Home

User`s Manual - Ana

1. Classification Internal circuit High limit B contact faecal rN ti 26 6B 268 DEMA ove Low limit B contact 27A 7B 27B Il STOP External stop signal ny 128A 8B 28B p boG Approximate origin ne aA t 3 294 B 298 Lud A VTP Speed Position switching signal a L 30 10B 30B rae ECMD External command signal ne aA 57 31A 11B 31B Lu mace Reverse jog operation TAN S Common eee ee M OV OV STOPDOG VIPECMD JOG 33A 13B 33B T DRVIN drive Unit Ready signal DAV 44 H E 31 34A MB 34B di DRVIN COM drive Unit Ready signal Common aOL 35A 15B 35B 4 HOME 24V Zero signal 24V Wiring vh iat 37A 17B 37B HOME 5V Zero signal 5V i Y wie using the signal 36A 16B 36B I HOME COM _ HOME 24V 5V Common Pi 7A t CON External simultaneous start en Sa i 4 KA k 1 T R7 8A x EMG Emergency stop B contact AV A T 10A d COM CON EMG Common X 1 High Low limit drive Unit Ready signal emergency stop signal should be connected to DC24V CHAPTER 2 Specification 3 Manual pulse generator input Encoder input Cla
2. 2 3 1 Input Specification Signal name Rated input Use voltage On Off Input Response g voltage curret range voltage current voltage current resistance time G DC24V A7 DC204 264V DC 16V 310 lt DC 4V 1 0fj Approx 5 10 0 1 External high a E 7 a DC24V A7 DC204 264V DC 16V 3 10 lt DC 4V 1 00 Approx 5 1 0 1 External low imit DC24V 47 DC204 264V DC 16V 3 10 lt DC 4V 1 00 Approx 5 10 0 10 Emergency stop DC 24V A 7 DC 20 4 26 4V z DC 16V 3 1 lt DC 4V 1 0 Approx 5 1 0 50 External stop DC24V 47 DC204 264V DC 16V 3 10 lt DC 4V 1 0D Approx 5 10 lt 0 10 Externa DC24V A7 DC 20 4 26 4v DC 16V 310 lt DC 4V 1 00 Approx 510 lt 0 1 command sou reverse DC 24V 4 70 DC204 264V DC 16V 310 lt DC 4V 1 00 Approx 5 10 lt 0 1 operation Drive Ready DC24V 47 DC204 264V DC 16V 3 10 lt DC 4V 1 00 Approx 5 10 0 1 External simultaneous DC24V 47 DC204 264V zDCH16V 3 1 lt DC 4V 1 00 Approx 5 10 05 start DC24V amp 9 DC204 264V zDCH16V 6 0 lt DC 4V 1 6D Approx 2 70 Om 0 4 DC 5V 8 9 DC 4 25 5 5V DC 2 5V 6 00 lt DC1V 1 90 Approx 5700 On 040 Origin lt 3 f Mi DC 5V 7 0f DC 4 25 5 5V zDC25V 3 00 lt DC1V 1 00 Appro 9400 0 60 Manual pulse generator Encoder input 1 Pulse width 2 Phase difference Encoder input 225 25g Duty
3. 4 Transistor Output Classification Pin no Internal circuit Signal 11 EE Outi Transistor output of Zone 0 gl i 12 Cre Out2 Transistor output of Zone 1 13 peg Out3 Transistor output of Zone 2 DC2AV 2H xj 5 Jm 14 M COM Outi Out2 Out3 Common 2 8 CHAPTER 2 Specification 4 Internal circuit of connector G6F PP O GGF PP D 1 Pulse output Pin no Internal circuit Signal X Y Z Open Collector Output 21A IB 21B FP Pul se F CWPulse A phase V DH E a 22A 2B 22B FP Puse GM OW Pul se A phase T DY 29 3B 238 P Pu se F COWSi gv B phase 9 24A 4B 24B RP Pu se COM OSI gr B phase External 5V 24V GND G6F PP D is not used External 5V Power Input e Y 29A MB MD n G6F PP D is not used External 24V Power Input SOR ABE AGB m G6F PP D is not used Line Drive Output 21A 1B 21B FP Pulse F QJfPul se A phase fH 38A 18B 388 P COM 22A 2B 22B FP Puse F Q VPul se A phase 23A 3B 23B RP Pu se R QJ Pul se A phase Garbo 24A 4B 24B RP Puse R QWPu se A phase 2 9 CHAPTER 2 Specification 2 Input signal
4. G4F PP1 2 30 y 4 1KQ 1K c Servo CN o o Normal limt a D Reverse li mt a ooo sanes VIP 29 VIP svi tchi ng External conm t0 3 i 24V power b u MPG pus External simultaneous start z24V 0 2A 12 17 Chapter 12 Operation Order and Installation 2 Line Drive Power Single phase 200VAC A type or Single phase LOOVAC B type h Within 10m G4F PP1 2 3D Servo N Nrral limt External stop 6 Reverse li nt i Aprox origin A armreset A armcode output Qpen Col ector 24V 0 2A Appendix 1 Positioning Terminology Appendix 1 Positioning Terminology 2 Phase pulse A phase and B phase pulse strings exist The phase difference exists and automatically is added to or deducted from pulse count Standard phase difference is 90 If B phase is behind A phase at the normal rotation direction B phase is ON after A phase A phase shall be behind B phase at the reverse rotation direction and delayed A phase is ON following A phase With this way normal rotation and reverse rotation addition deduction shall be done automatically Absolute Encoder This outputs each data within one time motor rotation to external goal point Absolute Encoder is available to
5. 5 Extended Parameter Setting Extended parameter M code output 2 AFTER 11 41 Chapter 11 MK Program 5 Operation pattern Speed Normal rotation 4kpps 4 Go on 3kpps 4 End 2kpps 4 lkpps 4 End Time 10000 Stepino 1 l 50000 20000 30000 40000 i Stepino 5 I Stepino 2 Stepino 3 Stepino 4 l l 10kpps 4 Reverse rotation End Repeat vi p rt co Start command POOOF The following s Step no 0 LB s Sa 5 z5 E S or ied 4 In operation P0011 4 In dwell MOOOF M code signal M0003 M code no D0005 M code OFF command P0002 M code OFF command P0002 p In case of Continuous Operation mode M code signal is changed with the corresponding M code no without stop whenever operation step no is changed and the operation continues p In case of Go on Operation mode if M code signal is ON it is required to change M code ON signal with OFF before operating the next operation step no 6 Program F0010 r J AME GET 0000 04370 WODO 00004 L amp ET 0000 04374 D O000 00007 P0000 POOIO P0012 r 1 m PUTP 0000 04317 0000 00001 pup 0000 00036 0000 04300 P0001 POOIO POOI PODI2 L L j H rur 0000 04300 00001 00001 P0002 POO010 M0003 PODI2 I IL j Eur
6. Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOF X axis skip operation switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal MOOOD X axis signal in constant speed D0004 X axis current operation step no M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POO002 Start switch ON OFF gt POOOF Skip operation switch ON OFF 3 Operation Data Setting Circular Circular Items of Step Coordina Control anu ca Eid interpolation aux M code Acc De d phe interpolati Position data te meted pattern method pulse ides c no Ipls s H Fo 1 Absolute Position Conti Single 10000 0 0 1 500 100 CW X setting 2 Absolute Position Conti Single 20000 0 0 1 1500 100 CW 3 Absolute Position End Single 30000 0 0 1 2000 100 CW 2 Program i GET 00001 04370 MODO 00004 GET 00001 04374 D0000 00007 aig E Tt IL o PUTP 00001 0431 7 00001 00001 PUTP 00001 04300 00036 00001 T T 0 POO11 P001 e L J H H Purr 0
7. gt When using in the Absolute coordinate gt When using in the Relative coordinate If not using C ontinuous Speed Speed operation Operation mode Operation mode ontinuous ti command Operation step no 2 Op ra ioi sten hord Operatipn mode Continuous Operatipn mode Continuous Operation step no 1 ur Operation step no 1 Time On Position P1 Position P2 Q i Position P1 Position P2 Start command A Start command il on 1 i On 1 i In Operation A In Operation Speed Speed Tim Time When using eg ek j On Position P1 Position P2 1 On Position P1 Position P2 1 Continuous In Operation i In Operation i i operation i i i i command On On Continuous A Continuous A operation i H operation i command command gt The area of A section and B section is same gt The setting goal position is P1 P2 but the current The current position set by Continuous operation command position set by Continuous operation command is P1 P2 is P2 gt If the positioning in Continuous operation mode is too small it stops to operate by Continuous operation command and carries out the next step operation Thus cares should be taken in using p gt In case of operating to the same direction by Continuous operation command Next Move from End Go on Continuous operation mode it continues to operate without stopping but in case of cha
8. Operati Operati Goal Srelllar Operatio Dwell oe Items of Step Coordinat Control P p m interpolation aux Acc De P i interpolati i nh method on on position point M code echo n speed time on Position data nO Ee d pattern method pulse pulse pls s o direction 1 Absolute Position End Single 3000 0 0 1 1000 100 CW 2 Absolute Position Go on Single 8000 0 0 1 1000 100 CW 3 Absolute Position Go on Single 10000 0 0 1 1000 100 CW 1 X setting 4 Absolute Position Go on Single 8000 0 0 1 1000 100 CW 5 Absolute Position Go on Single 3000 0 0 1 1000 100 CW 6 Absolute Position Go on Repeat 1000 0 0 1 1000 100 CW DER DRE Circular Circular Items of Step Coordinat Control Operati Operati nie interpolation aux Acc De operatio Dwel interpolati n 8 method on on position point M code G Ro n speed time on Position data j nO Abi ARA pattern method pulse pulse pls s o direction 1 Absolute Position End Single 2000 0 0 1 1000 100 CW 2 Absolute Position Go on Single 2000 0 0 1 1000 100 Cw 3 Absolute Position Go on Single 5000 0 0 1 1000 100 CW Ysetting i 4 Absolute Position Go on Single 8000 0 0 1 1000 100 CW 5 Absolute Position Go on Single 8000 0 0 1 1000 100 CW 6 Absolute Position Go on Repeat 5000 0 0 1 1000 100 CW
9. Appendix 2 7 Appendix 2 Internal Memory Address of Operation Data Grcul ar Grcul ar Goal posi ti on interpolation Cperati on speed Goal positi on interpolation Cperati on speed aux poi nt aux poi nt Low H gh Low H gh Low H gh Low H gh Low H gh Low H gh 7200 7201 7202 7203 7204 7205 7651 7653 7655 7209 7210 7211 7212 7214 7660 7662 7663 7664 7219 7220 7221 7223 7669 7671 7673 7228 7229 7230 7232 7680 7682 7237 7238 7239 7241 7689 7691 7246 7247 7248 7250 7698 7700 7255 7256 7259 7107 7709 7264 7265 7266 7268 7716 7273 7274 7277 7725 7282 7283 7284 7286 7734 7291 7292 7295 7743 7300 7301 7304 7752 7309 7310 7313 7761 7319 7322 7710 7328 7331 7719 7337 7340 7788 7346 7349 7797 7355 7358 7806 7364 7367 7815 7373 7376 7824 7382 7385 7833 7391 7394 78042 7400 7403 7851 7409 7412 7860 7421 7869 7430 7878 7439 7887 7448 7896 7457 7905 7466 7914 7475 7923 7484 7932 7493 7941 7502 7950 7511 7959 7520 7968 7529 7977 7538 7986 7547 7995 7556 8004 7565 8013 7574 8022 7583 8031 7592 8040 7601 8049 7610 8058 7619 8067 7628 8076 7637 8085 7646 8094 Appendix 2 8 Appendix 2 Internal Memory Address
10. 11 43 Chapter 11 MK Program 5 Operation pattern Y axis Position address value Step no 5 8000 7000 6000 5000 40004 3000 2000 Step no 1 Step no 4 Step no 2 Step no 3 1000 2 oa m uu p axis Position address value rigin 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 11000 6 Program root 7 8 GET 00001 04370 WOOO 00004 I gET 00001 04374 D0000 00007 F0010 2 GET 00001 08770 NDIO 00004 I GET 0000 08774 D00 0 00007 poooo PO0ID PODI2 Ll ES PUTP 00001 04317 0000 00001 PUTP 0000 04300 00038 0000 P0015 P0017 s PUTP 00001 08717 0000 00001 PUTP 0000 08700 00036 00001 P0001 POO 0 POO PODI2 TJ Re c Pur 0000 04300 0000 o000 P0015 PODIG P0017 H H Pure 0000 08700 0000 00001 POOOF PODID Poot PODI2 POOIG PODIT a p a o 0 EL M8 ov 0 gt _________________ PUTP 0000 0430 00000 0000 O PUTP 00001 04308 00003 00001 2 X PUTP 0000 04300 00005 0000 11 44 Chapter 11 MK Program 11 2 5 Position Teaching by Jog Operation and Inching Operation 1 System Configura
11. Command code 1 38 Step no 1 400 2147483648 2147483647 X10 J Inch 2147483648 2147483647 X1O I nch degree 2147483648 2147483647 X10 degreel pulse 2147483648 2147483647 ee se 0 1 2 000 000 000 X10 7 r Operation speed lower Inch 1 2 000 000 000f X10 Inch r degree 1 2 000 000 000 X10 degree nj Operation speed upper pulse 1 1 000 000 pul se s Dwell time 0 50 000 ms M code 0 65 535 Control method bit 0 0 position control 1 speed control Operation method bit 1 0 single 1 repeat Operation pattern bit 3 2 0 End 1 Go on 2 Continuous Coordinate bit 4 0 Absolute 1 Relative Acceleration deceleration no bit 6 5 0 3 Axis information in case of using plural axis r X bit 0 Y bit 1 Z bit2 ea oe NTAN Main axis setting 0 X 1 Y 2 7 S Encoder Main axis speed synchronous start rate 1 65 535 Subordinate axis speed synchronous start rate X axis step no Y axis step no 1 400 Z axis step no No use area Reset control word bit 0 0 Pulse output prohibit 1 Pulse output permit Teaching method f RAM teaching ROM teaching 0 RAM teaching 1 ROM teaching Teaching method position teaching speed teaching Position address lower O Position address upper 0 position teaching 1 speed teaching Chapter
12. 4 4 gt P24V 4 5G gy 4 4 gt 24G P5V a 4 2 Line Drive Max 10m G4F PP1 2 3D VEXTA FX u ov zd 33 HGF 1 3 Peo 4 gt P24V t 56 4 3 RHD t 246 2 eo PSV 4 i mww 7 12 15 Chapter 12 Operation Order and Installation 12 FDA 3000 AC Servo Driver Connection Open Collector FDA 3000 Max 2m G4F PP 1 2 30 PFIN ES iS m e Hef wf ed wi ef Lul NI _ o ala Pa i B ae ili E il z R a 13 FDA 5000 AC Servo Driver Connection Open Collector Max 2m G4F PP1 2 30 FDA 5000 mr 15K Y2W uz mw 4 24G P24V 5K 2W __ 3 o_o Hgh limit 4 Low i mt 5 4 External stop EM 4 gt P24V Approx origin 9 v 4 29 VIP sw tchi ng S i 39 External conm 3 77 4 e 8 gt 24G s s MPG 9 7 e 6 5 4 oe E oo o 2 L Jj 12 16 Chapter 12 Operation Order and Installation 14 SGDA EIL P Connection Example 1 Open Collector NF MC ZEN Idi pee power 0 0 0 Single phase 200VAC A type or Z7 Single phase 100VAC B type 0 0 Within 2m
13. Open collecor Line driver a 0 01 20000000 00 min Speed range Inch 0 001 2000000 000 Inch min degree 0 001 2000000 000 degree min pulse 1 200 000 pulse sec 1 1 000 000 pulse sec Acceleration decel eration process Trapezoid type S type Acceleration decel 1 65535 eration time Selection available from 4 types of acceleration deceleration pattern G4F PP10 G4F PP20 G4F PP30 G6F PP10 G6F PP20 G6F PP30 200kpps G4F PP1D G4F PP2D G4F PP3D G6F PP1D G6F PP2D G6F PP3D 1 Mpps Max connection G4F PP10 G4F PP20 G4F PP30 G6F PP10 G6F PP20 G6F PP3O 2m distance G4F PP1D G4F PP2D G4F PP3D G6F PP1D G6F PP2D G6F PP3D 10m G4F PP10 730 G4F PP20 760 G4F PP30 770 G4F PP1D 700 G4F PP2D 720 G4F PP3D 740 G6F PP10 480 G6F PP20 490 G6F PP30 500 G6F PP1D 630 G6F PP2D 750 G6F PP3D 840 G4F PP1 310 G4F PP2 325 G4F PP3 330 G6F PP1 125 G6F PP2 145 G6F PP3 151 0 zZ Z o D O a Max output pulse Consumable current Weight g Table 2 2 Performance Specification X G4F PP O G6F PP O Pulse output is Open Collector type and shows the number of axis G4F PP D G6F PP D Pulse output is Line Driver type and shows the number of axis 2 2 CHAPTER 2 Specification 2 3 External Interface I O Specification Here describes the I O interface with external equipment
14. Table 2 Show Hide function of APM software package display 4 2 2 APM Software Package Function List Main Features 1 Improved Editing function Includes block copy paste function and Undo Redo function and enables the user to write the desired operation profile as it is interlocked with Excel 2 Stereoscopic structure to verify the data easily and fast Available to verify the external I O signal and the error history easily and fast during monitoring Especially as the error history display shows the detailed error contents and actions for the errors shown on the monitoring display at one time it helps to solve the problem 3 Tracking function Provides the user to verify the operation processing visually by indicating the operation pattern in Graphic 4 Simulation function Provides the user with operation profile simulation and circular interpolation simulation function to prevent the malfunction by verifying the operation profile directly using the graph before actual operation after writing the operation data 5 Improved Printing function Available to set left right margin and heading bottom for the convenient data printing 6 Enforced Error history function Available to verify the error description and actions and save the error history as a file through error history display Chapter 4 Software Package 4 3 Working screen 4 3 1 Make working screen p gt Method 1 Select new file f
15. Homing Dwell time eSetting range 0 50 000 unit eif out of setting range Error 11 occurs Homing compensation amount eSetting range 2 147 483 648 2 147 483 647 Homing reset waiting time eSetting range 1 65 535 unit Homing mode e Setting range 0 4 Setting um Description 0 Origin detection after approximate origin OFF Origin detection after deceleration when approximate orign ON elf out of setting range Error 11 occurs Homing direction eSetting range 0 1 0 normal 1 reverse 7 8 Chapter 7 Function Block 7 3 5 Manual Operation Parameter Setting Set Manual Opertion Parameter APM_SMP This is used to change manual operation parameter without using S W Package PUEIA Variable Dal Description type type INST26 JOG JOG high speed HIGH UDINT eSetting range 1 less than speed limit unit pls s elf out of setting range Error 11 occurs JOG JOG low speed LOW UDINT eSetting range 1 less than JOG high speed unit pps elf out of setting range Error 11 occurs JOG _ UINT JOG acceleration deceleration time TIME eSetting range 1 65 535 unit INCH UINT Inching speed _SPD eSetting range 1 65 535 unit pls s 7 9 Chapter 7 Function Block 7 4 Move Data Setting Function Block 7 4 1 Move Data Setting Set Move Data APM_SMD This is us
16. dtems of Step Control Operation Operation e ae M Acc Operation pwel EISE i m No Coordinate method pattern method Postion interpolation code Dec No speed ime interpolation Position data pulse Point pulse pls s D direction i 1 Absolute Position End Single 10000 0 0 1 500 20 CW X setting 2 Absolute Position End Repeat 0 0 0 1 500 20 CW 2 Using I O variables 1 Transmits the position address value to CPU module by MW100 of MMI MW 100 2 Changes the position address value M0O position change by MMI 3 Starts indirect start M1 start command of MMI 3 Program example X axis signal in operation X axis error signal pe sai MST Tija l x snp XAT 33 L EM E 2m Emu id iHi DT FE ili X axis origin fixing signal Be START x STD Eat nar g aaar L e X axis signal X axis error signal in operation BUE an Al X p x mg Sarna AL ST PRS El i X axis signal X axis error signal in operation sul EE EIA E xul X axis origin fixing signal X Ka heat e STEP X 3I5 ATA ka 10 9 Chapter 10 GM Program 10 3 5 Position Teaching by Jog Operation and Inching Operation 1 Software package setting Items of Step 5 Control Operation Operation Goal DIM M Acc Operation Dwel Circular K No Coordinate method pattern inethod position interpolation aux code
17. Chapter 3 Function 3 2 1 End Operation Single 1 With one time start command the positioning to the goal position is executed and the positioning shall be completed at the same time as the dwell time proceeds 2 The positioning completion of this operation mode can be used as operation mode of last positioning data of Go on operation mode and Continuous operation mode 3 Operation direction shall be determined by position address 4 Operation action is trapezoid type operation that has acceleration constant deceleration section according to the setting speed and position data but the operation pattern according to the setting value is as follows a Normal operation pattern Dwell time Start command In operation In acceleration In constant speed In deceleration In dwell Positioning completion b Abnormal operation pattern When operation speed is set as higher than position transfer amount When operation speed is set as same as bias speed Speed Speed Dwell time Bias speed Dwell time On Start command Start command In operation In operation In acceleration E rex ee In constant speed In constant speed In deceleration MN a a In deceleration Dwell time Dwell time In acceleration lt r mwm E y m Positioning i Positioning completion f completion 3 22 C hapter 3 Function Example gt Operation pattern Operation mode End Operati
18. Address of internal memory Contents of internal memory Setting value 8710 Main axis setting O X axis 8711 Main axis speed synchronous start rate 100 8712 Subordinate axis speed synchronous start rate 50 8700 Command code 13 gt If the command of synchronous start by speed is executed it becomes in operation status and does not have Y axis pulse output If X axis as main axis starts and operation speed is 100pps Y axis operation speed is 50pps according to 100 50 speed synchronous start rate If X axis operation speed as main axis is changed with 1000pps Y axis operation speed is changed with 500pps according to 100 50 speed synchronous start rate Chapter 9 MK Command 9 2 14 Position Override Command code 14 1 Program PODOD PODI 0 PODI POOl P a PUTP 00001 04302 DO520 00002 PUTP 00001 04300 00014 00001 2 Description Device Description P000D X axis position override input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status gt In case that X axis in operation goal position is 500 if position override is executed before reaching the goal position the goal position is changed with 1000 and carries out the positioning operation 9 2 15 Speed Override Command code 15 1 Program PQOOE P0010 P0O1 1 P0012 I TJ ELEM DMOVP 0000001000 poszo of PUTP 00001 04304 D0520 00002 PUTP 00001 04300 00015 00
19. F lI EE PUTP 0000 04317 00001 0000 PUTP 00001 04300 00036 00001 P0001 P0010 PODI 1 P0012 L r c PurP 0000 04300 ooooi 0o00 E P0011 P0012 lt LJ A P0020 E P0010 ire POO 12 AJ Pur 0000 0430 oooot 00001 n Internal memory PUTP 00001 04318 oo000 00001 setting 4301 1 Step no PUTP 00001 04319 oo000 00001 4318 0 RAM teaching DMOVP OOOO005000 D0100 4319 0 Position teaching 4320 4321 5000 PUTP 00001 04320 D0100 00002 H Teaching data 4300 27 PUTP 00001 04300 o0027 00001 Command code 11 28 Chapter 11 MK Program 11 2 25 Parameter Change 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOF X axis parameter change switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal MOOOD X axis signal in constant speed D0004 X axis current operation step no M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POOOF Parameter change switch ON OFF gt POO002 Start switch ON OFF 3 potato Dat
20. 5 E 0 om 0 i 3 Axis Information X address 4372 b15 bl4 b13 b12 bll bl0 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 Y address 8772 Z address 13172 Axis status f 0 subordinate axis 1 main axis Main axis information X 5 0 X is not main axis No use 0 E n Main axis information Y 5 0 Y is not main axis 1 Y is main axis Main axis information Z 0 Z is not main axis 1 Z is main axis p Main axis information Encoder 0 encoder is not main axis 1 encoder is main axis Chapter 8 MK Internal Memory and I O Signal 4 External I O Signal Status X address 4373 Y address 8773 Z address 13173 b15 bl4 b13 b12 bll b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bO E eleleieleieieieieieieieieie No use 0 Stop input sig i 0 externa 1 externa externa externa Emergency stop input signal emergency stop OFF emergency stop ON nal stop OFF stop ON Command input signal 0 externa 1 externa command OFF command ON Aux command input signal J og reverse high speed i externa externa aux command OFF aux command ON High limit input signal i externa externa high limit OFF high limit ON Low limit input signal Origin input s external origin OFF external origin ON Approximate origin input signal i i VTP input sig VTP OFF VTP ON
21. 7 10 Chapter 7 Function Block 7 5 Automatic Operation Function Block 7 5 1 Origin Return Start Return To Origin APM_ORG Function block type Description APM_OR REQ DONE BASE STAT Operation command to find the origin of machine by origin return processing method such as direction compensation amount high speed and low speed address and dwell time set from Homing parameter of each axis and if Homing bit information ST1 4 is ON the homing operation of machine will end 7 5 2 Direct Start Direct Stat APM DST This is used to operate directly by setting the goal position address operation speed dwell time M code no control method coordinate setting and acceleration deceleration time no without operation data Funcion biock Variable Pata Description type type Goal position address ADDR DINT Setting range 2 147 483 648 2 147 483 647 Operation speed setting SPEE UDINT eSetting range Open Collector module 1 200 000 unit pls s D Line Driver module 1 1 0000 000 unit pls s eif out of setting range Error 11 occurs Dwell time setting DWEL INT eSetting range 0 50 000 unit elf out of setting range Error 11 occurs MCOD UINT M Code no setting E eSetting range 0 65 535 POS BOOL Position speed control setting SPD eSetting range 0 1 0 position control 1 speed control ABS BOOL Absolute R
22. feet wee seen e Best was se ne APM 2 axis APM 3 aixs Fig 26 Data Read Write dialogue box by APM module axis number After carrying out Data read it is formed newly on the working screen but after carrying out Data write the working screen is maintained as it were As data read write function can not be cancelled during working cares should be taken in using During data read write working the proceeding status is indicated in the status line in the bottom of APM software package jae Dmi owe Mob i eee Fig 27 Data read write proceeding status indication p gt Notices If you want to carry out data write while APM is in operation when Busy signal indicates ON the error message shall be displayed as follows But data read write function is available while the PLC CPU is in the RUN e Tula rame cam ba omad her he Bij Fy Hag ri UC E Fig 28 Error message 4 23 Chapter 4 Software Package 4 10 Simulation Function 4 10 1 Profile Simulation p gt Method 1 Enter the data into the axis operation data item for simulation 2 Click Profile simulation from simulation menu or click the corresponding icon from basic tool gathering 3 After setting simulation axis and step no from simulation dialogue box press execute simulation Button Items Tool gathering Short cut key Profile simulation ili SHIFT F Circular interpolation simula
23. 1 shall be assigned after positioning completion of Repeat operation mode and operated at next Start command Thus this operation can be used for the structure that several operation steps are repeated 4 In case that operation step is set as the value except 0 1 400 when Indirect Start the positioning operation shall be done with the setting step no regardless of the current operation step no But if the step no is set as 0 the positioning operation shall be done with the current step no changed by Repeat operation mode 5 Operation direction shall be determined by position address 6 Repeat operation step no change command is available to execute during operation Example 1 When operating only by Start Command In the case of step no 07 D Operation Pattern Speed As operation step no has 1 Operation mode End single not changed after repeat Operation mode End single operation it operates Step no 1 again Operation mode End repeat Operation mode End repeat Operation step no 1 Operation step no 2 Operation step no 1 Start command i i Goal Circular Operation Dwell Circle No of program Step t Control Operatior Operatior p i M Acc i Coordinate position interpolation aux speed time interpolation start command no method pattern method code dec No AA ace d pulse point pulse pls s 0 direction 1 3 1 Absolute Position
24. 1 Absolute Position Go on Single 10000 0 10 10 1000 0 Cw i 1 2 Absolute Position End Single 20000 0 20 10 2500 0 CW lt Parameter Setting gt M code Extended paraneter 2 AFTER 3 63 Chapter 3 Function gt Program go ug ue sama i Es ERI Axis operation information Axis error information 7 aA ca py fas e AXIS leron E error information information Eni Du uia i EEIE Haifa Axis error M code ON signal information 1 LL EREE T Bei api BASE STW SLOT ERR Ht wis oP ERS EIE au mag TER EE THENE i BASE pasesTa am mar su wa uos m E gu FE Program 3 21 M code Operation 3 64 Chapter 3 Function 3 18 Parameter Change from Program This is used to change the Software package setting parameter by using each parameter change command The parameter change is available only when the operation stops 3 18 1 Basic Parameter Setting gt The items available to change is as follows Basi c Par anet er Setti ng range rH 1 2 000 000 000 X10 4 nj Inch 1 2 000 000 000 X10 3l nch nj degree 1 2 000 000 000 X10 degree nj pulse 1 1 000 000 pul se s O 65 535 Dec Ti ne No A Pulse no per Rotation 65 535 ravel di stance per rotati on Pul se out put le OYW I PUSE DR 2 PHASE Uii t 1 0 0 Pulse 1 nm 2 Inch 3 Degree
25. 3 Click Data Read Write gt Select Operation parameter and Operation data gt Click Write gt Click Close after completion of transmission gt Click Operation state monitoring 4 Complete the origin determination for the corresponding axis of simultaneous start 5 Move to the item Simultaneous start step no of Command 1 gt Select Axis information gt Set step no of the corresponding axis gt Click Execute gt Make external simultaneous start signal ON 6 If external simultaneous start signal is ON it starts simultaneously to the setting step of the corresponding axis and executes to operate Display that internal simultaneous start command is executed a This is the case that the Axis information X Y Z axis and the step no is set as X 1 Y 2 Z 2 from the items of simultaneous start Chapter 6 Software Package Startup 6 4 4 Circular Arcs Interpolation gt The circular arcs interpolation operation is carried out by Middle point method and Center point method for 2 axis X Y Y Z X Z 1 First select the circular arcs interpolation method from Common parameter 0 Middle point 1 Center point 2 Set the goal position and speed by operation data of the corresponding axis In this case the operation speed of the subordinate axis should be set as 0 as it has no meaning 3 In case of Center point method of X Y circular arcs interpolation the circular interpolation
26. 9235 9238 9244 9247 9253 9256 9262 9265 9271 9274 9280 9283 9289 9292 9298 9301 9307 9310 9316 9319 9325 9328 9334 9337 9343 9346 Appendix 2 9 Appendix 2 Internal Memory Address of Operation Data Goal posi ti on Grcul ar interpol ati on aux poi nt Cperati on speed Low H gh Low H gh Low H gh Goal positi on Grcu ar i nter pol ati on aux poi nt Cperati on speed Low Hgh Low H gh Low H gh 9800 9801 9802 9803 9804 9805 10251 10222 10253 10255 9809 9810 9811 9812 9814 10260 10261 10262 10264 9819 9820 9821 9823 10269 10270 10271 10273 9828 9829 9830 9832 10278 10279 10280 10282 9837 9838 9839 9841 10287 10288 10289 10291 9846 9847 9848 9850 10296 10297 10298 10300 9855 9856 9859 10305 10306 10307 10309 9864 9865 9866 9868 10314 10315 10316 10318 9873 9874 9877 10323 10324 10325 10327 9882 9883 9884 9886 10332 10333 10334 10336 9891 9892 9895 10341 10342 10343 10345 9900 9901 9904 10350 10351 10352 10354 9909 9910
27. Berain oped Sales Bi perdtiss dete Dem Cub bs Nit od CUP He Fizatimg petit mitica cmmmund in msi allari be cerry oat fis eration photos Ma bei maljer te carey sat deceleration piep rommemd mac im operate rkaimn berei spred sajer mi operation dks ram br ore oan F Fig 43 Error history file 4 31 CHAPTER 5 Positioning Parameter amp Operation Data CHAPTER 5 Positioning Parameter amp Operation Data gt This chapter describes parameter to be set by software package p Parameter configuration of software package is as follows and this parameter items should be set at each axis But common parameter shall be applied to all axis equally I I l l Lint j Pi F E Fur l Seles per Eziabnn n r Yer p nenr i Tiavi por Poalaiion miig mi p DIG pts I ni Mulbpisr i I i Fuke AAU Mo Ba I Biss Saeed G I 1 pizis S pap List TSU SUD 4 1 uL p 1 AREE pr I ADE G Hai 5D 5 5 I ACODE Med uti i 108 sisi i ACODEC Wal 5 in l aCe Med 3n mi I Sie ppe Lint Harakat pis 2MJaBHdTps 214740847 pl RAT Lower Limi TAT AQAR pi TA AECIEHIB p 714740640 pis Eurkiash Corp 1p Fanton Complete Tim ana Kn L I Ex Carnmand Tad r Sar i tard Fyles Cutty Ciir 1 w Cada Out Hi OE y ies song Esja real Short Diis ab le EE HiL H TE Esti mal Hap L the rauzis D Car al Ext Cintura Star Disable igacle Ot Diet Edema TP Lira ab ae t zl ETTE EW Limk Geter D o Crete t ceri D Ha Des 1 Pailin Do
28. rotation are not possible 5 2 8 External Stop p gt In case of using external deceleration stop function during positioning operation separate from internal deceleration stop the external stop should be set as permitted 5 2 9 External Simultaneous Start M In case of starting 2axis 3axis simultaneously by the external simultaneous start it should be set as permitted gt External simultaneous start executes the axis information and operation step number first by internal start command and then makes the external simultaneous start input ON gt If external simultaneous start is set as permitted it starts only by external simultaneous start input despite of the execution of internal simultaneous start command 5 2 10 External Speed Position Switching gt External speed position switching should be set as permitted in command to switch the position control by external signal during equal speed operation by speed control 5 2 11 Equal Speed Operation S W High Low Limit gt This is used to stop the pulse output during equal speed operation by speed control because of detection of S W high low limit p gt In this case the origin determination is completed and the position indication during equal speed operation should be set as indication for the detection of S W high low limit 5 2 12Position during Equal Speed Operation gt If you want to know the current position during equal speed operation by speed control
29. 104 105 2000 7 Operation speed p PUTP 0000 00104 D0102 00002 fj 106100 Dwell time PUTP 0000 00106 00100 00001 10 h0000 Control word PUTP 0000 00108 hoooo 0000 j 4300 34 Command code PUTP 0000 04300 00034 00001 L 11 33 Chapter 11 MK Program 11 2 29 Point Operation 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch POOOF X axis Point operation switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POOOF Point operation switch ON OFF 3 Operation Data Setting Sep Operati Operati Goal ereua Operatio Dwell Circular Items of Step Coordinat Control P P 2s interpolation aux Acc De P interpolati s ri 8 method on on position point M code Cho n speed time on Position data s nO TOI pattern method pulse pulse pls s o direction 1 Absolute Position End Single 1000 0 0 1 1000 20 CW
30. 16 4 7 Monitoring Huh ern ed ca eo a cb eee tas ax GV ees 4 19 4 7 1 MODIDOGIBIO dco ise pto occas St quee tu SN M MEE aca Pa ELI ence es 4 19 4 8 Tracking RUN uurren t Roda edam eeu de uk Ld Sci 4 21 AGA TRACKING esta e Let EDI SE VERRE Rd ESI DOW dc Ewa DE EE Kv RC RO EE 4 21 4 9 Data Read Write Function sss 4 24 4 9 1 Data Read Write eerie quee tonno Ed e acea ad c a d e eat 4 24 4 10 Simulation Functlon erra Rune ne xn nena aen 4 25 410 1 Profile SITmlbonso iore ergo bte axe Deo petes ak ae pete eRe aes 4 25 4 10 2 Circular Interpolation Simulation esses 4 26 4 11 State Display External I O signal and Error History Function 4 28 4111 State Display esi isole ere uat attest Peu Prod up IM a LU LIE UP akt 4 28 4 11 2 External I O Signal Function uu 42 Ru x8 09 E Cr a EE Rr e va dae e e eu oia 4 28 ATS Error History FUHGHOIoy icu Py opo Ov RR Ud E d d a C Or EE NON 4 29 4 12 Printing Function ro eoo eoi kde EX XXE RR ERR XR Cd ok 4 30 4 12 1 Prinbcmsitive PR ai e 303a di T E E EA A E 4 30 4 13 Environment Setting FUNCTtION cece cee eeee eee ee eee ee ee eeenes 4 31 4 11 1 Environment Setting FUNCION es eoe terni Eine XR RR TELE ARTIMPLI EE RA 4 31 LaL aer m 4 32 4 14 1 System Check FUNCION eres ai aa vk Sco ER E EY XXI DR PER A 4 32 4 14 2 Error History File Writing FUNGHOMN 2 ies u
31. Anount degree 2 147 483 648 2 147 483 647 X10 degree pulse 2 147 483 648 2 147 483 647 pul se Fonnng reset vai ting Ti ne O 65 535 0 DOG origi nN OFF 1 orig AN Z higyTow limt origin poping node approxi nate origin 4 high speed origin 3 Honing di recti on 0 normal 1 reverse Example gt Program Program Status information operation information error reset is same as Program 3 22 ee Xn F Axis operation AXIS error information information Xm wi CO ESTILI nm F ir a HB Axis Operation Axis error information information Axis operation Axis error information information pF Azul Program 3 24 Homing parameter Setting 3 67 Chapter 3 Function 3 18 4 Manual Operation Parameter Setting gt The items available to change is as follows Manual Qperati on Setti ng Range Par anet er J GG hi gh speed D 1 2 000 000 000 X10 4 r Inch 1 2 000 000 000 X10 3l nch r J CG ow speed degree 1 2 000 000 000 X10 degree nj pulse 1 1 000 000 pul se s JOGacc dec tine O 65 535 nchi ng speed Example gt Program pps H 1 65535 X10 1 n n Inch 1 65535 X10 nch nin degree 1 65535 X10 degree nin pulse 1 65535 pul se sec Status information operation information error reset is same as Progr
32. Dec No Speed time interpolation Position data puse Point pulse pls s D direction i 1 Absolute Position End Single 0 0 0 1 1000 100 CW X setting 2 Absolute Position End Single 0 0 0 1 0 0 Cw 2 Operation pattern speed Jog low speed normal rotation Sdadetosedetevetorsducersteds Position Tw STN ESTE SU itir eer eA X axis signal X axis error signal in operation X axis origin complete signal A hE r gm EL LJ in Ti TAR im 10 10 Chapter 10 GM Program 10 3 6 Positioning Speed Change Next Move 1 Software package setting i ircul i Dwell ircul Items of Step Control Operation Operation Goa eich i M Acc Operation Me Circu No Coordinate faethod aitem inethod position interpolation aux code Dec No speed time interpolation Position data P pulse Point pulse Iplsis D direction 1 Absolute Position Go on Single 100000 0 0 1 1000 100 CW 2 Absolute Position Go on Single 150000 0 0 1 5000 100 cw 3 Absolute Position End Repeat 0 0 0 1 10000 100 Cw Xsetting 10 Absolute Position Conti Single 200000 0 0 1 2000 100 CW 11 Absolute Position Conti Single 250000 0 0 1 10000 100 cw i 12 Absolute Position End Repeat 0 0 0 1 15000 100 CW 2 Operation pattern Speed Normal 10kpps Continuous operation Skpps G
33. Extended parameter Homing parameter setting Homing parameter Manual operation parameter setting Manual operation parameter Common parameter setting Common parameter Operation data setting Operation data Emergency stop Error reset output prohibit release Pulse output prohibit permit Error history reset Point operation No of Point Point data Chapter 9 MK Command 9 2 Use of Command Code p gt Here describes the command of command code 1 38 gt The setting of command code is based on X axis and describes the program method But in this case the I O word no of positioning module is P0010 P002F gt For Program method there are the method to use Push button switch for command input and the method to use Toggle switch for command input Ex 9 2 1 Homing start gt As Article 9 2 2 9 2 36 is programmed by the method using a Push button switch if you use the Toggle switch you are required to modify it by the program method of Art 9 2 1 Homing Start 9 2 1 Homing Start Command code 1 1 Program the method using a Toggle switch P0000 D 40000 H wm PODIO POO P0012 m H H FR Pate 00000 04300 0000 0000 2 Program the method using a Push button switch PDODO P0010 P001 1 P0012 L L Purp 0000 04300 0000 o0001 3 Description Device Description P0000 X axis homin
34. GO NI O1 Bo PO GO O2 O1 S G2 PO 1S NI On B OS PO O 2 On S C LO O1 Boo ro 5 O No use The area to indicate the information for the I O signal of positioning module from external machine Chapter 10 GM Program 10 2 Basic Program For basic program please refer to Chapter 3 No Program Name Page 1 Basic Floating point setting 3 1 2 Basic Linear interpolation start Floating point setting 3 4 3 Basic Circular interpolation start Floating point setting 3 9 4 Speed control 3 16 5 Position Speed conversion control 3 19 6 End operation Homing 3 22 7 End operation Repeat operation step no change 3 24 8 Jog operation 3 44 9 Manual pulse generator 3 45 10 Inching operation 3 47 11 Return to the position before manual operation 3 48 12 Speed change 3 49 13 Operation step no change by Continuous operation 3 54 APM_NMV 14 Positioning speed override command 3 52 15 Position change by position override 3 53 16 Current position change 3 56 17 Single teaching 3 58 18 Plural teaching 3 59 19 Start step no change 3 60 20 Skip operation 3 61 21 M code operation 3 63 22 Basic parameter setting 3 64 23 Extended parameter setting 3 65 24 Homing parameter setting 3 66 25 Manual operation parameter sett
35. If P0040 is ON X axis common parameter Auto Reload of internal memory address 52 is changed with 24999 9 2 34 Operation Data Setting Command code 34 1 Program P0041 P0010 P0011 P0012 j H ey DMOVP 0000016000 posoo MES 0000001200 D0302 PUTP 00001 00100 D0300 00002 PUTP 00001 00104 D0302 00002 PUTP 00001 00106 hoo10 00001 PUTP 00001 04300 00034 00001 2 Description Device Description P0041 X axis operation data setting input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status 9 16 Chapter 9 MK Command step no 1 Address of internal memory Contents of internal memory X axis Setting value 100 101 Goal position Step no 1 16000 104 105 Operation speed Step no 1 1200 108 Operation data control word h0010 Relative Position Single End acceleration deceleration time 1 If P0041 is ON X axis step no 1 operation data is changed as the setting value 9 2 35 Emergency Stop Command code 35 1 Program P0042 2 Description PUUID PUUIT PQUI2 m E93 ee o0001 04300 00035 00001 Device Description P0042 X axis internal emergency stop input P0010 X axis command receiving If P0042 is ON X axis stops emergently and becomes pulse output prohibit status 9 2 36 Error Reset Output Prohibit Release Command code 36 1 Program P0043 P0010 P0012 L
36. LG Programmable Logic Controller Advanced Position Module Pulse Output Type G4F PP10 30 GLOFA G4F PP1D 3D MASTER K G6F PP10 30 G6F PP1D 3D Before Using the Product Before using the product please read this user s manual thoroughly for the effective use of the product The Safety Precautions The safety precautions should be complied by the user to use the product safely and correctly to prevent the occurrence of any accident or danger Notices is divided by Warning and Caution and each meaning is as follows Pee E peda Ie a a ge we CPO IR ee EM CN Tu PA Warning I incase of violating the instructions it may cause the significant injury or death i ZIN Caution in case of violating the instructions it may cause the slight injury or product damage The meaning of symbols used in the product and user s manual is as follows means to take care as the danger may occur AN means to take care as the electric shock may occur After using the user s manual you should keep it in the place where the users can see it easily whenever they need Li Notices in Design gt I O Signal Communication Cables shall be designed apart at least 100mm from high tension wire or power cable to avoid the influence caused by the noise and the change of magnetic field It may cause the malfunction by the noise gt Please take cares not to apply the lamp directly to the
37. S I I I I I I I I Normal axis3 Aisa aa amdunt 5 1 5000 Axis2 transfer amount 5000 Start address present stop position Axis1 transfer amount 10000 Reverse Normal axis1 Reverse Reverse Software Package Setting ircul i Dwell ircul Items of Step Control Operation Operation sus l Circu ar M Acce Operation me l Circu a n Coordinate method aite method position interpolation aux coda dece No Speed time interpolation position data P pulse Point pulse gt pss mI direction Position 3 X Setting 1 Absolute boni End Single 10000 0 0 1 100 0 Cw Position Y Setting 1 Absolute Sonit End Single 5000 0 0 1 100 0 Cw Positi ZSeting Absolute ini End Singe 5000 0 0 1 100 0 cw 3 7 Chapter 3 Function The Program is same as Program 3 2 3 8 Chapter 3 Function 3 2 axis Circular interpolation control gt 2 axis circular interpolation control begins the interpolation operation to the traveling direction of each axis using 2 motors and there are 2 kinds of methods Middle point method that passes the assigned position and Center Point method that acts as an circle using the assigned position as a center position gt The available axis combination for circular interpolation control are 3 types X and Y X and Z Y and Z 1 Circular interpolation control by Middle point assigned method 1 Control by Absolute method Absolu
38. X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 3 Operation Order P0021 Homing switch ON OFF gt P0022 Jog high speed normal rotation switch ON OFF gt P0023 Jog high speed reverse rotation switch ON OFF gt Inching transfer amount setting by BCD digital switch gt POO24 inching normal rotation switch ON OFF gt Inching transfer amount setting by BCD digital switch gt POO25 inching reverse rotation switch ON OFF gt P0026 position teaching switch ON OFF gt P0021 Homing switch ON OFF gt POO2F Start switch ON OFF 4 Operation Data Setting eee Operati Operati Goal reula Operatio Dwell Circular Items of Step Coordinat Control P P m interpolation aux Acc De P interpolati o fio method on on position point M code ae n speed time on i Position data pattern method pulse pulse pls s D1 direction 1 Absolute Position End Single 0 0 0 1 1000 100 CW X setting 2 Absolute Position End Single 0 0 0 1 0 0 CW Pe S222 i222 5 Operation pattern Speed J og high speed normal rotation 77777777 Position 11 46 Chapter 11 MK Program i Program TE SIE GET 00002 04370 MODO 00004 GET 00002 04374 poood 00007 de T ae To PUTP 00
39. carried out on 2 axis APM module Fig 19 The command items prohibited when selecting 1 axis APM module p gt Notices Communication error When APM module does not carry out the command normally after the command execution APM module and communication does not work to connect or the data can not be entered APM software package shows the following error message and returns to the initial status Fig 20 Error message Command axis setting error n case of command axis setting if it does not fit with Monitoring axis or Tracking axis for example monitoring axis is set as Y axis and the command axis is set as X axis the error message will be displayed as follows e Tanara wei handed bet tane i Tahir foi Fig 21 Error message Chapter 4 Software Package 4 7 Monitoring Execution 4 7 1 Monitoring p gt Method 1 2 3 Execute set online model After selecting the axis for monitoring from monitoring screen select operation status monitoring from monitoring item or click the corresponding icon from basic tool gathering If you press monitoring button once monitoring is executed and if you press the button one more it stops Items Tool gathering Short cut key Monitoring T SHIFT M Table 9 Monitoring tool gathering gt Function Description Execution environment While executing monitoring data read write and Tracking function s
40. ssseseeeeeeee APP 2 5 APP 2 9 3 Internal Memory Address of Z axis Operation Data ccccceeeeeeee eee e eens Chapter 1 Overview Chapter 1 Overview This user s manual describes the standard of positioning module installation method the method to use each positioning function programming and the wiring with external machine as below No of Product Name Control Axis Open Term Related S W Package Collector Ads G4FPPIO GarpPip ER catan eab G6F PP1O G6F PP1D data1 hdr Gia dataz cab a ikernel ex_ G4F PP20 G4F PP2D E PUR G6F PP20 Ger Ppop jlavoutbin APM S W Package Bii setup bmp Setup says G4F PP30 G4F PP3D pm n G6F PP3O G6F PP3D E SAUP ja setup inx G4F PP10 G4F PP20 G4F PP30 G4F PP1D G4F PP2D G4F PP3D G6F PP10 G6F PP20 G6F PP30 G6F PP1D G6F PP2D G6F PP3D modules are described APM advanced position module 1 1 Characteristics The features of positioning module is as follows 1 The positioning module is available for GLOFA GM Series and MASTER K Series 2 Various positioning control function It has various functions needed for positioning system such as positioning control at the random position equal speed operation etc 1 The operation data including positioning address and operation method operation pattern is available to set max 400 at each axis With this operation data the positioning at each axis is carried out 2 3 axis
41. ul direction 1 1 Absolute Position Continuous Single 10000 0 0 1 1000 0 ew 2 2 Absolute Position End Repeat 20000 0 0 1 500 0 CW Program Program is same as Program 3 6 3 27 Chapter 3 Function 3 3 Positioning Start gt When the operation stops during position control action by stop cause the positioning is carried out at the stopped position address value by starting again gt There are 8 kinds of start 1 General start command 2 Synchronous start command 3 Synchronous start command 4 Linear interpolation start command 5 Circular interpolation start command 6 Homing start command 7 Jog start command 8 Inching start command gt When you carries out the Start the signal in operation should be OFF 3 3 1 General Start 1 Program Start 1 The general start command to start the positioning operation data at Program is applied to GM4 GM6 and K200S K3008 differently 2 GM4 GM6 have Indirect start APM IST and Direct start APM_DST and MASTER K200S K300S have Indirect start Command code 4 Direct start Command code 3 and the start method by P contact No P n 1 0 P n 1 5 P n 1 A 2 Start by External Input Signal 1 External command A If setting the external start of extended parameter as permitted and the command selection as Start the positioning operation data starts according to the current operation step no whene
42. 0000 04300 00022 00001 POOOF Pool P0012 1 n poozo 11 42 Chapter 11 MK Program 11 2 4 2 axis Linear Interpolation Operation 1 System Configuration System configuration is the system that Y axis SERVO motor is added to Artc 11 2 1 X axis SERVO motor 2 Used device Device Description P0000 X Y axis error reset output prohibit release switch P0001 X Y axis homing switch POOOF 2 axis linear interpolation operation switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information P0015 Y axis command receive signal P0016 Y axis signal in operation P0017 Y axis error status signal M010 M013 Y axis status information read operation status bit information axis information external I O signal status D0010 D0016 Y axis operation information read current position speed step no M code error information 3 Operation Order P0001 Homing switch ON OFF gt PoO00F linear interpolation switch ON OFF gt POO00F linear interpolation switch ON OFF 4 Operation Data Setting
43. 11584 11585 11587 11144 Appendix 2 11 11593 11594 11596 Appendix 2 Internal Memory Address of Operation Data Goal posi ti on Grcul ar i nter pol ati on aux poi nt Cperati on speed Low H gh Low Hgh Low H gh Goal positi on Grcu ar i nter pol ati on aux poi nt Cperati on speed Low Hgh Low H gh Low Hgh 11600 11601 11602 11603 11605 12051 12022 12053 12055 11609 11610 11611 11612 11614 12060 12061 12062 12064 11619 11620 11621 11623 12069 12070 12071 12073 11628 11629 11630 11632 12078 12079 12080 12082 11637 11638 11639 11641 12087 12088 12089 12091 11646 11647 11648 11650 12096 12097 12098 12100 11655 11656 11657 11659 12105 12106 12107 12109 11664 11665 11666 11668 12114 12115 12116 12118 11673 11674 11675 11677 12123 12124 12125 12127 11682 11683 11684 11686 12132 12133 12134 12136 11691 11692 11693 11695 12141 12142 12143 12145 11700 11701 11702 11704 12150 12151 12152 12154 11709 11710 11711 11713 12159 12160 12161 12163 11718 11719 11720 11722 12168
44. 1164 1165 1167 1615 1172 1173 1174 1176 1624 1181 1182 1183 1185 1633 1190 1191 1192 1194 1642 1199 1200 1201 1203 1651 1208 1209 1210 1212 1660 1217 1218 1219 1221 1669 1226 1227 1228 1230 1678 1235 1236 1237 1239 1687 1244 1245 1246 1248 1696 1253 1254 1255 1257 1705 1262 1263 1264 1266 1714 1271 1272 1273 1275 1723 1280 1281 1282 1284 1732 1289 1290 1291 1293 1741 1298 1299 1300 1302 1750 1307 1308 1309 1311 1759 1316 1317 1320 1768 1325 1326 1329 1777 1334 1335 1338 1786 1343 1344 1347 1795 1352 1353 1356 1804 1361 1362 1365 1813 1370 1371 1374 1822 1379 1380 1383 1831 1388 1389 1392 1840 1397 1398 1401 1849 1406 1407 1410 1858 1415 1416 1419 1867 1424 1425 1428 1876 1433 1434 1437 1885 1442 1443 1446 1894 Appendix 2 2 Appendix 2 Internal Memory Address of Operation Data Goal posi ti on Grcul ar interpol ati on aux poi nt Cperati on speed Low H gh Low H gh Low H gh Goal positi on Grcu ar i nter pol ati on aux poi nt Cperati on speed Low H gh Low H gh Low H gh 1901 1902 1903 1904 1905 2350 2351 2353 2354 2355 1910 1911 192 1914 2359 2360 2362
45. 4320 4321 Teaching data setting D0500 D0501 D0540 D05441 D0542 D0543 4300 Command code 27 27 27 7 Operation pattern Normal rotation speed Reverse rotation speed Start command In operation 11 37 Teaching data setting value set in Touch Screen is saved as the setting value Position Chapter 11 MK Program 8 Program F0010 Tooo GET 00001 04370 MOOO 00004 Lo GET 00001 04374 D0000 00007 ja E ii i RN 00001 04317 0000 00001 PUTP 00001 04300 00036 00001 di ii Pool P0012 ft H H Pure 0000 04300 0000 00001 P0002 ii 0 POI 1 POOI2 me s Hi EE 00001 04301 0000 00001 PUTP 0000 04318 00000 00002 PUTP 00001 04320 D0500 00002 PUTP 00001 04300 00027 00001 Bg J D POO P0012 PUTP 00001 04301 00001 00001 l PUTP 00001 04318 00000 00001 PUTP 00001 04319 0000 00001 PUTP 00001 04320 D0540 00002 T t t H4 Tt PUTP 00001 04300 00027 00001 P0004 a 0 POI I POI 2 L TJ H Hr Pur 00001 0430 00002 0000 PUTP 00001 04318 00000 00001 PUTP 00001 04318 0000 00001 PUTP 00001 4320 D0542 00002 LI T t t A PUTP 00001 04300 00027 00001 a Pool PODI eI L Pong0 11 38 Chapter 11 MK Program 11 2 2 End Operation Go on Operation Continuous Operation Positioning 1 System Configuration System configuration is same as Art 11 2 1 p gt T
46. 4344 8744 13144 4345 8745 13145 Teaching array data 12 lower Teaching array data 13 lower Teaching array data 13 upper 8746 13146 Teaching array data 14 lower Teaching array data 14 upper Teaching array data 15 lower Teaching array data 15 upper Teaching array data 16 lower Teaching array data 16 upper 1 Position teaching setting range 2147483648 2147483647 X10 J Inch 2147483648 2147483647 X10 I nch degree 2147483648 2147483647 X10 degree pulse 2147483648 2147483647 pul se 2 Speed teaching setting range 1 2 000 000 000 X10 r m Inch 1 2 000 000 000 X10 3l nch ni degree 1 2 000 000 000 X10 degree ni pulse 1 1 000 000 pul se s The number of Teaching 2 Command Information Setting 1 Command code A Set in X 4300 Y 8700 Z 13100 respectively B For command code setting refer to Chapter 9 Command C Command code in PLC program should be set after command condition for the action by command Example P0010 Poo P0012 TE J hey H Setting condition for command 8 Chapter 8 MK Internal Memory and I O Signal 2 Control Word of Command Information X address 4310 b15 b14 b13 b12 bll b10 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 Y address 8710
47. 5756 5765 5774 5783 5792 5801 5810 5819 5828 5837 5846 Appendix 2 6 Appendix 2 Internal Memory Address of Operation Data Goal positi on Grcul ar interpol ati on aux poi nt Cperati on speed Low H gh Low Hgh H gh Goal positi on Grcu ar i nter pol ati on aux poi nt Cperati on speed Hgh Low H gh Low H gh 6300 6301 6302 6303 6305 6751 6753 6755 6309 6310 6311 632 6314 6760 6762 6764 6319 6320 6321 6323 6769 6771 6773 6328 6329 6330 6332 6778 6780 6782 6337 6338 6339 6341 6787 6789 6791 6346 6347 6348 6350 6796 6798 6800 6355 6356 6359 6805 6809 6364 6365 6366 6368 6814 6373 6374 6377 6823 6382 6383 6384 6386 6832 6391 6392 6395 6841 6401 6402 6404 6850 6410 6413 6419 6422 6868 6428 6431 6877 6437 6886 6446 6455 6904 6464 6913 6473 6922 6482 6491 6940 6949 6958
48. 9 2 12 Synchronous Start by Position Command code 12 1 Program POOOB P0015 P0016 P001 i L tH vs DMOYP 0000002000 posoo PUTP 00001 08702 D0500 o0002 PUTP DODDI 08710 00000 00001 PUTP Q0001 08713 o0001 o0001 PUTP Q0001 08700 00012 00001 Chapter 9 MK Command 2 Description Device Description P000B Y axis synchronous start by position input P0015 Y axis command receiving P0016 Y axis signal in operation P0017 Y axis error signal D0500 D0501 Position address synchronous start by position Address of internal memory Contents of internal memory Setting value 8713 X axis step no 1 8702 8703 Position address synchronous start by position 2000 8710 Main axis setting O X axis 8700 Command code 12 gt If the command of synchronous start by position is executed it becomes in operation status and does not have Y axis pulse output If No 1 step of X axis as main axis starts and the current position is 2000 No 1 step of Y axis starts and has the pulse output 9 2 13 Synchronous Start by Speed Command code 13 1 Program o0001 08710 o0000 00001 o0001 O8711 00100 00001 o0001 08712 00050 00001 00001 08700 00013 00001 2 Description Device Description P000C Y axis synchronous start by speed input P0015 Y axis command receiving P0016 Y axis signal in operation P0017 Y axis error status
49. If indirect start command step no current step no occurs in the stop state afterward Absolute method operation operates the residual position of the current operation step that is not outputted and Relative method operation operates as much as the goal address 2 Deceleration section gt Even if deceleration stop command is executed in the deceleration section the positioning completion signal M code signal will occur same as normal stop p gt lf deceleration stop command is executed in the deceleration section of Go on operation mode and Continuous operation mode the deceleration stop command is not processed and it carries out the positioning operation by the setting Go on operation pattern and Continuous operation pattern of operation data 2 Emergency Stop External Input High Low Limit Processing gt If Emergency stop command or external input high low limit is entered during positioning control the positioning control will stop and it becomes output prohibited state and then error will occur 3 Priority of Stop Processing The priority of Stop Processing of positioning module is as follows Deceleration stop Prompt stop gt If encounters the prompt stop cause in the deceleration section in positioning the prompt stop processing will be done at that point But if the prompt stop time is longer than deceleration time it continues the deceleration stop processing even if the prompt stop cause occurs during deceleration st
50. O x 1 L x 10 2 x 100 3 x 1000 Uni t nagni f i cati on Example gt Program eT x snis xii Pu FULL E ka mE 1 Axis operation Axis error X SLATE information information a u 0 nm Y i2 Mex STER Bas PIT fi Acc ng T EM Y De T ore Ax Dg a Ur Fil j AX DIT T RE HJ JA ii Eni F I r F TE L M Axis operation is error information W M A 12 IT XSngp XT Nt FII 1 ug HIT Axis operation E errr information information pysy m Program 3 22 Basic Parameter Setting 3 65 Chapter 3 Function 3 18 2 Extended parameter Setting gt The items available to change is as follows Extended par anet er Setti ng Range Soft high lint upper g 2 147 483 648 2 147 483 647 20 T J Inch 2 147 483 648 2 147 483 647 X10 nch Sor Tow me oa degree 2 147 483 648 2 147 483 647 X10 degree pulse 2 147 483 648 2 147 483 647 pul se Backl ash conpensati on anount Posi ti oni ng conpl eti on si gnal out put 0 65 535 tine S Curve rae 1 100 External conmand signal selecti on 0 START 1 J GG operation 2 SK P Pul se out di recti on 0 Qy I OW Accel erati ory Decel eration pattern 0 Trapezoi d operation 1 S Curve operati on Mde node _ 0 NONE 1 WTH 2 AFTER o citer Da d 0 no indication 1 indication Soft hi gh lowli
51. ON Origin return high speed Origin return low speed Origin compensation amount Origin return Dwell Time Origin return Command Apprxi Origin detection Origin detection Origin return Dwell Time signal In processing of origin return Origin return completion i 5 3 5 Origin return High speed gt The speed when returning to the origin by origin return command high speed and low speed gt When setting the origin return speed it should be speed limit 2 origin return high speed 2 origin return low speed gt The speed that acts to the constant speed section via acceleration section by origin return command gt Origin return high speed setting range G4 6F PP1 2 30 gt 1 200 000 unit 1pps G4 6F PP1 2 3D gt 1 1 000 000 unit 1pps 5 3 6 Origin return Low speed gt The speed that acts to the constant speed section from high speed section via deceleration section by origin return command gt Origin return low speed setting range G4 6F PP 1 2 30 gt 1 200 000 unit 1pps G4 6F PP1 2 3D gt 1 1 000 000 unit 1pps gt When setting the origin return speed it is recommended to set the origin return low speed as low speed as possible gt If setting the low speed as too fast it may cause the incorrect origin signal detection 5 17 CHAPTER 5 Positioning Parameter amp Operation Data 5 3 7 Waiting Time for Reset gt This is the time to be set when using the origin return method
