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User Manual - Mirai Inter

1. PT No Cont Act JPT No Position 0 1 1 Position 1 0 Time Position 0 Position 1 When this item specified the system jumps to JP Table No and execute it after completing action of current position z 0 255 If Position No is specified as 10XXX system jumps to Position No XXX as soon JP Table No as JPT Start oneof the input digital signal to controller from outside becomes ON 10 000 10 255 For program exit specify as blank For more details refer to 14 4 Input Condition Jump If any of these items is checked and 0 255 JPT 0 there are corresponding input signals of JPT inputO JPT inputi or JPT input2 10000 10255 system jumps to JPT O JPT 1 or JPT 2 0 255 JPT 1 accordingly regardless of 10000 10255 specified Jump Table No JPT 2 For more details refer to 14 4 Input 0 255 Condition Jump 10000 10255 Input signal Corresponding Input Jump Position JPT inputO Input Jump Position No 0 JPT input Input Jump Position No 1 JPT input2 Input Jump Position No 2 f these item are specified system Loop Count repeats action of the position speci fied 0 100 times Loop Count and after then jumps 0 255 Loop Jump Table No o corresponding position to Loop Jump Table No regardless of specified Jump Table No For more details refer to 10 000 10 255 4 5 1 Loop Setting PT set Specifies output signals such as PT OutputO PT Output1 PT Output2 in order to confirm the sta
2. 100 100 0 bs 3 7500 1 100000 100 100 100 0 7 29 3 10000 1 100000 100 100 100 0 8 1 While Normal mode is selected the user sets PT number to O and click Run and then PT O is executed 2 PT 1 is executed by PT data jump conditions 3 PT 2 is executed by PT data jump conditions 4 As mentioned above next PT number is automatically executed by position data jump conditions 5 Click Stop to stop operating 4 3 2 Single Step Select Single Step at the main window of position table and only corresponding PT command wil be executed and next PT commands wil be on standby This mode can be easily used when the user executes the test for each position command And it is available for User Program GUI only Mode C Nomai Shige Sn Bun Slave Position Table No CMD Position Low Spd High Spd Accel Decel Wait Time Continuous JP Table No 3 26000 1 m w w 1000 0 j gt 3 0 1 10000 100 100 1000 0 4m Next 3 25000 1 50000 100 100 1000 0 3 3 0 1 50000 100 100 1000 0 4 1 While Single Step Mode is selected the user sets PT number to 0 andclick Run and then PT O is executed 2 After execution is stopped Run icon is changed into Next and next command is on standby 3 Click Next button and PT 1 will be executed 4 When pressing each Next button one PT command is executed 5 Click Stop to stopping operating After operation is stopped the user ca
3. Ignored q gt p 3 4 A A PT 14 PT 116 PT 14 PT 225 gt 7 i gt A A JPT inputi Pulse Width more than 10ms JPT input2 Pulse Width more than 10ms lt lt a a lt gt x Refer to the sample file for test Position Table 13 gt PTsample Loop Motioning fpt 4 5 2 Jump by External Signal This is the method to specify next action pattern PT no by input condition However system does not jump to next PT no to be executed automatically according to procedure but executed by external signal JPT Start Difference from the function in 1 2 JPT Start If specified Wait Time after the specified time from the external signal Jump Position No to jump need to have the format of 10XXX and needs to be ON in order to execute the next action section 4 5 1 executed by input signal JPT InputO Input2 of PT data is more than 0 then the next action is to be executed Data for PT no 14 PT No Wait Time Position Table No Input Jump Input Jump Input Jump CMD Wait TITE to jump Position No 0 Position No 1 Position No 2 JP Table No JPT 0 JPT 1 JPT 2 14 0 10015 10115 10116 10225 1 2 A A PT 14 PT 15 PT 14 PT 115 gt 7 gt A A m JPT Start m JPT i JPT Start Input InputO Input gt D gt 3 4 A A PT 14 PT 116 PT 14 PT 255 aa gt o m JPT
