellation oom pese puce pace pene pesas 3 Others POSP POSP PRE POSP_PRE POSB PRE POSPPRE Present position preset posp Parameter change 2 6 B 7 1 Chapter 7 Function Blocks 7 1 Function Block registration for positioning module in GMWIN Function Block can be registered as specified below while GMWIN is being executed Function Block registration is available only when the project is at open state 40 Select TH ces emiBeels Project P Library insertion 1 Select G3F POPA GM3 series reg ARI CD ws as Cabos Ma AY ta dienlav tha crraan halaw G4F POPA M4 series reg For GMWIN 3 1 or above Ex of G3F POPA G4F POPB Special 4fb M6 series registration e Special 6fb Te Oe EPEAL ug tT EEE D Ae Ba 7 2 Chapter 7 Function Blocks 7 2 Function Block for module information Read 7 2 1 Code information Read at present operation state S
7. 1 If emergency stop signal is used in G3F POPA only independent X axis 19 or Y axis 19 shall be used 2 10 Chapter 2 Specification 2 5 Designation and function of the parts 1 G3F POPA 2 G4F POPA 3 G4F POPB 4 G6F POPA G3F POPA G4F POPA q J Description Ready signal Ready signal of positioning module Busy signal Turned On if each axis is in busy operation state DIR signal On forward pulse output gt Off reverse pulse output ERR signal gt G3F POPA G4F POPA G4F POPB turned on if error occurs gt G6F POPA flickering if error occurs 1 Flickering at intervals of 0 5 sec serious error for pulse output prohibited 2 Flickering at intervals of 1 0 sec trivial error for pulse output RS 232C connector gt for connection with S W package gt As for G6F POPA connection available via communication port of CPU module However CPU module shall be in STOP state at this time Externalr interface connector for connection with drive device Chapter 2 Specification 2 6 Connector s pin arrangement Connector s pin arrangement for connection with external device of positioning module is described Connector s pin arrangement Model External interface connector RS 232C connector Pin arrangement of X a
8. condition to this area as composed during program execution REQ DONE Base position No BASE USINT e Setting area of base No positioning module is equipped on BASE STAT e Setting range series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Slot position No SLOT USINT e Setting area of slot No positioning module is equipped on e Setting range 0 7 Assignment area of axis to use AXIS USINT o If 0 X axis operates e If 1 Y axis operates State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output and if output parameter ACT is with internal processing of Function Block complete 0 is output Error state displaying area e If error occurs during Function Block execution error No is displayed Operation axis displaying area e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command SLOT ACT AXIS 7 4 4 Operation approval of manual pulse generator Manual Pulse Generator G3F POPA POSP MPG G4F POPB POSB_ MPG This is used to command position decision module to be in preparation state of operation performed with outer equipped manual pulse generator MPG Function Block Paramet type di Description Request area of Function Block execution at rising edge e Function Block execut
9. 4 d 54 acom 24V com 20 step motor s i 20 24 CON aE mg 24V COM 2 08 1 3 col al ES DC 24V a m o ale amp M M du M 4 T ee UN e t eat a 24V GND _ TBI 110 Et _ 1 Controllable by PLC s relay output or transistor s output contact 2 Protection control is available from overheating driver using PLC DC input signal 3 Origin point return is available by making phase Z signal by optical sensor adjacent sensor or limit switch since the stepping motor has no encoder 11 8 Chapter 11 Operation Proceedings amp Installation 7 Connection with TAMAGAWA TBL I series G3F POPA X AXIS 11 1 Chapter 11 Operation Proceedings amp Installation 8 Connection with MITSUBISHI MELSERVO SA type G3F POPA X AXIS MEL SERVO 5 24 COM 41 5 24 COM 5 o5 V EAT 5 24 GMD 10 11 10 Chapter 12 External Dimensions Chapter 12 External dimensions 12 1 G6F POPA Unit mm Y BUSY G6F POPA o o o o o o o o o9 o o o o o o o o o o o o o o o o o o o o ge o o o o o 12 1 Chapter 12 External Dimensions 12 2 G4F POPA G4F POPB gt External dimensions of G4F POPA is the same as G4F POPB Unit mm 12 2 Chapter 12 External Dimensions 12 3
10. NV f NV i gt Area of A is the same as that of B gt Set target position is Pl P2 but present positiqn gt Present position decided by continuous operatidn decided by continuous operation command becom amp s command becomes P2 Pl P2 gt If decided position amount is too smaller than operation speed in continuous operation mode error 106 occurs because calculation is unavailable Please set operation speed of the step which was set to continuous operation mode a little lower gt Operation mode which can use operation step No change by continuous operation POSE_NM is continuous operation and the next available operation modes for the operation step are single operation repeated operation and continuous operation If any other operation mode is used error 36 occurs 3 35 Chapter 3 Functions Program 3 12 Operation step No change by continuous operation Chapter 3 Functions 3 7 3 Speed change by speed override POSH_OR gt The override shall be set to allowable per applicable operation step at position data of S W package for application of speed override Error 60 may occur if operated with override prohibited in the applicable operation step at this time gt Use only at constant staged operation pattern if not error 56 occurs gt Setting rangeis1 15 setting unit 10 If speed is changed to other value than setting range error 67 o
11. JOG amp MPG approval command is a level command Namely it 1s operated only when command condition is On If command condition is Off the operation stops promptly Others than 2 commands described above shall be operated with the pulse of command condition Override Next Move and speed change command shall be executed only at constant If position data is of Absolute method other commands shall be executed after execution of origin point return or floating point set command Just one command shall be executed 2 or above commands are not allowed simultaneously If powered On origin point return or floating point set shall be complete first to allow other command or error 76 occurs in Absolute operation with the command not executable Read only area is arranged according to the address of buffer memory common used RAM Never apply PUT command to this area X axis Read only area address 0 5 X axis Read Write available area address 6 21 Y axis Read only area address 50 55 Y axis Read Write available area address 56 71 Do not Read Write on other addresses than assigned at buffer memory when executing PUT GET commands Surely refer to 3 1 Buffer memory because the address of buffer memory differs according to the type of positioning module Present position address shall be surely read in 2 word unit simultaneously and preset position address be written in 2 word unit simultaneously also PUT GET commands 10
12. Program 5 2 Zone setting Chapter 6 Position Data For Positionin Chapter 6 Position data for positioning gt Position data to be set in S W package is described gt Be careful that S W package is changed from POSITION to POSPACK with its terms modified also See 6 10 dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single dis cont invalid single or New o o o o o o o o oc o o o o o oc Qi o o 1 o o 91 coc o o o oc Send To write values set at position data by positioning module Read To read position data used in positioning module to S W package Check To monitor or save new value set at position data as changed Cancel To cancel new value set at position data and use previous value continuously W How to prepare Operatio Items PR cocina Override me id Operation Address M code Spesd Dwell No tes mode No Method Method Use the mouse to select applicable cell Details of Use the mouse to select applicable cell and to es
13. gt Program Program is the same as program 3 4 3 16 Chapter 3 Functions 3 2 4 Continuous operation 1 Positioning is complete upon positioning executed to the target position without stopping operation step set to continuous operation mode by one positioning start POSER AST rising edge T and the dwell time elapsed Accordingly operation mode of the last operation step shall be set to single operation mode or repeated operation mode If not error 66 occurs 2 Continuous operation command Next Move is available if next step position and speed are desired before the presently engaged operation step reaches the target position However continuous operation command Next Move can be executed only at constant speed 3 Only the same direction is available for continuous operation mode and operation direction is decided according to position address value Ex Operation pattern Op repeated Op steo No Op continuous Op step No is On Positioning start POSI_AST BUSY POSI _SRD ST6 3 Number of Step Coordin Operation Invalid v Operation Dwell i Override Address Mcode Speed No i program No ates method alid mode P x 10ms Positioning start disci ete i Absolut 7 i 0 A Disable Continuous Valid Continuous 1000 0 0 0 i 1 Absolut 1 2 Disable Continuous Valid Repeated 2000 0 1 0 M nM
14. 9 2 1 0 signal 9 2 1 Contents of I O signal In case positioning module is applied to MASTER K 2005 300S amp 1000S CPU module Input Signal and Output Signal are used for data exchange with PLC CPU The contents and functions are as described below See below If I O Word No of positioning module equals n The contents of I O signals of G6F POPA G4F POPB amp G3F POPA are identically 2 axes 64 points 1 I O signal of G4F POPA 32 points Ponty Output prohibited cancellation RT POOR POUR TA In positioning 00 1 RUE POO n D Position Teaching complete 00 1 Position Teaching RUE POOF POOF 9 12 Chapter 9 Inner Memory And I O Signals 2 I O signal of G3F POPA G4F POPB G6F POPA 64 points POO n O 00 2 0 Emergency stop PORA RUE RUE POO n F Inching complete POO n 2 F Inching start 00 1 00 1 00 1 00 1 00 1 z 7 UE i il iu lil li i l i i i i i Ii 9 13 Chapter 9 Inner Memory And I O Signals 9 2 2 Status signal 1 Error Turned On if error occurred and turned Off by error reset command and cancellation command of pulse output prohibited 2 In operation 1 Turned On at positioning start command and turned Off if start command complete 2 Signals In operation of X axis amp Y axis are turned On simultaneously at interpolati
15. executed manual pulse operation is in prohibition state by the following operation start command origin point return command interpolation operation JOG operation Inching operation 3 Operated regardless of starting point decided or undecided 4 Pulse input from manual pulse generator is incremental or decrement at present position 5 Shift direction is decided according to phase difference gt Forward position decided If phase A input pulse is ahead of phase B input pulse gt Reverse position decided If phase B input pulse is ahead of phase A input pulse If phase A input pulse is ahead of phase B input pulse position address value is increment If phase B input pulse is ahead of phase A input pulse position address value is decrement Program 3 8 Manual pulse generator 3 31 Chapter 3 Functions 3 6 3 Inching operation POSH_INC rising edge gt One of manual operation methods used to process minute move as determinate operation gt JOG command operation is hard to move to exact position because operation starts and stops according to the command but via the inching command with travel value easily set as desired the target is easy to reach gt Thus after rapid move near to work position by JOG command POSE_JOG perform operation by inching command for minute move to the exact work position to reach gt Setting range is 1 99 pulse and shift speed is set to 50pps Program 3 9 Inching operation
16. Reverse rotation Forward and reverse origin point return executed Forward rotation Reverse origin point return executed Reverse Fis Reverse rotation Reverse and forward origin point return executed 5 7 2 Compensation gt Compensation is used at origin point detection input at phase Z to adjust a little divergence of the machine s origin point difference between setting value and actual travel value due to mechanical error gt If origin point compensation has been set detect origin point and then move it as much as set data as origin point compensation when executing origin point return command so to complete origin point return operation gt Setting range of starting point compensation 999 999 Unit Pulse Decel at Near Zero Point On Origin point Return High Speed Origin point Return Start point compensation Low Speed Mort Start point Origin point i i return Dwell Time return com i Near Zero Point detectn POSELSRD out parameter ST5 s 37 bi Origin point detectn POSHLSRD out para ST5 s 4t bit Origin point return dwell time signal POSHLSRD out para ST1 s 0 bi Origin point compensation signal SRD outpara ST4 s 0 During origin point return SRD out para ST1 s 5 bi Origin point return complete out para ST6 s 5 bit 5 14 Chapter 5 Positioning Parameter 5 7 3 Speed of the return to origin point gt Speed of
17. ZONE 1 Position Teaching operation step No ZONE 2 8 Operation step No ZONE 3 lt B 9 Preset position address lower 5510 Preset position address higher s 11 Override Inching BR 8 M ry RR b0 Speed Teaching speed data No ed Teaching speed valu 1 Error data Spe PE 9 p ane Warning code of positioning module Serious error on positionin Position Teaching module H W error Speed Teaching e vcr M E t0 Deceleration time 0 999 Y M code mode 0 With 1 After 2 None Error code Warning code of positioning module JOG high speed value 1 20 000 Origin point return high speed a b6 b5 b4 b3 b2 bl b0 __ ae Unused Present value preset JOG Inching operation 0 forward 1 reverse JOG 0 low 1 high G3F POPA G4F POPB MPG operation allowed G6F POPA parameter transmission command Next Move Return to prior position to manual operation RTP 9 2 G4F POPB G3F POPA G6F POPA Chapter 9 Buffer Memory And I O Signals 3 Buffer Memory of G3F POPA G4F POPB G6F POPA Y axis Address decimal 2 5 b Diac bQ b b bD b bB bA b9 bs Present M code value Status information Error code error information Present operation speed Present M code 0 255 Present operation data No Eee none HIE signal BEA External lower limit signal Present position address lower st p Present position address high
18. 2 5 Chapter 2 Specification 2 4 External interface connector 2 4 1 Connector s pin arrangement Number signal name signal contents signal s input output direction shape of the connector pins are described Pin No Input output direction G3F G4F G6F G4F Signal Positioning Outerdevice POPA POPB POPA POPA Module 2 26 1 2 X_FP X axis forward direction pulse output e 11 4 2 3 XRP X axis reverse direction pulse output 3 2 20 3 Y_FP Y axis forward direction pulse output gt 11 3 4 Y_RP Y axis reverse direction pulse output _ 24 18 5 9 X Zoc X axis origin point input DC24V ag lt 25 28 6 4 X_ZL X axis origin point input DC5V 15 6 1 8 X_ZCOM X axis origin point input Ground gt 24 L7 8 E Y ZOC Y axis origin point input DC24V lt _ _ 25 27 9 Y_ZL Y axis origin point input DC5V ge NN 15 5 10 Y_ZCOM Y axis origin point input Ground gt 22 22 11 12 X ORG X axis near zero point switch input A contact 18 21 12 13 X_OV X axis external lower limit switch input B contact 3 22 13 14 X_Ov X axis external upper limit switch input B contact 4 14 X_VTP X axis speed position switching input A contact 22 3l 15 Y_ORG Y axis near zero point switch input A contact 18 20 16 Y OV Y axis external lower limit switch input B contact 3 9 17 Y_OV Y axi
19. 7 4 Chapter 7 Function Blocks 1 Contents of output parameters ST1 ST6 in present operation state s bit Read function block are important information surely to apply in program sn Sn ST3 In dwell Bit On Upper limit detected Bit On Unused In deceleration Bit On Lower limit detected Bit On Forward Bit Off Reverse Bit On In constant Bit On Emergency stop detected Bit On ZONE 1 Bit On In acceleration Bit On Pulse out prohibited Bit On ZONE 2 Bit On At stop state Bit On nching complete Bit On ZONE 3 Bit On In returning to origin point Bit On Position teaching complete Bit On Repeated operation complete Bit On In positioning Bit On n JOG low speed operation Bit On Positioning operation complete Bit On In interpolation operation not for G4F POPA n JOG high speed operation Bit On M code On Bit On Sn ST5 terminal signal ST6 In origin point compensation Bit On Speed position control switching only for G6F POPA Unused In backlash compensation BitOn not for G6F POPA In next move Bit On External lower limit signal Bit Off Position passing In speed overriding Bit On External near zero point signal Bit In operation Busy Unused External origin point signal Bit Positioning complete In stopping as decelerated amp stop Unused Origin point return complete complete Bit On Speed teaching complete Bit On Unused Origin point undecided valid only in G3F POPA G4F POPA V1 0 Speed change complete Bit On
20. Note The example above resulted from the test with no load which is subject to change according to characteristics and conditions of the load A1 3 Appendix 2__ Calculation Of Travel Value Per Pulse Appendix 2 1 Calculation of travel value per pulse gt Shifting amount per pulse means the value of the machine gauge used when the positioning module executes position control gt Setting shall be performed at the ratio of the pulses number to 1 motor rotation of the machine gauge used shifting amount to 1 motor rotation and shifting amount to 1 pulse as magnified 2 1 Calculation of shifting amount per pulse 1 Specification of the machine gauge Encoder a 1 n Items necessary to calculate shifting amount per pulse are supposed as described below A2 1 Appendix 2__ Calculation Of Travel Value Per Pulse Items Abbr Unit Shifting amount per pulse Ad mm Pulse Speed of the op area at emergent Vo mm min To be set below parameter speed limit transfer Motor rpm at emergent transfer No rpm To be set below servo rated rpm Ball screw lead mm rev Deceleration rate 1 n Pulses number of encoder Pulse rev Output frequency of Fo Pulse Max input pulse of the servo positioning module Shifting amount per motor AS mm rev rotation gt Shifting amount per motor rotation AS 5 X 1 mm rev gt Motor rpm No Vo AS No rpm lt Rate
21. Position data Speed data Op Invalid jethod Valid inc dis cont valid inc dis valid single 2000 inc dis cont valid auto 3000 inc dis cont valid auto 4000 dis valid auto 5000 dis cont valid single T0000 dis cont valid cont 20000 dis cont valid cont 30000 dis cont valid repeat dis cont invalid single 0 dis cont invalid single 0 dis cont invalid single 0 0 inc dis cont invalid single Write Read OK Cancel 2 Operation pattern Speed Forwar 8kpps Continuou Tkpps 6kpps 5kpps 4kpps 3kpps 2kpps Continuou 1kpps Pos L J 0 1000 3000 6000 10000 15000 25000 45000 73000 Step No B Step No 0 Step No 1 Step No 2 Step No 3 Step No 4 Step No 5 Step No 6 St p No 7 DNI 1 1 1 1 1 1 1 1 i i i 8kpps4 1 1 Revers i Repeat i i i i 1 1 On On On On Start com Next start command executes step POSH No 0 gt In continuous operation mode an operation pattern with direction switching can t be used in G3F POPA amp G4F POPA Accordingly program shall be surely changed to auto operation instead of continuous operation in G3F POPA amp G4F POPA gt Succeeding operation mode to auto operation is only
22. 3 11 1 RAM teaching function and ROM teaching function 1 RAM teaching function Speed value and position address value can be used as changed when positioning module is operated as powered on while the values are lost if powered off gt Only for G6F POPA 2 ROM teaching function Speed value and position address value can be used as changed when positioning module is operated as powered on in permanent preservation of the values applied even if powered off gt Be careful that the number of ROM teaching is limited available number 100 000 To increase the application number with teaching operated step 1 set 300 operation steps to repeated operation via software package and 2 change operation step No POSI SMC to the next operation step if the teaching count number reaches 99 000 as compared with 100 000 or below 99 000 in PLC program so to 3 use upto teaching times of 99000X300 29700000 3 42 Chapter 3 Functions 3 11 2 Speed teaching POSH_VLT rising edge gt A function to change speed value of the speed No set at positioning operation step gt Setting position data inc dis cont inc dis valid single inc dis valid inc dis valid single inc dis valid single inc dis valid single inc dis cont single inc cont single inc valid single inc valid single inc valid single in
23. x1 2 GND24 G6F POPA X AXIS peo 4 pz0_ 35 um Eis Sra fos S000 map Th 3 RGO eo t 10k 20k 0 10V TRAIN 47 S Saa w eu DOCOCT NI Speed wonit1 39 0 5V Torqu wonit2 6 0 5V AN fia T1 ho szava 40 2av com 20 3 9K M FIN 9 FP 1 26 RP 2 MU Prin 11 3 1 2 33 or 34 shall be used for GND terminal Surely ground connect the shielded line of CN1 cable with F G FRAME GROUND 32 33 34 35 4 MUN 1C0M Upper 1 rd 13 Lower limi L S Gi Origin poipt L S n o speed pos Swit L S l 7 o 20 24v WOC 22 23 24V GND Chapter 11 Operation Proceedings amp Installation 2 Connection with FDA 5000 AC SERVO driver SERVO ENABLE Accumulated pulse CLEAR No forward No reverse E stop Op device Speed Analog Torg imi tedus SERVO Pos reachedcom FDA 5000 CN1 24VIN 4 SVONEN ESTOP kai ALMRST CLR z c9 H vs 0 14 TLIM o 46 TLOUT 21 ROY 22 INPOS 0 speed torq Motor brake device ALARM 45 A CODEO ALARM CODE ALARM CODE 19 A CODE 44 A CODE2 24 GND24
24. 1 10 000 10 100 000 pps t speed Caution items for JOG speed setting are as follows 1 Jog at high speed shall be carefully set as below bias speed S JOG at high speed lt speed limit Speed Speed limit Bias speed JOG at low speed can be operated regardless of bias speed and speed limit 3 29 Chapter 3 Functions 3 Programming example Condition To be repeatedly operated between random position 0 and 10 000 Forward 0 000 Position address Reverse program 3 7 JOG operation gt JOG command function block operation starts JOG operation if detected input parameter REQ level is and stops if Off gt If JOG speed is too fast in program 3 7 error in position address value may occurs during repeated operation between position 0 and 10 000 3 30 Chapter 3 Functions 3 6 2 Operation of manual pulse generator POSE_MPG rising edge 1 Operation of manual pulse gt controls positioning by pulse input from manual pulse generator gt used for manual accurate positioning 2 Operation of manual pulse generator 1 If permission command of manual pulse generator operation POSE_MPG rising edge Tis executed manual pulse operation is in permission state From now on positioning control is operated by pulse input from manual pulse generator 2 After permission command of manual pulse generator operation POSE_MPG rising edge
25. K3008 1 axis Address decimal bF b8 b7 bO pcc b8 b7 b6 b5 b4 b3 b2 bl b0 0 Present code Status information 1 Error code Error information 2 Present operation speed POSER 3 Present operation data No ZONE 43 4 Present position address lower ZONE 2 5 Present position address higher In compensation operation 6 Common used RAM command In JOG operation 7 Position teaching operation step No 8 Operation step No External lower limit signal 10 oat MENOR TREE UR NOR inching value S 12 Em Am 4 E BIB b5 b4 b3 b2 bl b0 bE EE RE av bO Override value Inching value used for speed change by override setting range 1 99 command in with setting range of Present value preset 1 15 JOG Inching operation 0 forward 1 reverse JOG 0 low 1 high Unused Next Move Return to prior position to manual operation RTP Chapter 9 Buffer Memory And I O Signals 2 Buffer Memory of G3F POPA G4F POPB G6F POPA X axis Address decimal bF bO bF bE bD bC bB bA b9 b8 b7 bo 0 Present M code value status information atte 2827 1 Error code error information Y 2 Present operation speed Present M code 0 255 3 Present operation data No External upper limit signal FA External lower limit signal 4 Present position address lower Emergency stop amp 5 Present position address higher In JOG operation e I sati ti B 6 Common used RAM command bp URN E
26. Pe D0007 D0009 m Position teaching operation step No i a E pui Preset position address B Add 7 100 00 D0009 Add 10 0 D0010 T Position teaching command P002D gt Program If G6F POPA is installed on 0 slot P0060 D M0100 Pos teach com conditions M0100 1 Scan On M0100 MOV 00004 D0007 OV 100000 D0009 SET P002D RST P002D F0010 A PUT 00000 00007 D0007 00004 Chapter 9 Inner Memory And I O Signals Rematk Data accompanied command shall be processed with data and command simultaneously under the same conditions M0100 in case of the program above position teaching speed teaching present position preset parameter transmission inching start speed change speed override operation data No change Example of speed teaching For speed teaching of speed value of speed data No 3 with 100 Speed data of X axis GER a prb D0015 Speed teaching speed data No o m Speed teaching speed value 15 100 D0015 Speed Teaching command P002E gt Program If G6F POPA is installed on 0 slot P0061 M0101 MOV 00003 D0014 MOV 00100 D0015 Speed teaching com On SET P002E Command complete H RST P002E H PUT 00000 00014 D0014 00002 Chapter 10 MK Program
27. y Set change monitor positioning pre operation and various data via thel computer gt Set origin point address gt Set teaching function JOG operation positioning data address etc by MPG loperation Prepare positioning program v Perform positioning operation by CPU module amp positioning module v End Decide origin point return method coordinates operation mode etc for positioning operation with S W package When CPU module is at STOP state Check by Ready LED of positioning module with S W package Check if setting value of operation positioning parameters position data and speed data is correct with pre operation mode of S W package and let it changed so to save if not correct GMWIN or KGL WIN 11 1 Chapter 11 Operation Proceedings amp Installation 11 2 Installation 11 2 1 Installation conditions Please take precautions to the following items for reliance and safety of the system although the machine is of high reliance regardless of installation conditions 1 Installation conditions To be installed on the control panel waterproof and dustproof Where no continuous impact or vibration is expected Where is not directly exposed to the sunlight Where no condensation is expected due to sudden change of temperature Ambient temperature of 0 55 C as kept 2 Installation Wiring leftovers shall not be allowed into PLC when screw holes
28. 1 Tobeinincting sein range Start point point decided o o o o Nooperaion Change sped vaues 7 22 Chapter 7 Function Blocks Origin point return speed exceeded over allowable range bias d speed limits ae ie f IP No operation Change speed values Origin point return low speed set higher than origin point return high speed Minor axis speed calculated by linear interpolation exceeded over 88 X No operation Change speed value operated by minor axis allowable range No operation if No detected Operation time exceeded over allowable range Max 65 535 ms before Stop operation if detected during operation operation o Command input at output prohibited state o Cancel output prohibited and perform restart Present Add protection circuit against execution of the other Command input during operation Busy operation state a ration vi rom unchanged ds d Start origin point return or interpolation operation command input at No open Change CPU module state from STOP to RUN and PLC stop state perform restart Execute inching command while operation of the other Inching command unavailable if other axis is in operation Busy No operation axis is at E Internal computation error Divide by Zero Error lo o nae i ae Operation unavailable because operation speed is higher than X X X Note 1 acceleration decel
29. 3 Operation direction is decided according to position address value 4 Operation pattern is of trapezoid with acceleration constant and deceleration stages according to setting speed and position data however the following operation pattern may be produced in compliance with set value a Normal operation pattern Positioning start 5 BUSY POSH_SRD ST6 3 In acceleration POSE_SRD ST1 3 In constant POSH_SRD ST1 2 In deceleration POSE_SRD ST1 1 In dwell POSE_SRD Position passing signal POSE_SRD ST6 2 Positioning complete POSE_SRD ST6 4 Abnormat operation pattern If operation speed is set larger than position travel value If operation speed is set the same as bias speed Speed Dwell Time Positioning start Positioning start On On On In acceleration n acceleration n In constant In constant On In deceleration In deceleration In dwell Time On On Position passing signal On On Positioning Positioning complete complete 3 11 Chapter 3 Functions Ex Operation pattern Start op step No 0 Op single Op single Op single Op step No 0 Op step No 1 Op step No 2 Positioning start POSI AST BUSY POSI _SRD ST6 3 Number of i ion umber of program d Coordin Override pao in Mud Address Mcode Speed No paa start commands _ o ates met ali mode
30. D X axis and 2 Y axis can be selected as available according to the module gt If no axis is selected monitoring can not be executed 4 3 2 Monitoring start stop gt Monitoring starts on the selected axis as specified in 4 3 1 gt To start monitoring select the icon Monitoring start which will be changed to Monitoring stop and to stop monitoring select Monitoring stop which will be changed to Monitoring start 4 3 3 Command selection selection of the axis to pre operate gt To select an axis desired to pre operate or JOG operate in S W package gt Any selected axis here can be pre operated in 4 3 4 amp 4 3 5 Chapter 4 S W Package 4 3 4 Pre operation by S W package Shape of S W a Related package Icons Terms Description of the terms function block O G Origin Origin point return operation POS S T Auto Start Operation start POS BLAST N T Linear Interpolation Linear interpolation start POS INT R T P Return To Position Return to prior position to manual operation POS RTP F L T Floating Point Set Floating point set setting POSI FLT S T P Stop Deceleration stop POS STP M EF MCode Off M code off POS N M Next Move Co
31. External emergency stop signal Bit Off Unused valid only in G3F POPA G4F POPA V1 0 External upper limit signal Bit Off Error 7 5 Chapter 7 Function Blocks 7 3 Function Block for auto operation 7 3 1 Start Auto Start G3F POPA G4F POPA G6F POPA POSP AST G4F POPB POSB_AST Output parameter ACT will be 1 if one positioning is complete by operation start command of positioning module Function Block Paramet er Description BASE stor ACT AXIS Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution USINT Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 USINT Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 Assignment area of axis to use e If 0 X axis operates e If 1 Y axis operates State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with internal processing of Function Block complete 0 is output USINT Error state dis