52. Operation Ma 2 viu ar Coordinate position interpolation aux speed time interpolation no method pattern method f code Dec no qam pulse Point pulse pls s 11 direction 1 Absolute Position End Single 100000 0 0 1 1000 0 cw gt Program x 3T X TE 3T3 x sn KATS ae XS X UR TR pa amo XT Lu B AA AA _ 3 RHI Axis operation Axis error information information WE BASESTA sto xDD ESTE WPL IST i n Fa a a Wy D iur pau Axis operation Axis error information information WE aE Star x wes iE STi avi at rk F am an Axis operation Axis error information information WE Y AXIS SLOT STEP Mi STEF 20000 Change Speed 3000 Program 3 14 Positioning Speed Override Command 3 53 Chapter 3 Function 3 9 Position Change during Positioning Operation 3 9 1 Position Change by Position Override 1 This is used to change the goal position during positioning operation by positioning data 2 As the operation is different according to Position Override command during operation cares should be taken in using That is if passing the desired position to change during operation it carries out deceleration stop and continues the positioning operation by next operation pattern while if not passing yet it carries out the positioning operation by the changed position 3 Position override command is used in the operation pattern Acceleration
53. Output prohibit shall be released by RST command as output prohibit release option Check if Driver ready signal is entered correctly You can check it by external I O signal window in the monitoring of Software Package and also by reading no 1 bit of SRD function block ST7 or no 9 bit of external I O signal address Install the upper limit detection sensor in the direction that the current position increases and the lower limit detection sensor in the direction that the current position decreases Get rid of S W upper limit signal range by Jog command and then carry out RST command and clear the error Output prohibit shall be released by RST command as output prohibit release option Get rid of S W lower limit signal range by Jog command and then carry out RST command and clear the error Output prohibit shall be released by RST command as output prohibit release option Command code is reserved from 1 38 The step greater than 400 was set to the command Please re set the step no within the range from 1 400 Chapter 8 MK Internal Memory and I O Signal Chapter 8 MK Internal Memory and I O Signal 8 1 Internal Memory gt Here describes internal memory for MASTER K200S 300S p Internal memory saves positioning module and data for sending receiving between PLC CPU p Parameter and operation data setting of internal memory should be set in the assigned address of internal memory PUT PUTP command p gt
54. POO2F gt In case of the command by P contact signal such as P contact start Jog operation normal direction Jog operation reverse direction MPG operation Encoder it is not allowed to use the command receiving signal but allowed only in case of operation by the command code Chapter 8 MK Internal Memory and I O Signal Ne sss a X a a Hn 2 Start PO n 1 0 PO n 1 5 PO n 1 A 1 Start signal carries out the positioning operation according to the current operation step no of positioning module without setting the step no other than indirect start or direct start by command code 2 In case of changing the current operation step no during operation it is required to use the command code 20 start step no change command 3 Example of Start Program P contact start A Use Push button switch as Start external input switch B In case of using the Toggle switch as Start external input switch the signal in operation shall be OFF after positioning completion and it restarts automatically Thus cares should be taken in using POOOF POOI 1 POOI2 E y hy ___________ pono POOOF X axis Start external input P0011 P0012 P0020 But in this case the I O word no of positioning module is P0010 POO2F p gt In case of Start by P contact signal indirect start direct start linear interpolation operation circular interpolation operation position sy
55. T PUTP 00001 04317 0000 00001 PUTP Q0001 D4300 00036 o0001 2 Description Device Description P0043 X axis error reset input P0010 X axis command receiving P0012 X axis error status gt If P0043 is ON the error occurred on X axis will be reset and the pulse output prohibit status will be released If the value of address 4317 is 0 according to internal memory address 4317 the error status only is released and if the value of 4317 is 1 pulse output prohibit status will be released at the same time 9 2 37 Error History Reset Command code 37 1 Program P0044 P0010 POO 1 ml EM M 4 ur 00000 04300 00037 0000 2 Description Device Description P0044 X axis error history reset input P0010 X axis command receiving P0011 X axis signal in operation If P0044 is ON the error history of internal memory address 4381 4390 occurred on X axis till now will be reset 9 17 Chapter 9 MK Command 9 2 38 Point Operation Command code 38 1 Program P0045 PODIO Pool POOI2 L TJ Hp Purr 0000 04200 0000 o0 PUTP 00001 04201 00010 00001 PUTP 00001 04202 00020 00001 PUTP X O0001 04220 00003 00001 PUTP A Q0001 04300 00038 oo001 2 Description Device Description P0045 X axis Point operation input P0010 X axis command receiving P0011 X axis signal in operati
56. X subordinate axis Y is as follow Software Package Setting Operation Data DOES ircul ion Dwell j Items of Step Control Operation Operation COR Crea a M Acc Operation ii sales X Coordinate position interpolation aux speed time interpolation Position data no method pattern method code Dec no SAP eae OCR a Eee um Point um mm m D direction X Setting 1 Relative Position End Single 0 0 10000 0 0 1 100 00 0 CW Y Setting 1 Relative Position End Single 0 0 10000 0 0 1 100 00 0 cw lt Command Window gt Circular interpolation Step 1 Execution operation Subordinate axis Y axis Action Pattern Y axis Normal Center point ms Bian position 0 0 Goal position 0 0 X axis Reverse Normal 10nm Reverse The radius of circular interpolation for the above action pattern shall be 14 14mm when applying the operation formula 1 414 x 10mm and with this radius it carries out the circular interpolation operation Actual diameter shall be 28 28mm gt The formula that finds the circular interpolation radius by center point is as follows according to Pythagorean theorem Circular interpolation radius Aux 1 Aux 2 3 32 Chapter 3 Function Circular Interpolation by Middle point 1 As in the case of circular interpolation operation by middle point the setting value of a
57. Xaxis M code On signal PI LEE FE Er p I Ff EE AEII EE SLOT A6 ER anm b X ALLE a EX IS E KE BE e sl wr axis origin fixing signal HODE OF CODE OFF KELD KAE GE Hb B TATE Lis BASE TTA LOT 3T ae 313 aT al Sig aT ESTI RST RSTI i 5 10 6 Chapter 10 GM Program 10 3 3 2 axis Linear Interpolation Operation 1 Software package setting ircul j i Items of Step Control Operation Operation Goal Circu ar M Acc Operation Dwell l Circular No Coordinate thethod altern method position interpolation aux code Dec No speed time interpolation Position data 77 P pulse Point pulse Ipsis D direction 1 Absolute Position End Single 3000 0 0 1 1000 100 CW 2 Absolute Position Go on Single 8000 0 0 1 1000 100 Cw 3 Absolute Position Go on Single 10000 0 0 1 1000 100 Cw Xsetting 4 Absolute Position Go on Single 8000 0 0 1 1000 100 CW 5 Absolute Position Go on Single 3000 0 0 1 1000 100 Cw 6 Absolute Position Go on Repeat 1000 0 0 1 1000 100 CW PUR l ircul i Items of Step Control Operation Operation goa l Mn 7 M Aoc Operation Dwell Circular No Coordinate method alferri method position interpolation aux code Dec No speed time interpolation i Position data i pulse Point
58. center point 0 Setting Range of Common Parameter CHAPTER 5 Positioning Parameter amp Operation Data 5 4 1 Pulse Output Level gt For the pulse output level setting select one from Low Active output and High Active output gt The figure as below shows the case that pulse output level is Low Active according to pulse output mode FP Terminal RP Terminal CW Normal output CCW Reverse output FP Terminal RP Terminal CCW Reverse output FP Terminal Do E Clar UU EU CW Normal output CCW Reverse output gt The figure as below shows the case that pulse output level is High Active according to pulse output mode FP Terminal RP Terminal CW Normal output CCW Reverse output FP Terminal CW Normal output CCW Reverse output CHAPTER 5 Positioning Parameter amp Operation Data FP Terminal RP Terminal CW Normal output CCW Reverse output 5 4 2 Circular Arcs Interpolation method gt Either Middle point method or Center point method is selected and set as Circular arcs interpolation operation method gt For further information please refer to the content of circular arcs interpolation operation of User s manual 5 4 3 Encoder Input Signal gt in case of using the Encoder input signal of manual pulse generator or SERVO driver select the signal that matches with the output type of generator or encoder gt in order to set the encoder input signal select one from CW
59. degree Unit setting This is the setting of the unit for the actual address or movement amount necessary for positioning The available units are mm inch degree pulse The initial value of parameter is pulse unit WITH mode This is the mode that carries out the positioning start and M code output at the same time This mode enables the voltage to apply to the welding electrodes and to display the positioning speed and it shall be ON when the positioning starts XY table This is the device to move the table to X Y direction to carry out the positioning easily There are some products available to use commercially Zero signal This is called as PGO of pulse generator one time detection per axis rotation This is also called as Z phase Refer to pulse generator terminology Appendix 1 12 Appendix 2 Internal Memory Address of Operation Data Appendi x 2 Internal Menory Address of Cperati on Data 1 Internal Menory Address of X Cperati on data Grcu ar Grcu ar Goal positi on interpolation Cperati on speed Goal positi on interpolation Cperati on speed aux poi nt aux poi nt Low H gh Low H gh Low H gh Low H gh Low H gh Low H gh 100 101 102 103 104 105 550 551 552 553 554 555 109 110 111 112 113 114 559 560 561 562 563 564 119 120 121 122 123 568 569 570 571 573 127 128 129 130 131 132 577 579 580 581 582 136 137 138 139 140 586 588 589 591 146 148 150 597 598 600 154 155 156 157 158 60
60. i FAH Loa 0 Jog high speed 1 Jog low speed Rem Program 3 8 Jog Operation 3 45 Chapter 3 Function 3 7 2 Manual Pulse Generator or Encoder Operation 1 Manual Pulse Generator Operation gt carries out the positioning control by the pulse entering from manual pulse generator gt this is used when carry out the precise positioning by manual 2 Manual Pulse Generator Operation 1 If executes Manual pulse generator operation permitted command it becomes the state of manual pulse operation permitted From this time this acts as the positioning control by the pulse entering from manual pulse generator 2 After releasing it by manual pulse generator operation prohibited command it carries out the positioning operation by next start start command homing command interpolation operation jog operation inching operation synchronous start synchronous start 3 It acts regardless of origin determined state or origin unsettled state 4 The pulse entered from manual pulse generator increases or decreases from the current position 5 Transfer direction shall be determined by the difference of phase normal direction positioning when A phase input pulse proceeds B phase input pulse reverse direction positioning when B phase input pulse proceeds A phase input pulse When A phase input pulse proceeds B phase input pulse the position address increases When B phase input pulse proceeds A phase in
61. point address of the circle shall be done Normal Start address Goal address Center point of circle Reverse Normal Reverse C The circular interpolation control cannot be used with control unit Degree D Transfer direction shall be determined by S W package and Program Chapter 3 Function Example When X transfer amount 13000 Y transfer amount 9000 the action is as follows in case that X aux Point 10000 Y aux point 7500 rotation direction CW main axis X subordinate Y Software Package Setting Operation Data i j Dwell ircul Items of Step Control Operation Operation Ceri l purediar M Acce Operation we l Circu ar n 2oordinate ielhiod stern method position interpolation aux coda dece No speed time interpolation position data i p pulse Point pulse pls s direction Position i 1 Relati E ingl 1 1 1 1 0 CW X Setting elative c ntrol nd Single 3000 0000 0 00 Position i 1 Relati E ingl 7 1 1 0 CW Y Setting elative control nd Single 9000 500 0 00 Command Window Circular interpolation Step operation Subordinate axis Y The Program is same as Program 3 3 Execution Operation Pattern Y axis Tst start 2nd start X axis 3 15 Chapter 3 Function 3 1 3 Speed Control Equal Speed Operation gt This controls the speed by the setting speed until decelerati
62. pulse BH pls s D direction 1 Absolute Position End Single 2000 0 0 1 1000 100 CW 2 Absolute Position Go on Single 2000 0 0 1 1000 100 Cw i 3 Absolute Position Go on Single 5000 0 0 1 1000 100 CW Y setting 4 Absolute Position Go on Single 8000 0 0 1 1000 100 CW 5 Absolute Position Go on Single 8000 0 0 1 1000 100 CW 6 Absolute Position Go on Repeat 5000 0 0 1 1000 100 CW 2 Operation pattern Y axis position address value 8000 Step no 5 Step no 4 7000 4 6000 4 5000 tep no 6 Step no 3 40004 3000 4 2000 Step no 2 Stepno l 1000 Pd Origin T T W X axis position address value 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 11000 10 7 Chapter 10 GM Program 3 Program example COATES Eun RE E LEED a B EME S dw ug T wl EH LT Am Am 3l LIN if cm H LOS ACE AE ail i MG SE LSI Ber ESTA so mm sT ui m Lm XD 10 I 7a Y amp uz my cn LIH a Mili P ADOR ki Y 33 3 LIK BI ge voca y on ZI T TEF me YI Lat Y B DE 1 3T Y STE Te vcn X axis signal Xaxi ital in operation axis error signa AST CERFL xX 3 7 xn du VEU Ert zd ale Y his signa z rii y n Y axis error signal 7 oio ET if in operation a H z amp MIT Ta i ipd sna H Lik T x Y F i i 4 mae X axis origin complete signal Y axis origin complete signal 10 8 Chapter 10 GM Program 10 3 4 Position Teaching by MMI 1 Software package setting
63. reverse 0 Acceleration Deceleration pattern 0 trapezoid type 1 S type 0 M Code mode 0 None 1 With 2 After 0 Position indication during equal 0 prohibited 1 permitted 0 Speed operation Detection of soft high low limit 0 prohibited 1 permitted 0 during equal speed operation External speed position control f s 1 Switching permitted prohibited Pe pronibiog to pamitiod X External command ES A permitted prohibited 0 prohibited 1 permitted 0 External stop permitted prohibited O prohibited 1 permitted 0 External simultaneous start i i permitted prohibited 0 prohibited 1 permitted 0 Setting Range of Expansion Parameter 5 7 CHAPTER 5 Positioning Parameter amp Operation Data 5 2 1 S W High Low limit itis also called Stroke High Low limit P The range of machine available to move is stroke limit and the high low stroke limit is set as Software high limit and Software low limit If operated out of the setting range the function of positioning will not be carried out This means that if the operation is executed out of the setting range this function will not carry out the positioning against practical command Therefore this is used to avoid the breakaway of high low limit by wrong setting of positioning address value and the malfunction caused by user program error and it is required to install limit switch for emergency stop near stroke limit of the machine Transfer range
64. setting command is in the range greater than or equalto 1 and smaller than or equal to 400 Move Check if the axis is in operation when giving the current position preset command Check if the position of the current position preset command is in the range of Soft upper lower limit set by extended parameter Check if the axis is in operation when giving position teaching command Check if the data no of teaching array command is setin the range greater than or equal to 1 and smaller than or equal to 16 Check if the axis is in operation when giving speed teaching command as greater than 1000000 than or equal to 1 and smaller than or equal to 400 Check if the axis is in operation when giving parameter teaching command Check if the axis is in operation when giving operation data teaching command Clear the error by removing emergency stop cause and carrying out RST command Output prohbit shall be released by RST command as output prohbit release option Clear the error by removing emergency stop cause and carrying out RST command Output prohbit shall be released by RST command as output prohbit release option Get rid of the external upper limit signal range by Jog command and then carry out RST command and clear the error Output prohibit shall be released by RST command as output prohibit release option Get rid of the external lower limit signal range by Jog command and then carry out RST command and clear the error
65. the machine shall be behind and not available to follow because of the mechanical inertial Thus the method to postpone the speed command pulse by the accumulation in the deviation counter of Servo motor can be used These accumulated pulses are called droop pulse Deviation counter generates the droop pulse and when the machine stops it returns to 0 Dwell time This is the time to be fixed to adjust the droop pulse as 0 in the deviation counter of Servo driver after completing the pulse output from positioning module If this time is very short the positioning shall be not accurate Dynamic brake When protection circuit acts because of the power cut off Emergency stop EMG signal this function is used for the short circuit between Servo motor terminals through the resistance and discharges the rotation energy into heat and may cause the sudden stop without motor inertia Braking power is generated by electromagnetic brake only when operating the motor to get a big brake torque As electromagnetic brake does not have maintainability this is used together with mechanical brake to prevent the falling of vertical axis Electromagnetic brake This is applied only for the motor equipped with electromagnetic brake Electromagnetic brake is used to prevent the sliding as protective function when the power is cut off operating the vertical axis or when the motor stops Electromagnetic brake acts in the status that
66. y Posi ti oni ng startup and vari ous data setti ng change noni tori ng gt Qigin address setting p positioning data setting address by teaching function jog operation nanual pulse generator Posi ti oni ng programwite y Posi ti oni ng operati on by CPU nodul e amp posi ti oni ng nodul e v a gt Sel ect one fromCpen Collector and Li ne Dri ver Fix the honing nethod coordinate operation node control unit for positi oni ng operati on Prepared by software package Power appli cati on when CPU nodule is STOP Wring status check by positioning nodule LED indicator or software package Witten by softvare package Cperated by softvare package startup node Check if positioning paraneter speed data setting value is correct and save them by changing if position data necessar y GWN or KA WN Chapter 12 Operation Order and Installation 12 2 Installation 12 2 1 Installation Environment This machine has a good reliability regardless of installation environment but cares should be taken in the following items to guarantee the reliability and safety of the system 1 Environment Condition Install the control panel available for water proof anti vibration The place free from continuous impact or vibration The place not exposed to direct rays The place with no dew phenomena by rapid temperature change The place where surrounding temperature main
67. 0 1 1000 100 CW 10 Absoute Speed End Single 0 0 0 10 1000 100 CW 2 Program F0010 GET 00001 04370 MODO 00004 EE GET 00001 04374 boood 00007 BIN P003 D0050 P0000 PODIO P0012 PUTP 00001 04317 0000 00001 PUTP 0000 04300 00036 00001 P0001 PODIO PODI PODI2 L FJ H Pu 0000 04300 0000 00001 0002 P0010 Pool P0012 EER 00001 04301 D0050 00001 PUTP O0001 04300 00020 00001 POOOS T D i in 2 IL pode ft po PUTP 00001 04300 00010 00001 cin POOOF P0011 P001 2 Hp HJ J 7 2 7 D P0020 Chapter 11 MK Program 11 2 8 Simultaneous Start 1 Description 1 Used device Device Description P0000 X Y axis error reset output prohibit release switch P0001 X Y axis homing switch POOOE X Y axis simultaneous start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0015 Y axis command receive signal P0016 Y axis signal in operation P0017 Y axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information M010 M013 Y axis status information read operation status bit information axis information external I O signal status D0100 D0106 Y axis operation
68. 00001 04374 DODOD 00007 P0000 P0010 P0012 P0002 POOOF i Lm L P0011 P0012 H Putre 0000 04300 0000 00001 P0010 POOII P0012 PUTP 0000 04317 00001 0000 PUTP 00001 04300 00036 00001 Pooo PODIO I i 1 PUTP A 0001 04300 00004 00001 f mo PUTP 00001 04301 00001 00001 P0010 MODOD POO 2 PUTP 00001 04302 D0100 00001 PUTP A 0001 04300 00014 00001 DMOYP 0000120000 D0100 H 1 21 Chapter 11 MK Program 11 2 18 Positioning Speed Override 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis indirect switch POOOF X axis positioning speed override switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal MOOOD X axis signal in constant speed D0100 D0101 Positioning value 50000pulse D0102 D0103 Speed setting value 10000pps M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation status read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POO002 Indirect start switch ON OFF gt POOOF Positioning speed override switch ON OFF 3 Operation Data Settin
69. 0001 00030 D0512 00002 PUTP 00001 04300 00031 DODD1 2 Description Device Description POOSE X axis homing parameter setting input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status Address of internal memory Contents of internal memory X axis Setting value 28 Homing high speed 10000 D0510 30 Homing low speed 4000 D0512 gt If POOSE is ON it is changed with X axis homing parameter setting 9 2 32 Manual Operation Parameter Setting Command code 32 1 Program POOSF P0010 POO P0012 L GE NE as 01000 D0200 f PUTP 00001 00025 D0200 00001 PUTP 00001 04300 00032 00001 9 15 Chapter 9 MK Command 2 Description Device Description POO3F X axis manual operation parameter setting input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status If POO3F is ON X axis manual operation parameter inching speed of internal memory address 25 is changed with 1000pps 9 2 33 Common Parameter Setting Command code 33 1 Program P0040 P0010 P001 1 P0012 r 2 DMOVP 0000024999 D0250 PUTP 00001 00052 D0250 00001 PUTP 00001 04300 00033 00001 2 Description Device Description P0040 X axis common parameter setting input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status
70. 04300 00007 00001 H Chapter 11 MK Program 11 2 9 Synchronous Start by Position 1 Description 1 Used device Device Description P0000 X Y axis error reset output prohibit release switch P0001 X Y axis homing switch POOOE X axis synchronous start by position switch POOOF Y axis indirect start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0015 Y axis command receive signal P0016 Y axis signal in operation P0017 Y axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information M010 M013 Y axis status information read operation status bit information axis information external I O signal status D0100 D0106 Y axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON gt POOO0E synchronous start by Position switch ON gt POOOF indirect start switch ON 3 Operation Data Setting Operati Operati Goal once Operatio D
71. 1 Targal T FAN z Teaching Anay Sau POS ToArtide 6 2 2 H n 1 2 nis 3 Ops a D pis 5 I pia 2 nis BUSH T Dph a Dpi g D pls i D pis 11 J pn iJ 2 nis 13 2 nis 14 Opts 1 a pis Configuration of Command 2 gt For Display configuration of PST please refer to Article 6 2 6 6 1 3 Monitoring Display Configuration i Kade RE Yig fase Per axis indication i Common indication gt The contents of indication per axis indicates the action state of axis set from the current position to automatic operation point return when monitoring axis is set gt The contents of common indication is the part to be monitored when you click monitoring button regardless of the setting of axis 6 2 Chapter 6 Software Package Startup op IFF H C rieand OFF ORF OFF Sub Command OFF OFF OFF zpapd p Ppsfon OFF OFF OFF Dirt r Fia cy DN DN H DACO Esdr gt Here indicates the state of External I O signal by ON or OFF per axis respectively 6 1 5 State Display 177 GME PLC Open Callscter 3 17 0004 Discanrected Tree OS Connected 1700S Me FPLC Open Callarter 3 1715 24 Monibering Start 17 14 45 Moniering Sing 17 14 61 Yanis parameter data more completed 15145 T a Parameter data pce comp kiad 171451 Z xis parameber data raceres cormplalad 17 14 51 Commen parameter data mcare completed Ap 5 pe f iran gt Here describes the informat
72. 12169 12170 12172 11727 11728 11729 11731 12177 12178 12179 12181 11736 11737 11738 11740 12186 12187 12188 12190 11745 11746 11747 11749 12195 12196 12197 12199 11754 11755 11756 11758 12204 12205 12206 12208 11763 11764 11765 11767 12213 12214 12215 12217 11772 11773 11774 11776 12222 12223 12224 12226 11781 11782 11783 11785 12231 12232 12233 12235 11790 11791 11792 11794 12240 12241 12242 12244 11799 11800 11801 11803 12249 12250 12251 12253 11808 11809 11810 11812 12258 12259 12260 12262 11817 11818 11819 11821 12267 12268 12269 12271 11826 11827 11828 11830 12276 12277 12278 12280 11835 11836 11837 11839 12285 12286 12287 12289 11844 11845 11846 11848 12294 12295 12296 12298 11853 11854 11855 11857 12303 12304 12305 12307 11862 11863 11864 11866 12312 12313 12314 12316 11871 11872 11873 11875 12321 12322 12323 12325 11880 11881 11882 11884 12330 12331 12332 12334 11889 11890 11891 11893 12339 12340 12341 12343 11898 11899 11900 11902 12348
73. 12349 12350 12352 11907 11908 11909 11911 12357 12359 12361 11916 11917 11918 11920 12366 12368 12370 11925 11926 11927 11929 12375 12377 12379 11934 11935 11936 11938 12384 12386 12388 11943 11944 11945 11947 12393 12395 12397 11952 11953 11954 11956 12402 12404 12406 11961 11962 11963 11965 12411 12413 12415 11970 11971 11972 11974 12420 12422 12424 11979 11980 11981 11983 12429 12431 12433 11988 11989 11990 11992 12438 12440 12442 11997 11998 11999 12001 12447 12449 12451 12006 12007 12008 12010 12456 12458 12460 12015 12016 12017 12019 12465 12467 12469 12024 12025 12026 12028 12474 12476 12478 12033 12034 12035 12037 12483 12485 12487 12042 12043 12044 12046 Appendix 2 12 12492 12494 12496
74. 2 Absolute Position End Single 3000 0 0 1 2000 20 CW 10 Absolute Position Go on Single 6000 0 0 1 3000 20 CW 11 Absolute Position Go on Single 10000 0 0 1 4000 20 CW X setting 12 Absolute Position Go on Single 15000 0 0 1 5000 20 CW 13 Absolute Position End Single 25000 0 0 1 6000 20 CW 20 Absolute Position Conti Single 45000 0 0 2 7000 20 CW 21 Absolute Position Conti Single 75000 0 0 2 8000 20 CW 22 Absolute Position End Repeat 0 0 0 2 9000 20 CW 4 Operation pattern Speed Normal rotation skops J Continuous 6kpps i Skpps i 4kpps 4 i 3kpps 1 2kpps 7 i lkpps 4 Position 1000 3000 6000 10000 15000 25000 45000 000 Step no 22 Step no 1 Step no 2 Step no 10 Step no 11 Step no 12 Step no 13 Step no 20 fep no 21 9kpps 4 Reverse rotation ion End Repeat Point command POOOF 1 34 Chapter 11 MK Program 5 Internal memory setting Address of internal memory Contents of internal memory Setting value 4200 Point operation setting 1 1 4201 Point operation setting 2 2 4202 Point operation setting 3 10 4203 Point operation setting 4 20 4220 Point number 4 4300 Command code 38 2 Program F0010 a GET 00001 04370 MOO0 00004 SET 00001 D4374 D0000 00020 POOOO P0010 P0012 l EINE PUTP 00001 04317 00001 00001 PUTP 00001 04300 00036 00001 PDODI P0010
75. 2363 2364 1919 1920 1921 1923 2368 2369 2371 2372 2373 1928 1929 1930 1932 2377 2380 2381 2382 1937 1938 1939 1941 2386 2389 2390 2391 1946 1947 1948 1950 2395 2398 2399 2400 1955 1956 1957 1959 2404 2407 2408 2409 1964 1965 1966 1968 2413 2416 1973 1974 1975 1977 2422 2425 1982 1983 1984 1986 2431 2434 1991 1992 1993 1995 2440 2443 2000 2001 2002 2004 2449 2452 2009 2010 2011 2013 2458 2461 2019 2020 2022 2467 2470 2028 2029 2031 2476 2479 2037 2038 2040 2485 2488 2046 2047 2049 2494 2497 2055 2056 2058 2503 2506 2064 2065 2067 2512 2515 2073 2074 2076 2521 2524 2082 2083 2085 2530 2533 2091 2092 2094 2539 2542 2100 2101 2103 2548 2551 2109 2110 2112 2557 2560 2118 2119 2121 2566 2569 2127 2128 2130 2575 2578 2136 2137 2139 2584 2587 2145 2146 2148 2593 2596 2154 2155 2157 2002 2605 2163 2164 2166 2611 2614 2172 2173 2175 2620 2623 2181 2182 2184 2629 2632 2190 2191 2193 2638 2641 2199 22
76. 5 8 Acceleration Deceleration Number cssssseeeen nnnm enn 5 26 5 5 9 Operation Sped coire a sco Corte Dex our corddd taa vate E er exs CoD MP HIER DERE 5 26 5 5 10 welll Time usa seco k fole aestate bones testati eaa 5 26 CHAPTER 6 Software Package Startup 6 1 Display Configuration for Startup 6 1 6 1 1 Command 1 Display Contigurationive uiia DA RE xy n RE ERE Rn De EN ERE Eni Ded 6 1 6 1 2 Command 2 and PST Display Configuration cccceeeeeeeeeeeeeeeneeeeenaeees 6 2 6 1 3 Monitoring Display Configuration 1134322 xwixka kk zr ak ceu a YE EXER 6 2 6 1 4 External O Signal sss sccdccwes wen conven ce nun ro exu xo xed crx n ERE EYE KEKEN EVE RE a 6 3 6 1 5 Staten Display ii eit tia re HERE LED CRM xe EU Da aget nc eU tM LN EE 6 3 6 1 6 Error MESSAGE 4 cconmteuiinsarineneienasenmndsOiiaiaerautenianteNeeeeseavaGncnes 6 3 6 2 Startup MOG sic ote one x E e xr tues eni p Eid ie Ea ea 6 4 6 2 1 Command Axis Selection ceo e a va ker ka x AR EY ER s Ex XI REPE Ya XR ua E ides 6 4 62 2 Execut iira DR iti ca Iota pti To EAE PALEIS EPEA E REIR AS AME EHIREE PEAK ELA 6 4 6 2 3 Startup by Software Package scs dus edu iu t rr REX ER ROC EX EDO C EO X AERE RT T B 6 4 6 2 4 Jog Operation by Software Package cssssesseeenen meme 6 5 6 2 5 Teaching Operation by Software PackaQe secseceeeeeeeeeeeeeeeeeeeeeneeeaeeas 6 5 6 2 6 Point Operation by Software Package sseeceeeceeeeee sees tees eeeeeeeeeenae
77. 500 Degree 0 200000 0 1000000 X10 degree min pulse 0 200000 0 1000000 Pulse sec Origin return noe 0 65 535 unitms 0 acceleration deceleration time Origin return dwell time 0 50 000 unit ms 0 2147483648 2147483647 X107 Inch 2147483648 2147483647 X10 Inch Origin compensation amount degree 2147483648 2147483647 X10 degree y pulse 2147483648 2147483647 pulse Origin return reset waiting time 0 65 535 unit ms 0 Range Detail contents 0 Origin detection by Approximate origin and the origin Origin detection after approximate origin OFF Origin detection by Approximate origin and the origin Origin return mode 1 Origin detection after deceleration when approximate 0 origin ON 2 Origin detection by high low limit and the origin 3 Origin detection by approximate origin 4 High speed origin detection Origin return direction O normal 1 reverse 1 Note1 In case of setting the origin return acceleration deceleration time as O it needs to follow the acceleration deceleration setting value of basic parameter Setting range of Origin Manual Parameter 5 15 CHAPTER 5 Positioning Parameter amp Operation Data Items Setting Range Initial value Open Collector Line Driver Unit mm 1 2000000000 X10
78. 7 Relative Position Conti Single 20000 0 0 1 7000 20 CW 8 Relative Position Conti Single 30000 0 0 1 8000 20 CW 9 Relative Position End Repeat 0 0 0 1 9000 20 CW 11 39 Chapter 11 MK Program 5 Operation pattern Speed Nor nal rotation ios 1 n Continuous 6kpps i 5kpps i 4kpps i 3kpps 1 2kpps i 1kpps Position 1000 3000 6000 10000 15000 25000 45000 77000 step no 9 Step no 1 Step no 2 Step no 3 Step no 4 Step no 5 Step no 6 Step no 7 Sp no 8 i End Repeat dESR hob hm b Start conmand The following start command acts P000F Step no 1 6 Program F0010 2 GET 00001 04370 MOOO 00004 a A 00001 04374 DODDO 00007 POOOO P0010 P0012 PI 2 PUTP 0000 04317 0000 00001 _ PUTP 00001 04300 00036 00001 P0001 P0010 P0011 P0012 L L J H H Pur 00001 04300 0000 o000 Er P0011 P0012 H eee EM oem 11 40 Chapter 11 MK Program 11 2 3 Positioning by M code 1 System Configuration System configuration is same as Art 11 2 1 2 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis M code release switch POOOF X axis start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status
79. 7 4 7 3 2 Expansion Parameter Setting sic 25x oorr rx dusted ka Xe bo E ax RR RR EY Rn n 7 5 7 3 3 Common Parameter Setting s sssssssresssnrnsnsnsenresnunnunnennnensunnennennnrnen 7 6 7 3 4 Origin Return Parameter Setting vax das exe va vex Jua ei Y evs vane us RODEO KD RR ers KR B 7 7 7 3 5 Manual Operation Parameter Setting ccceeseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaees 7 8 7 4 Function Block for Operation Data Setting 7 9 7 4 1 Opera on Data Settings vv secs creen exa e ko nin arn C DERE NIE CHA CERCA A venience 7 9 7 5 Function Block for Automatic Operation sssssssses 7 10 7 5 1 Origin Return Ste ue ver ea eorr ados eua ve Ex Ka cs v REN OR d OD Dr ca Rd 7 10 7 5 2 Direct Statio idc xe a x CE A E GO E Gl Oo a A OEC Ya a deae o thes 7 10 7 533 Indirect SIAM doce eie Sa kd wee ERE ETE RE CANAAN PERT AKAAYE PAIR EAR TELE iR 7 11 7 5 4 Linear Interpolation States ssi eti eere AXE ELE EIE XEUME Pub TAXE RI FEM DrcaXpETIQREE 7 11 7 5 5 Circular Arcs Interpolation Start uses ous nr rx ner n e cn HER EN C AO E a n 7 12 7 5 6 Sim ltaneous SI Toiiucsci n idi eee Y X ER EAR YE ERE RkR 2X3 EX ARE EUER EXE XE CAT a 7 12 VUL ROAST State a oee aeu Ki e ated tars baad side Du OC tN looser than keeper tal 7 24 7 6 Function Block for Manual Operation sssssussssss 7 13 7 6 1 Jog Operallolkcscasu seva xkak ua HR Tr Vea FREE XR RATE EEN OLE EPE
80. 8 MK Internal Memory and I O Signal Address Y Command information Setting range 4320 8720 13120 Teaching single array data 1 upper 4321 8721 13121 Teaching single array data 1 upper 4322 4323 8722 8723 13122 13123 Teaching array data 2 lower Teaching array data 2 upper 4324 8724 13124 Teaching array data 3 lower 4325 8725 13125 Teaching array data 3 upper 4326 4327 8726 8727 13126 13127 Teaching array data 4 lower Teaching array data 4 upper 4328 8728 13128 Teaching array data 5 lower 4329 8729 13129 Teaching array data 5 upper 4330 4331 8730 8731 13130 13131 Teaching array data 6 lower Teaching array data 6 upper 4332 8732 13132 Teaching array data 7 lower 4333 8733 13133 Teaching array data 7 upper 4334 4335 8734 8735 13134 13135 Teaching array data 8 lower Teaching array data 8 upper 4336 8736 13136 Teaching array data 9 lower 4337 8737 13137 Teaching array data 9 upper 4338 4339 8738 8739 13138 13139 Teaching array data 10 lower Teaching array data 10 upper 4340 8740 13140 4341 4342 8741 8742 13141 13142 Teaching array data 11 lower Teaching array data 11 upper 4343 8743 13143 Teaching array data 12 upper
81. 9913 10359 10360 10361 10363 9919 9922 10368 10369 10370 10372 9928 9931 10377 10378 10379 10381 9937 9940 10386 10387 10388 10390 9946 9949 10395 10396 10397 10399 9955 9958 10404 10405 10406 10408 9964 9967 10413 10414 10415 10417 9973 9976 10422 10423 10424 10426 9982 9985 10431 10432 10433 10435 9991 9994 10440 10441 10442 10444 10000 10003 10449 10450 10451 10453 10009 10459 10460 10462 10468 10469 10471 10477 10478 10480 10486 10487 10489 10495 10496 10498 10504 10505 10507 10513 10514 10516 10522 10523 10525 10531 10532 10534 10540 10541 10543 10549 10550 10552 10559 10561 10568 10570 10577 10579 10586 10588 10595 10597 10604 10606 10613 10615 10622 10624 10631 10633 10640 10642 10649 10651 10658 10660 10669 Appendix 2 10 Appendix 2 Internal Memory Address of Operation Data Goal posi ti on Grcul ar interpol ati on aux poi nt Cperati on speed Low H gh Low Hgh Low H gh Goal positi on Grcu ar i nte
82. Circular interpolation Step Execution operation Subordinate axis Y 3 9 Chapter 3 Function Program Release of prohibited output if X axis error occurs information jac o prohibite Y axis output if information error occurs Home position WELET F n return F X axis operation Y axis operation information information A 7 STO x sr xsznpg vYsmi vni wn m ds ad ee X axis error X axis positioning Y axis error Y axis positioning information information information information AUT in d LI Program 3 3 Basic Circular interpolation As at Circular interpolationstart 2 axis act synchronously cares should be taken 1 The available operation pattern is End Go on and the operation method is Single Repeat If set as Continuous it shall be processed Go on 2 The available auxiliary operation is as follows Speed override Stop Emergency stop Zone output permitted 3 The command that is not used at the linear interpolation operation is as follows Position Speed switching control Position override Continuous operation Position Speed override 4 The auxiliary data related to the operation that acts based on the main axis during linear interpolation operation is as follows Operation method operation pattern Speed limit Dwell time 5 The items that acts based on the setting value of each axis are as follows Backlash compensation amount Software high limit Software
83. DOIDO 00001 PUTP 00001 04300 00015 0000 11 20 Chapter 11 MK Program 11 2 17 Position Override 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 Xaxis indirect start switch POOOF X axis position override switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal MOOOD X axis setting in contant speed D0100 D0101 Position override setting value 20000pulse M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POO02 Indirect start switch ON OFF gt POOOF Position override switch ON OFF 3 Operation Data Setting Operati Operati Goal Circular Operati Dwell Circular Items of Step Coordinat Control poran Spora Bs interpolation aux M cod Acc De aan ees interpolati Position data O e method d T on point code ono bs is ae on pattern method pulse pulse pisis U direction X setting 1 Absolute Position End Single 100000 0 0 1 5000 100 CW 2 Program F0010 E RR GET 00001 04370 MODO 00004 ET
84. Data Read Hose Selecta Close gt It carries out to write the setting X axis operation parameter common parameter and operation data in the positioning module 4 Xaxis indirect start execution FIERE Indirect Start Step D RUN It carries out the origin determination by the origin return command or floating origin setting as the coordinate of operation data is Absolute coordinate In this case X axis shall be Monitoring state gt Click the execute button after setting the axis as X and the step no as 0 in the Command 1 display In case that the step no is set as 0 the operation starts from the step no which is in the state of monitoring 5 Disaplay that X axis indirect start is running D If indirect start runs it starts to operate from no 1 step to no 5 step with Go on operation pattern and then ends to operate when the step no becomes 6 6 10 Chapter 6 Software Package Startup 6 4 3 External Simultaneous Start gt This is the operation that starts simultaneously by operation data of the corresponding step of each axis set by 2 axis X Y Y Z X Z or 3 axis X Y Z gt When external simultaneous start first carry out the internal simultaneous start command and then make the external simultaneous start signal ON 1 Set external simultaneous start of expansion parameter as Permitted 2 Set the desired operation data of each axis to start simultaneously per step
85. Error 234 will occur The available operation mode is single repeat go on and continuous operation CHAPTER 5 Positioning Parameter amp Operation Data 2 Relative Coordinate Control by Incremental method A This carries out the positioning control as much as goal transfer amount from the current position B Transfer direction shall be determined by the sign of transfer amount gt When transfer direction is or no sign normal direction positioning position increase direction p gt When transfer direction is reverse direction positioning position decrease direction Current position Y Reverseg Normal E i ae Transfer direction when transfer amount is Transfer direction when transfer amount is Example gt When origin return address 5000 gt Goal position 7000 the positioning shall be done at 2000 position Software Package Setting Parameter setting Position data setting Hora bathed L Hime Di Hora Eodem SOR zir Heart Corap Hoere Sneed z tod El pe eel AEH hate intl ee rs semanal LII 1 Y Beare Low Speed Reverse positioning control transfer amount 7000 Goal position Current position 5 5 3 Control Method Position Speed gt Select the control method Position control method Speed control method gt For further information please refer to 3 1 1 Position control and 3 1 3 Speed control of Function 5 5
86. Generator APM_MPG In case of operating by using the manual pulse generator installed outside this command is used to make the positioning module ready to operate Function block Variable Description TAGE STAT MPG manual pulse generator operation permitted prohibited setting eSetting range 0 1 0 prohibited 1 permitted 7 6 4 Return to the previous position before Manual Operation Return To Position APM RTP Function block type INSTIS Description When the position is changed by manual operation after positioning this is used to return it to the previous position before manual operation gt In this case manual operation includes inching operation jog operation manual pulse generator operation Chapter 7 Function Block 7 7 Auxiliary Operation Function Block 7 7 1 Synchronous Start by Position Synchronous Start by Position APM SSP If the axis in operation is the subordinate axis and reaches the goal position set by the main axis the operation step set here will act Function block Variable Description type Operation step no setting for synchronous start by the operating axis eSetting range 1 400 Main axis setting eSetting range 0 2 0 X Y 2Z elf out of setting range Error 6 occurs Goal position setting of main axis eSetting range 2147483648 2147483647 7 7 2 Synchronous Start by Speed Synchronous Start
87. Incase of parameter and operation data setting the basic unit is speed 1pps time 1 8 1 1 Basic Parameter 1 Contents of Basic Parameter Address Y Basic Parameter Setting range Speed limit lower 000 X10 al I Speed limit upper Inch 000 000 X10 i nch nj Bias speed lower degree ve X10 degr ee rj Bias speed upper pulse Acceleration Deceleration time No 1 Acceleration Deceleration time No 2 Acceleration Deceleration time No 3 Acceleration Deceleration time No 4 Pulse number per Rotation 7 Travel distance per Rotation oomen Pulse output mode bit O 1 0 CW CCW 1 PULSE DIR 2 PHASE Unit bit 2 3 0 Pulse 1 mm 2 Inch 3 Degree Unit magnification bit 4 5 0 x 1 1 x 10 2 x 100 3 x 1000 0 65 535 X 0 1 2 3 4 5 6 7 8 9 A o 2 Basic Parameter Setting 1 The setting range of speed limit and bias speed is 1 200 000 G4 6F PP1 2 3O 1 1 000 000 G4 6F PP1 2 3D in case of using pulse unit 2 Travel distance per Rotation This is used only for mm inch degree unit and the actual setting range is 1 65 535 Setting range mm Inch degree Travel distance in setting 0 1 65 535 um 0 00001 0 65535 inch 0 00001 0 65535 degree 3 Control words of Basic Parameter X address 10 b15 b14 b13 b12 bll bl0 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 Y address M cee A Z addre
88. NP r even if stop Positioning end signal i n Deceleration stop command i Example Software Package Setting Direction Step Control Operation Operation Pu be M Acc Cn Dwal pun E Coordinate method sein method position interpolation aux bode lt dece No speed time interpolation Setting 7 i pulse Point pulse UU pss D direction Speed x Normal 1 Absolute control Go on Single 100 0 1 1 1000 0 CW Reverse 2 Absolute 7 End Repeat 100 0 2 1 2000 o cw 3 16 Chapter 3 Function Program ATA Ji El DOHB BE GEST Ham P EE WENA AM AUT ST ATI AE Zur x gals ST BATS au x SQ EA X ST E aTa ERR RE FS iT nim Sn EG aT x arm Axis operation Axis error information information STEP CHAH E E amp TIO EATI 1 P 4 Axis operation Axis error information information FAX 4 RAGE STAR AST X 3T E STI T APR BI 24 FS 4 IE g8u a d Axis error i i ERE x information STF TEL SOP ELST ET 2 PL j E AH Su HHF Axis operation information BASE Li SLT i53 STEP STEP Used when changing the operation step y Command to stop the operation when acting with speed contro Program 3 4 Speed Control 3 17 Chapter 3 Function 3 1 4 Speed Position Conversion Control gt The setting axis by positioning start carries out the speed control and is converte
89. Point operation 1 First set the desired operation data to operate as follows Operation data setting display TOG F TER T i n Ji i Mot i y A Bel i ToDo D Mo ToDo T i Nu 100i at T gt i N Li u eT iD D in Lu NT iD iD a zm cm mim 2 2 After selecting PST command window set it as follows If the number of Point is set the items of 0 1 2 shall be active No al 0 10 1 EZ za EUN KA Za EU EE 14 KH 18 KH E 3 Click execute button to carry out Point operation by the operation step order as 10 gt 11 gt 1 gt 5 gt 6 Operation pattern is changed from Go on Step no 10 gt End Step no 1 gt Continuous Step no 5 Chapter 7 Function Block Chapter 7 Function Block Here describes Function Block of positioning module for GMWIN The types of function block are as follows Function Action Classificat a z a mM No J block Description Detailed description condi Running time Sil name tion 1 Module CRD Code Status Read Operation status code information read Level Within 1 2 information SRD Status Read Operation status bit information read Level Within 1 3 SBP Set Basic Paramete
90. Sang Mortotng Perad 5 r Tracking Period 5 m Coren Error Hein Comm Retry Times E Ur ice Fig 40 Environment setting screen Communication option Chapter 4 Software Package Communication error restore option is the option to set how many times to try to restore the communication when the communication error occurs while APM software package and PLC carry out the communication works Other option Error history file create option is the option to select whether or not to save the error occurred while working with APM by using APM software package as a separate file al Erer Hean Fille Fe kem Ern History File Sk ima Fig 41 Environment setting screen Other option 4 14 Other Function 4 14 1 System Check Function APM software package exchanges the data with PLC periodically and monitors the status while data read write monitoring tracking is not carried out But in case that there is no response from PLC for 5 6 seconds the error message will be shown as follows and it returns to the initial status Fig 42 Communication error message 4 14 2 Error history file create function APM software package creates ErrorHistory txt file when the program runs or if the file exists already it opens the corresponding file and records the errors occurred during working Er rigLian LB cesy E La ma GBISDSER Ce B GPL eee oR ome m COREE Biz js eRe niim SHIRE
91. Teaching data 4300 27 PUTP 00001 04300 00027 00001 Command code 1 27 Chapter 11 MK Program 11 2 24 Position Teaching 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOF X axis speed teaching switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal D0100 D0101 X axis speed teaching data 5000 M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POOOF Position teaching switch ON OFF gt POO002 Start switch ON OFF 3 CREDO Setting Circular Circular Items of Step Coordi Control Operati Operati Goat interpolation aux Acc De Operalio Dwel interpolati A n oordinate method on on position point M code ne n speed time n MD pattern method pulse pulse pls s ll direction X setting 1 Absolute Position End Single 0 0 0 1 500 100 CW 2 Program FOOIO GET 00001 04370 MODO 00004 GET 00001 04374 DBDDU 00007 H Poood P0010 ii
92. This is used to stop the positioning module promptly before reaching Stroke limit Stroke End of the Driver by installing the stroke limit of positioning module inside Stroke limit Stroke end of the Driver In this case if it deviates the high limit Error 492 will occur and if it deviates the low limit Error 493 will occur The range available to control positioning module Stopper Stopper i Transfer direction Transfer direction I l Statt Start x a Immediate stop when Immediate stop when Detecting the high limit Detecting the low limit Limit switch Limit switch p gt If positioning module stops out of the range available to control the positioning operation does not work If it stops by external input stroke limit detection move within the range of positioning module available to control by manual operation Jog operation inching operation manual pulse generator operation gt As external input stroke high low limit error is detected by the edge of positioning module it is available to release the output prohibit out of stroke range and carry out manual operation gt In case of using either high limit or low limit of the sensor connected to external input stroke high low limit both high and low limit signal are not detected Thus the signal not used should be connected to N C Normal Close 3 55 C hapter 3 Function 3 10 2 Software Stroke Upper Lower Limit gt Software stroke upper lower limit is t
93. Transfer direction when transfer amount Example gt When Start address 5000 gt Goal address 7000 this will be reverse direction and positioning will be at the point of 2000 2000 5000 toes positioning control transfer amount 7000 t Start address Goal address Software Package Setting ircul i Dwell ircul Items of Step Control Operation Operation Goa din i M Acce Me ii f Circu a No Jzoordinate method atterni method position interpolation aux ode dece No speed time interpolation position data R pulse Point pulse iss D direction Position Setting 1 Incrementa Goritrol End Single 7000 0 0 1 100 0 Cw Program Same as Program 3 1 3 2 Chapter 3 Function 3 1 2 Interpolation Control 1 2 axis linear interpolation control This carries out Linear interpolation control at the start address present stop position using the 2 assigned axis The available axis combinations for interpolation control are 3 types X and Y X and Z and Y and Z 1 Control by Absolute method Absolute coordinate A This carries out the linear interpolation by 2 axis from Start address to Goal address the address assigned by positioning data B Positioning control is carried out based on the address assigned by homing C Transfer direction shall be determined by Start address and Goal address of each axis gt Start address lt Goal address
94. X10 degree pulse 1 65535 pulse Unit allocation 0 X1 times 1 X10 times 2 X100 times 3 X1000 times 0 Pulse output mode 0 cw ccw 1 pulse dir 2 A phase B phase mode 0 Open Collector Line Driver Unit mm 1 2 000 000 000 X10 min Bias Speed inch 1 2 000 000 000 X10 inch min 1 degree 1 2 000 000 000 X10 degree min pulse 1 200 000 1 1 000 000 Pulse sec Open Collector Line Driver Unit mm 1 2 000 000 000 X10 min Speed limit inch 1 2 000 000 000 X10 inch min 100 000 degree 1 2 000 000 000 X10 degree min pulse 1 200 000 1 1 000 000 Pulse sec Acceleration No 200 No2 1000 Deceleratio No3 0 65 535 unit ms 1500 numer TENE 2000 Basic Parameter Setting Range CHAPTER 5 Positioning Parameter amp Operation Data 5 1 1 Unit gt It sets the command unit for positioning control and according to control object the command unit mm inch pulse is set and used from 1 axis to 3 axis at each axis separately gt In case of changing the unit setting as the value of other parameter and operation data does not change the value of parameter or operation data should be set within the setting range of the unit to be changed Ex mm inch pulse X Y Table Conveyor degree a body of rotation 360degree rotation 5 1 2 Pulse per Rotation Ap gt Only in case of using the unit mm inch pulse as a positioning command unit you can set and use the pulse necessary for 1 rot
95. Z address 13110 Control method 0 position control l speed control Operation method No use 0 0 single 1 repeat Operation pattern 00 End 01 Go on 10 Continuous 11 no use 0 Coordinate 0 Absolute 1 Relative Acc Dec No 00 No 1 Acc Dec time 1 01 No 2 Acc Dec time 2 10 No 3 Acc Dec time 3 11 No 4 Acc Dec time 4 3 Axis Information in case of using Plural axis X address 4311 _ 15 b14 b13 b12 bll bl0 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 Y address 8711 L Axis information Z address 13111 000 no use 0 001 no use 0 010 no use 0 011 X Y axis use 100 no use 0 101 X Z axis use 110 Y Z axis use 111 X Y Z axis use No use 0 8 1 8 Status Information 1 Contents of Status Information Status Information Operation status bit information lower Operation status bit information upper Axis information External I O signal status Current position lower Current position upper Current speed lower Current speed upper Step no M code no Current error information Error information 1 Error information 2 Error information 3 Error information 4 Error information 5 Error information 6 Error information 7 Error information 8 Error information 9 Error information 10 Encoder lower Encoder upper Status information area of internal memory is only for Reading Thus the status information area of internal memory is a
96. and shows the error description and solutions together in order to carry out the restore works promptly If the redundant error repeats each axis error screen indicates only one error and when you start monitoring again after completing monitoring the redundant error all shall be indicated If error history reset command is executed the corresponding axis related error shall be removed from overall error screen or axis error screen Fe bangi UO parakon paad vaia of oparsbon dala cen red ba cud ar U et ha rc an pard cubus ac ha vaka pasia har T hani For A Line Er Fig 35 Error history window Chapter 4 Software Package 4 12 Print function 4 12 1 Print p gt Method 1 If you click Print from file menu when the working screen is open or click the corresponding icon from basis tool gathering the working screen moves to monitoring screen and print dialogue box shall be displayed 2 After selecting the desired item if you press Print Button print dialogue box shall e displayed and it start to print If you press Preview Button you can verify the print screen before printing Items Tool gathering Short cut key CTRL P Table 15 Print related tool gathering gt Function Description Execution environment Print dialogue box indicates APM module specification and PLC information obtained from online model setting function See sewer Sere OE Ceres gs
97. aux Point of X axis operation data indicates the center point of X axis and the circular interpolation aux Point of Y axis indicates the center point of Y axis The direction of circular arcs interpolation shall be set based on the main axis 4 Click Data Read Write gt Select Operation parameter and Operation data gt Click Write gt Click Close after completion of transmission gt Click Operation state monitoring 5 Complete the origin determination for the corresponding axis of circular arcs interpolation X axis Y axis 6 Set the step and subordinate axis from circular arcs interpolation items of Command 1 Circular interpolation data setting display Step Circular Int RUN Slave 7 Click execute button after completion of setting from circular interpolation items and the circular arcs interpolation operation starts gt This is the case set by the center point method that the current position of X axis Y axis is 0 0 the goal position is 10000 0 the circular interpolation center point is 5000 0 the speed of main axis X is 1000pps Chapter 6 Software Package Startup 6 4 5 Speed Synchronization gt This carries out the speed synchronization operation by the setting rate of the subordinate axis even if the speed of the main axis is changed according to operation speed rate of the main axis and the subordinate axis gt Thus the setting operation speed and goal position o
98. axis is in operation of 400 step when giving of operation data continuous operation command Check if the axis is in operation by direct start command Move ce A when giving Continuous operation command E NS Check if the axis is in operation when giving inching Move command o carry out Continuous operation command to cary out Inching command in the S available to carry out Inching command in the output Check if the axis is in output prohibit status when giving hibit status Stop inching command Output prohibit shall be released by i RST command as output prohibit release option to carry out Indirect start command in the OFF status Sto Check if Driver ready signal of the axis is OFF when giving p inching command Nove Check if the axis is in operation when giving Jog start Move command fav eaity auk Jon command nihe outbut Check if the axis is in output prohibit status when giving Jog y g p Stop start command Output prohibit shall be released by RST command as output prohibit release option to carry out Jog start command when Sto Check if Driver ready signal of the axis is OFF when giving P Jog start command Check if the axis is in output prohibit status when giving o carry ou se genera manual pulse generator operation command Output prohibit put prohibit status shall be released by RST command as output prohibit release option o carry out manua se genera Check if Driver signal of the axis is OF
99. before maintains the previous setting value without changing it as it were e Mo Fiaxpenzgi Rien Fig 23 Error message Chapter 4 Software Package 4 8 Tracking Execution 4 8 1 Tracking p gt Method 1 Execute set online model 2 After selecting the axis for tracking from Tracking screen select Profile Tracking from monitoring menu or click the corresponding icon from basic tool gathering 3 If you press Tracking icon once Tracking is executed and if you press the button one more time it stops Items Tool gathering Short cut key Tracking SHIFT T Start None Pause None Enlarge None Reduce None Area enlargement None Data indication None Save None Print None Table 10 Tracking tool gathering p gt Function Description Execution environment On the Tracking screen X axis means Time and Y axis means Speed During Tracking external I O signal function is not indicated On the Tracking screen current position current speed current step unit information are indicated basically Amr Sep Ho Dinis Mining DU gea Ax oF o CEN saat eed Dono E Bex 1 d Viral misg Una paier IPLE irim EH CA e ec I mb opm LB cetera Trashing Bic tom co 3 245m Eni Fig 24 Tracking screen 4 20 Chapter 4 Software Package Tracking tool gathering while the working screen moves becomes active and can carry out the corresponding function Tracking