4. Position Value for each PT CMD pulse Position 3 12010 Position 4 15300 Position 12 12800 Position 255 38520 12 4 5 Input Condition Jump JP Table No JPT O JPT 1 and JPT 2 for specifying next PT no to be executed In specifying next PT no to be executed Among the items to be specified are used there are two different methods depending on the control signal as followings 4 5 1 Automatic Jump This is the method to specify next action pattern PT no by input condition System jumps to next PT no to be executed automatically according to procedure For example as shown in the following figure when PT no 14 is executing 1 if there is no input signal next action pattern is to be executed by PT no 15 as shown in figure 1 However if any of input signal is ON such as JPT InputO JPT Input1 or JPT Input2 during the operation of PT no 14 then system jumps to JPT 0 JPT 1 or JPT2 accordingly and execute it that is specified in the Position Table data as shown in the figure 2 4 Data for PT no 14 Position Table No to Input Jump Input Jump Input Jump PT No ie ee eh CMD jump Position No 0 Position No 1 Position No 2 JP Table No JPT 0 JPT 1 JPT 2 14 15 115 116 225 1 2 A A PT 14 PT 15 PT 14 PT 115 yi V gt Z V gt Ae A i JPT inputO or JPT inputi JPT inputO Pulse Width more than 10ms or JPT input2
5. Value Bunetion Not use output function of 0 OFF OFF OFF 0 PT Output 0 2 1 OFF OFF 0 1 PT Output 0 2 signals turn 2 OFF ON OFF 2 to ON at the time of 3 OFF ON 0 3 starting operation of the 4 ON OFF OFF 4 corresponding PT 5 ON OFF 0 5 6 ON ON OFF 6 7 ON ON 0 7 Not use output function of 8 OFF OFF OFF 0 PT Output 0 2 9 OFF OFF 0 1 PT Output 0 2 signals turn 10 OFF ON OFF 2 to ON after completion of 11 OFF ON 0 3 operation of the 12 ON OFF OFF 4 corresponding PT 13 ON OFF 0 5 14 ON ON OFF 6 15 ON ON 0 7 Motion pattern by PT PT Output 0 2 Output PT Output HEX Value Case PT Set 0 Case PTSet 3 Case PTSet 12 Case PT Set 8 17 CFA S TECH FASTECH Co Ltd Rm 1403 Bucheon Technopark 401 Dong Yakdae dong Wonmi Gu Bucheon si Gyeonggi do Rep Of Korea Zip 420 734 PINS i TEL 82 32 234 6300 Please note that the specifications are subject to change without FAX 82 32 234 6302 notice due to product improvements Email fastech empal com Homepage www fastech co kr Copyright 2008 FASTECH Co Ltd All Rights Reserved Aug 05 2009 rev 05 01 03 18
6. m JPT Start m JPT m JPT Start Input1 input Input2 Input gt gt 14 4 6 Loop Condition Jump 4 6 1 Specifying Loop If Loop Count and Loop Jump Table No are specified system repeats the action of position specified times Loop Count and after then jumps to corresponding position to Loop Jump Table No regardless of specified Jump Position No that is Jump Position No is ignored There are rules in specifying loop as following 1 If 0 is specified for Loop Count loop function is cancelled If system needs to jump before repeating the specified times it jumps to JP Table No 3 If blank is specified for Loop Jump Table No system exits execution If Loop Jump Table No is specified in the formof 10XXX next action is executed by the external signal JPT Start Following Table is one of example for specifying loop PT No Movement Position Table No of Loop Position Table No to jump sae Gre Scale No to jump Loop after completing loop Loop Counter Position JP Table No Count Loop Jump Table No ee 0 8000 1 0 0 1 4000 0 2 2 2 0 0 3 Speed Jump to PT2 after executing PT1 2 times PT 0 PT 0 mm PT 1 PT 1 PT 2 S Time PT 0 PT 0 PT 1 a PT 1 PT 2 Time End after executing PT 0 PT 0 PT2 3 times PT 1 PT 1 PT 2 gt Time x Refer to the sample file f
7. Ezi SERVO Closed Loop Stepping System with Network based Motion Controller User Manual Position Table www fastech co kr Table of Contents Before Getting Started Window of Position Table PT 2 1 Opening 2 2 Main Window of Position Table 2 3 Position Table Editor Position Table PT Items 3 1 Description of Position Table Items 3 2 Command tems Executing Position Table PT 4 1 Starting Position Table 4 2 General Operation Examples 4 3 Operation Modes 4 3 1 Normal 4 3 2 Single Step 4 4 Teaching Function 4 4 1 Teaching by User Program 4 4 2 Teaching by Input Signals 4 5 Input Condition Jump Function 4 5 1 Automatic Jump 4 5 2 Jump by External