32. Only for G4F POPA gt If code applied use With mode only If After mode used M code On signal is not output gt Operation timing Setting speed POSI _AST 5 POSI_SRD ST6 3 bn Deceleration stop command POSI STP Ex gt Setting in S W package G6F POPA Direction setting n Override n Address Mcode Speed No ee Forward direction 0 Relative Disable Continuous Valid Constant 100 0 0 0 reverse direction 1 Relative Disable Continuous Valid Constant 100 0 1 0 3 7 Chapter 3 Functions Program Program 3 3 Deceleration stop return to origin point 3 8 Chapter 3 Functions 3 1 3 Speed position switching control positioning constant operation gt If speed position switching signal is input via positioning module outside while the axis set by positioning start controls speed speed control is switched to position control to decide position as much as target travel value set gt Speed position switching control is processed by outer input signal of speed position switching input signal in G6F POPA and by deceleration stop command in G3F POPA G4F POPA amp G4F POPB gt Position decision constant operation is available as directed forward and reverse d Se Step Coordin Operation Invalid Operation Dwell Direction setting Ne ates Override method halid mode pee
33. POSE_SRD 5 1 1 In dwell 1 0 Position passing signal Posi_sRD Positioning complete POSm_SRD In constant J4 Bias speed Dwell time Positioning start AS Busy SRD ST6 3 In acceleration POSE_SRD ST1 3 In constan SRD ST1 2 In deceleration POSE_SRD 5 1 1 In dwell 1 0 Position passin signal POSm_SRD Positioning complete Posm_sRD 2 Repeated operation mode positioning complete 1 Positioning is complete upon positioning executed to the target position by start command POSH_AST rising edge and the dwell time elapsed 2 The pattern of repeated operation mode is the same as separate operation however the next operation is decided by operation step No which is set at assignment command of operation step No POSER SMC rising edge previously executed after positioning is complete Thus if assignment command of operation step No POSE_SMC is not previously executed step No 0 is assigned and then operated at the next start command POSM AST Accordingly it 1s very useful in the system where several operation steps are repeated 3 Operation direction is decided according to position address value 4 Operation pattern Start op step No 0 Op single Op step No 0
34. Positioning start Busy POSH SRD ST6I31 1 7 Op single Op step No 0 Chapter 1 Introduction 3 Auto operation mode positioning complete 2 3 4 5 6 Positioning is complete upon positioning executed to the target position by positioning start POSNI AST rising edge and the dwell time elapsed Operation step present operation step No 1 position is decided for operation in this mode without additional positioning start POSER AST Accordingly operation mode of the last operation step shall be set to single operation mode or repeated operation mode Several operation steps of auto operation mode can be successively executed Operation direction 1s decided according to position address value Operation pattern Start op step No 0 Op auto Op single Op step No 0 Op step No 2 Positioning start AST Busy POSH_SRD ST6 3 4 Continuous operation mode positioning complete 1 Positioning is complete upon positioning executed to the target position without stopping operation step set to continuous operation mode by start command POSE AST rising edge and the dwell time elapsed 2 Accordingly operation mode of the last operation step shall be set to separate operation mode or repeated operation mode 3 Continuous operation command POSBI NM rising edge is available if next step position and speed are desired before the presently eng
35. Single 300 0 2 0 3 pa Disable Continuous Valid Repeated 400 0 3 0 3 14 Chapter 3 Functions gt Program Program 3 5 Single operation setting operation step No Chapter 3 Functions 3 2 3 Auto operation 1 Positioning is complete upon positioning executed to the target position by one start command POSM AST rising edge T and the dwell time elapsed And the operation step present operation step No 1 position is decided for operation in this mode without additional start command present operation step No 1 Accordingly operation mode of the last operation step shall be set to single operation mode or repeated operation mode If not error 66 occurs 2 Several operation steps of auto operation mode can be successively executed 3 Operation direction is decided according to position address value Ex gt Operation pattern Start op step No 0 Dwell Op auto Op auto Op single Op step No 0 Op step No 1 Op step No 2 Positioni POSI_AST BUSY POSI_SRD ST6 3 gt Setting in S W package E Numberof program F Eri Override 2 TEM Address MCode Speed No anes Start commands _ 0 jn Disable Continuous Valid 100 0 0 0 1 1 Ad Disable Continuous Valid Auto 200 0 1 0 2 iv Disable Continuous Valid Single 300 0 2 0 EM 3 Disable Continuous Valid Single 400 0 1 0
36. forward 4kpps 4 Auto 3kpps 2kpps 1 1 Single i irs L I i 100001 i 20000 30000 40000 1 50000 Step Hoot Step Step No 2 Step Step fo rot 1 i bg If At EET 1 1 rot tot rot 1 1 ML SE tot 1 1 oc M 1 1 rot 1 1 TG M our 1 1 rot tot 1 rot 1 l 1 NET 1 1 1 21 ty of kpps PPS prog 1 port i Repeated Revers Po d i it ot tot 1 Mm y bog 1 p 1 1 1 I 1 T p 1 pi 1 1 I T 1 1 1 1 1 I 1 1 1 1 1 1 i 1 t 1 On On mE Ld tot 1 TEE 1 i 1 1 1 I i 1 1 1 BUSY POSH _ SRD ST6 3 In dwelling POSH _SRD ST1 0 M code signal POSH SRD ST3 7 M code No POSH CRD MCD M code Off com POSH _MOF Mcode mode With M code signal POSH SRD ST3 7 M code signal POSH CRD MCD M code Off com POSH _MOF M code signal is changed to the applicable M code No in continuous operation mode without stop whenever operation step numbers are changed and the operation is to be continued In auto operation mode M code On signal if turned On shall be Off by M code Off command to operate the following operation step No R E e i E oo E oe R E Q 3 Programming example Chapter 8 Program 8 3 3 2 axes linea
37. 1 4 S W upper lower stroke limit Also called as stroke upper lower limit gt Stroke limit means movable range of the machine with its upper lower value set to S W upper lower stroke limit If operated out of the setting range positioning will not be executed Namely if operated out of the setting range positioning by its applicable execution command is not executed This is used to prevent separation from upper or lower limit due to positioning address value set incorrectly and abnormal operation due to error in user program Limit switch for emergency stop needs installation near by stroke limit of the machine for this function Movable range of machine S W lower limit S W upper limit gt Range check of upper lower stroke limit is performed at operation start and during operation gt If an error is detected by S W upper lower stroke limit value setting S W stroke upper limit address range exceeded 25 S W stroke lower limit address range exceeded 24 pulse output of positioning module is prohibited Thus cancell output prohibited POSK OFF rising edge to detect the error and restart the operation gt Setting range shall be set per axis SMW stroke upper limit address value range 16 744 447 16 744 447 S W stroke lower limit address value range 16 744 447 16 744 447 Unit Pulse 5 1 5 Speed limits gt Max speed of positioning operation available gt Setting range isO 20 000 Unit 10pps
38. 13 Speed override 3 38 Chapter 3 Functions 3 8 Upper lower stroke limit Positioning module includes external input stroke limit external input upper limit signal external input lower limit signal and S W stroke limit S W upper limit S W lower limit 3 8 1 Outer input upper lower stroke limit gt Outer stroke limit includes external input upper limit signal and external input lower limit signal via external input connector of positioning module gt Stroke limit of positioning module is to be installed inside stroke limit stroke end of the drive device for positioning module to stop it promptly before reaching to stroke limit stroke end of the drive device Error23 if over top limit and error22 if below bottom limit may occur Controllable range of positioning module Upper limit lower limit l gt i Stopper Stopper Positioning stari Prompt stop if upper Prompt stop if lower limit detected limit detected Limit start modtle rive device gt Positioning operation is not available if positioning module is stopped out of controllable range Move positioning module inside the controllable range by manual operation JOG operation inching operation manual pulse generator operation if stopped by external input stroke limit detection gt Output prohibited can be cancelled and manual operation can be executed even if out of the stroke range because external input upper lower stroke limit error is detected by the edge a
39. 3 1 2 Speed control constant operation mode gt Speed is controlled as set until deceleration stop command is input after executed by positioning start Origin point undecided if operation is stopped by deceleration stop command gt Speed control includes forward start and reverse start Model Forward direction start Reverse direction start G6F POPA Set position address value positive Set position address value negative Ex 100 1000 Ex 100 1000 1 If prior direction to constant operation start is 1 If prior direction to constant operation start is forward forward operation is continued reverse reverse operation is continued 2 If prior direction to constant operation start is 2 If prior direction to constant operation start is G3F POPA reverse forward G4F POPA forward separate or repeated positioning reverse separate or repeated positioning G4F POPB operation shall be performed at a constant operation shall be performed at a constant speed speed 3 As specified in 1 amp 2 above for execution of starting 3 As specified in 1 amp 2 above for execution of starting point decision point decision gt If speed control is applied the following items of positioning data have no influence on constant operation mode St Coordi Operation Invalid Operati Dwell eem Se ue o mr m me tates rem mm T s Items with no influence 4 0 1
40. Control by absolute method Absolute Coordinates A Linear interpolation control is executed from start point address to specified address assigned at positioning data via 2 axes B Positioning is controlled as based on the address assigned at origin point return C Travel direction is decided according to start point address and specified address of each axis gt start point address lt specified address position decided forward gt start point address gt specified address position decided reverse Forward Y Y2 I I Y travel value Start point address aie address I I I 1 X2 Y2 X1 Forward X Y1 X amp Y linear interpolation operation I X travel value Reverse Ex gt If start point address is 1000 4000 and gt specified address is 10000 1000 the operation is as follows Start point address 4000 Y travel value 1000 4000 3000 1000 Specififed address X 500 1000 X travel value 10000 1000 9000 gt Setting in S W package e Step Coordir Operation Invalid Operation Dwell Position data items No ales Override method Walid mode Address M code Speed No x 10ms X axis setting 0 His Disable Continuous Valid Single 10000 0 0 0 Absolut Y axis setting 0 Disable Continuous Valid Single 1000 0 0 0 3 3 Chapter 3 Functions Program Cancell
41. Coordinates can be started at the state that origin point has been decided If started at the state that origin point has not been decided error 76 occurs Available operation modes are separate repeated auto and continuous operation 6 3 Chapter 6 Position Data For Positioning 6 2 2 Relative Coordinates control by incremental method A Positioning is controlled at start address as much as target travel value B Shift direction is decided according to travel value sign gt If shift direction is or no sign position decided forward address incremental direction gt If shift direction is position decided reverse address decremental direction Start point address Reverse LL ens En Shift direction if sign is Shift direction if sign is Ex gt If origin point return address is 5000 and gt target address is 7000 position is decided at 2000 gt Setting in S W package Setting at parameters Setting at position data r Origin Return Method Direction Forward Backward Compensation 0 pulse High Speed 1000 xl pps Coord m m EEF w oord Over p Invali pee Mad dad Method Valid ELE Address 5000 pulse Dwell Time xl ms nc dis cont valid single 7000 gt Results of positioning 0 1 Pos decided reverse travel value 7000 Specified address Start point address 6 3 Override gt Override
42. G6F POPA position teaching is available by position teaching command even if origin point is at undecided state 15 Speed Teaching 1 Function to change speed value of speed data 2 Speed data No and speed data to change shall be assigned to address 13 and 14 of buffer memory so to be processed under the same conditions as speed teaching command 16 Inching 1 A Manual operation function to operate with pulse amount 1 99 set by user 2 Inching operation is performed at fixed shift speed of 5O0pps 3 Used for accurate move in case JOG operation is not available 1 Be careful that the application number of RAM Teaching G6F POPA is not limited but the number of ROM Teaching is limited available 100 000 times 2 To increase the application number if performed by one step of teaching operation 1 set 300 operation steps to repeated operation via software package and 2 change start position No to the next operation step if the teaching count number reaches 99 000 as compared with 100 000 or below 99 000 in PLC program so to 3 use up to teaching times of 99 000X300 29 700 000 9 19 Chapter 9 Inner Memory And I O Signals Example of position teaching For position teaching of 4 step s position address of X axis with 100 000 Position data of X axis Dwell Coord Operatio Invalid v Operation ues dN MME Sele Pee pe ea SNEN ERES EN Prohibited Conn 100 000 wwe
43. INFG 3 En r EN ENO SLOT SLOT ACT C_STEP1 ICURRENT S POSP_SMC TEP_NO INI OUT REQ eI AXIS AXIS 1 IN2 BASE BASESTAT SLOT SLOT unction block routine to mange step No REP eed to 2 by op step No assign If op step position Is decided at 1 ET ENO C_STEP2 CURRENT_S POSP_SMC TEP ND INT OUT RE DONE 5 IN2 BASE BASE STATI unction block routine to change step No to 6 by op step No assign If op ste position ie ded ed at 5 a SLOT SLOT AXIS AXIS ST_S ET Program 3 17 setting operation step No 3 45 Chapter 3 Functions 3 13 Parameter change in program POSH PRM rising edge gt Some of parameters set in S W package can be changed by parameter change command POSI PRM rising edge gt Changeable items are as follows Items Setting range Description Acceleration time 1 999 Acceleration time changeable between 10 9990ms Deceleration time 1 999 Deceleration time changeable between 10 9990ms High speed of JOG 1 20 000 High speed of JOG changeable between 10 200 000pps High speed of High f origi i h 10 200 ngi 20 000 igh speed of origin point return changeable between 10 00 000pps 0 With mode used M code mode 0 2 1 After mode used 2 M code mode not used gt Parameter changeable only when operation is being stopped
44. Mite x 10ms Forward i i o Relativ Disable Continuous vaig relat 100 0 0 0 direction e position Reverse i ES 1 ROV Continuous Vaid 0788 1002 0 1 0 direction e position Items with no influence PENES Direction forward or reverse is decided according to value sign of position address in positioning constant operation At this time all are processed by absolute method without distinction of methods absolute or relative 1 forward direction when position address value is 2 reverse direction when position address value is gt Operation timing G6F POPA G6F POPA at accelerated stage speed pos control switching signal G3F POPA G4F POPA G4F POPB error 45 occurs if stop command is input Accelerated stage Error 70 occurs if pos data set of pos 1 dec constant op mode too small Position control Setting speed Speed Setting travel value control Dwell time Positioning start POSI AST Busy POSI _SRD ST6 3 Speed position switching signal external input signal Speed position switching signal POSI_SRD ST5 0 gt Program Program is the same as program 3 3 3 9 Chapter 3 Functions 3 2 Operation mode gt Operation mode is to form various configurations required to operate positioning data and to process position data speed with each operation step No gt Type of operation mode is as
45. Operation c c om om om Speed Change In Position Decision Operation 3 7 1 Speed Change Command POSE_VCG 3 7 2 Operation Step No Change By Continuous Operation POSE NM 3 7 3 Speed Change By Speed Override POSM OR Top Bottom Stroke Limit 345 4100 7 aeee Sa 8S aie e aai aoi Abas 3 8 1 Outer Input Top Bottom Stroke Limit eoe ooe oee ooe hm oee ooe rm oee ooe rm 3 8 2 S W Top Bottom Stroke Limit 3 13 3 16 3 17 3 9 Random Positioned Address Value Setting To Starting Point And Present Position Change 3 41 3 9 1 Random Positioned Address Value Setting To Starting Point so 3 41 CONTENTS 3 9 2 Present Position Changal POSI m m m RA 3 4M 3 10 Fixed Starting Point SettingPOSR w 3 42 3 11 Teaching Function e m m m m m Rm m 3 42 3 11 1 RAM Teaching Function And ROM Teaching Function 3 42 3 11 2 Speed Teaching POSH comm m m m a a 3 48 3 12 3 Position Teaching POS m m m m m m A 3 4 3 12 Operation Step No Assignment POSE SMC m 7 7 7 45 3 13 Parameter Change In ProgramOil A m m 7 46 C h a p t er 4 S I W P ac k a g Qee ee oee m ome 4 1 Main Menu Bar 42 Shortened Icon I tious Sacs S
46. POSI ST5 4 Be careful direction of position decision module at th moment when faced by outer input top bottom limit in starting point return operation is switched over without passing acceleration stage if stepping motor applied and separation may occur 3 If starting point s On time is short it is hard for positioning module to identify Near zero point G3F POPA G4F POPA G4F POPB 10 S0 4 G6F POPA 1 MS above 3 25 C hapter 3 Functions 3 5 3 Origin point detection after deceleration at near zero point ON Origin point return command operation by near zero point and origin point signal is as follows 1 operated by origin point return at high speed as accelerated toward origin point return direction as set 2 operated by origin point return at low speed as decelerated if external near zero point signal is input at this moment 3 stopped with origin point decided if faced by external origin point signal regardless of On or Off signal of near zero point during origin point return operation at low speed Near zero point signal Near zero point signal POSI SRD 57513 POSI_SRD ST5 4 Origin point return command POSI_ORG Origin point return in process Origin point return done Op state Decelerated at near zero point On Origin point return at low speed Time fter near zero point On Origin point undecided by origin point signal
47. RAM Buffer memory Accessible by PUT PUTP GET GETP commands Fig 10 2 Structure of positioning module 10 1 1 Exchange of I O signals bit information I O signals in bit unit are exchanged between PLC CPU and positioning module The I O signals original of positioning module which are different from external I O are used in PLC Input signal is P contact status signal and Output signal is P contact command signal Input signal PLC CPU Positioning module Input signal used for sequence program is a signal input from positioning module to CPU Bw which is generated from positioning module side It is used as a contact point in m operat j Ar operation programming See the examples below PR D Error signal Positioning complete Signal turned On if error occurred operation Speed Teach complete normal Off error On 4 Inching complete 2 In operation signal Fig 10 3 Input signal of positioning module Signal that inputs what is in positioning operation to CPU 10 2 Chapter 10 MK Program Output signal PLC CPU Positioning module Emergency stop Op data No change Output disable cancellation Position Teaching Speed Teaching Inching ___ Fig 10 4 Output of positioning module SET RST or OUT used for sequence program is a signal output from CPU to positioning module as is gene
48. RAM status total Read F 1 SE Condition Error signal In operation signal 1 scan On M0220 MOV 00010 M008 Operation data No 10 SET P0041 P0027 Op data No change command On RST P0041 Com complete signal F0010 PUT 00001 00008 Moos 00001 Op data No change command Off Data Write 7 Floating point set FLT P0009 P0020 P0021 M31 34 Ec Condition Error signal In 1 scan On M0221 SET P0042 Floating point set com set P0027 RST P0042 Com complete signal 8 Output disable cancellation OFF P000A P0025 D 0222 Condition Pulse out disable 1 scan On M0222 SET P0043 Output disable cancel com set P0027 RST P0043 complete signal 10 9 Chapter 10 MK Program 9 Override OR F0010 GET 00001 00000 D0000 00006 000 P0029 common used RAM state total Read D 0223 Condition in Constant op M0223 MOV 0800 M011 110 1 scan SET P0044 P0027 Override command On RST P0044 Com complete signal Override command Off F0010 PUT 00001 0001 MOII 00001 Data Write 10 Error reset RES P000C P0020 P0021 LEM 1 EET Condition Error signal In oper
49. X axis and 59 amp 60 Y axis Operation step No F EDC BA9I 8765 4 3 2 1 0 X add 8 Y add 58 0 299 9 Operation step No Operation step No value for operation start which can be used along with change command of operation data No Preset pos add FEDCBA9 876 54 3 2 1 0 X add 9 Y add 59 lower X add 10 i Y add 60 higher 10 Preset position address Used to change present position address if Preset command of present value is executed and to change position address of operation step No assigned at Position teaching operation step No if Position teaching command is executed Chapter 9 Inner Memory And I O Signals Override value 6 7 Inching value EDC BA 9 S 6 54 3 2 1 X add 11 2 1 99 Y add 61 pee 11 Override value 96 Speed in in case that override operation is desired with speed changed at the rate 10 150 of operation speed of setting speed data The setting range is 1 15 10 150 12 Inching value Shifting distance if inching command is executed The setting range is 1 99 Variable speed value Le ck 1 20 000 X add 12 Y add 62 13 Variable speed value 1 Speed value when operation speed is desired to change to random set speed during positioning operation 2 Speed change command and variable speed value shall be processed under the same conditions during constant operation Speed te
50. above DC 4V or below Approx 2 2KQ 1 8ms or below Origin point DC 24V 10mA DC 20 4 26 4V DC 16V or above DC 4V or below Approx 2 2KQ On 0 1ms or below G3F POPAIG4F POA G4F POPB G6F POPA 3us or Manual pulse generator DC 4 25 55 DC 4V or above DC 1V or below Approx 4302 1 875 or below 1 Pulse width DC 10 8 13 2V DC 8V or above 4 5ms orf5ms or Duty rate50 2 Phase difference 9 4057 DC 2V or below Approx 4302 or pulse is ahead of phase A input pulse Position address value increased if phase A input pulse is ahead of phase B input pulse Position address value decreased if phase B input Positioning constant operation DC 24V 10mA DC 20 4 26 4V DC 16V or above 2 4 DC 4V or below Approx 2 2k2 On 1 8ms or below Chapter 2 Specification 2 3 2 Output specification Rated load voltage Operating load voltage range Max load current Max voltage descent when powered On Pulse output forward direction pulse reverse direction pulse DC 5V DC 4 75 5 25V TOmA DC 0 3V or below DC 24V DC 20 4 26 4V TOmA DC 0 3V or below Forward direction Reverse direction Forward rotation Reverse rotation Forward rotation Reverse rotation FP CW RP CCW FP pulse RP sign
51. after rapid move near to work position by jog command perform operation by inching command for minute move to the exact work position to reach 1 12 Chapter 1 Introduction 1 2 5 Introduction of the return to origin point gt Origin point return is executed to check origin point of the machine when powered gt Various methods for origin point return are available according to the structure and stop accuracy of the machine while approximate origin point adjacent DOG method is used for LG positioning module gt If origin point position is decided to origin point return detection signal of origin point is not used during positioning operation 1 Near zero point adjacent DOG methods 4 near zero point adjacent DOG methods for origin point return processing are as follows 1 origin point detection after near zero point Off 2 origin point detection after deceleration at near zero point On 3 origin point detection by origin point and upper lower limit 4 origin point detection by near zero point 2 Parameter items of S W package which influence origin point return are as follows 1 origin point return direction 2 origin point compensation 3 origin point return speed high low 4 origin point address 5 dwell time for origin point return Chapter 2 Specification Chapter 2 Specification 2 1 General specification General specification of GLOFA GM series and MASTER K series is described in Table 2 1
52. can be performed by selection of one of those below gt origin point detection after near zero point Off gt origin point detection after deceleration at near zero point On gt origin point detection by origin point and upper lower limit gt origin point detection by near zero point B Position decision control floating point set setting can be executed from random position to origin point of the machine 3 The number of positioning modules used at one base is unlimited 4 Convenient maintenance and repairs G6F POPA is designed to save position decision data parameters and other data in the flash memory of positioning module 1 2 Chapter 1 Introduction 1 2 Features of position decision control function Summary of positioning control function will be described 1 2 1 Positioning control function Summary of positioning by positioning data will be described below 1 Linear position decision control gt Available operation modes are single repeated auto and continuous operation 1 1 axis linear positioning control Positioning of assigned axis is controlled from start address presently stopped position to target position Control by absolute method Absolute Coordinates A Positioning is controlled from start address to target position B Shift direction is decided by start address and target address Ex When operated with the target of positioning address values of 5 000 amp 15 000 1f start addre
53. command of manual pulse generator operation is automatically Off at positioning start and interpolation positioning start 4 Parameter transmission command 1 Command used to transmit acceleration time deceleration time M code mode JOG high speed origin point return high speed parameters 1 On 0 Off 2 Used to Write parameter value to change on address 17 21 X axis and 67 71 Y axis and turn On the parameter transmission command 3 Available only in G6F POPA 4 Valid only until powered off because the changed parameters by parameter transmission command are saved in RAM Chapter 9 Inner Memory And I O Signals 5 JOG low speed high speed Used to decide the speed low or high for JOG operation 1 high 0 low 6 JOG Inching forward reverse Used to decide the rotation direction forward or reverse for JOG operation or inching operation 1 reverse 0 forward 7 Present value preset As a changing command of present position address it is used to Write position address value to change on address 9 amp 10 X axis and 59 amp 60 Y axis and turn present value preset command On Position teaching operation step No F ED CB A9 8 7 6 54 3 2 X add 7 Y add 57 0 299 1 0 8 Position teaching operation step No Position No step No setting data for Position teaching Position teaching position address change is performed by Position teaching command with position addresses 9 amp 10
54. eee pu eed d Y add 69 0 With 1 After 2 None 18 M code mode 1 To be set to change M code modes Available only in G6F POPA 2 In case of After Mode M code and M code On signal are output simultaneously with positioning complete signal 3 Error occurs if start command is executed with M code On 4 Execution of start command is available after M code is cancelled 5 In case of auto operation mode M code once generated is standing by until M code is cancelled and then executes the next step operation if M code On signal is Off JOG high speed value X add 20 E D C BA9 8 7 65 4 3 2 1 Y add 70 1 20 000 9 10 Chapter 9 Inner Memory And I O Signals 19 JOG high speed value It is used to change operation speed in JOG high speed operation Available only in G6F POPA gw cd value of origin point return EDCBA 9876 5 4 3 2 1 Y add 71 1 20 000 20 High speed value of origin point return It is used to change operation speed at origin point return command Available only in G6F POPA 1 Addresses 6 21 X axis and 56 71 Y axis are Read Write areas of positioning module s buffer memory where to perform Write and Read through PUT GET command 2 Be careful if Write Read of other data than set address of positioning module s buffer memory is performed through PUT GET command the operation of positioning module may be abnormal 9 11 Chapter 9 Inner Memory And I O Signals
55. follows Control method Operation mode Others Single Position control Repealed Auto Continuous W Interpolation function unavailable Speed control Constant E SW Mp peto elen unavailable W Interpolation function unavailable E Changeable from speed control to position control by Speed control Positioning deceleration stop function block POSI_STP rising edge G3F POPA position control constant operation PME TURA external input signal of speed position switching input signal in G6F POPA W Interpolation function unavailable gt The following rules are between operation modes n 1th operation Positioning Single Repeated Auto Continuous Constant Nth operation Constant operation operation operation operation operation operation f Operation Operation Operation Operation Operation Operation Single operation available available available available available available Operation Operation Operation Operation Operation Operation Repeated operation f f available available available available available available Operation Operation Operation Operation Operation Operation Auto operation available available available unavailable unavailable unavailable Operation Operation Operation Operation Operation Operation Continuous operation available available unavailable available unavailable unavailable Operati