100. block copy and then block paste to Y axis operation data screen the Y axis goal position item and operation speed item shall be indicated as 0 instead of 0 01 and 0 1 This means that other units except pulse unit are allowed to indicate decimal point for goal position and operation speed item while pulse unit is not allowed Tue Dum amid Fakes Him bmi ndun Dita Mmi L mmi ini Dil a dei Ex mac 7 M ril Vis Fig 14 Copy Paste function error in different units Chapter 4 Software Package Copy Paste function in different block f you set the block for partial operation data item and carry out copy paste function to other block without setting the block for overall operation data item and carrying out copy paste function the error message shall be displayed as follows Parie Cue Yate Cz bial Vale Spend olsi Del fal Cari Dir rial acu Fig 15 Copy Paste function error in different block Chapter 4 Software Package 4 6 Command 4 6 1 Command p gt Method 1 Execute set Online model 2 After executing Monitoring or Tracking and setting the command axis if you click the command item button or click the command item button right after setting the command axis monitoring is automatically carried out and the corresponding command item is executed p gt Function Description Configuration As the command axis setting part does not change even i
101. by Speed APM SSS This is used to control the operation speed between 2 axis by the setting rate speed rate of slave axis Speed rate of master axis has to be set less than 1 Function block type INST32 Variable Description Subordinate axis setting AXIS eSetting range 0 2 0 X Y 2Z elf out of setting range Error 6 occurs MSP Main axis setting AXIS eSetting range 0 2 0 X 1 Y 2Z elf out of setting range Error 6 occurs MST_ Main axis Speed rate setting RAT eSetting range 0 65535 Subordinate axis speed rate setting eSetting range 0 65535 7 16 Chapter 7 Function Block 7 7 3 Position Override Position Override APM_POR This is used to change the goal position from operation data of the step no in operation of each axis Function block type Variable Description New goal position setting eSetting range 2147483648 2147483647 7 7 4 Speed Override Speed Override APM_SOR This is used to change the operation speed from operation data of step no in operation of each axis Function block Variable Description New operation speed setting eSetting range Open Collector output O 200 000 unit pls s Line Driver output O 1 000 000 unit pls s elf out of setting range Error 11 occurs Chapter 7 Function Block 7 7 5 Position Speed Override Position Speed Override APM_PSO This is used to change the goa
102. by central point essssseeeee nmm 3 30 2 Circular interpolation by middle point eesssseeeee nmn 3 32 3 4 Positioning SIOD or ERA ERE Co EAR ERE AER M OA ERE RE ERROR ERA EET 3 33 3 4 1 Stop Command and Causes 1 xerxxehs nexu vex E au xxn XR HER RE RR TREE REI E ya CR 3 33 3 4 2 Stop Process and PHOIUy s 20er de EE EXER IR DE HE RAEEDER CIEL RE EXE n Es 3 35 3253 Interpolation Stops sce Shane chore tate pose cita nbn eto roe est oe assetto us 3 36 3 4 4 Emergency Slop morer Fr Xxx EXE ROVER v ERE CRT RO EON ER ON REN YEN 3 36 3 5 Reset after Positioning Stop sssssssessssen 3 37 3 6 Return to the Ol aye tea eL ees nae 3 37 3 6 1 How te return to the Origin veexuei is eo ER A euena Ea aper ska etae E RA AREE a Ne Ra anda 3 37 3 6 2 The origin detection after approximate origin OFF cseceeeeeeeeeeeeeeeeeeeneee ees 3 38 3 6 3 The origin detection after deceleration when approximate origin ON 3 40 3 6 4 The origin detection by the origin and High low limit cceeeceeeeeeeeeeeeeeeeeeeeeee 3 41 3 6 5 The origin detection by approximate origin sseeeeee eee 3 42 3 6 6 High speed origin TOturis ssp iti eed e cea eeniwsa i padi acta marcel men suuarerni Tu iS 3 43 3 7 Manual Operation ssssssssseememmmmemenne 3 44 S T d Od OPS Tan Ne sae aE Rivent bx aide e A beans be vip c iir a vals 3 44 3 7 2 Manual Pulse Generator Operations avis
103. by origin or high low limit 2 High speed origin detection gt The items that effects to the homing from Software Package parameter are as follows 1 Homing method 2 Homing direction 3 Origin compensation amount 4 Homing speed high speed low speed 5 Origin address 6 Homing dwell time 7 Homing reset waiting time 8 Homing acceleration deceleration time For further information please refer to Article 4 7 3 37 Chapter 3 Function 3 6 2 Origin Detection after Approximate origin OFF This is the method using the approximate origin and origin signal and the action by homing command is as follows 1 It accelerates to the setting homing direction and acts by homing high speed 2 In this case if approximate origin as external input is entered it decelerates and acts by homing low speed 3 If origin signal as external signal is entered after the approximate origin signal has changed from On to Off it stops Speed Homing high speed Deceleration when approximate return ON Homing low speed While the approximate origin ON the origin will not be determined by the origin Origin signal signal j j j l f rotation of SERVO motor PG1 rotation I j j I I Approximate origin signal Homing command Homing processing Origin determined state I Aeon state waiting Waitin 3 38 Chapter 3 Function While approximate origin signal maintains On the origin w
104. ce ob eed or COQUE REP E Oel b E 3 46 3 7 3 Inching Operation E E pae Due dpa Da Li a dace MR a Sa tld LEA Qu eT 3 48 3 7 4 Return to the position before manual operation es vexc ic EE ery 3 49 3 8 Speed Change during Positioning Operation 3 50 3 8 1 Speed Override Command sicncaciiscoscchutiiicia teawetsn ie oblneseiraddtedeaaeniaawis 3 50 3 8 2 Operation Step Number Change by Continuous Operation ccseeeeeeeeeee ees 3 51 3 8 3 Positioning Speed Override COMMANG cc cceee eee e teense teense teense ennaee eens 3 53 3 9 Position Change during Positioning Operation 3 54 3 9 1 Position Change by Position Override e ette rta t rh nhan hog a Een aeR 3 54 3 10 Stroke High Low LimiL oe ete e b cea aite e ea 3 55 3 10 1 External Input Stroke High Low Limit 5552 6 vatey n eran xn t E n le Fl 3 55 3 10 2 Software Stroke High Low Limit vx cage oue des nuno doen n nue repu ees nxor n pinna an an 3 56 3 11 Random Position Address Value Setting on the origin and the Change of Current POSITIOD i iiis ecu op R med d du ra Eee efe ra ha exe TE Eras 3 57 3 11 1 Random Position Address Value Setting on the origin sessseeess 3 57 3 11 2 The Change of Current Postion vians Scviveereidecersase EAR PERI TAM EP Gea eet eet 3 57 3 12 Floating Origin Setting cece eee e teeter eee
105. code 4 1 Program P0003 P0010 POO POO 2 TJ e PUTP 00001 0430 00000 00001 PUTP Q0001 D4300 00004 nonni 2 Description Device Description P0003 X axis indirect start input P0010 X axis command receiving P0011 X axis signal in operation BUSY P0012 X axis error status gt Internal memory 4301 is X axis step no setting If in indirect start the step no is set as 0 it carries out the operation by current operation step no Chapter 9 MK Command 9 2 5 Linear Interpolation Start Command code 5 1 Program Pooo4 PO0IO POOlI Re PUTP 00001 04301 goooo 00001 PUTP X 00001 04309 00003 00001 00001 04300 00005 00001 2 Description Device Description P0004 2 axis linear interpolation start input P0010 X axis command receiving P0011 X axis signal in operation BUSY P0012 X axis error status Address of internal memory Contents of internal memory Setting value 4309 Axis information when using plural axis 3 X Y 4301 Step no 1 4300 Command code 5 9 2 6 Circular Interpolation Start Command code 6 1 Program L RET PUTP 00001 04301 0000 00001 PUTP A ODD 04309 00005 o0001 PUTP 00001 04300 00006 o0001 P0005 P0010 POO 1 P0012 2 Description Device Description P0005 2 axis circular interpolation start input P0010 X axis command receiving P0011 X axis signal in operation BUSY
106. deceleration High speed homing When high speed homing the axis does not detect the near point dog and returns to the mechanical origin This is effective only in the status that the positioning such as floating point or homing is completed Feed pulse This is the output pulse from positioning module to Servo driver or stepping driver It is also called as command pulse Feed screw This is the basic screw mechanically in the positioning by screw rotation Ball crew is often used to reduce backlash and numeric error Feedback pulse In order to check if the machine acts reliably according to command pulse generated from positioning module if command pulse is generated against 10 000 pulse the feedback pulse of 10 000 pulse returns from Servo encoder After then the residual deviation value droop pulse becomes 0 and it is judged that it complied with command pulse very well Refer to deviation counter terminology Fixed feed This is the feeding of the fixed dimension to cut and bar work piece by the goal dimension The increasing system positioning is often used Flash memory This is used to save the parameter and positioning data for the backup memory without battery As there is no battery it is not necessary to maintain the battery External input high limit Forward limit switch signal This is the input signal to inform the user that the high limit switch b contact configuration alw
107. deceleration curve which is the closest to the Sin Curve gt The figure as below shows the example of S Curve rate setting Speed Speed Distance Distance S curve rate 5096 S curve rate 196 Speed Distance S curve rate 10096 5 14 CHAPTER 5 Positioning Parameter amp Operation Data 5 3 Origin Manual Parameter Here describes Origin Manual Parameter Item x Axis Y Axis Z Axis Home Address Opls Opls D pls Home Parameter Home Retry Time Oms Oms oOms Home ACCIDEC 0 ms 0 ms 0 ms JOG High Speed 5000 pls s 5000 pls s 5000 pls s JOG Low Speed 1000 pls s 1000 pls s 1000 pls s JOG ACCIDEC Time 1000 ms 1000 ms 1000 ms Inch Speed 100 pls s 100 pls s 100 pls s Configuration of Origin Manual parameter Items Setting Range Initial value 2147483648 2147483647 X10 Inch 2147483648 2147483647 X10 Inch GIOI tates degree 2147483648 2147483647 X10 degree 9 pulse 2147483648 2147483647 pulse Open Collector Line Driver Unit mm 0 200000 0 1000000 X10 min Origin return high speed Inch 0 200000 0 1000000 X10 inch min 5 000 Degree 0 200000 0 1000000 X10 degree min pulse 0 200000 0 1000000 Pulse sec Open Collector Line Driver Unit mm 0 200000 0 1000000 X10 min Origin return low speed Inch 0 200000 0 1000000 X10 inch min
108. eee eee ees 3 58 313 TEACHING i creencia eoe dee cce e neat E cl x 3 58 3 13 1 RAM Teaching and ROM Teaching esssssseeeen men 3 58 3 132 Single Teaching wa rove va dedi ida La pa manc bid da reamed eda a ren eod adeat 3 59 3 13 3 Plural Teaching eese a aa rex genre nr Ur neu ER TRAE EDEE ETC RE REI BA 3 60 3 14 Start Step Number Chang UR T RN mU PR PON 3 61 3 15 Skip Operation APM SKP ssssssm e 3 62 3 16 Starting Step Number Change during Repeating Operation 3 63 3 17 MCOdG EE 3 63 3 18 Parameter Change in Program ececee cece eens ee eee nena nena ees 3 65 3 18 1 Basic Parameter Settings csse iux tex vr o P OQ VC RE E 3 65 3 18 2 Expansion Parameter Settlrigur iie ser kr an da ea x Rd on Xn aka EN a Ya ox 3 66 3 18 3 Origin Return Parameter Setting ii eximr pre ra kao kd vet TEaKEUAR RROERRKRTIA saves 3 67 3 18 4 Manual Operation Parameter Setting ccecceeeeeeeeeeeeeeeeee sees nnn 3 68 3 18 5 Common Parameter Setting ia iva oa ker E oC EX XR REEXERXRRRE RE EEEREEVR RR EVER EYYS 3 69 3 19 Operation Data Setting ssssssssssmmmmmI 3 70 3 20 zio idu P T 3 71 3 21 Error and Output Prohibition 3 72 3 22 Zone OUIPUL ssa ea uas prr Oita ae aos 3 73 3 23 Point Operationh ion rper eL Xe ERR Eur shh rx E CR KR ERR ERR 3 74 CHAPTER 4 Software Package 4 1 APM Software Pack
109. err or Y EUER Y e ex Xr Y Y CER 11 11 11 2 9 Position Synchronous Start 4 osa xa ce eed eU D Y EET NOR DUANE CEA E EPA OG 11 12 11 2 10 Speed Synchronous Start vee aea desi E dai wn dE Ma RE Ra A a tae oman vas 11 13 11 2 4Emetgency Stop s dexerx xaxa rdc ro Ra eu ux RE AERE X AEA E D CHER ER 11 15 1122 12J090 ODOPallOI 256 narra kx He hE RARE ER OE ENA DDIN P LR IIS 11 16 11 2 13 Manual Pulse Generator or Encoder Operation ccccseeeeeeeeeeeeeeeeeee eee 11 17 TT 2 14 niching ODBeFAtoTi xoa aa nne EO ER ROGO EE eave win UR ELS EC ODE NT x NN 11 18 11 2 15 Move to the Position before Manual Operation ccssseeeeeeeeeeenaeeeeaaes 11 19 11 2 16 Speed Override 4a iiarianoiaawect lets ictal treet ees 11 20 11 2 17 Position OVerfidBs ueris ea vri tcx aa anao Xa Ead T AR nS dX EFRENE TA RENTE 11 21 11 2 18 Positioning Speed Overrides nisi zu ers vicia sa Lev abr REY seu VERENA EXER CORR ERE 11 22 11 2 19 Operation Step Number Change by Continuous Operation 11 23 11 220 SKIp ODeFPallOh asco scuta or a Ea m ebria s na nea ca tiara es 11 24 11 2 21 Operation Step Change in Repeat Operation cesse 11 25 11 2 22 Current Position C hanigecetuscita dererduve bts quee rtuua pias epa E Mage oruUE pi 11 26 11 2 23 Speed Teaching cdi n ede rar dx EE e ERR EA E REDI wads ees 11 27 11 2 24 Position Teachinu cs cen sas env swe nini du e sens cancun RR x nue DAR T ER NAP ewes 11 28 11 2 25 Para
110. error occurred begins to blink G Mode switch Selected the information of operation information indicator gt The information of operation information indicator will be changed at each press External wiring Connector to connect with drive machine machine field input manual pulse connector generator etc CHAPTER 2 Specification 3 Relation of Operation information indicator and Mode switch Operation Mode switch information Description indicator INIT INIT Self diagnosis indication when power ON STOP Waiting uus for operation etre gs inge RUN In addu NET e ET Waiting state for operation i per axs BUSY In operation gt indicted one from 3 modes i EXXX Error no indication NOP NOP Parl Sop indicted one fom 14 operation types POS POS 1 axis position control operation 1 CR CON Simultaneous start operation 1 ORG Origin return operation QD uM VTP Speed Position conversion operation L l z PTV Position Speed conversion operation denar 7 74 SSP Position synchronous start esM SSS Speed synch tart peed synchronous ar MPG Manual pulse operation JGH Jog high speed operation 1 JGL Jog Em aN nh NC INC Inching operation T RTP Return to the position before manual operation EMG BRIDE EMG Emergency stop t gt indicated one from 4 sp
111. external electromagnetic brake power is not applied Electronic gear This function increases decreases command pulse from positioning module by 500 times from 1 50 electrically Thus positioning speed and transfer distance can be controlled by electronic gear ratio magnification If electronic gear ratio setting is changed positioning operation speed and the setting transfer distance shall be changed and when setting it should be Servo OFF and within the setting range to avoid malfunction and crush Emergency stop This applies emergency stop signal to the positioning module to stop emergently regardless of operation status of positioning module In case of 2 3 axis positioning module 2 axis and 3 axis stop emergently at the same time Thus for the individual emergency stop of each axis emergency stop signal of Servo driver is used External regenerative brake resistor Called as regenerative resistor When the machine moves by the motor the power is supplied to the motor from amplifier But in case of machine and motor the rotation energy flows to the amplifier contrarily when motor decelerates or when load Appendix 1 4 Appendix 1 Positioning Terminology operation is downward External regenerative resistor consumes the regenerative energy as resistance and obtains the regenerative brake torque and enables the overall acceptability of regenerative system during stop Also it is used for the frequent acceleration
112. from model setting items or click the corresponding icon from basic tool gathering or click the previous online model setting icon 2 If you select the desired APM module and press Verify Button new working screen shall be made Chapter 4 Software Package Items Tool Short cut key gathering Set Online model 3 SHIFT N Set the previous online model amp None Table 6 Online model setting tool gathering p gt Function Description In case that several APM modules are set in PLC In this case APM software package can recognize max 4 bases 32 slot GM PLC can recognize max 8 APM modules for one base and Master K PLC can recognize 32 APM modules for one base The following figure shows the online model setting dialogue box when several APM modules are inserted ETEDITTTEENS PA Bertin nm BABEB n pen Lolieckar d C SAGE 1 r BABE or TTT races wy zi OBABE d C BASES r BasEE Fig 5 Online model setting dialogue box in case of several APM modules The previous online model setting function This function enables to form the working screen by connecting PLC and software package directly using the previous online model setting information instead of using online model setting function when you need to set online model again after closing the communication port But if you carry out the previous online model setting function without set the
113. in case of CW normal setting in case of CCW reverse setting FP Terminal Normal operation i Reverse operation RP Terminal Reverse operation Normal operation in case of CW normal setting in case of CCW reverse setting FP Terminal Normal operation i i Reverse operation RP Terminal Reverse operation Normal operation in case of CW normal setting in case of CCW reverse setting 5 2 6 M Code Output M code mode set by parameter shall be applied to all position data of the corresponding axis in a bundle Available to set M code number differently at each operation step number of positioning data M code number setting range 1 65 535 Available to use M code for the identification of operation step number in operation and the execution of auxiliary works Clamp Drill rotation tool change etc after reading it from output variable MCD of current operation state code read function blockof the program gt M code signal occurring during operation shall be reset by M code Off command vvvv p gt If M code signal is ON even if the positioning is completed G4 6F PP 1 2 30 G4 6F PP1 2 3D treats Error error no 233 without acting the next operation step number Therefore in command to act the positioning of the next operation step number M code signal should be OFF by M code Off command gt M code mode has 2 kinds of mode according to the output timing of M code si
114. information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON gt POOOE simultaneous start switch ON 3times 3 Operation Data Setting Operati Operati Goal cree Operatio Dwell Circular Items of Step Coordina Control P in interpolation aux Acc De P interpolati H n te method on on position point M code end n speed time o Position data h ae Bu pattern method pulse pulse pls s 0 dir ction X setting 1 Absolute Position End Single 10000 0 0 1 1000 100 CW Y setting 1 Absolute Position End Single 20000 0 0 1 2000 100 CW 2 Program F0010 11 GET 0000 04370 MOOO 00000 H GET 0000 04374 D0000 00007 H F0010 GET 0000 08770 M010 00004 H GET 0000 08774 D0100 00007 H P0000 P0010 P0012 J PUTP 0000 04317 00001 ooo f PUTP 0000 04300 00036 00001 P0015 P0017 TS PUTP 0000 08717 00001 ooo f PUTP 0000 08700 00036 00001 P0001 P0010 P0011 P0012 r H J l j z Pure oo00 04300 00001 00001 P0015 P0016 P0017 L Pure oo0 08700 00001 0000 f POOOE P0010 P0011 P0012 P0016 P0017 E j J i So 1 2 D PUTP 00001 04313 00001 00002 Fr 1 PUTP 00001 04309 00003 00001 H 2 PUTP 00001
115. is OFF when Stop vod giving the floating point setting command Move pe poe fo BE ENEN poe fo BE Check if the command axis is in operation when giving direct start command Check if the command axis is in output prohibit status when giving direct start command Output prohibit is released by RST command as output prohibit release option Checkif M code signal of command axis is ON when giving direct start command M code shall be OFF by MOF command Not available to carry out Absolute coordinate operation in origin unsettled status Check the coordinate of operation data to operate and the current origin determination status After setting the origin by homing command or floating point setting command it is available to carry out the Absolute coordinate operation start command can not be used in SERVO Ready Sto Check if Driver ready signal of command axis is OFF when p giving direct start command ndirect start command can not be used in operation Move status Check if the command axis is in operation status when giving indirect start command Check if the command axis is in output prohibit status when giving indirect start command Output prohibit shall be released by RST command as output prohibit release option Check if M code signal of command axis is ON when giving indirect start command M code shall be OFF by MOF command Not available to carry out Absolute coordinate operation in origin unse
116. is available only for 1 axis basically The error occurred during Tracking shall be indicated on the Tracking screen and Error history screen at the same time Tracking related tool gathering Items Tool gathering Function When Tracking screen pauses or the coordinate of the screen is changed by Enlarge Reduce function if you press this Start gt button the coordinate shall be restored as same as set at first and Tracking starts again Pause II Used for the Pause of Tracking screen If you press enlarge Button during tracking the screen stops Enlarge Q for a while automatically and appears enlarged If you want to start Tracking again press Start Button If you press reduce Button during tracking the screen stops Reduce Q for a while automatically and appears reduced If you want to start Tracking again press Start Button This is used when you want to make the desired part enlarged during Tracking To use this function correctly if you stop for a Area while by using pause button and drag the desired area to enlargement enlarge by the mouse only the selected area appears in enlarged If you want to start Tracking again press Start Button This function is used when you want to see X Y data value of the desired area during Tracking To use this function correctly if you stop the desired area by using pause button and move Data indication v the cursor to the desir
117. low limit Position pass time Zone setting area among the items of parameter 3 10 Chapter 3 Function 2 Control by Incremental method Relative coordinate A This carries out the circular interpolation from Start address to Goal address through the assigned middle point address B The circle is made around the crossing point created by dividing the Middle point address calculated by transfer amount from Start address to Middle point address and Goal address calculated by transfer amount from Middle point address to Goal address into two vertically Action by circle interpolation Normal Middle point address K Goal address Transfer amount to Middle point address Transfer amount to Goal address Start address Reverse Normal Transfer amount to Reverse Middle point address Transfer amount to Goal address C Circular interpolation control can not be used with control unit Degree D Transfer direction shall be determined by APM module Example When X transfer amount 13000 Y transfer amount 9000 the action is as follows in case that X aux Point 10000 Y aux point 7500 rotation direction CW main axis X subordinate axis Y Software Package Setting Operation Data Items of position Step Control Operation Operation oon 2 Circular M Acce Operation Dwel Circular to C
118. may cause the malfunction o electric shock gt When cleaning or tightening the terminal screw the power should be OFF Do not remove PCB from the module case or remodel the module It may cause the failure malfunction damage of the product or fire The installation and removal of the module should be done after Power OFF gt The change of battery should be done in the state of power ON In case of changing in the power OFF it may cause the loss of program L1 Notices in Disposal When the product is disposed this should be treated as industry waste Revision History Issue Date Manual number Revised Content 2002 9 30 10310000395 First version issued User s Manual no is marked on the right bottom side of the back cover Table of Contents CHAPTER 1 Overview 1 1 Characteristics sineeran e iro doa e n OD RE DE RAO ERR CELER eee aes 1 1 1 2 Purpose of Positioning Control sssseeenneee 1 3 1 3 Signal Flow of Positioning Module 1 4 CHAPTER 2 Specification 2 1 General Specification cc ccce cece cece e eee eee teeta eee eens ea ea eee eats 2 1 2 2 Performance Specification c cc cece cece eee e eens neta ee eeeeeaeeeaeaeaeas 2 2 2 3 External Interface I O Specification cece eee eee eee eens eee tees 2 3 23 1 Input Specificatii N iias nenei aae seem ica aea aod
119. min Jog high speed inch 1 2000000000 X10 inch min 5 000 degree 1 2000000000 X10 degree min pulse 1 200000 1 1000000 Pulse sec Open Collector Line Driver Unit mm 1 2000000000 X10 min Jog low speed inch 1 2000000000 X10 inch min 1000 degree 1 2000000000 X10 degree min pulse 1 200000 1 1000000 Pulse sec Jog acceleration deceleration time 0 65 535 unitms 1000 Open Collector Line Driver Unit mm 1 2000000000 X10 min Inching speed inch 1 2000000000 X10 inch min 100 degree 1 2000000000 X10 degree min pulse 1 200000 1 1000000 Pulse sec x Note 2 In case of setting the Jog acceleration deceleration time as 0 it needs to follow the acceleration deceleration setting value of basic parameter Setting Range of Origin Manual Parameter 5 3 1 Origin Return Method p gt There are 5 kinds of Origin return method Origin return treatment method G4 6F PP1 2 30 G4 6F PP1 2 3D Origin detection after Approximate origin OFF Available Origin detection after deceleration when Approximate origin ON Available Origin detection by the origin and High low limit Available Origin detection by Approximate origin Available High speed origin return Available gt For further information of origin return treatment method please refer to origin return items 5 3 2 Origin Return Direction gt Origin return direction is divided into CW normal rotation
120. near point P magnification pulse This is a coefficient to amplify the feedback pulse per axis rotation by 2times 3times 1 2 or 1 3 This is the ratio of feed pulse and feedback pulse For example if the number of pulse per motor axis rotation is set as 2400 pulse P ratio shall be 2 and the result shall be the same as 1200 pulse The rotation per pulse shall be 0 15 degree when it is set as 2400 pulse per rotation But this is 0 3 degree when 1200 pulse With P ratio the positioning accuracy drop increases Position control This is the control of position and dimension such as fixed feed positioning numerical control etc This is always controlled by feed pulse There is speed control also Even if the same Servo motor is using Servo driver may be different Position loop gain This is the ratio of deviation counter droop pulse for the command pulse frequency Position loop gain Command pulse frequency droop pulse sec Appendix 1 8 Appendix 1 Positioning Terminology Increase the gain to promote the stop precision But if position loop gain increases too much over shooting occurs and the action shall be unstable If position loop gain is too low the machine will stop smoother but the stop deviation increases Position loop mode This is a Servo control mode used for positioning This is a mode for position control Other Servo control mode includes speed loop mode to carry out speed control and torque
121. normal direction positioning gt Start address gt Goal address reverse direction positioning Normal Y Y2 wer address X2 Y2 I I Y axis Start address transfer amount X1 Te I I Pt Action by X Y linear interpolation Reverse Normal X axis X1 X axis transfer amount Reverse Example gt When Start address 1000 4000 gt Goal address 10000 1000 the action is as follows Start address Y axis transfer amount 1000 4000 3000 1000 Goal address X 1000 5000 10000 X axis transfer amount 10000 1000 9000 Software Package Setting Items of Step Control Operation Operation Wo ed M Acce Operation DE Circular No Jzoordinate method altem method position interpolation aux zode ideco No speed time interpolation position data i p pulse Point pulse isis 0 direction Position i 1 Absol E ingl 1 1 1 WwW X Setting bsolute control nd Single 0000 0 0 00 0 C Position i 1 Absol E ingl 1 1 1 WwW Y Setting bsolute control nd Single 000 0 0 00 0 C Chapter 3 Function Program Release of prohibited X axis output if information error occurs Release of prohibited Y axis output if information error occurs X Axis operationX axis error information information JH SET ij x sri bows en amp 3Hio Babi AP HE d PE Le Y axis operation Y axis error information information X Axis operationX axis
122. of approximate origin signal Homing low speed Origin determination Reverse rotation External input high limit d Homing command Homing processing Origin determined state 1 If ON time of approximate origin is longer than deceleration time the action is as follows Normal direction T Homing high speed Homing low speed Time Reverse direction I I Homing high speed External input high limit 3 42 Chapter 3 Function 3 6 6 High Speed Homing 1 High speed origin detection is one of the homing methods that returns to the origin determination position without detection of external signal approximate origin origin signal High Low limit when returning to the mechanical origin position after completion of the mechanical homing 2 The operation pattern of High speed homing is as below Normal rotation Homing high speed rigin determination Reverse rotation Homing command Homing processing I Origin determined state 3 43 Chapter 3 Function 3 7 Manual Operation Manual operations includes Jog operation Manual pulse generator operation inching operation previous position movement of manual operation etc 3 7 1 JOG Operation Level input 1 JOG operation gt carries out the positioning control by Jog command gt carries out the monitoring when the positioning acts by Jog command and the position address is changed gt This i
123. of main axis and subordinate axis Check the setting value Check if the axis that error occurred is included in the synchronous start command and there is the axis in operation when giving the synchronous start comand Check if the axis that error occurred is included in the synchronous start command and it is in output prohibit status when giving the synchronous start command Output prohibit shall be released by RST command as output prohibit release option Check if the axis that error occurred is included in the synchronous start command and M Code signal is ON when giving the synchronous start command M code shall be OFF by MOFcommand Check if the axis that error occurred is included in the synchronous start command and the goal position of operation data step to operate is the same as the current position in case of Absolute coordinate and it is set as 0 in case of Relative coordinate Check if the axis that error occurred is included in the synchronous start command and Driver ready signal is OFF when giving the synchronous start command Chapter 7 Function Block rro AE Output type 1 Error description Module action Solutions zode pen Line Check if the axis setting of synchronous start command is The axis setting of synchronous start command is wrong Stop set by one axis The axis setting address means no 0 bit X no 1 bit Y no 2bit Z and each bit is set as 1 a ea IX CES command not in oper
124. online model more than one time after executing APM software package program the error message will be displayed as follows Thus you should set the online model before carrying out this function He Prac Or Line Pohi hkra Peat ii ii ae Li Ln Minded CUL Fig 6 The previous online model setting function error indication Incase that communication error occurs If communication does not work because of PLC power OFF or communication cable problem when carrying out positioning module read APM software package tries to communicate with PLC automatically and if the communication continues to fail the error message will be displayed as follows Ti 3 e Mo Harporaei Ras i on He Fig 7 Communication error message in case of Online model setting 4 9 Chapter 4 Software Package 4 5 Operation Parameter and Operation Data Setting 4 5 1 Operation Parameter Setting p gt Method 1 Select Operation parameter item from data menu or click the corresponding icon from basic tool gathering Items Tool gathering Short cut key Operation parameter PR SHIFT P Table 7 Operation parameter related tool gathering p gt Function Description Configuration Operation parameter is divided into 4 types as follows Basic Parameter Extended Parameter Origin Manual Parameter Common Parameter im irme jamaa itan Fig 8 Operation parameter screen For the range and the meani
125. out the operation as SERVO ready near interpolation subordinate axis 2 abl there is no goal position of the main axis e to carry out the linear interpolation in case PO available to carry out the linear interpolation when the main axis is speed control available to carry out the linear interpolation when 259 subordinate axis 1 is speed control available to carry out the linear interpolation when subordinate axis 2 is speed control available to carry out the circular interpolation start when the circular interpolation main axis is in operation available to carry out the circular interpolation start when circular interpolation subordinate axis is in operatiob Noi when circular interpolation main asix is in outpu available to carry out the circular interpolation start prohibi status Check if subordinate axis 1 is in output prohibit status when giving linear interpolation command Output prohibit shall be released by RST command as output prohibit release option GEI ENEN o EBENEN pe fe Check if subordinate axis 2 is in output prohibit status when giving linear interpolation command Output prohibit shall be released by RST command as output prohibit release option Check if M code signal of main axis is ON when giving linear interpolation command M code shall OFF by MOF command Check if M code signal of subordinate axis 1 is ON whe
126. out the operation as the linear profile comes from circular interpolation The radius of circular interpolation should be greater than Backlash Not available to carry out the synchronous command in the operation status Move BEN BEI Not available to carry out the synchronous command in the output prohibit status Not available to carry out the synchronous command in M code ON status Not available to carry out the synchronous command in case that there is no goal position 7 30 Not available to carry out the synchronous start command in SERVO ready when SERVO ready is OFF Output type Module action Solutions pen Line Check if the subordinate axis is in output prohibit status when giving the circular interpolation command Output prohibit shall be released by RST command as output prohibit release option Check if M code signal of main axis is ON when giving the circular interpolation command M code shall be OFF by MOF command Check if M code signal of subordinate axis is ON when giving the circular interpolation command M code shall be OFF by MOF command Not available to carry out Absolute coordinate operation in origin unsettled status Check the step coordinate to operate and the current origin determination status After setting the origin by homing command or floating point setting command it is available to carry out the Absolute coordinate operation Not available to carry out Absolute c
127. out the positioning operation by the changed goal position and operation speed in case of re operation by the Start command gt Max no of teaching Array is limited by 16 gt When teaching Array set the goal position of the setting step no and operation speed from Teaching array 0 in order and the data set as much as the number of teaching is executed in a bundle based on the setting step no 1 First set the axis for teaching array from teaching array display of Command 2 2 Set the starting step no teaching pattern 0 RAM 1 ROM teaching method 0 position 1 speed and the number of teaching array 3 Set the desired data for teaching from teaching Array value 0 to the number of teaching Teaching Array data setting display 0 RAM Teaching Array POS 4 1000 pls 2000 pls 3000 pls 4 Click execute button 5 If the step no is set as 1 from indirect start item of Command 1 and the indirect start is executed the operation is carried out to the setting goal position from step 1 step 4 In case of Absolute coordinate the operation data such as operation speed from step 1 step4 should be set in advance 6 Click Read Write button to read the operation data of teaching array and check if the goal position of operation data and operation speed is set as the value of teaching Chapter 6 Software Package Startup 6 4 7 Point Operation gt Here describes the startup example of
128. p gt Notices Tracking related tool gathering may not act according to the O S of APM software package installed computer It may occur sometimes in Windows 2000 Windows Me Windows XP and in this case the solution is to increase Tracking period by using environment setting function Reference Window 95 98 Me 2000 Tracking period 40ms Window XP Tracking period 60ms As X axis time value of Tracking screen is quite different from actual operation time cares should be taken in using Chapter 4 Software Package 4 9 Data Read Write Function 4 9 1 Data Read Write p gt Method As Data Read Write function is not available during monitoring or tracking it is required to carry out the function after stop it when the corresponding is active Click data read write item from communication menu or click the corresponding icon from basic tool gathering to select the desired data and then press Read or Write Button Items Tool gathering Short cut key Data Read Write am SHIFT R Table 13 Data Read Write related tool gathering p gt Function Description Configuration The items shown on Data read write dialogue box are different according to the APM module axis number Famn Duik Pcullon Dais Fassade 148 Priori D LS MELIE 7 Hien Ponia Dae X Ac Frain Am Parion Dai D Yhd Paa Y dai Ponia Daa T dem Prai i rikf r Zisk Pramen Camm Fases r Com Praa V Zm Poin bae
129. position point M code Enon speed time o Position data f pattern method pulse pulse pls s ms EUM X setting 1 Absolute position End Single 150000 0 0 1 1000 100 CW 2 Program F0010 0 LZ NE GET 00001 04370 NO00 00004 GET 00001 04374 DOOD0 00007 P0000 P0010 P0012 E PUTP 00001 04317 00001 00001 PUTP 00001 04300 00036 00001 P0001 PODIO POOII P0012 L TJ H H Purp 0000 ossoo 0000 0000 P0002 P0010 P0012 MODDC L H rur ooo0 04300 00010 00001 ve POOOF POO P0012 4 j D poozo Ha alg JL 1 7 Chapter 11 MK Program 11 2 5 Single Operation Operation step no setting 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis step no change switch POOOF X axis start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P003 BCD Digital switch input M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON gt P000F Start switch ON gt P0002 Start step no change switch ON gt P000F Start switch ON After Setti
130. positioning operation But this is limited only for RAM teaching function and teaching is available only for the step no that is not in operation at the present gt In case of changing the goal position ad operation speed frequently this function is used very conveniently Position teaching is to change the goal position and Speed teaching is to change the operation speed gt Teaching function includes Single teaching and Plural teaching that has RAM teaching and ROM teaching respectively 3 13 1 RAM Teaching and ROM Teaching 1 RAM Teaching When the positioning module acts in Power ON it is available to use it by changing the speed and position address but if the power is OFF you may lose the speed and position address 2 ROM Teaching When the positioning module acts in Power ON it is available to use it by changing the speed and position address and even if the power is OFF the used speed and position address shall be preserved permanently gt ROM teaching is limited in the number of use and cares should be taken in using allowable number 100 000 gt The method to increase the number of use when acting the teaching operation as one step are as follows 1 Set the 400 operation step by software package as repeat operation 2 Count the teaching number from PLC program and if it reaches 99 000 comparing with less than 100000 99 000 carry out the operation step no change APM SNS to the next operation step and then 3
131. product in the place where lots of lamp are installed The inflow of metal particle is not permitted as it may cause the malfunction of the product gt In case of installation environment with metal particles it may cause the malfunction and it is required not to flow into the metal particles when installing L Notices in Installation gt PLC should be used in the environment condition described in the general standard gt If used out of general standard it may cause the electric shock fire malfunction damage of product or furious flames etc gt Make sure that the module is fixed correctly If the module is not installed correctly it may cause the malfunction failure or falling LI Notices in Wiring gt The grounding of FG terminal should be used with the 3 class grounding for PLC If not grounding it may cause the malfunction gt The wiring in PLC should be connected after confirming the rating voltage of the product and terminal layout gt If connected to the different power from the rating or a wrong wiring it may cause the fire or failure gt In wiring tighten the terminal screw with standard torque If the terminal screw is loosened it may cause the short circuit or malfunction gt Cares should be taken not to put the wire remnants or foreign materials inside the module L Notices in Startup and Maintenance gt Do not touch the terminal in the state that the power is applied It
132. read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt P0002 Inching operation switch ON OFF gt P0003 Jog high speed normal rotation switch ON OFF gt P0004 MPG operation permit switch ON OFF gt P0005 MPG operation prohibit switch ON OFF gt POOOF Return to the position before Manual operation switch ON OFF 2 Program F0010 Poo GET 00001 04370 MOOO 00004 GET 00001 04374 pagn 00007 xu des cd PODOD P0010 P0012 Tl TI PUTP 0000 04317 0000 00001 PUTP 00001 04300 00036 00001 P000 POOIO POO POO 2 L FJ H H Purr 0000 04300 00001 0000 PO00 POOIO POO POO 2 ELI pE yL eL DMOVP 0000001000 D0100 PUTP 00001 04302 D0100 o0002 PUTP 00001 04300 00018 00001 2 SET P0023 P0Q2I ue PO004 Pool P0012 p pE J4E ser Pooe4 H E Pool P0012 ccc nsr P0024 E PODIO PODI P0012 L H H Purr 0000 04300 00019 0000 Chapter 11 MK Program 11 2 16 Speed Override 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis indirect
133. runs function block is registered according to the following procedure Function block registration is available only in the state that project is open Project P Library insert I Select ETT EE __ Ex 5 gal cel fen ml at APP Bb ba REMOTEG ib ors EY ju COMIN Elo ja 5TDI E Bh Select jun bl rg s ja Sidh Ba jn HEMEL Ef pi xb dh Bhs Pape cub 0 Umen Fies oi ipe Litany Fig E Cancel GM4 Series registration GMWIN V3 6 above GM6 Series registration GMWIN V4 0 above 7 2 Chapter 7 Function Block 7 1 2 Common Items of Function Block 1 The function and use method of I O variable name as below is applied commonly to all function block of Article 7 2 Classifi Variable Data ipti cation name type Description Required area for function block execution REQ BOOL e If the contion connected to this area during program running is formed and 0 gt 1 riging edge or level input detection function block runs Base position no eThis is the area to set the no of base equiped with positioning module e Setting range 0 3 Position no of slot eThis is the area to set the no of slot equiped with positioning module e Setting range 0 7 Area to set the use axis eX axis 0 eY axis 1 eZ axis 2 e If out of setting range error 6 occurs Indication area of function block completion status e f function block completed without erro
134. select one from individual output and batch output Zone 1 p gt In case of Individual output mode the signal of Zone 1 Zone 2 and Zone3 becomes ON according the setting of Zone 1 2 3 axis gt In case of batch output Zone 1 batch output for Zone 1 and at the same time individual output for Zone2 and Zone3 shall be done in the setting section between ON starting point and ending point of Zone 1 Zone 2 and Zone3 gt For the setting of Zone 1 2 3 axis it is available to select one from X Y Z axis and Encoder p Even if the signal of Zone 1 Zone 2 Zone3 becomes ON the internal Zone signal and external Zone output is not available without permission command of Zone output CHAPTER 5 Positioning Parameter amp Operation Data 5 5 Operation Data Here describes Operation Data Bub amp ddrass Accra puise speed ilar Creel ae 3 AHE F E ENO ip j HM i AAEE F E EMD SIM J i Hc i mam B5 POE END SIM j He lw sss P S END SIM J I Nc i ME P END SN 2 He i he sas Pt END Siri i i ol Fa il i ier aos Pris END Si T 0 j He i mam ABS Poe END T 7 2 He i 2 agas Pos EMD sid i r 2 Par 0 lite Aas P END TT i i j NC i Configuration of Operation Data Items Setting Range Initial value 2147483648 2147483647 X107 Goal positi n In
135. signal ECMD External command signal JOG Reverse jog operation COM Common OV OV STOP DOG VTP ECMD JOG DRVIN drive Unit Ready signal DRVIN COM drive Unit Ready signal Common HOME 24V Zero signal 24V HOME 5V Zero signal 5V HOME COM HOME 24V 5V Common CON External simultaneous start EMG Emergency stop B contact COM CON EMG Common X 1 High Low limit drive Unit Ready signal emergency stop signal should be connected to DC24V CHAPTER 2 Specification 3 Manual pulse generator input Encoder input Classification Internal circuit Signal Manual pulse generator A input Manual pulse generator A input Manual pulse generator B input Manual pulse generator B input Encoder Z input Encoder Z input Encoder A input Encoder A input Encoder Encoder B input Encoder B input Encoder Z input Encoder Z input
136. signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POOOF Operation data setting switch ON OFF gt P0002 Start switch ON OFF 3 Operation Data after settin Jperal Dperat Goal Great Operatic Dwell Circular Items of Step Zoordina Control P p Ds interpolation aux M cod Acc De P d 1 interpolati ote data no method on aes point code 6 n6 un time oh PEU EMIT atterr nethoc pulse pulse pls s NE direction X setting 1 Absolute Position End Single 20000 0 0 1 2000 100 CW 2 Program F0010 ax MEET GET 0000 04370 MODO 00004 GET 0000 043724 DOODO 00007 f Poooo PODIO POD0I2 J i PUTP 0000 04317 00001 00001 L PUTP 0000 04300 00038 00001 Poon P0010 Poot P0012 j H H Purr o0 04300 00001 0000 P0002 Poot P0012 is J j it D P0020 PoooF Pooi P0O1 O01 DMOVP 0000020000 D0100 ci maf metior setting DMOVP 0000002000 poi fF 100 101 20000 PUTP 0000 00100 DOIOO 00002 Goal position
137. start switch POOOF X axis speed overide switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal MOOOD X axis signal in constant speed D0100 D0101 Speed override setting value 1000pps M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POO02 indirect start switch ON OFF gt POOOF Speed override switch ON OFF 3 Operation Data Setting Operati Operati Goal Circular Operatio Dwell C culer Items of Step Coordinat Control P ped 9a interpolation aux M cod Acc De ian his interpolati Position data no e method on on position point coae C no n spee time an pattern method pulse pulse pls s 0 direction X setting 1 Absolute Position End Single 100000 0 0 1 5000 100 CW 2 Program ig TO GET 00001 04370 MOOO 00004 GET 00001 04374 DOODO 00007 gi id n H TO 00001 04317 00001 00001 PUTP 00001 04300 00036 00001 m i pool P0012 L H H Purr 000104300 0000 00001 EN 0002 PO0iD POOII PQOI TJ d PUTP 00001 0430 0000 0000 PUTP 00001 04300 00004 00001 ai adi MOD0D P0012 l H DMOVP 0000001000 pogo MD00C z 00001 04304
138. status ST2 Direction 0 normal 1 reverse n acceleration n constant speed n deceleration n Dwell 1 axis position control operation 1 axis speed control 2 axis linear interpolation ST3 3 axis linear interpolation 2 axis circular interpolation Homing operation Position synchronous start operation Speed synchronous start operation Jog low speed operation Jog high speed operation Inching operation MPG operation APM SRD 74 Manual operation point return Zone 1 Zone 2 Zone 3 Axis status 0 subordinate axis 1 main axis Main axis information X axis Main axis information Y axis ST5 Main axis information Z axis Main axis information Encoder No use No use No use The area to indicate the information for the signal generated from Program or Software package Emergency stop input signal Stop input signal Command input signal ST6 JOG high speed reverse operation signal High limit input signal Low limit input signal Origin input signal Approximate origin input signal Speed position control switching input signal Driver ready input signal External synchronous start input signal ST7 Zone1 output signal Zone output signal Zone3 output signal No use HO O1 AISIKI Oo O1 B09 PO
139. step no CHAPTER 5 Positioning Parameter amp Operation Data 5 5 2 Coordinate gt The coordinate of position data includes Absolute coordinate and Relative coordinate 1 Absolute Coordinate Control by Absolute method A This carries out the positioning control from the current position to the goal position the goal position assigned by positioning data B Positioning control is carried out based on the assigned position of origin return origin address C Transfer direction shall be determined by the current position and goal position gt Start position lt Goal position normal direction positioning gt Start position gt Goal position reverse direction positioning Example D When origin return address 1000 Goal position 8000 normal direction transfer amount is 7000 8000 1000 Software Package Setting Parameter setting Position data setting Hora Math i EIU Hae D Hra iin TLL piz H peas Doing Homa Higi Speed Seu Dai Cmm utar hated dices toad od ders bee H Do Hanes Loss Speed un tu Sami hial nd sr Ce a pa x LE I PEEL Hora ACT DET Ded gt Positioning Result transfer amount 7000 et Transfer amount 7000 Current position Goal position Control by Absolute method Absolute coordinate can start only in the state that the origin is determined If starting in the state that the origin is not determined
140. the position indication during equal speed operation should be set as indication gt But the current position shall be indicated only in the state that the origin determination is completed CHAPTER 5 Positioning Parameter amp Operation Data 5 2 13 Acceleration Deceleration Pattern gt There are 2 kinds of Acceleration Deceleration operation pattern Trapezoid operation and S Curve operation p gt In case of positioning operation it is available to select operation pattern either trapezoid operation or S Curve operation at the section of acceleration and de deceleration p gt As it is not possible to use S Curve operation pattern in case of continuous operation mode and speed override care should be taken in setting gt In case of using S Curve acceleration deceleration it is available to protect the motor from the load effect at the point that the motor starts to move the moving object and stops it Speed Speed Acc Dec Section is linear Acc Dec Section is Sin Curve Distance Distance lt Trapezoid Acceleration Deceleration gt lt S Curve Acceleration Deceleration gt 5 2 14S Curve Rate gt In case of selecting S Curve operation as an acceleration deceleration pattern S Curve rate 1 100 should be set gt According to S Curve rate S Curve operation pattern shall be formed gt If S Curve rate is 100 it becomes the same as trapezoid operation and if the 50 rate is set it becomes the acceleration
141. transfer amount M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POOOF Inching operation switch ON OFF 2 Program F0010 mI TERM GET 00001 04370 MOO0 00004 L GET 000001 04374 D0000 00007 poooo PODIO P0012 d NN PUTP 0000 04317 00001 0000 PUTP 00001 04300 00038 00001 PO00 PODI0 POO I PODI2 L H c Purp 00000 04300 0000 0000 E PO0 D0 POO P0012 L ELE MK DMOVP 0000001000 D0100 PUTP 00001 04302 DOIDO 00002 L PUTP 00001 04300 00018 00001 Chapter 11 MK Program 11 2 15 Return to the position before Manual Operation 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis inching operation switch P0003 X axis Jog high speed normal rotation switch P0004 X axis MPG operation permit switch P0005 X axis MPG operation prohibit switch POOOF X axis return to the position before manual operation switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal D0100 D0101 Inching transfer amount 1000 pulse M000 M003 X axis status information
142. when giving operation status Skip command Not available to carry out Skip command in if the axis is in operation to the circular interpolation subordinate axis of circular interpolation operation subordinate axis when giving Skip command 334 335 336 337 338 Not available to carry position synchronous s he axis is in operation status when giving position command in the operation status ous start command he axis is in output prohibit status when giving Not available to carry position synchronous s ion synchronous start command Output prohibit shall command in the output prohibit status be released by RST command as output prohibit release 341 he M code signal of the axis is ON when giving position synchronous start command M code shall be OFF by MOF command Not available to carry out Absolute coordinate operation in Not avai o carry position synchronous si origin unsettled status Check the step coordinate to operate command i absolute coordinate of origin unsettl and the current origin determination status After setting the status origin by homing command or floating point setting command it is available to carry out the Absolute coordinate operation Not available to carry position synchronous s command in the M code ON status Not availab o carry position synchronous si command in the SERVO ready OFF status Not available to carry out position synchronous s Checi if the main ax
143. 0 100 CW Reverse 2 Absolute Speed End Repeat 10000 0 2 1 600 200 cw The item that does 4 se not effect gt The direction of Position Speed conversion control normal reverse shall be determined by the sign of position address 1 normal direction when position address is positive 2 reverse direction when position address is negative gt Action Timing Acceleration gection Speed gt Position Speed control control Setting speed Dwell time Start command In operation Internal Position Speed conversion signal On Deceleration stop command i i 3 19 Chapter 3 Function Program X STATE ord E DRE X NEM Aw CAD TOME EXE OES FRE RESET APTE B L i t WE JEEN am Jam mif sT M JAEN an an i Ko jue ae xn m X RIS Ce LAR He x3 1 yeu H4 0314 SEP tier ime x It TL X AOE pH x RT EATI Aric PI Pi Axis operation Axis error information information z TT TR ry E v 1 d l TE Axis operation Axis error information information Fr CAMEO x Sr Pe ie Axis operation Axis error information information LSIP sme ma Am i HU BEETA am HALE Command to stop the operation when acting with speed control Program 3 5 Position Speed Conversion Control 3 20 Chapter 3 Function 3 2 Operation Mode gt Operation mode describes various configuration for how to operate the positioning data using several operation
144. 00 2202 2647 2650 2208 2209 2211 2656 2659 2217 2220 2665 2668 2226 2229 2674 2677 2235 2238 2683 2686 2244 2247 2692 2695 2253 2256 2701 2704 2262 2265 2710 2713 2271 2274 2719 2722 2280 2283 2728 2731 2289 2292 2737 2740 2298 2301 2746 2749 2307 2310 2755 2758 2316 2319 2764 2767 2325 2328 2773 2716 2334 2337 2782 2785 2343 2346 Appendix 2 3 2791 2794 Appendix 2 Internal Memory Address of Operation Data Grcul ar Grcul ar Goal posi ti on interpolation Cperati on speed Goal positi on interpolation Cperati on speed aux poi nt aux poi nt H gh Low H gh Low H gh H gh Low H gh Low H gh 2801 2802 2803 2804 2805 3251 3253 3254 3255 2810 2811 2812 2814 3260 3262 3263 2264 2819 2820 2821 2823 3269 3271 3272 3273 2828 2829 2830 2832 3280 3281 3282 2837 2838 2839 2841 3289 3290 3291 2846 2847 2848 2850 3298 3299 3300 2855 2856 2857 2859 3307 3308 3309 2864 2865 2866 2868 3316 2873 2874 2875 2877 3325 2882 2883 2884 2886 3334 2891 2892 2893 2895 3343 2900 2901 2902 2904 3352 2909 2910 2911 2913 3361 2919 2920 2922 3370 2928 2929 2931 3379 2937 2938 2940 338
145. 00 X axis error reset output prohibit release switch P0001 X axis homing switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON gt external start switch ON 3 Operation Data Setting Operati Operati Goal Greta Operatio Dwell r Gireular Items of Step Coordina Control iti interpolation aux M cod Acc De d t interpolati Position data te method on n d Td in point code Gino pus me on pattern metho pulse pulse pls s 0 direction 1 Absolute Position End Single 10000 0 0 1 1000 100 CW X setting 2 Absolute Position End Single 20000 0 0 1 1500 100 CW 3 Absolute Position End Single 30000 0 0 1 2000 100 CW 4 Parameter Setting External command selection 0 Start Extended Pulse output direction 0 CW parameter M code output 0 NONE External command 1 Permit 2 Program F0010 Poo o oo GET 00001 04370 WOOO 00004 a qQGET n0001 04374 D0000 00007 POOOO P0010 P0012 L N PUTP 00001 04317 0000 00001 PUTP 00001 04300 00036 00001 P0001 P0010 P001
146. 000 04300 0000 00001 am i 1 P0012 ec cqe opo poozo EN P0010 MODOD P0012 pooos 00000 _ 0 pa o PUTP 00001 04300 00011 00001 11 24 Chapter 11 MK Program 11 2 21 Operation Step No Change in Repeat Operation 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOF X axis operation step no change switch in repeat operation switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt P0002 Start switch ON OFF gt POOOF Operation step no change in Repeat operation switch ON OFF gt P0002 Start switch ON OFF 3 Operation Data Setting Operati Operati Goal stealer Operatio Dwell Circular Items of Step Coordinat Control P P i interpolation aux M Acc De P interpolati i na 6 method on on position point code ni n speed time on Position data i nO pattern method pulse pulse pls s 0 dir
147. 00026 00001 2 Description Device Description P0039 X axis encoder preset input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status gt If P0039 is ON the encoder of internal memory address 4391 4392 is changed with the setting value 100000 9 2 27 Single Teaching Command code 27 1 Program POO3A PODIO POO POO 2 L p Purr 0000 0430 00010 00001 PUTP Q0001 D4318 o0001 o0001 PUTP Q0001 04319 oo000 noon DMOYP 0000100000 D0070 H PUTP Q0001 04320 D0070 00002 PUTP Q0001 04300 o0027 o0001 9 12 Chapter 9 MK Command 2 Description Device Description P003A X axis single teaching input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status D0070 D0071 Teaching data 100000 Address of internal memory Contents of internal memory Setting value 4301 Step no 10 4318 RAM teaching ROM teaching 1 4319 Position teaching Speed teaching 0 4320 4321 Teaching data 100000 4300 Command code 27 gt If P003A is ON No 1 step goal position carries out the position teaching with 100000 ROM teaching mode gt In case of negative Teaching use of OWLS D O 1 D 2 PUIP 1 4320 D 2 2 sequence program 9 2 28 Array Teaching Command code 28 1 Program POO3B P0010 2 Description Pool P0012 1 c Lr Pur 00001 PUTP 00001 PUTP 0000
148. 001 2 Description Device Description POOOE X axis speed override input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status D0520 Operation speed In case that X axis current operation speed is 500pps and the command of speed override is executed during operation the operation speed is changed with 1000pps set in internal memory address 4304 Chapter 9 MK Command 9 2 16 Positioning Speed Override Command code 16 1 Program POOOF P0010 P0011 P0012 1 TJ a DMOVP 0001000000 posan J en 0000001500 pos40 f PUTP Q0001 04302 D0530 00002 PUTP Q0001 04304 D0540 00002 PUTP Q0001 04300 00016 oo001 2 Description Device Description POOOF X axis positioning speed override input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status D0530 Position address 100000 D0540 Operation speed 1500 In case that X axis current operation speed is 500pps and the goal position is 200000 if the command of positioning override is executed and the current position is 100000 the operation speed is changed with 1500pps 9 2 17 Continuous Operation Command code 17 1 Program P0030 P0010 PDDI 1 P0012 1 H Purp 00001 04300 00017 00001 2 Description Device Description P0030 X axis continuous operation input P0010 X axis command receiving P0011 X axis