Signals 4 6 Loop Condition Jump Function 4 6 1 Setting the Loop 4 6 2 Clearing Loop Counter 4 7 Start Stop Signal Function oar wo wo O O 10 10 10 11 11 12 13 13 14 15 15 16 17 1 Before Getting Started The present Products Ezi SERVO Plus R User Manual Position Table explains position table functions of Ezi SERVO Plus R Here is User Manual_ Text User Manual Communication Function with the present manual Please utilize our product afterward understanding about proper usage method with reading these contents carefully The word as Position Table can be presented as PT Position Table from the following text In particular Please don t forget to memorize whole matters that requires attention about safety in U
8. Table The following window describes windows and buttons which execute the position table function Position Table or Slave No 0 A GeV MM ewNM o Teaching Refresh lt oo 10000 50000 50000 100000 100000 100000 100000 100000 100000 100000 SBOSCCCOCOoO I OwoOoOdMMOewN v e Save to ROM Load from ROM Save to File Load File Close m Button Description Normal Single Step The user can select modes to execute the position table Normal All position commands are in order executed according to conditions saved in the position table Single Step Only single position command is executed Run Stop Next To run stop items at the defined position table Teaching Teaching is executed by either using external input signal or user program By clicking this button the user can easily use teaching function at the user program window For more information refer to Teaching Function Refresh To display the position value measured by the teaching function For more information refer to Teaching Function Save to ROM To save current position table data in ROM drive Load ROM To open position table data saved in ROM drive Save to file To save current position table data to an external file It is saved to a folder defined by the user witha file name defined by the user The extension is txt Load File To read position table data saved to ext
9. Used to cut selected item data of PT in order to paste on other position 6 7 8 Copy Item Used to copy selected item data of PT in order to paste on other position Paste Item Right the copied data to clipboard by Cut or Copy to other selected position Run Selected Item Execute motion order from the selected no of Position Table 5 6 7 8 Double click on selected line of Position Table 3S Sta data or click the Edit Item popup menu ltem No 0010 A i v button shown above figure then the dialog box a n Noal oio zi Motion Jump Position 17500 JP Table No Low Speed 1 jv JPTO shown right is activated Once complete editing of each item and then you High Speed 100000 JPT 1 move and select other items to edit by using Accel Time 100 Decel Time 100 right left arrow key M Check Inposition I Counting Loop I Enable Continuous Action Loop Count After complete editing of all data click y JP Table No atthe Save button to save data to RAM Waiting Time after command end of loop In order to save data to ROM area click 100 I PT Output Set Save to ROM button on main screen of Position Table Clear Loop Count JP Table No se gt 3 Position Table Item 3 1 Explanation of Position Table Item Designated tem Description Unit Lower limit Upper limit Specifies type of motion Command For more
10. details refer to 3 2 0 9 Command os Specifies position movement scale by Position pulse 134 217 728 134 217 727 number of pulse Specifies low speed by number of pulse in accordance with type of motion Low Speed pps 0 500 000 For more details refer to 3 2 Command Specifies high speed by number of pulse in accordance with type of motion High Speed pps 0 500 000 For more details refer to 3 2 Command Specified acceleration time by msec when ACC time f ms 1 9 999 starting motion Specified acceleration time by msec when DEC time l ms 1 9 999 stopping motion Speed High Speed Low Speed ACCtime DEC time Specifies waiting time by msec for starting motion of next PT when i specifying PT no for jump skip Wait time If JP Table No is specified as blank or ms mee Continuous Action is specified this is ignored Speed High Speed Low Speed a Time Wait time Note Even if Wait Time is specified as O ms the system waits of position setting INP signal or motor stop signal before starting next Position Table or the completion signal Continuous action If this item is checked as check 1 the system continues actions of current position and next position Example When Position No 0 1 are specified as under that is position 0 is specified as Continuous Action