56. for user to execute operation with speed value as changed at constant speed Function Block Class Paramet Data Description type er type Request area of Function Block execution at rising edge REQ BOOL e Function Block executed if 0 gt 1 rising edge with connected condition to this area as composed during program execution Base position No REQ DONE BASE USINT e Setting area of base No positioning module is equipped on BASE STAT e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 Slot position No SLOT input SLOT USINT e Setting area of slot No positioning module is equipped on AXIS e Setting range 0 7 Assignment area of axis to use ONE AXIS USINT e If 0 X axis operates e f 1 Y axis operates Setting area of present operation speed to new value e Setting range 1 15 Unit 10 OVR USINT Ex If setting value is 12 operation speed value after changed operation speed value before changed X 120 State displaying area of Function Block execution complete DONE e f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with internal processing of Function Block complete 0 is output Error state displaying area output STAK e If error occurs during Function Block execution error No is displayed Operation axis displaying a
57. gt Speed data origin point return speed and JOG operation speed in positioning operation are influenced by speed limits If the value is set larger than speed limits error will be detected CDIf origin point return speed is larger than speed limits error 87 If speed data for positioning operation is larger than speed limits error 86 JOG operation speed is larger than speed limits error 86 5 1 6 Position passing time gt Signal of position passing time is turned on after positioning complete in single operation repeated operation auto operation continuous operation constant operation with positioning and origin point returning and is turned off after kept on as long as set The moment positioning start command or starting point return command is executed during position passing signal On the signal will be Off In continuous operation mode position passing signal will be output whenever shift is complete to the address set at operation step Setting range is 0 999 Unit 10 ms 5 6 Chapter 5 Positioning Parameter gt In single operation mode Dwell Pos passing time gt In auto operation mode Busy Pos passing time i tw pos pass output time gt In continuous operation mode Busy Pos passing time i ER tw pos pass output time 4 5 7 Chapter 5 Positioning Parameter 5 2 Output direction Output Dir B Type gt
58. if origin point return speed is being decelerated by near zero point SERVO motor rotated once PG1 rotated 1 If approximate starting point signal is once turned starting point is promptly decided by starting point signal input regardless of approximate starting point signal of On or Off during starting point return operation at low speed via high speed and deceleration stage In other words starting point is not decided by starting point signal while starting point return speed is decelerated 2 If faced by outer input top bottom limit signal prior to starting point after approximate starting point signal is changed from Off to On the operation is the same as in 1 of 3 6 1 3 If starting point signal s On time is short it is hard for position decision module to identify 3 26 Chapter 3 Functions 3 5 4 Origin point detection by origin point and upper lower limit This method is available if external upper lower limit signal and near zero point signal are adhered closely to each other Direction switched by external upper lower limit 1 Origin point return at high Origin point decided Origin point return at low Revers I 1 External upper lower Ege I POSI SRD ST5 1 2 1 1 Origin point 1 1 1 1 1 POSI _SRD 5 5 4 Origin point rotated 1 rotated return command POSI_ORG rigin point return in process 1 Origin point return d
59. of program i Bd Override Karen fn Address Mcode Speed No ne Positioning start 1 3 0 ca Disable Continuous Valid Separate 100 0 0 0 TE Ste ett ete RR PPS EE 2 4 1 is Disable Continuous Valid Repeated 200 0 1 0 MW 2 M Disable Continuous Valid Separate 300 0 2 0 MM 3 ta Disable Continuous Valid Repeated 400 0 3 0 Operation step 2 amp 3 are not operated gt Program Program is the same as program 3 4 3 13 Chapter 3 Functions 2 If operated by start command POSILAST rising edge and operation step No setting POS SMC rising edge Operation pattern Positioning start POSI AST BUSY POSI_SRD ST6 3 Op single Op step No 0 Start op step No 0 Op step No set 2 Op repeated Op step No 1 Op single Op step No 2 Op step No 223 is repeatedly operated if positioning start op is continued Op step No set E POSH_SMC Number of program Positioning start Meade cepa area r Number changing by meum Step Coordin Operation Invalid Operation Dwell No Hu Override method valid due Address Mcode Speed No x 10ns 0 wy Disable Continuous Valid Single 100 0 0 0 1 e Disable Continuous Valid Repeated 200 0 1 0 operation step No setting POSH_SMC rising edge 1 2 bc Disable Continuous Valid
60. of position data means speed override classified into allowable and prohibited If speed override is used in program override shall be set to allowable at position data per step No gt Available only at constant staged operation pattern If used at others error 56 occurs gt Available operation modes are separate operation repeated operation and auto operation gt The speed will be with acceleration stage and deceleration stage if changed by speed override gt Setting range is 1 15 setting unit 10 Ex If speed data value is set to 2000 the speed is 20Kpps and if speed override is set to 15 150 the speed is 20 000 X 1 5 30 000 30Kpps gt If speed override is to be continuously used the operation shall be as based the speed value as set at speed data gt Refer to 3 7 3 for the details on Override Chapter 6 Position Data For Positioning 6 4 Operation method gt Operation method of position data includes continuous and complete only available for and G4F POPA gt continuous means that positioning operation is executed by present operation step No and then by the next operation step No set to at 6 5 Invalid valid gt complete means that positioning operation is executed by present operation step No and then not executed by the next operation step No regardless of 6 5 Invalid valid gt If posit
61. rotation direction is changed in case motor shaft is connected with gear and screws Backlash compensation when output shall be added to positioning amount if rotation direction is to be changed gt In G3F POPA G4F POPA G4F POPB it is available for positioning operation and in G6F POPA it is available for positioning operation inching operation and JOG operation gt Setting rangeisQ 999 Unit Pulse per axis Remark Origin point return shall be surely executed if backlash compensation is ever set or changed gt Since the original position may not be reached by backlash if the position is moved 1m to right and then 1m to left again backlash compensation shall be added move 1m to right forward Direction change move 1m to left reverse Backlash Shifting with backlash compensation gt Backlash compensation is In G3F POPA G4F POPA G4F POPB moved at low speed for backlash compensation value after positioning address amount reaches target point A B C Relative PO P1 P2 Figure in is motor rpm P1 P2 P3 Absolute Other than is load travel value A 1000 1000 P2 3000 P1 1500 3000 compensation 1500 P0 1000 1000 In G6F POPA moved to target point with backlash compensation value added to address value of positioning operation inching operation and JOG operation A B C Relative PO P1 P2 Figure in is motor rpm P1 P2 P3 Absolute Other than is load travel value P2 3000 3
62. stop gt If confronted by deceleration command at deceleration stage during positioning stop is followed after positioning address reached 2 Emergency stop external input upper lower limit processing gt If emergency stop command or external input upper lower limit is input during positioning control positioning control is stopped at output prohibited state to display error 3 Priority of stop processing Priority of stop processing of positioning module is as follows Deceleration stop lt Prompt stop gt Prompt stop is processed at the moment when prompt stop cause occurs at deceleration stage during positioning However if prompt stop time is longer than deceleration time deceleration stop processing is continued even though prompt stop cause occurs during deceleration stop processing gt If prompt stop cause occurs during deceleration stop Positioning speed Decel Stop Prompt stop gt Prompt stop causes internal external emergency stop external input upper lower limit s w upper lower limit 3 22 Chapter 3 Functions 3 4 Restart after positioning stop 1 Restart after deceleration stop command POSE_STP rising edge 1 If deceleration stop command input at acceleration constant stage gt Operation step No in execution is performed if restarted after deceleration stop gt Restart is available by changing M code signal from On to Off if With mode has been used among M c
63. teen CONTENTS 5 5 Speed se me me m m m m m m m RR m m m m m m m 9 9 5 13 5 6 Processing Method Of The Return To Starting Point 5 13 5 7 Return To Starting Point m me me m RA 5 14 BOT ad cur Wie Mori Addc a a ne ton AGIR ai Mee Condonar PERE AE RE NE BE BN Kern BRE BE Benes Ee 7 5 7 3 Speed Of The Return To Starting Point mmm mmm m m m m 15 5 74 Noleggio 3546 M te Bes Se Rb e Ro ae DEAE NU CER T D EIITLIITIILILCII TIT ITI Chapter 6 Position Data For Position Decisions NEE E a ote ee See T 65 InvalidiValid gt TEE pup ME tite Sat BOC TRG tte oder didi quite Bee E gt 7 Function Block ese ose oso ose ose oso ooo 7 1 Function Block Registration For Position Decision Module In GMWIN 7 2 7 2 Function Block For Module Information Read ee se e se e 7 3 7 2 1 Code Information Read At Present Operation State se se se se se se se ou 7 3 7 2 2 Bit Information Read At Present Operation State ce ee se cs ocn 7 4 CONTENTS 7 3 Function Block For Operation se om me m m m m ARRAS CR A m E E M E 7 3
64. the return to origin point by origin point return command includes high speed and low speed gt Setting of origin point return speed shall be as follows speed limits gt origin point return high speed gt origin point return low speed 1 Origin point return high speed gt Constant staged operation speed via acceleration stage by origin point return command gt Setting range of origin point return high speed 1 20 000 Unit 10pps 2 Origin point return low speed gt Constant staged operation speed via deceleration stage by origin point return command gt Setting range of origin point return low speed 1 20 000 Unit 10pps Origin point return low speed shall be set as low as possible when origin point retumn speed is to be set If the low speed is set too fast detection of origin point signal may not be accurate 5 7 4 Address gt It is used to change the present address value to a setting value at origin point return address when origin point return is complete by origin point return command gt Setting range of origin point return address 16 744 447 16 744 447 Unit Pulse 5 7 5 Dwell time gt Time required to keep precise stop accuracy of subo motor used for positioning Actually the time required to remove remaining pulse of the variation counter right after positioning complete is the dwell time and especially the dwell time at return to origin point is called as origin point return dwell tim
65. turned On if stroke upper lower limit is exceeded over 2 Pulse output prohibited state expected 3 Turned Off during position adjustment by manual operation JOG operation after pulse out prohibited state is cancelled 2 Emergency stop 1 Turned On if stopped by external or internal emergency stop signal since then leading to pulse out prohibited state 2 Pulse out prohibited state and all errors are cancelled by cancellation command of pulse out prohibition 3 JOG operation Turned On during JOG low high operation 4 In compensation operation Turned On during backlash compensation and origin point compensation 5 Zone 1 2 3 Turned On respectively if into Zone 1 2 3 set to parameters 6 Present M code value 1 Present M code value 0 255 set to position data is displayed 2 M code value of G4F POPA is displayed on bit 8 F and that of G3F POPA G4F POPB amp G6F POPA is displayed on bit 0 7 respectively However G3F POPA is United O S V3 0 or above 3 If value of buffer memory address 0 15 15 in G4F POPA the value to be monitored will be hOF00 or 3840 as displayed 9 4 Chapter 9 Inner Memory And I O signals 57 Err code EN m Err data FEDCBA 987654 32 10 X add 1 G4F POPA G4F POPB Y add 51 G3F POPA Err code X add 1 FED CB A9 876 54 3 2 1 0 Y add 51 GGF POPA 7 Error data
66. x 1 0 ius Disable Continuous Valid Single 100 0 0 0 2 1 gt Disable Continuous Valid Singe 200 0 1 0 3 2 pu Disable Continuous Valid Singe 300 0 0 0 3 Bg Disable Continuous Valid Singe 400 0 1 0 4 Program 3 4 Single operation return to origin point 3 12 Chapter 3 Functions 3 2 2 Repeated operation 1 2 3 4 Positioning is complete upon positioning executed to the target position by one start command POSM AST rising edge T and the dwell time elapsed The pattern of repeated operation mode is the same as single operation however the next operation is decided by operation step No which is set at change command of operation step No previously executed after positioning is complete Thus if change command of operation step No is not previously executed step No 0 is assigned and then operated at the next start command Accordingly it is very useful in the system where several operation steps are repeated Operation direction is decided according to position address value Ex1 If operated only by positioning start POSK AST rising edge Operation pattern Start op step No 0 tep No 0 is reported 1f op step No IS not changed after repeated operation Op single Op repeated Op step No 0 Op step No 1 Positioning start POS AST BUSY POSI_SRD ST6 3 gt Setting in S W package Number
67. 000 10000 15000 20000 25000 30000 35000 Pulse 2 Position data and speed data X axis position data Position Coordinat Operationme Invalid Dwell Step Override thod Valid Operation mode k de M code Speed No Time 0 Absolute Disable Continuous Valid Single 10 000 0 0 5 1 Absolute Disable Continuous Valid Single 25 000 0 1 5 2 Absolute Disable Continuous Valid Single 5 000 0 2 5 3 Absolute Disable Continuous Invalid Single 0 0 0 0 4 Absolute Disable Continuous Invalid Single 0 0 0 0 Y axis position data Position Coordinate Operationme Invalid Operation Dwell Step 8 Override thod Valid inode code Speed No Time 0 Absolute Disable Continuous Valid Single 10 000 0 0 5 1 Absolute Disable Continuous Valid Single 15 000 0 1 5 2 Absolute Disable Continuous Valid Single 30 000 0 2 3 3 Absolute Disable Continuous Invalid Single 0 0 0 0 4 Absolute Disable Continuous Invalid Single 0 0 0 0 M Speed data No Data 0 200 1 400 2 600 3 0 10 13 Chapter 10 MK Program 3 System configuration System shall be configured as shown in Fig 10 1 and be connected with the driver with 2 axes of X amp Y The operation shall be with X axis interpolation command signal to let interpolation command On 4 Program P0014 P0020 P0021 P0030 P0031 V V V D M0300 Cond X axis Y axis Y axis M0300 error signal error signal operation SET P0048 1 scan On
68. 000 compensation 5 4 Chapter 5 Positioning Parameter 5 1 3 Bias speed gt Stepping motor is used to reduce positioning time with start speed setting at early operation stage to make motor rotation smooth because torque may be unstable near at speed 0 The setting speed at this case is bias speed gt Setting range 560 20 000 Unit 10pps per axis gt Bias speed is used for positioning operation by start command origin point return operation JOG operation and major axis of interpolation operation unavailable for minor axis Speed limit Operation with bias speed__ set Bias speed Positioning speed Origin point return speed BN DN 00 Speed Operation without bias Interpolation op speed speed set Decel time occurs Be careful If bias speed is set high whole operation time can be reduced profitably but if set too high impact noise occurs at start and stop points leading to damage on the machine gt Bias speed shall be set within the following range If origin point return speed is set lower than bias speed error 87 occurs and if operation speed is set lower than bias speed at positioning error 86 1 Bias speed S positioning speed data 2 Bias speed lt origin point return atlow S origin point return at high 3 Bias speed lt JOG at high JOG low speed operation has no connection with bias speed 5 5 C hapter 5 Positioning Parameter 5
69. 00004 Data Write 10 11 Chapter 10 MK Program 14 Speed Teaching VLT F0010 GET 00001 00000 D0000 00006 P0010 P0020 P0021 common used RAM status total Read EM 34 Condition Error signal In operation Iscan On M0228 MOV 00008 M013 Speed No 8 MOV 00340 M014 Speed value 340 SET P004E P0027 Speed Teaching command On RST 04 Com complete signal Speed Teaching command Off F0010 PUT 00001 00013 M013 00002 Data Write 15 Inching INC F0010 00001 00000 D0000 00006 0011 0020 0021 Common used RAM status total Read D 0229 Condition soul In operation Iscan On M0229 MOV 00000 M011 Inching 15 SET 004 P0027 Inching command On RST P004F Com complete signal F0010 PUT 00001 00011 00001 Inching command Data Write 10 12 Chapter 10 MK Program 16 2 axes interpolation operation Positioning operation Y AXIS position address Pulse Position No 2 30000 25000 20000 ES OU poe eee oe E 15000 h Position No 1 i 10000 i i i i 5000 Position No 0 i i o X AXIS position address T 5
70. 010 GET 00001 00000 00000 00006 Normally On Buffer memory status total Read X AXIS GET 00001 00050 00050 00006 Buffer memory state total Read Y AXIS Any other command than error reset speed change override deceleration stop and Next Move command is not allowed to execute during operation or in error Command Off is to be processed by command complete signal P contact command common used RAM command P0000 P0020 P0021 AN M020 M0200 Error In operation M0200 1 Scan On SET P0049 P0027 Positioning start X AXIS RST P0049 Command complete Positioning start X AXIS Reset by P contact command complete Data accompanied command shall be processed simultaneously with data and command under the same conditions or positioning module may be abnormal in operation Data accompanied commands present value preset start position No change override inching position teaching speed teaching 10 4 Chapter 10 MK Program P0001 P0020 P0021 1 1 1 1 DMOV 00001000 009 Error In operation Preset position address 1000 SET M0065 P0027 Present value preset command On RST M0065 0010 Command complete Present value preset command reset PUT 00001 0006 M006 0004 Common used RAM command amp Preset position address total Write
71. 2 In G6F POPA changed by outer input signal of speed position switching input signal Accordingly deceleration stop POSI_STP rising edge T is regarded as a stop command in G6F POPA with origin point undecided gt Refer to 3 2 Operation mode for the details 6 7 Position address Pulse gt Setting area of travel value of position data by address value gt Setting range is 16 744 447 16 744 447 setting unit Pulse gt Position address value is changeable in program by position teaching POSMi TEA rising edge 7 6 5 Chapter 6 Position Data For Positionin 6 8 M code FM code function is wholly applied to all axes by M code mode set at positioning parameter and can be used for the program by number setting per operation step No in the setting range gt Setting range 60 255 gt How to use M code in program 1 M code No Read is allowed by present operation state s code information Read POSK CRD s output parameter 2 On Off state of M code operation can be checked by present operation state s bit information Read 7 bit of POSK SRD s output parameter ST3 gt Refer to 5 4 for the details 6 9 Speed No gt It means the number of speed data set at speed data available per operation step No Setting range 50 127 gt Speed data value of speed No is changeable in program by speed teaching POSE_VLT rising edge 1 6 10 Dwell time X 10 ms gt assigned prior to the next
72. 2 Linear Stepped Starte ss ce mm m se m m m m m Rm m m m 7 3 3 Start To Return To Starting Point m ee e ee m m m m m m m m 74 Function Block For Manual Operation s s mom m m 7 4 1 Inching Operation ee se se se se se m se me m me me me me 7 4 2 Jog Operation ee se se e me se s me m sme m mme see m m m m 7 4 3 Return To Prior Position To Manual Operation se se se ee se se omn oce omn n 7 4 4 Operation Approval Of Manual Pulse Generator MPG c c con omn cm omn 7 5 Teaching Function Block e m m m m m m m m m m A 7 5 1 Position Teaching Teaching e ct se e m m m m m m m m m 7 5 2 Speed Teaching Teaching m mom mm m m m m m m m m 7 6 Function Block For Module Information Read 75 4 M Code Off 2 2 e Bi ew de Ur e e Bo ak der e oa eB es qb 7 6 2 Speed Change Dru 7 6 3 Continuous Operation 7 6 4Speed Override 7 6 5 Assignment Of Operation Step No eee ooo oee oso ooo ooo ooo ooo ooo ooo ooo ooe ooo ooo ooe oso ooo 7 6 6 Deceleration Stop eee oee oso ooe ooo ooo ooo ooo ooo ooo ooe oso ooo 7 7 Function Block For Error Processing ais ede Jeu E E E E 7 7 1 Inner Emergency Stop nu 7 7 2 Cancellation Of Output Prohibitions 7 7 3 Error Reset Dr T 8 Other Function Blocks 7 8 1 Fixed Starting Point Setting eee ooo ose oso ooo ooo ooo ooe ooo ooo ooo ooo ooo ooo ooe oso
73. 23 Next Move condition position No command 10 in progress with constant op Next Move command On P0024 Operation data No change JUMP Position No 2 gt No 10 JUMP Position No 12 gt No 0 Continued Chapter 10 MK Program M0224 SET 0081 Operation data No change command On M0225 P0067 RST P0089 Positioning start Off Y AXIS command complete signal RST P008A Origin point return command Off RST P0081 Operation data No change command Off RST M1061 Next Move command Off RST P008B Speed change command Off F0010 PUT 00003 00056 M106 00007 Common used RAM command amp data total Write END 1 The above application program example can be applied in system configuration even if G4F POPB amp G3F POPA are used as installed on slot No 3 position where G6F POPA is equipped 2 G3F POPA G4F POPB and G6F POPA all for 2 axes control takes possession of 64 I O points identically 10 20 Chapter 10 MK Program 10 3 2 Position Teaching by JOG operation 1 The system configuration is as shown in Fig 10 1 2 It is position teaching program of present position address 20 000 to position No 3 after rotated forward at JOG high speed and then moved reverse at JOG low speed
74. 25 GND24 L 20 5 Qoo gt GND 1 20k TRAIN GMD 1 speed 3 a MONIT2 2 gt G6F POPA X AXIS 0 5V GND 1 PPFIN 41 1 2W 1 5K 24V COM 20 M pein 10 FP 1 i 4 p Ww uon f 1 2W 1 5K RES PRIN 12 RP 2 2 50 1 2 33 34 shall be used for GND terminal 32 33 34 35 1 a m Upper PIS Lower limit L S emergency Origin poigt L S e speed posi t SWITCH L 9 so 20 24V COM DC 24V 22 23 24V GND 2 Surely ground connect the shielded line of CN1 cable with F G FRAME GROUND 11 4 Chapter 11 Operation Proceedings amp Installation 3 Connection with Sinnco SSD 5000 type SSD 5015 CN1 G6F POPA X AXIS 32 33 34 35 1 0 1 m Upper T eo o 0 5 B ZL 2 m OOOO BGO toer timid Us _ 0_0 CHDT a eee 1 6 0_0 HT Origin poit L S 11 s speed posi tfi on S LS 4 23 PLB 21 5v 21 1 ae iet wa DC 5V ll 22 RA pli M i PB RP 24 PLB 4 2 5V GND 22 28 _ Refer to the driver manual for the driver pi
75. 28 P0037 RST P0049 Command complete RST PO004A RST 4 RST 4 M050 PUT 00002 00006 M006 00009 M028 P004C C M028 END Set Inching amount Set Inching reverse Inching command On Set JOG high speed Set JOG forward JOG command aux output Set JOG low speed Set JOG reverse JOG command aux output Positioning start Off Origin point return Command Off Speed Teaching command Off Inching command Off Common used RAM command amp data total Write JOG command output Chapter 11 Operation Proceedings amp Installation Chapter 11 Operation proceedings amp Installation 11 1 Operation proceedings gt Operation sequence for positioning operation with positioning module is as shown below Start Decide positioning operation method v Install positioning S W package in the computer v Prepare positioning data with S W package gt Positioning parameterS X AXIS Y AXIS gt Position data X AXIS Y AXIS gt Speed data X AXIS Y AXIS v Install positioning module on the base Let positioning module driver motor and outer devices connected v Connect the cable between the computer amp positioning module v Let PLC system powered On v Test the system of positioning module v Write setting data via positioning module in the computer
76. 5 Chapter 10 MK Program 10 2 2 Basic program 1 Positioning start AST P0000 P0020 P0021 D M0200 H F HI Positioning start cond Error signal In operation signal M0200 1 scan On if positioning start cond is On P0027 SET P0049 Positioning start On Com complete signal 2 Origin point return ORG P0001 P0020 P0021 RST P0049 Positioning start Off D M0201 3 1 Origin point Error signal In operation signal return condition 1 scan On if Origin pnt ret cond is P0027 SET P004A Origin pnt ret positioning start On RST P004A Com complete signal 3 Deceleration stop STOP P0002 P0020 P0021 Origin pnt ret Positioning start Off D M0202 F 1 Decel stop cond Error signal In operation M0202 1 scan On if decel stop cond is On SET P0047 P0027 Decel stop positioning start On RST P0047 Com complete signal 10 6 Decel stop positioning start Off Chapter 10 MK Program 4 Internal emergency stop P0003 D 0203 Inner stop cond 1 scan On if internal emergency stop condition is On M0203 SET P0040 Internal e stop com On P0025 RST P0040 Pulse out disable On disable Off cancell
77. 9 HITE speed posi 4 z SWITCH L S Lu EN ul a BROWN X DC 24V 9 BLACK Miu CCN step motor acw M 5V COM 21 LAC PR A Y a E DE IT 5v COM ds eq 4 H X az NT 0 BV E RP 3 2 hz 5V GND 22 23 22 23 5V GND 42528 deb E e uu Tix EM AC110V i s 1 Controllable by PLC s relay output or transistor s output contact 2 Protection control is available from overheating driver using PLC DC input signal 3 Origin point return is available by making phase Z signal by optical sensor adjacent sensor or limit switch since the stepping motor has no encoder 11 7 Chapter 11 Operation Proceedings amp Installation 6 Connection with UPK5114NW 2 stepping motor driver UPK5114NW2 Driver G6F POPA X AXIS Lx 32 33 34 35 ICOM CN 1 I iU 4 c moa m 43 Upper limit L S T DC aay 3 0 0 1 1a x SE pet DC 24V Tg 7 IK H ez Lower limit L S Overheat signal TB2 MM I 200 2x 1 LL p 10 emergency l a run H gin poigt L S 11 wwe speed posi Out current 11 tion E 14 ge GREEN j 50 A Y wm DC 24V i 5
78. B DC input module 32 points G61 D22B DC input module 16 points G6Q TR4A TR output module 32 points G6F POPA Positioning module 64 points SERVO Amp Motor Mobile Encoder BCD digital displayer 4lettersX 2 P0030 P004F Present position address displayed P0000 lt 1 O Positioning start P0021 0 Speed change command P0022 O Origin point return command P0023 I O Next Move command P0004 1 af O Start position No change command BCD digital switch AlettersX 1 P0000 POOOF Variable speed value setting BCD digital switch AlettersX 1 P0010 POOLF Start position change No setting 10 16 Chapter 10 MK Program 2 Data setting and operational description Y axis position data Operation pattern Step Override a ae puo Pune M code Speed No Dwell 0 Absolute Disable Continuous Valid Single 100 000 0 0 50 1 Absolute Disable Continuous Valid Single 120 000 0 1 50 2 Absolute Disable Continuous Valid Single 0 0 0 50 3 Absolute Disable Continuous Invalid Single 0 0 0 0 4 Absolute Disable Continuous Invalid Single 0 0 0 0
79. Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution POSE INT Base position No e Setting area of base No positioning module is equipped on REQ DONE e Setting range series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 Slot position No e Setting area of slot No positioning module is equipped on SLOT STAT e Setting range 0 7 ion State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with internal processing of Function Block complete 0 is output BASE STAT X X axis error information displayed Y axis error information displayed Operation axis displaying area e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 1 Caution for function blocks of linear interpolation operation command used in program 1 Available only when operation is at stop state Busy Off state 2 Available operation modes are interpolation operation repeated operation and auto operation 7 7 Chapter 7 Function Blocks 7 3 3 Start to return to origin point G3F POPA G4F POPA G6F POPA POSP_ORG G4F POPB POSB_ORG Origin Operation command to find the machine s origin point by origin p
80. Chapter 10 MK program Various examples are discribed for operation of positioning module in MASTER K K200S 300S 1000S series via the PLC program Example program is prepared in the system below unless noted otherwise T O contact of G6F POPA positioning module includes 64 points upto P0020 POOAF T O word No gt P000 P001 P002 P005 Step motor Step motor driver Fig 10 1 System configuration of basic example program Fig 10 1 shows G6F POPA positioning module as installed on slot 1 of K200S CPU A sequence program shall be composed with I O word No as changed for installation on the other slots For status information reading to Read Write common used RAM positioning module s buffer memory data between PLC CPU and positioning module use GET GETP command and for command and data writing use PUT PUTP command Carefully read 10 2 1 Programming caution for sequence programming with positioning module prior to application 10 1 hapter 10 MK Program 10 1 Information exchange between positioning module amp PLC CPU 2 types of information classified into bit unit and word unit are transmitted received as exchanged between PLC CPU and positioning module Positioning module nn en i a ee a ee i ie ee ey Upper limit L S Lower limit L S Q E stop Near zero point 4 0 Origin point MO Pulse line i Bit data I i CPU PLC CPU Word data Common used
81. Error serious on internal CPU of positioning module which is unavailable to use 8 Error code Error trivial on positioning module Refer to troubleshooting list of error codes Present speed F ED CB A9 8 7 6 54 3 2 1 0 E ET 0 200 000 9 Present speed Speed value presently operated is displyed Present op data No RE F EDCBA9YI 87 65 4 32 1 0 X add 3 Y add 53 0 299 10 Present operation data No Operation data No operation step No presently operated is displayed Chapter 9 Inner Memory And I O signals Present pos address FEDCBA9 876 554 3 2 10 X add 4 Y add 54 lower add Y add 55 higher 11 Present position address Position address 16 744 447 16 744 447 presently operated is displayed P gt Program Area to save to M000 X Buffer Memory add 0 Words to save 6 Slot No positioning module is equipped on 3 GET 00003 00000 M000 Whole Read of common used RAM status gt Results of program execution in case of G6F POPA s buffer memory Address decimal M arca bF bE bD bC bB bA b9 bB b b0 M0009 Lower Limit MOOOA Emergency stop 000B In JOG operation 000 In compensation operation MO000D ZONE 1 MOO00E ZONE 2 MOOOF ZONE 3 Y Present M code value 0008 Upper Limit mI gt Since addresses 0 5 X axis and 50 55 Y axis of posit