149. 002 04317 o0001 o0001 PUTP 00002 04300 00036 o0001 TI ai P0031 P0032 I PUTP 00002 04300 o0001 00001 EHE T L SET P0043 L Po Cy P0023 P0032 L SET P0043 EE Cy P0024 i L L eR _ __ o Pon40 P0030 P0031 P0032 E P0032 L PY DBINP POOO pono H PUTP 00002 04302 pono 00002 PUTP 00002 04300 00018 00001 PO03D PO03 P0032 j F I gi DMULS DOIDO 000000001 D0102 PUTP 00002 04302 DO 02 00002 PUTP 00002 04300 00018 00001 P0026 E PO03 P0032 L I Ji PUTP 00002 04301 00001 00001 PUTP 00002 04318 00000 00002 PUTP 00002 04320 DoO00 00002 L PUTP 00002 04300 00027 00001 11 47 Chapter 11 MK Program 11 2 6 Speed Change Next Move 1 System Configuration 1 0 Word no 0 1 2 3 4 GM4 K4P G4 G4I G4F PA2A 15AS D24A D22A PP10 Sorvo Amp Motor Amp Transfer body Encoder IE P0020 o o Errorreset P0021 5 o Homing P0022 5 O NextMove P0023 7 5 Opertion step no change IESU O Speed change BCD digital switch 4digit X 2 P0000 POO1F Speed change value setting 2 Used device Device Description P0020 X axis error reset output prohibit release switch P0021 X axis homing swi
150. 01 04374 DOODU 00007 2 Program ig D 0008 T D iy 2 2 PUTP Q0001 04317 00001 00001 PUTP 00001 04300 00036 00001 pooo iuh Pool P0012 L TJ H H Purr 0000 04300 0000 o000 CE EN P0011 P0012 IJ H p p P0020 POOOF PO0OIO M0003 POO 2 mE L H H H Purr 0000 04300 00022 00001 Chapter 11 MK Program 11 2 27 Zone setting 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOE X axis ZONE output permit POOOF X axis ZONE output prohibit P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POOOE ZONE output permit switch ON OFF gt POO02 Start switch ON OFF gt POOOF ZONE output prohibit switch ON OFF gt POO002 Start switch ON OFF 3 Operation Data Setting Operati Operati Goal iss Operatio Dw
151. 011 X axis signal in operation P0012 X axis error status 9 2 9 Position Speed switching Command code 9 1 Program POOOS P0010 P0011 P0012 H H Hur 00001 04300 00009 0000 2 Description Device Description P0008 X axis position speed switching input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status Chapter 9 MK Command 9 2 10 Stop Command code 10 1 Program F0010 Ee GET 00001 04370 O10 00004 P 0009 P0010 P0012 MOI uC EF PUTP 00001 04300 00010 00001 MO10D 2 Description Device Description P0009 X axis stop input P0010 X axis command receiving M010D X axis signal in constant speed M010C X axis signal in acceleration P0012 X axis error status Deceleration stop command does not carry out the command during in deceleration but available only in acceleration or in constant speed gt Internal memory address 4370 contains X axis operation status bit information low and for further information please refer to Chapter 8 Internal Memory and I O signal 9 2 11 Skip Operation Command code 11 1 Program POOOA PODIO POOII PODI2 1 H rur 0000 04300 00011 00001 2 Description Device Description POOOA X axis skip operation P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status
152. 012 X axis error status If P0033 is ON X axis current operation step no is changed with 10 9 2 21 Repeat Step No Change Command code 21 04301 D4300 1 Program P0034 P0010 P0012 TJ EE PUTP 00001 PUTP 00001 2 Description Device Description P0034 X axis start step no change input P0010 X axis command receiving P0012 X axis error status If P0034 is ON X axis repeat operation step no is changed with 5 gt Repeat step no change is available to change even during positioning operation 9 10 00005 00021 00001 o0001 Chapter 9 MK Command 9 2 22 M Code Release Command code 22 1 Program F0010 E P0010 M0103 P0012 2 Description GET H H Pure 00001 04370 MO10 00001 00001 04300 00022 00001 Device Description P0035 X axis M code release input P0010 X axis command receiving M0103 X axis M code ON signal P0012 X axis error status 9 2 23 Current Position Preset Command code 23 1 Program P0036 P0010 P0O1 1 P0012 gt If P0035 is ON when M code occurs M code ON signal and M code no are released at the same time L le DMOVP 0000100000 D0300 PUTP PUTP o0001 00001 04302 043500 DO300 00023 00002 o0001 2 Description Device Description P0036 X axis current position preset input P0010 X axis command receiving P0011
153. 1 DMOYP 0000010000 D0510 DMOvVP 0000015000 D0512 DMOvP 0000020000 D0514 PUTP 00001 m 3 LI T Z PUTP 00001 PUTP 00001 04301 04318 04318 04320 04352 04300 00010 o0001 00001 o0001 00001 o0001 D0510 00006 0o03 nonni 00028 00001 9 13 Device Description Device Description P003B X axis array teaching input D0510 Teaching data 1 10000 P0010 X axis command receiving D0512 Teaching data 2 15000 P0011 X axis signal in operation D0514 Teaching data 3 20000 P0012 X axis error status Chapter 9 MK Command Address of internal memory Contents of internal memory Setting value 4301 Step no 1 4318 RAM teaching ROM teaching 1 4319 Position teaching Speed teaching 1 4320 4321 Array teaching data 1 10000 4322 4323 Array teaching data 2 10000 4324 4325 Array teaching data 3 10000 4352 No of Teaching 6 4300 Command code 28 If POO3B is ON the array teaching data set as D0510 D0525 from No 1 step operation speed carries out the array speed teaching respectively ROM teaching mode 9 2 29 Basic Parameter Setting Command code 29 1 Program POO3C P0010 P001 1 POO 2 L P4 Jy 1 i E DMOVP 0000200000 D0310 J PUTP 00001 00000 D0310 00002 PUTP 00001 00004 00200 00001 PUTP 00001 00010 hOoo1 00001 PUTP 00001 04300 00029 00001 2 Description D
154. 1 04300 00002 00001 ET PUTP 00001 08700 00002 00001 POOOF a Poor PO02 O05 POON PO SS SS SS SS Se 0 i bo oo PUTP A 0001 04301 00001 00001 PUTP 00001 04309 00003 o0001 2 ooo PUTP 00001 04300 00006 00001 S285 BB amp l Chapter 11 MK Program 11 2 4 Deceleration Stop Homing 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis deceleration stop switch POOOF X axis start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal MOO0C X axis signal in acceleration MOOOD X axis signal in constant speed M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON gt P000F Start switch ON gt POO02 deceleration stop switch ON gt POOOF Start switch ON gt Itcarries out the homing by homing method set in homing manual parameter 0 DOG Origin OFF 3 Operation Data Setting Operati Operati Goal Circular Operatio Dwell Circular Items of Step Coordina Control P P i interpolation aux Acc De P interpolati AG te method on on
155. 1 04300 00036 00001 Poo15 d IL l E PUTP Q0001 08717 o0001 o0001 PUTP 00001 08700 00036 00001 ij il fe PUTP 00001 04300 00002 00001 o H Purp 00001 08700 00002 00001 di jg PO0 PODI2 POOIS PDOIG POOI7 SS SS 0 mane Lo Ssa o PUTP 00001 04309 00003 00001 gt PUTP 00001 04301 00001 00001 2 gt PUTP A 0001 04300 00005 00001 1 4 Chapter 11 MK Program 11 2 3 Basic Circular interpolation start_Floating point setting 1 Description 1 Used device Device Description P0000 X Y axis error reset output prohibit release switch P0001 X Y axis floating point switch POOOF X Y axis circular interpolation start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0015 Y axis command receive signal P0016 Y axis signal in operation P0017 Y axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information M010 M013 Y axis status information read operation status bit information axis information external I O signal status D0010 D0016 Y axis operation information read current position speed step no M code error information 2 Operation Order P0001 floating point switch ON
156. 1 P0012 L H Purr 00001 04300 00001 00001 Chapter 11 MK Program 11 2 7 Equal Speed Operation Operation step no setting 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis step no change P0003 X axis deceleration stop POOOF X axis start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P003 BCD Digital switch input M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON gt POOOF Start switch ON gt P0003 Deceleration stop switch ON gt P0002 start stp no change switch ON gt POOOF Start switch ON gt P0003 deceleration stop switch ON After setting BCD external input as 10 switch ON P0002 3 Operation Data Setting Operati Operati Goal cene Operatio Dwell pellet Items of Step Coordina Control ps pe osition interpolation aux M code Acc De im eod time interpolati Position data te method p point c no p on pattern method pulse pulse pls s D direction X setting 1 Absolute Speed End Single 0 0
157. 11315 11317 10872 10873 10874 10876 1132 11323 11324 11326 10881 10882 10883 10885 11331 11332 11333 11335 10890 10891 10892 10894 11340 11341 11342 11344 10899 10900 10901 10903 11349 11350 11351 11353 10908 10909 10910 10912 11359 11360 11362 10917 10919 10921 11368 11369 11371 10926 10928 10930 11377 11378 11380 10935 10937 10939 11386 11387 11389 10944 10946 10948 11395 11396 11398 10953 10955 10957 11404 11405 11407 10962 10964 10966 11413 11414 11416 10971 10973 10975 11422 11423 11425 10980 10982 10984 11431 11432 11434 10989 10991 10993 11440 11441 11443 10998 11000 11449 11450 11452 11009 11458 11459 11461 11018 11467 11468 11470 11027 11476 11477 11479 11036 11485 11486 11488 11045 11494 11495 11497 11054 11503 11504 11506 11063 11512 11513 11515 11072 11521 11522 11524 11081 11530 11531 11533 11090 11539 11540 11542 11099 11548 11549 11551 11108 11557 11558 11560 11117 11566 11567 11569 11126 11575 11576 11578 11135
158. 147 483 647 X10 T J Inch 2 147 483 648 2 147 483 647 X10 I nch degree 2 147 483 648 2 147 483 647 X10 degree pulse 2 147 483 648 2 147 483 647 pul se Cperati on speed D 1 2 000 000 000 X10 7 r Inch 1 2 000 000 000 X10 3l nch nj degree 1 2 000 000 000 X10 degree ni pulse 1 1 000 000 pul se s Dell ti ne O 50 000 M code no 1 65 535 Control nethod 0 position control 1 speed control Cperati on net hod 0 Single 1 Repeat Cperati on pattern 0 End 1 G on 2 Conti nuous Coor di nate 0 Absolute 2 Rel ative Acc dec No gt Operation data change is available from Example gt Program 0 3 1 400 step at X Y Z axis respectively Status information operation information error resets is same as Program 3 22 SET RTI KT fF g E Axis operation Axis error Axis operation Axis error information information i information information use Ep DUMB i di EMI Zim MT MI LA ER REXET Pee E EL sli Bc BASE STA E ZH Ste x 5I aff J i E EMI i Weis STs x iT AOE Cae E ANE 3T X 3T3 oe VLD 3T Y 3T zmH scm 5T Y Tm xil x Ki5E i x sd mi T mm Lmg mm F P Axis operation AXE STU information information EIST zT Lami amil ist J fi aio Program 3 27 Operation Data Setting 3 70 Chapter 3 Functio
159. 3 12 JOG Acceleration Deceleration Time esseeeeeeen mne 5 18 53 13 Inching Speed asi neren aeaa A A re e a oa Oe e TE Ea d a 5 18 5 4 Common Parametler 5 eee ere ee eene ser aen eres an pa a EXEN ERE ERAN AREE ERRARE EAR KS 5 19 5 4 1 Pulse Output Level ic ieu tass e rita s Ub e gn bte u E pM EY ratulidn oiv Or mu EVA Pit 5 20 5 4 2 Circular Interpolation Method 5223 aii dr exa eai rh c RE RD S d 5 21 54 3 Encoder Input Signal iex coeant ee ane ed RR CE KE IRENE coupes eg haw Conve ER 5 21 BAA Auto CIO insets iav doudou en coihl a a eh arva a uh uico 5 21 BAS Z shapa Clear xincconmsanceawedsautasananedhonaeGhia ree i v V aas eda eh iie d 5 21 5 4 6 Zone OUIDUE o zesxe da ea NER C De Pala c D Eb dE Rd aD e o e OX C vea a d 5 21 5 5 Operation Data 5 reca dr eaa xk dex ca a vade Ra Va vg EE EREO E Yvan 5 23 5 5 1 Step NUMBOM xaxd ursi x eua laden a Ea E DORDE REDE RR IA ERREUR RE XAR 5 23 5 5 2 COGrdinales aviso ee rcr c en v e C ERROR OR OC SE OREL ROSTER EES 5 24 5 5 3 Control Method Position Speed 254 scie ret EYE rd ERRIEN EH ME RAIZMEE ET Ed 5 25 5 5 4 Operation Pattern End Go on Continue esee 5 25 5 5 5 Operation Method Single Repeat ccsccceceeeseeeeeeeeeeeeeeeeaeeeaeeeaaeeaas 5 25 5 5 6 Goal POSIOMis devais cran ao Ex RR RE ER XE EI ER E REX X2 ER CYa XO A Er ER VR bo Ea X 5 26 STM Code exec sat eni to aon basic Est CPI E IMPER RUP UPI VEIT RU DIM UE 5 26 5
160. 4 606 607 609 164 166 168 613 615 173 177 622 624 625 627 182 184 186 633 634 636 191 640 642 643 645 200 204 649 651 654 209 213 658 660 661 663 222 667 669 231 681 240 685 687 690 694 696 699 Q o OojU1 5jJu NIH 258 712 721 730 739 748 766 784 Appendix 2 1 Appendix 2 Internal Memory Address of Operation Data Grcul ar Grcul ar Goal posi ti on interpolation Cperati on speed Goal positi on interpolation Cperati on speed aux poi nt aux poi nt Low H gh Low H gh Low H gh Low H gh Low H gh Low H gh 1000 1001 1002 1003 1004 1005 1451 1452 1453 1455 1009 1010 1011 1012 1014 1460 1461 1462 1463 1464 1019 1020 1021 1023 1469 1470 1471 1473 1028 1029 1030 1032 1478 1479 1480 1482 1037 1038 1039 1041 1487 1488 1489 1491 1046 1047 1048 1050 1496 1497 1498 1500 1055 1056 1057 1059 1505 1506 1507 1509 1064 1065 1066 1068 1514 1515 1516 1073 1074 1075 1077 1523 1525 1082 1083 1084 1086 1532 1533 1534 1091 1092 1093 1095 1541 1542 1543 1100 1101 1102 1104 1550 1552 1109 1110 1111 1113 1560 1561 1118 1119 1120 1122 1568 1569 1570 1127 1128 1129 1131 1577 1579 1136 1137 1138 1140 1586 1588 1145 1146 1147 1149 1597 1154 1155 1156 1158 1604 1606 1163
161. 4 Operation Pattern End Go on Continuous gt Select one operation pattern from End Go on Continuous operation gt For further information please refer to 3 2 Operation Pattern of Function 5 5 5 Operation Method Single Repeat gt Select operation method Single operation or Repeat operation gt For further information please refer to 3 2 Operation Method of Function CHAPTER 5 Positioning Parameter amp Operation Data 5 5 6 Goal Position gt This is the area to set the transfer amount of position data as position value gt The setting range is 22 147 483 648 2 147 483 647 setting unit Pulse gt The change of goal position value is available at Program by using position teaching 5 5 7 M Code gt M code is applied to the whole axis in a bundle by M code mode set by positioning parameter and is given to each operation step no as a Number within the setting range to use at Program gt The setting range is 1 65 535 gt How to use M code at Program 1 M code no is available to read by the current operation state code information read 2 M code action is available to confirm ON OFF by the current operation state Bit information read gt For further information please refer to M code output of 5 2 6 5 5 8 Acceleration Deceleration No gt The dual accelertion deceleration time setting is available by setting the acceleration deceleration time 1 2 3 4 of basic parameter as accelerati
162. 4371 b15 bl4 b13 b12 bll bl0 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 viae ejeleleleieieieieieieleieieiele Z address 13171 laxis position control operation 0 notin laxis position control 1 in laxis position control axis speed control L3 0 not in laxis speed contro in laxis speed control axis linear interpolation 2 2 in 2axis linear interpolation 3axis linear interpolation 0 not in 3axis linear interpolation X 0 not in 2axis linear interpolation axi in 3axis linear interpolation is circular interpolation not in 2axis circular interpolation in 2axis circular interpolation ing operation not in homing operation in homing operation osition synchronous start 0 not position synchronous start 1 position synchronous start Sp eed synchronous start t 0 not speed synchronous start Speed synchronous start Jog low speed operation 0 notin J og low speed operation 1 in J og low speed operation J og high speed operation 5 0 notin J og high speed operation in og high speed operation Inching operation 0 notin inching operation in inching operation MPG operation 0 notin MPG operation 1 in MPG operation Manual operation return E 0 notin manual operation return in manual operation return ZONE 1 0 ZONE 1 section OFF 1 ZONE 1 section ON ZONE 2 0 ZONE 2 section OFF 1 ZONE 2 section ON ZONE 3 0 ZONE 3 section OFF 1 ZONE 3 section ON 28
163. 4595 5041 5043 4601 4602 5050 5052 4610 4611 5061 4620 5068 5070 4628 4629 5077 5079 4637 4638 5086 5088 4647 5095 5097 4656 5106 4665 5113 5115 5124 4683 5133 5142 5151 5160 5169 5178 5187 5196 5205 5214 5223 5232 5241 5250 5259 5268 5277 5286 5295 5304 5313 5322 5331 5340 5349 5358 5367 5376 5385 Appendix 2 5 5394 Appendix 2 Internal Memory Address of Operation Data Grcul ar Grcul ar Goal posi ti on interpolation Cperati on speed Goal positi on interpolation Cperati on speed aux poi nt aux poi nt H gh Low H gh H gh H gh Low H gh Low H gh 5401 5402 5403 5405 5851 5853 5854 5855 5410 5411 5412 5414 5860 5862 5863 5864 5419 5420 5423 5869 5871 5872 5873 5428 5429 5430 5432 5880 5881 5882 5437 5438 5439 5441 5889 5890 5891 5446 5448 5450 5898 5899 5455 5456 5459 5907 5464 5466 5468 5916 5473 5477 5925 5482 5484 5486 5934 5491 5495 5943 5500 5504 5952 5509 5513 5961 5522 5970 5531 5979 5540 5988 5549 5997 5558 6006 5567 6015 5576 6024 5585 5594 5603 5612 5621 5630 5639 5648 5657 5666 5675 5684 5693 5702 5711 5720 5729 5738 5747
164. 5 2 10 External Speed Speed switching ecce ki ierra rar x kh ed Cn E na E 5 13 5 2 11 Equal Speed Operation S W High Low Limit s esses 5 13 5 2 12 Position during Equal Speed Operation cvs ice rea nne n o n fe 5 13 5 2 13 Acceleration Deceleration Pattern ccsccesseeseceesseeseetsaeeensersenteusenaes 5 14 5 2 14 5 Cu rver Rale a ta aNausana Pique utis SiS avin D PN aU Vt Unitas 5 14 5 3 Origin Manual Parameter sessseee 5 15 5 3 AP ONGIN FELT ACO as cox ix vx vao Vx Fac ex ou d wend ag e O8 Vee A Rte cau ERG i YR AE l 5 16 5 3 2 The origin return direction siis veerkik evzap akut datbrsi ak br beR aUa EU LA E L4 daa 5 16 5 3 3 Thie Ordin JSddlesskussaquexeea wat Qu ese 39H a Cw 409 EK ea bd C30 E DR RA Qu 5 16 5 3 4 Th Origin Compensation AMOUN sexui etna eo eae n Rx n n ovine 5 17 5 3 5 High Speed Origin Retuinyavisisieeeiniiciiobetersdceirieieiei dis EY SE d eR ROCE MI LET da ts 5 17 5 9 6 Low Speed Origin Reitiva reset aca xar a pa yr y o E Va v dr b e me n a 5 17 5 3 7 Waiting Time of ReSettintj cer ooa ao d RR EOD C C Co GC E EE ent 5 18 5 3 8 Acceleration Deceleration Time essseeseesesenen mne 5 18 5 9 9 Dwell Til tiges endiso tage eo bEU MM rexPADIu y cita ur Ta pI an oonsunmbarauceseapaniaennes 5 18 5 3410 JO High Speed a iesiri pac Er x ma epe A nd xr a o c a dad 5 18 5 3 11 JOG LOW Speed viecvei rixae beu ix ek Eo EX EE FR PER XE a Roo ZAR a Xa 5 18 5
165. 5 X10 degree min Pulse 1 65535 pulse sec Inching speed pps 2 Manual Operation Parameter Setting 1 Speed setting range of Jog high low speed in case of using pulse unit 1 200 000 G4 6F PP1 2 30 1 1 000 000 G4 6F PP1 2 3D 2 If Jog acceleration deceleration time is set as O it carries out Jog acceleration deceleration operation by the acceleration deceleration time No 1 set in the basic parameter 8 1 4 Homing Parameter 1 Contents of Homing Parameter Detailed description Setting range 2147483648 2147483647 X10 J Inch 2147483648 2147483647 XI0 I nch degree 2147483648 2147483647 X10 degree pulse 2147483648 2147483647 pul se Homing high speed Low 0 1 2 000 000 000 X10 m Homing high speed High Inch 1 2 000 000 000 X10 3l nch nj Homing low speed Low degree 1 2 000 000 000 XLO degree nj Homing low speed High puse 1 000 pul se s Homing acceleration deceleration time Homing dwell time Origin address lower Origin address upper 0 65 535 ms 2147483648 2147483647 X10 J Inch 2147483648 2147483647 X10 l nch degree 2147483648 2147483647 Xl0 degree puse 2147483648 2147483647 pul se Homing reset waiting time 0 65 535 ms 0 DOG Origin OFF 1 DOG Origin ON 2 Homing mode bit 0 2 high low limit Origin 3 approximate origin 4 high speed orig
166. 5ms Therefore the delay time will not occur between axis in case of simultaneous setting using several axis or during interpolation operation 4 High speeding of pulse output and making a long distance connection with driver In case of using Line Drive type G4F PP1D G4F PP2D G4F PP3D G6F PP1D G6F PP2D G6F PP3D it is available to realize the high speeding and making a long distance connection 5 Simplicity of maintenance Various data such as positioning data parameter etc is saved in flash memory within positioning module 6 The number of positioning module using in one base is not limited but available to use within the range that satisfies the capacity of power module 7 Self diagnosis monitoring test by strong positioning software package is available 1 Diagnosis for I O signal line 2 Monitoring 3 Tracking 5 Detailed information and solution for each error is provided 6 Printer function in various ways is provided 1 2 3 4 Simulation S 6 7 7 Operation data editing of each axis is available in Excel program 1 2 Chapter 1 Overview 1 2 Purpose of Positioning Control The purpose of positioning module is to transfer the moving objects unprocessed items tools etc by setting speed from the current position and stop them on the setting position correctly And it also control the position of high precision by positioning pulse string signal as it is connected to various servo runni
167. 700 13100 of internal memory command code are as follows Command code Command Command condition Homing start Floating point setting Direct start Position speed dwell time M code control word Indirect start Step no Linear interpolation start Step no axis information Circular interpolation start Step no aux point 1 aux point 2 direction axis information Synchronous start Axis information X axis step no Y axis step no Z axis step no Speed Position switching Position Speed switching Stop SKIP operation Synchronous start by Position Step no main axis position main axis setting Synchronous start by Speed Main axis setting main axis rate subordinate axis rate Position override Position Speed override Speed Positioning speed override Position speed Continuous operation Inching start Inching amount Automatic operation point return start Start step number change Step no Repeat step number change M code release Step no Current position preset Position Zone output permit Zone output prohibit Encoder preset Position Single teaching Step no RAM or ROM position or speed teaching data Plural teaching Step no RAM or ROM position or speed teaching number teaching data Basic parameter setting Basic parameter Extended parameter setting
168. 8 2946 2947 2949 3397 2955 2956 2958 3406 2964 2965 2967 3415 2973 2976 3424 2982 2985 3433 2991 2994 3000 3003 3009 3012 3021 3030 3039 3048 3057 3066 3075 3084 3093 3102 3111 3120 3129 3138 3147 3156 3165 3174 3183 3192 3201 3210 3219 3228 3237 3246 Appendix 2 4 Appendix 2 Internal Memory Address of Operation Data 2 Internal Menory Address of Y Cperati on data Grcul ar i nter pol ati on Goal positi on aux poi nt Cperati on speed H gh Low H gh H gh Goal posi ti on Grcu ar i nter pol ati on aux poi nt Cperati on speed Low Hgh Low H gh Low H gh 4501 4502 4503 4505 4951 4953 4955 4510 4511 4512 4514 4960 4962 4964 4519 4520 4521 4523 4969 4971 4973 4528 4529 4530 4532 4978 4980 4982 4537 4538 4539 4541 4987 4989 4991 4546 4547 4548 4550 4996 4998 5000 4555 4556 4557 4559 5005 5007 5009 4564 4565 4566 4568 5014 5016 OSD INDIO R WIN e 4573 4574 4575 4577 5023 5025 4582 4583 4584 4586 5032 5034 4591 4592 4593
169. ACCIDEC Ome Level Oms 3 Click Data Read Write gt select X axis operation parameter gt Click Write gt Click Close after completion of transmission gt Click Operation state monitoring 4 If click origin return command button the origin return starts to the reverse setting direction of origin return CCW and origin return high speed 5 If DOG Approximate origin signal is ON it decelerates with the origin return low speed 6 If origin signal HOME is ON after DOG Approximate origin signal is OFF it becomes the completion state of origin determination and the origin return shall be completed Chapter 6 Software Package Startup 6 4 2 Indirect Start 1 Xaxis I O Signal Signal X Axis N xis Z Axis Upper Lirnit ON i I Limit OM i j Stop Command tub emend 5Eneed lo Pastion Driver FHigady a 4 ce External Sigma i bt ram ars nomena 7 een ii MED 3b AC The setting of X axis parameter should be pulse output mode suitable for SERVO and Stepping driver in advance Select one from CW CCW PLS DIR PHASE gt The setting of operation data can be done by using the MS Office Excel program to copy the edited contents and paste it Chapter 6 Software Package Startup 3 Xaxis operation data write Farameter Data Position Dala S HAs Parameter XAdz Posfon Data YAS Pararneler T is Poson Data 2 oes Parameter fF Comm Parameter ZAS Poston
170. Bternal stop s Aprox origin oo VIP svi tchi ng a 7 gt 24G External conm 97 59 Max 2m p P24V Connect when required VEXTA UPO wv Hgh liit EBCEECREEEEEEEEEE Lowli nt External stop o gt Aprox origin o gt VIP switching o gt External conm gt 24G D P24V Connect when required Chapter 12 Operation Order and Installation 2 Line Drive VEXTA UPO i VEXTA UPO Max 10m G4F PP1 2 3D P5V 4 o o 5G 4 Connect when required Hgh linit m D 4 Low i nit d 4 o gt Aprox origin o gt l VIP svi tchi ng 77 4 gt 24G External conm 6 4 o p gt P24V External simultaneous start Max 10m G6F PP1 2 3D P5V 4 o o 5G 4 EL Connect when required 4 VIP svi tchi ng 4 gt 24G External conm 4 p P24V 12 14 Chapter 12 Operation Order and Installation 11 VEXTA FX Connection 1 Open Collector Max 2m G4F PP 1 2 30 VEXTA FX
171. C External Signal Lj External setting signal Emergency stop signal Modul odule MPG Encoder Stop signal Jog operation signal Skip operation signal External simultaneous setting signal Speed position switching signal To positioning module Setting by external pulse string Action by SERVO indication When using GM4 CPUA B C module ROM version should be more than V2 6 and GMWIN V3 6 When using K300S CPUA module ROM version should be more than V3 1 and KGL WIN V3 3 When using GM6 CPUA B C module ROM version should be more than V2 0 and GMWIN V3 63 When using K200S CPUA B C module ROM version should be more than V2 3 and KGL WIN V3 3 CHAPTER 2 Specification CHAPTER 2 Specification 2 1 General Specification The General Specification for GLOFA GM series and MASTER K series is shown on Table 2 1 No Items Specification Reference 1 Use Temperature 0 55 C 2 Storage Temp 25 70 C 3 Use humidity 5 95 RH no dew 4 Storage humidity 5 95 RH no dew In case of Intermittent vibration Frequency Acceleration Amplitude Times 10 lt f lt 57Hz 0 075mm 2 5 Vibration resistant 57 f lt 150Hz 9 8m s 1G XYZ In case of Continuous vibration 46 tim s IEC61131 2 Frequency Acceleration Amplitude each d
172. CCW 1phase 1 multiplication CW CCW 1phase 2multiplication PLS DIR 1phase 1multiplication PLS DIR 1phase 2multiplication PHASE 2phase 1 multiplication PHASE 2phase 2multiplication and PHASE 2phase 4multiplication 5 4 4 Auto Reload gt When counting the input pulse entered from Encoder signal of manual pulse generator or SERVO driver and indicating it as Encoder value it is required to set the count range of Encoder value by Auto Reload value gt Setting range of Auto Reload value 0 4 294 967 295 Ex in case of setting Auto Reload value 499 the indication range of Encoder value is 0 499 5 4 5 Z phase Clear gt In case of using Z phase input from Encoder signal of SERVO driver if you want to clear the Encoder value by Z phase signal please set it as permitted gt G6F PP1 2 30 G6F PP1 2 3D is not allowed to set ENABLE as there is no external Z phase input 5 4 6 Zone Output gt It is available to set within the position address range that the positioning module can move and there are 3 types gt Zone setting range 2 147 483 648 2 147 483 647 unit 1Pulse gt Zone setting is as follow CHAPTER 5 Positioning Parameter amp Operation Data Current position ilo 600 lo 1000 1200 1500 1 1 H 1 H igna i i i 9 Off lor i i i On Zone 2 si Zone si The setting of ON starting point should be less than the setting of ON ending gt For Zone output mode
173. Constant speed Deceleration section and the available operation mode is End operation Go on operation Continuous operation 4 Position setting range is 22147483648 2147483647 Pulse Example Positioning Software Package Setting i i ircul Step A Control Operation Operation Goal Circular M Acc Operation Dwal dn BE Coordinate position interpolation aux speed time interpolation no method pattern method i code Dec no S pulse Point pulse pls s mij direction 1 Absolute Position End Single 100000 0 0 1 1000 0 CW Program ERR RESET P GE DET mo myo xm T S Axis operation Axis error information information 3T Ain x XT i EB r 3 p p Axis operation Axis error information information PUESTIUM An CHAM imo XT j Axis operation Axis error information information Change Position 20000 Program 3 15 Position Change by Position Override command 3 54 Chapter 3 Function 3 10 Stroke high low Limit Positioning module includes External input stroke limit external input high limit signal external input low limit signal and Software stroke limit Software upper lower limit 3 10 1 External Input Stroke High Low Limit gt External input stroke limit includes External input high limit signal and External input low limit signal as external input connector of positioning module gt
174. D When Start address 1000 gt Goal address 8000 this will be normal direction and transfer amount shall be 7000 7000 8000 1000 fof tf te Transfer amount 7000 Start address Goal address gt Software Package setting ircul j Dwell ircul Items of Step Control Operation Operation d PI a M Acce Sporalar uh ee ar No Coordinate method Gne iathod position interpolation aux Gode dece No speed time interpolation position data P pulse Point pulse LE pls s o direction Position Setting 1 Absolute control End Single 8000 0 0 1 100 0 CW Program Emor information pack Operation information gis Program 3 1 Basic Floating point setting gt A control by Absolute method Absolute coordinate shall start only in the state that the origin is determined gt If starting without determining the origin error 234 will occur 3 1 Chapter 3 Function 2 Control by Incremental method Relative coordinate 1 Positioning control as much as the goal transfer amount from start address 2 Transfer direction shall be determined by the sign of transfer amount gt Transfer direction or no sign normal direction address increase positioning reverse direction address decrease positioning D Transfer direction Start Address Y Normal gn Reverse t a Transfer direction when transfer amount
175. D0540 D0541 X axis normal rotation speed teaching data D0542 D0543 X axis reverse rotation speed teaching data M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 11 36 Chapter 11 MK Program 4 Operation Order P0001 Homing switch ON OFF gt P0002 Position teaching switch ON OFF gt P0003 normal rotation speed teaching switch ON OFF gt POOOF Start switch ON OFF gt P0004 reverse rotation speed teaching switch ON OFF gt POOOF Start switch ON OFF Operati Operati Goal Gireular Operatio Dwell Sieur Items of Step Coordina Control P P ve interpolation aux M Acc De P interpolati ee ral te method on on position point code cona speed time n EA pattern method pulse pulse pls s D direction 1 Absolute Position End Single 10000 0 0 1 500 20 CW Xsetting 2 Absolute Position End Repeat 0 0 0 1 500 20 CW 6 Internal Memory Setting Address of Teaching Teaching Teaching Internal Contents of Internal memory setting value setting value setting value memory P0002 P0003 P0004 4301 Teaching step no 1 2 4318 RAM teaching 0 ROM teaching 1 0 0 0 4319 Position teaching 0 0 1 1 speed teaching 1
176. Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOF X axis M code release switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal MOOO3 X axis M code ON signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Opeation Order P0001 Homing switch ON OFF gt POO002 Start switch ON OFF gt POOOF M code release switch ON OFF gt POOOF M code release switch ON OFF gt POOOF M code release switch ON OFF 3 Operation Data and Parameter Setting Operati Operati Goal Circular Operatio Dwell Circular tems of Step Control P P interpolation aux Acc De P interpolati i i Coordinate method on on position point M code ncs e speed time on Position data S MO A pattern method pulse pulse pls s Ll direction 1 Absolute Position Go on Single 10000 0 1 1 1000 100 Cw X setting 2 Absolute Position Go on Single 20000 0 2 1 1500 100 CW 3 Absolute Position End Single 0 0 3 1 2000 100 CW Ended parameter setting gt M code output gt 2 AFTER I GET 00001 04370 MODO 00004 GET 000
177. Driver ready i i i approx approx 0 external low limit OFF 1 external low limit ON ignal mate origin OFF mate origin ON nal nput signal driver ready OFF driver ready ON Synchronous start input signal 0 External Synchronous start OFF 1 External Synchronous start ON ZONE 1 output signa 0 ZONE 1 section OFF output 1 ZONE 1 section ON output ZONE 2 output signa 0 ZONE 2 section OFF output 1 ZONE 2 section ON output ZONE 3 output signa 0 ZONE 3 section OFF output 1 ZONE 3 section ON output Chapter 8 MK Internal Memory and I O Signal 8 2 I O Signal gt Incase of using Positioning Module G4 6F PP1 2 30 G4 6F PP1 2 3D for MASTER K200S 3008S Input signal and Output signal for data exchange with PLC CPU is used P Here describes the contents and function of I O signal 8 2 1 Contents of I O Signal 1 I O signal of G4 6F PP1 2 30 G4 6F PP1 2 3D contains total 32 points Input 16 point Output 16 point 2 The following shows the case that I O word no of positioning module n and n is subject to the setup position of positioning module 3 The area of actual I O signal is used differently for each positioning module G4 6F PP10 G4 6F PP1D uses the corresponding I O signal of X axis and G4 6F PP20 G4 6F PP2D uses the corresponding I O signal of X axis Y axis and G4 6F PP30 G4 6F PP3D uses the corresponding I O signal of X Y Z axis respective
178. Encoder elf out of setting range Error 11 occurs Zone2 output ON position eSetting range 2 147 483 648 2 147 483 647 Zone2 output OFF position eSetting range 2 147 483 648 2 147 483 647 Zone3 setting axis eSetting range 0 3 0 X 1 Y 2 Z 3 Encoder elf out of setting range Error 11 occurs Zone3 output ON position eSetting range 2 147 483 648 2 147 483 647 Zone3 output OFF position eSetting range 2 147 483 648 2 147 483 647 Zone output mode eSetting range 0 1 0 individual output 1 batch output X If selected batch output it follows the setting condition of Zone 1 Circular interpolation method setting eSetting range 0 1 0 middle point 1 center point 7 7 Chapter 7 Function Block 7 3 4 Homing Parameter Setting Set Homing Parameter APM_SHP This is used to change Homing parameter during operation without using S W Package Function block Variable Description type H_AD Origin address DR eSetting range 2 147 483 648 2 147 483 647 icit HSPD Homing high speed H eSetting range 1 less than speed limit setting value unit pls s eif out of setting range Error 11 occurs HSPD Homing low speed L eSetting range 1 less than speed limit setting value unit pls s eif out of setting range Error 11 occurs H TI Homing Acceleration Deceleratin time ME eSetting range 1 65 535 unit
179. End Single 10000 0 0 1 1000 0 cw 1 2 4 2 Absolute Position End Repeat 20000 0 0 1 500 0 cw 3 Absolute Position End Single 30000 0 0 1 2000 0 cw 4 Absolute Position End Repeat 40000 0 0 1 3000 0 cw Operation step 3 4 does not start Program Program is same as Program 3 6 3 24 Chapter 3 Function Example 2 When operating Start command and Repeat operation step no assignment In the case of step no 0 D Operation Pattern Operation mode End single Operation step no 1 Start command In Operation Repeat operation step no assignment 3 peration mode End repeat Operation mode End single Operation step no Operation step no 3 If continued to operate by start command it operates operation step no 3 gt 4 repeately Operation mode End repeat Repeat operation step no assignment No of program Step Control Operatior Operation Goal VAGUE M Acc de Operator Dwell time irole Coordinate position interpolation aux speed interpolatio start command no method pattern method code c no 0 Bae Beth Poet pulse Point pulse pls s n direction 1 3 1 Absolute Position End Single 10000 0 0 1 1000 0 cw 2 4 2 Absolute Position End Repeat 20000 0 0 1 500 0 CW The change of the number by Repeat operation step no assignment APM_SRS rising edge T 3 Absolute Posit
180. F when giving manual when SERVO rady OFF pulse generator operation command Manual pulse generator operation command may not be o carry out manua se genera carried out according to encoder input signal set by operation in the setting pulse mode common parameter and the combination of pulse output 431 433 mode set by basic parameter of command axis Not available to carry out automatic operation point return Move Check if the axis is in operation when giving automatic command in operation status operation point return command Check if the axis is in output prohibit status when giving Not available to carry out automatic operation point return Stop automatic operation point return command Output prohibit command in output prohibit status shall be released by RST command as output prohibit release option Not available to carry out indirect start command when Sto Check if Driver ready signal of the axis is OFF when giving SERVO ready OFF P automatic operation point return command 3 7 Chapter 7 Function Block rro Xr Output type Error description Module action Solutions zode Open ine Not available to carry out start step no change repea operation start step no setting command in operation status ENEN The step of start ste no change repeat operation start Step no setting command exceeds the setting range Not available to carry out the current position prese comma
181. FF gt POO0F Current position change switch ON OFF gt P0002 Start switch ON OFF 3 Operation Data Setting Operati Operati Goal Circular Operatio Dwell Circular Items of Step Coordina Control P P iti interpolation aux M cod Acc De P d t interpolati Position data n te method on on position point coae C no n spee Ime on pattern method pulse pulse pls s 0 direction X setting 1 Absolute Position End Single 10000 0 0 1 500 100 CW 2 Program roi 7 GET 00001 04370 MOOO 00004 GET 00001_ so4374 D0000 00007 poooo PODIO P0012 I T PUTP D000 04317 0000 00001 PUTP 0000 04300 00036 0000 P0001 POOIO Pool PUODl2 e Me H Purr 00001 04300 0000 o000 Er Pool P0012 M J Poo20 _ E PODIO POON P0012 9Jy Jy pL DMOVP 0000003000 poioo f PUTP 00001 04302 DOIDO 00002 PUTP 0000 04300 00023 0000 Chapter 11 MK Program 11 2 23 Speed Teaching 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOF X axis speed teaching switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal D0100 D0101 X axis speed teaching dat
182. J 56 Zone1 output ON position upper Inch 2147483648 2147483647 X10 I nch 57 Zone1 output OFF position lower degree 2147483648 2147483647 X10 degreel 58 Zone1 output OFF position upper puse 2147483648 2147483647 pul se 59 Zone2 setting axis assignment 0 X 1 Y 2 Z 3 ENCODER 60 Zone2 output ON position lower 0 2147483648 2147483647 X10 0 61 Zone2 output ON position upper Inch 2147483648 2147483647 X10 l nch 62 Zone2 output OFF position lower degree 2147483648 2147483647 X10 degr ee 63 Zone2 output OFF position upper pulse 2147483648 2147483647 pul se 64 Zone3 setting axis assignment 0 X 1 Y 2 Z 3 ENCODER 65 Zone3 output ON position lower 2147483648 2147483647 X10 0 J 66 Zone3 output ON position upper Inch 2147483648 2147483647 X10 I nch 67 Zone3 output OFF position lower degree 2147483648 2147483647 X10 degree 68 Zone3 output OFF position upper pulse 2147483648 2147483647 pul se 69 Zone output mode 0 Individual output 1 batch output ZONE1 1 G6F PP O G6F PP D shall not clear the encoder value by Z phase i Circular interpolation method 2 Common Parameter Setting 1 The contents of common parameter is the parameter used commonly for X Y Z axis 2 Control words of Encoder common 51 0 Middle point 1 Center point nput b15 b14 b13 b12 bll b10 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 Nouse 0 Encoder pulse
183. Leak DU A EP Lu COP ELS CEP E Eb 12 2 12 3 2 Connection with Servo and Stepping Motor Driver essen 12 3 1 Connection with MR HllA Line Drive c esses mmn 12 3 2 Connection with MR J2 J2S MA Line Drive cesses 12 4 3 Connection with MR JllA Line Drive esses nmm 12 5 4 Connection with MR CHA Line Drive sssseeeeen mmm 12 6 5 Connection with MINAS A series Line Drive ccceeeeeee eens eee eeeeeeenaee eens 12 7 6 Connection with PYO series Line Drive aod exu ace d i o aio de rca a 12 7 7 Connection with CACR R series Line Drive sssssssssssesrrrerrrrrrrrrrrrrerene 12 8 8 Connection with VEXTA UDX2 107 2 ovirexx or D e o ex PE C DE Y Nia 12 9 9 Connection with VEXTA UR Disses axesoedve Eta we ope idRNre LR Pier TIENE DI 12 10 10 Connection with VEXTA FX rinse desea sanas gan khan yan na RR RR En XR 12 11 11 Connection with FDA 3000 AC Servo Driver Open Collector 12 12 12 Connection with FDA 5000 AC Servo Driver Open Collector 12 12 13 Connection with FDA 5000 AC Servo Driver Open Collector 14 SGDA D OOP Connection Example APPENDIX 1 Positioning Terminology APPENDIX 2 Operation Data Internal Memory Address APP 2 1 APP 2 12 1 Internal Memory Address of X axis Operation Data sseeseeeeeese APP 2 1 2 Internal Memory Address of Y axis Operation Data
184. Max teaching number shall be 99 000X400 39 600 000 available to use 3 58 Chapter 3 Function 3 13 2 Single Teaching gt This is used to change the goal position or operation speed set in one step from positioning operation step gt In case of RAM Teaching Mode single teaching in operation is possible Example Positioning Software Package Setting ircul i Dwell ircul Step i Control Operation Operation Goa Grey a M Acc Operation ii i ircu ar Coordinate position interpolation aux speed time interpolation no method pattern method code Dec no SEA pulse Point pulse pls s 11 direction 1 Absolute Position End Repeat 100000 0 0 1 100 0 cw Program r UM X5 xu nsn Ali THES Pee Pog Axis operation Axis error information information ce WE ILE E W aija ia F 4 E 4 r Axis operation Axis error information information r X IST Im STI STi APR LST BL Fel Axis operation Axis error information information gis pack tla Teaching step 1 f Teaching Mode 0 RAM Teaching TEA STEP Ur Jan TEA ODE ede se Position speed setting 1 speed teaching STEP M 4 STEP Toi Wc eaching data setting 5000 Program 3 17 Single Teaching 3 59 Chapter 3 Function 3 13 3 Plural Teaching gt This is used to change the goal position or operation speed set in the severa
185. N EASKE DAA 7 13 7 6 2 Inching Operation epis eue etd doa da wur se PI EN Cad destra UR Pad pta MU dI DRE ete 7 13 7 6 3 Manual Puls OpeFatlonesse teri ceriviiidnaveraeira eaves seine var a REVO eer a a a di 7 14 7 6 4 Return to the position before manual operation s s ssssssesrressrresrrrsrrrerrns 7 14 7 7 Function Block for Auxiliary Operation nn 7 15 7 7 1 Position SynchronizatiOnz uze xa dae nad reri e v CERO a E E e E EY UR Ra 7 15 7 7 2 Speed SynchronmpzaliOnes ccn ee e rca ev eR Oe Vale c e c CR VER E ER a ae 7 15 7 7 3 Position Overtides x vss ci eile lx ea REX E E EAE ECCE ELA EE Y FE RA 7 16 7 7 4 Speed Override xx iux cia dau pr GE CR RC NA CORE OA va RR E P DER GEAR Alas 7 16 7 7 5 Position Speed Override xia eexiue su ed a EX a EXER ERN KEEN aa ub e Ra ad 7 17 7 7 6 Position Speed switching Control 25422 erra EE ERE REREMRRRIFREDEREARRRIZM RETE ERE 7 17 7 7 7 Sp ed Position switching Control uere cds deen tnen eiue noea egere inva 7 17 17258 SKIP Operation xa tess riceve k LUE S pied VERE OO a QUI RO YER EE UP saan a ey avin 7 18 7 7 9 Continuous ODBFallOTi cirea kl eri Ta v XX CO o LE EX EE X TREE ance Cid REDE RES 7 18 7 7 10 Setting Step Number Designation ceeesseee m 7 18 7 7 11 Start Step Number Designation in case of Repeat Operation 7 19 74 12 HOD cuca rites renvebx dixbie wbxidE S VOL VICO VL a Vx EE DP AE CUI NPUL LC E a a ES Ed 7 19 7 8 Function Block for Tea
186. O Ready OFF Continuous operation of indirect start can not be used with speed control The step no of Point control is not permitted to exceed 0 Continuous operation of indirect start can not be carried out for S Curve Acceleration Deceleration pattern Linear interpolation start can not be used in case that the main axis of linear interpolation is in operation Linear interpolation start can not be used in case that the subordinate axis 1 of linear interpolation is in operation Linear interpolation start can not be used in case that the subordinate axis 2 of linear interpolation is in operation 201 202 203 211 212 221 222 223 224 225 231 232 233 234 235 236 237 238 241 242 243 Ourputitype Module action Solution 9pen ine 455 End Go on Continuous operation of operation data Stop exceed the range ENEN Set operation pattern of operation data by selecting one from 0 End 1 Go on 2 Continuous Check if the command axis is in operation or not when giving the homing command Checkif the command axis is in output prohibit status or not when giving the homing command Output prohibit is released by RST command as output prohibit release option Check if Driver ready signal of command axis is OFF Stop Ns when giving the homing command Check if the command axis is in operation when giving the Move floating point setting command Check if Driver ready signal of command axis
187. P0012 X axis error status Address of internal memory Contents of internal memory Setting value 4301 Step no 1 4309 Axis information when using plural axis 3 X Y 4300 Command code 6 In case of circular interpolation by center point method X Y axis circular interpolation aux Point and rotation direction should be set in advance Chapter 9 MK Command 9 2 7 Simultaneous Start Command code 7 1 Program POOO6 P0010 POO P0012 L p Pute 000001 04309 00007 0000 PUTP O0001 04313 00001 00003 PUTP Q0001 04300 00007 Dann 2 Description Device Description P0006 3 axis simultaneous start input P0010 X axis command receiving P0011 X axis signal in operation BUSY P0012 X axis error status Address of internal memory Contents of internal memory Setting value 4309 Axis information when using plural axis 7 X Y Z 4313 X axis step no 1 4314 Y axis step no 1 4315 Z axis step no 1 4300 Command code 7 For further information for axis information when using plural axis please refer to Chapter 8 Internal memory amp I O signal 9 2 8 Speed Position Switching Command code 8 1 Program POOO P0010 P0O1 1 PDO1 2 1 j Pur 0000 04300 oooog 00001 2 Description Device Description P0007 X axis speed position switching input P0010 X axis command receiving P0
188. P0024 X axis MPG operation Encoder signal But in this case the I O word no of positioning module is P0010 POO2F 5 Save the Encoder in Device A In case of using the encoder of internal memory save it in Device area by GET command B As the encoder occupies 2 word area cares should be taken in using Internal memory Internal memory address contents 4391 Encoder low 4392 Encoder high 5 M code ON signal PO n 4 PO n 9 PO n E 1 This signal occurs during positioning operation or after positioning completion according to M code setting mode With After and M code no setting of operation data 2 For further information please refer to Chapter 5 Positioning Parameter and Operation Data 6 Positioning Completion Signal PO n 3 PO n 8 PO n D 1 This signal occurs after positioning completion according to positioning completion output setting time of extended parameter and if start related command is received when positioning completion signal is ON it becomes OFF automatically 2 For further information please refer to Chapter 5 Positioning Parameter and Operation Data 8 17 Chapter 9 MK Command Chapter 9 MK Command This chapter describes the method to use each command code of X Y Z axis to the address 4300 8700 13100 of internal memory command code for MASTER K200S 300S 9 1 Contents of Command Code p gt The contents of command code set in the address 4300 8
189. P1 2 3D Eok a PYO o o o gt 24G gt P24V 12 10 Chapter 12 Operation Order and Installation 8 CACR R Series Connection Line drive G4F PP1 2 3D Max 2m CACR R Series Servopack 9i ovi External simultaneous start 2 0 Chapter 12 Operation Order and Installation 9 VEXTA UDX2107 Connection 1 Open Collector Max 2m GAF PP 1 2 30 VEXTA UDX2107 mr pe 2 PSV ettm 5G lt e o Connect when required O oo 4 o gt 4 9 v 4 gt 24G o gt 4 o gt p P24V MPG ov External sim lt neous start 2 Line Drive Max 2m G4F PP1 2 3D VEXTA UDX2107 Hgh limt Connect when required External stop 7 Aprox origin PR VIP sw tchi ng External conm gt 24G 4 p P24V 2 12 Chapter 12 Operation Order and Installation 10 VEXTA UPD Connection 1 Open Collector G4F PP1 2 30 G6F PP1 2 30 Max 2m VEXTA UPO wv Hgh limit Lowi mt O
190. PDD1 2 L H ewe 00000 04300 00001 00001 E P0010 P0011 PDDI Z 1 TJ a PUTP 00001 04200 0000 00001 PUTP 00001 04201 00002 00001 PUTP 00001 04202 00010 00001 PUTP 00001 04203 00020 00001 PUTP 00001 04220 00004 00001 PUTP 00001 04300 00038 00001 Chapter 11 MK Program 11 2 Application Program 11 2 1 Position Teaching and Speed Teaching by MMI 1 System configuration Touch Screen L Push Button switch Sorvo Amp 2 Description After setting goal position normal rotation speed reverse rotation speed in Touch Screen by using teaching command if you start after homing Servo motor starts to rotate as much as position and speed Transfer body Encoder move data set in Touch Screen As RAM teaching mode is used as the program by position teaching and speed teaching the number of teaching is not limited 3 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis position teaching switch P0003 X axis normal rotation speed teaching switch P0004 X axis reverse rotation speed teaching switch POOOF X axis start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal D0500 D0501 X axis position teaching data
191. PG B Manual pulse generator Encoder B input lt Z 5A NC No use 5 6A NC No use Z External simultaneous start L m CON no use in case of 1 axis APM E 2 3 axis 6 8A EMG Emergency stop lt 4 3 9A NC No use o 10A COM CON EMG Common c 11A 12A 13A 14A 15A 16A 17A 18A 19A NC No use 20A X 1 High low limit drive Unit Ready signal emergency stop signal should be connected to DC24V 2 6 CHAPTER 2 Specification 3 Internal circuit of connector G4F PP O G4F PP D 1 Pulse output Internal circuit Signal X Y Z Operi Gollector output 21 41 61 FP Pulse F CW Pulse A phase CE 22 42 62 FP Pulse COM CW Pulse A phase 23 43 63 RP Pulse F CCW Sign B phase ka gt H i 24 44 64 RP Pulse COM CCW Sign B phase Line Drive output 21 41 61 FP Pulse F CW Pulse A phase 22 42 62 FP Pulse F CW Pulse A phase I 23 43 63 RP Pulse R CW Pulse A phase Garh 24 44 64 RP Pulse R CW Pulse A phase 2 Input signal Classification Internal circuit Signal ipt _ OV High limit B contact ov Low limit B contact STOP External stop signal DOG Approximate origin VTP Speed Position switching
192. Position Go on Single 3000 0 0 1 2000 0 Cw 4 Absolute Position End Single 4000 0 0 1 2500 0 Cw gt Program a LI 2 ren Ll ore Ld Axis operation Axis error information information m XiBRE ESTE Laili P pA Axis operation Axis error information information er I T XS STI e hori qp La AXIS Oper tion Axs ertor information information Program 3 20 SKIP Operation 3 62 Chapter 3 Function 3 16 Repeat Operation Step no Change p In case of repeat operation mode setting End Go on Continuous operation the current operation step no will be changed automatically to operate the step no 1 when repeat operation mode setting step completes the positioning operation but if start step no change command is executed in repeat operation the step no will be changed with the assigned step no not the step no 1 gt The start step no change command in repeat operation can be executed during positioning operation gt This function is needed for the positioning operation by external start or the positioning operation by K200S K300S P contact start P n 1 0 P n 1 5 P n 1 A in repeat operation gt This function may not be used in case of the positioning operation by indirect start by setting the step no directly gt For Program please refer to Article 3 7 Single Operation repeat operation step no change 3 17 M Code This is used to confirm the curre
193. Position End Repeat 0 0 0 2 9000 0 CW gt Operation Pattern Speed Normal rotation 8kpps 7kpps 6kpps 5kpps 4kpps 3kpps 2kpps 1kpps End Continuous Continuous Position 1000 Step no 4 Step no 9kpps Reverse rotatioi Y 1 On 1 Step no 2 3000 6000 Step no 10 10000 Step no 11 15000 Step no 12 End Operation repeat 25000 Step no 13 45000 Step no 20 Point operation 3 74 Chapter 3 Function 1 Point number setting for point operation 4 Setting range 1 20 gt Program Axis operation Axis error information 1 Step number setting for po operation Step setting 0 1 Step setting 1 2 Step setting 2 10 Step setting 3 20 2 Setting ranae 1 400 mu xc xm P fi Axis operation Axis error information information i x ST KTH Piir PS Axis operation Axis error information information we MEN Program 3 31 Point operation 3 75 Chapter 4 Software Package Chapter 4 Software Package 4 1 APM Software Package Installation and Removal 4 1 1 APM Software Package Installation Procedure sicca nos ha eset idis jisi tained Pacer al Volos Pooh agro The bei hii iced al rgd Eee ee ee ee Find 2 3 1 Insert CD or diskette and open the Windows Search and then doub
194. Reverse i nit LSN 3l J 3i Hoareerse s N 34 DC24V 35 15 E NJ S nf N oO N HN N A a parena Ener or Lo STP o VP oo 2 Uo aj o 2 L 1 ee Sa ey FP Le E LON 3 L 1 ee Festi ERES roe aw 3 L L1 L 1 ON 7 po 8 GM MPG External Simultaneous start Zero speed gency stop g DC24V o Ad og taqe lint cama A m arret Wthin 2m Chapter 12 Operation Order and Installation 5 MR C 7A Connection Line drive Single phase Single phase G4F PP 1 2 3D le Power 200VAC A type or 100VAC A1 type Within 10m Revival resistance Option HC PQ Series motor MR C A or MR C A1 electronic brake OPP of Servo ON signal Cutoff by alarm signal detector Hh irit A Servo N o o Low init o 4 Normal limt d o9 vov 4 Reverse i mt o_o vo MPG External simultaneous start 24V 0 2A Chapter 12 Operation Order and Installation 6 MINAS A Series Connection Line drive 2 PULSE2 Max 2m G4F PP1 2 3D MINAS A gt 24G p P24V 7 PYO Series Connection Line drive Max 2m G4F P
195. STER K200S 300S carries out internal memory data read write by positining module GET GETP command are used and in case of writing the command and data PUT PUTP command are used For the method to use PUT PUTP GET GETP command please refer to MK programing manual For external input switch Push button switch was used In case of using Toggle switch cares should be taken in using Fig 11 1 System Configuration of Basic Example Program Chapter 11 MK Program 11 2 Basic Program 11 2 1 Basic Floating point setting 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis floating point switch POOOF X axis start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start M000 M003 X axis status informatin read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order POOOF Start swtch CN gt POOOF Start swtch CN 3 tines 3 Operation Data Setting Goal Circular Op rall n Circular Items of Step F Control Operation Operation a interpolation aux Acc Dec P Dwell time interpolatio no Coprdinate method attern met
196. Sequential function chart SFC is the optimized programming method to carry out the automatic control of the machine in sequence with PLC Skip function When skip signal in entered the running positioning will stop and the next step positioning will be carried out automatically Subordinate axis During linear interpolation circular interpo lation operation the speed of subordinate axis shall be calculated automatically from positioning data This axis moves by operation data of main axis and position address of subordinate axis Speed control Speed control is carried out usually by Servo motor This is the application for the rotation welding speed homing speed of rotation grinder Speed control is different from position control because current position address cannot be controlled Speed integral compensation This is one item of Servo parameter from positioning data During speed control it is used to heighten the frequency response and improve the transition characteristics When adjusting speed loop gain if over shooting during Appendix 1 10 Appendix 1 Positioning Terminology acceleration deceleration remains in many it will be effective to increase this value This compensation shall be set as ms unit Speed limit value This is max speed for positioning If other speed data is set as higher than this value the error will occur The setting acceleration time is the time from stop status to spee
197. Sign A phase B phase 2 Transistor Output Specification_Sink type Zone output Items Specification Isolation method Photo Coupler Isolation Rated load voltage DC 24V Voltage range of use load DC 20 4 26 4V Max load current 100 Leakage current when OFF Less than 0 1 mA Max Inrush current Less than 0 4 A 10 ms Max voltage falling when ON DC 1 0 V Response Off On Less than 2 ms time On gt Off Less than 2 ms Common method 3points 1 COM Action indication LED indication Not available for G6F PP O G6F PP D 2 4 CHAPTER 2 Specification 2 3 3 O Interface with External Equipment 1 Pin layout of connector G4F PP O G4F PP D Pin no Signal arate s direction Pin layout ificati y y z Signal Name AADAT On axis laxis axis positioning condition external 21 41 61 FP Pulse output differential gt 22 42 62 FP Pulse output differential gt 23 43 63 RP Pulse sign differential gt 24 44 64 RP Pulse sign differential gt 25 45 65 OV High limit lt i 26 46 66 Ov Low limit lt 1 27 47 67 STOP External stop signal lt 28 48 68 DOG Approximate origin lt 29 49 69 VTP Speed Position switching signal lt S Start d External 5 30 50 70 ECMD comm
198. Single 9000 0 0 1 100 0 Cw Position Y Setting 1 Incrementa control End Single 3000 0 0 1 100 0 Cw Program Same as Program 3 2 3 5 Chapter 3 Function 2 3 axis Linear Interpolation Control This carries out the linear interpolation control from Start address present stop position using 3 assigned axis 1 Control by Absolute method Absolute coordinate A This carries out the linear interpolation by 3 axis from Start address to Goal address the address assigned by positioning data B Positioning control is carried out based on the address assigned by homing C Transfer direction shall be determined by Start address and Goal address of each axis gt Start address lt Goal address normal direction positioning gt Start address gt Goal address reverse direction positioning Normal Y Goal address SA X2 Y2 Z2 Start address Action by X Y Z X1 Y1 Z1 Linear interpolation Normal Z Y axis transfer amount tran 21 X axis transfer amount Reverse Normal X X1 X2 Reverse Example gt When Start address 2000 1000 1000 gt Goal address 5000 5000 4000 the action is as follows Normal axis2 Goal address 47 Positioning address o eo e o Normal axis3 Axis2 transfer amount 6000 1000 5000 y N N Axis3 transfer amount N4000 N Start address 4000 1000 3000 N present stop position S Reverse Normal axis1 Axis1 transfer a
199. TO Tgi aa Py F ee _ _ o_o i i cz t Axis operation Axis error information information aM ERUIT rs PS i soun CA meas E xw Axis operation Ayic error STEP_NO 0 information information wr EN Program 3 19 Start Step No Change 3 61 Chapter 3 Function 3 15 SKIP Operation p This is used in case that the operation mode is End Go on Continuous and the operation pattern is in Acceleration Constant speed Deceleration section gt If SKIP operation command is executed during operation it moves from the current operation step no to next operation step no and carries out the operation gt SKIP operation command stops the operation and carries out the operation of next step after executing the command other than Continuous operation command Next Move gt If SKIP operation command is executed in the status that the operation data of next step is not yet set Error 151 will occur Example gt Software Package Setting No of Program Step Control Operation Operation goal Circular M Acc Oparien Dwell Grell rio Coordinate method alteri method position interpolation aux tode Deena speed time interpolation start command f p pulse Point pulse pls s o direction i 1 Absolute Position Go on Single 1000 0 0 1 1000 0 Cw 2 Absolute Position Go on Single 2000 0 0 1 1500 0 Cw i 1 3 Absolute