11. ernal file HE PACD B PT_Samples ce ES E PTsample Clear Position fj Tsample General Motioning E PTsample Loop counter clear E PTsample Loop Motioning TL OEN TL SAD A Files zi EE j PTsample General Motioning x Up to 256 position table commands can be input and saved x By using each position table command the user can edit the file such as edit copy paste and delete 2 3 Position Table Editor When click right mouse button on a selected Position Table data line then the following popup menu is activated Position Table No CMD Position Low Spd High Spd 0 3 5555 10000 100 1 3 0 10000 100 2 3 25000 50000 100 3 3 0 50000 100 E aiie pe ete Yee eye Y YN pee TY Eaten it Run Selected Item 5 6 3 100 7 3 Clear Item 100 8 3 Clear All Items 100 3 3 Reload Item from ROM l Cut Item Ctrl X 1 Copy Item Ctrl C 1 1 1 1 JNA D 1 Edit Item You can edit data on the following dialog box shown below 2 Clear Item All the items of selected PT are cleared After executing this function all the items are shown as blank 3 Clear All Items While above function Clear Item clears data for one selected order this function clears data for all the orders of 256 Position Table 4 Reload Item from ROM The data shown on the screen are values saved in the RAM This function is used for reload data saved in ROM area 5 Cut Item
12. le shows speed patterns for each action of command Specified Command Name Speed Pattern Value Abs Move low speed 0 Low speed Inc Move low speed 4 Abs Move high speed 1 High speed Inc Move high speed 5 Abs Move high speed with deceleration i High speed 2 Low speed Inc Move high speed with deceleration 6 Abs Move with acceleration and deceleration f Be AB ats High speed Low speed Inc Move with acceleration and deceleration J o peme 7 4 Execution of Position Table When installing User Program GUI the following files are saved in the folder named as WWFASTECHWWEZiMOTION PlusRWWPT_Samples as sample files to test Position Table WWPT_Samp esWWEzi SERVOWWPTsample General Motioning txt WWPT_Samp esWWEzi SERVO WWPTsample Loop Motioning txt WWPT_Samp esWWEZi SERVO WWPTsample Loop counter clear txt WWPT_Samp lesWWEZi SERVO WWPTsample Clear Position txt 1 2 3 4 sk DH YH WH 4 1 How to start Position Table Position Table operation is executed by input signal or communication command The followings are example of Position Table operation by input signal to be explained step by step In the case of Position Table operation by communication command the system is executed by sending the communication commands corresponding to the control input signal 1 Specify Position Table No 0 255 operated by PT AO PT A7 2 If the motor is Ser
13. n ON or OFF of Sevo during teaching Displays current position information and the value displayed in Actual Pos ition is to be teaching value When clicking this Teaching button current value displayed in Actual Pos will be saved in the item Position of the current PT No 6 above case The values are to be saved on RAM and click Save to ROM button in order to save on ROM In order to move next position select PT no by using arrow keys 11 4 4 2 Teaching by Input signal You can save current position information to the Position Table data by turning ON teaching control input signal Also when executing teaching position value no of pulse is specified as absolute position value Teaching is carried out by following orders 1 Select PT no to save data and specify items like Command etc except item Position Move motor to the position where you want to save data of it Specify PT no s that teaching is carried out by PT AO PT A7 4 Turn ON teaching signal to save current position value into item Position of Position Table data 5 If you want to apply the saved value you need to Refresh PT data in order to verify the value on the User Program GUI screen 6 The values are to be saved on RAM and click Save to ROM button in order to save on ROM A motion pattern gt OFF i Teaching Signal gt PT No