82. G3F POPA Unit mm io 12 3 Appendix 1 How To Set Postioning Module Parameters For Stepping Motor Drive Appendix 1 How to set positioning module parameters for stepping motor drive 1 Setting of speed limit P Speed limit decides acceleration deceleration inclination when operated with acceleration deceleration time Actual decel time Actual accel time Time gt Accel time Decel time Profile example First set the max frequency available in compliance with load conditions to speed limit referring to the characteristic curve of Torque vs Frequency of the stepping motor Later input speed data shall be set in the range of the value or error occurs and the operation is not available 2 Bias speed setting Bias is to be set to optimize the operation time or to avoid injurious vibration noise the stepping motor has in low frequency band approx 100 200pps Setting is allowed in the value range not exceeding over the self operating frequency produced by motor load Be careful if the value is set too high it causes impact noise or damage on the machine at initial acceleration and stop point of time A1 1 Appendix 1 How To Set Postioning Module Parameters For Stepping Motor Drive 3 Acceleration deceleration time setting gt If acceleration deceleration time is set too low for stepping motor separation may occur Thus try to find the max inclination avail
83. HL BOOL e 0 low speed operation profile without acceleration deceleration e If 1 high speed operation profile with acceleration deceleration State displaying area of Function Block execution complete DONE e f Function Block execution complete without error 1 is output as kept until the next Output execution starts If error occurs 0 is output with operation stopped Error state displaying area STAT e f error occurs during Function Block execution error No is displayed POSE_JOG REQ DONE STAT BASE SLOT AXIS ROT BOOL In Function Blocks for JOG start command input parameter REQ is operated via the level It means JOG operation state If connection condition of REQ is On and JOG output stopped If Off 7 9 F Chapter 7 Function Blocks 7 4 3 Return to prior position to manual operation Return To Position G3F POPA G4F POPA G6F POPA POSP G4F POPB POSB_RTP Command used to return to prior position to manual operation when the position has been changed by manual operation after positioning gt Manual operation means inching operation JOG operation or manual pulse generator operation Function Block Paramet Data Class Description type er type Request area of Function Block execution at rising edge REQ BOOL e Function Block executed if 0 gt l rising edge with connected
84. Interpolation com On P0027 Com complete signal 10 14 RST P0048 Intervolation com Off 1 scan On if interpolation com Chapter 10 MK Program 17 Teaching mode change Available only in positioning module G6F POPA P0012 D M02830 1 M0230 MOV 00001 MOIS ROM Teach mode set 0 RAM Teaching mode F0010 1 ROM Teaching mode PUT 00001 00015 015 00001 Data Write 18 Parameter change Available only in positioning module G6F POPA P0013 P0020 P0021 A ET Condition sae In operation Iscan On M0231 FMOV 00150 M017 00002 Set accel 1500ms decel 1500ms MOV 00001 M019 Set M code mode to After mode 0 With 1 After 2 None MOV 00800 M020 Set JOG high 8Kpps MOV 01000 M021 Set origin pnt ret high 10Kpps SET M0062 Parameter change com On P0027 RST M0062 Com complete signal Parameter change com Off F0010 PUT 00001 00006 M006 00016 Data Write 10 15 Chapter 10 MK Program 10 3 Application program 10 3 1 Speed change Next move Change of operation data No 1 System configuration I O word No P000 P001 P002 P003 P004 POOS P008 bos G l G l G6Q ae D24B D2B TR4A I O occupation points K3P 07AS K200S CPU module G61 D24
85. LARA CRI LR dn gt Program BUSP SHD REQ DONE aae M REQ DONE BASE BASE STAT j ERR_INI Bose OUT ES OUT EN REQ DONE BASE BASE ut SLOT SLOT STI INF1 me re posp ohe BASE BASE AE SLOT SLOT CA CURE DP AXIS AXIS si INT2 current v BASE BASESTAT SLOT SLOT AXIS AXIS OLOCITY STS INFS SLOT SLOT AXIS AXIS wc SUPER 2 INF4 CURRENTS a INFS Em A INF amp ORIGIN ST ORIGIN DO ORIGIN ART 1 1 1 3 POSP_oRG i 127 REG EAE BASE BASESTAT AUTO STAR START DON START m INFE 1 INF6 3 E posP_ast IP i M M i M i REO DNE SLOT SLOT ACTH BASE BASE STAT AXIS AXIS B SLOT SLOT ACT AXIS AXIS E program is the same as program 3 4 3 17 Chapter 3 Functions 3 2 5 Constant operation 1 In constant operation mode the operation at speed set without target position is continued by speed control operation Since constant operation is not the positioning operation it displays 0 for present position and is switched 2 over to undecided origin point state even if the origin point has been previously decided 3 Accordingly if the next operation step is at decided origin point state returning to origin point shall be executed or eration after floating point set setting shall be executed 4 If confronted by deceleration stop command in constant operation the correspondent step operation i
86. LG Programmable Logic Controller Positioning Module Pulse Out Type G3F POPA GLOFA G4F POPA MASTER K QEEBODR LG Industrial System Please read the safety information described in the data sheet and this manual carefully prior to using the product Caution items described here are only for G3F POPA G4F POPA G4F POPB and G6F POPA Please refer to GLOFA CPU module or MASTER K CPU module related user manual respectively according to CPU module used for the details on safety information for PLC system Cautions are intended to remind you of precautions in the warning triangle as displayed below as based on the Danger level eee E Death fatal wound or considerable property loss could happen if appropriate precautions are not taken Serious or slight injury or property loss could happen by dangerous situations if appropriate treatment is not taken N Caution may describe serious results according to situations Be sure to observe the 2 displays where important information is specified Keep the user manual nearby for prompt reference as necessary Designing Caution ZEN Caution gt Don t let input output signal line connected with the driver and sensor be wired close to high voltage or power cable but min 100mm away if possible in order to prevent abnormal operation caused by noise Installing Caution Wiring Caution AN Caution AS Caution Use PLC in conditions as described Connection dista
87. M teaching ROM RAM teaching ROM teaching Floating point set available Present position preset available M code mode With After None Continuous operation Next move available Others Speed override Setting range 10 150 Position return prior to manual available operation Setting operation step No available Connection connector 25 pin per axis 34 pin 37 pin 16 pin Isolation method Photo coupler isolation between input terminal and PLC power Isolation unavailable between channels Current consumption 390 mA 350 mA 280 mA 280 mA Weight 537g 296 g 137 9 296 g 1 G6F POPA available only 2 3 Chapter 2 Specification 2 3 Input output interface specification with external device Input output interface with the External device is described 2 3 1 Signal Input specification Rated input voltage curr ent Used voltage range On voltage Off voltage Input resistance Response time Near zero point DC 24V 10mA DC 20 4 26 4V DC 16V or above DC 4V or below Approx 2 2KQ 1 8ms or below External upper limit DC 24V 10mA DC 20 4 26 4V DC 16V or above DC 4V or below Approx 2 2KQ 1 8ms or below External lower limit DC 24V 10mA DC 20 4 26 4V DC 16V or above DC 4V or below Approx 2 2KQ 1 8ms or below Emergency stop DC 24V 10mA DC 20 4 26 4V DC 16V or
88. OT USINT e Setting area of slot No positioning module is equipped on e Setting range 0 7 Assignment area of axis to use AXIS USINT e If 0 X axis operates e If 1 Y axis operates State displaying area of Function Block execution complete DONE e f Function Block execution complete without error 1 is output as kept until the next Output execution starts If error occurs 0 is output with operation stopped STAT USINT Error state displaying area e f error occurs during Function Block execution error No is displayed 7 18 Chapter 7 Function Blocks 7 8 Other Function Bblock 7 8 1 Floatin 3E oint set settin oating Point Set G3F POPA G4F POPA G6F POPA POSP G4F POPB POSB FLT It is a command used to set present position to origin point compulsorily without origin point return operation The assigned address value to origin point return address will be the present position Function Block type Paramet er Description POSH_FLT REQ DONE BASE STAT SLOT ACT AXIS Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Slot position N
89. Or speed change command input in continuous constant or positioning constant operation mode Continuous operation NM command input in other operation modes than continuous operation mode Override and continuous operation command unavailable in other states than in operation by start command Override command input in operation step executed set to override prohibited Continuous operation NM command unavailable in continuous operation whose direction is to be changed No next operation data to operate at start command Data No range exceeded at Position Teaching and Speed Teaching command Overrideing rate exceeded over allowable range 1 15 Inching amount exceeded over allowable range 1 99 Setting position address exceeded over s w upper limit or s w lower limit range at present position preset command Position data setting value of positioning constant operation mode is too small Start command of Absolute Coordinates operation data unavailable at origin point undecided state Position Teaching command input at origin point undecided state 78 Teaching mode value is not as assigned Speed exceeded over allowable range bias speed speed limits 1 M code Off and X X X No operation i me 2 2 start operation Presen operation s hanged Change speed position control switching from acceleration to constant Program change needed because stop command is processed as an error if return command to prior pos
90. Program 3 18 Parameter change 3 46 Chapter 4 S W Package Chapter 4 S W package gt Details of S W package are described gt Be careful that S W package is changed from POSITION to POSPACK with its terms modified also Old package POSITION 4 1 Chapter 4 S W Package 4 1 Main manu bar Control area of positioning files and communication ports to connect with positioning module and S W package Save as A Print P Ctrl P Exit x File View Communication Model setting Data setting Help Open O Tool BarCD Comm Port D Ctrl T Online Model Ctrl M X Axis Parameter A Save S Chis Status Barts Comm CtiK Offline Model SeK O Alt O Y Axis Parameter Z L SA formato X Axis Position Data G Ctrl G Y Axis Position Data B Ctrl B 4 1 1 File 1 Open gt Command to open a file prepared by S W package gt Extension cord of the file is PLS Save gt Command to save a file prepared by S W package Save another name gt Command to save a file prepared by S W package in another name Print gt Command to print a file prepared by S W package with the following 5 items as selected 1 X axis parameter 2 Y axis parameter 3 X axis position data 4 Y axis position data 5 Speed data Positioning module Print Cur File Name No title Positioning GMB PULSE 2 Axes Prin
91. Related speci fication Item Specification Operating 0 55 C temperature Storage 25 70 C temperature Operating te 5 95 RH No condensation humidity Storage me 5 95 RH No condensation humidity If vibrated intermittently Sweep count Amplitude of vibration lt 57 2 0 075mm lt 150Hz 9 8n s 1G Frequency Acceleration The number fln 10 lt Viration 7 lt f f If vibrated continuously 10 times each Acceleration Amplitude of vibration 0 035mm 4 9m s 0 5G direction of X Y 2 EC61131 2 e Max shock acceleration 147 m s 15G e Duration time 11ms e pulse wave half sine wave pulse 3 times each direction of X Y Z Shocks EC61131 2 Noise immunity Square wave impulse noise t 1 500 V Based on LG test spec Electrostatic discharge voltage 4kV contact discharge EC61131 2 EC1000 4 2 Radiated electromagnet ic field 27 500 MHz 10 V m 1EC61131 2 1EC1000 4 3 Fast Transient burst noise Digital input output 24V or above Power Class module Digital input output less than 24V Analog input output comm interface Voltage 2kV 1kV 0 25kV EC61131 2 EC1000 4 4 Operating atnospher No corrosion gas or dust allowed Altitude fruse 2 000m or below Pol lution degree 2 or below Cool i
92. Since input methods used for SERVO driver or stepping motor differ each other such a pulse out direction of positioning module shall be selected as applicable gt Output direction types A Forward pulse and reverse pulse are output from different terminals respectively FP term RP term Forward output gt Forward pulse and reverse pulse are output from one terminal and detection signals of forward reverse directions are output from different terminals respectively FP term RP term Forward output Reverse output 5 3 Rotation direction gt Forward rotation Rotation direction is set to the direction where present value of position address is on the increase FP term Forward op RP term Forward op If set forward If set reverse gt Reverse rotation Rotation direction is set to the direction where present value of position address is on the decrease FP term Forward op Reverse op RP term Reverse op Forward op If set forward If set reverse 5 4 M code mode 5 8 Chapter 5 Positioning Parameter M Code C With C After Mone gt M code mode which has been set at parameters are wholly applied to all position data of its applicable axis gt M code No can be set respectively per operation step No of positioning data gt M code No setting range 0 255 gt M code can be used to check oper
93. XE mfc42 dll msvert dll G6F POPA msvcrt20 dll og70as dll Driver Multi phases pulse gt GOF PTUA Teaching terminal gt S W package P Deviation counter 5 DIA Converter Driver nterfa Stepping motor SERVO motor Feed back pulse 4 Pulses in the counter AMP lt q SERVO motor speed Pulse distribation Fig 1 2 Position control for subo motor 1 1 Chapter 1 Introduction 1 1 Features The features of the position decision module are as follows 1 Positioning module can be used for GLOFA GM series and MASTER K series 1 Positioning module for GM3 series and K1000S series G3F POPA 2 axes 2 Positioning module for amp K3008S series GAF POPA 1 axis G4F POPB 2 axes 3 Positioning module for GM6 amp K200S series G6F POPA 2 axes 2 Various control functions of positioning 1 Max 300 position decision setting data are allowed including position decision address and operation method per axis 2 Linear control by position decision control of each axis separate position decision by 1 position decision data and continuous position decision by several data is available 3 Linear stepped control by position decision control of 2 axes separate position decision by 1 position decision data and continuous position decision by several data is available 4 Various returning control functions to starting point A Return to origin point
94. a of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 SLOT Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 Assignment area of axis to use e If 0 X axis operates e If 1 Y axis operates Setting area of operation step No to execute position Teaching e Setting range 0 299 PRES DINT Setting area of position address value to execute Position Teaching ET e Setting range 16 744 447 16 744 447 MODE Selection area of Position Teaching type icd BOOL e If 0 RAM Position Teaching e If 1 ROM Position Teaching State displaying area of Function Block execution complete DONE e f Function Block execution complete without error 1 is output as kept until the next Output execution starts If error occurs 0 is output with operation stopped STAT USINT Error state displaying area e If error occurs during Function Block execution error No is displayed gt When Position Teaching Function Block If input parameter ST SET setting value gt Differences between RAM Position Teach In RAM Position Teaching address val executed by prior address value maintained Note Input parameter MODE can be used only in G6F POPA gt In G3F POPA and G4F POPA Position Teaching command is available only at origin poin
95. able with acceleration deceleration time as changed at load connected state At this time since the characteristics of the motor and driver can be changed if used for long let the inclination set a little gentle in consideration of safety Set parameters Set speed limit Yes Over the rated motor No Yes ver the self operating frequency Set acceleration deceleration Any separation in acceleration deceleration2 Yes Re adjust the inclination to be gentle considering safety A1 2 Appendix 1 How To Set Postioning Module Parameters For Stepping Motor Drive 4 Testing example of stepping motor with no load Speed 20Kpps PK264 2A PK569BHW PK596BW Time 160ms 390ms 450ms Table1 Testing example of G6F POPA stepping motor s max accel decel inclination Set1 Motor PK569BHW Driver UDK5128NW2 Max acceleration deceleration inclination 160ms Operation Speed 20Kpps Full Step Max speed 59000pps speed limit 100000pps acceleration deceleration time 5 sec Set2 Motor PK596BW Driver UDK5114NW2 Max acceleration deceleration inclination 450ms Operation Speed 20Kpps Full Step Max speed 33600pps speed limit 100000pps acceleration deceleration time 5 sec Set3 Motor PK264 2A Driver CSD2120 P Max acceleration deceleration inclination 390ms Operation Speed 20Kpps Half Step Max speed 23500pps speed limit 50000pps acceleration deceleration time 1 1 sec
96. aching speed data No F EDC BA 9 8 7 65 4 32 10 X add 13 0 127 14 Speed teaching speed data No Speed data No to change at Speed teaching command with setting range of 0 127 Speed teaching speed value nnm Ane cm rnc X add 14 20 000 Chapter 9 Inner Memory And I O Signals 15 Speed teaching speed value 1 Speed value to change at speed teaching command 2 In case of execution of speed teaching command speed teaching command speed teaching speed data No and speed teaching speed value shall be processed under the same conditions Position teaching mode d 15 E EDCBA9 87060545352 Y add 65 0 RAM Teaching 1 ROM Teaching Speed teaching mode ED CB A9 876 54 3 2 Ww X add 16 0 RAM Teaching 1 ROM Teaching 16 Teaching mode 1 Teaching mode setting is available only in G6F POPA 2 If 0 is set to the assigned address of buffer memory RAM teaching mode will be set and If 1 is set to ROM teaching mode will be set 3 In case position teaching or speed teaching is expected to be frequently executed the teaching can be performed infinitely If RAM teaching mode is set Acceleration deceleration time PNE EP RERO X add 17 18 Y add 67 68 Quse 17 Acceleration deceleration time 1 Used satisfactorily to change acceleration or deceleration time by external input 2 Available only in G6F POPA with setting range of 0 999 x 10 ms l code mode Pee
97. aged operation step reaches the target position However continuous operation command POSBRI NM can be executed only at constant speed 4 Only the same direction is available for continuous operation mode and operation direction is decided according to 5 position address value Operation pattern Speed Continuous op com POSE_ Operation single Op step No 1 Op continuous Op step No 0 Q Positioning start 5 AST Busy POSE_SRD ST6 3 1 8 Chapter 1 Introduction 5 Constant operation mode positioning incomplete 1 In constant operation mode the operation at speed set without target position is continued by speed control operation 2 Since constant operation is not the positioning operation it displays 0 for present position and is switched over to undecided starting point state even if the starting point has been previously decided gt G3F POPA G4F POPB G6F POPA Dwell time is available but positioning complete signal is not gt G4F POPA Dwell time amp positioning complete signal are unavailable 3 Accordingly if the next operation step is at decided starting point state returning to starting point shall be executed or operation after fixed starting point setting shall be executed 4 If confronted by deceleration stop command POSH_STP rising edge in constant operation the correspondent step operation is regarded as complete leading to the next opera
98. al operation Manual operation includes JOG operation manual pulse generator operation inching operation and position shift prior to Manual operation 3 6 1 JOG operation POSBI JOG level input 1 JOG operation gt controls positioning by jog command POSE_JOG gt monitors position address value if changed by positioning operation through JOG command gt Information on JOG operation is displayed at 6 and 7 bits of output parameter ST2 in present operation state s Bit information Read function block POSE_SRD gt 6th bit of output parameter ST2 in present operation state s Bit information Read function block On in JOG operation at low speed Off in stopping of JOG operation at low speed gt 7 bit of output parameter ST2 in present operation state s Bit information Read function block On in JOG operation at high speed Off in stopping of JOG operation at high speed gt used when operated without origin point decided 2 Acceleration deceleration processing and jog speed 1 Acceleration deceleration processing is controlled as based on the time set to acceleration time and deceleration time among parameter setting items in S W package gt JOG operation at high speed with acceleration deceleration pattern Time 2 If JOG speed is set exceeding the setting range error occurs and operation is impossible JOG operation at high 1 20 000 10 200 000 pps 1 Speed E JOG operation at low
99. alue to specified address exceeds 65 535ms error 89 occurs 3 5 C hapter 3 Functions 2 Control by incremental method Relative Coordinates A Positioning controlled to the position which includes travel direction and travel value as aimed at start point address per axis B Travel direction of each axis is decided according to travel value sign of the axis If travel value sign is or no sign position decided forward address incremental direction If travel value sign is position decided reverse address decrement direction Forward Y Y2 I I Start point address nae Y travel value rere I L 1 X2 Y2 Y1 X amp Y linear interpolation operation 1 I Forward X X travel value Reverse Ex gt If start address is 1000 4000 and gt target address is 9000 3000 the operation is as follows Start point address 4000 Y travel value 3000 1000 Specified address X 500 X travel value 9000 gt Setting in S W package Step Coordir Operation Invalid Operation Dwell Position data items No ics Override method valid meds Address Mcode Speed No x 40ns X axis setting 0 Relative Disable Continuous Valid Single 10000 0 0 0 Y axis setting 0 Relative Disable Continuous Valid Single 1000 0 0 0 gt Program Program is the same as program 3 2 3 6 Chapter 3 Functions
100. and and click once more to stop the command 4 5 Chapter 5 Positioning Parameter Chapter 5 Positioning parameter gt Parameters to be set in S W package are described gt Be careful that S W package is changed from POSITION to POSPACK with simultaneous control available if 2 axes used and its terms modified also gt Parameters of S W package are structured as shown below The parameter items shall be set per axis x Axis Parameter set PULSE Accel Time x10ms Decel Time i xl ms 1 Backlash pulse Bias Speed xl pps Upper Limit jiers pulse Lower Limit 16744447 pulse Speed Limit 20000 xl pps Pass Time p xl ms Output Dir M Code Mode 52 T C B Type C With C After None Rotation Jog Speed 53 Forward C Backward High Lew 0 xlOpps p Origin Return Method Return Method after Near Zero signal On Direction C Forward Backward See 56 T C after Near Zero signal On and Off Compensation pulse C by Near Zero signal and Limit signal High Speed 5000 10pps C by Near Zero signal only Low Speed 5 xl pps Zone Setup D pulse Range 16 744 447 16 744 447 pulse Dwell Time ij 10 ON Begin ON End Zone 2 Zone 3 5 0 New package POSPACK Send To write parameter setting va
101. and or emergency stop input while 1 Function Block is executed 2 Cancel output prohibited 4 Continuous operation or speed override command input Continuous operation or speed override i at other states than constant stage in auto operation available only at constant stage Command given with module origin point undecided lol Start command after origin point decided H W error on positioning module Cancel error if powered Off On Watchdog error Cancel error if powered Off On Inner memory interface error Cancel error if powered Off On put hibited lip External emergency stop input 2 Cancel output prohibited rt point t ecided 3 Operate after origin point re decided Description Actions Reset error 1 Remove cause of external emergency stop 1 Remove cause of internal emergency stop Internal emergency stop input 2 Cancel output prohibited 3 Operate after origin point re decided put hibited rt point lecided 1 Remove cause of erro External upper limit signal input 2 Perform JOG operation toward lower limit 1 Remove cause of erro 2 Perform JOG operation toward upper limit 3 Operate after origin point re decided External lower limit signal input 3 Operate after origin point re decided 1 Change s w lower limit address range set at Present position exceeded over s w lower limit value set at parameters parameters 2 Operate after origin point re decided put
102. ates e If 1 Y axis operates Setting area of present operation speed to new value e Setting range 1 20 000 Unit X 10Pulse State displaying area of Function Block execution complete BOOL e f Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output with operation stopped Error state displaying area e If error occurs during Function Block execution error No is displayed UINT USINT 7 13 Chapter 7 Function Blocks 1 Caution for Function Blocks of speed change command used in program 1 Available only at constant speed during operation Busy On state 2 Available operation modes are single operation repeated operation and auto operation with JOG high speed and origin point return high speed also usable However available for constant operation mode in G4F POPB amp G6F POPA 7 6 3 Continuous operation Next Move G3F POPA G4F POPA G6F POPA POSP_NM G4F POPB POSB_NM This is used for continuous operation from present operation step No to the next operation step No at a random point of time without stop if continuous operation mode is applied Function Block type Paramet er Description POSE NM REQ DONE BASE STAT stot ACT AXIS 1 Caution for Function Blocks of continuous operation command used in program Available only at constant speed during operation Busy On s
103. ation 0224 SET P0045 Error reset command On P0027 RST P0045 Com complete signal Error reset com Off 11 M code Off MOF P000D P0026 D 0225 Condition Mcode On signal 1 scan On M0225 SET P0046 McodeOff command On P0027 RST P0046 Com complete signal McodeOff command Off 10 10 Chapter 10 MK Program 12 Speed change VCG F0010 00001 00000 D0000 00006 000 0029 Common used RAM status total Read D 0226 Condition in Constant op Iscan On M0226 MOV 01200 M012 Variable speed value 1200 SET P004B P0027 Speed change command On RST 0 com complete signal Speed change command Off F0010 PUT 00001 00012 M012 00001 Data Write 13 Position Teaching TEA F0010 GET 00001 00000 D0000 00006 POO0F P0020 P0021 Common used RAM status total Read H F S Condition Signal In operation Iscan On M0227 00012 007 Step No 12 MULS 12500 1 D0009 Save pos add 12500 to D0009 DMOV D0000 M009 Save pos add value 12500 to M009 SET 004 Pos Teaching com On P0027 RST 004 Com complete signal Pos Teaching com Off F0010 PUT 00001 00007 M007
104. ation step No presently executed and to perform supplementary work clamp amp drill rotation tools exchange etc by Read at output parameter MCD of present operation state s code Read function block POSH_CRD level in program gt M code signal produced during operation can be reset by M code Off command POSH_MOF rising edge gt In G3F POPA G4F POA G4F POPB M code signal operates along with M code No according to M code mode as set at parameters during positioning operation but positioning operation can be executed by the next operation step No regardless of M code signal On Off gt In G6F POPA the next operation step No is not operated when M code signal is On even if positioning is complete which will lead to error errorNo 40 Thus if M code signal is On M code signal shall be by M code Off command POSI_MOF rising edge for positioning operation of the next operation step No gt M code mode is classified into With mode and After mode accoring to output timing of M code signal 5 9 Chapter 5 Positioning Parameter gt Setting in S W package Parameters setting Position data setting sing sing Program 5 1 M code mode 5 10 Chapter 5 Positioning Parameter 1 With mode This is a mode outputting M code On signal and simultaneously producing out M code No set at position data with start c
105. available for positioning operation starting from the position of sensor input point via marker sensor input at packer or for its equivalent 3 Deceleration stop command POSM STP is available at acceleration stage of positioning constant operation however speed position control switching signal input is available only at constant stage gt Error occurs if speed position control switching signal is input during acceleration 4 If the position address is set smaller than positioning amount by deceleration inclination in position decision constant operation positioning module re calculates the deceleration inclination for operation Accordingly stop can be followed as decelerated abruptly rather than deceleration inclination set by parameters 5 Operation pattern p pos deci constant Op step No 0 Speed Positioning start AST i Busy POSH_SRD ST 3 ln Speed position Control switching signa U i On i 1 I 1 J 1 Chapter 1 Introduction 1 2 3 Introduction of acceleration deceleration processing gt Applied to start point amp stop point of positioning operation starting point returning high speed operation and jog high speed operation and also to continuous operation command POSI_NM rising edge speed change command POSMI VCG rising edge and speed override command POSM OR rising edge in positioning operation However error may occur if deceleration stop com