200. Viva one PU e COR od Var aenea dd 2 3 2 3 2 Output Specificato Mae vss xen dove CO Ron EO i CO IE ECC RC X VELO RODEO Nn 2 4 2 3 3 External Machine and Interface Specification cesse 2 5 1 Pir Tayout oPCOnPneclote c oecixu ete eo eru r Eua eta EU MER EM dI 2 5 2 Internal circuit of COMME CIO sc eu cuan exit e e Rd C Y EORR C ODER E CRGO GR A 2 6 2 4 The Name and Function of each Section sssueusussss 2 8 CHAPTER 3 Function 3 1 Positioning Control 55 oor rr kn o en i elves raa d 3 1 OY lad Position COMPOS sce tei ves TEE EA OPI EP erd S bti ETE RO PMa Pis 3 1 1 Control by Absolute Method Absolute Coordinates eene 3 1 2 Control by Incremental Method Relative Coordinates cese 3 2 3 1 2 Interpolation CODO uice oed nU eade os Dh eade e dec nwaed cula taco su ina 3 3 1 2 axis linear interpolation Control uasa putei oar Decree IC ira rw Y o duce rag 3 3 2 3 axis linear interpolation Control x i cece nae veda nan mer ax e EY RE EXTRAER ees 3 6 3 2 axis circular arcs interpolation COHtio 33 5x desir X peer eiie eder sxk RE 3 8 31 3 Speed COtfOl ese cce s Gekebtdut a Poe E Da CR QI EE cus Tu Cede dd 3 15 3 1 4 Speed Position Conversion Control ccccceceeceeseceeeeeeeeesseaeeeeteeeesganaes 3 17 3 1 5 Positlor Speed Conversion Control 2352 rkii tere ner Ete en Rr E er E cEE ERA 3 18 3 2 Operating MOG uoi ioco prre nore reo etia dece owed eese di
201. When returning to the origin it is difficult for the machine to stop correctly while it is active in high speed Thus it is required to convert the movement speed to the homing low speed before stop In this case the homing low speed is called as Creep speed Clockwise This means the same rotation direction as the rotating hands of a clock CW when you see the end of the axis load axis from motor The number of operation data In order to carry out the positioning to more than 2 addresses each position is allocated by operation step no such as No1 No2 No3 After then positioning operation step In case of G4F PP1 2 30 G4F is accomplished according to this PP1 2 3D positioning up to 600 steps per axis are available Deceleration ratio This is the rate when the machine decelerates by using the saw toothed gear and is smaller than 1 Deceleration ratio input gear rotation number output gear rotation number Deceleration time Deceleration time is the time from speed limit value to the stop status Thus it gets to shorten in proportion to the reduction of the given speed Deviation count The function to count feed pulse generated from positioning module and convert the count pulse to D A converter of Servo driver and deduct encoder feedback pulse of Servo motor from feed pulse And it is embedded inside Servo driver to start Servo motor by deviation value droop pulse of feed pulse and feedback pulse unt
202. X axis signal in operation P0012 X axis error status If P0036 is ON X axis current position is changed with 100000 gt If the command of current position preset is executed in the origin not fixed status it becomes the origin fixed status and the current position is changed with the setting value 9 2 24 Zone Output Permit Command code 24 1 Program PD037 PO010 Poo P0012 E 1 j Pur 00001 04300 00024 00001 2 Description Device Description P0037 X axis Zone output permit input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status gt It permits the internal external output of Zone 1 2 3 ON signal by Zone section setting This function is not possible for the K200S APM module 9 11 Chapter 9 MK Command 9 2 25 Zone Output Prohibit Command code 25 1 Program P0038 P0010 PODI 1 P0012 L H H Purp oo0o01 04300 00025 00001 2 Description Device Description P0038 X axis Zone output prohibit input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status It prohibits the internal external output of Zone1 2 3 ON signal by Zone section setting This function is not possible for the K200S APM module 9 2 26 Encoder Preset Command code 26 1 Program P0033 POO10 POO 1 P0012 TV 1 T DMOVP 0000100000 D0210 J PUTP 00001 04302 D0210 o0002 PUTP 00001 04300
203. a 3000 M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POOOF Speed teaching switch ON OFF gt P0002 Start switch ON OFF 3 Operation Data Setting i Circular F Circular Items of Step Coordinat Control Operati Operati Goal interpolation aux Acc De oparai Dwel interpolati A i6 o mathiod on on position point M code n n speed time n neuen Pee eres i pulse Piss 01 direction X setting 1 Absolute Position End Single 10000 0 0 1 0 100 CW 2 Program FOOIO r 2 RE GET 0000 04370 WOOO 00004 LL g amp ET 00001 04374 DOO00 00007 Poooo POOID POD0I2 f e PUTP 0000 04317 00001 o0 j PUTP 00001 04300 00036 00001 POOO P0010 POON P0012 H Pure 0000 04300 0000 0000 PODO2 POON1 P0012 d j r 2 Poog0 f POOOF POOID POO P0012 r H Hp rur 00001 04301 0000 00001 Internal memory 7 setting PUTP 00001 04318 00000 ooo f 4301 1 Step no PUTP 00001 04319 00001 00001 4318 0 RAM teaching 4319 1 DMOVP 0000003000 D0100 Speed teaching 4320 4321 3000 PUTP 00001 04320 D0100 00002
204. a Setting Items of Step Position data posture e e eee Operati Operati Goal Circular Operatio Dwell Circular Control re interpolation aux Acc De interpolati Coordinate on on position M code n speed time no melee attern method pulse point 9 80 pls s O n P p pulse P direction Absolute Position End Single 10000 0 0 1 1000 100 CW 4 Basic Parameter Setting OS Ac 20000 pls HIOIOL A E A2 AZ IZS NH 5 Internal Memory Basic Parameter Setting 1s A itetrEl Address of internal memory Contents of internal memory Setting value 0 7 1 Speed limit 200000 4 Acc Dec time 1 100 4300 Command code 29 Chapter 11 MK Program 0 D 3 GET 00001 04370 MOOO 00004 amp ET 00001 04374 DO0000 00007 PO000 PODIO PO012 et PUTP 00001 04317 0000 O0001 PUTP 0000 04300 00036 0000 POODI PODIO Pool POOI2 L TJ H H Pur 0000 04300 0000 o0001 000g POI P0012 e PME p P0020 n PO NOD iri EE DMOvP 0000010000 D0100 F P ae MOVP 00100 D0102 PUTP 00001 00000 D0100 00002 PUTP 00001 oo004 D0102 00001 PUTP 00001 D4300 00029 o0001 Chapter 11 MK Program 11 2 26 M code mode 1 Description 1 Used device
205. ad axis Speed Position control switching signal This is the signal used to convert the running speed control to the position control There are the signal by internal program command and the signal by external input Circular interpolation This is automatic operation pattern that the machine path makes the circle when carrying out the positioning action for horizontal feed and longitudinal feed motor at the same time The circle or the circle type can be made by this type of circular interpolation and avoid the obstacles in the machine feed path Interpolation Operation Speed The speed of the subordinate axis during linear interpolation or circular interpolation operation shall be calculated according to the speed and feed distance of main axis and feed distance of subordinate axis In this case the operation speed of subordinate axis is called as_ interpolation operation speed Appendix 1 2 Appendix 1 Positioning Terminology Control unit This is the setting unit as the basis of positioning data and includes the units such as mm inch degree pulse The setting unit affects all operation data and parameter Continuous operation This is the control method that operation pattern without stop is connected like speed control Even if the rotation direction normal reverse is changed this continuous operation is available Homing low speed Creep speed This is the speed that the machine moves very slowly
206. age Installation and Remowval 4 1 4 1 1 APM Software Package Installation Proc SSing scsceeeeeeeeeeeeeeeeeaeeeeaaes 4 1 4 1 2 APM Software Package Removal Processing ssecseeseeeeeseeeeeeeeseeeeeueeaes 4 3 4 2 APM Software Package Basic Structure and Function List 4 4 4 2 1 APM Software Package Basic Display sseeeeeseenn nnn 4 4 4 2 2 APM Software Package Function List ceeesssseesssseeeen mnn 4 5 4 3 Working Display ib paca ae eee 4 6 4 3 1 Make Working DISBIByseRdie eius rs EE ROC ME Ue EUER EGERUOINER D MERE FUE Ud 4 6 43 2 Save Working Display se cene eere aee ne na E cR exu ra dese seat EATEN se 4 6 4 3 3 Structure of Working DISDISyz oie wes ex waxo dot i scena v n als xcd a uh ee apad mie D 4 7 4 4 Offline and Online Model Setting erener enen 4 8 4 4 4 Offline Model Setting s srsse rires rot exa Up rer are x aux E PIRE 4 8 4 4 2 Online Model Setting sac dxsi cete uxo o xo eteRR EE QUEARE MEA RIxCUPM AMI EODEM aes 4 8 4 5 Operation Parameter and Operation Data Setting 4 11 4 5 1 Operation Parameter Setting vea cexaexxk xa ere XE t CR ROTER CTS ERGO ORE convenes 4 11 4 52 Operation Data Sete ioo cero ebbe sit doa lua ddr avaa Eds Rider dpa dad EN Ea E 4 12 4 6 Command Command eed rere dioere dee send e sae 4 16 4 6 1 Command Cornmand spesa dene euiex oe xa sev ven Fa Ru ex Ee Nae NR CERE ER Pa rM deu 4
207. all axis both axis will stop at the point that there is the Stop command ON or stop cause Stop cause Positioning aI Homing Jog 2 operation Manual pulse generator encoder operation Axis action state after stop command 8 M code On Signal state By parameter setting 4 Exceeds Soft high limit Prompt stop No detection Prompt stop Per axis Error state error 501 Output prohibited No change Exceeds Soft low limit Prompt stop No detection Prompt stop Per axis Error state error 502 Output prohibited No change By sequence program 5 Decelerati on stop command Deceleratio n stop Error 322 operation continue Decelera tion stop Error 323 operation continue Per axis In deceleration No change Emergenc y stop command Prompt stop All axis Error state error 481 Output prohibited OFF By external signal External high limit On Prompt stop No detection Per axis Error state error492 Output prohibited No change External low limit On Prompt stop No detection Per axis Error l state error493 Output prohibited No change Emergenc y stop On Prompt stop All axis Error state error491 Output prohibited OFF By software package 1 Positioning is the position control speed control position speed
208. aller than 1 M code Machine code This is additional function interlocking in order to replace the drill tighten or loosen the clap raise or lower the welding electrode and indicate several data as auxiliary action of positioning operation M code mode has two types of mode AFTER mode or WITH mode When M code is ON the machine does not carry out the positioning operation of next step M code becomes OFF by PLC program 1 65535 M code no set by the user can be set from operation data item and monitored or indicated on the external display by using the peripheral Machine feed value When completion of homing the origin address is saved This value does not change even if the latest position and latest value of the machine coordinate set by the machine that has the origin address as a basis are changed Manual pulse generator The handle of this device is rotated manually to generate the pulse This device is used when carrying out the correct positioning manually Main axis This is the direction that positioning data is executed at first in case of interpolation operation For example in case of X Y axis positioning the axis that has the largest movement shall be main axis And the speed follows this axis The speed of subordinate axis is disregarded Movement amount per pulse When using the units such as mm inch degree etc movement amount is calculated and outputted from the machine to show how much the motor mo
209. alue of each axis are as follows Backlash compensation amount Software high limit Software low limit Position pass time Zone setting area among the items of parameter 3 4 Chapter 3 Function 2 Control by Incremental method Relative coordinate A Positioning control from start address to the position including goal transfer direction and transfer amount of each axis B Transfer direction shall be determined by the sign of transfer amount of each axis Transfer amount or no sign normal direction address increase positioning Transfer amount reverse direction address decrease positioning Normal Y Y2 Y axis Start address Xs T transfer amount oal address X1 Y1 SY we X2 Y2 Y1 Action by X Y linear interpolation Reverse Normal X axis X1 X axis transfer amount Reverse Example gt When Start address 1000 4000 gt Goal address 9000 3000 the action is as follows 4000 Y axis transfer amount 3000 Goal address 5000 X axis transfer amount 9000 Software Package Setting I ircul i Dwell ircul Items of Step Control Operation Operation E CAU A M Acce Operanon ME Circul a no Coordinate method tem melhod position interpolation aux oda dece Mo speed time interpolation position data pulse Point pulse pls s D direction Position X Setting 1 Incrementa control End
210. am 3 22 information FE amii ree Axis operation information 3 eee iP Ar AXIS operation information EIE xir xn fs z ko ee is ober ton Axis error 12 popp Ma information e Je ae me SP gm Pl Axis error information E BE uis emr information HE BESTE Am ug PL TE M SEP Program 3 25 Manual Operation Parameter Setting 3 68 Chapter 3 Function 3 18 5 Common Parameter Setting gt The items available to change is as follows Comon Par anet er Set ting Range Pul se out put evel 0 Low Acti ve 1 H gh Acti ve 0 Q CON 1 1 CWCOW2 2 PULSE O RI Encoder pulse i nput node 3 PULSE D R 2 4 PHASE AYB 1 5 PHASE A 2 6 PHASE AY B 4 Encoder Gear node by Z phase input lO prohibited 1 allowed Encoder Auto Rel oad val ue O 4 294 967 295 Zonel setting axis assi gned 0X LY ZZ 3 ENQQDER ae a D 2 M7 483 648 2 147 483 647 00 1 EEE posi tion Inch 2 147 483 648 2 147 483 647 X10 I nch degree 2 147 483 648 2 147 483 647 X10 degree pulse 2 147 483 648 2 MT 483 647 pul se Zone2 setting axis setting 0 X LY ZZ 3 ENCODER T 2 147 483 648 2 147 483 647 X10 1 Inch 2 147 483 648 2 147 483 647 X10 I nch degree 2 147 483 648 2 147 483 647 X10 degree pulse 2 147 483 648 2 147 483 647 pul se Zone3
211. ample gt When X current position 0 X goal position 0 Y current position 0 Y goal position 0 the action is as follows in case that X aux Point 1000 Y aux Point 1000 rotation direction CW main axis X subordinate axis Y Software Package Setting Operation Data Items of position Step Control Operation Operation We Circular M Acce operanon Dwell Gircular o Coordinate method onem eifod position interpolation aux Godd dece No speed time interpolation data P pulse Point pulse ME pls s o direction Position X Setting 1 Absolute cioritrol End Single 0 1000 0 1 100 0 CW Position i 1 Absol E i Y Setting bsolute control nd Single 0 1000 0 1 100 0 cw lt Command Window gt Circular interpolation Step 1 Exelon operation Subordinate axis Y The Program is same as Program 3 3 lt Operation Pattern gt Y axis 1000 1000 X axis 3 13 Chapter 3 Function 2 Control by Incremental method Relative coordinate A This carries out the Circular interpolation to Goal address by the circle whose radius is the distance from Start address to the assigned Middle point address Normal GA Action by circle interpolation Goal address Center point of circle Reverse Normal Reverse B If transfer amount is 0 the positioning of the circle whose radius is from Start address to the Middle
212. and CCW reverse rotation based on the origin return direction of 5 3 Pulse output direction Origin return of 5 2 direction CW normal Origin return to the normal direction Pulse output action of positioning module CW normal Origin return to the opposite reverse direction of normal CCW reverse direction CW normal Origin return to the reverse direction CCW reverse Origin return to the opposite normal direction of reverse CCW reverse direction 5 3 3 Origin Address gt When origin return is completed by origin return command the value set by origin return address shall be used to change the present address value gt Setting range of origin return address 2 147 483 648 2 147 483 647 unit Pulse 5 16 CHAPTER 5 Positioning Parameter amp Operation Data 5 3 4 Origin Compensation Amount gt If the machine origin is deviated slightly the difference between the setting value and the actual transfer amount caused by the mechanical tolerance at the origin detection Z phase input this is used to compensate the tolerance gt Therefore if origin compensation amount is already set when you carry out the origin return command move as much as the data set as origin compensation amount after detecting the origin and then complete the origin return action gt Origin compensation amount setting range 2 147 483 648 2 147 483 647 unit Pulse Deceleration at approx Origin
213. and sonal Skip lt z JOG Forward lt l o 31 51 71 JOG JOG reverse opration lt lt TH Common LL a gt Be PE TECA OV OV STOP DOG VTP ECMD JOG 33 53 73 DRVIN Drive Unit Ready signal 1 34 54 74 DRVIN COM Drive Unit Ready signal Common c 35 55 75 HOME 24V Zero signal 24V lt 36 56 76 NC No use 37 57 77 HOME 5V Zero signal 5V lt 38 58 78 HOME COM Zero signal 24V 5V Common c 39 59 79 NC No use 40 60 80 INC No use 1 MPG A Manual pulse generator Encoder A input lt 2 MPG A Manual pulse generator Encoder A input 3 MPG B Manual pulse generator Encoder B input lt 4 MPG B Manual pulse generator Encoder B input lt 5 MPG Z Encoder Z input 6 6 MPG Z Encoder Z input lt LE i 2 7 CON External simultaneous start lt a 8 EMG Emergency stop lt 4 6 9 NC No use z 10 COM CON EMG Common c 8 11 Out 1 Transistor output of Zone 1 gt 2 3 axis 12 Out 2 Transistor output of Zone 2 gt 13 Out 3 Transistor output of Zone 3 gt 14 COM ZONE Common c 15 16 17 18 19 20 NC No use X 1 High low limit drive Unit Ready signal emergency stop signal should be connected to DC24V 2 5 CHAPTER 2 Specification 2 Pin layout of connector GGF PP O G6F PP D Pin no Signal Class direction Action Pin lay
214. ard and operates suitability CHAPTER 2 Specification 2 2 Performance Specification The Performance Specification for positioning module is shown on Table 2 2 G4F PP10 G4F PP1D G4F PP20 G4F PP2D G4F PP30 G4F PP3D G6F PP10 G6F PP1D G6F PP20 G6F PP2D G6F PP30 G6F PP3D No of control axis 1 axis 2 axis 3 axis 2 axis linear interpolation 2 3 axis linear interpolation Interpolation function N A 2 axis circular arcs 2 axis circular arcs interpolation interpolation Control method Position control Speed control Speed Position control Position Speed control Control unit Pulse inch degree Each axis has 400 data range Operation step number 1 400 Available to set with software package or program Software package Available connected with RS 232C Port of CPU module Back up Save the parameter operation data in Flash ROM No Battery Positioning Absolute method Relative method method Speed Position Position Speed Switching control Position address 0 214748364 8 214748364 7 214748364 8 214748364 7 214748364 8 214748364 7 range Inch 21474 83648 21474 83647 21474 83648 21474 83647 21474 83648 21474 83647 degree 21474 83648 21474 83647 21474 83648 21474 83647 21474 83648 21474 83647 pulse 2147483648 2147483647 2147483648 2147483647 2147483648 2147483647 Positioning data Absolute method Relative method
215. ation of motor p Incase of using SERVO you can set the resolution per rotation of SERVO Encoder Transport amount per pulse Transport amount per rotation Al Pulse per rotation Ap 5 1 3 Transfer distance per rotation Al and Unit allocation Am gt Only in case of using the unit mm inch degree as a positioning command unit you can set and use transfer distance per 1 rotation of motor and unit allocation gt How is transferred by 1 rotation of motor is determined by the structure of machine If the lead of ball screw mm rev is PB and the rate of deceleration is 1 n Transport amount per rotation AL PB X 1 n gt But the value available to set with transfer distance per 1 rotation Al of this parameter is max 6553 5 approx 6 5 p gt If AL exceeds this value AL will be set as follows Transport amount per rotation AL PB X 1 n Al x Am Note As Am is 1 10 100 1000 if the value of PB x 1 n exceeds 6553 5 it is required to adjust the unit allocation so that the transfer distance per rotation Al does not exceed 6553 5 Ex1 Incase that AL PB x 1 n 6000 0 7 6 AL Al x Am 6000 x 1 Ex2 Incase that AL PB x 1 n 60000 0 7 60 AL Al x Am 6000 x 10 600 x 100 CHAPTER 5 Positioning Parameter amp Operation Data 5 1 4 Pulse Output Mode p gt As input method to be
216. ation speed is influenced by speed limit and if they are set as higher value than speed limit error will occur If origin return speed is greater than speed limit Error 133 Q If positioning operation speed is greater than speed limit Error 152 If Jog operation speed is greater than speed limit Error 121 5 1 7 Acceleration Deceleration Time P This is applied at the starting ending point of positioning operation and also applied to continuous operation command SKIP command speed override positioning speed override among positioning operation P Acceleration Deceleration time is set by axis unit at PLC program and Software Package gt The setting range is 0 65 535 unit 1ms at each axis 1 Acceleration time the time required to reach from speed O stop state to the speed limit which is set by parameter gt In case of using BIAS it is the time required to reach from the setting bias speed to the speed limit which is set by parameter 2 Deceleration time the time required to reach from the speed limit set by parameter to the speed O stop state In case of using BIAS it is the time required to reach from the speed limit set by parameter to the setting bias speed Actual deceleration time Actual acceleration time Time gt UA Deco Acceleration Deceleration ime time i gt Definition of Terminology Speed limit max Speed available to set for positioning operatio
217. ation status control switching command 302 Not available to carry out speed position con itching 0 Check if the axis is in speed control status when giving command not in the speed control status speed position control switching command Not available to carry out speed position control switching Check if the axis is in operation status to the subordinate 303 command in the subordinate axis of synchronous Stop axis of synchronous operation when giving speed position operation control switching command Not available to carry out speed position con itching o Check if the operation has the position amount when giving 304 s Stop n ODD command in case that there is no goal position speed position control switching command command not in the operation status control switching command Not available to carry out speed position control switching Check if the axis is in operation status to the subordinate command in the subordinate axis of synchronous Stop axis of synchronous operation when giving speed position operation control switching command available to carry out speed position con itching po se Check if the axis is in circular interpolation operation when command in the circular interpolation operation giving speed position control switching command available to carry out speed position control switching o we Check if the axis is in linear interpolation operation when command in the linear interpolation operation givin
218. ays ON is activated out of the action range where the positioning control is carried out The positioning action stops when external normal direction limit switch signal b contact is OFF G code This is the standardized coded 2 digit value 00 99 that indicates various control function of numeric control module It is also called G function Ex G01 Linear interpolation G02 Circular interpolation CW G04 Dwell G28 Homing G50 Max Spindle speed setting Gain The change of ratio between two values that have a proportional relation In case of Graph it is the change of tilting of characteristic curve For example when 10 is output for the 10 input output will be changed as 12 5 by changing the gain GD Inertial moment Total sum of each small area dimension composing of the material that multiplies by the square of each distance r of each area from the given straight line Appendix 1 5 Appendix 1 Positioning Terminology The relation I dmGD is given together with gravity acceleration g by 4gl Incremental encoder This is the device that output ON OFF pulse simply by the axis rotation 1 phase type outputs only A phase pulse and does not indicate the axis rotation direction 2 phase type outputs A phase and B phase pulse string and indicates the rotation direction When B phase pulse string is changed with ON if A phase ON it is judged that the direction is normal but if A phase is ON when B p
219. carry out speed synchronous s Stop synchronous start command M code shall be OFF by command in M Code ON status MOF command o Not available to carry out speed synchronous s S Check if Driver ready signal of the axis is OFF when giving command in SERVO ready OFF Speed synchronous start command S Check if the main axis of speed synchronous start command Error in setting the main axis subordinate axis of speed ne synchronous start command Stop is set as same as the command axis The main axis is set by y the setting address 0 X 1 Y 2 Z p 7 The main axis rate of speed synchronous start command Error in setting the main axis subordinate axis rate of Stop should be greater than or equal to the subordinate axis speed synchronous start command j i rate check the main axis ratio subordinate axis ratio setting The speed synchronous start command may not be carried Not available to carry out speed synchronous start Stop out according to the pulse output mode set by basic command in the specific pulse mode parameter of the main axis and the combination of pulse output mode set by basic parameter of the subordinate axis 361 ot available to carry out position override command no S Check if the axis is in stop status when giving the position in the operation status busy override command top 362 ot available to carry out position override command in NN Stop Check if the axis is
220. cation PHASE A B CW CCW 2 multiplication PLS DIR D If output pulse type is set wrong during operation by encoder input error 424 will occur X OO x OOox x 3 46 Chapter 3 Function gt Program used to CNC machine by 3 axis MPG operation The origin complete is not needed in the APM O S V2 2 upper ER Program 3 9 Manual Pulse Generator 8 47 Chapter 3 Function 3 7 3 Inching Operation gt This is a kind of manual operation and outputs as much as the pulse amount by the speed set in the inching Speed from origin manual parameter gt While the operation by Jog command is difficult in moving to the correct position as the operation starts and stops according to the command the inching command enables to set the desired transfer amount easily and reach the goal point gt Thus it is available to reach the correct goal position by moving fast near the working position by Jog command and operating the detail movement by inching command gt The setting range is 22147483648 2147483647 Pulse Program OF XTi 3 STH I FA h mia r Axis operation Axis error information information IST X ST 3 E 3T E A 4 a Axis operation Axis error information information 3H m IHE XTi miji LM PI jas Ei p RED Axis operation Axis error information information pase BEEST an jam a TALIS WCC3AL IHE TAL Program 3 10 Inching O
221. ch 2147483648 2147483647 X10 lnch 0 p degree 2147483648 2147483647 X1 0 degree pulse 2147483648 2147483647 pulse Circular arcs interpolation 2147483648 2147483647 X10 xis ae Inch 2147483648 2147483647 X10 Inch 0 i pulse 2147483648 2147483647 pulse Open Collector Line Driver Unit mm 1 2 000 000 000 X10 min Operation speed inch 1 2 000 000 000 X10 inch min 0 degree 1 2 000 000 000 X10 degree min pulse 1 200000 1 1000000 Pulse sec Dwell time 0 50 000 unit 0 M Code no 0 65 535 0 Operation method single repeat Single Operation mode Position control Speed control Position End Go on Continuous End Go on Continuous End Absolute Relative Absolute Relative Absolute Circular arcs interpolation CW CCW cw direction 1 acceleration deceleration time No1 Selection of f d 6 2 acceleration deceleration time No2 acceleration deceleration j M 1 3 acceleration deceleration time No3 time Spo 4 acceleration deceleration time No4 Setting range of Operation data 5 5 1 Step No gt The setting range of positioning data as serial no is 0 400 gt The first Starting step of operation data is no 1 step If the step no is set as 0 for indirect start simultaneous start linear interpolation operation circle interpolation operation position synchronization it is operated according to the operation data set as the current operation
222. change of the current position command the mechanical origin executed by the homing command is changed Thus it is required to execute the homing again Program Lao La pg Ll Axis operationAxis error information information Axis operation Axis error information information PRESET iM STO LETI ipa He Ces al oe a ui Axis operation Axis error information information TF HO F Program 3 16 The change of current Position 3 57 Chapter 3 Function 3 12 Floating Point Setting gt This is used to force to set the current position as the origin without carrying out the homing action of the machine gt The position set in this case is the setting value from the homing address gt As the floating point setting forces to set the current position as the origin by the homing address the following cares should be taken in the program that has the floating point setting as the origin 1 If error occurs remove the error cause and reset the error and then release the output prohibit 2 Set the floating point again and 3 Change the desired operation step no by the operation step no setting before starting 3 13 Teaching p gt This is to change the goal position of positioning data step no set in the positioning address by manual operation Jog operation manual pulse generator operation P Teaching function position teaching speed teaching is available for the axis in
223. ching 7 20 7 8 1 Position Speed Teaching Function Block Single esee 7 20 7 8 2 Position Speed Teaching Function Block Plural cesses 7 20 7 9 Function Block for EtFor iere gy tonnes EN Pera ebd 7 21 7 9 1 Emergency SlODee qe exi x nk Su rk da ERR ER IRR REPE D TA OCA ERR DRIN DRE RP E TRE 7 21 7 9 2 Error Reset Release of Output Prohibition e eese 7 21 7 10 Other Function Block sssssssseeme 7 22 7 10 1 Zone Output Permitted iioii es ora rtr r hn edam e Ri E d Ce n cea i 7 22 7 10 2 M Gode OB E 2 sedeo ot e ex IE ice Re ER Oc V e ce ad tet A dri nee NEED 7 22 7 10 3 PHOS Oba isis vec ise wea m wanes ae were Wale Puma wee VO Pee E Ed PE wee Y wee ba PME E ERE 7 23 7 10 4 Eloatirig Oridin essioa iue roruex ea Erb RETE deae t AEE et Apad t FUR EVE habs 7 23 110 5 Encoder Proset oueeceaaviques une br Eque Pad aar PE De VAY haus edt a Seedy ET R T Ua ti 7 23 7 10 6 Encoder Value Head uec di d devenue adl i e a RE E xe exa Sie ve xs 7 24 7 11 Error Code on Function Block ssssseseeeenne 7 24 CHAPTER 8 Internal Memory and I O Signal 8 1 Internal Memoly ooi ii Do REED EtLec tL DIPEEE Rapt gee EIU ide 8 1 8 1 1 Basic Parametere ciiin cec p DERE OR QACROXK C C LCS A OE X KD CR TW E X 8 1 8 1 2 Expansion Parameter us ies coercere ata ebd uL Y ad vr EXE Eh cere EE Pa kc pad 8 2 8 1 3 Manual Operation Paramelefu secu coe ca
224. conversion control speed position conversion control by the positioning data 2 The external input signal approximate origin and origin signal does not effect the positioning control in the state of homing completion According to homing method rotation direction will change or it stops promptly when external high low limit ON 8 If the axis action state after stop is output prohibited execute the output prohibition release command to release the output prohibition and reset the error no 4 Soft high low limit by parameter can not be used in the speed control operation mode 5 Sequence program means Function block or MASTER K program method 6 Error 495 may occur according to rotation direction Dece Stop command Deceleratio Error 322 operation continue Decelera tion stop Error 323 operation continue Per axis In stop No change 3 34 Chapter 3 Function 3 4 2 Stop Processing and Priority 1 Stop Processing Deceleration stop command has different content of processing according to acceleration section constant speed section and deceleration section of operation pattern 1 Deceleration Constant speed section p gt In case of deceleration stop by deceleration stop command as the positioning operation is not completed by the setting goal position D positioning completion signal will not occur Q After mode of M code mode does not have M code signal ON
225. creen related tool gathering Chapter 4 Software Package gt Function Description Save 3axis data regardless of APM module axis number When APM software package saves the working screen it saves all 3 axis data even if APM model is 1 axis or 2 axis Ex in case of 1 axis Y Z axis data is saved as Default After setting APM model as 3 axis to form the working screen and saving the corresponding file if you reset APM software package and open the corresponding file only 1 axis data shall be displayed In this case if you set 3 axis in set offline model item and open the file again you can see all 3 axis data LS gt j Pir Peck me dam 0 C9 faxum ura Ewa V ees dm qid d Fig 2 The screen displayed when saving the working screen 4 3 3 The Structure of Working Screen p gt Function Description Composed of 1 working screen Once the working screen is made it is not available to make other working screen by using new file In order to make new working screen instead of the existing working screen you should save the existing working screen as a file and close it and then make new working screen Proceeding status indication During monitoring or Tracking as the upper part of the working screen changes to show the message such as in Monitoring Tracking stop or Monitoring stop in Tracking it is available to recognize the current status when moving to other screen F
226. d from speed control to position control when speed position conversion signal is entered to the positioning module inside or outside and then carries out the positioning as much as goal transfer amount gt Speed Position Conversion control can be operated to the normal direction and reverse direction EAS ircul i Dwell ircl i Direction Step Control Operation Operation Goa l Circular M Acc Operation iv Citele fo Joordinate method altem method position interpolation aux Gode dec No speed time interpolation Setting 7 i pulse Point pulse piss D direction Normal 1 Relative Speed Go on Single 1000 0 1 1 1000 100 CW Reverse 2 Relative Speed End Repeat 1000 0 2 1 2000 100 CW The item that does 17 not effect gt Direction of Speed Position conversion control normal reverse shall be determined by the sign of position address In this case all is processed by Absolute method regardless of Absolute Relative method 1 normal direction when position address is positive 2 reverse direction when position address is negative p 0 According to the selection of position indication indication no indication from Position Indication during Equal speed operation of Extended parameter the current position shall be indicated differently Position indication indication The origin is determined at speed control and the curre
227. d limit value Speed loop gain This is one item of Servo parameter from positioning data This means the speed of control response during speed control When load inertia moment ratio increases the speed response of control system will decrease and the action shall be unstable If such a thing happens the action could be improved by increasing this value If speed loop gain increases too much the overshoot will be large and occur while motor vibration noise is acting or stops Speed loop mode This is Servo control mode used for positioning This is one mode to carry out speed control Refer to Position loop mode Step out The stepping motor rotates in proportion to the number of pulse while the rotation of motor breaks away if the excessive load is applied to the motor This is called as step out If the step out occurs it is required to replace the motor with new motor that has bigger torque The step out may cause to increase the positioning deviation Stepping motor This is the motor to rotate the given angle ex 0 15 when 1 pulse is generated Because of this reason it is available to obtain the rotation in proportion to the number of pulse 2 5 phase stepping motor is available In case of 3 phase type the motor rotates from A to C order when the voltage is supplied Cares should be taken for the step out when overloading External stop signal This is the input signal to stop the action from ex
228. d time and complete the positioning after moving to the setting goal position 7 18 Chapter 7 Function Block 7 7 8 SKIP Operation Skip APM_SKP Function block Description This is used to carry out the operation by moving to next step without operating the operation step Whenever it executes it operates the next operation step by skipping and stopping the operation of the current operation step 7 7 9 Continuous Operation Next Move APM NMV Function block type Description INST12 This is used to carry out the operation by moving to next step without operating the operation step Whenever it executes it operates the next operation step by skipping and non stopping the operation of the current operation step 7 7 10 Start Step Number Setting Set Next Step Number APM SNS This is used to change the operation step of the setting axis Indirect start carries out the operation by increasing the operation step one by one after completion of start and changes it with specific operation step In case of the step no 0 Function block type INST2 Variable Description Operation step no setting for operation eSetting range 1 400 elf out of setting range Error 11 occurs Chapter 7 Function Block 7 7 11 Start Step No Setting when Repeat operation Set Repeat Step Number APM SRS The setting axis returns always to no 1 operation step when encounters th
229. de ree debo ein ee eux dne Eisen pd ER 8 3 8 1 4 Origin Return Parameters sace e pedea sien benches asad etebin amr ponte beeba 8 3 8 1 5 Common Parameters duco ciated sak iranu V CV d OX DXX OY YT X CY e E 8 4 BAS Opefauon Datascvevies ioci P CE rv PT OPI e EPA LE 8 5 8 1 7 Command Ipfe mallghi cesa esas veux n Dou ak Masa Fax vt ADU Wa dV PL e Rd a ades 8 7 8 1 8 State Informations ke vex oc OR ORE beesay EEEE eV uneven GERONER Ka OD E RR XO Rc uke 8 9 8 2 VO SIGNAL scorso ea leaena pra eroe urea dale uus 8 13 82 1 Contents OF l O Slgrial sscseiea avec ear dae acea e E EEG aar ER a eaae Ea Edad 8 138 8 2 2 Use ot MO Signal zsxsxs ceonoadvowexte rae dar e ate be a oe EC DDR RD NOR ER 8 14 CHAPTER9 Command 9 1 Contents of Command Code sse 9 1 9 2 Use of Command Code ssseseeeen emen 9 2 92 1 Origin Return Start sustancia pi xt ae ko ol GR RO d s WE C RR n 9 2 9 2 2 Floating Origin Setlingisesi esca tici bear Rte dhe La Ped LEN EUER Ida pete DP RE 9 2 9 2 d Direct Stalti ee ee aeta o eeu una Eaa aa ed ee cad o Lh aiu Me runs 9 3 8 2 4 riditect St alts iss dore k ccn OB XR CX OE ER OS KM Eo LR OC c E RE KD RR 9 3 9 2 5 Linear Interpolation Start 2325 29 cod oa Eo EX Xo x ee EE E rd x Ea a secs 9 4 9 2 6 Circular Arcs Interpolation State usse Us eov Ec eo EE EPA RSV pP RD 9 4 9 2 7 Simultaneous Start sieur Races a eG RE E CV GREEN Uu ra MOUDUE WE ER cna Edad Vr Rt 9 5 9 2 8 Speed Positi
230. e removal is ended Chapter 4 Software Package 4 2 APM Software Package Basic Structure and Function List 4 2 1 APM Software Package Basic Display TENSE EE aLa OE Es uam Quin rira Tonin Haia agi uj A Dal Ro cohnmmmumumnum s oF Seo ese uo ees TE B TETO didi Elm BERGE SS F ul C reet Saat D mr i I m Ei a cena Move Wines eet ae ieee Fists ea er aia Hig EZE mmm CTL Cemed BACE O LOTZ Ope Coleco 3 Fig 1 Initial Display of Program Execution Items Description A Basic Tools Includes tool collection such as file open save edit print operation data operation parameter online offline model setting communication connection monitoring and simulation function etc B Command Tools Includes tool gathering of frequently used command items gathering C Tracking Tools With Tracking tools the user can realize the Zoom in out function and various function when gathering carrying out Tracking D Working screen and Command window Through working screen the user can move the working space to the desired display easily and carry out the commands through command window E Working space As it is divided into monitoring Tracking operation parameter operation data X Y Z etc the user can carry out several works at the same time F Status display window Indicates the working status info
231. e ened pattern method pulse pulse pls s 0 direction 1 Absolute Position Go on Single 100000 0 0 1 1000 100 CW 2 Absolute Position Go on Single 150000 0 0 1 5000 100 CW 3 Absolute Position End Repeat 0 0 0 1 10000 100 CW X setting 10 Absolute Position Conti Single 200000 0 0 1 2000 0 CW 11 Absolute Position Conti Single 250000 0 0 1 10000 0 CW 12 Absolute Position End Repeat 0 0 0 1 15000 0 Cw 6 Operation pattern Speed Normal rotation Continuous 10kpps 7 Go on 5kpps 4kpps Continuous 3kpps 2kpps 4 i 1kpps 200000 250000 Step no 10 Step no 11 1 10kpps 15kpps Reverse rotation tart command The following start command acts P002F Step no 1 In operation P0021 In dwell MOO0F Y i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i i 1 1 1 i i i i i i i 1 1 Speed change i P0024 f Bn B x I On Next Move P0022 _ O ee 11 49 Chapter 11 MK Program 7 Program F0010 ai GET 00002 04370 WOOO 00004 GET 00002 04374 D0000 00007 PO020 P0030 P003 L a E PUTP 00002 04317 0000 0000 PUTP 00002 04300 00038 00001 P0021 P0030 P0031 P0032 L H H Purr 00002 04300 00001 00001 022 P0030 MOOOD P0032 L H H Pu
232. e of the origin is short the positioning module can not recognize it Origin 3 39 Chapter 3 Function 3 6 3 Origin Detection after Deceleration when Approximate origin ON This is the method using the approximate origin and origin signal and the action by homing command is as follows 1 It accelerates to the setting homing direction and acts by homing high speed 2 In this case if approximate origin as external input is entered it decelerates and acts by homing low speed 3 If encounters the origin signal as external input signal when the approximate origin is ON while the homing low speed is active the origin shall be determined and it stops Deceleration when approximate return ON Homing high speed BP Homing low speed Approximate origin When homing speed decelerates by signal approximate origin the origin will not d Pe be determined by the origin signal Origin signal 1 rotation of SERVO motor PG1 rotation Homing command Homing processing Origin determined state I 1 Once the approximate origin signal is On when the homing speed acts from high speed to low speed via deceleration section if the origin signal is entered in the state that the approximate origin signal is ON the origin will be determined promptly That is when the homing speed decelerates the origin will not be determined by the origin signal 2 When encounters the external input high low limit si
233. e range Homing address of homing parameter exceeds the range Homing high speed of homing parameter exceeds the range Homing low speed of homing parameter exceeds the range Homing dwell time of homing parameter exceeds the range Encoder Type of common parameter exceeds the range Zone axis setting value of common parameter exceeds he range Zone2 axis setting value of common parameter exceeds he range uw Zone3 axis setting value of common parameter exceeds he range us Pulse output level setting of common parameter exceeds he range ws Zone output mode setting of common parameter exceeds he range Circular interpolation method of common parameter exceeds the range 151 Operation speed of operation data can not be set as 0 152 Operation speed of operation data exceeds max Speed 453 Operation speed of operation data is set as less than bias speed 154 Dwell time of operation data exceeds the range 121 122 123 131 132 133 134 135 141 142 143 144 145 146 147 oo fo ENEN Stop Stop Stop Stop Stop Stop Stop Stop Stop Stop Stop Stop Stop Stop Stop 7 26 External command selection of extended parameter is O start 1 JOG command 2 SKIP Select one from these hree Set Jog high speed of manual operation parameter within he range greater or equal to bias speed of basic parameter and within the range smaller or equal to max Speed of basic parameter S
234. e repeat operation while operating by operation data But this is used to start the operation from the specific operation step by setting the start Step no when repeat operation Function block variable Description Operation step no setting for repeat operation eSetting range 1 400 elf out of setting range Error 11 occurs 7 7 12 Stop Stop APM STP Function block type Description INST34 This is used to stop the positioning module in operation If encounters the stop command during the operation by operation data it carries out the deceleration stop and then starts to operate again by Start command The availalble operation are 1 indirect start 2 direct start 3 inching 4 interpolation operation 7 20 Chapter 7 Function Block 7 8 Teaching Function Block 7 8 1 Position Speed Teaching Function Block_Single Teaching APM_TEA Speed teaching is used when the user wants to use the random speed for the specific operation data no while Position teaching is used when the use wants to set the random address to the specific operation step no Function block type Variable Description Operation step no setting for teaching eSetting range 1 400 elf out of setting range Error 11 occurs Selection of RAM teaching and ROM teaching eSetting range 0 1 0 RAM teaching 1 ROM teaching Selection of Position teaching and Speed teaching eS
235. e status screen The item that appears in external I O signal window is indicated based on the monitoring axis That is when monitoring axis is X axis the external I O signal window indicates only X axis external signal To hide cover external I O signal screen press SHIFT V short cut key or click external I O signal from view menu Upzer L irai D i N Jhi Lower Lir DH DH DH Dog OFF OFF OFF Here ore IK arr EM Un OW JH cia OFF OFF OFF Lorena OFF OFF OFF But ora OFF JF OFF B pesecic Poshon OFF DFF OFF Drea Fina DN DH OH Est Simien Stal OFF OFF OFF Fig 34 External I O signal window Chapter 4 Software Package 4 11 3 Error History function p gt Function Description Configuration Error history window is composed of overall error screen and each axis error screen Error history data is indicated only during monitoring If monitoring stops the data indicated on the error history window all disappeared The item indicated on the error history window is indicated based on the monitoring axis That is when monitoring axis is X axis error history window indicates only X axis external signal To hide cover error history signal window press SHIFT E short cut key or click error history information from view menu Error indication method Overall error screen indicates all the latest occurred errors of each axis and X Y Z axis error screen indicates 10 errors occurred on each axis in order
236. eck if the axis is in manual pulse generator operation 387 Move ane m command in the axis of manual pulse generator operation when giving the random position speed override command 388 ot available to carry out random position speed override Check if Driver ready signal of the axis is OFF when giving command in the SERVO ready OFF the random position speed override command ot available to carry out random position speed override Check if acceleration deceleration pattern of extended 389 a command in the S curve acceleration deceleration pattern parameter of command axis is S Curve in the dwel in the operation status operation command available to carry out Continuous operation command o status Check if the axis is in dwell when giving Continuous operation command Stop Stop available to carry out Continuous operation command Stop Check if acceleration deceleration pattern of extended he S curve acceleration deceleration pattern parameter of command axis is S Curve top top top available to carry out Continuous operation command S Check if the axis is in speed control operation when giving not in the positioning operation status continuous operation command The speed of next step should be smaller than or equal to Speed data of Continuous operation command exceeds Stop max speed set by basic parameter or more than 0 when the allowable range Pa giving Continuous opera
237. ection 1 Absolute Position Go on Single 10000 0 0 1 500 100 CW 2 Absolute Position End Repeat 0 0 0 1 1000 100 Cw x seling 10 Absolute Position Go on Single 15000 0 0 1 1000 100 CW 11 Absolute position End Repeat 0 0 0 1 2000 100 CW 2 Program id ZEE GET g0001 04370 MOOD 00004 GET 00001 04374 booo0 00007 E n 0 T e am PUTP 00001 D4317 o0001 o0001 n PUTP 00001 04300 00036 oo001 Poon L2 Pool P0012 H Purp 0000 04300 00001 00001 m 3 a P0012 p L J er L o poozo PO OOF dE 0 n 2 i L ERA PUTP A 0001 04301 00010 00001 PUTP A 0001 04300 00021 00001 Chapter 11 MK Program 11 2 22 Current Position Change 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOF X axis current position change switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal D0100 D0101 Current position preset setting value 3000 M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON O
238. ed D0004 X axis current operation step no M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation status read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt P0002 Start switch ON OFF gt POOOF Operation step no change by Continuous operation switch ON OFF 3 Operation Data Setting Operati Operati Goal Circular Operatio Dwell yale Items of Step Coordin Control P P m interpolation aux M Acc De P interpolati B it ate method on penn point code Eho n seg time o Position data LA pattern method pulse pulse pls s D directio 1 Absoute Position Conti Single 100000 0 0 1 500 100 CW X setting 2 Absoute Position Conti Single 200000 0 0 1 1500 100 CW 3 bun Position End Single o 0 0 1 2000 100 cw 2 Program i 0 iL 00001 04370 WOOO 00004 GET 0000 04374 DOO00 00007 iei D t E PUTP 00001 04317 00001 00001 PUTP 00001 04300 00036 00001 ig i P0011 PODI LJ H z H Putre 0000 04300 0000 O00001 ptam Pool P0012 IJ RR p poozo__ E P0010 MODOD P0012 P pooo4 00000 m 0 ooo PUTP 00001 04300 00017 00001 Chapter 11 MK Program 11 2 20 SKIP Operation 1 Description 1 Used device
239. ed position X Y data shall be indicated automatically If you want to start Tracking press Start Button This is used when you want to save the Tracking screen by save as picture file and available only when Tracking screen Save E is in Pause The picture file type available to support are 3 such as bmp emf jpg This is used when you want to print Tracking screen and Print amp Table 11 Tracking tool gathering function description available to use only when Tracking screen is in Pause 4 21 Chapter 4 Software Package Step no indication function Step no indication function is to indicate the operation step no on the Tracking screen when indirect start The user can verify the operation information such as current operation speed current position data and operation step information together with Tracking screen Amp rep ha Cipla orang Dos Pam 006 DOO Seed 0 DOO 5l Li Li Ska Ma oz E bira mie re indir FLL internal APH Soira Package Mirre E Tracking rere T DEn Eram ee Fig 25 Tracking Step no indication function Tracking axis unit In the bottom of Tracking screen the axis unit set by APM software package and the corresponding axis unit saved in PLC internal memory are indicated and if two units are different max value of Y axis coordinate speed shall be set on the Tracking screen based on the unit saved in PLC internal memory
240. ed to change Move data without using S W Package Function block type Variable Description Operation step no STEP eSetting range 1 400 elf out of setting range Error 11 occurs INST29 MOV Goal position address ADDR eSetting range 2 147 483 648 2 147 483 647 CIN Aux Address of circular interpolation ADDR eSetting range 2 147 483 648 2 147 483 647 Operation speed MOV eSetting range Open Collector module 1 200 000 unit pls s SPD Line Driver module 1 1 0000 000 unit pls s elf out of setting range Error 11 occurs Swell ime pan eSetting range 0 50 000 unit elf out of setting range Error 11 occurs MCD_ M Code no NO eSetting range 0 65 535 Position Speed control setting eSetting range 0 1 0 position control 1 speed control Single Repeat operation setting eSetting range 0 1 0 single 1 repeat End Go on Continuous setting eSetting range 0 2 0 End 1 Go on 2 Continuous elf out of setting range Error 11 Absolute Relative setting eSetting range 0 1 0 Absolute 1 Relative Acceleration Deceleration time no setting eSetting range 0 3 0 Acc Dece Time 1 1 Acc Dec Time No 2 2 Acc Dece time No 3 3 Acc Dece Time No 4 elf out of setting range Error 11 Circulation interpolation direction setting eSetting range 0 1 0 CW 1 CCW
241. eeaeeeaas 6 6 6 3 Command COn c ici rn o ae a a Cri Ea E EXE KI ERE EY KR EXE ER X 6 7 6 4 Software Package Startup Examples ssssesesessse 6 8 6AA Origin Return moerens sentera aa a ENEA AA bernie tena mer M e eU eat 6 8 6 4 2 Indirect Seting eser cae fas ve eines eux dae owe es neue ae ove ees EAS EEONE EE I KEERN NAE N 6 9 6 4 3 External Simultaneous SEarticite die exes d da repe ttal eeu a uaa e ths 6 11 6 4 4 Circular Arcs IntetpolatlOltassasauawk veu c4 xn ka xd Ev koe 4 E WA ed E S TER 6 12 6 4 5 Speed Synehrorteaioltscseeon de o oa CC ga c Re c bt ea 6 13 6 4 6 Teaching ArTay iuis eid vk Co dee E EX ER EE EX ROG CV E C X EORR LYRA CY EXER WR ea a 6 14 Mya ISI s EVOLUTION TI I DIT TTE 6 15 CHAPTER 7 Function Block 7 1 Function Block Registration for Positioning Module in GMWIN 7 2 7 1 1 Registration Procedure of Function Block eeeseeeeennn n 7 2 7 1 2 Common Items of Function Block seeseeeeeee n nnn 7 2 7 2 Function Block for Module Information Reading 7 3 7 2 1 Current Operation State Code Information Read s sessesessssrsrrersrnrsrrersene 7 3 7 2 2 Current Operation State Bit Information Read sssssssssrrrsrssrrrrresrrrrrrens 7 3 7 3 Function Block for Parameter Setting sssssuseussssss 7 4 7 34 Basic Parameter Seltilitje es onn x wd OO HI E ERES EX CHR NC OX EKNE KAEH OCC TER OR ene
242. eed pm STOP Operation stop ACC NUI ACC Accelerating operation EQU Equal speed operation DEC DEC Decelerating operation WWE TN gt 9 external input state indication m a TT HOME Home signal input The corresponding axis HED ohean seeme lna O RDY Driver Ready signal input ECMD External command signal input ULMT Upper Limit signal input LLMT Lower Limit signal input DOG Dog signal input SSRT External simultaneous start signal input ESTP E ESTP External stop signal input m EVTP External VTP signal input EDU tooteralodp ZONE ZONE output VX X Version information Chapter 3 Function Chapter 3 Function 3 1 Positioning Control Positioning Control includes position control interpolation control speed control speed position conversion control position speed conversion control 3 1 1 Position Control Positioning control from start address present stop position to goal address transfer amount for the assigned axis 1 Control by Absolute method Absolute coordinate 1 Positioning control from start address to goal address the address assigned by positioning data 2 Positioning control is carried out based on the address assigned origin address by homing 3 Transfer direction shall be determined by start address and goal address gt Start address lt Goal address normal direction positioning gt Start address gt Goal address reverse direction positioning Example
243. elative setting INC eSetting range 0 1 0 absolute 1 relative Acceleration Deceleration No setting TIME USINT eSetting range 0 3 0 acc dec Time No 1 1 acc dec time No 2 SEL 2 acc dec Time No 3 3 acc dec Time No 4 elf out of setting range Error 11 occurs Chapter 7 Function Block 7 5 3 Indirect Start Indirect Start APM IST This is used to operate by setting the operation step no by operation data Function block type Variable Description Operation step no eSetting range 1 400 elf out of setting range Error 11 occurs 7 5 4 Linear Interpolation Start Linear Interpolation Start APM LIN This is the command to carry out the linear interpolation operation at 2 axis or 3 axis positioning module Function block Variable Description Interpolation operation axis setting eSetting range 1 7 except 1 2 4 elf out of setting range Error 6 occurs AGT VB Setting value Operation axis Off On 3 XY On Off 5 XIZ On On 6 YIZ On On 7 XNIZ Interpolation operation step no eSetting range 1 400 elf out of setting range Error 11 occurs 7 5 5 Circular Interpolation Start Cicular Interpolation Start APM CIN This is the command to carry out circular interpolation operation at 2 axis or 3 axis positioning module Function block Variable Description MST Main axis sett
244. ell C culer Items of Step Control peia pera ka interpolation aux Acc De paraso i interpolati a n Coordinate in liiod on on position point M code ile n speed time n Position dat j i T B pattern method pulse biles pls s D dicction X setting 1 Absolute Position End Single 10000 0 0 1 500 100 CW 4 Common Parameter Setting ZONE 343 GO 0 HS 3S ZONEI amp 3a 0 X amp ZONE amp amp 8 0 X ZONE3 amp amp 3 0 X ZONE ON ASS 0 pls ZONE ON 2S 1000 pls ZONE2 ON ASS 1500 pls ZONE2 ON Z8 2500 pls ZONES ON AL STI 3000 pls ZONE3 ON Z8 4000 pls 2 Program Fooro 2 o GET 00001 04370 WOOO 00004 I GET 00001 04374 DOO00 00007 PO000 PODIO PO0I2 1 F lI BRA PUTP 00001 04317 0000 00001 PUTP 0000 04300 00036 0000 SH POODI PODIO POO POD0I2 J I h j Pute 0000 04300 0000 0000 E P0011 P0012 94J 1 k1 n P0020 E PODIO P0012 IF PUTP 00001 04300 00024 00001 E PODIO P0012 m h PUTP 00001 04300 00025 00001 n a Chapter 11 MK Program 11 2 28 Operation 1 Description 1 Used device Data Setting Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOF X axis operation data setting switch P0010 X axis command receive
245. equired Here can be the combination of End Go on Continuous operation pattern Pulse This is ON OFF conversion of current voltage for a very short time One pulse string is a series of pulse G4F PP1 2 30 G4F PP1 2 3D is the module that generates the pulse Pulse generator This is the device to generate the pulse For example this includes the device encoder installed on the motor axis that generates the pulse when the axis rotates and digital device 1 phase type outputs one pulse string 2 phase type outputs two pulse strings that have the phase difference It is available to output 600 1 000 000 pulse per axis rotation Pulse output mode of driver This is the method used to generate normal direction operation and reverse direction operation command to Servo motor The using type is different according to the machine maker In case of Type A normal operation pulse and reverse operation pulse shall be outputted from separate terminals In case of Type B normal operation pulse and reverse operation pulse shall be outputted from the same terminal and Appendix 1 9 Appendix 1 Positioning Terminology normal reverse direction operation classification signal shall be outputted from different terminals Regenerative brake option This function is used to carry out acceleration deceleration frequently as one option Refer to External regenerative resistor Resolver This device resolves two voltages of a