14. n set new PT number and click Run button to start the program again 10 4 4 Teaching Function Teaching signal functions that the position value pulse being working can be automatically inputted into a position value of a specific position table The following table shows type of commands and whether teaching function can be used or not Command Name Value To be used or not Abs Move low speed 0 Teaching can be used Abs Move high speed Abs Move high speed with deceleration Abs Move with acceleration and deceleration Inc Move low speed Teaching cannot be Inc Move high speed used Inc Move high speed with deceleration Inc Move with acceleration and deceleration Move to Origin oO Jo IN Ia a jA jo Clear Position 4 4 1 Teaching by user program When click Teaching button on Position Table screen the following dialog box is activated Teaching Dialog ItemNo 6 Begin 4 p End Le Move Position Status Cmd Pos 500 pulse Cmd Pos 816 pulse Move Speed 1000 pps Actual Pos 816 pulse Actual Vel 0 pps Abs Move Pos Error 0 pulse DEC Move INC Mave Teaching Close vog __ SERVO oFF pea STOP Select Position Table No the figure shows that no 6 of PT is selected among 256 Position Tables Specify position of motor where to teach and move it Tur
15. o 2 occurs only once at the first time and then repeats the loop block PT No 0 PT No 1 infinitely because the internal counter never meet the specified Loop Count Jump to PT2 after executing PT1 2 times PT 2 of PT No 2 was not specified value will Clear the Loop count of PT1 after executing PT2 Loop Counter value Speed PT 0 PT 0 PT 1 PT 1 g Time Endless Loop PT 0 PT 0 PT 1 PT 1 Refer to the sample file for test Position Table PTsample Loop counter clear fpt 16 4 7 Start Completion Signal Function By specifying the item Start Completion Signal Function user can recognize the status of Position Table whether it started operation is under operation or completed operation through control signal output If you do not want to use Start Completion Signal Function specify this item as 0 or 8 If other value is specified the position performs following actions depending on specified value If the value between 1 to 7 is specified for PT Set PT Output HEX value is output through output of PT Output O PT Output 2 at the time of starting operation If the value between 9 to 15 is specified for PT Set PT Output HEX value is output through output of PT Output O PT Output 2 after completion of operation PT Set PT Output 2 PT Output 1 PT Output 0 PT Output Value Signal Signal Signal HEX
16. or test Position Table PTsample Loop Motioning fpt 15 4 6 2 Loop Count Clear Loop Counter the item is internal counter in drive to compare no of repeat with the no specified in Loop Count of PT data This function clears looping If Loop Counter Following table shows an example of specifying Loop Counter Clear to O zero of the specified PT data after completion of Loop Count Clear is specified as blank this function is cancelled Movement maS Position Table No to Loop Counter Position Table No of Loop PT No Scale jump after completing Clear pee No to jump Loop CMD Position UP Table Non con loop Loop Counter i Loop Jump Table No Clear 0 8000 1 0 0 1 4000 0 2 2 2 0 0 0 0 1 Specify Loop Counter Clear of PT No 2 as PT No 1 2 Start operation from PT No O When starting operation system reset all Loop Count values as 0 zero 3 After repeats the loop block PT No O PT No 1 two times the Loop Counter becomes 2 two same as specified Loop Count and so system completes looping and jumps to PT No 2 4 After executing PT No 2 system jumps to PT No O Before jumping to PT No 0 system clears Loop Counter the internal counter as 0 zero 5 Then paragraph 3 and 4 are repeated infinitely 6 If the Loop Counter Clear Loop Counter increased continuously and so jumping to PT N