106. be distinguished from speed teaching which assigns speed value Basically just write position address or speed value on positioning module after perparing in S W Package PosPack if not necessary to change after once set However position teaching and speed teaching shall be performed in sequence program if position address or speed value is required frequently to change according to input conditions or the product 1 Example execution results of this section System is configured as in Fig 8 1 Position No STEP Position address 1000 2000 3000 4000 Address through Position 10000 Teaching 0 0 Speed No No Data Speed value 100 150 200 250 Speed value through Speed 550 Teaching 0 0 f RAM Teaching mode is set by assignment of position teaching mode speed teaching mode the operation is performed with the value through teaching at start after the teaching which can not be confirmed in S W Package If RAM teaching mode is set teaching is available as unlimited f ROM Teaching mode is set by assignment of position teaching mode speed teaching mode the operation is performed with the value through teaching at start after the teaching which can be immediately confirmed in S W Package If ROM teaching mode is set teaching is limited upto 100 000 times 10 23 Chapter 10 MK Program
107. be started at the state that origin point has been decided If started at the state that origin point has not been decided error 76 occurs Available operation modes are single repeated and continuous operation 2 Control by incremental method relative coordinates A Positioning is controlled at start point address as much as target travel value B Travel direction is decided according to travel value sign gt If travel direction is or no sign position decided forward address incremental direction gt If travel direction is position decided reverse address decrement direction Start point address Reverse Travel direction if sign is Travel direction if sign 15 Ex If start point address is 5000 and gt specified address is 7000 position is decided at 2000 0 s Ae Reverse pos control travel value 7000 Specified address Start point address gt Setting in S W package Step Soordir Operation Invalid Operation Dwell Position data items No m Override method valid mode Address Mcode Speed No x 10m8 Setting 0 Relative Enable Continuous Valid Single 7000 0 0 0 Program Program is the same as program 3 1 3 2 Chapter 3 Functions 2 2 axes position control Linear interpolation control is performed at start point address presently stopped position using assigned 2 axes 1
108. c valid single inc dis cont single e e eoo sa co u e cn e ee eec o REEEEEEECE gt Program Program 3 15 Speed teaching 3 43 Chapter 3 Functions 3 11 3 Position teaching POSE_TEA rising edge gt A function to change position address value of position data D iud data ES fo Use position teaching when position address value of position data s operation step No O though set to 100 is applied as changed If position address value of operation step No O is always to be changed set operation mode to repeated and change position address value to position teaching POSK prior to start Program 3 16 Position teaching 3 44 Chapter 3 Functions 3 12 Setting operation step No POSH SMC rising edge gt This is used to change operation step number to execute which is available only when stopped gt Setting in S W package Number of program Coordinate Override Operation invalidiv Operation Address M code Speed No Dwell Positioning start S method alid mode x 10ms E AES 0 Relative Disable Continuous Valid Single 100 0 0 0 2 E 1 Relative Disable Continuous Valid Repeated 200 0 1 0 i Number chan
109. cceleration time deceleration time and bias speed of minor axis will be recalculated at this time c Operating items based on setting value per axis are Backlash compensation S W upper limit S W lower limit position passing time and zone setting area of parameter items 3 Available operation mode is separate operation repeated operation and auto operation only 3 Positioning start to return to starting point ORG gt An operation command to find origin point of the machine according to origin point return processing method by direction correction speed high low address and dwell time set at origin point return parameters of each axis And if complete signal of return to origin point is On origin point return operation of the machine is complete 4 Jog command POSH_JOG gt As a test operation function it is necessary to check system operation wiring and position address gt Jog operation is available at high speed and low speed 1 Jog high speed operation acceleration deceleration pattern available 2 Jog low speed operation acceleration deceleration pattern unavailable 5 Inching command POSH_INC gt One of manual operation methods used to process minute operation as determinate operation gt Jog command operation is hard to move to exact position because operation starts and stops according to the command but via the inching command with travel value easily set as desired the target is easy to reach gt Thus
110. ccurs Ex If speed data value is set to 2000 the speed is 20Kpps and if speed override is set to 15 150 the speed is 20 000 X 1 5 30 000 30Kpps gt If speed override is to be continuously used the operation shall be as based on the speed value as set at speed data Speed Speed override available only at A constant stage Constant i Decel gt lt gt lt Speed value set at Qm override peed data gt Take the following precautions for speed override application 1 For higher speed Speed ax speed allowable at speed override is 150 of speed value set Thus max changeable speed is 15 Kpps Speed overriding Speed value b set at speed gt data 10Kpps 2 For lower speed Speed overriding Min speed allowable at speed override is 10 of speed value set Thus min changeable speed is 1 Kpps Speed value set at speed gt data 10Kpps 3 37 Chapter 3 Functions gt Caution shall be exercised for lower speed by speed override If reaching time to changed speed is over 6553515 in comparison with the left value from speed overriding point to target address error 89 occurs Operation modes available for speed override are single operation repeated operation and auto operation Error 57 occurs for the other operation modes and error 59 occurs if speed override is used when the operation ls not by start command Program 3
111. change command to operation data No 0 JUMP change command to operation data No 10 Pos No 12 Pos No 11 lt I Pos No 10 10 18 Chapter 10 MK Program 3 Program F0010 GET 00003 00050 100 00006 Normally On DBCD M104 P003 P0020 P0060 P0061 D M0220 Error signal In operation M0220 SET P0089 P0021 P0069 M103 00000 D M0221 Speed change In constant M0221 BIN P000 MII2 SET P008B P0022 P0060 P0061 HAHN M Error signal In operation M0222 SET 08 P0023 P0069 M103 00010 M0223 Constant M0223 SET M1061 P0024 P0060 P0061 1 1 1 1 M103 00002 D M24 Error signal In operation M103 00012 D M0225 M0224 h0010 h000A BIN P001 M108 M0225 h0000 h0000 BIN P001 M108 10 19 Common used RAM Buffer memory state total Read Y AXIS Present address displayed on BCD digital displayer position P0020 condition Y AXIS start Y AXIS positioning start On Position No 0 in progress with constant operation P0000 h3600 gt M112 3600 Y AXIS speed change command P0022 Y AXIS origin point return condition Y AXIS origin point return command On P00
112. ckage POSITION W Terms modified Ir Before modified POSITION ous Remarks Bi d B d Refer to 5 1 3 54 laS Speg Unit change pulse sec 10 Stroke upper limit S W upper limit Refer to 5 1 4 Stroke lower limit S W lower limit Refer to 5 1 4 5 4 No None Refer to 5 1 3 5 5 Jogging speed JOG speed Return after origin point L S Origin point detection after detection Near zero point Off Return upon origin point L S Origin point detection after detection deceleration at near zero point On 86 Origin point detection by origin point Return if no origin point L S KIYIN POI OSSE CION DY Origin porn and upper lower limit Retum if no phase Z point detection by ear Zero point 58 ON position ON start point OFF position ON end point 5 2 Chapter 5 Positioning Parameter 5 1 Basic parameter Basic parameters are described Accel Time Decel Time 0 Backlash D pulse Bias Speed Upper Limit pulse Lower Limit pulse Speed Limit 20000 xl pps Pass Time b lims 5 1 1 Acceleration deceleration time gt Applied to start point amp stop point of positioning operation origin point returning high speed operation and JOG high speed operation and also to continuous operation command POSlI NM rising edge T speed change command POSH_ VCG rising edge and speed override command POSW_ OR rising edge T in positioning operation Remark Ho
113. d at present operation state Status Bit Read G3F POPA G4F POPA G6F POPA POSP_SRD G4F POPB POSB_SRD Present operation state of the setting axis can be read for detailed monitoring or using as conditions in user program Function Block Paramet Class Data type Description type er Request area of Function Block execution REQ BOOL e Function Block executed if 0 gt l level detection with connected POSH SRD condition to this area as composed during program execution Base position No REQ DONE BASE USINT e Setting area of base No positioning module is equipped on e Setting range series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 BASE STAT Input m Slot position No SLOT STI SLOT USINT e Setting area of slot No positioning module is equipped on qx Se e Setting range 0 7 Assignment area of axis to use ST3 AXIS USINT e If 0 X axis operates SM e If 1 Y axis operates State displaying area of Function Block execution complete EIE DONE BOOL e f Function Block execution complete without error 1 is output as kept until the next ST6 execution starts If error occurs 0 is output Error state displaying area STAT e If error occurs during Function Block execution error No is displayed BOOL n ARRAY BOOL Output 52 ARRAY BOOL oe ARRAY BOOL SH ARRAY BOOL 8 ARRAY BOOL 18 ARRAY
114. d rpm of the SERVO motor gt Shifting amount per pulse 4 AS Al mm Pulse Xa Pr a coefficient of electronic gear rate or P rate gt Output frequency of positioning module2 Fo Vo No X AS i roce cci pps 60 X Ags 60 X A4 60 constant to convert the unit of min to sec A2 2 Appendix 2__ Calculation Of Travel Value Per Pulse rotation Ex Items Appr Unit Ex Results Shifting amount per pulse Ab mm Pulse AS Pg 1 Speed of the op area at emergent Vo mm min 12 2 6 transfer Motor rpm at emergent transfer AS No da Al Xa P Ball screw lead Pa mm rev f Pt NPB RAD 6 Deceleration rate 1 2 LX 12000 12000 Pulses number of encoder P B lseireu if a 2 Output frequency of 0 001 mm Pulse DNE F5 Pulse positioning module ifti Shifting amount per Shifting amount per motor AS mm rev pulse is 0 001 mm Pulse A2 3
115. ddress range setting range 16 744 447 16 744 447 Max 200Kpps speed setting range 10 200 000 speed setting data 0 127 Speed Acceleration deceleration Operation pattern trapezoid method acceleration time 10 9 990 ms processing deceleration time 10 9 990 ms Backlash compensation 0 999 Pulse Bias speed 10 200 000 S W upper limit setting range 0 16 744 447 S W lower limit setting range 16 744 447 0 Zone setting setting number 3 setting range 16 744 447 16 744 447 Position passing time Setting time 0 9 990 ms Positioning S W upper lower limit Single operation repeated operation auto operation continuous operation Operation mode Constant operation Positioning constant operation Compensation setting range 999 999 Pulse High speed setting range 10 200 000 Low speed setting range 10 100 000 Return Address setting range 16 744 447 16 744 447 to Dwell time setting time 0 9 990 ms origin Methods by near zero point signal and origin point signal point 1 origin point detection after near zero point Off Method 2 origin point detection after deceleration at approximate origin point On origin point detection by origin point and upper lower limit origin point detection by near zero point JOG Yes Manual pulse generator MPG Yes No No Inching setting range 1 99 Speed position teaching RO
116. define the details directly Chapter 6 Position Data For Positionin See 6 10 Op Mode Dwell Method Over Ride Op End Skip M Code Speed Mo Single Single Single Single Single Single Single Single Single Single Single Single Single Single Single Single Single 1Co 3Cn OP COPS C Go co IMM Soon I COocccoooooooooooococXx x Axis Move Data Set PULSE Step 0 r ABS INC i Over Ride Enable C Incremental Op End Current Data No Skip Mode Single Pos Address pulse Repeat M Code O ME C Auto Speed No D 0 18 i Dwell Time jo xl ns See 6 6 Continuous Const Const Pos cnc M Terms modified Related Before modified POSITION After modified POSPACK 6 1 Step 6 2 Method Coordinates 64 Operation Operation method 6 5 Skip Invalid Valid 67 Position address Position address pulse 6 9 Speed NO Speed No 6 10 Dwell Dwell time x10 ms 6 2 Chapter 6 Position Data For Positioning 6 1 Step No gt Serial No of positioning data in setting range of 0 299 gt Positioning operation of each step No is decided according to 6 5 Invalid valid setting Remark If 6 5 Invalid valid setting is valid applicable step No executes positioning operation If 6 5 Invalid valid setting is
117. e gt Setting range of origin point return dwell time 0 9999 Unit ms Chapter 5 Positioning Parameter 5 8 Zone setting Zone Setup Range 16 744 447 165 744 447 pulse ON Begin ON End Zone 1 jf D Zone 2 fj gt Setting available in the range of position address where positioning module can move to with the following 3 types gt Zone No will be On when present position is passing through address value set to Zone gt Zone 1 274 bit of output parameter ST3 in present operation state s Bit information Read function block POSE_SRD gt Zone 2 3 bit of output parameter ST3 in present operation state s Bit information Read function block POSE_SRD gt Zone 3 4 bit of output parameter ST3 in present operation state s Bit information Read function block POSH_SRD Thus additional work can be executed using On information when position set to Zone area is being controlled gt Setting range of Zone 16 744 447 16 744 447 Unit Pulse gt Zone setting shall be as follows 100 600 100 1000 1200 1500 Zone Setup Dd ange pulse uid f SRD out para Off iy Off ST3 s 2 bit w m i On et ost SO ad Zone 3 o ST3s 3 bit Zone 3 signal POSH_SRD out para ST3 s 4 bit Chapter 5 Positioning Parameter On start point shall be set smaller than On end point
118. e GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 SLOT Input Slot position No AXIS SLOT USINT e Setting area of slot No positioning module is equipped on e Setting range 0 7 ET Assignment area of axis to use AXIS USINT e If 0 X axis operates e If 1 Y axis operates PRES DINT Area used to change present position ET e Setting range 16 744 447 16 744 447 State displaying area of Function Block execution complete DONE e f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with internal processing of Function Block complete 0 is output Error state displaying area Output STAT USINT e f error S AR Function Block execution error No is displayed Operation axis displaying area ACT BOOL e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 1 Caution for Function Block of preset command used in program 1 Available only at operation stop state Busy Off state 7 19 Chapter 7 Function Blocks 7 8 3 Parameter change Parameter Write G3F POPA G4F POPA G6F POPA POSP_PRM G4F POPB POSB_PRM Command used to change acceleration time deceleration time JOG high speed origin point return high speed and M code mode at parameters during operation Function Block Paramet type er Description Req
119. e se me m m m m 9 9 12 9 22 State Signal e ee ee m m m m m m m m m m m m m m m m 9 D 14 10 1 Information Exchange Between Position Decision Module amp PLC CPU 10 2 10 1 1 Exchange Of Input Output Signals Bit Information ee e 10 2 10 1 2 Exchange Of Word Data Word Information e e mom se om om omn m 10 3 10 2 Programming moe ee ome ome m m m m m m m m m m m 10 4 10 2 1 Programming Caution ee e mmm m m iod se amend id 10 2 2 Basic Program e e m m m m m m m m m m m m 9 10 6 10 3 Application Program eomm m m m m m A 10 16 10 3 1 Speed Change Next Move Change Of Start Position No com 10 16 10 3 2 Position Teaching By Jog Operation ee se me m m m m m 10 21 10 3 3 Continuous Teaching Position Teaching Speed Teaching 10 23 CONTENTS 10 3 4 Start Speed Teaching Return To Starting Point Inching Jog Operation 10 25 Chapter 11 Operation Proceedings amp Installation 11 1 Operation Proceedings s me mome m m m m m 1 14 2 Installations 9e Se n ah el te oe qut ts eae epe cte a ee PS 11 2 4 Installation Conditiong e ee e e ee ee se ee se ee see SL TL D EL 11 2 2 Caution For Treatments e e e ee ee ee s see see see sme nee se se ce se d di 11 3 1 Wiring Caution m ee se ee se ee m m m m m m m m m m m dd 11 3 2 Caution For Tr
120. eatment e e e ee ee ee uar see sre aee se oee sme oe gs Go Pa 11 3 3 Connection Between Subo And Stepping Motor Drive Device 11 1 Connection With FDA 3000 AC Subo Driver c c e ee se e 11 2 Connection With FDA 5000 Subo Driver c c se ee se ee o0 11 3 Connection With Sinnco SSD 5000 Type s s se se 1 4 Connection With MITSUBISHI MELSERVO J c e m ee 11 5 Connection With UPD566 Stepping Motor Driver c c 11 6 Connection With UPK5114NW2 Stepping Motor Driver c 11 a 4 O a A C5 C5 N N N N N 7 Connection With TAMAGAWA TBL se se se see see see see cee see see see see 9 11 1 lt ce 8 Connection With MITSUBISHI MELSERVO SA Type c c om se o mn mn m Chapter 12 External Dimensions prre 12 1 12 3 Appendix 1 How To Set Position Decision Module Parameters For Stepping Motor Drive Sea ieee yet cen wee sees eee s Sena ese sees T pal App 1 1 App 1 3 Appendix 2 Calculation Of Shifting Amount Per Pulse App 2 1 App 2 3 Chapter 1 Introduction Chapter 1 Introduction This user manual describes the specification of the positioning module displayed below installation how to use each positioning function programming and wiring with outer devices Number of Model Related S W package control axes 1 axis G4F POPA m 2 axos a POSPACK E
121. ed Internal e stop com Off Internal emergency stop Emergency stop with NC B contact switch or sensor as connected to external connector pin No 19 by program External emergency stop Emergency stop with NC B contact switch or sensor as connected to external connector pin No 19 irrelevant to program 10 7 Chapter 10 MK Program 5 JOG operation JOG F0010 GET 00001 00000 D0000 00006 P0000 Common used D M0200 RAM status total Read M0210 JOG low speed forward M0200 RST M0063 low speed RST M0064 forward P0001 D MO0201 M0211 JOG low speed reverse M0201 RST M0063 low speed SET M0064 reverse P0002 D 0202 M0212 JOG high speed forward M0202 SET M0063 RST M0064 forward P0003 D 0203 M0213 JOG high speed reverse M0203 SET M0063 high speed SET M0064 reverse M0210 P004C M0211 JOG operation command M0212 M0213 F0010 PUT 00001 00006 M006 00001 Common used RAM command Write 10 8 Chapter 10 MK Program 6 Operation data No change SMC F0010 00001 00000 D0000 00006 0008 0020 0021 Common used
122. ed if 0 gt l rising edge with connected MPG condition to this area as composed during program execution Base position No REQ DONE e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Slot position No e Setting area of slot No positioning module is equipped on BASE STAT SLOT AXIS e Setting range 0 7 Assignment area of axis to use If 0 X axis operates e If 1 Y axis operates State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output with operation stopped Error state displaying area e If error occurs during Function Block execution error No is displayed 7 10 Chapter 7 Function Blocks 7 5 Teaching Function Block 7 5 1 Position Teaching Teaching _ G3F POPA G4F POPA G6F POPA POSP_TEA G4F POPB POSB_ TEA This is used for user to set random Function Block Paramet type er address value to specific operation step No Description POSE Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution REQ DONE BASE STAT Base position No e Setting are
123. ed if output prohibited by error Axis error informat Program 3 2 Basic setting of linear interpolation start _ floating point set Chapter 3 Functions Take preautions for linear interpolation star POSl _INT rising edge 1 at which 2 axes are simultaneously operated 1 Operation related subdata is operated as based on X axis position data step coordinates override operation method invalid valid operation mode position address M code speed No dwell time M code mode among parameter items 2 Classified into major axis and minor axis according to positioning address amount of X axis amp Y axis at interpolation positioning start Speed data of minor axis is calculated as follows Major axis speed X Minor axis distance Minor axis speed Major axis distance gt Terms major axis X axis or Y axis of whichever positioning address amount is larger in applicable operation step No minor axis X axis or Y axis of whichever positioning address amount is smaller in applicable operation step No Speed acceleration time deceleration time and bias speed of minor axis will be recalculated at this time 3 Operating items based on setting value per axis are Backlash compensation S W upper limit S W lower limit position passing time and zone setting area of parameter items Available peration mode is single operation repeated operation and auto operation only 4 If required time for moving a position address v
124. ed with high voltage line or power line 7 Ground connection of the pipe is necessary for piped wiring 8 The power supplied from the outside DC 5V DC24V shall be stable 9 If noise seems underlying in wiring between positioning module and driver the pulse output from positioning module and input to motor driver shall be wired as connected with twisted pair cable or shield cable 11 2 Chapter 11 Operation Proceedings amp Installation 11 3 2 Connection between SERVO and stepping motor drive device 1 Connection with FDA 3000 AC SERVO driver The wiring diagram between FDA 3000 CNI and G6F POPA is as shown below if used in position control FDA 3000 CN1 mode 27 42avin 42 seo 1 wm 2414 m ENABLE 570019 0 SVONEN Accumulated X pulse CLEAR 9 31 3 1 30 Hi No forward 4 9 9 9 46 H No reverse O 0 9 4 45 ESTOP Estp too Si Legum pus T device CEN P PI y Speed peo o Analog 28 TL g o Torg imi tedus SERVO Pos reachedcom 17 16 32 SVON INPOS 4 LA Ospeed 0 speed torq 599 LA Motor Op ALARM CODE 30 47 BRAKE brake 20 STRE T LM device 49 15 14 _ ALARM LM A_CODE1 LA A CODE2 LA A CODEO GND24 E 49 50
125. ees seer isas 1 aoa B KR A A BR N 4 3 Pre Operation Mode E EES et vase tiet net E cues bets yeas aU Laser ien sees 4 3 1 Monitoring Axis Selection eee ooe oee woe cee woe ooe ooe 4 3 2 Monitoring Start Stop Dn FF eB An 4 3 3 Command Selection Selection Of The Axis To Pre Operate c coc 4 3 4 Pre Operation By S W Package plu 4 4 3 5 Jog Operation By S W Package Soa Siete Bhat Jase Bee E 4 Chapter 5 Position Decision Parameters iae ase Sook sees 1 5 1 1 Acceleration Deceleration Time ese eee oeo oeo ooe ooo ooo oeo oee ooe ooe coe ooo 5 1 2 Backlash Correction ese eee oeo woe oee woe ooe ooo ooe oeo coe oeo ooe ooe ooo coe oeo ooe ooe ooe 5 1 3 Bias Speed eee woe cee soe ooe coe ooe woe cee coe ooe coe oee ooe coe oeo ooe coe oee ooe coe 5 1 4 SIW Top Bottom Stroke Limits e se se se se se se se see m m m m 5 1 5 Speed Limits n aaa 9 oc oc 9 oc 1 O Oc BR o w 51 6 Position Passing Time D 5 2 Output Direction eco ooo ooo ooo ooo ooo ooo ooo ooo ooo ooo 5 3 Rotation Direction 45 83s oed adis Taba Yana adeo Tene gees vase Vand
126. ent gt 2 start commands In constant operation mode dwell time is not available for G4F POPA 3 18 Chapter 3 Functions gt Program xis information Cancelled if output prohibited by error Command operation Operation step No Deceleration stop command Program3 6 Constant operation setting operation step No Chapter 3 Functions 3 2 6 Positioning constant operation 1 Positioning of positioning constant operation is complete as switched from speed control operation to position control operation 2 Speed control operation is switched to position control operation by D External input signal of speed position control switching input signal and 2 Deceleration stop command POS STP rising edge Class a cui USES SU By deceleration stop STP rising edge G3F 1 Switched from speed control to position control POPA 2 Origin point decision Origin point is decided as based on the value set at G4F _ Origin point return among positioning parameters POPA S W package 3 Positioning is complete upon positioning executed G4F 2 as swifted to target address set at position data and the POPB dwell time elapsed 1 Switched from speed control to position control 2 Origin point decision Origin point is decided as based on the value set at G6F origin point return among positioning parameters in POPA SW package 3 Positioning is complete upon positioning executed a
127. er In JOG operation Common used RAM command In compensation operation v ZONE 1 Position Teaching operation step No ZONE 2 Operation step No ZONE 3 Preset position address lower 8 bO Preset position address higher Override inching po ares Variable speed value a ae U n used Warning code of positioning module Serious error on positionin U n used module H W error Position Teaching Unused gt _ el Acceleration time 0 999 Pa mn Deceleration time 0 999 Warning code of positioning module M code mode 0 With 1 After 2 None JOG high speed value 1 20 000 Origin point return high speed G6F O DE b6 b5 b4 b3 b2 bl b0 Cae Unused Present value preset JOG Inching operation 0 forward 1 reverse JOG 0 low 1 high G3F POPA G4F POPB MPG operation allowed G6F POPA parameter transmission command Next Move Return to prior position to manual operation RTP 9 3 G4F POPB G3F POPA G6F POPA Chapter 9 Inner Memory And I O signals 9 1 2 Buffer Memory state Status information Present M code Value tite vane ek eae Bit No B External upper limit signal External lower limit signal Emergency stop In JOG operation In compensation operation Zone 1 X add 0 Y add 50 Zone 2 Zone 3 1 External upper lower limit signal 1 It is
128. er ST2 in present operation state s Bit information Read function block POSE_SRD gt Ot bit of output parameter ST2 in present operation state s Bit information Read function block On external input upper stroke limit detected Off external input upper stroke limit undetected gt 2 bit of output parameter ST2 in present operation state s Bit information Read function block On external input lower stroke limit detected Off external input lower stroke limit undetected gt S W upper lower stroke limit is not detected at starting point undecided gt If output prohibited occurs by upper lower limit error origin point return shall be re executed after moving to starting stroke area by a manual operation like JOG operation because it is switched over to origin point undecided state 3 40 Chapter 3 Functions 3 9 Random positioned address value setting to origin point and present position change 3 9 1 Random positioned address value setting to origin point gt Random positioned address value setting to origin point can be allowed through origin point return address items at S W package parameters gt Check of random positioned address value of the set axis can be performed through present operation state s code information Read function block POSH CRD output parameter CA after fixed origin point setting or origin point return is executed gt Also the position present can be identified at S W package monitor after f
129. eration inclination Start d input fi ition data set to Complete without numb ee input from position data set to Complete without num ergo sien ho d d peri esien Note 1 Valid only in G4F POPA V1 0 Note 2 G3F POPA V1 1 or later 7 23 Chapter 8 Program Chapter 8 Program 8 1 Prior to program introduction gt Function Blocks above shall be surely applied to all programs to refer to output parameters of operation state s code information Read POSH_CRD and present operation state s bit information Read POSH _SRD for detailed information on positioning module operation Especially 6 types of output parameters of operation state s code information Read POSH _CRD provide operation information of positioning module to be surely used as protection circuits against error when the respective Function Blocks are to be applied Function Output um Description Block parameter CA Current Address present position address displayed CV Current Velocity present operation speed displayed POSH _CRD MCD Current M Code Number present M code value displayed CDN Current Step Number present operation data No displayed POSH SRD 0 In dwelling Bit On 1 In deceleration Bit On 2 At constant Bit On 3 In acceleration Bit On STI 4 At stop state Bit On 5 In returning to origin point Bit On 6 In positioning Bit On 7 In interpolation opera
130. et is set However there is no influence on padrasa 6000 speed position control switching Dwell Time fio xl ms Starting point return Direction Forward Reverse Correction High Low speeddress Dwell time Setting of positioning data in S W package Number of program i j i i hs Ri us Override pei pou Address M code Speed No pie _ Positioning start _ 0 ates metho ali mode x 1 0 ud Disable Continuous Valid ci 10000 0 0 0 2 1 jd Disable Continuous Valid Single 12000 0 0 0 i 3 2 Disable continuous valid repeated 12000 0 0 0 4 4 Items with no influence 3 20 Chapter 3 Functions gt Program G3F POPA G4F POPA G4F POPB same as program 3 4 G6F POPA same as program 3 1 gt Operation timing refer to 3 1 3 for the details 3 3 Positioning stop Causes stopping the axis during positioning are described 3 3 1 Stop command and stop causes Stop command and stop causes are as follows which are classified into stop per axis and simultaneous stop of all axes 1 If stop command or stop cause per axis is engaged only the axis in stop command or stop cause is stopped However if stop command or stop cause for one axis is engaged during linear interpolation control execution both axes under interpolation control are stopped 2 if simultaneous stop command or stop cause for all axes
131. execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 Assignment area of axis to use e If 0 X axis operates e If 1 Y axis operates State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output and if output parameter ACT is with internal processing of Function Block complete 0 is output X axis error information displayed Y axis error information displayed Operation axis displaying area e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 7 16 Chapter 7 Function Blocks 7 7 Function Block for error processing 7 7 1 Internal emergency stop Emergency G3F POPA G4F POPA G6F POPA POSP EMG G4F POPB POSB_EMG It is used to promptly stop operation in case of emergency Since switched over to output prohibited and origin point undecided state if once stopped cancel output prohibited and re decide origin point to re start F