246. eration prohibit P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt P0002 MPG operation permit switch ON OFF gt P0003 MPG operation prohibit switch ON OFF In case of operation by external encoder input it is also required to use P contact signal which is same as that of MPG operation 2 Program F0010 Em GET 00001 04370 MODO 00004 amp ET 000001 04374 D0000 00007 PO000 PODIO POO0I2 L 1 vr PUTP 0000 04317 00001 0000 PUTP 00001 04300 00036 00001 PO00 PODIO Poot PODI2 H Pur 00000 04300 0000 0000 0002 POO0 P0012 j H je H ser poo 0003 POO0 P0012 A j RR ST Poo4 pL Malglg d Chapter 11 MK Program 11 2 14 Inching Operation 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch POOOF X axis inching switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal D0100 D0101 Inching
247. erride Position speed override Edge Within 5ms 25 Auxiliary PTV Position to Velocity position speed control Edge Within 5ms 26 operation VTP Velocity to Position Speed position control Edge Within 5ms 27 SKP Skip Skip operatin Edge Within 9ms 28 NMV Next Move Next move Edge Within 5ms 29 SNS Set Next Step Number Start step no setting Edge Within 5ms 30 SRS Set Repeat Step Number Start step no setting in repeat operation Edge Within 5ms 31 STP Stop Stop Edge Within 5ms DR Position speed teaching ROM RAM ROM within 1100ms 32 TEA Position Speed Teaching single Edge A Teaching Single RAM within 6ms Position speed teaching ROM RAM ROM Within 1100ms 33 ATEA Position Speed Teaching Array Edge rl Array RAM Within 6ms 34 Error EMG Emergency Emergency stop Edge Edge 35 RST Error Reset Inhibit Release Error reset output inhibit release Edge Within 5ms 36 ZONE Zone Output Enable Zone output permitted Edge Within 5ms 37 MOF M Code Off M code Off Edge Within 6ms 38 PRS Preset Current position preset Edge Within 5ms 39 Others FLT Floating Point Set Floating point setting Edge Within 9ms 40 EPRE Encoder Preset Encoder preset Edge Within 5ms 41 ENCRD Encoder Read Encoder read Level Within 1 42 MDRD Move Data Read Operation Data Read Level Within 1 7 1 Chapter 7 Function Block 7T 1 Positioning Module function block registration at GMWIN 7 1 1 Function block registration procedure When GMWIN
248. erride command in 2 subordinate axis of synchronous start operation Not available to carry out speed override command in axis of manual pulse generator operation ot available to carry out speed override command in deceleration section ot available to carry out speed override command in acceleration deceleration pattern 376 377 378 o ed oO Not available to carry out random position speed override command not in the operation status busy Not available to carry out random position speed override command not in the positioning operation 381 E The speed override value of random position exceeds the range of speed override command Not available to carry out random position speed override command in the subordinate axis of linear interpolation operation 7 32 Chapter 7 Fu nction Block zrro At Output type 1 i Error description Module action solutions zode p pen Line able to carry out random position speed override d in the axis of circular interpolation operation giving the random position speed override command o Check if the axis is in circular interpolation operation when o carry out random position speed override Check if the axis is in operation to the subordinate axis of he subordinate axis of synchronous start Move synchronous start operation when giving the random position speed override command available to carry out random position speed override Ch
249. error information information Y axis positioning information X axis positioning y axis operation Y axis error information information information Program 3 2 Basic Linear interpolation As at the linear interpolation start 2 or 3 axis act synchronously cares should be taken in using 1 The available operation pattern is End Go on and operation method is Single Repeat If set as Continuous it shall be processed as End 2 The available auxiliary operation is as follows Speed override Stop Emergency stop Skip Zone output permitted 3 The command that is not used at the linear interpolation operation is as follows Position Speed switching control Position override Continuous operation Position Speed override 4 The auxiliary data related to the operation that acts based on the main axis during linear interpolation operation is as follows Operation method operation pattern Speed limit Dwell time 5 The main and subordinate axis shall be determined by the positioning address amount of operation step 1 main axis the axis whose positioning address amount of the corresponding operation step number is bigger among X Y Z axis 2 subordinate axis the axis whose positioning address amount of the corresponding operation step number is smaller among X Y Z axis At this time the speed acceleration deceleration time bias speed of the subordinate axis shall be recalculated 6 The items that acts based on the setting v
250. et Jog low speed of manual operation parameter within he range more than 1 and less than Jog high speed of manual operation parameter Set the inching speed of manual operation parameter within he range greater than or equal to bias speed of manual operation parameter and within the rage smaller or equal to max Speed of basic parameter Homing method of homing parameter is 0 Dog origin Off 1 Dog origin On 2 high low limit origin 3 approximate origin 4 high speed origin Select one from these Set the homing address of homing parameter as the value greater than S W lower limit of extended parameter and smaller than S W upper limit of extended parameter Set the homing high speed of homing parameter within the Range greater than or equal to bias speed of basic parameter and within the range smaller than or equal to max Speed of basic parameter Set the homing low speed of homing parameter within the range greater than or equal to bias speed of basic parameter and within the range smaller or equal to homing high speed of homing parameter Set the Dwell time of homing parameter as less than 50000 Set the encoder input signal of common parameter between 0 6 Zone1 axis setting of common parameter is 0 X 1 Y 2 Z 3 Encoder Select one from these Zone2 axis setting of common parameter is 0 X 1 Y 2 Z 3 Encoder Select one from these Zone3 axis setting of common parameter is 0 X 1 Y 2 Z 3 Encoder Select one from these Pulse outp
251. etting range 0 1 0 Position teaching 1 Speed teaching Teaching value setting Position teaching range 2147483648 2147483647 eSetting range Open Collector output 1 200 000 unit pls s Line Driver output 1 1 000 000 unit pls s elf out of setting range Error 11 occurs 7 8 2 Position Speed Teaching Function Block _Plural Array Teaching APM_ATEA This is used to change the goal position and speed by max 16 at one time by plural teaching function block Function block Variable Description Operation step no setting for array teaching STEP eSeting range 1 400 elf out of setting range Error 11 occurs RAM Selection of RAM teaching and ROM teaching ROM eSetting range 0 1 0 RAM teaching 1 ROM teaching POS Selection of Position teaching and Speed teaching SPD eSetting range 0 1 0 Position teaching 1 Speed teaching Teaching number setting TEA eSetting range 1 16 CNT eMax Teaching no is 16 elf out of setting range Error 11 occurs Teaching value setting Position teaching range 2147483648 2147483647 eSpeed teaching setting range Open Collector output O 200 000 unit pls s Line Driver output 0 1 000 000 unit pls s elf out of setting range Error 11 occurs eTeaching value is valid as much as the constant number set by TEA CNT 7 21 Chapter 7 Function Block 7 9 Error Funct
252. evice Description P003C X axis basic parameter setting input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status D0310 X axis speed limit 200000 Address of internal memory Contents of internal memory X axis Setting value 0000 Speed limit 200000 0004 Acceleration deceleration 1 200 0010 Basic parameter control word 1 PLS DIR Pulse x 1 4300 Command code 29 If POO3C is ON it is changed with X axis basic parameter setting 9 2 30 Extended Parameter Setting Command code 30 1 Program POOSD P0010 PDOI 1 P0012 H Hp Pur 00001 00018 ooooz ooooi j PUTP 00001 00019 h0300 o0001 PUTP A Q0001 04300 00030 00001 9 14 Chapter 9 MK Command 2 Description Device Description P003D X axis extended parameter setting input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status Address of internal memory Contents of internal memory X axis Setting value 0018 External command signal selection 2 Skip operation h0300 external stop permit external 0019 Extended parameter control word RP f simultaneous start permit If P003D is ON it is changed with X axis extended parameter setting 9 2 31 Homing Parameter Setting Command code 31 1 Program POOSE P0010 P0011 P0012 ir scm DMOVP 0000010000 D0510 f NEN 0000004000 posiz PUTP 00001 00028 D0510 00002 PUTP
253. f the command screen is changed or scrolled up and down it is available to verify the command axis information easily The command screen is composed of CMD 1 the basic command screen CMD 2 the command screen related to teaching and teaching array and PST Point command screen and if the command axis is set in any from 3 screens it shall be applied to all command screen simultaneously v XAxis D Ys Z Axis Fig 16 Command axis setting part 2 e 2 a oe CMD1 CMD2 PST Fig 17 Command screen configuration Unit conversion function The command item related to Position and Speed carries out the unit conversion function based on the corresponding axis unit set by operation parameter Chapter 4 Software Package Automatic range and data error check function The command screen contains Automatic range and data error check function for each item f data input error occurs during monitoring monitoring will stop for a while and the error message is displayed and then monitoring works starts again Command item data The data to enter in the command item is not saved as a file other than operation data and maintains the input value only when the program is running and it shall be set as an initial value whenever the program begins The command required to enter the Axis information from command items such as Synchronous start Circular interpolation etc display the item indication differently accord
254. f the subordinate axis that has the speed synchronization has no meaning 1 First set the operation data of the main axis Available to set the position control and speed control 2 Click Data Read Write gt Select Operation parameter and Operation data gt Click Write gt Click Close after completion of transmission gt Click Operation state monitoring 3 In case that the main axis is set as position control complete the origin determination 4 Set the corresponding axis of speed synchronization in the Display of Command 1 5 Set the main axis the main axis rate the subordinate axis rate respectively from the speed synchronization items of Command 1 Speed synchronization data setting display Display that speed synchronization is executed Signalan c EN PT rm Fanta 1 7 In case of setting the axis as the main axis and indirect start in the display of Command 1 the speed synchronized axis by the setting rate of the main axis and the subordinate axis according to the speed of the main axis carries out the operation 8 After completion of the operation of the main axis the speed synchronized axis shall be released by the deceleration stop command Chapter 6 Software Package Startup 6 4 6 Teaching Array gt The function of Teaching is to set the goal position and operation speed set by operation data again through touch screen such as PMU in the positioning module and carry
255. failurg MPG External simultaneous start o o ency stop DC24V Ad og taqe lint comad OV rex arret o FEEEEEBBEEEFBEEBBE g PUT Ies fa prster LE b Its ps A Ad og taqe lint comad Wx arret 9 EEEEEE zl R 8 BB E e sss S alel s s st Wthin 2m Wthin 2m Chapter 12 Operation Order and Installation 2 MR J2 J28 A Connection Line drive 1 G4F PP1 2 3D NF si do 95 Power 3phase 200VAC Z Within 10m gt G4F PP1 2 3D l z 3 3 g External EMG Servo ON Reset o os Proportional control o gt Torque limit 3 A Normal limit x3 Reverse limit 47329 e g gt gt failure zero speed detection in torque limit Analog torque limit 10V max current Within 2m MR J2S A HC MF HA FF Series motor 89 mel o 24VDC OPP of Servo ON signal Cutoff by alarm signal Q roe Ye 1 detector Personal computer Monitor output 10k Max 10mA 10k Chapter 12 Operation Order and Installation G6F PP1 2 3D v CEEEBEEEEEEEEBEEBNEEEEEEE ME Ea Es 8 T 2 G6F PP1 2 3D Power 3phase 200VAC With
256. formation Encoder BOOL 0 Subordinate 1 main i ST5 ARRAY 1 Main axis information X No use 2 Main axis information Y No use 3 Main axis information Z No use 0 Emergency stop input signal High limit input signal ST6 BOOL 1 _ Stop input signal Low limit input signal ARRAY 2 Command input signal Origin input signal 3 _ Jog high speed reverse signal Approximate origin input signal 0 _ speed position control switching input Zone2 output signal ST7 BOOL 1 _ Driver ready input signal Zone3 output signal ARRAY 2 _ External synchronous start input No use 3 Zone1 output signal No use 7 4 Chapter 7 Function Block 7 3 Parameter Setting Function Block 7 3 1 Basic Parameter Setting Set Basic Parameter APM_SBP This is used to change the basic parameter during operation without using S W Package Function block type Variable Description INST20 1 If the setting range is set as O when entering acceleration deceleration time it disregards the speed set by bias and starts by the setting speed without acceleration deceleration MAX SPD Speed limit eSetting range Open Collector output O 200 000 unit pls s Line Driver output O 1 000 000 unit pls s elf out of setting range Error 11 occurs BIAS _SPD Bias speed eSetting range Open Collector output 0 speed limit settinng value unit pls s Line Driver output O
257. function Operation data screen supports Copy Paste function for block and each item and carries out Copy Paste Return Revive function by using the right side of mouse And it is available to change the data of each item as initial value by using set initial value command Fig 12 Initial value setting command execution Chapter 4 Software Package Operation data item indication function When the data is entered in the operation data item if it is different from initial value it shall be changed in Black color automatically that enables to distinguish the edited data Refer to environment setting function Operation step change function Basically the step no of X Y Z axis operation data screen is limited as 50 steps If setting the range in environment setting function to increase the operation step number of each axis the working screen shall be reformed AUTO FILL function This auto fill function used in Excel enables the user to write the data in order easily This function is available to work only in one longitudinal line and not available in case of more than two longitudinal line Fig 13 Auto Fill function p gt Notices Copy Paste function in different unit f you set X axis unit as mm inch degree Y Z axis pulse in operation parameter screen and move to X axis operation data screen to enter 0 01 for the goal position item and 0 1 for operation speed item and carry out
258. g Operati Operati Goal Circular Operatio Dwell yale Items of Step Coordina Control P P us interpolation aux Acc De P interpolati p i te method on on position point M code he n speed time o Position data pattern method pulse pulse pls s n direction X setting 1 Absolute Position End Single 100000 0 0 1 5000 100 CW 2 Program FOOD GET 00001 04370 MOOD 00004 E GET 00001 04374 DOO00 00007 in ju D an z e PUTP 0000I 04317 00001 DODO PUTP QO001 04300 00036 oo00 AA Si D P0011 P001 e LJ H Pure 0000 04300 0000 0000 EE ne D P0011 P0012 LJ T PUTP 00001 04301 00001 0000 PUTP 00001 04300 00004 oo00 TI T D OOOD in z Rig DMOYP 0000050000 D0100 mE DMOvP 0000010000 D0102 H PUTP 00001 04302 D0100 00002 PUTP Q0001 04304 D0102 00002 PUTP 00001 04300 00016 00001 Chapter 11 MK Program 11 2 19 Operation Step No Change by Continuous Operation 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis start switch POOOF X axis operation step no change by continuous operation switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal MOOOD X axis signal in constant spe
259. g input P0010 X axis command receiving P0011 X axis signal in operation BUSY P0012 X axis error status M0000 X axis homing aux Contact ON during 1 Scan The homing operation by 1 and 2 program is the same 9 2 2 Floating Point Setting Command code 2 1 Program P000 P0010 P001 P0012 aa L l Ee PUTP 00001 04300 00002 00001 2 Description Device Description P0001 X axis homing input P0010 X axis command receiving P0011 X axis signal in operation BUSY P0012 X axis error status Chapter 9 MK Command 9 2 3 Direct Start Command code 3 1 Program P0002 P0010 P0O1 1 P0012 Hp Pur 0000 04302 01000 00001 PUTP 00001 04304 00200 00001 PUTP A 00001 04308 hool2 00001 PUTP 00001 04300 00003 00001 2 Description Device Description P0002 X axis direct start input P0010 X axis command receiving P0011 X axis signal in operation BUSY P0012 X axis error status Address of internal memory Contents of internal memory Setting value 4302 Position address low 1000 4304 Operation speed low 200 4308 Control word of command information h0012 4300 Command code 3 f the control word of command information is h0012 it shall be set as position control repeat end absolute acceleration deceleration time 1 For further information please refer to Chapter 8 Internal memory and I O signal 9 2 4 Indirect Start Command
260. g speed position control switching command 321 Not available to carry out deceleration stop command not ETRA in the operation status In the operation status Not available to carry out deceleration stop command in ERARE 322 f Move Jog operation status Jog operation status available to carry out deceleration stop command in EE EE axis of manual pulse generator operation when giving deceleration stop command operation status Not available to carry out Skip command in the axis o Check if the axis is in operation to the linear interpolation 332 i Move a near interpolation operation subordinate axis when giving Skip command ot available to carry out Skip command in the Check if the axis is in operation to the synchronous 333 Move EN subordinate axis of synchronous operation operation subordinate axis when giving Skip command ot available to carry out Skip command in the axis o Check if the axis is in manual pulse generator operation anual pulse generator operation status when giving Skip command Skip ot available to carry out Skip command in the Jog Check if the axis is in jog operation status when giving Skip operation status command ot available to carry out Skip command in the direct s Check if the axis is in direct start operation status when operation status giving Skip command Not available to carry out Skip command in the inching Check if the axis is in inching operation status
261. gnal With mode and After mode CHAPTER 5 Positioning Parameter amp Operation Data 1 With mode This is the mode that outputs M code number which is set by position data with start command of positioning action indirect start direct start Circular interpolation Simultaneous start linear interpolation to the output variable MCD of current operation state code read function block and at the same time outputs M code ON signal Go on operation Indirect start M code no In operation M code ON signal M code OFF command 2 After mode This is the mode that outputs M code number to be set by position data after completing the positioning by start command indirect start direct start circular interpolation simultaneous start linear interpolation to the output variable MCD of current operation state code read function block and at the same time outputs M code ON signal Indirect start M code no In operation M code ON signal M code OFF command CHAPTER 5 Positioning Parameter amp Operation Data 5 2 7 External Command gt In case of selecting one from external command start jog operation skip the setting of external command permitted prohibited should be set as permitted p gt In case that it is set as prohibited the start of the external command selection jog operation high speed normal rotation SKIP operation and jog operation by external auxiliary command high speed reverse
262. gnal before origin after the approximate origin signal has changed from Off to On the action will be the same as the method of Article 3 6 2 3 If On time of origin signal is short the positioning module cannot recognize it 3 40 Chapter 3 Function 3 6 4 Origin Detection by Origin and High Low Limit This is used in case that it is close between external input high low signal and the approximate origin signal Normal rotation Direction conversion when encounters external input Homing high speed high low signal Origin determination Homing low speed Reverse rotation I l External input high limit l I i Origin signal I I Homing command Homing processing Origin determined state i I 1 In case that origin signal is ON before entering the external input high low limit signal it carries out the homing low speed operation when the external input high low limit signal is entered and when origin signal is ON the origin will be determined Speed Direction conversion when encounters external input high low signal Time External input high limit Origin signal 4 k 4 4 3 41 Chapter 3 Function 3 6 5 Origin Detection by Approximate Origin This is used when determines the origin only by using the approximate origin Direction conversion at the rising edge of approximate origin signal Homing high speed X Direction conversion at the rising edge
263. gt POOOF circular interpolation start switch ON This is the case that circular interpolation operation by center point method is set in commpon parameter 3 Operation Data Settin j s Circular Circular Items of Step Coordina Control pera 9perati got interpolation aux Acc De Operaio Dwe interpolati h n te method on on position oint M code ono speed time n Position data pattern method um furi mmm IL direction X setting 1 Relative Position End Single 0 0 10000 0 0 1 100 00 100 CW Y setting 1 Relative Position End Single 0 0 10000 0 0 1 100 00 100 CW 4 Circular Interpolation Command Condition Address of internal Contents of internal Setting value memory memory 4301 Step no 1 4309 Axis information 3 X Y 4300 Command information 6 5 Operation Pattern Normal Y axis Center point Start position 0 0 Goal positi on 0 0 Normal X axis Reverse Reverse Chapter 11 MK Program 2 Program F0010 2 GET 00001 04370 MOO0 00004 GET O00 04374 DODOO 00007 F 01D mooo GET 00001 08770 W010 00004 GET 00001_ sos774_ spooio 00007 PODOD P0010 P0012 FT Il eco PUTP 00001 04317 0000 00001 PUTP 0000 04300 00038 00001 P0015 P0017 L l RE PUTP 0000 08717 00001 0000 PUTP 00001 08700 00036 00001 gl ig PUTP 0000
264. hall be inactive and not available to carry out the function The contents of external I O signal and error history is indicated only during monitoring and when monitoring stops the related data is not indicated In case of 1 axis 2axis APM module Y axis or Z axis shall be treated in Gray in monitoring screen and data is not indicated Monitoring axis change While executing monitoring the user can not change the axis for monitoring In order to change the axis for monitoring it is required to stop monitoring and reset DS pe ee bi eee De hiir M min ei Hor T ED died Of MENOS GD Pie DES eem Cra rim I OUTST vag GE eem BLEF heie Fig 22 3 axis APM module monitoring screen 4 18 Chapter 4 Software Package Monitoring period change tis available to change the monitoring period by using environment setting function and set within the range 40 80 ms File gt Option gt Comm option p gt Notices Communication error f the communication does not work for the constant time about 5 6 seconds because of communication problem or PLC power OFF during monitoring the error message will be displayed and APM software package return to the initial status That is as it returns to the previous step before setting online offline model the user should set APM online model after checking communication cable status or PLC power status In this case operation parameter and operation data set
265. hase is ON it is judged to be reverse direction There is also another type of incremental encoder that has Zero signal The incremental encoder used most generally outputs 100 10 000 pulse per one time axis rotation Relative coordinate Incremental system Relative coordinate regards the current value always as 0 The position is described by goal direction sign of position address and the moving distance It is called as relative address system This is used for the fixed feed control Inertia This is the attribute of an object having no effect from outside in the place that maintains the current condition Inertia moment Interlock Under this condition the machine cannot move to next action until the current running action is completed This function is used for the protection of the damage and malfunction of device Interpolation operation This is the synchronous action of several motor to carry out the complex function Each motor can be set freely by positioning distance acceleration deceleration time speed and other factors These can be combined to move the goal by line or circle Linear interpolation and Circular interpolation are available Circular interpolation uses two motors Inverter This is the device to change DC with AC This device changes the motor speed by converting the actual commercial frequency 50Hz or 60Hz to DC And then it changes it with 5 120Hz AC again and controls the mot
266. he function that does not carry out the positioning when operating out of the setting range of stroke upper lower limit by software package parameter p gt The range check of stroke upper limit and stroke lower limit shall be done when it starts to operate and during operation respectively Moving range of the machine Software Low Software High gt In case of operating out of the setting range this function does not carry out the positioning for that command gt Software upper lower limit detection is not carried out in the origin unsettled status gt In case of occurring output prohbit by upper lower limit error convert it to the origin unsettled status and move to the stroke area by manual operation Jog operation and then carry out the homing again p gt If setting S W upper lower limit as 0 it enables to carry out the positioning operation ultimately without detecting the internal input stroke upper lower limit Thus please refer to this when Fixed feed control But in case of normal rotation operation if it reaches the current position max 2147483647 the current position is changed with 2147483648 and continues the normal rotation while in case of reverse rotation operation if it reaches the current position min 2147483048 the current position is changed with 2147483647 and continues the reverse rotation Example Positioning Software Package Setting in case of Fixed Feed control Opera
267. he methods to fix the origin are 3 types the method by origin return homing the method by floating point the method by current position preset 2 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch POOOF X axis start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0020 X axis start signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 3 Operatin Order P0001 Homing switch ON OFF gt POO0F Start switch ON OFF 4 times 4 Operation Data Setting It t Operati Operati Goal Circular Operatio Dwell Circular j ome o 2m T de on ofi position diei aux M code iin n speed time di Position data pattern method pulse buise pls s Ido direcion UT 1 Relative Position End Single 1000 0 0 1 1000 20 CW 2 Relative Position End Single 2000 0 0 1 2000 20 CW 3 Relative Position Go on Single 3000 0 0 1 3000 20 CW 4 Relative Position Go on Single 4000 0 0 1 4000 20 Cw X setting 5 Relative Position Go on Single 5000 0 0 1 5000 20 CW 6 Relative Position End Single 10000 0 0 1 6000 20 CW
268. hod poson oint M gode no speed 0 n direction Position data p pulse a pisis pulse 1 Absolute Position End Single 10000 0 0 1 1000 100 CW X setting 2 Absolute Position End Single 20000 0 0 1 1500 100 CW 3 Absolute Position End Single 30000 0 0 1 2000 100 CW 4 Operation Pattern Speed PA oc PESENE P ON TEIN E AN TOIS E ET E E E E EEA E A DA E A EA EA E 1 5 o o o dpt A E E CAN sh Ons IMs enn lkpps 10000 Time Step 0 15 ll time i Step 10 35 ll time i Program iuri ZEE GET 00001 04370 NOOO oooo4 H GET 00001 04374 D0000 00007 TE FI ap IL 1 JN PUTP Q0001 0431 7 00001 0000 H PUTP 00001 04300 00036 00001 a TE P0012 L H purr 0000 04300 00002 00000 L m E POI 1 P0012 I JZ H JZ F D P0020 Po oj F T Chapter 11 MK Program 11 2 2 Basic Linear interpolation start_Floating point setting 1 Description 1 Used device Device Description P0000 X Y axis error reset output prohibit release switch P0001 X Y axis floating point switch POOOF X Y axis linear interpolation start switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0015 Y axis command receive signal P0016 Y axis signal in operation P0017 Y axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O sig
269. ibit 1 output permit eThe output status can be confirmed through Out1 Out3 7 10 2 M Code Off M Code Off APM MOF Function block type Description INST10 In case that M code is set as With or After mode from parameter of each axis this is used to make M code signal OFF when it is ON 7 23 Chapter 7 Function Block 7 10 3 Preset Preset APM_PRS This is the command to change the current position with random position and if it is executed the origin will be determined again Function block Variable Description e Preset Setting range 2147483648 2147483647 7 10 4 Floating Origin Floating Point Set APM FLT Function block Description This is the command to force to set the current position as the origin without carrying out the origin return action of machine and the setting address of origin return addres shall be the current position 7 10 5 Encoder Preset Encoder Preset APM EPRE Function block Variable Description type e Encoder preset setting range 0 4 294 967 295 7 24 Chapter 7 Function Block 7 10 6 Encoder Read Encoder Read APM_ENCRD Function block type Variable Description IMST4 APM ECAI FREQ DO BASE STAT e Encoder Read 0 4 294 967 295 7 10 7 Operation Data Read Move Data Read APM_MDRD S block Variable Data Description ype Type Q rati on step n
270. ig 3 Working screen Chapter 4 Software Package 4 4 Offline and Online Model Setting 4 4 1 Offline model setting p gt Method 1 Select set offline model from model setting items or click the corresponding icon from basic tool gathering 2 After setting APM module type and APM module axis number press Verify Button Items Tool Short cut key gathering Set offline model g SHIFT B Table 5 set offline model related tool gathering gt Function Description Automatic setting of Data range according to APM Module type The purpose of offline model setting is for the user to write operation parameter or operation data without connecting to PLC As Open collector type and Line driver type has different range of speed limit cares should be taken in setting the model OFFLINE Mi xi PLC Type PLE nds PLC BPM Module Tepe fv Open Calc of Ling Drvar APM Miedule feds C l se fF fe C Deds Lok C Came Fig 4 Offline model setting dialogue box Maintains the existing data after setting offline model When you set new offline model in the state that the working screen is open the existing operation parameter or operation data shall be maintained as it were But in case that APM module axis number is changed it may not be available to see the existing operation parameter or operation data 4 4 2 Online model setting p gt Method 1 Select set Online model
271. ike ball bearing which enables reduce the backlash and rotate by a little power Bias Speed When the machine starts to move it needs the large torque but the torque may be unstable when the speed is 0 in the stepping motor Thus it enables to smooth the movement by starting with the given speed Bias speed is the speed fixed at the starting point It is set usually more than 50 7Opps with the reference to the speed torque features of stepping motor and driver Bipolar drive constant current system This is the system for the stepping motor operation In this case the residual magnet current direction flowing on the fixed magnet coil is contrary and the residual magnet current direction has bipolar direction This enables motor coil to be used effectively and obtain the large output torque at the low speed Internal Memory This is the memory used to save the data temporarily when sending receiving between PLC CPU and positioning module To use the data for the action by the program it is saved first in positioning module internal memory temporarily As it is available to read and write the latest data positioning module uses the internal memory Busy This is the signal that indicates in positioning operation and it shall be ON during positioning action or Dwell Time Counterclockwise This means the rotation to the contrary clockwise CCW In case of motor this is fixed by the end of the axis lo
272. il the feed pulse becomes 0 Line drive output Differential output type One type of encoder feedback pulse output which enables the RF transmission and has the noise resistance Thus this is also used for high speed signal transmission such as l O of pulse string Generally the transmission part is Driver and the receiving part is Receiver and the dedicated IC is used Pulse I O of positioning module and high speed counter module enables Line driver I O Near point DOG signal This is the signal used when homing by the origin input during near point DOG signal ON section and by the origin input during OFF section and by ON OFF signal of near point Drive unit The pulse command output from positioning module is the low voltage low current command that has insufficient energy for motor drive This drive unit amplifies such pulse command output to drive the motor Appendix 1 3 Appendix 1 Positioning Terminology This is the accessory for Servo motor and stepping motor and there are two types Servo drive unit for Servo motor and stepping drive unit for stepping motor Drive Ready signal Drive unit ready This is the output when the Servo drive unit for Servo motor is in normal status Servo ON This signal maintains OFF when the power of Servo drive is OFF or in case of Servo OFF Servo Alarm Servo emergency stop Droop pulse If the speed command from positioning module is executed in normal status
273. ill not be determined by origin signal That is when approximate origin signal changes from Off to On acceleration section gt homing high speed from On to Off deceleration section gt homing low speed and then when the origin changes from Off to On the origin will be determined The origin is not determined while the i approximate origin ON Speed i hi Time Approximate origin signal Origin signal While the homing speed acts to the deceleration section by homing high speed after the approximate origin signal is changed from Off to On from On to Off the origin will not be determined even if encounters the origin input L I RES The origin is not determined in the deceleration section Speed 99 Time I I Approximate origin signal hi i i I Origin signal 4 4 3 If the approximate origin signal is changed from Off to On from On to Off and encounters external high low limit while waiting the origin input the action is as follow Normal rotation Reverse rotation Homing command Approximate origin signal External input low limit External input high limit Origin signal As the positioning module converts the direction promptly withou passing the deceleration section when encounters external input igh low limit during homing operation cares should be taken in using the stepping motor as it may cause If On tim
274. in Homing direction bit 3 0 normal direction 1 reverse direction Origin compensation amount Low Origin compensation amount High 2 Homing Parameter Setting 1 If homing acceleration deceleration time is set as 0 it carries out the homing acceleration deceleration operation by the acceleration deceleration time No 1 set in Basic Parameter 2 Control words of Homing parameter X address 37 b15 b14 b13 b12 bll blO b9 b8 b7 b6 b5 b4 b3 b2 bl b0 Y address 4437 Z address 8837 Homing mode 000 DOG Origin O FF 001 DOG Origin ON Nouse 0 010 High low Timit Origin 011 approximate origin 100 high speed origin 101 no use 0 110 no use 0 111 5 naaln Homing direction 0 Normal l Reverse 8 3 Chapter 8 MK Internal Memory and I O Signal 8 1 5 Common Parameter 1 Contents of Common Parameter CS Common Parameter Setting range 50 Pulse output level 0 Low Actve 1 High Active 0 CW CCW 1 1 CW CCW 2 2 PULSE DIR 1 51 Encoder pulse input mode bit 0 1 2 3 PULSE DIR 2 4 PHASE A B 1 5 PHASE A B 2 6 PHASE A B 4 Encoder clear mode by Z phase input bit 7 1 0 Prohibit 1 Permit 52 Encoder Auto Reload lower 0 4294967295 53 Encoder Auto Reload upper 54 Zone1 setting axis assignment 0 X 1 Y 2 Z 3 ENCODER 55 Zone1 output ON position lower 0 2147483648 2147483647 X10 0
275. in 10m External EMG Servo ON Reset Proportional control Torque limit 3 Normal limit EP Reverse limit failure zero speed detection in torque limit Analog torque limit 10V max current Withinam 2 Pate MR J2S A HC MF HA FF Series motor Sex se 24V DC OPP of Servo ON signal Cutoff by alarm signal Within 2m electronic brake detector Personal computer 10k Max 10mA 10k Chapter 12 Operation Order and Installation 3 MR J2 J28 A Connection Open Collector 1 G4F PP1 2 30 HC MF HA FF Series motor MR J2S A Power i 3phase 200VAC 4X 24VDC P MG OPP of Servo ON signal Within 10m Cutoff by alarm signal detector G4F PP1 2 30 External EMG MPG External Simultaneous tart o failure zero speed detection in torque limit Analog torque limit 10V max current Within 2m electronic brake Personal computer Lo 4 Servo ON x Reset oo o Monitor output Proportional control A oe 9 aa A 4 m 1 9rave li
276. in dwell status when giving the position p Cc Ed well status override command Not available to carry out position override command no Check if the axis is in position control operation status when in the positioning operation status giving the position override command available to carry out position override command in o we Check if the axis is in linear interpolation operation status axis of linear interpolation operation when giving the position override command available to carry out position override command in o we Check if the axis is in circular interpolation operation status axis of circular interpolation operation when giving the position override command Check if the axis is in operation status to the subordinate Move axis of synchronous start operation when giving the position override command Check if the axis is in manual pulse generator operation when giving the position override command 363 Move available to carry out position override command in subordinate axis of synchronous start opeation available to carry out position override command in axis of manual pulse generator operation z o lt oO Check if the axis is in stop status when giving the speed override command The speed of speed override command should be smaller than or equal to max Speed set by basic parameter Check the speed value Check if the axis is in operation to the linear interpolation s
277. ing AXIS eSetting range 0 2 0 X Y 2Z elf out of setting range Error 6 occurs Subordinate axis setting eSetting range 0 2 0 X Y 2Z elf out of setting range Error 6 occurs Operation step no setting eSetting range 1 400 elf out of setting range Error 11 occurs Chapter 7 Function Block 7 5 6 Simultaneous Start Simultaneous Start APM_SST This is the command to start 2 axis or 3 axis operation simultaneously Function block type Variable Description Simultaneous start axis setting eSetting range 1 7 except 1 2 4 INST33 eif out of setting range Error 6 occurs E YER XT Setting value Operation axis Off On On 3 XIY On Off On 5 XIZ On On Off 6 YIZ On On On 7 XYIZ X axis simultaneous start operation step no setting eSetting range 1 400 elf out of setting range Error 11 occurs Y axis simultaneous start operation step no setting eSetting range 1 400 elf out of setting range Error 11 occurs Z axis simultaneous start operation step no setting eSetting range 1 400 elf out of setting range Error 11 occurs 7 5 7 PTP Start Point Start APM PST In case of PTP Point to Point operation this command carries out the operation continuously without stop by setting max 20 operation steps Function block Variable Description Operation step no setting when PTP o
278. ing 3 67 26 Common parameter setting 3 68 27 Operation data setting 3 69 28 Encoder reset 3 70 29 Error output and output prohibit 3 71 30 ZONE output 3 72 10 2 Chapter 10 GM Program 10 3 Application Program 10 3 1 End operation Go on operation Continuous operation positioning 1 Soft t package setting Items of Step Control Operation Operation pn creuar M Acc Operation Dwell Circillar No Coordinate m ihod ditam mith d position interpolation aux code Dec No speed time interpolation Position data 7 pulse _ Point pulse gt piss direction 1 Relative Position End Single 1000 0 0 1 1000 20 Cw 2 Relative Position End Single 2000 0 0 1 2000 20 CW i 3 Relative Position Go on Single 3000 0 0 1 3000 20 CW 4 Relative Position Go on Single 4000 0 0 1 4000 20 Cw X setting 5 Relative Position Go on Single 5000 0 0 1 5000 20 Cw i 6 Relative Position End Single 10000 0 0 1 6000 20 CW 7 Relative Position Conti Single 20000 0 0 1 7000 20 cw 8 Relative Position Conti Single 30000 0 0 1 8000 20 CW 9 Relative Position End Repeat 0 0 0 1 9000 20 CW 2 Operation pattern Speed Normal J Continuous operation 8kpps Continuous operation Tkpps End operation 6kpps Go on operation Skpps Go on operation 4kpps Go on operation 3kpps End operation 2kpps 4 i lkpps 4 Pos
279. ing to APM module axis number For example in case of 2 axis APM module the axis information required to set on the linear interpolation shows only X Y axis information except Z axis Editing function The command screen is not available to carry out Editing function such as Copy Paste function for each item Short cut command item and Tool gathering The command items not necessary to enter the data such as Floating point setting Stop Emergency stop can be carried out simply by using Command tool bar and Short cut key and if you press the right side of mouse the menu will be displayed in order to carry out the function same as the function shown on the command tool bar and carry out the command easily X Ads STOP Des Yd STOP E fdu STO Ene STOP Hore Fitur Pao RT IiE Speed io Pralin 5sd ss Fistin iy Saeed T ap Poste iii Erca pua AP ma M Cod OFF ir Zone Eval ji Zone Msabi JO WPA Eraba MPG Dinadan Fig 18 Command execution using the Right side mouse and command tool gathering Chapter 4 Software Package Command item according to APM Module The Command item has the item available for all APM module and the item available for more than 2 axis APM module Synchronous start circular interpolation position synchronous start speed synchronous start operation etc Thus in case of 1 axis APM module the user can not carry out the command item which is
280. input mode 000 CWICCW 0 D 001 CWICCW 2 0 L1 111 no use 0 Encoder clear by Z phase input 0 prohibit 1 permit Chapter 8 MK Internal Memory and I O Signal 8 1 6 Operation Data 1 Contents of Operation Data Address Y 4500 Goal position lower Operation Data Setting range 2147483648 2147483647 X10 J Inch 2147483648 2147483647 X10 I nch 4502 Circular interpolation aux Position degree 2147483648 2147483647 X10 degree lower _ pulse 2147483648 2147483647 pu se Circular interpolation aux Position upper 4501 Goal position upper 4503 4504 Operation speed lower m di i e oa i en nj 2 ree 1 2 000 000 000 X10 degree nj 4505 Operation speed upper od se 1 1 000 00Q pul se s deg 4506 Dwell time 0 50 000 ms 4507 M code no 0 65 535 Control method bit 0 0 Position control 1 speed control Operation method bit 1 O single 1 repeat Operation pattern bit 3 2 0 End 1 Go on 2 Continuous Coordinate bit 4 0 Absolute 1 Relative Acceleration deceleration no 0 3 bit 6 5 Circular interpolation direction J 0 CW 1 CCW 3691 8091 12491 Goal position lower 3692 8092 12492 Goal position upper 0 2147483648 2147483647 X10 Inch 2147483648 2147483647 XI0 I nch 3693 8093 12493 abe TEPA aux P
281. interpolation control and 2 3 axis simultaneous setting is available 2 In case of positioning at each axis the straight line control 3 axis simultaneous setting available is available This control enables the single position control by one operation data and the continuous position control by plural operation data 3 In case of positioning more than 2 axis speed control interpolation control and circular arcs interpolation control of 2 axis are available 4 According to the control method designated by each operation data and parameter there are position control speed control speed position switching control position speed switching control 5 Abundant origin return control function A The method of origin return is shown as below and available to select one from 5 methods gt The origin detection after approximate origin OFF gt The origin detection after deceleration in case of approximate origin ON gt The origin detection by the origin and high low limit gt The origin detection by approximate origin 1 1 Chapter 1 Overview gt High speed origin detection B Available to execute the positioning control floating origin setting from random position to the origin of machine 6 The Acceleration Deceleration method contains trapezoid and S type to select 3 High speeding of setting process Due to the realization of high speeding of positioning operation setting process the setting process time reduced by 4ms
282. ion 1 Absolute Position Go on Single 10000 0 0 1 1000 0 Cw 1 2 Absolute Position Go on Single 20000 0 0 1 500 0 Cw 3 Absolute Position End Single 30000 0 0 1 800 0 CW 2 4 Absolute Position End Single 40000 0 0 1 500 0 CW Program Program is same as Program 3 6 3 26 Chapter 3 Function 3 2 4 Continuous Operation 1 With one time Start command the positioning for operation step set by continuous operation mode is executed to the goal position without stop and the positioning shall be completed at the same time as dwell time proceeds 2 lf you want to operate with the position and speed of next step before the operation step that is active currently reaches the goal position the operation by Next Move continuous operation command is available 3 With Next Move continuous operation command the operation in the acceleration constant speed deceleration section of Continuous operation is available 4 Operation direction shall be determined by position address Example gt Operation Pattern Operation mode AEnd repeat Operation step no Operation mode Continuous Operation step no 1 Start command i On In Operation i i i i No of program Step Control Operation Operation Goal Circular M Acc Operation Dwal Circle Coordinate position interpolation aux speed time interpolation Start command no method pattern method code decno MU f pulse Point pulse pls s
283. ion P0000 In case of emeregency stop error reset output prohibit release switch P0001 X axis homing switch POOOF Emergency stop switch when homing P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Homing switch ON OFF gt POOOF Emergency stop switch ON OFF In case of 2 axis G4 6F PP20 G4 6F PP2D or 3 axis module G4 6F PP30 G4 6F PP3D when emergency stop 2 axis or 3 axis stops emergently at the same time and when error reset output prohibit will be released at the same time In case of 3 axis emergency stop please use Emergency stop signal of SERVO drive 2 Program F0010 ab RR GET 00001 04370 MODO 00004 sET 000001 04374 DO000 00007 P0000 PODIO P0012 tpm PUTP 0000 04317 0000 00001 PUTP 0000 04300 00036 00001 P0001 POO0IO POO PODOI2 L Js H H Pure 00001 04300 0000 00001 000F Pood Pool Poole H H H Purr 0000 04300 00035 00001 Malg d Chapter 11 MK Program 11 2 12 Jog Operation 1 Description 1 Used device Device De
284. ion Block 7 9 1 Emergency Stop Emergency APM EMG Function block Description This is used to stop the operation in case of emergent status All axis where this command is executed becomes stop status As this is in converted to the status of output prohibited and origin unsettled it is required to release the output prohibited and determine the origin again before reset 7 9 2 Error Reset Output Prohibit Release Error Reset Inhibit Release APM RST This is used to release the status that the pulse output is prohibited by external emergency stop high low limit detection or reset the error when the setting range of parameter is excessive or the error occurs during operation Pan Tonge Variable Description type INSTIS Error reset or output prohibit release eSetting range 0 1 0 error reset 1 error reset output permit 7 22 Chapter 7 Function Block 7 10 Other Function Block 7 10 1 Zone Output Permit Zone Output Enable APM_ZONE This is the command to permit the output to the embeded Tr output by using the position data of the axis in operation and the position data value set by Zone1 Zone2 Zone3 for the zone set by common parameter of S W Package but this fuction is not possible in the GM6 APM module Function block type Variable Description INST37 The embeded Tr output permitt prohibit setting eSetting range 0 1 0 output proh
285. ion End Single 30000 0 0 1 2000 0 cw 4 Absolute Position End Repet 40000 0 0 1 3000 0 cw Axis operation Axis error information information MT NT Axis operation Axis error information information ur EE _ _ f Tut Axis error information EF Program 3 7 End Operation Repeat operation step no change 3 25 Chapter 3 Function 3 2 3 Go on Operation 1 With one time Start command the positioning to the goal position of operation step is executed and the positioning shall be completed at the same time as dwell time proceeds and without additional start command the positioning of operation step for current operation step no 1 shall be done 2 Go on operation mode is available to execute several operation step in order 3 Operation direction shall be determined by position address Example gt Operation Pattern in Operation Start operation step no 1 Operation mode Go on Operation step no 1 Dwell time Operation mode Go on Operation step no 2 Dwell time Operation mode End Operation step no 3 ircul i Dwell ircl No of program Step Control Operatior Dperatior Goa k Circu a M Acc Gparation Me bis E Coordinate position interpolation aux speed time interpolation start command no method pattern method f code dec no Cae Pane Riana dies pulse Point pulse pls s D direct
286. ion of Software Package working state 6 1 6 Error Message Fix Description rr Jmc o l JJ mU n xK gt P The contents of Overall Indication indicates Error code no that occurs during operation Error information Occurrence time and Actions in order The contents of Indication per Axis indicates Error code Error information and Actions per X Y Z axis in order If checking Error History File create from Environment setting Other option the error history will be saved in a file ErrorHistory txt file vv Chapter 6 Software Package Startup 6 2 Startup Mode gt This is the area to carry out the startup of the positioning module by Software Package 6 2 1 Selection of Command Axis p gt This selects the desired axis for the command of positioning module gt The selection of axis is Xaxis Y axis Z axis and available to select according to the module gt If not selected the axis the command will not be executed 6 2 2 Execution gt If pressing the execute button of all command the command for the selected axis from Article 6 2 1 will be executed 6 2 3 Startup by Software Package Related Software Package Command Setting Range function block Indirect start Step 1 400 APM IST Error reset APM RST Position 2 147 483 648 2 147 483 647pls Speed 1 1 000 000pps G4F PP1 2 3D Direct start 1 200 000pps G4F PP1 2 3O APM DST Dwell 0 50 000m
287. irection 10 lt f lt 57Hz 0 035mm 57 lt f 150Hz 49nm s0 5G e Max impact acceleration 147 m s 1 5G 6 Impact proof e Application time 11ms IEC61131 2 pulse wave type semi sine wave pulse 3 times each direction X Y Z Square wave Leo U LI impulse noise t 1 500 V UU Electrostatic IEC61131 2 discharge Voltage 4kV Touch discharge IEC1000 4 2 Radiant IEC1131 2 electromagnetic S field noise 27 500 MHz 10 V m IEC1000 4 3 7 Noise resistant Digital O Power sa Classi Digital O less than 24V Fast transient fication TOdU more than 24v Analog I O Enna Bust noise Communication Teo interface Voltage 2kV 1kV 0 25kV 8 Surrounding No corrosive gas no dust environment 9 Use altitude Less than 2 000m 10 Pollution Less than 2 Cooling method Natural air conditioning Table 2 1 General Specification 1 IEC International Electrotechnical Commission International civil community that promotes international cooperation for standardization of electric electro technology publishes assessment system related to the above Pollution Degree An index to indicate the pollution degree of used environment that determines the insulation performance of the device For example pollution degree 2 means the state to occur the pollution of non electric conductivity generally but the state to occur temporary electric conduction according to the formation of dew international stand
288. is is in the origin unsettled status when command in the origin unsettled status of main axis giving position synchronous start command Check if the main axis of position synchronous start command is set as same as the command axis The main axis is set by the setting address 0 X 1 Y 2 Z 345 346 Error in setting the main axis and subordinate axis of d position synchronous start command 7 31 Chapter 7 Function Block zrro E Output type A Error description Module action solutions zode E pen Line m Check if the main axis is set as no indication from position Not available to carry out position synchronous start Cr ubt ENS indication during equal speed operation of extended command in the speed control of the main axis with no Stop Lu i RERUMS parameter when giving position synchronous start position indication command and carried out speed control operation Not available to carry out speed synchronous start Check if the axis is in the operation status busy when 351 f Move Pr command in operation status giving speed synchronous start command Check if the axis is in the output prohibit status when giving Not available to carry out speed synchronous s Stop speed synchronous start command Output prohibit shall be command in output prohibit status released by RST command as output prohibit release option Check if M code of he axis is ON when giving speed Not available to
289. ited EN eSetting range 0 1 0 prohibited 1 permitted ESTP External stop permitted prohibited EN eSetting range 0 1 0 prohibited 1 permitted ESST External synchronous start permitted prohibited EN eSetting range 0 1 0 prohibited 1 permitted 7 6 Chapter 7 Function Block 7 3 3 Common Parameter Setting Set Common Parameter APM_SCP This is used to change common parameter during operation without using S W Package Function block type Variable Description OUT_ Pulse output level LEVL eSetting range 0 1 0 Low Active 1 High Active Encoder pulse input mode eSetting range 0 6 Setting value INST21 Description CW CCW 1 1 CW CCW 1 2 Pulse Dir 1 Pulse Dir 1 Phase A B 2 1 Phase A B 2 2 6 Phase A B 2 4 elf out of setting range Error 11 occurs Counter Clear mode by Z phase input eSetting range 0 1 0 Not Clear 1 Clear Encoder Auto Reload eSetting range 2 147 483 648 2 147 483 647 Zone1 setting axis eSetting range 0 3 0 X 1 Y 2 Z 3 Encoder elf out of setting range Error 11 occurs Zone1 output ON position eSetting range 2 147 483 648 2 147 483 647 Zone1 output OFF position eSetting range 2 147 483 648 2 147 483 647 Zone2 setting axis eSetting range 0 3 0 X 1 Y 2 Z 3
290. ition 1000 3000 6000 10000 15000 25000 45000 77900 Step no 9 Step no 1 Step no 2 Step no 3 Step no 4 Step no 5 Step no 6 Step no 7 no 8 1 1 1 1 1 1 1 l i l 9kpps 4 1 Reverse i End operation Repeat i I 0 0 eS n Start command The following start command acts ere ee 00 0 0 0 0o 0 o coL step no 1 10 3 Chapter 10 GM Program 3 Program example MG TAA KT ij ie E s X axis signal X axis error signal in operation L1 ixl n A SIHLII lB pl ELA DL X axis signal X axis error signal in operation 10 4 Chapter 10 GM Program 10 3 2 Positioning by M code 1 Software Package Setting 1 In Operation ST1 0 of APM SRD In Dwel ST2 7 of APM SRD ircul i Dwell ircul Items of Step Control Operation Operation Soa eoar M peek Operation e cule F No Coordinate method attain method position interpolation aux eode Dae No speed time interpolation Position data 77 P pulse Point pulse gt Ipsis D direction 1 Absolute Position End Single 10000 0 1 1 1000 100 CW 2 Absolute Position Conti Single 20000 0 5 1 1000 100 CW 3 Absolute Position Conti Single 30000 0 10 1 2000 100 Cw Xsetting i 4 Absolute Position End Single 40000 0 20 1 3000 100 Cw 5 Absolute Pos
291. ition Go on Single 50000 0 30 1 4000 100 CW 6 Absolute Position End Repeat 0 0 40 1 5000 100 CW Extended parameter M code output 2 AFTER 2 Operation pattern Speed Normal 4kpps Go on operation 3kpps End operation 2kpps Continuous operation lkpps End operation Continuous operation i Time 1 i 10900 i 20000 30000 40900 50000 i 1 Step nd 1 Step ho 2 Steb no 3 Step nod Step not 5 LOkpps KE RH DS FI Reverse i epe d i MS MEME End operation Repeat c n The Plowing start command acts APM_IST ita l L tt tot step no 0 M code signa ST1 3 of APM_SRD M code signa MCD of APM_CRD M code OFF comman APM_MOF M code mode With M code signa ST1 3 of APM SRD M code signa MCD of APM CRD M code OFF comman APM MOF p gt In case of Continuous operation mode M code signal is changed with the corresponding M code signal without Stop whenever operation step no is changed and the operation continues gt In case of Go on operation mode if M code signal is ON it is required to change the ON signal with OFF signal by M code OFF command in order to operate next operation step no 10 5 Chapter 10 GM Program Program example X axis signal in operation X axis error signal nrc xcupm samj FII SEIS AT x cm x3snp p xmi a Pr X axis signal X axis error signal in operation X axis M code On signal p 4B
292. itted and execute the internal synchronous start command first Then it shall be the state in operation and if the external synchronous start input signal is ON it starts synchronously for the positioning operation 3 28 Chapter 3 Function 3 3 3 Synchronous Start 1 Synchronous start by Position SSP 2 1 Synchronous Start by Position command is carried out only in case that the main axis is in the origin determination state 2 Synchronous Start command starts by the synchronization of the subordinate axis according to the current position of the main axis 3 SSP carries out the SSP command at the subordinate axis Thus if setting the command axis and the main axis equally Error 347 will occur 4 If SSP command is executed it becomes the state in operation and the actual operation is carried out at the subordinate axis where the current position of the main axis is the setting position of the position synchronous start 5 The setting step no of position synchronous start should be set as the start step no of the main axis 6 In case of cancellation after executing the SSP command at the subordinate axis if you execute the stop command the SSP command shall be released Synchronous start by Speed SSS 1 Synchronous Start by Speed SSS command starts to operate by the speed synchronization of the subordinate axis when the main axis starts according to the Synchronous Start by speed rate 2 Even if the subo