17. rt or stop of motor operation for each position 0 8 Not use output signal 1 7 Specifies output function when starting operation 9 15 Specifies output function when completing operation For more details refer to 4 6 Start Completion Alarm Function Loop Counter Clear If this item is checked Loop Count of specified no of PT is to be cleared For more details refer to 4 5 1 Loop Setting 0 255 Check Inpos If this item is checked stop condition iS recognized by Inposition finish 3 2 Type of Command Item Command is for specifying type of action pattern to be executed for each position and the followings in the table are list of commands Speci fied Command Name Remark Value Abs Move low speed 0 The value in the item Position is value Abs Move high speed 1 for absolute position Abs Move high speed with deceleration 2 Abs Move with acceleration and deceleration 8 Inc Move low speed 4 The value in the item Position is value Inc Move high speed 5 for relative position Inc Move high speed with deceleration 6 Inc Move with acceleration and deceleration 7 Move to Origin Execute the command to move to origin based 8 on the current parameters specified Clear Position Reset command position value and actual 9 position vale based on current position and clears the values as 0 The following tab
18. ser Manual_ Text and should try to understand proper ly Besides please be safe to do not use the products improperly in any case At worst serious concern can be occurred as like death We provide this instruction manual and other instruction manual as well Please keep these manuals in appropriate place whenever you need to find and read comfortably 2 Windows of Position Table 2 1 Loading Position Table Data When click the Pos Table button on main menu of User Program GUI then the system displays the following message box and loads data saved in RAM area of drive Loading Position Table Data 30 Functions of Position Table allows to process motions in the orders that were predefined by user In the case of this Ezi SERVO Plus R drive up to 256 steps can be saved Major functions for saving items are shown as following 1 Editing function of Motion step Input Edit Delete Copy 2 Start and Stop function of Motion order at User Program GUI 3 Start and Stop Motion function of by signal input from outside drive 4 Teaching function 5 Functions to save Motion steps as file and to load them from file 6 View function of current Position Table order under execution When electric power is supplied to drive the Position Table data saved in ROM area in drive is copied to RAM area and once click the Post Table button then the system loads the data saved in RAM area of drive 2 2 Main Window of Position
19. vo OFF turn ON Servo 3 Signal ON of PTStart input to start operation 4 2 Example for general operation Specify PT No through input data for PT AO PTA7 and then input PT Start signal to start speed control operation Specifying Position Table PT ee Beet tan Low High Accel Decel Wait Continuous sr No ue Speed Speed time time time Action No 0 3 10000 0 2500 50 300 0 1 1 1 0 1000 500 0 E 0 1 2 2 3 5000 0 1500 50 300 300 0 3 3 3 2500 0 1000 300 300 0 0 Speed t PTO Accel PTO Decel 2500 prp 7 PT2 Accel 1500 pre TE E a f a es eS PT3 Accel Decel End Time 1000 E E Siac tea ee E A l HAE Li HE m ix Waittime PTAO PTA7 PT Start input Moving output Acc Dec output LI END output x Refer to the sample file for test Position Table PTsample General Motioning fpt 4 3 Operation Modes Position Table commands can be executed by two modes as follows 4 3 1 Normal Select Normal at the main window of position table and all commands will be in order executed by conditions entered to PT data Position Table Mode Normal Single Step Slave Position Table JP Table No 3 25000 10000 100 100 1000 0 209 3 0 10000 100 100 1000 0 2 3 25000 50000 100 100 1000 0 3 gt 3 0 50000 100 100 1000 0 4s 3 2500 1 100000 100 100 100 0 5a 3 5000 1 100000 100

User Manual - Mirai Inter

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