132. ffer memory and the change command of operation data No is On 3 Floating point set 1 Setting command of floating point set shall be applied to find S W datum point in a system where circle operating index table or mechanical datum point is not necessary even though origin point return is a function to find a mechanical datum point in system 2 Present position is changed to origin point address set at parameters if setting command of floating point set 1s executed 4 Cancellation of pulse out prohibited Cancellation function of the state of pulse out prohibited by stroke upper lower limit and emergency stop 5 Override 1 Function to change operation speed within 10 150 2 Speed change data which is higher byte of address 11 X axis amp 61 Y axis of positioning buffer memory shall be set in the range of h0100 hOF00 3 h0100 10 h0200 2095 hOF00 150 respectively 6 Error reset Command to settle light error if occurred 7 M code Off M code On signal if occurred is let turned Off 9 17 Chapter 9 Inner Memory And I O Signals 8 Deceleration stop 1 It temporarily stops positioning amp origin point return operation internally if executed 2 Position shift is performed as much as travel value by relative position INC shift and as much as the remaining position address by absolute position if positioning start command is executed after execution of deceleration stop 9 Interpolat
133. ge by setting operation step edge 2 MANN te cs 2 Relative Disable Continuous Valid Auto 1000 0 2 0 3 Relative Disable Continuous Valid Auto 2000 0 3 0 4 Relative Disable Continuous Valid Auto 3000 0 4 0 5 Relative Disable Continuous Valid Repeated 4000 0 5 0 Number change by setting operation step No POSH_SMC rising edge T 6 NON 4 6 Relative Disable Continuous Valid Repeated 10000 0 6 0 Afterthis only operation step No 6 is repeatedly operated if only continuous positioning start POSI AST is used without number change Program MOD INF Sin p DONE POS_ INF CRD E zx E AE REQ DONE BASE BASESTAT ERR_RES ERR_INI POSP_RES IP REQ DONE BASE BASE STAT j gt SLOT SLOT STI INFT DUT PERMI DUT EN if POSP OFF CURRENT_P RE DONE BASE BASE STAT SLOT SLOT CA OSITION AXIS AXIS 2 INT2 CURRENT_ BASE BASE STAT SLUT SLOT AXIS AXIS OLOCITY INF3 CURRENT_M SLOT SLOT AXIS AXIS MCD CODE ST4 INF4 CURRENT_S CDN TEP_NO Ai INF5 Bil INFG FLOAT ORG FLOATING FLOATING START INF6 1 INF6 3 DONE POSP_FLT P 4s se REQ nl BASE BASE STAT AUTO STAR START DON START i INFB 1 INFB 3 E PUSP AST IP i i IF Ir REQ SLOT SLOT BASE BASE STAT AXIS AXIS
134. gnal POSE_SRD out parameter 735 7 hith M code Off com 5 Chapter 5 Positioning Parameter 5 5 JOG speed dog Speed High sn Low B 10 gt JOG speed for JOG 8 a manual operation is available for JOG low speed operation and JOG high speed operation gt Refer to 3 6 1 JOG operation for further information 5 5 1 High speed gt JOG high speed operation is of acceleration constant and deceleration staged pattern Acceleration stage and deceleration stage are controlled by acceleration deceleration time gt JOG high speed setting range 1 20 000 Unit 10pps Caution for high speed setting bias speed lt high speed lt speed limits 5 5 2 Low speed gt JOG low speed operation has not acceleration deceleration staged pattern but only constant staged pattern gt JOG low speed setting range 1 10 000 Unit 10pps Caution for low speed setting Caution required since operation is performed regardless of bias speed and speed limits 5 6 Origin point return processing method Origin Return Method t after Near Zero signal On C after Near Zero signal On and Off C by Near Zero signal and Limit signal C by Near Zero signal only gt 4 starting point return processing methods are available as restricted respectively according to positioning modules Origin poi
135. gram execution USINT Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 USINT Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 BOOL State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output with operation stopped USINT Error state displaying area e If error occurs during Function Block execution error No is displayed 7 17 Chapter 7 Function Blocks 7 7 3 Error reset Reset G3F POPA G4F POPA G6F POPA POSP_RES G4F POPB POSB_RSE It is used to reset error if occurred during operation or by exceeding parameter setting range Function Block Class Paramet Data Description type er type Request area of Function Block execution at rising edge POSI RES REQ BOOL e Function Block executed if 0 gt 1 rising edge with connected condition to this area as composed during program execution REQ DONE Base position No BAE CETT BASE 05 e Setting area of base No positioning module is equipped on Input e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 SLOT Slot position No XS SL
136. hibited rt point 1 Change s w upper limit address range set at parameters 2 Operate after origin point re decided Present position exceeded over s w upper limit value set at parameters decided un Next operation mode is incorrect in auto operation or continuous No operation at Do not execute next operation step during operation operation mode stop state T Interpolation operation is available only at single Interpolation operation command input in continuous constant and P p y 9 3 Unchanged repeated positioning constant operation mode and auto modes 7 21 1 1 2 2 2 2 2 2 3 0 1 2 3 4 5 6 7 Chapter 7 Function Blocks Start command unavailable at M code ON state l Speed position control switching unavailable in acceleration of positioning constant operation mode EOM stop or constant operat positioning stop command input in constant positioning jon mode Stop command input in origin point return low speed operation Stop command input while return RTP command to prior position to manual operation is executed stop command compensation input during dwell time processing or origin point Continuous 0 command inpu start command peration NM trans operation OR speed change at other states than constant stage during operation by Continuous operation NM or trans operation OR command input in constant or positioning constant operation mode
137. hover Control mom m m m A 3 9 3 2 Operation Mode e e me me most m m m m d 3 3 2 1 Separate Operation 3 3 CONTENTS 32 9 Repeated Operation reap Gesu eased lade Sided aves ub ete Tans eee tes aeu 323 Auto Operation St ven NUT deh eie e vers debe Ate ves 3 2 4 Continuous Operation um Bed Sa oa Mae ime Sata etal th See tes uten Sue 3 2 5 Constant Operation Cc ooe ooe oso ooe oeo ooe oee ooe ooe ooe coe oeo ooe ooe ooe ooe 3 2 6 Position Decision Constant Operation eee eee oee woe cee oee woe coe oee ooe coe oee ooe ooe ooe Position Decision Stop POSE_STP 3 3 1 Stop Command And Stop Causes Drs 3 3 2 Stop Processing And Priority pn 3 4 Restart After Position Decision Stop POSN AST 3 6 Manual Operation M eth ise crt M E aa 3 7 3 8 3 5 1 How To Return To Starting Point ese ooe oso ooe oeo ooo ooo ooo ooe ooo ooo ooo ooo ooe ooo ooe 3 5 2 Starting Point Detection After Approximate Starting Point Off 3 5 3 Starting Point Detection After Deceleration At Approximate Starting Point On 3 5 4 Starting Point And Starting Point Detection By Top Bottom Limit 3 5 5 Starting Point Detection By Approximate Starting Point w e 3 6 1 Jog Operation POSH_JOG 3 6 2 Operation Of Manual Pulse Generator POSR MPG c c omn on om om omn nmn 3 6 3 Inching Operation POSH_INC 3 6 4 Shift To Prior Position To Manual
138. ing module outside starting from speed control by positioning start POSH AST and then changed into position control the position is decided as much as travel value set as a target gt Available operation mode is positioning constant operation Speed control i Position control Target travel value Dwell time Positioning start AST Busy POSI_SRD ST6 3 On External speed position i switching signal 1 5 Chapter 1 Introduction 1 2 2 Introduction of the operation mode gt Positioning module can be set by positioning data user defined in combination with control method position control speed control speed position switching control positioning address operation method etc gt Max 300 positioning setting data are allowed at step No 0 299 per axis Step Coordinat Operation Invalid Operation Speed Dwell Positioning data Ne es Oyane ae ENE Ns x 10 ms Single Repeated T i O Absolute Allowable ar gis Boom asc Ms z etting range type Relati Prohibited 299 some frome Complete Valid Constant 16 744447 255 127 999 Constant Posi tion gt Positioning operation by 1 positioning data and positioning operation by several positioning data at single positioning start POSH_ AST edge are respectively decided according to user set operation mode to the positioning data 1 Single operation mode p
139. invalid applicable step No is skipped over until 6 5 Invalid valid setting is valid among the following step numbers and valid step No if encountered executes positioning operation 6 2 Coordinates gt Coordinates of position data classified into Absolute Coordinates and Relative Coordinates 6 2 1 Absolute Coordinates control by absolute method A Positioning is controlled from start address to target address set at positioning data B Positioning control is executed as based on the address origin point address assigned at origin point return C Shift direction is decided according to start address amp target address gt start address lt target address position decided forward gt start address gt target address position decided reverse Ex gt If origin point return address is 1000 and gt target address is 8000 forward travel value is 7000 8000 1000 gt Setting in S W package Setting at parameters Setting at position data iii hh Direction C Forward Backward Compensation 0 pulse pooo xl pps Coord Over Op Invalid Spoeg Dwell ride Method Valid Op Mode Address M Code 80080 Low Speed 50 x10pps abs dis cont linvalid single Address 1000 pulse Dwell Time 0 x1 ms Travel value 7000 Start point address Specified address Control by absolute method Absolute
140. ion address value by restart gt Start type is of 1 positioning start 2 interpolation positioning start 3 positioning start to return to origin point 4 jog command amp 5 inching command gt If start executed surely check that operation signal POSE_SRD ST6 3 is at Off state 1 Positioning start POSM AST A command to start operation by parameters position data and speed data set per axis of positioning module 2 Interpolation positioning start POSB INT 1 A command only available for 2 axes positioning module to perform operation in a straight shift channel as allowed by 2 axes 2 Take preautions for interpolation positioning start at which 2 axes are simultaneously operated a Operation related subdata is operated as based on X axis position data step coordinates override operation method invalid valid operation mode position address M code speed No dwell time M code mode among parameter items b Classified into major axis and minor axis according to positioning address amount of X axis amp Y axis at interpolation positioning start Speed data of minor axis is calculated as follows Major axis speed X Minor axis length Minor axis speed Major axis length gt Terms major axis X axis or Y axis of whichever positioning address amount is larger in applicable operation step No minor axis X axis or Y axis of whichever positioning address amount is smaller in applicable operation step No Speed a
141. ion operation 1 Linear interpolation operation is performed at interpolation positioning start 2 Arrangement of position data at X axis amp Y axis shall be set identical 3 Target speed dwell time M code and other controls shall be operated as based on X axis 4 Override command is not processed 5 Bias speed is always regarded as 0 6 Operation mode is as based on X axis 7 Interpolation operation for others than single repeated and auto operation mode is not available but causing error 8 Stopped unconditionally at emergency stop 9 Processed by signal of either X axis or Y axis at deceleration stop and positioning stop 10 Refer to 2 2 axes position control in 3 1 1 10 Positioning start 1 If positioning start is executed operation will be performed upto position address of present operation data No according to position data 2 In single operation mode operation is performed with incremental operation data No per execution of positioning start 3 In auto operation or continuous operation mode operation is performed upto setting operation data No of single operation mode by one positioning start of positioning 4 Refer to 4 2 Operation mode 11 Origin point return operation 1 Command to fine the mechanical origin point 2 Origin point address assigned by parameter setting will be the present address if origin point return is complete 3 4 methods are available for origin point return Refer
142. ioning module s buffer memory are the area exclusively for Read Read of positioning module status shall be performed by GET command Chapter 9 Inner Memory And I O Signals 9 1 3 Command of Common used RAM Buffer Memory and data Common RAM Buffer Memory command X add 6 _ Y add 56 Unused Return command to prior position to manual operation RTP Next Move command only in continuous op mode MPG operation allowed JOG low high JOG Inching forward reverse Present value preset command Common RAM Buffer Memory comman eee GOF POPA Unused m Return command to prior position to manual operation RTP Next Move command only in continuous op mode Parameter transmission command JOG low high JOG Inching forward reverse Present value preset command 1 Return RTP command to prior position to manual operation Command used to return to prior position to JOG Inching operation after JOG Inching operation 1 On 0 Off 2 Next Move command 1 Command used in continuous operation mode for operation with the operation speed of the next operation data No as changed 1 On 0 Off 2 Command available only at constant speed 3 Manual pulse generator operation allowable 1 Approval command of operation by external manual pulse generator 1 allowable 0 prohibited 2 Available only in G4F POPB amp G3F POPA 3 Approval
143. ioning of operation step No set to complete operation method is complete operation step No shall be changed by operation step No assignment POSI_SMC rising edge prior to the next start command POSE_ASTrising edge 1 If start command is used without operation step No change error 119 occurs 6 5 Invalid valid gt Invalid valid is used to decide whether or not positioning operation is to be executed per operation step No of position data gt If set to invalid positioning operation is executed not by the applicable operation step No but by the next operation step No gt If set to valid positioning operation is executed by the applicable operation step No 6 6 Operation mode gt Operation modes of position data are classified into position control speed control and speed control position control according to control methods Control method Operation mode Single operation Repeated operation Position control Auto operation Continuous operation Speed control Constant operation Speed control Positioning position control constant operation gt Be careful that changing methods from speed control to position control differ according to positioning modules when positioning constant operation is used 1 In G3F POPA G4F POPA amp G4F POPB speed control is changed to position control by deceleration stop POSK STP rising edge and
144. is engaged both axes are stopped at stop command On or the point of stop cause Origin Manual pulse 1 M code Positioning Jog Stop Axis operation state Stop causes g point generator On 1 operation axis after stopped return operation signal state S W upper limit Error state error25 Prompt stop Per axis Unchanged By parameter range exceeded Output prohibited setting 4 S W lower limit Error state error24 Prompt stop Per axis M Unchanged range exceeded Output prohibited Deceleration stop Deceleration stop Per axis As stopped Unchanged command By function block Emergency stop Error state error21 Prompt stop All axes Off Command Output prohibited External upper Error state error23 Prompt stop Per axis u Unchanged limit on Output prohibited By external External lower Error state error22 M Prompt stop Per axis e Unchanged signal limit On Outputprohibited Emergency stop Error state error20 Prompt stop All axes d of On Outputprohibited By s w Deceleration stop Deceleration stop Per axis As stopped Unchanged Package command Deceleration stop Deceleration stop Per axis As stopped Unchanged By teaching command module Emergency stop Error state error21 Prompt stop All axes 7 of command Outputprohibited 1 positioning means position control speed control and speed position switching contro
145. isplayed 1 Caution for Function Block of parameter change used in program 1 Available only at operation stop state Busy Off state 7 20 Chapter 7 Function Blocks 7 9 Error codes in Function Block Error type displayed on output parameter STAT and actions to take against will be described Pulse out type Positioning module operation status memagewm 9 9 9 1 1 Base postion No exceeded oversetting o o o o 2 uwemrmawkmetse o o 5 St positon No exceeded ovrsatingrange o o o o Sesetrestewitinssingraxe Applicable Erg Install positioning module on the applicable Different module name of applicable slot T module on the applicable 6 Setting axis No exceeded over setting range Set correct axis No of positioning module Command given with CPU module at STOP state CPU module states from STOP to Po fo Function Block command unavailable to execute due to Set correct command execution conditions module in at operation stop New command Function Block executed at the state that Progra change to execute new command prior command is not complete prior command is complete Setting aux input value exceeded over the range To be in setting range 13 Stop related comm
146. ition to manual operation is executed Program change needed because stop command is unavailable during dwell time processing or origin point compensation sen Program change needed because continuous operation NM trans operation OR speed change command are only available at constant stage ration sl hanged 1 Error reset 2 Continuous operation NM amp trans operation OR unavailable in constant positioning constant operation mode 3 Speedchange unavailable in continuous constant and positioning constant operation mode 4 Modify program Present operation state unchanged 1 Error reset 2 Continuous operation NM is available only in continuous operation mode 3 Modify program operation mode 1 Error reset 2 Change to override allowable state 1 Error reset 2 Operation Presen ion s nged peral nehal sen ration sl unchanged step no Change setting range 1 Error reset 2 Move to operation available area by JOG or manual operation and then perform restart 1 Change setting value of position data or speed d ion n Present n 1 Error reset 2 To be in unchanged Output prohibited undecidet ENT Start after origin point decided Available afte 1 Error reset X Btart point 2 Position Teaching command executed after origin X X X 0 Nooperaton To be in setting range operation state o o o o Nomen
147. l by positioning data 2 Outer input signal of near zero point and origin point signal have no influence on positioning control if origin point return is complete 3 If axis operation state after stopped is output prohibited execute cancellation command POSI_OFF rising edge T of output prohibition so to cancel output prohibition and reset error No 4 SIW upper lower limit by parameters is unavailable in constant operation mode 3 21 Chapter 3 Functions 3 3 2 Stop processing and priority 1 Stop processing Deceleration stop 8 5 edge T is processed differently according to acceleration stage constant stage and deceleration stage of operation pattern 1 At acceleration constant stage gt Since positioning operation is not complete to target position as set if stopped as decelerated by deceleration stop command D no positioning complete signal occurs 2 no position passing signal occurs and 3 M code signal of After mode among M code modes is not On Afterthis if start command is input at stop state left positioning distance of the present operation step that is not output is operated by absolute method and the next operation step No is operated by relative method 2 At deceleration stage gt Error occurs if deceleration stop command is input at deceleration stage and positioning complete signal position passing signal and M code signal occurs just like the normal
148. le changes output parameter DONE from 1 to O with 1 output after processing Function Block command 7 4 Function Block for manual operation 7 4 1 Inching operation G3F POPA G4F POPA G6F POPA POSP_INC G4F POPB POSB_INC Function Block type Paramet er Description POSI INC REQ DONE BASE STAT SLOT AXIS Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 USINT Assignment area of axis to use e If 0 X axis operates e If 1 Y axis operates BOOL Direction assignment of inching operation If 0 forward operation e If 1 reverse operation USINT Travel value setting area in inching operation e Setting range 1 99 Unit Pulse BOOL State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output and if output parameter ACT is with internal processing of Function Block complete 0 is output USINT Error state displaying area e If erro
149. loating point set setting or origin point return is executed 3 9 2 Present position change POSE_PRE rising edge gt Present position change is to change the present address value to random address value Program 3 14 Present position change 3 41 Chapter 3 Functions 3 10 Floating point set setting POSI FLT gt Used to set present position to origin point compulsorily without origin point return operation of the machine gt The setting position at this time is the value set at origin point return address The following caution shall be exercised for program with the origin point fixed because fixed origin point setting POSH FLT decides compulsorily only origin point of the present position by origin point return address 1 Remove reset error if occurred cancell output prohibited and 2 Reset the fixed origin point and then 3 Change operation step No to operate by operation step No assignment POSH SMC for starting 3 11 Teaching function gt A function to change positioning address value of positioning data s step No set to positioning address by manual operation JOG operation manual pulse generator operation gt Teaching function is available only for stopped axis gt Convenient for frequent application of position address value and speed value as changed gt G6F POPA has RAM teaching function and ROM teaching function G3F POPA G4F POPA and G4F POPB has only ROM teaching function
150. lue by positioning module Read To read parameters used in positioning module to S W package Check To monitor or save new parameter setting value as changed Cancel To cancel new parameter setting value and use previous value continuously H 5 1 Chapter 5 Positioning Parameter See 5 6 X Axis Parameter set PULSE Decel Time 100 x10ms Bias Speed D xl pps Lower Lirnit 16744447 pulse Pass Time x10ms Code Mode C With C fter None Accel Time o x10ms Backlash 0 pulse Upper Limit 16744447 pulse Speed Limit 20000 xl pps r Output Dir r Rotation Forward C Backward Jog Speed High 500 Low 50 xl pps m Origin Return Method after Near Zero signal On after Near Zero signal On and Off by Near Zero signal and Limit signal by Near Zero signal only Origin Return Method Direction C Forward Backward Compensation pulse High Speed 5000 xl pps Low Speed fo 10 Address J pulse Zone Setup Range 15 744 447 1 744 447 pulse Dwell Time ig Siams ON Begin N End Zone 1 j n See 5 8 Write Read Cancel Zone 3 D Old pa
151. mand POSM STP is used during acceleration deceleration staged operation at continuous operation command POSE NM speed change command POSH VCG and speed override POSH_OR in positioning operation gt Acceleration deceleration time shall be set in unit of axis at parameters of S W package gt Setting range 15 0 999 Unit 10 MS per axis 1 Acceleration time Time required to reach speed limit set at parameter from speed 0 stop state D It means the time required to reach speed limit from bias speed if bias used Bias speed and speed limits can be set at parameters 2 Deceleration time Time required to reach speed 0 stop state from speed limit set at parameter It means the time required to reach bias speed from speed limit if bias used Actual decel time Actual accel time Time gt Accel time Decel time gt Terms Speed limit Max speed when position is decided as set within the speed limits in parameter items of S W package Setting speed Speed data value actually operated by position data Actual acceleration time Time required to reach speed value set to speed data from speed 0 stop state Actual deceleration time Time required to reach speed 0 stop state from speed value set to speed data 1 11 Chapter 1 Introduction 1 2 4 Introduction of starting gt If stopped by stop causes in position controlling POSH_SRD ST6 3 positioning can be executed at stopped posit
152. n continuous operation mode 4 Turned Off by M code Off command 9 14 Chapter 9 Inner Memory And I O Signals 8 Command complete 1 A signal notifying PLC CPU that the command is normally executed at positioning module when Common used RAM command or P contact command output contact command of positioning module is On which is turned On if the command is normally executed 2 Turned Off immediately if Common used RAM command or P contact command is Off 3 Do not use this command complete signal in JOG operation or at approval command of manual pulse generator Positioning modul PLC CPU Common used RAM ositioning module command P contact command Command complete Command of PLC CPU Command complete of positioning module 1 Command shall be turned Off if command complete signal is On 2 In PLC CPU commands 2 or above are not allowed simultaneously on positioning module Surely apply the next command after the prior command is executed 9 Deceleration stopping complete 1 Turned On until stopped by deceleration stop command 2 Turned Off at positioning start origin point return operation JOG command and inching command 10 In constant operation Turned On only in constant operation Turned Off in others acceleration stage deceleration stage dwell time operation stop etc 11 In origin point return Turned On at operation command of origin point return and tur
153. nce between in the general specification position decision module and driver If not electric shock fire abnormal shall be as short as possible 1 3 m operation or damage on product may Length of the connection cable occur shall be as short as possible Besure to fix the module after inserting Use safe power source DC 5V DC24V the mounting protrusion into the module If any noise is expected let input output mounting hole signal line wired in twist pair and shield Abnormal operation error or dropping cable may happen if the module is not equipped correctly Caution for preparation repair ZEN Warning JX Caution Don t touch the terminal when powered Don t remove PCB from the module abnormal operation may happen case nor remodel the module Prior to cleaning or tightening the error abnormal operation damage on the terminal screws let it powered off product may happen If not error or abnormal operation Assembly disassembly of the module may happen shall be after powered off If not error or abnormal operation may happen Caution for waste AN Caution Product waste shall be processed as industrial waste CONTENTS Chapter 1 Introduction Er 1 1 1 13 1 1 Features a aaa a Bee aa cove a Ga T Lees a Laor aa a ea 1 2 1 2 Features Of Position Deci
154. nd is On tion teaching command complete Save initial speed data 100 to M014 Increase speed data by 50 Speed Teaching command On Speed Teach com Off if com complete signal On Increase speed data No Speed Teach com stopped if speed data No is 10 Position Speed Teach Mode set to RAM Teaching mode 0 Position Speed Teach Mode set to ROM Teaching mode 1 Data total Write Chapter 10 MK Program 10 3 4 Positioning Start Speed Teaching return to origin point Inching JOG operation 1 System configuration 1 0 word No gt P000 P001 P002 P003 P004 P005 P006 I O points GM4 G4 G4 G4F G4Q 2 15AS D24A D22A TR4A G4I D24A DC input module 32 points G4I D22A DC input module 16 points G4F POPA Positioning module 32 points G4Q TR4A TR output module 32 points 15 5 K300S CPU module BCD digital displayer 4lettersX 2 P0050 POO6F Present position address displayed SERVO Amp Motor X AXIS Mobile CI Encoder P0020 NE O Positioning start P0021 O Speed Teaching command 1E0022 a O Origin point return command 1 ERES Inching command P0024 1 I O Inchi
155. ned Off if origin point return 1s complete 9 15 Chapter 9 Inner Memory And I O Signals 12 In interpolation operation Turned On at interpolation operation command and turned Off if positioning complete 13 Position teaching complete 1 Turned On if position teaching complete 2 Turned Off in positioning start origin point return operation and JOG operation 14 Speed teaching complete 1 Turned On if speed teaching complete 2 Turned Off in positioning start origin point return operation and JOG operation 15 Inching complete 1 Turned On if inching complete 2 Turned Off in positioning start origin point return operation and JOG operation 9 16 Chapter 9 Inner Memory And I O Signals 9 2 3 Command signal P contact command 1 Emergency stop 1 Signal input from the outside of positioning module is called as external emergency stop and P contact emergency stop is called as internal emergency stop 2 Internal emergency stop shall be applied when external emergency stop signal is at normal wired state N C 3 Pulse out prohibited state is expected after this command is executed 2 Operation data No change 1 Function to jump to random operation data No by this change command of operation data No 2 Operation will be executed with operation data No saved by positioning start command if operation data No to jump 1s saved to address 8 X axis amp 58 Y axis of positioning module s bu
156. ng gt Used for processing S W package data with positioning module equipped gt Pre operation and monitoring of each axis are available only if set to On line model 2 Off line model setting Used for processing S W package data without positioning module equipped 4 1 5 Data setting gt Data preparing area for operation of positioning module gt Refer to Chapter 5 amp Chapter 6 for the details gt 5 types of data are available for the setting 1 X axis parameter 2 Y axis parameter 3 X axis position data 4 Y axis position data 5 Speed data 4 1 6 Help gt Area to display the version of S W package 4 3 Chapter 4 S W Package 4 2 Shortened icons Commands in 4 1 are shown via the shortened icons for quick processing Module setting off line Read Write X position data X parameter Speed data xP YP xo yo SP Y position data Module setting on line 4 3 Pre operation mode Area for pre operation of positioning module through S W package Mon Axis Fx RY m CMD Axis 433 eemi C vend m EMD AST INT RTP FLT STP vor TEA 0 E 0 Pulse 0 0 N xl pps PRE 0 Pulse vce 1 xl pps oR 0 C 5435 L J 4 3 1 Monitoring axis selection To select an axis desired to monitor by positioning module P