293. l position and speed from operation data of step no in operation of each axis simultaneously Function block Variable Data type type INSTIB Description PSO_ DINT New goal position setting ADDR eSetting range 2147483648 2147483647 New operation speed setting PSO UDINT eSetting range Open Collector output 0 200 000 unit pls s Line Driver output 0 1 000 000 unit pls s elf out of setting range Erro 11 occurs SPD 7 7 6 Position Velocity Switching Control Position To Velocity APM PTV Function block type INSTI7 Description While the axis set as positioning action carries out the position control by the setting transfer amount it carries out the switching operation from position control to speed control by the position velocity switching signal If this command is executed the origin becomes the unsettled state at the very executed time and carries out the speed control mode action by the setting speed from operation data 7 7 7 Velocity Position Switching Control Velocity To Position APM VTP Function block type INST36 Description While the axis set by the positioning action carries out the speed control it is switched from speed control to position control by the velocity position switching signal and carries out the positioning as much as by the setting transfer amount If this command is executed the origin will be determined at the very execute
294. l pulser amp MRG permitted or SERVO encoder input signal aii s The command to prohibit the operation by manual pulser amp MSC or SERVO encoder input signal fies Make clear the error content that occurred by the current B Error history reset time during operation For Profile TRACE and Profile Circle interpolation simulation etc please refer to the corresponding content of Chapter 4 Software Package Chapter 6 Software Package Startup 6 4 Examples of Software Package Startup P Here describes the examples of Software Package Startup 6 4 1 Origin Return DOG HOME OFF gt Origin return is carried out to avoid the mechanical positioning in case of using Absolute coordinate 1 Select the origin return methods direction from Origin Manual parameter Selection of Origin return method 1 DOGMHU OMEIDIN 2 U L LIMI HOME 1 DOG 2 Set the origin address origin compensation amount origin return high speed low speed waiting time for reset acceleration deceleration time Dwell time if setting acceleration deceleration time as 0 the origin return acceleration deceleration operation is carried out by the time set by acceleration deceleration time of Basic parameter Origin return parameter setting Home Method DAU iH OE CUFF Horma Dir He Horne Address D pis Home Compensatan pls Home High Speed S000 plats Horne Low Speed Su pisi Hone Retr Time 0 ms Home
295. l step from positioning operation step Max 16 gt In case of RAM Teaching Mode plural teaching in operation is possible Example Operation data setting ircul i Dwell ircul Step 2 Control Operation Operation i iren ar M Acc Operation e Vie ol Coordinate position interpolation aux speed time interpolation no method pattern method f code Dec no SANE pulse Point pulse pls s 1 direction 1 Absolute Position End Single 10000 0 0 1 100 0 cw 2 Absolute Position End Single 20000 0 0 1 150 0 CW 3 Absolute Position End Single 30000 0 0 1 200 0 CW 4 Absolute Position End Single 40000 0 0 1 250 0 cw 5 Absolute Position End Single 50000 0 0 1 250 0 cw 6 Absolute Position End Single 60000 0 0 1 300 0 cw Program Axis operationAxis error information information MEE eni Lite RENT TEA APART i iS xci s AH ATE P i RE DOR LITT Axis operation Axis error information information BEE EEN um am r List iO xs EST a aT 7 jun Axis operation his error eachi ng step 1 Information ur F WR Tux M SEQ EP eachi ng Mode 0 RAM Teachi ng J ET ATA MID i osition speed setting 0 position teaching f UE Teaching number setting 6 EE Plural setting 0 1000 EM NIE OM n Plural setting 1 2000 Plural setting 2 3000 ATEA HAL E Plural setting 3 4000 Plural set
296. le click setup exe If you double click setup exe the following screen will display as shown on the left side and if you press Next Button the setup processing continues to the next step Dialogue box including the setup information will display and if you press Next Button it continues to the next step 4 After entering the user name and company name or school name if you press Next Button it continues to the next step Chapter 4 Software Package M Ai oie ERE TAA RH E EP AE 5 After selecting the folder to install APM software package if you press Next Button it continues If you press Backward Button you can modify the information entered in the previous step 6 Set the name of folder to install in the Windows and if you press Next Button the setup processing begins irasi hai ia a d cuadras 7 As the setup is ended press End Button If the HE h FA E AE ee Pe OI CR Tem message to reboot the Windows is shown you should reboot the computer for the normal action of APM software package Chapter 4 Software Package 4 1 2 APM Software Package Removal Procedure 1 If you press Change Remove Button from APM software package item of Control Panels the removal processing begins E Sn oe LED Eime F Cardi Iie Fakon 2 If you press OK Button APM software package removal begins 3 If you press End Button APM software packag
297. lication 2 Pulse Dir 1phase 1 multiplication Encoder pulse input mode 3 Pulse Dir 1phase 2 multiplication 4 4 Phase A B 2phase 1 multiplication 5 Phase A B 2phase 2 multiplication 6 Phase A B 2phase 4 multiplication Counter Clear mode by Z phase input 0 Not Clear 1 Clear 0 Encoder Auto Reload value 0 4 294 967 295 4294967295 Zone1 setting axis designation 0 X 1 Y 2 2 3 Encoder 0 Ss AGN Geahion 2147483648 2147483647 X10 i P p Inch 2147483648 2147483647 X10 Inch id E 5 Zone output OFF position degree 2147483648 2147483647 X10 degree pulse 2147483648 2147483647 pulse sec Zone2 setting axis designation 0 X 1 Y 2 2 3 Encoder 0 Ee CGN Gato 2147483648 2147483647 X107 i P p Inch 2147483648 2147483647 X10 Inch ae p 5 Zone output OFF position degree 2147483648 2147483647 X10 degree pulse 2147483648 2147483647 pulse Zone3 setting axis designation 0 X 1 Y 2 Z 3 Encoder 0 Zone3 output ON position 2147483648 2147483647 X107 0 p P Inch 2147483648 2147483647 X10 Inch degree 2147483648 2147483647 X1 0 degree Zone OMPAL OFE postion pulse 2147483648 2147483647 pulse 9 Zone output mode 0 individual output 1 lump sum output Zone1 0 Circular arcs interpolation method 0 middle point 1
298. loop mode to carry out torque control current control Positioning This is to move the machine from one point to the includes the goal point correctly Movement distance direction speed set by the user Positioning is used for the action such as paper cutting board punching installation of parts to PCB welding etc This is also used for Robot Positioning complete signal This is the signal generated when positioning is completed The machine movement will stop after positioning complete signal is ON Positioning operation data This is an operation data for the user to carry out the positioning This will be set by the user according to the number of point the number of address that positioning is carried out In case of G4F PP1 2 30 G4F PP1 2 3D there is 600 points In principal positioning is executed from step no 1 in accordance with the order of step no of operation data Positioning parameter This is the basic data to carry out positioning Data type includes unit movement amount per pulse max speed limit value high low stroke value acceleration decelera tion time pulse output mode etc Parameters have initial value to change the value to meet the control condition PTP control Point to point control This is a type of positioning control The branches to pass by this control method are required to set operation step on the path in advance Only the movement to the given goal position is r
299. ly 4 Position module operation ready signal PO n F becomes ON only when G4 6F PP1 2 30 G4 6F PP1 2 3D is in H W normal status and it always keeps ON regardless of PLC operation mode Signal direction PLC CPU Positioning module Signal direction PLC CPU positioning module Axis Input Description Output Description PO n O X axis command receiving PO n 1 0 X axis start PO n 1 X axis in operation PO n 1 1 X axis normal direction Jog X PO n 2 X axis error status PO n 1 2 X axis reverse direction Jog O n X axis positioning completed O n 1 X axis Jog high low speed O n X axis M code ON O n 1 X axis MPG operation or Encoder O n Y axis command receiving O n Y axis start O n Y axis in operation O n Y axis normal direction Jog O n Y axis error status O n Y axis reverse direction Jog Y axis positioning completed Y axis Jog high low speed O n Y axis M code ON O n 1 Y axis MPG operation or Encoder O n Z axis command receiving O n 1 Z axis start O n Z axis in operation O n 1 Z axis normal direction Jog O n Z axis error status O n 1 Z axis reverse direction Jog O n Z axis positioning completed O n 1 Z axis Jog high low speed O n Z axis M code ON O n 1 Zaxis MPG operation or Encoder O n Positioni
300. m cer cinere exe xe REX due conde x tae Aum Ea 10 3 10 3 1 End Operation Go on Operation Continuous Operation Positioning 10 3 10 3 2 Positioning by M COUB ias covauwueikae no aua e aa eo ra eb Ea v ee iar rer Ua e sara a 10 5 10 3 3 2 axis linear InterpolatiDT ax iux ou eexa dae x xa ce a alo a e A EE no aD Pal e 10 7 10 3 4 Position Teaching by MM 3c enda ea ea Rx rude nsa qur r no utr DER vada Ee EUER 10 9 10 3 5 Position Teaching by Jog Operation and Inching Operation 10 10 10 3 6 Positioning Speed Change Next MOVE ccccccceceesseseeeeeeeeessueeeeeeees 10 11 CHAPTER 11 MK Program 11 1 Before using the Program ssssssse 11 1 11 2 Basic Program udi reread lls booa deca als dep t aberat 11 2 11 2 1 Basic Floating Origin Setting sesso vua sain edd xar ota te la ae eed an eae 11 2 11 2 2 Basic Linear Interpolation Start Floating Origin Setting s s 11 3 11 2 3 Basic Circular Arcs Interpolation Start Floating Origin Setting 11 5 11 2 4 Deceleration Stop Origin RetUrn sza wae ciwss v reni pta ka yk Fa Ek nr i Cr hc 11 7 11 2 5 Single Operation Operation Step Number Designation eee 11 8 11 2 6 Single Operation by External Input Signal ccceceeseeeeeeeeeeeeeeeeeeaeees 11 9 11 2 7 Equal Speed Operation Operation Step Number Designation 11 10 11 2 8 Sim ltaneoUs Stait vereri ey y
301. mber 1 16 Teaching Array lt Data POS Value 2 147 483 648 2 147 483 647pls Data SPD mm 1 2 000 000 000 X10 mm min Inch 1 2 000 000 000 X10 Inch min degree 1 2 000 000 000 X10 degree min pulse 1 1 000 000 pulse sec Teaching Array value Chapter 6 Software Package Startup 6 2 6 Point Operation by Software Package Related Software Package Command Setting Range function block Number 1 20 APM_PST Point setting 0 19 1 400 Operation step no setting Point operation carries out the positioning operation by max 20 operation step no set by one time execution gt In case of setting step no when operation mode is Go on or Continuous it is required to set the highest step no to operate D If setting the Point number in case of PST execution the lower items 0 19 as much as the setting number shall be activated gt For further information of Point operation please refer to Art 3 23 Point Operation Chapter 6 Software Package Startup 6 3 Command Icon p gt The command that is executed independently without command condition can be treated easily with Contract icon gt If pressing the right side of mouse in the area of Command 1 and Command 2 the command menu will display to execute easily as below EEO Lah Bah keee G Contract SETS C
302. me Dwell Time Start Busy IE Positioning completion tw Position completion output time CHAPTER 5 Positioning Parameter amp Operation Data gt The action of Go on operation mode is as follows Dwell Time e gt Start Positioning completion MW tw Position completion output time lt gt gt The action of Continuous operation mode is as follows Dwell Time Start Busy 4 TN Positioning completion W tw Position completion output time lel 5 2 4 Selection of External Command gt It is available to select one among set jog operation skip for external command signal input gt In case of using the external command signal the external command should be set as permitted gt In case of using jog operation as external command selection the external command signal shall be acted as jog high speed normal rotation and the external auxiliary command signal is acted as jog high speed reverse rotation 5 2 5 Pulse Output Direction The below shows the pulse output direction in case of Low Active gt normal rotation the rotation direction shall be set to the direction to increase the current value of position address gt reverse rotation the rotation direction shall be set to the direction to decrease the current value of position address CHAPTER 5 Positioning Parameter amp Operation Data FP Terminal Normal operation i Reverse operation RP Terminal j i
303. meter Chandeesiacsiccsiecstaierductacsleidines Lee DE MM MR ELPIEIM PLACER RAE 11 29 11 2 26 M Code Mode unes reach vy ea da a d GR De E Oa Y d a Kena eian 11 31 11 227 ZONE SEUNG axxeecidexn exta ax Ea GORGE a RE Y OR Ea S EC CR 11 32 11 2 28 Operation Data Sellingi sii eie ee Rea exa a era doen E RR eh Rn CER XR EXER OR 11 33 11 2 29 Point Operation Origin Ret rm s traxerit runc cea ni ee R4 NR BAR 11 34 11 3 Application Program sonics ceva emet i ete tee a rs 11 36 11 3 1 Position Speed Teaching by MMI ssssssssss mmn 11 36 11 3 2 End Operation Go on Operation Continuous Operation Positioning 11 39 11 3 3 Positioning by M Code sscxxstikskeeaxxve Qe va Y eie e FEX Da e acea tan 11 41 11 3 4 2 axis linear interpolation Operations oen h rrr nana nn 11 43 11 3 5 Position Teaching by Jog Operation and Inching Operation ss 11 45 11 3 6 Speed Change Next MOVO onc sicsvcraten ten cavee shuns aea tiguu ex Me esa Sa atit 11 48 CHAPTER 12 Operation Order and Installation 12 1 Operation Order raa hee rr med rta eie Ra a 12 1 12 2 Installation n ee n i n C n RD ER Pe X UC C TNR ER PR 12 2 12 2 1 Installation Environments xxix ex xe ea a Kr e xc oe ri e c 12 2 12 2 2 Cautions in Handling us ase caves ned dva cda vb oec EE eared idea x xaT aid EVE AUN ads 12 2 12 3 NW ENN ar cette tette e cede b i a e ted nete 12 2 12 3 Caules dr WING sii sos ECRIRE ob
304. mit M 10k Max 10mA t 35 rora a y 73 Reverse limi 10k 5 e Chapter 12 Operation Order and Installation G6F PP1 2 30 v amp 833 ayaa s ss 2 3 33 ME Ea Es 8 T 2 G6F PP1 2 30 Power 3phase 200VAC Within 10m External EMG Servo ON Reset Proportional control Torque limit 3 Normal limit EP Reverse limit failure zero speed detection in torque limit Analog torque limit 10V max current Withinam 2 Pate MR J2S A HC MF HA FF Series motor Sex se 24V DC OPP of Servo ON signal Cutoff by alarm signal Within 2m electronic brake detector Personal computer 10k Max 10mA 10k Chapter 12 Operation Order and Installation 4 MR J A Connection Line drive RevWal option NICE P aN 6 i 6 eo D R 30 AC200V ete Gn o o o Iw M H detector Wthi n 10m gt ie i GAF PP1 2 3D CN1 i SG 13 i On 25 Hh irit 6 o 4 SG 14 26 Low init o eg ON 28 SO 2 Etem tp 0 9 4 bc Ree 29 Ee origin Se 44 oo Lote li nit 33 i VIP 29 VP switching 5 4 Normal i mt Wthi n 30m External com 5
305. mm Fig 37 Preview screen and Printer setting dialogue box Printer option function Through print option dialogue box it is available to set the left right margin and the head bottom of print screen k E iege Dolan Eus 77 mn o B 7 ra PLACE C llc alin eden ince dile ipt ar Hd biradan Tall f Hu Mes Zo barn Ta Ed hal Fig 38 Print option dialogue box 4 29 Chapter 4 Software Package 4 13 Environment Setting Function 4 13 1 Environment Setting Function p gt Method 1 Click environment setting from file menu or click the corresponding icon from basic tool gathering p gt Function Description Operation data option Operation data indication extension option is the option to change the step number of X Y Z axis operation data Operation data item indication function is the option to change the color in order to distinguish it from other items easily when the data entered in X Y Z axis operation data by the user is different from the initial value r ee KYI ba Farge T Bep be gt Da Pe eea F 4 Fuine Dare Diipa ES CE TUR T mE TI m jj reed Fig 39 Environment setting screen Operation data option Communication option Monitoring period and Tracking period setting option is the option that the user can change the corresponding period according to the system Cohn Prats Cute ipia camm Opies ccn Park
306. mount 5000 2000 3000 Reverse Reverse Software Package Setting Items of Step n Control Operation Operation Goal Kon M Acce Operation Pwel 3 Circular fig Coordinate method altem melhiod position interpolation aux code acera speed time interpolation position data i P pulse Point pulse pisis 1 direction Position X Setting 1 Absolute coire End Single 5000 0 0 1 100 0 Cw Position Y Setting 1 Absolute cont End Single 6000 0 0 1 100 0 CW Positi Z Setting 1 Absolute ad End Singe 4000 0 0 1 100 0 cw 3 6 Chapter 3 Function 2 Control by Incremental method Relative coordinate A Positioning control from start address to the position including goal transfer direction and transfer amount of each axis B Transfer direction shall be determined by the sign of transfer amount of each axis Transfer amount or no sign normal direction address increase positioning Transfer amount reverse direction address decrease positioning Normal Y Start address Action by X Y Z axis X1 Y1 Z1 linear interpolation Normal Z Y axis transfer amount X axis transfer amount Reverse Normal X X2 Reverse Example When X transfer amount 10000 Y transfer amount 5000 Z transfer amount 5000 the action is as follows ro Normal axis2 4 Stop address after positioning T completion
307. n 3 20 Encoder Preset gt This function is to change the content of encoder with encoder preset setting value p gt Encoder preset command should be executed in the status that external encoder pulse input is not applied gt Encoder preset setting range 0 4 294 967 295 Example gt Program E PRES ES j s i m il xm if Axis operation Axis error information information Encoder preset value 50 000 Oi Axis operation Axis error information information i VT XU xnl u Pi z r xt an Axis operation Axis error information information Program 3 28 Encoder Preset 3 71 Chapter 3 Function 3 21 Error and Output Prohibition gt Error includes Light failure error and Heavy failure error gt If light failure error occurs the positioning operation will continue and only error will occur p gt In case of heavy failure error if the error is not cleared it is not available to carry out the positioning operation And if the heavy failure error occurs during operation the operation will stop p gt If external high low limit external emergency stop soft high low limit internal emergency stop during the positioning operation are detected during the positioning operation it stops promptly and becomes the pulse output prohibition status Thus it is required to release the pulse output prohibition by Error reset command In case of occurring in the origin determinatio
308. n giving linear interpolation command M code shall OFF by MOF command Check if M code signal of subordinate axis 2 is ON when giving linear interpolation command M code shall OFF by MOF command Not available to carry out Absolute coordinate operation in origin unsettled status Check the step coordinate to operate and the current origin determination status After setting the origin by homing command or floating point setting command it is available to carry out the Absolute coordinate operation Not available to carry out Absolute coordinate operation in origin unsettled status Check the step coordinate to operate and the current origin determination status After setting the origin by homing command or floating point setting command it is available to carry out the Absolute coordinate operation Not available to carry out Absolute coordinate operation in origin unsettled status Check the step coordinate to operate and the current origin determination status After setting the origin by homing command or floating point setting command it is available to carry out the Absolute coordinate operation Sto Check if Driver ready signal of main axis is OFF when P giving linear interpolation command Sto Check if Driver ready signal of subordinate axis 1 is OFF p when giving linear interpolation command Sto Check if Driver ready signal of subordinate axis 2 is OFF p when giving linear interpolation command Check if the goal po
309. n at the parameter of software package Setting speed speed value of operation data that position data operates actually Actual acceleration time the time required to reach from speed O stop state to the speed value which is set by operation data Actual deceleration time the time required to reach from the speed value set by operation data to speed O stop state CHAPTER 5 Positioning Parameter amp Operation Data 5 2 Expansion Parameter Here describes Expansion Parameter e J IL 1 Parameter Configuration of Expansion Parameter Items Setting Range Initial value 2147483648 2147483647 X10 BE Inch 2147483648 2147483647 X10 Inch Sortare ign ni degree 2147483648 2147483647 X10 degree AI TT09019 pulse 2147483648 2147483647 pulse 2147483648 2147483647 X10 gor Inch 2147483648 2147483647 X10 Inch Soller low T degree 2147483648 2147483647 X10 degree 2147483648 pulse 2147483648 2147483647 pulse 0 0 65535x10 1 Inch 0 65535 X10 inch Backlash compensation amount _ degree 0 65535 X10 degree 0 pulse 0 65535 pulse Output time of positioning end 0 65 535 unit ms 1 000 signal S Curve rate 1 100 unit 50 Extemal command Tinten 0 Set 1 Jog operation 2 Skip 0 selection Pulse output direction 0 normal 1
310. n status it is required to execute the origin determination by the origin return floating origin current position preset p gt Error reset command includes the case to reset the error only and the case to release the pulse output prohibited status p gt For further information please refer to Article 7 11 Error code of function block p gt For further information of the error contents it is available to confirm it from Software Help function and during the operation by Software Package it is available to confirm the content of error per axis Example gt Program O error reset 1 output prohibition cancellation Program 3 29 Error and Output P rohibition 3 72 Chapter 3 Function 3 22 ZONE Output gt According to ZONE output mode 0 individual output 1 batch output ZONE1 ZONE1 2 3axis setting ZONE1 2 3 ON starting point ZONE1 2 3 ON ending point setting itis outputted by the signal of ZONE1 ZONE2 ZONE3 gt According ZONE output command it carries out the external output for ZONE1 ZONE2 ZONE3 ON signal or prohibits the external output gt For further information please refer to Article 5 5 6 Zone Output Example gt Program r Axis operation Axis error information information 43 0 ZONE output permission 1 ZO output prohibition Y nea wi imiy xm iHi E pums Fi l fed Axis operation Axis error information information W
311. nal Command Signal Selection X address 1g b15 bl4 b13 b12 bll bl0 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 Y address 44418 Z address 8818 p External command signal MA 1 J0g operation No use 0 ig 11 no use 2 Control Words of Extended Parameter Xsaddress 19 b15 b14 b13 b12 bll bl0 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 e ME c RAE ee 33 Pulse output mode 0 CW 1 CCW Acc Dec pattern No use 0 0 Trapezoid operation 1 5 Curve operation M Code mode 00 NONE 01 WITH 10 AFTER 11 no use Position indication during equal speed operation 0 no indication 1 indication SN upper lower limit detection during equal speed operation 0 no detection 1 detection Edposinon control switching ce o s o 2 OD ted rn Ax D nati w c eo S53 F mand m A oO LA 3 gm uv g aot ibit chronous start m Ax 6 s 3 D wn M 8 2 Chapter 8 MK Internal Memory and I O Signal 8 1 3 Manual Operation Parameter 1 Contents of Manual Operation Parameter Manual Operation Parameter Setting range Jog high speed lower 000 000 O00 X0 I Jog high speed upper A 000 d X0 MM ree 000 000 X10 ree nj Jog low speed lower nice 0001 pul se s Jog low speed upper Jog acceleration deceleration time 0 65 535 1 65535 X10 min Inch 1 65535 X10 Inch min Degree 1 6553
312. nal status D0000 D0006 X axis operation information read current position speed step no M code error information M010 M013 Y axis status information read operation status bit information axis information external I O signal status D0010 D0016 Y axis operation information read current position speed step no M code error information 2 Operation Order P0001 floating point switch ON gt POOOF linear interpolation start switch ON 3 Operation Data Setting Operati Operati Goal Circular Operatio Dwell Circular Items of Step Coordina Control p lt interpolation aux Acc De P interpolati x no te method on on position point Mcode no nspeed time n Position data pattern method pulse pulse pls s 01 Ps X setting 1 Absolute Position End Single 10000 0 0 1 1000 100 CW Y setting 1 Absolute Position End Single 5000 0 0 1 0 100 CW 4 Operation Pattern Yaxis Y transfer amount 5000 0 5000 1000 Goal address 0 Start address 1000 5000 10000 X transfer amount 10000 0 10000 Chapter 11 MK Program 0 TO GET 00001 04370 MOOO 00004 GET 00000 04374 DO000 00007 Mo GET 00001 08770 MOIO 00004 ET 00000 08774 DO0 0 00007 POD00 PODIO n Fd ad 00001 04317 00001 00001 PUTP 0000
313. nalog input and detects the angle This is also called as 2 phase synchro For 1 phase voltage input the axis rotation angle is converted to the 2 phase vertical voltage analog voltage and outputted Reverse limit switch signal This is the input signal to inform the user that reverse limit switch b contact configuration Always ON out of movement range to carry out positioning control is activated The positioning action will stop when reverse limit switch signal b contact is OFF Turn Table This is a round table that the product is located The positioning control is carried out while the product is turning within the range of 360 degree S pattern acceleration deceleration In this pattern acceleration and deceleration follows the sine curve and the movement is smooth S pattern ratio can be set up to 1 100956 Sequence control This means a sequence program that the completion of a serial of action is detected by switch By this signal the action like next action start shall be carried out and controlled in order Servo motor This is the motor that turns according to the command Servo motor responds very quickly and carries out frequent high speed and high precision start stop There are two types of Servo motor DC type and AC type available for large capacity motor Generally the pulse generator encoder for speed detection is installed and the feedback control is carried out frequently SFC
314. nchronous start synchronous start operation the positioning parameter and operation data should be set in advance For the setting method please refer to Chapter 5 Positioning Parameter and Operation Data Chapter 8 MK Internal Memory and I O Signal 3 Jog Operation PO n 1 1 PO0 n 1 2 P0 n 1 3 PO n 1 6 P0 n 1 7 P0 n 1 8 PO n 1 B PO n 1 C PO n 1 D X axis normal direction Jog PO n 1 2 X axis reverse direction Jog 3 X axis Jog high low speed 6 Y axis normal direction Jog 8 Y axis Jog high low speed B Z axis normal direction Jog C Z axis reverse direction Jog PO n 1 7 Y axis reverse direction Jog D Z axis Jog high low speed 1 In case of setting Jog high low speed for PO n 1 3 PO n 1 8 PO n 1 D it should be set as Jog high speed when ON and Jog low speed when OFF 2 The actual Jog operation shall be divided into Normal Reverse direction Jog according to the ON OFF signal of PO n 1 1 PO0 n 1 2 PO n 1 6 P0 n 1 7 PO n 1 B PO n 1 C 3 Jog operation carries out the operation by the level of ON OFF signal and thus it carries out Jog operation when ON while it stops Jog operation when OFF 4 Example of Jog Operation Program pono P001 epe SET P0023 Tw OS Poon P0012 RST poo23 L TE O Device Description P0000 X axis high speed reverse direction Jog exte
315. nd Art 5 1 S W high low limit setting range of expansion parameter Chapter 6 Software Package Startup D The setting range of Encoder preset is 2 147 483 648 2 147 483 647pls but the value indicated by actual encoder value shall be indicated by the unsigned value gt Thus if setting Encoder preset value as 1 the value to be indicated actually as Encoder is maximum 4 294 967 295 gt In case of encoder preset by the value exceeding 2 147 483 647 it should be set as negative number 6 2 4 JOG Operation by Software Package Related function Software Package Command block Reverse high speed JOG operation Reverse low speed JOG operation Normal low speed JOG operation APM JOG Normal high speed JOG operation JOG operation stop gt If you click JOG operation icon using by mouse the corresponding command to the icon will be executed and when you click JOG stop it stops 6 2 5 Teaching Operation by Software Package Related Software Package Command Setting Range function block 1 Step 1 400 2 Target RAM 1 ROM 3 Data POS Value 2 147 483 648 2 147 483 647pls Teaching single Data SPD APM TEA mm 1 2 000 000 000 X10 mm min Inch 1 2 000 000 000 X10 Inch min degree 1 2 000 000 000 X10 degree min pulse 1 1 000 000 pulse sec 1 Step 1 400 2 Target 0 RAM 1 ROM 3 DATA POS SPD 4 Nu
316. nd in operation status The aux Position data is not allowed to exceed So upper lower limit when giving the current position prese command ENENM Not available to carry out position teaching command in Move operation status Not available to carry out teaching array command for the data over 16 Not available to carry out speed teaching command in operation status The speed of speed teaching command exceeds the setting range Error in setting step no to carry out teaching command o o o o 4 4 4 4 4 Not available to carry out parameter teaching command in operation status 4 4 4 4 4 4 4 Not available to carry out operation data teaching command in operation status 41 42 51 52 61 62 63 64 65 71 72 81 91 92 93 94 95 501 502 511 gg o o Internal emergency stop error External emergency stop error H w upper limit error H W lower limit error SERVO driver operation is not available The position of Upper lower limit detection Sensor has been changed S W upper limit error S W lower limit error Command code no is not the reserved no only for MASTER K 512 Stop Aux Data step no exceeds the allowable range 1 Error code 495 is deleted in more than O S V2 1 Stop 7 3A Check if the axis is in operation when giving start step no change command Check if the setting step no of start step no change command or repeat operation start step no
317. ndicates the current operation speed Indicates the current operation data no Indicates the current M code 7 2 2 Current Operation Status Bit Information Read Status Bit Read APM_SRD The contents of output variable ST1 ST7 of current operation status Bit read function block is the important information to apply for the Program G6F PP10 30 G6FPP1D 3D does not have Zone 1 2 3 output signal of ST7 3 ST7 4 ST7 5 FuncHon blogs Variable Data Description type type __ Bitno Execution Bit no Execution 0 0 Enable 1 prohibited INST23 ARRAI I JPos onngcompeton C 6 Stopstaus 3 M Code On signal 0 Off 1 0n 0 High limit detection 4 Acceleration 1 Low limit detection 5 Constant speed ST2 POOF 2 Emergency stop status 6 Deceleration ARRAY slat T normal reverse direction 3 9 Dwell 0 normal 1 reverse 0 _ 1axis position control operation 2 axis circular interpolation ST3 BOOL 1 J1 axis speed control operation Origin return operation ARRAY 2 2 axis linear interplation Position synchronous operation 3 3 axis linear interpolation Speed synchronous operation 0 Jog low speed operation Manual operation point return ST4 BOOL 1 _ Jog high speed operation Zone 1 ARRAY 2 Inching operation Zone 2 3 MPG operation Zone 3 0 oe status T Main axis in
318. ng BCD external digital input as 10 switch ON P0002 3 Operation Data Setting Operati Operati Goal pieulal Operatio Dwell Gireulat Items of Step Coordina Control P P interpolation aux Acc De P interpolati m ie method on on position point M code eio s d speed time on Position data pattern method pulse pulse pls s n direction 1 Absolute Position End Single 10000 0 0 1 1000 100 cw X setting 2 Absolute Position End Single 20000 0 0 1 1500 100 CW 3 Absolute Position End Single 30000 0 0 1 2000 100 CW 10 Absolute Position End Single 50000 0 0 1 1000 100 CW 11 Absolute Position End Single 60000 0 0 1 1500 100 Cw 12 Absolute Position End Single 70000 0 0 1 2000 100 CW 2 Program F0010 GET 00001 04370 MODO 00004 o 7 00001 04374 D0000 00007 L SS BIN POO3 D0050 P0000 P0010 P0012 H PUTP 00001 04317 00001 0000 PUTP 00001 04300 00036 00001 P0001 P0010 P0011 P0012 L j H s H pur 00001 04300 0000 00001 Er P0010 P001 1 P0012 tower seg PUTP 0000 04301 DO050 00001 PUTP 00001 04300 00020 00001 POOOF PODI 1 P0012 J e EM IM sm 11 8 Chapter 11 MK Program 11 2 6 Single Operation by External input signal 1 Description 1 Used device Device Description P00
319. ng devices or stepping motor control running devices In application it can be used widely with engineering machine semiconductor assembly machine grinder small machine center lifter etc CPU Module Positioning Module Driver Stepping Motor Reverse Ro Pulse APM Software Package Fig 1 1 Overview of Position Control for Stepping Motor CPU Module Positioning Module Driver SERVO Motor Speed SERVO Deviation a AMP m Counter Feedback Pulse UUUL APM Software lt Accumulative Pulse Package 4 SERVO Motor Speed Fig 1 2 Overview of Position Control for SERVO Motor 1 3 Chapter 1 Overview 1 3 Signal Flow of Positioning Module The flow of PLC system using the positioning module is as follows Program Writing GMWIN rf KGLWIN CPU Module Setting of Parameter and Operation Data for Control Test operation Jog operation Inching operation Indirect setting Direct setting Synchronous setting Straight line interpolation operation Circular arcs interpolation operation Position synchronization operation Speed synchronization operation Monitoring and test of positioning action using the setting command APM Software Package Motor Driving by pulse string received from positioning module Transfer Drive Ready signal and Home signal to positioning module Positioning Working PL
320. ng module ready 13 n1 n1 n1 n1 n1 n1 n1 n1 n1 n1 n1 n1 n 1 n 1 n 1 O n 1 No use Chapter 8 MK Internal Memory and I O Signal 8 2 2 Use of I O Signal 1 Command Receiving signal P0 n 0 P0 n 5 P0 n A 1 Processing of Command Receiving Signal A Command receiving signal is ON when positioning module is normal and it becomes OFF while carrying out the command by command code B If the command by the command code is entered in positioning module the command receiving signal changes ON gt OFF and after completion of the command it return to OFF gt ON status Command receiving signal PO n 0 P 0 n 5 PO n A La This is OFF while processing all command in the positioning module 2 Use of Command Receiving Signal A Command receiving signal should be used in Normal Open A contact input condition on PLC program when carrying out the command by using all command code B Example of Indirect Start Command Program Step no 1 Indirect Start command code 4 POD0D woo P0010 P0O1 1 PODI 2 D MODOU H L MJ LT PUT 0000 04301 0000 00001 PUT 00001 04300 00004 00001 Device Description P0000 X axis indirect start external input P0010 X axis command receiving signal P0011 X axis signal in operation P0012 X axis error status But in this case I O word no of positioning module is P0010
321. ng of each parameter item please refer to APM manual Automatic range and data error check function With Automatic range and data error check function for each item it is available to modify the error directly through detailed error message when the user entered the data wrong If such data error occurs it will be restored as the previous value automatically Maintains operation parameter data when making new working screen Even if the user makes the working screen again through offline online model setting while editing operation parameter item operation parameter information does not disappear and is maintained as it were Thus this is very useful in case of using operation data in several APM modules Chapter 4 Software Package Unit conversion function and Parameter max min indication function If changing the Unit of each axis the items related to speed and position shall be changed automatically in the unit and range indication As Max Min of parameter item per unit is shown on Status line if selecting the corresponding items it enables to reduce the data input error z T ais as ian Tum d COMI rma BISE SLOT 2 Ioan Coker Fig 9 Unit conversion function pulse gt mm Fig 10 Parameter max min indication function Editing function For operation parameter screen Copy Paste function for block and each item is not applied 4 5 2 Operation Data Setting p gt Method 1 Select X Y Z axis o
322. nging the rotation direction normal gt reverse reverse gt normal the Continuous operation command is not be carried out Thus cares should be taken in using 3 51 Chapter 3 Function Program r LO p xD Tiei E55 PIS d Axis operation Axis error information information EXE sme gt A IST Bice TT sni x3TI t LERF l a Cal p Eu 2 zm Axis operation Axis error information information j t x snp x3Ti t ar l Axis operation Axis error information information Program 3 13 Operation Step No Change by Continuous Operation 3 52 Chapter 3 Function 3 8 3 Positioning Speed Override Command 1 This is the command to operate by the changed operation speed if it reaches the setting position during positioning operation 2 This command is used only in Acceleration and Constant speed section from operation pattern and the available operation mode is End Go on Continuous operation 3 As this command is not carried out in Deceleration section cares should be taken in using 4 The position setting range is 2147483648 2147483647 Pulse 5 The operation speed setting range is as follows Open collector type 1 200 000pps setting unit 1pps Line driver type 1 1 000 000pps setting unit 1pps Example gt Positioning Software Package Setting ircul i Dwell ircul Step Control Operation Operation Goa a i M Acc
323. nnt detection duri ng equal speed operati on 0 no detection 1 detection Ext er nal ee pee control sw tchi ng per nh t t ed prohi rnhtted ohi bi ted External conmand External stop pernntt prohi External synchronous start permitted Prohi bi ted Example 0 prohibited 1 permtted information information Ax s operaton Axis error information information HT i STILE a oriji ipsi 5T Ee S eS e AXIS operation Axis error information information per une ery F j ty ae I xs lope ation error ATE Fer TRE 1 essary Program 3 23 Extended parameter Setting 3 66 Chapter 3 Function 3 18 3 Homing parameter Setting gt The items available to change is as follow Honing paranet er Setting Range T 2 147 483 648 2 147 483 647 X10 T J Inch 2 147 483 648 2 147 483 647 X101 nch degree 2 147 483 648 2 147 483 647 X10 degree pulse 2 147 483 648 2 147 483 647 pul se Qi gi n address inihi 1 2 000 000 000 X10 1 r hi gh speed SUMMER Inch 1 2 000 000 000 X10 3l nch r a 3 Honing ow speed degree 1 2 000 000 000 X10 degree nj pulse 1 1 000 000 pul se s Honing accel erati on Decel eration tine O 65 535 1 2 147 483 648 2 147 483 647 X10 T J Qigin conpensation nch 2 147 483 648 2 147 483 647 X101 nch
324. nt operation step no and carry out the auxiliary work Clamp Drill rotation Tool change etc by reading M code from the current operation status code read function block output variable MCD of the program p gt M code should be setin the M code item of operation data Setting range 1 65535 If M code is setas 0 M code signal will not occur p gt M code mode is set from the item of the extended parameter 0 NONE 1 WITH 2 AFTER p If M code occurs M code no 1 65535 and M code signal On will occur simultaneously In case of Go on operation mode if M code no and M code signal occur it is required to release it by M code release command to carry out Go on operation to the next step without start command p In case of Continuous operation mode M code no and M code signal occurs but it carries out the Continuous operation without giving any effect to the Continuous operation of next step P M code release command can be used even during operation gt For further information please refer to Article 5 2 6 M code output Example gt Software Package Setting Operation Data Setting No of Program Step Control Operation Operation Serl i aoe M Acc oparia Pno Circular S Zoordinatt method atem mathod position interpolation aux code Bac nb speed time interpolation Start command p pulse Point pulse pls s 0 direction
325. nt position is indicated and it operates from 0 to Goal position during position control conversion Position indication no indication The origin is not determined at speed control and the current position is s indicated as 0 and it operates from 0 to Goal position during position control conversion gt Action Timing Acceleration dection Spoed M h Speed Position Control control Setting speed Assigned transfer amount Dwell time Start command In operation Speed Position conversion signal External input signa Speed Position conversion signal Program Program is same as Program 3 4 3 18 Chapter 3 Function 3 1 5 Position Speed Conversion Control gt The setting axis by positioning start carries out the position control and is converted from position control to Speed control when position speed conversion signal is entered to the positioning module inside and then it stops by deceleration stop or SKIP operation or continues next operation gt Position Speed Conversion control can be operated to the normal direction and reverse direction Direction Step Control Operation Operation sagal i SAGE M Acc Operatic bwal Cirle n Coordinate method SES d position interpolation aux aie Deo No speed time interpolation Setng pulse Point pulse gt pss D direction Normal 1 Absolute Speed Go on Single 10000 0 1 1 50
326. o setting for operation data read SIEP JUNT e setting range 1 400 e If out of setting range Error 11 occurs AXR ION e Teaching Posi ton Read 2 147 483 648 2 147 483 647 SPD wun Teaching Speed Read Qen Collector 1 200 000 uni t pl s s Li ne Dri ve 1 1 0000 000 uni t pl s s 7 11 Function Block Error Code Here describes the error types that are shown on output variable STAT and its solutions zrro Output type Error description Module action Solution zode pen Line wm ree that the command is given in the stop status of CPU o s Change the CPU module from STOP to RUN AS aking Error occur Set the command condition correctly Program change to execute new command after completing the Error occur 4 previous command Adjust within the setting range 1 Error initialization Error occur e 2 Output prohibit Release 7 25 Common RAM error Function block command impossible as the module is in operation stop 1 The setting aux Input value exceeds the setting range During function block execution the stop related command or emrgency stop is entered 10 New command function block is executed before completing the previous command 13 Chapter 7 Function Block Here describes the error types and its solution that are shown on output variable ERR of APM_CRD function block zrro e Output type E
327. o on operation Akpps Go on operation 3kpps 4 2kpps Continuous operation 1kpps 4 Time 10kpps 15kpps Reverse V Start command APM IST In Operation ST1 0 In Dwell ST2 7 10000 Step no 1 Positioning On Speed change APM PSO Next Move APM NMV 1000p0 Step np 1 Step no 3 b n 1200000 Step no 10 D 250000 Step no 11 End operation Repeat Step no 12 F 0 10 11 Chapter 10 GM Program 3 Program example X axis signal in operation X axis error signal MG um IRE ma xz IE X axis origin complete signal Jl Sr np g STU zu xia FI E n i P l l if ig SSE BASE TIN uer gm xp E PR F REQ AU jam X nA IN SEP STE 10 12 Chapter 11 MK Program Chapter 11 MK Program 11 1 Before using the Program This chapter describes the application program examples that operate Positioning module G4F PP1 2 30 G4F PP1 2 3D of MASTER K300S by PLC program Unless otherwise described the examples are composed of PLC system as below Fig 11 1 show the case that positioning module G4F PP1 2 30 G4F PP1 2 3D of MASTER K300S is installed in Slot 1 In case of installing positioning module in other Slot it is required to change I O word no to write Sequence program In case of reading the status information when MA
328. of Operation Data 3 Internal Menory Address of Z Cperati on data Goal posi ti on G rcul ar i nterpol ati on aux point Cperati on speed Low H gh Low H gh Low H gh Goal positi on Grcu ar i nter pol ati on aux poi nt Cperati on speed Hgh Low H gh Low H gh 8900 8901 8902 8903 8904 8905 9351 9353 9355 8909 8910 8911 8912 8914 9360 9362 9364 8919 8920 8921 8923 9369 9371 9373 8928 8929 8930 8932 9378 9380 9382 8937 8938 8939 8941 9387 9389 9391 8946 8947 8948 8950 9396 9398 9400 8955 8956 8959 9405 9407 9409 8964 8965 8966 8968 9414 9416 Q o OoU1 3 j u N 8973 8974 8977 9423 9425 8982 8983 8984 8986 9432 9434 8991 8992 8995 9441 9443 9000 9001 9002 9004 9450 9009 9010 9013 9461 9019 9022 9468 9028 9031 9477 9037 9040 9486 9046 9049 9055 9058 9064 9067 9073 9076 9082 9085 9091 9094 9100 9103 9109 9112 9118 9121 9127 9130 9136 9139 9145 9148 9154 9157 9163 9166 9172 9175 9181 9184 9190 9193 9199 9202 9208 9211 9217 9220 9226 9229
329. of the Machine Software Low limit Software High limit P The range check of software high low limit shall be done when the operation starts or during the operation p gt If the error is detected by the setting of software high low limit Software high limit error 501 Software low limit error 502 the pulse output of positioning module shall be prohibited Therefore when the error is detected and you want to operate again it is required to release the output prohibition before using gt The setting range shall be done at each axis and has Software high limit address value range 2 147 483 648 2 147 483 647 Software low limit address value range 2 147 483 648 2 147 483 647 unit Pulse 5 2 2 Backlash Compensation Amount P The tolerance that the machine does not work by the wear when the rotation direction changes in case that a gear screw etc is combined to run at the motor axle is called as Backlash Therefore when you change the rotation direction it is required to add the backlash compensation amount to the positioning amount for output p gt In case of G4 6F PP1 2 30 and G4 6F PP1 2 3D it is used for positioning operation inching operation and job operation gt The setting range is 0 65 535 unit Pulse at each axis Point After setting or changing the backlash compensation amount the origin return should be carried out p gt If the position moved 1m to the right and again 1m to the left it i
330. ohibited cosas ceo raa eo rau orae S Dx Va voe v ob E aa d oa 9 12 9 2 26 Encoder Preset ars vos epo a CO Ep Ma toe cia A ERG C e P b El ER a 9 12 9 227 Single Te a hifijosxa ssec sy ea tu xax Yo dot CE OX E EK XXE EY EAE LR 9 EEA 9 12 9 2 28 Array TEAChinG is sve eda dla xci bn E MG VR AE ORA seater A KG E ODE RR V VA ain stats 9 13 9 2 29 Basic Parameter SeHrigaris eeisvs rece enhn n induce svar UO ER OUR RR C QE ODE ROUTE 9 14 9 2 30 Expansion Parameter Setting x cxi resto be rr DE Rei eu ETE E RRPIR X IXXNE DAR cud 9 14 9 2 31 Origin Return Parameter Setting cnc cee ctek eere eda ale entend an been anon nnne nun 9 15 9 2 32 Manual Operation Parameter Setting cssceeeeeeeeeeeeeeeeeeaeeeenaeeeeaaes 9 15 9 2 33 Common Parameter Setting 31e xa cede d ea XR ey ed ERR REX YER RT KA RE ErET 9 16 9 2 34 Operation Data Seltiltfossi ides 5te eue vou d o PA exte ao po Ex ot d be NE Stu SS 3 9 16 9 2 35 Emergency Stop xesiusrss oaa urde cuu et2a ues Eeska o ac uva cx E IRvpra rede E UY RE 9 17 9 2 36 Error Reset Release of Output Prohibition cccceceeeeeeeeeeeeeeeeeeeaeee ees 9 17 9 2 37 Error History Reset costis ve iod a eta iade cease tator 9 17 9 2 38 Point Operation wrxriowemucwadennconnddaveu baa uadnenduatuuiadeiduslaa dadedetenrieieas 9 18 CHAPTER 10 GM Program 10 1 Before ProgFam ete t e EY RR EUER NI De Dh d me ea e eS edits 10 1 10 2 Basic Progra REA m 10 2 10 3 Application Progra
331. ommand contents Action description icon key XS X axis Stop Deceleration Stop during X axis operation F5 amp Y axis Stop Deceleration Stop during Y axis operation F6 zs Z axis Stop Deceleration Stop during Z axis operation F7 Emergency Stop Internal Emergency Stop command during operation F8 Origin return Origin return command by 5 origin return method setting F9 m Floating origin Pg f im setling Software origin setting F10 Be Speed Position Converts the speed control to position control during Alt 4 1 switching Speed control operation Position Speed Converts the position control to speed control during el ads Me i Alt 2 switching position control operation 2 SKIP operation SH the current step in operation and operate the next Alt 3 ra Continuous The operation continues without stop section from the oo Alt 4 operation current step in operation to next step Auto oweration point In case of manual operation JOG Inching operation ati gin P after positioning completion it returns to the position of Alt 5 positioning completion T M Code OFF Release command if M Code occurs Alt 6 fg ZONE output The command to permit external ZONE output if the Alt 7 permitted current position in operation is in ZONE 1 2 3 section fag ZONE output The command to prohibit external ZONE output if the Alt 8 n prohibited current position in operation is in ZONE 1 2 3 section The command to permit the operation by manua
332. ommand in the deceleration section gt In case of using With mode or After mode from M code mode M code ON signal should be OFF to reset 2 After internal emergency stop external emergency stop external input high low limit Soft high low limit gt if encounters internal emergency stop external emergency stop external input high low limit and soft high low limit the positioning module shall be output prohibited state origin unsettled state gt Thus if release the output prohibition settle the origin again homing start floating point setting and gt carry out the start it carries out the reset from the setting operation step no 3 6 Homing gt Homing is carried out to confirm the origin of the machine when applying the power gt in case of homing it is required to set homing parameter per axis gt For further information for homing parameter please refer to Article 4 1 4 6 and 4 7 gt If the origin position is determined by homing the origin detection signal is not recognized during positioning operation 3 6 1 Homing method gt Method by approximate origin approach DOG Homing processing method by approximate origin approach DOG has 5 kinds of method as follows 1 Origin detection after approximate origin OFF 2 Origin detection after deceleration when approximate origin ON 3 Origin detection by approximate origin gt Method by Non approximate origin 1 Origin detection
333. on Therefore acceleration section and deceleration section is controlled by JOG acceleration deceleration time gt Jog high speed setting range G4 6F PP1 2 30 gt 1 200 000 unit 1pps G4 6F PP1 2 3D gt 1 1 000 000 unit 1pps notices when setting the high speed Bias speed lt Jog high speed lt Speed limit 5 3 11 JOG Low Speed p JOG low speed operation has operation pattern as acceleration constant speed deceleration section gt Jog low speed setting range G4 6F PP1 2 30 gt 1 Jog high speed G4 6F PP1 2 3D gt 1 Jog high speed 5 3 12JOG Acceleration Deceleration Time gt This means JOG acceleration deceleration time when Jog high speed and low speed operation p gt JOG acceleration deceleration time setting range 0 65 535 unit 1ms 5 3 13 Inching Speed gt The speed necessary for inching operation is set here gt Inching speed setting range 1 65 535 unit 1pps CHAPTER 5 Positioning Parameter amp Operation Data 5 4 Common Parameter Here describes Common parameter C m J Auto Reload 4294967295 Z Phase Clear 0 Disable ZONE Output Mode 0 Seperate Ouput ZONE1 Axis Sis ZONE3 Axis D X ZONE2 OFF Area D pls ZONE3 ON Area D pls Configuration of Common Parameter Items Setting Range Initial value Pulse output level 0 Low Active 1 High Active 0 0 CW CCW 1phase 1multiplication 1 CW CCW 1phase 2 multip
334. on P0012 X axis error status gt If P0045 is ON it carries out Point operation for X axis step no 1 step no 10 step no 20 in order by one time start 9 18 Chapter 10 GM Program Chapter 10 GM Program 10 1 Before using Program gt As the information for the action of positioning module can be read in detail by output variable of Operation status code information read APM CRD and Current operation status Bit information read APM SRD these two function block should be applied for all program gt Especially 7 types output variable of Current operation status Bit information read APM SRD should be used as protection circuit to prevent errors when using each function as these output variables provide operation information of positioning module Function Output um block variable Description ERR Error indicates Current error code CA Current Address indicates Current position address APM_CRD CV Current Velocity indicates Current operation speed STEP Current Step Number indicates Current operation data no MCD Current M Code Number indicates Current M Code no n operation 0 Stop 1 BUSY Error status Positioning completion ST1 M Code ON signal 0 Off 1 On Origin fixing status 0 not fixed 1 fixed Pulse output prohibit status 0 enable 1 prohibit Stop status No used High limit detection Low limit detection Emergency stop
335. on deceleration no 1 2 3 4 respectively 5 5 9 Operation Speed gt Operation speed is set within the range that does not exceed Speed limit of basic parameter gt Setting range of operation speed unit pulse 1 200 000pps G4 6F PP1 2 30 1 1 000 000pps G4 6F PP1 2 3D 5 5 10 Dwell Time gt This is the waiting time before carrying out the next positioning operation after completing one positioning operation gt Setting range is 0 50 000 setting unit X1 gt Especially in case of using SERVO motor this is the data to set the waiting time by the stable stop state as positioning module is in the stop state but actual SERVO motor does not reach to the goal position or in transition state gt While dwell time is active the corresponding axis of positioning module maintains ON of the in operation state and if dwell time proceeds in operation state becomes OFF and the positioning end signal becomes ON Chapter 6 Software Package Startup Chapter 6 Software Package Startup p This chapter describes the Startup of Software Package 6 1 Startup Display Configuration 6 1 1 Display Configuration of Command 1 3 axis ToArtide6 2 1 ll nu ToAideG24 T Configuration of Command 1 Chapter 6 Software Package Startup 6 1 2 Display Configuration of PST and Command 2 1 2 3 axis F ad Dl zd mem Daja POS mM alie J pis Snap
336. on menu or click the corresponding icon from basic tool gathering 2 After entering circular interpolation method direction information starting point Ending point and middle point data from circular interpolation dialogue box press execute simulation button p gt Function Description Execute environment A Circular interpolation simulation is available to carry out simulation by using the Middle point method Center point method and circular interpolation direction setting CW CCW If you press Help Button the help dialogue box shall be displayed 4 25 Chapter 4 Software Package Middle point method The following shows the result of simulation by Middle point method of circular interpolation Fei eatin Cures ind Damme Ler ali chr enden umije m E kir maf B x Gs x Fh dam dum 5 pa ha x feuda Fig 31 Circular interpolation simulation by Middle point method A Middle point method is the method for simulation by calculating the middle point matching with the starting point and ending point with the coordinate of starting point the coordinate of ending point and the coordinate of middle point In this case as the direction shall be determined according to the position of middle point the user can not change it by random B It is not available to match the starting point and the ending point the ending point and middle point with the starting point and the ending poin
337. on mode End Operation step no 1 Operation step no 3 Start command PRS E Axis operation Axis error information information d p s AL E I E 1 E dts ur Axis operation Axis error information information wr mer Program 3 6 End Operation Homing 3 23 Software Package Setting ircul i i Step Y Control Operation Operation up Stet a M Acc Operation Dwell y girle Coordinate position interpolation aux speed time interpolation No method pattern method code dec No PCS pulse point pulse pls s 1 direction 1 Absolute Position End Single 10000 0 0 1 1000 0 CW 2 Absolute Position End Single 20000 0 0 1 500 0 cw 3 Absolute Position End Single 30000 0 0 1 1000 0 cw 4 Absolute Position End Single 40000 0 0 1 500 0 cw Program Chapter 3 Function 3 2 2 End Operation Repeat 1 With one time start command the positioning to the goal position is executed and the positioning shall be completed at the same time as the dwell time proceeds 2 The operation type of Repeat operation mode is same as that of Single operation but the different thing is to determine next operation by operation step no assigned by repeat step no change command after positioning completion of Repeat operation mode 3 Therefore if Repeat step no change command was not executed the step no
338. on stop command is entered after execution by positioning start If the operation stops by deceleration stop command it becomes origin unsettled state gt Speed control contains 2 types of start Normal direction start and Reverse direction start Normal direction when position address is positive number 0 included Reverse direction when position address is negative number gt In case of using speed control the following items of positioning data does not effect Goal Circular Operation Dwell Circular Items of Step Control Operatior Operation d M Acce s 1 M Coordinate method ae Sate position interpolation aux coda dece No speed time interpolation Position Data i p pulse Point pulse piss D direction Items that does not effet A A gt In case of using M code please use only With mode If using After mode M code ON signal does not output gt In case of changing the operation step no it is required to use Start step no assignment gt When using the current position during operation it is required to set Position during Equal speed operation from Extended parameter of S W Package as Indication The current position can be displayed only in the state that the origin is determined gt Action Timing Setting speed Dwell time On Start command f In operation i It does not ON