157. ng method Natural air cooled Chapter 2 Specification Remark 1 1 C International Electro technical Commission An international nongovernmental organization which promotes standardization in electric electronic fields publishes manages applicable estimation system related with 2 Pollution degree internationally cooperated international standards and An index indicating pollution level of the application environment which decides insulation performance of the device Pollution degree 2 means that only non conductive contamination occurs However temporary conduction may occur according to condensation 2 2 Chapter 2 Specification 2 2 Performance specification Performance specification of positioning module is described in Table 2 2 Specification G3F POPA G4F POPB G6F POPA G4F POPA Number of control axes 2 axes 1 axis Item Input output occupied points 64 32 Interpolation function 2 axes linear interpolation simultaneously2 axes separately2 axes No Control method PTP Point to Point linear interpolation speed control speed position switching control PTP speed control Control Unit Pulse Positioning data 300 data per axis operation step No 0 299 Peripheral S W package available device Teaching module available Available unavailable available Positioning method Absolute method relative incremental method Position a
158. ng command ys EE S JOG command Ii LENS JOG command BCD digital switch 4lettersX 1 P0000 POOOF Speed value setting for Speed Teaching Inching amount setting forward reverse 10 25 Chapter 10 MK Program 2 Data setting and operational description X axis position data Step Coordinates MUS Op Mode Valid d Address M Speed Dwell Invalid Code No 0 Incremental Disable Continue Valid Single 10 000 0 0 50 1 Incremental Disable Continue Valid Repeat 10 000 0 0 50 2 Absolute Disable Continue Invalid Single 0 0 0 0 3 Absolute Disable Continue Invalid Single 0 0 0 0 4 Absolute Disable Continue Invalid Single 0 0 0 0 Speed Data No Data 0 3000 1 0 2 0 3 0 W Operational description Operation Sequence Origin point Return P0022 gt Inching P0023 gt JOG P0025 Positioning start P0020 Positioning start P0020 gt JOG P0026 Inching P0024 gt Speed Teaching P0021 Speed PPS A Forward Position No 0 JOG pe Diatance Pulse JOG An Reverse Position No 1 10 26 Chapter 10 MK Program 3 Program F0010 GET 00002 00000 M000 00006 P0020 P0030 P0031 DBCD M004 P005
159. ns if not 11 5 Chapter 11 Operation Proceedings amp Installation 4 Connection with MITSUBISHI MELSERVO J type G6F POPA X AXIS 32 33 34 35 1 1COM CDE hia e ee Z0C 5 T 2 0 9 von 1 0 DC 24V viN 34 9 1 LI 4 12 oP oc 23 12 Lower limit L S I 2 20 9 1 eem e a c Origin poift L S 57 o UN speed posi t SWITCH 14 5 20 y 20 24V 20 PP 1 i 4 WC ti 2 NP RP 4 2 13 14 15 16 4 5 6 5 24V GND 4 22 23 k 22 23 5 24V GND E ES rude A a ae 4 1 In case that internal power is used X Refer to the driver manual for the driver 11 6 pins if not described Chapter 11 Operation Proceedings amp Installation 5 Connection with UPD566 stepping motor driver UPD 566 Type Dr iver G6F POPA X AXIS E 32 33 34 35 ICOM H iU i Toa m i 13 Upper limit L S uL DC 24V 3 5 gof f Toss AGO CADE a imus Tl 1 0 aot CDE a r BLUE 1 6 0_0 mo CT Origin poit L S hu uu
160. nt return G3F POPA G4F POPA G4F POPB G6F POPA processing method Ongin paint getecnon aner Available Available Available Available Near zero point Off Origin point detection after deceleration at near zero point On Available Available Available Available Origin point detection by origin point and upperllower limit Available Unavailable Available Available Dy Available Unavailable Available Available Near zero point However as for G3F POPA O S V3 0 or above origin point return is available through origin point detection by origin point and upper lower limit and by near zero point gt Refer to 3 5 Return to origin point for the details on origin point return processing methods Chapter 5 Positioning Parameter 5 7 Return to origin point Grigin Ratum Method Direction Foresed Backward Compensation C pulse LL Low Speed m 10 Address pM pulse Cavell Time yi HI Dene gt Origin point return items which are influencing origin point 8 processing are classified into the following 6 types 5 7 1 Direction gt Origin point return direction is classified into forward rotation and reverse rotation on the basis of 5 3 Rotation direction 4 3 Rotation Origin point return Pulse out operation of positioning module direction direction Forward rotation Forward origin point return executed
161. nt signal Bit On 5 Unused 6 Unused 7 External emergency stop signal Bit Off 0 Umused 1 Error 2 Position passing 3 In operation Busy ST6 4 Positioning complete 5 Origin point return complete 6 Origin point undecided 7 Unused Chapter 8 Program 8 2 Basic program Refer to Chapter 3 amp 5 for the details on basic program No Designation of program oad page 1 Basic floating point set setting 3 2 2 Basic linear interpolation positioning start floating 3 4 point set setting 3 Deceleration stop origin point return 3 7 4 Single operation origin point return 3 11 5 Single operation operation step No assignment 3 18 6 Constant operation operation step No assignment 3 17 7 JOG operation 3 28 8 Manual pulse generator 3 29 9 Inching operation 3 30 10 Shift to prior position to manual operation 3 31 1l Speed change 3 32 12 Operation step No change by continuous operation 3 34 13 Speed override 3 36 14 Present position change 3 39 15 Speed Teaching 3 41 16 Position Teaching 3 42 l7 Setting operation step No 3 43 18 Parameter change 3 44 19 Mcodemode 5 10 20 Zone setting 5 16 8 3 Chapter 8 Program 8 3 Application program 8 3 1 Positioning of single operation repeated operation auto operation amp continuous operation 1 Setting in S W package
162. ntinuous operation POS NM R E S Reset Error reset POS M RES oun F F Pulse Out Inhibit Output prohibited cancelled POSI OFF Smp STD G Manual Pulse Generator MPG allowed POS E MPG nr sr on ES AES OFF wes Position teaching majf Ma No step no setting ranged 299 rosin Taeng M un ranget PARITE 16 744 447 Speed teaching Velocity Teaching No speed data No setting range0 127 5 X10pulse speed data setting ranged 20 000 Present position preset Preset Pulse position address setting POS 16 744 447 V c G Speed change 8 xdi Dod data setting range0 20 000 SESS Speed override X10 setting range1 15 ros Set Move Data Operation step No assignment Number Change No step No setting range0 299 POSE SMO I C Inching fonward Inching stari POS ILING C 4 Inching reverse Pulse position address setting range 99 99 gt Click the icon to execute an applicable command 4 3 5 Jog operation by S W package Snape ot Si Icons Terms Description of the terms Related package function block lt lt JOG High Speed Reverse Reverse high speed JOG operation alee ices lt JOG Low Speed Reverse Reverse low speed JOG operation POS JOG NIIT JOG High Speed Forward Forward high speed JOG operation JOG Low Speed Forward Forward low speed JOG operation gt Click the icon to execute an applicable comm
163. o e Setting area of slot No positioning module is equipped on e Setting range 0 7 Assignment area of axis to use o If 0 X axis operates e If 1 Y axis operates State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output and if output parameter ACT is with internal processing of Function Block complete 0 is output Error state displaying area e If error occurs during Function Block execution error No is displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 1 Caution for Function Blocks of floating point set setting command used is program 1 Avialable only at operation stop state Busy Off state 7 8 2 Present position Preset Preset G3F POPA G4F POPA G6F POPA POSP_PRE G4F POPB POSB_PRE It is a command used to change present position to random position Function Block Class Paramet Data Description type er type Request area of Function Block execution at rising edge POS PRE REQ BOOL e Function Block executed if 0 gt 1 rising edge with connected condition to this area as composed during program execution REQ DONE Base position No BASE TED BASE USINT e Setting area of base No positioning module is equipped on e Setting rang
164. o positioning module is equipped on REO e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 BASE STAT Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 AXIS Assignment area of axis to use e If 0 X axis operates e If 1 Y axis operates State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output with operation stopped Error state displaying area e f error occurs during Function Block execution error No is displayed SLOT 7 6 2 Speed change Velocity Change G3F POPA G4F POPA G6F POPA POSP VCG G4F POPB POSB_VCG It can be used to change operation speed at constant speed during operation Function Block Paramet Description type er Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 Assignment area of axis to use USINT e If 0 X axis oper
165. ode modes 2 If stop command input at deceleration stage gt The following step of the operation step No in execution is performed if restarted after deceleration stop gt M code On signal is not turned On if With mode has been used among M code modes however M code On signal shall be Off to allow re start if After mode has been used 2 After internal emergency stop external emergency stop external input upper lower limit s w upper lower limit gt If internal emergency stop external emergency stop external input upper lower limit and s w upper lower limit is input positioning module is at output prohibited state origin point undecided state gt cancell Doutput prohibited re decide origin point origin point returning operation floating point set setting and gt perform re start operation beginning from the operation step No 0 3 5Return to origin point POSE_ORG rising edge gt To be executed to check the machine s origin point when powered gt Origin point return parameters shall be set per axis for origin point return gt Refer to 4 1 4 6 amp 4 7 for origin point return parameters gt If origin point position is decided by origin point return origin point detection signal is not detected during positioning operation 3 5 1 How to return to origin point gt By near zero point near DOG Origin point return processing methods by near zero point near DOG are as follows 1 origin p
166. oint detection after near zero point Off 2 origin point detection after deceleration at near zero point On origin point detection by origin point and upper lower limit origin point detection by near zero point 9 4 gt Parameter items of S W package which influence origin point return are as follows 1 origin point return direction 2 origin point compensation 3 origin point return speed high low 4 origin point address 5 dwell time for origin point return Refer to 4 7 for the details 3 23 Chapter 3 Functions 3 5 2 Origin point detection after near zero point OFF Starting point return command POS ORG rising edge operation by approximate starting point and starting point signal is as follows 1 Operated by origin point return at high speed as accelerated toward starting point return direction as set 2 Operated by origin point return at low speed as decelerated if outer input of near zero point is engaged 3 Stopped if external signal of origin point signal is input after near zero point signal is changed from On to Off Speed Origin point return at high speed Near zero point Origin point return at low speed Near zero point avel value after near zero point On signal POSl SRD ST5 3 Origin point signal Origin point undecided by POSI_SRD ST5 4 origin point signal if near zero point is On Origing point return com POSER ORG RVO m
167. oint return processing methods with direction compensation speed high low address and dwell time set at origin point return parameters of each axis If complete signal of origin point return is turned On origin point return operation of the machine is complete Function Block type Paramet Class er Data type Description POSE ORG REQ DONE BASE STAT SLOT ACT AXIS REQ BOOL Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution BASE USINT Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 Input SLOT USINT Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 AXIS USINT Assignment area of axis to use e If 0 X axis operates e If 1 Y axis operates DONE BOOL State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output and if output parameter ACT is with internal processing of Function Block complete 0 is output Error state displaying area e If error occurs during Function Block execution error No is displayed Operation axis displaying area e Positioning modu
168. ommand start AST linear interpolation start INT of positioning operation to output parameter MCD of present operation state s code Read function block POSI level Single Positioning start POS AST M code No POSE_CRD out parameter MCD BUSY POSE_SRD out parameter ST6 s 3 bit M code On signal POSILSRD out parameter ST3 s 7 bit M code Off com 5 G3F POPA G4F POPA G4F POPB Positioning start 5 out parameter MCD BUSY POSILSRD out parameter ST6 s 3 bit M code On signal POSE SRD out parameter ST3 s 7 bit M code Off com 5 Chapter 5 Positioning Parameter 2 After mode This is a mode outputting M code On signal and simultaneously producing out M code No set at position data to output parameter MCD of present operation state s code Read function block POSE level after positioning is complete by positioning start start linear interpolation start POS INT G6F POPA Single Positioning start POS AST M code No POSE out parameter MCD BUSY POSE_SRD ou parameter ST6 s 3 bit M code On signa ou parameter ST3 s 7 bit M code Off com POSE Positioning start POSILAST M code No 5 out parameter MCD BUSY POSILSRD out parameter 5769 3 bit M code On si
169. on Operation Operation Operation Operation Operation Constant operation available available available available available available Positioning Operation Operation Operation Operation Operation Operation Constant operation available available available available available available gt Operation mode is set at position data of S W package gt Max 300 position data can be set per axis in the range of operation step No 0 299 Step Coordinat Operation Invalid v Operation Dwell Position data No Br Override method alid UE Address Mcode Speed No x 10ns Single Repeated Setting 0 Absolute Enable Continuous Invalid Auto 16 744 447 0 8 d i zx M or bi 209 Relative Disable Complete Valid Continuous 16744447 255 127 999 Constant Con pos gt Positioning operation method by one positioning data per operation step or by several positioning data via successive operation steps at a start command is decided according to operation mode user defined at each positioning data 3 10 Chapter 3 Functions 3 24 Separate operation 1 Positioning is complete upon positioning executed to the target position by one positioning start POSH AST rising edge T and the dwell time elapsed 2 Positioning complete in this operation mode can be used for the operation mode of the last positioning data in auto operation mode and continuous operation mode
170. on operation command and turned Off simultaneously if command complete 3 Turned On Off also at inching command and in JOG operation 4 Turned Off at deceleration stop and emergency stop 5 Turned On during the dwell time 3 Positioning complete 1 Turned Off at operation commands of positioning and origin point return 2 Turned On if single amp repeated operation complete and origin point return complete and in positioning constant operation after dwell time elapses 3 Turned Off at deceleration stop amp emergency stop 4 Turned On Off simultaneously at X axis amp Y axis if in interpolation operation 5 Turned Off in auto operation or continuous operation 4 Origin point return complete 1 Turned On if dwell time and origin point compensation are executed after operation command of origin point return 2 Turned Off by any other command signals 5 Origin point undecided 1 Turned Off if floating point set is set or origin point return is complete 2 Turned On if origin point is not decided 6 Pulse output prohibited 1 Turned On at emergency stop or if stroke upper lower limit is exceeded over 2 Turned Off by cancellation command of pulse out prohibited 7 M code On 1 M code value is produced as classified into With After mode at positioning Turned On if the value is 1 255 2 Turned On in single repeated auto amp constant operation mode after the dwell time 3 Turned On at setting position i
171. one 1 1 Read Read 1 Origin point is decided at the moment when external upper lower limit signal is input if origin point signal is previously On prior to outer input of upper lower limit signal Time Direction switched by external upper lower limit signal Speed External upper lower limit signal POSI RD origing point amp 4 4 L 4 posl srd st5 4 3 27 Chapter 3 Functions 3 5 5 Origin point detection by near zero point This method is used to decide origin point only by near zero point Forward Direction switched at rising edge of near zero point signal Origin point return at high speed Direction switched at rising edge of near zero point signal rigin point return at high speed Time Origin point decided Reverse I I I Near zero point signal I 1 I I Origin point return command POSI_ORG Origin point return in process return done 1 Op state Read Origin point return in Ready Origin point 1 If near zero point s On time is longer than deceleration time the operation is as follows Time Direction switched by external upper lower limit signal Origin point return at high speed Forward Origin point return at high speed Reverse I I Origin boint return gt low speed Near zero point signal POSI_SRD ST5 3 3 28 Chapter 3 Functions 3 6 Manu
172. ooo 7 8 2 Present Position Preset ese ooo ooe oso ooo ooo ooo ooe oso ooo ooe ooo 7 8 3 Parameter Change nr 7 9 Error Codes In Function Block 7 6 7 6 7 7 7 8 7 8 7 8 7 9 7 10 7 10 7 11 7 11 T 12 7 13 7 13 T 13 T 14 7 15 7 15 7 16 7 17 7 17 7 17 T 18 7 19 7 19 7 19 7 20 7 21 CONTENTS Chapter 8 GM Prog Fam ee ee eee eee oee coe coe oee ooe oee oee 8 1 Prior To Program Introduction e m mmm B 8 2 Basic Program s e mom m m me m m m m m m m m m m B 8 3 Application Program e e m m m m m m m m m m m B 8 3 1 Position Decision For Separate Repeated Auto And Continuous Operation 8 8 3 2 Program With M Code m ee se ee m m m m m m m m m m m 8 8 3 3 2 Axes Linear Stepped Operation mom m me m m m A B 8 8 3 4 Position Teaching With MMl ee eee eee eee eee see see see see cee mM mM ee see see 8 10 Chapter 9 Inner Memory And Input Output Signale se se se 9 1 Inner Memory mo s m mome om m m m m m m m m m m 21 9 1 1 Contents Of Inner Memory cst ct me se se m m m m m m m m m 99 1 9 1 2 State Of Inner Memory mm m m m m m m m m 9 4 9 1 3 Command And Data Of Common Used RAM Inner Memory 9 7 9 2 Input Output Signal momo om om m m m m m m m mmm 9 12 9 2 1 Contents Of Input Output Signal ee se se
173. ositioning complete 1 Positioning is complete upon positioning executed to the target position by positioning start POSMI AST rising edge T and the dwell time elapsed 2 Positioning complete in this operation mode can be used for the operation mode of the last positioning data in auto operation mode and continuous operation mode 3 Operation direction is decided according to position address value 4 Operation pattern is of trapezoid with acceleration constant and deceleration stages according to set speed and position data however the following operation pattern may be produced in compliance with set value a Normal operation pattern Speed Accelerated Constant Decelerated gt Dwell time Positioning start AST T Busy SRD ST6 3 On In acceleration POSE_SRD ST1 3 In constant SRD ST1 2 In deceleration POSE_SRD ST1 1 ae In dwell POSELSRD 1 0 On Position passing mm sing time SRD d On Positioning comp lete POsm_SRD b Abnormal operation pattern 1 6 C hapter 1 Introduction If operation speed is set larger than position travel value If operation speed is set the same as bias speed Speed Dwell time time Positioning start AST Busy SRD ST6 3 In acceleration POSE_SRD ST1 3 SRD ST1 2 In deceleration
174. otor rotated once PG1 rotated 1 P Origin point return in process 1 1 1 POSI SRD STOTT 3 24 Chapter 3 Functions Origin point is not decided by origin point signal if near zero point point is On In other words origin point is decided the moment when changed from Off to On after near zero point signal is changed from Off to On acceleration stage gt origin point return at high speed and then from On to Off deceleration stage gt origin point return at low speed la Origin point undecided if near zero point is Speed i i Time 2 Origin point is not decided even if origin point is input when origin point return speed is executed from origin point returning at high speed to deceleration stage after near zero point signal is changed from Off to On and then from On to Off Speed 2 Time 1 Near zero point signal T POSI_SRD2 ST5 3 t POSI_SRD2 ST5j4 3 The operation is as follows if external upper limit lower limit is engaged while waiting for origin point input after near zero point signal is changed from Off to and then from On to Off Forward rotation Reverse rotation Origin point return command POSI ORG Near zero point POSI_SRD ST5 3 External input upper lower limit POSI SRD9 STS 2 1 External input upper lower limit POSI SRD9 ST5 1 2 Near zero point
175. playing area e If error occurs during Function Block execution error No is displayed BOOL Operation axis displaying area e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 1 Relation between output parameters DONE and ACT 2 Caution for Function Blocks of auto operation command used in program 1 Available only when operation is at stop state Busy Off state 2 Available operation modes are single operation repeated operation auto operation continuous operation constant operation and positioning constant operation a If auto operation is used continuous operation constant operation and positioning constant operation are not available for the succeeding operation step No to auto operation b If continuous operation is used auto operation constant operation and positioning constant operation are not available for the succeeding operation step No to continuous operation Function Block execution by 1st REQ am Function Block command processed 8 Function Block execution by 2 REQ Ny 7 6 Chapter 7 Function Blocks 7 3 2 Linear interpolation start Linear Interpolation G3F POPA G6F POPA POSP INT G4F POPB POSB_INT Command for linear interpolation operation in positioning module for 2 axes Function Block Paramet type a Description Request area of Function
176. pos address value le 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 11000 Chapter 8 Program 3 Programming example X data Read routine data Read routine Retumed to starting point only if undecided W Chapter 8 Program 8 3 4 Position Teaching with MMI 1 Setting in S W package Position data Speed data x Axis Position Data Pulse valid invalid GE invalid invalid invalid invalid invalid invalid invalid invalid invalid invalid o invalid singe 8 o ooo 55 559550 9550 55 55555 9550 55 55555 9555 55 959555 9 555 55 95555 9555 95 95555 555 95 55555 9555 9555 2 Input output parameters used 1 To transmit position address value to CPU module with MW100 at MMI MW100 2 To change position address values MO position changed at MMI 3 To start Position Teaching 1 5 command of MMI 3 Programming example 1 i Operated only if origin point decided 8 10 Chapter 9 Buffer Memory And I O Signals Chapter9 Buffer Memory and I O signals 9 1 Buffer Memory 9 1 1 Contents of Buffer Memory Buffer Memory common used RAM is used to save positioning module and communication data between PLC and CPU 1 Buffer Memory of G4F POPA
177. positioning operation after one positioning operation is complete Setting range is 0 999 setting unit X10ms If setting dwell time value is 50 actual dwell time is 50X10ms 500ms gt In particular if SERVO motor is used it is setting data of standing by time until stable stop state is reached since actual SERVO motor may not have reached or may have exceeded the target position even though positioning module is at stop state gt Operation state of the applicable axis of positioning module is kept On during dwell time operation and will be Off with positioning complete signal On if dwell time elapsed 6 6 Chapter 6 Position Data For Positioning 6 11 Speed data 1 placed unit displayed Speed data Unit 10pps 1 65959509 999 o o ooo goo 0 O O B o o o o oi o oi ol o Z o o o o o o o ooo 2 FP p po c p po p P o r s P 3 Se e en Tro a a l en NX c e Sev ese m A D o0 en ei c SB 3 e 61 Ti wr SB fo 6p EC Next speed No Cancel Old package POSITION gt Speed data decides operation speed of position data with 128 setting types Thus 128 speed numbers as assigned can be u
178. processing or wiring performed To be installed at a position easy to manage Do not install on the same panel as is with high voltage device installed on The distance from the duct and surrounding modules shall be 50mm or above Allow Ground connection where ambient noise condition is normal 11 2 2 Caution for treatment Caution for treatment is described covering unpacking of positioning module and installation 1 Do not let it fall or shocked hard 2 Do not remove PCB from the case it may cause error 3 Do not let foreign substances such as leftovers into the module top during wiring Remove those if ever inserted 4 Do not remove or attach the module while powered On 113 Wiring 11 3 1 Caution for wiring 1 Cable shall be connected between positioning module and driver as short as possible since its length is just max 2m 2 Let AC and outer I O signals of positioning module not influenced by surge or induction noise produced at AC side using a separate cable 3 The electric cable shall be selected considering ambient temperature and allowable current with the max cable size of AWG22 0 3mm or above as recommended 4 Damage or abnormal operation occurs by short circuit if wired too close to hot devices or materials or directly on oil for long time 5 The poles shall be checked before the outer contact signal is approved to the terminal 6 Abnormal operation or error may be caused by induction error if wir
179. r interpolation operation 1 Setting in S W package X axis position data Y axis position data Step Coord Over Op Invalid a Made 4 ride Method Valid OP Mode Address M Code ig OP cont invalid single 3000 0 0 cont single 0 0 cont valid singe 8000 0 0 0 dis cont singe 2000 0 0 com valid single T0000 0 0 EL S il 7 7 r it lid single 12000 10 0 0 i con Me sinas i000 n m m abs dis cont single 8000 7 o a Sent invalid re e o lo labs dis repeat so o0 0 84 225 D ta 5 5 inc jen cont invalid snae 0 0 D 0 monu singe inc jen cont invalid single 10 jo o Tg cont nvalid single 0 0 0 D inc en cont invalid single 0 0 0 0 cent invalid single 0 0 0 u inc Jen cont invalid single 0 0 0 0 cont nvalld sinale 0 0 0 0 inc jen cont invalid single 0 0 0 feom invalid singe 0 o 10 0 abs invalid single 0 0 cont invalid single 0 0 0 0 inc jen com single 10 10 0 10 Isl cant invalid single 10 0 0 Se pees 2 Operation pattern Y pos address value Step No 4 Step No 3 8000 7000 6000 Step No 2 5000 4000 3000 2000 4 Step No 1 Step No 0 2 1000 X
180. r occurs during Function Block execution error No is displayed BOOL Operation axis displaying area e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 7 8 Chapter 7 Function Blocks 7 4 2 JOG operation JOG G3F POPA G4F POPA G6F POPA POSP_JOG G4F POPB POSB_ JOG As a manual operation function for test it is used to check system operation wiring state and teaching position address whose speed is classified into high and low as required Pulse is output by setting value if connection condition of input parameter REQ is ON and is stopped if OFF Function Block Class Paramet Data type a type Description Request area of Function Block execution REQ BOOL e Function Block executed if 0 gt 1 level detection with connected condition to this area as composed during program execution Base position No BASE 05 e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Slot position No SLOT J USINT e Setting area of slot No positioning module is equipped on Input e Setting range 0 7 Assignment area of axis to use AXIS USINT e If 0 X axis operates e f 1 Y axis operates Direction assignment of JOG operation If 0 forward operation e If 1 reverse operation Speed assignment of JOG operation
181. rated from CPU to be used as coil or contact point of program D Positioning start command Command to let positioning module find the next position No to operate 2 Origin point return command Command to find the machine s origin point to operate 10 1 2 Exchange of word data word information Information of word data is exchanged in 16 bit unit There is buffer memory common used RAM in positioning module to save data PLC CPU Buffer memory PUT PUTP Positioning module Add Buffer memory common used RAM X AXIS 0 Status data M code value 1 Error code CPU Read only 2 Present operation speed available 4 Y 6 Common used RAM command Pos Teaching op step No CPU ly Read Write 20 JOG high speed ane 21 Origin point return high speed Fig 10 5 Buffer memory common used RAM Buffer memory common used RAM Reads status information with GET GETP commands and Writes commands and data with PUT PUTP commands in CPU F E D C B A 9 8 7 6 5 4 3 2 1 0 lt BitNo 1 Add 0 MV A Zone 3 o DS TL En code value 0 255 Upper limit E Fig 10 6 Example of buffer memory common used RAM 10 3 Chapter 10 MK Program 10 2 Programming 10 2 1 Programming Caution Read the status always prior to execution of command F0
182. rea ACT BOOL e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 1 Caution for Function Blocks of speed override command used in program 1 Available only at constant speed during operation Busy On state 7 6 5 Assignment of operation step No Set Move Data Number Change G3F POPA G4F POPA G6F POPA POSP_SMC G4F POPB POSB_SMC It is used to change operation step No to be performed by the next command Function Block type Paramet er Description POSIL SMC REQ DONE BASE STAT SLOT ACT AXIS ST S ET Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution USINT Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 USINT Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 USINT Assignment area of axis to use e If 0 X axis operates e If 1 Y axis operates UINT Setting area of operation step No to be performed by start command e Setting range 0 299 BOOL State displaying area of Function Block execution complete e f Function Block execution complete without er
183. ror 1 is output and if output parameter ACT is with internal processing of Function Block complete 0 is output USINT Error state displaying area e If error occurs during Function Block execution error No is displayed BOOL Operation axis displaying area e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 7 15 Chapter 7 Function Blocks 1 Caution for function blocks of operation step No change command used in program 1 Available only at operation stop state Busy Off state 2 Operation step No is changeable by function block of succeeding operation step No change command to repeated operation in G3F POPA G4F POPA amp G4F POPB but not changeable in S W package 7 6 6 Deceleration stop Temporary G3F POPA G4F POPA POSP TMP G3F POPA G4F POPA G6F POPA POSP STP G4F POPB POSB_STP It is used to temporarily stop operation of positioning module as decelerated Function Block type Paramet er Description STP REQ DONE BASE STAT SLOT STAT AXIS POSE TMP REQ DONE BASE grap SLOT gap AXIS 1 Caution for Function Blocks of stop command used in program 1 Availble at operation stop state during acceleration constant and deceleration Busy Off state 2 Function Block POSP STP of G3F POPA and G4F POPA can be used only in ROM V1 0 Request area of Function Block
184. rward gt start point address gt specified address position decided reverse Ex gt If start point address is 1000 gt specified address is 8000 forward travel value is 7000 8000 1000 eH Travel value 7000 Start point address Specified address gt Setting in S W package Step Soordir Operation Invalid Operation Dwell Position data items No DE Override method Walid moda Address Mcode Speed No x 10s Setting 0 EA Enable Continuous Valid Singe 8000 0 0 0 C hapter 3 Functions gt Program MOD_INF SRD REQ DONE POS_INF can REQ DONE BASE BASESTATI ERR RES ERR INI POSE RES REQ DONE BASE BASE STATI SLOT SLOT STI INFI QUT PERMI QUT EN T POSP OFF CURRENT IP REQ DONE BASE _ BASE STATI SLOT SLOT CAL OSITIOR AXIS AXIS sT2 INT2 creen v BASE BASESTATI SLOT SLOT axis axis CVI OLOCIT 5731 NFS curge SLOT SLOT AXIS AXIS MCD CODE stl NFA cree CON il INS DEN INFG FLOAT ORG FLOATING START FLT E REO il BASE BASESTAT SLOT SLOT AXIS AXIS START DON AXIS STAR EXT INPUT INFB 1 INFS 3 E T ls AERE Wi ay AXI d AR Error infomation operation pase ast REQ iil BASE A SLOT SLOT acth AXIS AXIS Program 3 1 Basic setting of floating point set Control by absolute method Absolute Coordinates can
185. s 5 000 2 000 Start point address aka N I I j i Positioning I I Control by incremental method Relative Coordinates A Positioning is controlled from start point address to the position which includes travel direction and travel value assigned as a target per axis B Travel direction of each axis is decided by travel value sign of each axis Ifthe sign of shifting amount is or no sign incremental direction positioning decided to forward direction address If the signal of shifting amount is decrement direction positioning decided to reverse direction address Ex When operated with the target of travel value of axis 1 000 amp axis2 3 000 if start point address is axisl 1 000 amp axis2 2 000 Start point address 2 000 L 000N He positioning Se position when target travel value is axis1 1 000 amp I I I I axis 2 3 000 Lu I I I I I 1 4 Chapter 1 Introduction 2 Speed control positioning control is performed at the specified speed until deceleration stop command POSH_STP POSER TMP is input after positioning start POS amp AST is executed gt Available operation mode is constant operation Dwell time hes Time positioning start AST Busy POSE_SRD ST6 3 On Deceleration stop Command POSm_STP 3 Speed position switching control If speed position switching signal is input via position
186. s 3 32 Chapter 3 Functions 3 6 4 Shift to prior position to manual operation POSE_RPT rising edge gt A function used to return to prior position address to manual operation JOG operation Inching operation manual pulse generator operation when the position is changeed into manual operation gt Shift speed is set to 30Kpps Program 3 10 Shift to prior position to manual operation gt If present position address value is A and position address value changed by manual JOG operation and Inching operation is B during operation return to prior position of A to manual operation is performed by shift POSH_ORG rising edge T command to prior position to manual operation 3 33 Chapter 3 Functions 3 7 Speed change in positioning operation 3 7 1 Speed change command POSH_VCG rising edge 7 gt Speed change is allowed only at constant stage among operation patterns with available operation modes of single operation repeated operation and auto operation which used also for JOG operation at high speed and origin point return operation at high speed However G4F POPB amp G6F POPA are available for constant operation mode gt Setting range is 10 200 000pps setting unit 10pps Program 3 11 Speed change gt Take precautions if the difference between present speed value used in operation and newly changed speed value by speed change POSI_VCGrrising edge 7 is too large
187. s regarded as complete leading to the next operation step of position data at restart 5 If confronted by deceleration stop command in acceleration stage constant stage deceleration stage of the constant operation it stops as decelerated 6 Operation direction is decided according to the prior position address However G6F POPA is decided according to position address sign Ex Operation pattern Stopped as decelerated by stop com at constant Op constant Dwell Op constant Op step No 0 Op step No Positioning start BUSY POSI_SRD ST6 3 Decel stop com POSI _STP Floating point set set com POSE _FLT Origin point return complete sign by Origin point return rigin point undecided by stop command is to be re decided gt Setting in S W package Number of program i i i prog mid Coordinat Override on ied gas Speed No pua Positioning start a 0 es metho ali mode x i 1 0 Absolute Disable Continuous Valid Constant 100 0 0 0 2 1 Absolute Disable Continuous Valid Constant 100 0 0 0 gt 1 positioning start gt acceleration stage gt constant stage gt deceleration stop command gt deceleration stage gt positioning complete origin point undecided gt origin point decided origin point returning positioning start or floating point set setting command gt operation step No 1 assignm
188. s equipped on e Setting range 0 7 Setting area of speed data No to execute Speed Teaching e settingrange 0 127 VEL_ SET Setting area of speed value to execute Speecd Teaching setting range 1 20 000 Unit X 10Pulse MODE Note1 Selection area of Speed Teaching type e If 0 RAM Speed Teaching e If 1 ROM Speed Teaching State displaying area of Function Block execution complete f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with internal processing of Function Block complete 0 is output X axis error information displayed Y axis error information displayed Operation axis displaying area e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 7 12 Chapter 7 Function Blocks 7 6 Auxiliary operation 7 6 1 M code off M Code Off G3F POPA G4F POPA G6F POPA POSP_MOF G4F POPB POSB_ MOF This is used to turn M code signal Off when the signal is On if M code has been set to With or After mode at parameters of each axis Function Block Paramet Description type er Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution POSI MOF Base position No ONE e Setting area of base N
189. s external upper limit switch input B contact 18 Y_VTP Y axis speed position switching input A contact 19 32 19 15 EMG E stop switch input X Y axes common B contact 1 2 20 7 X 24V X axis pulse output external power input terminal D24V 17 24 21 11 X 5V X axis pulse output external power input terminal DC5V 10 1 Ra T X GND X axis pulse output ground gt 23 23 1 2 24 Y_24v Y axis pulse output external power input terminal DC24V Tu 24 25 Y_5V Y axis pulse output external power input terminal DC5V i 10 y F Y_GND Y axis pulse output ground 2 6 Chapter 2 Specification Input contact common EMG X_STOP X_OV X_OV X_ORG X_STOP Y_STOP Y_OV Y_OV Y_ORG Y_STOP INPUT COM Input contact Vcc Common If DC24V used for outer input power let it connected to DC24V if DC5V used let it connected to DC5V MPG_A Manual pulse generator phase A input MPG_AGND Manual pulse generator phase A Common Ground MPG_B anual pulse generator phase B input MPG_BGND Manual pulse generator phase B Common Ground FG Frame Ground Unused 2 7 Chapter 2 Specification 2 4 2 Internal circuit Internal circuit for connecting interface with the external device of the positioning module is described
190. s swifted to specified address set at position data and the dwell time elapsed Operated with the same step No as position data when re started as processed with applicable step operation incomplete gt External input signal of speed position control switching input signal is valid only in positioning constant operation gt Deceleration stop 8 is available at acceleration stage of positioning constant operation however speed position control switching signal input is available only at constant stage Thus error 45 occurs if speed position control switching signal is input during acceleration gt If the position address is set smaller than positioning amount by deceleration inclination in positioning constant operation positioning module re calculates the deceleration inclination for operation Accordingly stop can be followed as decelerated abruptly rather than deceleration inclination set by parameters Operation direction is decided according to address position and target position address value prior to operation start Ex gt Setting of origin point return in positioning parameters of S W package Origin Return Method Direction Forward Backward ai Axa Present position is set to origin point Compensation 0 ee returning address if origin point return is i x s pes Hs 2000 p complete by return command or floating point Stee S RE s
191. sed by setting speed at speed data gt Setting range of speed data is 0 20 000 setting unit X10pps If setting speed value is 5 000 actual speed data is 5 000X10pps 50Kpps P Speed data value of speed No is changeable in program by speed teaching function block POSH_VLTrrising edge gt Caution for speed data setting bias speed lt speed data lt speed limits Chapter 7 Function Blocks Chapter 7 Function Blocks Function Blocks for positioning modules used in GMWIN are described Type of Function Blocks is as follows Class G3F POPA G4F POPA G4F POPB G6F POPA Description Remarks Present operation state s code information POSP POSB POSP CRD 7 For module Read 2 1 information Present operation state s bit information POSPAST__ POsP_asT_ POSB AST POSP AST Start uto operation POSP INT posB_int Pospint Linear interpolation start POSP ORG j POSP ORG _ POSB_ORG_ POSP_ORG Origin point return operation POSP INC POSP NC Inching operation Mama OSP OG POSP Joc Pose Joc PosP Joc JOG operation POSP RTP RTP JPOSBRTP Return to prior position to manual operation Operation M i anua ulse enerator operation POSP_MPG POSB_MPG 9 7 4 4 allowable POSP POSP TEA POSB POSP Position teaching Teaching _
192. separate repeated or auto operation as available gt Succeeding operation mode to continuous operation is only separate repeated or continuous operation as available Chapter 8 Program 3 Programming example 8 5 Chapter 8 Program 8 3 2 Positioning with M code G6F POPA 1 Setting in S W package Positioning start Next positioning start execute step POSH AS 0 Position data Speed data Data Pulsel E 0 Step Coord Over Op Invalid Speed Dwell 2 No inates ride Method Valid OP Mode Address Code A nage 4 O ds cont invalid single 10000 T T Too foo p abs dis valid cont 20000 1 D Too p jg jp qp p ds com vaid 30000 T w0 _ 3 jabs dis cont valid single 40000 10 2 100 Write Read i jabs ds _ valid 50000 20 3 100 abs dis cont valid repet 0 30 4 200 ds con invalid single 0 0 a T inc ds con invalid sinde 0 0 M code mode ja mc ds cont invalid single 0 0 S ds co invalid 0 p m IU finc dis cont invalid single 0 0 0 M Code Mode finc ds cont invalid single 0 0 a 12 finc ds cont invalid single 0 0 o x C With C After Mone Write Read Cancel 2 Operation pattern Speed
193. separation may occur gt If reaching time to target position right after speed value is changed by the speed change is over 65 535ms error 89 occurs Also if restarted after removal of error causes at this time operation step No drives the operation step No of presently operated step No 1 3 34 Chapter 3 Functions 3 7 2 Operation step No change by continuous operation POSE NM gt Used only if operation mode is continuous operation and at constant stage among operation patterns gt If continuous operation POSE_NM command is used during operation the operation is performed as shifted from presently operated step No to the next operation step No gt Continuous operation command is performed differently according to Absolute Coordinates and Relative Coordinates in position data setting gt If used in Absolute Coordinates gt If used in Relative Coordinates Speed Speed Op continuNus 2 Op step No 1 Op continuou Op step No 1 Opt continuous 4 j Op paces If continuous Op step No op command P2 P2 not used Positioning start Positioning Staff AST d d POSIL AST 1 7 l On On BUSY BUSY POSH _SRD ST6 3 POSH _SRD ST6 3 Op step No 0 Time Speed Speed t z If continuous BUSY BUSY op command POSH _SRD ST6 3 POSH _SRD ST6 3 used Conti Op com
194. sion Control Function 1 3 iai PositioiDecision Control Functions d Bi rand agite elle co icit ice gt Ai og SB 1 2 2 Introduction Of The Operation Mode m m m mmm m 16 1 2 3 Introduction Of Acceleration Deceleration Processing c c coc om om om o 1 11 1 24 Introduction Of Starting xr eru 1 12 1 2 5 Introduction Of The Return To Starting Point se ee se ee ee se ce 0000 1 13 Chapter 2 Specification ppm 2 1 General Specification Ges E RBG Seed Hebb REE GEES eos uiis MN D 2 2 2 Performance Specification WS joke see a ARa Seve ce Nits jore Tenes Lees aan Seder e Eh irae 2 2 3 Input Output Specification Of The Outer Interface 2 3 4 4 2 52 Cutout Spedficaoi Ae Road ose ee Rb e eae 24 Outer Interface Connector ce mo mo mo mo mo m 2 6 24 1 Connectors Pin Arrangement 2G DID ner Gire ae oS anes OS is ONE neta a te a epe 2 5 Designation And Function Of The Parts 2 11 2 6 Connector s Pin Arrangement dee Bee 1306 7 Meer eee SO ya 4o eee 308 cam deat Lene 2 12 Chapter 3 Functions ee ae Jasar aaa el 3 1 Position Decision Control wis eect bee cde Upa Nes Seats des Less Treni Gee ui Peri eae Sees 3 E 1 3 1 1 Position Control 3 1 2 Speed Control 3 3 7 3 1 3 Speed Position Switc
195. ss 1s 10 000 Positioning if target is 5 000 10 000 Start address Position decision if target is 15 000 Control by incremental method Relative Coordinates A Positioning is controlled as much as target at start address B Shift direction is decided by signals of shifting amount If the signal of shifting amount is or no signal incremental direction position decided to forward direction address If the signal of shifting amount is decrement direction position decided to reverse direction address Ex When operated with the target of shifting amount of 5 000 5 000 and 5 000 if start address is 10 000 Position decision if target is 5 000 10 000 Start address Positioning if target is 5 000 5 000 Jirection if the signal is minus Direction if the signal is plus gt 1 3 Chapter 1 Introduction 2 2 axes linear interpolation control Linear interpolation control is performed at start address presently stopped position using assigned 2 axes Control by absolute method Absolute Coordinates A Linear interpolation control is performed from start address to target address wsing 2 axes B Travel direction is decided by start point address and specified address of each axis Ex When operated with the target of positioning address of 151 2 000 amp axis2 5 000 if start point address is axisl 1 000 amp axis2 2 000 Awe addres
196. t data Axis Position Data puse From FE Singh Y Axis Position Data I Y Axis parameter ees o ns pulse Speed data El inch fa fa degree Print Setup IL Lex Cancel 5 Close gt Command to close S W package program 4 1 2 View 1 Tools gt Command to display tools at S W package S d S B OE ve xo vo sp 4 2 Chapter 4 S W Package 2 State display gt Command to display the state bar at the left bottom of S W package ame Puss2 Site 4 1 3 Communication 1 Communication port gt Command to set serial communication port between computer and positioning module Comm Port Speed 500 gt Parity Jone Even 000 Data Bits Stop Bitte 7 Bits Stop Bit t 6 Bite 2 Stop Bits Iv BGG Enalie Cancel 2 Communication items gt Command to select and send parameters position data and speed data set in S W package to positioning module or to read positioning module data in S W package Select data to communicate and Run Send data from S W package to positioning module T Read data of positioning module in S W package Close Y Axis parameter X Axis Position Data Y Axis Position Data Speed data Data Progress 4 1 4 Model setting 1 On line model setti
197. t decided has been executed the operation step No set at input parameter ST SET shall be the same as the next operation step No to be performed differs from the operation step No to be performed the operation step No shall be changed to be identical by operation step No change command POSH_SMC Function Block prior to the next operation ng amp ROM Position Teaching ue is not saved at position data and the operation if CPU module is powered Off On will be In ROM Position Teaching address value is saved at position data and the operation even if CPU module is powered Off On will be 7 11 Chapter 7 Function Blocks 7 5 2 Speed Teaching Velocity G3F POPA G4F POPA G6F POPA POSP VLT G4F POPB POSB_VLT This is used for user to set random speed value to specific speed data No Function Block type Paramet er Description POSE VLT REQ DONE BASE ar SLOT STAT VEL Note1 Input parameter MODE can be used only in G6F POPA Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 SLOT VEL NO Slot position No e Setting area of slot No positioning module i
198. t positioning module gt Information on external input upper lower stroke limit is displayed at 1st and 219 bits of output parameter ST5 in present operation state s Bit information Read function 8 gt 1s bit of output parameter ST5 in present operation state s Bit information Read function block On external input upper stroke limit undetected Off external input upper stroke limit detected gt 2t bit of output parameter ST5 in present operation state s Bit information Read function block On external input lower stroke limit undetected Off external input lower stroke limit detected gt Both upper lower limit signals are not detected if either upper or lower limit is just used as connected with the sensor in connection with external input upper lower stroke limit Please connect the signal surely to B contact if not used 3 39 Chapter 3 Functions 3 8 2 S W upper lower stroke limit gt S W upper lower stroke limit is for a function not to execute positioning if operated out of upper lower stroke limit setting range which is set at parameters of S W package gt Range check of upper lower stroke limit is performed at operation start and during operation S W lower limit S W upper limit gt Function not to execute positioning by its applicable command if operated out of the setting range gt Information on S W upper lower stroke limit is displayed at 0 and 1s bits of output paramet
199. tate 1 2 Available only for continuous operation mode 3 Continuous command operation by absolute method differs from that by relative method in position data setting Request area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution USINT Base position No e Setting area of base No positioning module is equipped on e Setting range series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 USINT Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 Assignment area of axis to use e If 0 X axis operates e f 1 Y axis operates State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with internal processing of Function Block complete 0 is output USINT Error state displaying area e If error occurs during Function Block execution error No is displayed BOOL Operation axis displaying area e Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 7 14 Chapter 7 Function Blocks 7 6 4 Speed override Override G3F POPA G4F POPA G6F POPA POSP_OR G4F POPB POSB_ OR This is used
200. tatus Code Read G3F POPA G4F POPA G6F POPA POSP_CRD G4F POPB POSB_CRD Present position address operation speed M code value and operation data No of the setting axis can be read for monitoring or using as conditions in user program Function Block type Paramet er Description POSH_CRD REQ DONE BASE STAT SLOT CA AXIS Request area of Function Block execution e Function block executed if 0 gt I level detection with connected condition to this area as composed during program execution Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 Assignment area of axis to use e If 0 X axis operates e If 1 Y axis operates State displaying area of FunctionBlock execution complete e f Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output Error state displaying area e If error occurs during Function Block execution error No is displayed Present position address displayed Present operation speed displayed Present M code value displayed Present operation data No displayed 7 3 Chapter 7 Function Blocks 7 2 2 Bit information Rea
201. tion Bit On G4F POPA unavailable 0 S W upper limit detection Bit On 1 S W lower limit detection Bit On 2 Emergency stop detection Bit On ST 3 Pulse output prohibitedstate PEON Information displaying area on signals produced 4 Inching complete Bit On 5 Position Teaching complete Bit On 6 In JOG low speed operation Bit On 7 In JOG high speed operation Bit On eae 0 Unused 1 Forward Bit Off Reverse Bit On 2 ZONE 1 Bit On 3 ZONE 2 Bit On 4 ZONE 3 Bit On Chapter 8 Program 5 Repeated operation complete Bit On 6 Positioning start complete Bit On 7 M code On Bit On 0 In origin point compensation Bit On 1 In backlash compensation Bit On G6F POPA unused 2 In continuous operation Next Move Bit On 3 In speed overriding Bit On ST4 4 Unused 5 At deceleration stop and Stop complete Bit On 6 Speed teaching complete Bit On Valid only in G3F POPA G4F POPA V1 0 7 Speed change complete Bit On Valid only in G3F POPA G4F POPA V1 0 0 Speed position control switching Only G6F POPA used 1 External upper limit signal Bit Off 2 External lower limit signal Bit Off 3 External near zero point signal Bit On Information displaying area on input x ST5 signals from outer device to position decision an cese de module 4 External origin poi
202. tion step of position data at restart 5 If confronted by deceleration stop command POSH_STP in acceleration stage constant stage deceleration stage of the constant operation it stops as decelerated 6 Operation direction is decided according to the prior position address However G6F POPA is decided according to position address sign 6 Operation pattern Op constant Op step No 0 Dwell time Positioning start POSIL AST On Busy POSILSRD 6 3 Decel stop i STP 1 9 Chapter 1 Introduction 6 Positioning constant operation mode positioning complete 1 If an outer input signal of speed position control switching signal is input in speed control operation positioning constant operation is changed into position control operation to regard the signal detected position address value as O and execute positioning upto target position position address value set to position data to finish positioning upon the dwell time elapsed gt In G6F POPA positioning module if stopped during operation as decelerated by deceleration stop STP rising edge the correspondent step operation is regarded as incomplete leading to the same step number operation as position data at restart gt The outer input signal of speed position control switching signal is valid only in positioning constant operation mode 2 Positioning constant operation is
203. to 3 5 Origin point return for details 12 Speed change 1 Function to change operation speed to setting speed up to 10 200Kpps during operation 2 Actual setting speed value is 1 20 000 with operation speed range of 10 200 000pps 3 Since acceleration deceleration time is not applied at speed change command sudden speed change may cause separation if step motor used 4 Speed change is available in constant operation 9 18 Chapter 9 Inner Memory And I O Signals 5 Speed value to be changed shall be set at address 12 X axis amp 62 Y axis of buffer memory and speed change command and speed value shall be programmed to be processed under the same conditions 13 JOG operation 1 A manual operation command used for forward and reverse rotation operation at JOG high low speed as set at parameters 2 JOG low speed shall be set lower than high speed 3 In G6F POPA no speed limit error occurs in JOG low speed operation and the operation is allowed at lower speed than bias setting speed 14 Position Teaching 1 Function to change position address of position data to random set value 2 Operation data No of position address to change shall be assigned to address 7 X axis and 57 Y axis of buffer memory and position address value to set shall be assigned to address 9 10 X axis and 59 60 Y axis of buffer memory so to be processed as programmed under the same conditions as position teaching command 4 In
204. uest area of Function Block execution at rising edge e Function Block executed if 0 gt l rising edge with connected condition to this area as composed during program execution Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 series 0 Slot position No e Setting range 0 7 e Setting area of slot No positioning module is equipped on Assignment area of axis to use e If 0 X axis operates e If 1 Y axis operates REQ DONE Setting area of acceleration time at parameters setting range 1 999 Unit 10ms BASE STAT ing area of deceleration time at parameters SLOT Setting range 1 999 Unit 10ms ing area of JOG high speed at parameters Am setting range 1 20 000 Unit X 10pps AT ing area of origin point return high speed at parameters setting range 1 20 000 Unit X 10pps DT If 0 With If 1 After mode If 2 None mode ing area of M code mode at parameters State displaying area of Function Block execution complete BOOL e f Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output with operation stopped USINT Error state displaying area e If error occurs during Function Block execution error No is d
205. unction Block type Paramet er Description POSE EMG REQ DONE BASE STAT SLOT Request area of Function Block execution at rising edge e Function Block executed if 0 gt 1 rising edge with connected condition to this area as composed during program execution USINT Base position No e Setting area of base No positioning module is equipped on e Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 USINT Slot position No e Setting area of slot No positioning module is equipped on e Setting range 0 7 BOOL State displaying area of Function Block execution complete e f Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output with operation stopped USINT Error state displaying area If error occurs during Function Block execution error No is displayed 7 7 2 Cancellation of output prohibition Pulse Out Inhibit Off G3F POPA G4F POPA G6F POPA POSP_OFF G4F POPB POSB OFF Command to cancel pulse out prohibited state by external emergency stop upper lower limit detection etc Function Block type Paramet er Description OFF REQ DONE BASE STAT SLOT Request area of Function Block execution at rising edge e Function Block executed if 0 gt 1 rising edge with connected condition to this area as composed during pro
206. wever error may occur if deceleration stop command POSE STP is used during acceleration deceleration staged operation at continuous operation command POSM NW speed change command POSE VCG and speed override POSR OR in positioning operation gt Acceleration deceleration time shall be set in unit of axis at parameters of S W package gt Setting range is 0 999 Unit 10 MS per axis 1 Acceleration time Time required to reach speed limit set at parameter from speed 0 stop state gt It means the time required to reach speed limit set at parameter from bias speed set if bias used 2 Deceleration time Time required to reach speed 0 stop state from speed limit set at parameter It means the time required to reach bias speed set from speed limit set at parameter if bias used Actual decel time Actual accel time Time gt Accel time Decel time gt Terms Speed limit Max speed when position is decided as allowed in parameter items of S W package Setting speed Speed data value actually operated by position data Actual acceleration time Time required to reach speed value set to speed data from speed 0 stop state Actual deceleration time Time required to reach speed 0 stop state from speed value set to speed data 5 3 Chapter 5 Positioning Parameter 5 1 2 Backlash compensation gt Backlash means the error that the machine doesn t operate due to abrasion when
207. x Ov X axis external lower limit signal input B contact A RAV 3 10 13 14 X_OV X axis external upperr limit signal input B contact PEET 22 22 1 12 X_ORG _ X axis near zero point signal input A contact X axis al input signal 14 X VIP X axis speed position switching signal input A contact ARAM 32 11 33 INPUT 21 33 34 16 COM Input signal common 35 Y axis outer bottom limit signal input B contact is outer top limit signal input B contact is approximate starting point signal input A contact Y axis input signal Ld is speed position switching signal input A contact Input signal common Emergency stop signal input _ X Y axis common B contact Emergency stop signal Input signal common Manual pulse generator phase A input Manual pulse Manual pulse generator phase A Common 2 9 Chapter 2 Specification 16 29 MPG B Manual pulse generator phase B input generator input f li MPG 7 7 BGND Manual pulse generator phase B Common Input contact Ground Common External 4 13 10 INPUT EMG power 5 14 COM X_STOP X_OV X_OV X_ORG X_STOP Y_STOP Y_OV Y_OV Y_ORG Y_STOP FG 6 6 Frame Ground
208. xis amp Y axis Connected with S W package installed in computer G3F 00600000200 POPS 0 62 3 2 9 G2 G3 Q9 000000 9 5 9 POPA 6600 M oooocy 0 62 3 2 09 a 9 9 9 G9 G3 69 69 G9 G G2 G9 G2 G6F Que HORS 67 69 G9 GD 69 Q2 6 G9 9 69 C9 C3 C2 C CO gt Direct connection is unavailable between G6F POPA positioning module and computer Use RS 232C port of GM6 CPU module or k200s cpu module for positioning module operation using S W package and perform operation with S W package after operation mode of CPU module is let positioned at STOP state Chapter 3 Functions Chapter 3 Functions 3 1 Positioning control Positioning control is classified into position control speed control speed position switching control 3 1 1 Position control 1 f axis position control Positioning of assigned axis is controlled from start point address presently stopped position to specified address travel value 1 Control by absolute method Absolute Coordinates A Positioning is controlled from start point address to specified address at positioning data B Positioning control is executed as based on the address origin point address assigned at origin point return B Travel direction is decided according to start point address amp specified address gt start point address lt specified address position decided fo

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