339. on switching quiis axes Exe o EETE RR AUTE ex aS EOERE EUR REDE Ea kn 9 5 9 2 9 Position Speed switching esses iex thecae ted e erae rp oL Ma a 9 5 Poi 9 6 9 211 Sldp Operation fet robrasic tide uM Urb Ple Sal eed el ci Ri Id 9 6 9 2 12 Position Syrichr mzallOrizess vede zara qu enn a REY VER GER Qo Y WAR Ea e va 3a AA GA 9 6 92 13 Speed Synchronizatio Nisse ii iee eier v ad vacua uve nee ov wav DUC GOR LE ED ee a A EO a 9 7 9 2 14 Position OVerride eierced ruts vie d vele XIR EYATuER 2 EVE TAXE OE UNT XD EVER YR EA X Ru Td 9 8 9 215 Speed Override sects ei Sex Eo ev E d rn Mp E Ee AERA XEDAU TRIS EEEN ETENN 9 8 9 2 16 Positioning Speed OVeITIde oi cens c ei ie ORE ORA OH CODI ORE C ER 9 9 9 2 17 Continuous OD6erali r xe kis err vk v XE EE Xa TY WR Rick Eva EY YR EG EX EEE RE EE RIEF Y ts 9 9 9 249 In hing Starte eese esau ob tee atas inue s est aei ene ouest rius 9 9 9 2 19 Automatic Operation Point Return Function seeeseenn n 9 10 9 2 20 Start Step Number Changes iren eis vu ka x kay eR ER ARX RE R ER AERE TERR LERRA a Ya 9 10 9 2 21 Repeat Step Number Changeissssmeesvause ert ace eraot cinemas es 9 10 9222 M code release ensia vealed dives Saa veo rede od acu D Ones ER rr FEE a 9 11 9 2 23 Current Position PIeSet v sei usu cere vxore ew rco OX COT XC CERRO ODORE OX CR 9 11 9 2 24 Zone Output Permitted oosieeced i Larisa eode d cwicen a oa epu aend alvi voe acpdl ua 9 11 9 2 25 Zone Output Pr
340. oordinate melhed pattern method position interpolation aux eade dece No Speed time interpolation data pulse Point pulse n pls s O direction Position X Setting 1 Relative control End Single 13000 10000 0 1 1000 0 Cw Posit Y Setting 1 Relative ish End Single 9000 7500 0 1 1000 0 cw lt Command Window gt The Program is same as Program 3 3 Circular interpolation Step 1 Execution operation Subordinate axis Y 3 11 Chapter 3 Function 2 Circular interpolation control by Center point assigned method This is the Circular interpolation control to assign the Goal address of circular interpolation and the center point of circle 1 Control by Absolute method Absolute coordinate A This carries out the circular interpolation to Goal address by the circle whose radius is the distance from Start address to the assigned Middle point address Normal Action by circle interpolation Goal address Center point of circle Reverse Normal Reverse B If Goal address equals to the Start address the positioning for the circle whose radius is from Start address to the center point of circle shall be done Normal Start address Goal address Center point of circle Reverse Normal Reverse C Circular interpolation control can be not used with control unit Degree D Transfer direction shall be determined by S W package or Program Chapter 3 Function Ex
341. oordinate operation in origin unsettled status Check the step coordinate to operate and the current origin determination status After setting the origin by homing command or floating point setting command it is available to carry out the Absolute coordinate operation Check the setting of main axis and subordinate axis of circular interpolation command Slo Check if Driver ready signal of main axis is OFF when P giving circular interpolation command Sto Check if Driver ready signal of subordinate axis is OFF p when giving circular interpolation command Check if the unit of basic parameter of circular interpolation command main axis is set as Degree Check if center point or middle point is set as the same position of starting point or ending point in the circular interpolation Check if the circular interpolation method of common parameter is set by middle point and the starting point is same as the ending point The radius of circle available to carry out the circular interpolation operation is upto 2e31 pulse Check if it is available to carry out the circular interpolation by the radius greater than that size Check if the circular interpolation method of common parameter is set by middle point and the middle point is Set by linear array with starting point and ending point The radius of circle to carry out the circular interpolation operation should be greater than Backlash compensation amount set in the extended parameter
342. op processing gt If the prompt stop cause occurs during deceleration stop the processing is as follows Positioning speed Deceleration stop caus Prompt stop cause Stop position by deceleration stop cause N Stop position by prompt stop cause gt Prompt stop causes Internal external emergency stop External input high low limit Soft high low limit 3 35 Chapter 3 Function 3 4 3 Interpolation Stop 1 If encounters stop command during interpolation operation 2 axis 3 axis linear interpolation 2 axis circular interpolation it carries out the deceleration stop 2 If indirect start command is executed in the current step when reset after deceleration stop it continues the operation to the goal position of positioning operation data In this case the operation is carried out differently according to Absolute coordinate and Relative coordinate 3 The stop command during interpolation operation is available for internal deceleration stop and external deceleration stop 4 The deceleration stop command should be executed in the main axis that is in interpolation operation 3 4 4 Emergency Stop 1 If encounters the emergency stop while executing the start related command indirect start direct start synchronous start synchronous start linear interpolation start circular interpolation start homing start jog start inching start it carries out the prompt stop 2 Emergency stop ha
343. or speed Jog This is a kind of manual operation and carries out Jog action by the setting value such as Jog high speed and Jog low speed of manual operation parameter without setting the operation data If Jog operation is ON for a long time the error occurs by stroke high low limit value KPPS Abbreviation of Kilo pulses per second 80kpps equals to 80 000pulse sec Limit switch This is the switch to stop the moving object on both sides of moving device for the safety The circuit is pressed by the object moving the switch to activate the contact and will be activated by the forced power off For example press the actuator as below to activate the internal micro switch There are several types Linear interpolation Linear interpolation operation acts two motors at the same time for horizontal feed and longitudinal feed to move the objects diagonally through positioning Appendix 1 6 Appendix 1 Positioning Terminology module 3 motors can be active It is required to set the same number of positioning operation data per axis Load inertia ratio Refer to GDLZ GDM GD terminology Low inertia motor This is the motor used when the frequent acceleration deceleration repeats In case of low inertia motor the diameter of motor is reduced and the longitudinal is longer to cover the torque This enables the inertial moment to reduce by 1 3 of standard motor The ideal load inertia ratio is greater than or sm
344. osition degree 2147483648 2147483647 X0 degree lower 1 pulse 2147483648 2147483647 pul se 3694 8094 12494 Circular interpolation aux Position upper 1 0 1 2 000 000 000 XIO rb 3695 8095 12495 Operation speed lower Inch 1 2 000 000 000 X10 2l nch nj ree 1 2 000 000 000 X10 degree ni 400 3696 8096 12496 Operation speed upper je se 1 1 000 000 pul se s dg 3697 8097 12497 Dwell time 0 50 000 ms 3698 8098 12498 M code no 0 65 535 Control method bit 0 O position control 1 speed control Control method bit 1 O single 1 repeat Operation pattern bit 3 2 0 End 1 Go on 2 Continous 3699 8099 12499 Coordinate bit 4 0 Absolute 1 Relative Acceleration deceleration no 0 3 bit 6 5 ae interpolation direction 0 CW 1 CCW 1 As circular interpolation operation is not possible in degree unit it is not available to set circular interpolation aux position 8 5 Chapter 8 MK Internal Memory and I O Signal Tn o eee 2 Operation Data Setting 1 Operation data can set the operation data 1 400 steps per axis 2 For Internal memory address of operation data 1 400 steps please refer to Appendix 2 3 The setting of operation data 1 400 steps is all same 4 Control words of Operation data no 1 step X address 108 _b15 b14 b13 b12 bll b10 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 Y address 4508 Z address 8908 Cont
345. out ificati y y z Signal Name SEVA On axis axis axis positioning condition external 21A 1B 21B FP Pulse output differential gt 22A 2B 22B FP Pulse output differential gt 23A 3B 23B RP Pulse sign differential gt 24A 4B 24B RP Pulse sign differential gt 25A 5B 25B OV High limit i 26 6B 26B OV Low limit lt 4 27A 7B 27B STOP External stop signal 28A 8B 28B DOG Approximate origin lt 29A 9B 29B VTP Speed Position switching signal lt Start lt e External x 30A 10B 30B ECMD caniniand sonal Skip lt 3 JOG Forward lt l z 31A HB 318 JOG JOG reverse operation l Common c 2 SRI zeal ae OM OV 0V STOP DOG VTP_ECMD JOG 334 138 33B DRVIN Drive Unit Ready signal 1 34A MB 34B cou Drive Unit Ready signal Common c 35A 15B 35B HOME 24V Zero signal 24V lt 36A 16B 36B HOME COM Zero signal 24V 45V Common 37A 17B 37B HOME 5V Zero signal 5V lt 38A 188 33B P COM External SV 24V GND e no use in case of Line drive output 39A 198 398 5V External SV Power Input l lt no use in case of Line drive output aon 208 408 24V External 24V Power Input Z no use in case of Line drive output 1A MPG A Manual pulse generator Encoder A input 2A MPG A Manual pulse generator Encoder A input 3A MPG B Manual pulse generator Encoder B input lt 4A M
346. output 360 degree with 8 12 bit Incremental Encoder has the weakness to lose the axis position if power is Cut off But Absolute Encoder never loses the axis position even if the power cut off Several codes such as binary code and BCD code are available to output Absolute Encoder is more expensive elaborate and bigger than Incremental Encoder Absolute Coordinate Absolute coordinate uses 0 as a standard and indicates the address by the distance from 0 The direction is not fixed but automatically fixed according to the setting goal position address Another address system is Relative coordinate Acceleration Time This parameter acceleration time means the time that reaches to the speed limit value from the stop status Thus this gets to shorten in proportion to the reduction of the fixed speed Acceleration time shall be fixed by some factors such as mechanical inertial motor torque and load resistance torque Position Address This is the numeric value that indicates the positioning position by the units such as mm inch degree or pulse Position Address shall be read after setting by Relative coordinate or Absolute coordinate or written again by position teaching AFTER mode This is the mode to output M code after positioning after stop According to M code output drilling dimension can be selected or clamping can be executed Auto tuning The response and safety features of the machine run by Ser
347. peration 3 48 Chapter 3 Function 3 7 4 Return to the Position before Manual operation p gt This function is used to return to the position address that the positioning is completed before manual operation when the position is changed by manual operation Jog operation inching operation manual pulse generator operation gt The transfer speed is operated by the setting speed of homing low speed from manual origin parameter Program RC x 3T x 5m m o xcu Lory iF eee Axis operation Axis error information information 5T x cpm XS LG F re pa p e m E Axis operation Axis error information information wor Jest Ma an X Sn x xc PS 1 oT Jap ME operation Ms Sal information information WE ic dos TY zug xn pln Pe iB amr TEP STEP ASE BASES X n iit V Program 3 11 Return to the position before Manual operation p If the current position address in operation is A and the position address changed by manual operation jog operation and inching operation is B it returns to the previous position A before manual operation by return to the previous position before manual operation command 3 49 Chapter 3 Function 3 8 Speed Change during Positioning Operation 3 8 1 Speed Override Command gt Speed override command is used only in the acceleration constant speed section from operation pattern and the available operation mode is End ope
348. peration eSetting range 0 19 elf out of setting range Error 6 occurs UINT Operation step no setting when PTP operation ARRAY eSetting range 1 400 0 19 elf out of setting range Error 6 occurs 7 13 Chapter 7 Function Block 7 6 Manual Operation Function Block 7 6 1 JOG operation Jog Start APM_JOG This function is manual operation for test and is used to confirm the position address for the action of system wiring checking and teaching and the speed is divided into high speed and low speed If connection condtion of input variable REQ is ON the pulse is outputted by the setting value and when OFF it stops Function block Variable Description Rotation direction setting when JOG operation eSetting range 0 1 0 normal 1 reverse JOG speed setting when JOG operation eSetting range 0 1 0 Jog low speed operation 1 Jog high speed operation 7 6 2 Inching Operation Inching Start APM INC This is a kind of manual operation which is used when processing the detailed movement as quantitive operation Function block Variable Description The desired position amount setting to move by inching operation eSetting range 2147483648 2147483647 gt Inching speed is set by origin manual parameter of extended parameter of S W Package Chapter 7 Function Block 7 6 3 Manual Pulse Generator Operation Manual Pulse
349. peration data from data menu or click the corresponding icon from basic tool gathering Items Tool gathering Short cut key X axis operation data XD SHIFT X Y axis operation data YD SHIFT Y Z axis operation data Fill SHIFT Z Copy Bl CTRL C Paste amp l CTRL V Return v2 CTRL Z Revive e CTRL R Initial value setting None Table 8 Operation parameter and Operation data setting tool gathering Chapter 4 Software Package p gt Function Description Configuration APM software package shows 50 operation step items for each axis as initial value The user can change the step number of each axis through the environment setting function so oo om am me mr anc om omen 1 in Fig 11 Operation data screen Automatic range and data error check function With Automatic range and data error check function for each item it is available to modify the error directly through detailed error message when the user entered the data wrong If such data error occurs it will be restored as the previous value automatically Maintains operation data when making new working screen Even if the user makes the working screen again through offline online model setting while editing operation data item operation data information does not disappear and is maintained as it were Thus this is very useful in case of using operation data in several APM modules Editing
350. put pulse the position address decreases 6 Encoder input mode of common parameter should be set as one of Phase A B 2 phase1 multiplication 2 multiplication 4 multiplication 3 Encoder operation 1 Select one input mode from Encoder input mode of common parameter that corresponds to Encoder output signal of SERVO driver for the encoder operation 2 Encoder input speed available for Encoder operation is max 200kpps 8 Count value by encoder input shall be indicated as Encoder value 4 It is available to set the Count range of actual encoder value by Encoder Auto Reload value of common parameter Ex Auto Reload value 100 000 Indication range of encoder value 0 100 000 5 Encoder input mode has 7 kinds of input mode CW CCW 1phase 1multiplication CW CCW 1phase 2 multiplication PLS DIR 1phase 1 multiplication PLS DIR 1phase 2 multiplication PHASE A B 2phase 1 multiplication PHASE A B 2phase 2 multiplication PHASE A B 2phase 4 multiplication 6 The possibility of encoder operation shall be determined according to the setting of encoder input mode and the combination of pulse output type for encoder operation Input pulse type Output pulse type Possibility Phase A B 1 multiplication CW CCW O Phase A B 2 multiplication PHASE A B Phase A B 4 multiplication PLS DIR CW CCW PLS DIR 1 multiplication PHASE A B PLS DIR 2 multiplicati S multiplication PLS DIR m CW CCW CW CCW 1 multipli
351. r the output is 1 and it is maintained by the next execution If error occurs the output is 0 Indication area of error status e This is the area to output the error no if error occurs during function block execution 2 This is applied commonly to all function blocks to be described in Article 7 2 and the setting range of position and speed is shown as below and the position and speed to be described in Article 7 2 7 10 is based on pulse unit Posi ti on Speed Setti ng uni t Setti ng Range 2 147 483 648 2 147 483 647 puse 2 147 483 648 2 147 483 647 X10 2 147 483 648 2 147 483 647 X10 Inch 2 147 483 648 2 147 483 647 X10 degree ls s Open Collector output 1 200 000 pls s p Line Drive output 1 1 000 000 pls s 1 2 000 000 000 X10 min 1 2 000 000 000 X10 Inch min 1 2 000 000 000 X10 degree min 7 3 Chapter 7 Function Block 7 2 Module Information Read Function Block 7 2 1 Current Operation Status Code Information Read Status Code Read APM_CRD This carries out the monitoring by reading the current position address operation speed operation data no M code of the setting axis and it can be used as a condition for user s program Function Block Variable Description ERR Indicates the error information during operation CA Indicates the current position Address CV I
352. r Basic parameter setting Edge Within 1100ms 4 Baba SEP Set Extended Parameter Extended parameter setting Edge Within 1100ms 5 setting SCP Set Common Parameter Common parameter setting Edge Within 1100ms 6 SHP Set Homing Parameter Homing parameter setting Edge Within 1100ms 7 SMP Set Manual Operation Parameter Manual operation parameter setting Edge Within 1100ms Operation D 8 data SMD Set Move Data Operation data setting Edge Within 1100ms 9 ORG Return to Origin Origin return start Edge Within 5ms 10 DST Direct Start Direct start Edge Within 5ms 11 IST Indirect Start Indirect start Edge Within 5ms 12 jede LIN Linear Interpolation Start Linear interpolation start Edge Within 6ms 13 OTRA CIN Circular Interpolation Start Circular interpolation start Edge Within 9ms 14 SST Simultaneous Start Simultaneous start Edge Within 5ms 15 PST Point Start PTP start Edge Within 5ms 16 JOG Jog Start Jog start Level Within 6ms 17 Marsi INC Inching Start Inching start Edge Within 5ms Manual pulse generator operation eos 18 operation MPG Manual Pulse Generator Edge Within 6ms or encoder 19 RTP Return to Position Automatic operation position return start Edge Within 5ms 20 SSP Synchronous Start by Position Position synchronous start Edge Within 5ms 21 SSS Synchronous Start by Speed Speed synchronous start Edge Within 5ms 22 POR Position Override Position override Edge Within 5ms 23 SOR Speed Override Speed override Edge Within 5ms 24 PSO Position Speed Ov
353. r ST LST j F Axis operation Axis error information information Program 3 30 ZONE Output 3 73 Chapter 3 Function 3 23 Point Operation Point operation is the positioning operation available to operate by operation data of the step no set by one time start command and is called also Block operation It is available to set max 20 point p gt It carries out the point operation as much as the assigned point number from step setting Point 1 regardless of End Go on Continuous operation mode In this case the step no to be set should be set as the step no that starts at the very first in case of Go on or Continuous operation mode Example gt Software Package Setting Bemsot Sp Doug Convoi Operation Operaton oer eeaposton aun M A aset dme rtapoiton Positi on data no method pattern method pulse Point pulse code Dec no pls s D direction 1 Absolute Position End Single 1000 0 0 1 1000 20 CW 2 Absolute Position End Single 3000 0 0 1 2000 20 CW 10 Absolute Position Go on Single 6000 0 0 1 3000 20 cw 11 Absolute Position Go on Single 10000 0 0 1 4000 20 CW X Setting 12 Absolute Position Go on Single 15000 0 0 1 5000 20 cw 13 Absolute Position End Single 25000 0 0 1 6000 20 cw 20 Absolute Position Continuous Single 45000 0 0 2 7000 0 CW 21 Absolute Position Continuous Single 75000 0 0 2 8000 0 Cw 22 Absolute
354. r pol ati on aux poi nt Cperati on speed Low Hgh Low H gh Low H gh 10701 10702 10703 10705 11151 11152 11153 11155 10710 10711 10712 10714 11160 11161 11162 11164 10719 10720 10721 10723 11169 11170 11171 11173 10728 10729 10730 10732 11178 11179 11180 11182 10737 10738 10739 10741 11187 11188 11189 11191 10746 10747 10748 10750 11196 11197 11198 11200 10755 10756 10757 10759 11205 11206 11207 11209 10764 10765 10766 10768 11214 11215 11216 11218 10773 10774 10775 10777 11223 11224 11225 11227 10782 10783 10784 10786 11232 11233 11234 11236 10791 10792 10793 10795 11241 11242 11243 11245 10800 10801 10802 10804 11250 11251 11252 11254 10809 10810 10811 10813 11259 11260 11261 11263 10818 10819 10820 10822 11268 11269 11270 11272 10827 10828 10829 10831 11277 11278 11279 11281 10836 10837 10838 10840 11286 11287 11288 11290 10845 10846 10847 10849 11295 11296 11297 11299 10854 10855 10856 10858 11304 11305 11306 11308 10863 10864 10865 10867 11313 11314
355. r reset output prohibit release switch P0001 X axis synchronous stop switch P0002 Y axis start switch POOOE X axis synchronous start by speed switch POOOF Y axis stop switch P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal P0015 Y axis command receive signal P0016 Y axis signal in operation P0017 Y axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information M010 MO13 Y axis status information read operation status bit information axis information external I O signal status D0100 D0106 Y axis operation information read current position speed step no M code error information 2 Operation Order POOOE synchronous start by speed switch ON gt POO02 Start switch ON gt POOO0F Stop switch ON gt P0002 Start switch ON gt POOOF Stop switch ON gt P0001 synchronous stop switch ON gt If using Toggle switch when Y axis deceleration stop the error occurs 3 Operation Data Setting Operati Operati Goal VICUS Operatio Dwell Circular Items of Step Coordina Control P P m interpolation aux Acc De P interpolati a no te method on on position point M code cina lin speed time o Position data patte
356. rate 50 based on RS 422A Line Driver Level Am26LS31 If A phase input pulse precedes B phase input pulse the position address value increases If B phase input pulse precedes A phase input pulse the position address value decreases Speed Position switching signal DC 24V 4 7 DC 20 4 26 4V z DC 16V 3 1 2 3 lt DC 4V 1 0 Approx 5 1 CHAPTER 2 Specification 2 3 2 Output Specification 1 Pulse Output Specification Rated load Use load Max load current Max voltage Leakage Response voltage voltage range Inrush current falling ON current OFF Time Signal Name 500 1 point DC 5 24V DC 4 75 26 4V 2000 100 lt DC 0 5V 0 1 I Differential Line Drive based on Am26C31 only Line Drive pulse output type CW CCW type Pulse Sign type A phase B phase type can be selected from pulse output mode of basic parameter for program and S W Package gt The relation of Pulse output mode setting from basic parameter of PLC program or S W Package Pulse output direction setting from expansion parameter of PLC program or S W Package and Pulse Output Pulse output level setting from common parameter of PLC program or S W Package is as follows CW Pulse A pulse Selection of output signal level phase output Forward direction Reverse direction mode Forward Reverse Forward Reverse Pulse Sign CCW Sign B phase CW CCW Pulse
357. ration Go on operation Continuous operation gt The setting range is as follows Open collector type 1 200 000pps Setting range 1pps Line driver type 1 1 000 000pps Setting range 1pps Program pa rcu xs EL Axis operation Axis error information information ner g qum r RI Ut 1s mm xr AH IST BI o Ed E MM aD Axis operation Axis error information information a Ber Js a DT FEE Hi H ESTO xr P a an jam Axis operation Axis error information information STEP H Program 3 12 Speed Change gt If the difference between the current speed using in operation and the speed changed newly by speed override is too big abnormal motor operation will occur Thus cares should be taken in using p gt If speed override command is executed in deceleration section during operation Error 377 will occur and it continues to operate 3 50 Chapter 3 Function 3 8 2 Operation Step No Change by Continuous Operation P This is used in the operation mode End Go on Continuous operation and in the operation pattern Acceleration Constant speed Deceleration section gt If Continuous operation command is used during operation the current operation step no moves to the next operation step no gt According to the position data setting Absolute coordinate Relative coordinate there is a difference of action in the Continuous operation command
358. ration by setting command origin return operation JOG operation interpolation operation Speed limit A Bias speed i Positioning speed PN Setting action i Origin return speed JOG Speed T Bias speed not setting Interpolation operation aa action speed Acceleration j i Deceleration a me l ume p If Bias speed is set as high total operation time shall be reduced but if the setting value is too high it may cause the occurrence of impact sound in the start end time and forces the excessive effect to the machine Cares shall be taken in using P The bias speed should be set within the range as follows If origin return speed is set less than bias speed it occurs error 133 if positioning operation Speed is set less than bias speed error 153 and if Jog operation speed high speed is set less than bias speed error 121 respectively 1 Bias speed lt Positioning speed data 2 Bias speed x Origin return low speed x Origin return high speed 3 Bias speed lt JOG high speed Jog low speed operation is not related to bias speed CHAPTER 5 Positioning Parameter amp Operation Data 5 1 6 Speed Limit p max Speed available to set for positioning operation gt The setting range is 1 200 000 for G4F PP1 2 30 G6F PP1 2 30 and 1 1 000 000 for G4F PP1 2 3D G6F PP1 23 D unit 1pps p gt The operation speed of positioning operation origin return speed and Jog oper
359. ration pattern This is the action to be executed after fixing the positioning operation data 1 If selecting End the operation will stop after fixing the positioning 2 If selecting Go on the next step no shall be executed after fixing the positioning 3 If selecting Continuous the next step no shall be executed automatically without stop after fixing the positioning Homing method There are 5 types of Homing method The method is different according to machine structure stop precision etc Homing shall be executed after setting homing parameter 1 Origin detection after near point OFF 2 Origin detection after deceleration when near point ON 3 Origin detection by the origin and high low limit 4 Origin detection by near point signal 5 High speed origin detection Homing parameter This parameter is necessary for homing This is set by the machine design Thus for the change of this parameter the machine design should be changed in advance The origin is the basis for the action of positioning Thus as if the origin is lost because of the power cutoff during positioning the power shall be OFF and the machine is operated manually it is available to return the origin by carrying out the homing If homing command is executed the machine moves to search the near point dog regardless of current value and stops at the origin In this case the current value becomes the origin address in case of homing method by
360. rdinate axis is set as position control mode the operation of main axis repeats at the same time with the start and the stop The rotation direction of the subordinate axis is the same as the rotation direction of the main axis 3 If SSS command is executed at the subordinate axis it becomes the state in operation and maintains the state in SSS operation until the SSS command is released by stop command 4 When setting the Synchronous start by speed rate the main axis rate the subordinate axis rate If not error 356 will occur Subordinate axis rate Synchronous start by speed rate Main axis rate 5 If the speed synchronization command is executed in the state that M code is ON Error 353 will occur Thus release the M code before using 6 The setting of main axis is available for X Y Z axis Encoder 7 For speed synchronization by encoder input please refer to Article 3 7 2 Encoder Operation pulse input 3 29 Chapter 3 Function 3 3 4 Linear Interpolation Start APM LIN Rising edge 1 1 2axis Linear Interpolation Control 1 This function exists only for 2 axis or 3 axis positioning module G4 6F PP20 G4 6F PP2D G4 6F PP30 G4 6F PP3D and means the command to operate the 2 axis transfer path to be linear 2 As 2 axis act synchronously at the linear interpolation start cares should be taken in using 3 When 2 axis linear interpolation start command it is divided into the main axis and the subordinate axi
361. rmation of APM software package G External I O signal window Available to confirm the external I O signal of each axis during monitoring H Status line Indicates the information of APM module characteristics and position the information of telecommunication environment status and max min operation parameter etc error history window A Display available to confirm the specification of errors occurred while executing the commands by every 10 of each axis Table 1 Function description of APM software package initial display 4 4 Chapter 4 Software Package gt APM software package has Show Hide function for all parts such as error history window external I O signal window working space etc This function is shown on View menu and the function description is shown on the following table Items Action description Short cut key Main tool gathering Shows and Hides Basic tool gathering refer to Fig 1 SHIFT U Command tool gathering Shows and Hides Command tool gathering SHIFT K Tracking tool gathering Shows and Hides Tracking tool gathering SHIFT L Status line Shows and Hides Status line SHIFT S Working space Shows and Hides Working space and Command window SHIFT W External I O signal Shows and Hides External I O signal window and Status SHIFT V Status display display Error information Shows and Hides Error history display SHIFT E
362. rn method pulse pulse pls s Ul direction X setting 1 Absolute Speed End Single 0 0 0 1 1000 100 CW Y setting 1 Absolute Speed End Single 0 0 0 1 1000 100 CW 4 Synchronous start by speed setting Main axis 1 Y axis 4310 Command Main axis rate 100 4311 Address of Internal memory 1 Subordinate axis rate 50 4312 Chapter 11 MK Program 2 Program yi i O a 00001 04370 MOOO 00000 f I aE1 0000 04374 Do0000 0000 PH dy EN GET 00001 08770 MO10 00004 oF GET 00001 08774 D0100 00007 PO Tt in 0 P0012 J PUTP 0000 04317 0000 00001 J PUTP 00001 04300 00038 000001 Poos P0017 j PUIP 0000 08717 0000 000 L o Pu 0000 08700 0003 000 EL in i Pool P0012 H ni PUTP 00001 04300 00010 00001 j pe i POOIB P0017 di f J PUTP 00001 08700 00010 00001 j POODE m Pool PODI2 PODIS PODI7 l J l j J PUTP 00001 04310 0000 0000 J o PUIP 0000 0431 00100 0000 J PUTP 00001 04312 00050 00001 L L PUTP 0000 04300 00013 00001 f PD002 PODIB PODIB P0017 IB J J PUTP 00001 08701 00001 00001 J PUTP 0000 08700 00004 00001 f 1 14 Chapter 11 MK Program 11 2 11 Emergency Stop 1 Description 1 Used device Device Descript
363. rnal input P0001 X axis low speed normal direction Jog external input P0012 X axis error status P0021 X axis normal direction Jog P0022 X axis reverse direction Jog P0023 X axis low speed OFF high speed ON But in this case the I O word no of positioning module is P0010 POO2F gt If you carries out Jog operation by adding the signal PO n 1 1 PO n 1 6 PO n 1 B as Normal Close B contact input while operating in the Jog operation input condition it occurs the malfunction Thus it is not allowed to use it Chapter 8 MK Internal Memory and I O Signal 4 MPG Operation or Encoder PO n 1 4 P0 n 1 9 PO0 n 1 E 1 MPG operation Encoder signal is Level Input Thus when it is ON the encoder of internal memory address 4391 4391 shall be pulse output for X Y Z axis and when OFF the pulse output will stop 2 The operation per axis by MPG operation Encoder is available to carry out MPG operation Encoder by X Y Z axis at the same time 3 MPG operation Encoder is available to use the Manual Pulse Generator MPG and the Encoder signal of SERVO driver as external input For further information of Encoder pulse input mode please refer to Chapter 5 Positioning Parameter and Operation Data 4 Example of MPG operation Encoder Program GET 00001 4381 DOOQ 00002 PO00 PoOI2 P0024 e e 75 P0002 X axis MPG operation Encoder permitted external input P0012
364. rol method 0 position control l speed control Operation method No use 0 0 single 1 repeat Operation pattern 00 End 01 Go on 10 Continuous 11 no use 0 Coordinate 0 Absolute 1 Relative Acc Dec time no l 00 no 1 acc dec time 1 01 no 2 acc dec time 2 10 no 3 acc dec time 3 11 no 4 acc dec time 4 Circular interpolation direction 0 CW 1 CCW 8 6 Chapter 8 MK Internal Memory and I O Signal 8 1 7 Command Information 1 Contents of Command Information Address X Y Z 8600 13000 Point operation setting 1 8601 13001 Point operation setting 2 8602 13002 Point operation setting 3 8603 13003 Point operation setting 4 8604 13004 Point operation setting 5 8605 13005 Point operation setting 6 8606 13006 Point operation setting 7 8607 13007 Point operation setting 8 8608 13008 Point operation setting 9 8609 13009 Point operation setting 10 8610 13010 Point operation setting 11 8611 13011 Point operation setting 12 8612 13012 Point operation setting 13 8613 13013 Point operation setting 14 8614 13014 Point operation setting 15 8615 13015 Point operation setting 16 8616 13016 Point operation setting 17 8617 13017 Point operation setting 18 8618 13018 Point operation setting 19 8619 13019 Point operation setting 20 Point operation number 1 20 Command information Setting range
365. rom file menu or select the corresponding icon from basic tool gathering 2 Select open file from file menu or select the corresponding icon from basic tool gathering 3 Select set online model or set offline model from model setting item or select the corresponding icon from basic tool gathering Items Tool gathering Short cut key New file O CTRL N Open file CTRL O Set online model a SHIFT N Set offline model g SHIFT B Table 3 Make working screen related tool gathering gt Function description APM module axis number fixing when making Working screen When making Working screen after selecting new file the working screen is composed with the assumption that it is basically APM 1 axis module and thus the user can not edit other axis except X axis in the monitoring display operation parameter operation data display But if the user makes new working screen by using new file item after setting the APM module axis number by set online model or set offline model already the user can make the working screen using the previously setting APM module axis number information 4 3 2 Save Working screen p gt Method 1 Select Save or Save as other file name from file menu 2 Write the file name and save it it is saved as file name apm Items Tool gathering Short cut key Save working screen E CTRL S Table 4 Save working s
366. rp 00002 04300 00017 0000 023 P0030 P0032 P0032 IJ RE PUTP 00002 04301 00010 00001 LC LC PUTP 00002 04300 00020 go001 P0024 P0030 P0032 P0032 L To E S DBINP PDOD poo PUTP 00002 04304 D0100 00002 PUTP 00002 04300 00015 o0001 POO2F P0031 P0032 peppy o ee L His le alala de 11 50 Chapter 12 Operation Order and Installation Chapter 12 Operation Order and Installation 12 1 Operation Order gt Here describes the Operation order in case of positioning operation by positioning Start Select pulse output type of positioning module Y ns A Fi x posi ti oni ng operati on nethod and control unit Install positi oni ng software package to conputer Y Posi ti oni ng data preparati on by softvare package p Posi ti oni ng paraneter X Y Z axis gt Qration data X Y Z axis Y Install positi oni ng nodul e to the base y Positioning module drive machine motor connection between external machine y Dive Unit Ready signal high low linnt signal energency stop Si gnal shoul d be CN in viri ng v Cable connection between Computer and RS 232c port of CPU Y Pover application to PLC system y Posi ti oni ng nodul e systemtest y Setti ng data wite by positi oni ng nodul e on PC
367. rror description Module action pen Line zode rt range without acc decz Time pF ibas 0 se Asjust acc dec time within the setting range 0 65535 Max speed of basic parameter is more than 1 and less than 101 Max Speed of basic parameter exceeds the range pe ow Solution 200000 for OpenCollector and more than 1 and less than 1000000 for Line Driver based on pulse unit Bias speed of basic parameter exceeds the range asec ae ee ee Pulse output mode of basic parameter exceeds the Stop range Soft upper lower limit of extended parameter exceeds the S W upper limit of extended parameter should be greater 111 Stop m range han or equal to S W lower limit of extended parameter 112 St M code mode of extended parameter exceeds the range O Pulse output mode of basic parameter is 0 CW CCW 1 Pulse Dir 2 Phase A B Select one from these three modes M code output of extended parameter is 0 None 1 With 2 After Select one from these three modes p 113 S curve rate of extended parameter exceeds the range Stop Modify Aes curve fate ol axtanded parameter e Ba more han 1 and less than 100 External command selection of extended parameter exceeds the range Jog high speed of manual operation parameter exceeds the range Jog low speed of manual operation parameter exceeds the range Inching speed of manual operation parameter exceeds the range Homing mode of homing parameter exceeds th
368. ru edil 3 20 322 4 End Operation Sindle ex sss ca exeun wee ener x x AREE Ce XXe RENE CE EE nena Ca XX ER 3 21 3 2 2 End Operation Repeat s iii ers iork i ter er kr day pex va exo d EUER CUXR ER E CR decane 3 23 3 2 3 Go On ODOFSltlDIIusoauxezoa vaa ur vie EYE d rw sudan niu WAHR BAR QUCO V V RODA a e EI dA C 3 25 3 2 4 Continuous Operador xcv e Ee Ev Xn pk v n a eas V Oo CREE 3 26 3 3 Positioning Start ioo i oa e o reca ee ER Od de VS 3 27 3 94 eel SUdiivvs endi prave tora bia recone TR Vra AN EATON CORRER bis a aud 3 27 1 Program Start s ear ce att del aed DR i E ERR E EE CR Cet E DONDE e 3 27 2 Start by External Input Sidn lu iioii rk rar EE ERR CEE ERE ERR ida Er E Ra 3 27 3 3 2 Simultaneous Stait ser maina a aa a a retos ue a A A esf aei 3 27 3 9 9 Synchronous Statt reier ada rad Qe CUR dcr Aca E DPCION Kup A RA 3 28 1 Position Synchronous Starts cede edu ea xax eee a X Cree T YES X X ode YR AX as 3 28 2 Speed Synchronous Staltussraveese ver iara eer epo tla ERE PF HER EPIS Eo Pa T E Pda 3 28 3 3 4 Linear Interpolation Siart i226 aa y yo gun 3a aii nexa ead a re E da e a PDA 3 29 1 2 axis linear interpolation control vies sein cae cc ani err nn rn Ru nnn tn xxn nn 3 29 2 3 axis linear interpolation CONTI Olin visse dee eie ah ecce eatem cewipod a iun 3 29 3 3 5 Circular Arcs Interpolab rt SIBrfos suisque veda wav ko a eeu RR 0a ve RI dE RERR Tov dura d 3 30 1 Circular interpolation
369. ry out circular interpolation start when circular interpolation subordinate axis is in output prohibit status EMEN am s ie Not available to carry out circular in when M code signal of circular interpola ON Not available to carry out circular in when M code signal of circular interpola axis is ON erpolation start ion main axis is erpolation start ion subordinate Not available to carry out absolute coordinate positioning operation when circular interpolation main axis is in origin unsettled status Not available to carry out absolute coordinate positioning operation when circular interpolation subordinate axis is in origin unsettled status Not available to carry out the operation as the main axis and subordinate axis is set as equally during circular interpolation No available to carry out the operation as SERVO ready OFF at the circular interpolation main axis ot available to carry out the operation as SERVO ready OFF at the circular interpolation subordinate axis Not available to carry out Degree operation in the circular interpolation Not available to carry out the operatin if start point 7 center point middle point or center point middle point End point in the circular interpolation The start point is not equal with end point in the middle point method of the circular interpolation Radius setting error in the circular interpolation ENEN pe oe ENEN Not available to carry
370. s M code 0 65 535 Position Override Position 2 147 483 648 2 147 483 647pls APM POR Speed 1 200 000pps G4F PP1 2 30 1 1 000 000pps G4F PP1 2 3D Position 2 147 483 648 2 147 483 647pls Positioning speed Override Speed 1 200 000pps G4F PP1 2 3O APM PSO 1 1 000 000pps G4F PP1 2 3D Current position preset Position 2 147 483 648 2 147 483 647pls APM PRS Encoder preset Position 2 147 483 648 2 147 483 647pls APM EPRE Start step change Step 1 400 APM SNS Repeat step change Step 1 400 APM_SRS Inching operation Inching amount 2 147 483 648 2 147 483 647pls APM_INC Simultaneous start Step no Linear interpolation operation Circular arcs interpolation Step 1 400 operation Aux 1 Aux 2 2 147 483 648 2 147 483 647pls Position synchro nous Step 1 400 operation Position 2 147 483 648 2 147 483 647pls Speed synchronous Main axis rate 0 65 535 operation Subordinate 0 65 535 Speed Override APM SOR X Y Z axis 1 400 APM SST Step 1 400 APM LIN APM CIN APM SSP APM SSS gt Click the right side execute button of the command contents and the command corresponding to the Icon will be executed gt The content of setting range is based on the case that the setting unit is Pulse In case that the setting unit range is mm inch degree please refer to Art 5 1 speed limit of basic parameter a
371. s 2 kinds of method Internal emergency stop and External emergency stop 3 In case of internal emergency stop error 481 will occur and in case of external emergency stop error 491 will occur 4 As in case of emergency stop it becomes output prohibited state and origin unsettled state it is required to execute positioning homing floating origin current position preset in case of operating by Absolute coordinate or in the positioning state in order to carry out the positioning operation 5 In case of 2 axis 3 axis module as 2 axis or 3 axis carries out Emergency stop synchronously in case of emergency stop it is required to use Emergency stop signal of SERVO driver when using the individual emergency stop in the SERVO driver 3 36 Chapter 3 Function 3 5 Reset after Positioning Stop 1 Reset after Deceleration Stop Command 1 When encounters the deceleration stop command in Acceleration Constant speed section gt First deceleration stop and then carry out the positioning operation by operation step set at the indirect start gt In case of using With mode of M code mode M code ON signal should be OFF to reset 2 When encounters the Stop command in deceleration section gt If reset after deceleration stop the next operation step of the current operation step no will act But in case of Go on operation Continuous operation the operation will continue by operation pattern without treating the deceleration stop c
372. s by the positioning transfer amount of 2 axis X Y Y Z X Z The speed data of the subordinate axis is processed as the following operation formula Main axis speed x Main axis distance Subordinate axis speed Main axis distance gt Terminology Definition Main axis the axis that has a large positioning transfer amount of the corresponding operation step no from 2 axis X Y Y Z X Z Subordinate axis the axis that has a small positioning transfer amount of the corresponding operation step no from 2 axis X Y Y Z X Z In this case the speed acceleration deceleration time bias speed of the subordinate axis shall be re calculated 4 The available operation mode is limited as End operation Go on operation 5 The operation speed of the subordinate axis during 2 axis linear interpolation operation is not indicated 2 3 axis Linear Interpolation Control 1 This function exists only for 3 axis positioning module G4 6F PP30 G4 6F PP3D and means the command to operate the 3 axis transfer path to be linear 2 3 4 5 As 3 axis X Y Z act synchronously at the 3 axis linear interpolation start cares should be taken in using The available operation mode is limited as End operation Go on operation The fast operation speed during the 3 axis linear interpolation operation is not indicated te ee eS For 3 axis linear interpolation operation if the axis information is set as X Y Z and the command axis
373. s not possible to reach the original position by backlash At this time it is required to add backlash compensation amount 1m movement right side normal Direction change 1m movement left side reverse Backlash Transfer amount including Backlash compensation amount CHAPTER 5 Positioning Parameter amp Operation Data p gt In case of G4 6F PP1 2 30 G4 6F PP1 2 3D the backlash compensation amount is outputted first and the address value of positioning operation inching operation and jog operation will move to the goal point A B C D Relative position PO P1 P2 P3 motor rotation out of load transfer P3 0 3000 compensation 5 2 3 Position End Output Time gt Position end output time shall be OFF after sustaining ON for the setting time after Positioning is completed during single operation repeat operation go on operation continuous operation linear interpolation operation circular arcs interpolation operation speed position switching operation position indication during equal speed operation inching operation and positioning end signal becomes ON At this time if all setting command is executed while positioning end signal is ON it shall be OFF And only in case that go on operation mode and continuous operation mode is ended completely the positioning end signal shall be outputted gt The setting range is 0 65 535 unit ms gt The action of single operation mode is as follows t Ti
374. s used to change the extended parameter during operation without using S W Package Function block Variable Description type UP_ Soft upper limit INST Ze LMT eSetting range 2 147 483 648 2 147 483 647 LOW_ Soft lower limit LMT eSetting range 2 147 483 648 2 147 483 647 BACK Backlash compensation amount LASH eSetting range 0 65 535 POS Positioning completion signal output time TIME eSetting range 0 65 535 unit S RA S Curve rate TE eSetting range 1 100 unit eif out of setting range Error 11 occurs ECMD External command signal selection SEL eSetting range 0 2 0 start 1 JOG operation 2 Skip operation eif out of setting range Error 11 occurs PLS_ Pulse output direction DIR eSetting range 0 1 0 CW 1 CCW PATT Acceleration Deceleration pattern ERN eSetting range 0 1 0 trapezoid 1 S Curve MCD M Code mode MODE eSetting range 0 2 0 None 1 With 2 After eif out of setting range Error 11 occurs PMON Position indication during equal speed operation EN eSetting range 0 1 0 prohibited 1 permitted LMT Soft upper lower limit detection during equal speed operation EN eSetting range 0 1 0 prohibited 1 permitted EVTP External speed position switching permitted prohibited FN eSetting range 0 1 0 prohibited 1 permitted ECMP External command permitted prohib
375. s used when acting without origin determination 2 Acceleration Deceleration Processing and Jog speed 1 The acceleration deceleration processing is controlled based on the setting time of Jog acceleration deceleration time from Software Package parameter setting gt Jog high speed low speed operation operation pattern with acceleration deceleration Speed Time 2 If Jog speed is set out of the setting range error will occur and the operation does not work Jog high speed operation 1 200 000 open collector type Setting range 1 1 000 000 line driver type Jog low speed operation 1 Jog high speed Setting range 1pps The notices when setting Jog speed is as follows 1 Jog high speed setting Bias speed lt Jog high speed lt Speed limit Speed Speed limit Bias speed 2 Jog low speed acts regardless of Bias sped and Speed limit 3 44 Chapter 3 Function Program T Ja ae D iE m REO DOM BE GES PEE Mer RESTA am jam snb xci nr Lm g oe v PE uT um jam rm E JMS zn icm ar X i 1 RE a xc 5 Die nmn EE xf T Te T Y 5I ME e x TE mE xs moO ami jij a A Axis operation Axis error information information Li BAR En RS Pher Ei FE Aor Axis operation Axis error information information T E IE ampa x mu 3 Eira zn zEF M Axis operation Axis error i information information E a 0 forward direction 1 reverse direction
376. scription P0000 X axis error reset output prohibit release switch P0001 X axis floating point switch POOOE X axis Jog low speed normal rotation POOOF X axis Jog low speed reverse rotation P0010 X axis command receive signal P0011 X axis signal in operation P0012 X axis error status signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 2 Operation Order P0001 Floating point switch ON OFF gt POOOE Jog low speed normal rotation switch ON gt POOOE Jog low speed low speed normal rotation switch OFF gt POOOF Jog low speed reverse rotation switch ON gt POOOF Jog low speed reverse rotation switch OFF 2 Program F0010 E m GET 00001 04370 MODO 00004 GET o0001 D4374 D0000 00007 POOOO P0010 P0012 E PUTP 00001 0431 7 00001 00001 PUTP X 00001 04300 00036 00001 da Le dg l PO00 1 P0010 POON P0012 1 H Purp ooo01 o4s300 00002 00001 000E VE RST P0023 P0Q2I me POOOF AST P0023 P0922 N oaa Chapter 11 MK Program 11 2 13 Manual Pulse Generator or Encoder Operation 1 Description 1 Used device Device Description P0000 X axis error reset output prohibit release switch P0001 X axis homing switch P0002 X axis MPG operation permit P0003 X axis MPG op
377. se euo ctr rne e Extr rer Rn ena e 4 32 CHAPTER 5 Positioning Parameter amp Operation Data 5 1 Basic Parameter SEES tm 5 2 5 1 2 Number of pulse per 1 rotationiscciivice ves cesvsasocievive cde Fn Ed ka ER ER ds 5 o3 5 1 3 Transfer distance per 1 rotation and unit alloCation cceeeeeeeeeeeeeeeeeeeeees 5 39 5 4 Pulse Output MOOG reside occae epE nre Roo RE n Drac De REF ur cen un DERER DR rae TR Ud 5 4 5 15 Bids Speed conne hod im can ia EE ri ant Ur RE E cr t x E E e Ea E d 5 5 bi 5 Speed Limit 10 aedis acne dass adco Kekse sape Pawan yuan as dps TEE br pA apps 5 6 5 1 7 Acceleration Deceleration TMs cs dodici ee ae Vae zr inte eo a Cea at 5 6 5 2 Expansion Parameter nci ceni dira Ded ch reb etr ED CRI 5 7 5 2 14 S W High Low TRU ede o n co Porc n re abc Se ca d 5 8 5 2 2 Backlash Compensation Amount sess 5 8 5 2 3 Position Completion Output Tims vicus ecu ie ey n ae xa exa E sa NI RC on E n 5 9 5 2 4 External Command Selectlortesis a2 ien oco aa et eem uan Len nr REA ERE RR CR ERE Rd dd 5 10 5 2 5 Pulse Output DIaG tiolhabsseecstedietesvu erudi teeth eswrest ola vsu baton 5 10 52 M Code QUIDUE visco cedo BO C e nae Oa c o al A E E OO DH OE o RR 5 11 5 2 7 External GOmmarndazsscvosss ea ER E XE XR ERE OR ERO ON A E OE ER EXER CREE OA 5 13 BOGE xtetfidi Stop vocssicictasaisaan nie a NEA E EE T iNe 5 13 5 2 9 External SimiultatlegusStaites os vt oe exu pU den x op E ER DEM n ENEREE RUE RU RARUS raid E 5 13
378. selected from 3 axis executes the linear interpolation command 3 axis will carry out the linear interpolation operation synchronously In this case the 3 axis operation step no that carries out the interpolation operation shall be the same step no for interpolation opeation 6 The division of the main axis and the subordinate axis is the same as the case of 2 axis linear interpolation operation 3 30 Chapter 3 Function 3 3 5 Circular interpolation Start This function exists only for 2 or 3 axis positioning module G4 6F PP20 G4 6F PP2D G4 6F PP30 G4 6F PP3D and means the command to operate the 2 axis transfer path to be circular gt As2 axis X Y Y Z X Z act synchronously at the 2 axis circular interpolation start cares should be taken in using gt The circular interpolation operation has the method by center point and the method by Middle point and it is required to set the circular interpolation method in advance from Common parameter S W Package PLC program Parameter items Parameter content Setting content Common parameter Circular interpolation method 0 middle point 1 center point 1 Circular Interpolation by Center point 1 For the circular interpolation operation by the center point cares should be taken in setting the auxiliary data center point 2 The case that operates by using the setting value of aux Data as actual radius is shown as below This is the case that one from au
379. setting axis setting 0X LY ZZ 3 ENQQER 21407 483 048 2 147 483 647 XIO T Inch 2 147 483 648 2 147 483 647 X10 Inchl degree 2 147 483 648 2 147 483 647 X10 degree pulse 2 147 483 648 2 147 483 647 pul se Zone output node 0 individual output 1 overall output ZONEl Zonel output CFF positi on Zone output ON position Zone2 output CFF positi on Zone3 output ON position Zone3 output CFF positi on Grcular interpol ati on nethod 0 Maddie point 1 Center poi nt 1 G6F PP 10 30 G6F PP1D 3D shall not clear the encoder value in case of external Z phase input Example gt Program Status information operation information error reset is same as Program 3 22 Axis operation Axis error information information aE ea xc HFI a m OU i TIED D 2060 S operation Axis error p information i j 2 information bi BE JBESU DEI IFF E D ad E SSO EST A DE ce 7 a a l Ped am jan Y F Axis operation Axis error zs information information pune if Ax rS TIMES E 208 E Aul CME IE sie d i NME HF TU E CiP_IMIE zmr Hp zr T IK XT Program 3 26 Common Parameter Setting 3 69 Chapter 3 Function 3 19 Operation Data Setting gt The items available to change is as follows Qper ati on Data Set ting Range Goal posi ti on g 2 147 483 648 2
380. signal P0020 X axis start signal M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 3 Operation Order P0001 Homing switch ON OFF gt POOOF Start switch ON OFF gt P0002 M code release switch ON OFF gt POOOF Start switch ON OFF gt P0002 M code release switch ON OFF gt P0002 M code release switch ON OFF gt POOOF Start switch ON OFF gt P0002 M code release switch ON OFF gt P0002 M code release switch ON OFF D Please refer to Start command M code OFF command of Operation pattern 4 Operation Data Setting Items of Position data pous sse scs2e22 X setting Operati Operati Goal rular Operatio Dwell Oeil Step Coordinat Control m interpolation aux Acc De interpolati on on position M code n speed time Y memod attern method pulse point Cang pls s D eh p p pulse P direction 1 Absolute Position End Single 10000 0 1 1 1000 100 CW 2 Absolute Position Conti Single 20000 0 5 1 1000 100 CW 3 Absolute Position Conti Single 30000 0 10 1 2000 100 CW 4 Absolute Position End Single 40000 0 20 1 3000 100 CW 5 Absolute Position Go on Single 50000 0 30 1 4000 100 CW 6 Absolute Position End Repeat 0 0 40 1 5000 100 CW
381. signal in operation P0012 X axis error status In case that X axis is operated by continuous operation mode if continuous operation Next Move command is executed it moves to next step and carries out the operation 9 2 18 Inching Start Command code 18 1 Program P0031 P0010 P001 1 P0012 E a ae DMULSP D0520 o00000001 D0530 PUTP 00001 04302 D0530 00002 PUTP 00001 04300 00018 00001 Chapter 9 MK Command 2 Description Device Description P0031 X axis inching start input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status D0530 Inching amount 1000 f P0031 is ON it carries out the reverse operation by inching operation speed set in origin manual parameter 1000Pulse 9 2 19 Automatic Operation Point Return Start Command code 19 1 Program P0032 P0010 P001 1 P0012 1 H H Pur oo 2 Description 04300 00019 o0001 Device Description P0032 X axis inching start input P0010 X axis command receiving P0011 X axis signal in operation P0012 X axis error status 9 2 20 Start Step No Change Command code 20 1 Program P0033 P0010 P001 1 PUTP Q0001 04300 00020 oo001 P0012 H a PUTP 00001 04301 00010 00001 2 Description Device Description P0033 X axis start step no change input P0010 X axis command receiving P0011 X axis signal in operation P0
382. sition of operation data of linear Stop interpolation step to carry out the linear interpolation is same as the current position in case of absolute coordinate and it is set as 0 in case of relative orrdinate Stop Check if there is the case that subordinate axis is not set or only one axis is set or the axis or the axis is not set when giving linear interpolation command Check if the control method of main axis operation data step to carry out the linear interpolation operation is set as speed control Check if the control method of subordinate axis 1 operation data step to carry out the linear interpolation operation is set as speed control Check if the control method of subordinate axis 2 operation data step to carry out the linear interpolation operation is set as speed control Check if the main axis is operation status when giving Move j circular interpolation command I Stop 7 29 Check if the subordinate axis is operation status when giving circular interpolation command Check if the main axis is in output prohibit status when giving circular interpolation command Output prohibit shall be released by RST command as output prohibit release option Chapter 7 Function Block Error code 274 2 2 2 282 5 6 7 8 9 0 1 3 4 6 7 8 1 2 3 4 5 285 2 2 2 2 2 2 2 T 7 i 7 T 8 8 8 8 8 8 8 9 9 9 9 9 2 Error description Not available to car
383. speed limit setting value unit pls s elf out of setting range Error 11 occurs ACC_ DEC1 Acceleration Deceleration Time No1 eSetting range 0 65 535 unit ACC DEC2 Acceleration Deceleration Time No2 eSetting range 0 65 535 unit ACC DEC3 Acceleration Deceleration Time No3 eSetting range 0 65 535 unit ACC DEC4 Acceleration Deceleration Time No4 eSetting range 0 65 535 unit PLS_ NO No of pulse per rotation eSetting range 1 65 535 Travel distance per rotation eSetting range Control unit Setting range Actual input value Setting range Pulse 1 65 535 pls 0 1 6 553 5 110 Inch 1765535 000001 0 65535 1 10000 inch Phase 0 00001 0 65535 1 10000 degree USINT Pulse output mode eSetting range 1 2 0 CW CCW 1 Pulse Dir 2 Phase elf out of setting range Error 11 occur USINT Control unit eSetting range 0 3 0 Pulse 1 2 Inch 3 Degree elf out of setting range Error 11 occurs USINT Unit magnification eSetting range 0 3 0 X 1times 1 X 10times 2 X 100times 3 X 1000times elf out of setting range Error 11 occurs section 7 5 Chapter 7 Function Block 7 3 2 Extended Parameter Setting Set Extended Parameter APM_SEP This i
384. ss e BET output mode 00 CW CCW No use m aa 0 E ers i no use Unit 00 Pulse E mm E inch 11 degree Unit magnification E x1 x10 E x 100 x 1000 Chapter 8 MK Internal Memory and I O Signal 8 1 2 Extended Parameter 1 Contents of Extended Parameter Extended Parameter Setting range S W upper limit lower 2147483648 2147483647 X10 Q J S W upper limit upper Inch 2147483648 2147483647 X10 I nch S W lower limit lower degree 2147483648 2147483647 X10 degree S W lower limit upper pulse 2147483648 2147483647 pul se Backlash compensation amount T Positioning end signal output time cd S Curve rate 1 100 External command signal selection 0 Start 1 Jog operation 2 SKIP Pulse output direction bit 0 0 CW 1 CCW Acceleration Deceleration pattern bit 1 0 Trapezoid operation 1 S Curve operation M Code mode bit 2 3 O NONE 1 WITH 2 AFTER Position indication during equal speed operation bit 4 O no indication 1 indication S W upper lower limit during equal speed operation detection bit 5 External speed position control switching permit Prohibit bit 6 External command permit prohibit bit 7 O prohibit 1 permit External stop permit prohibit bit 8 External synchronous start permit prohibit bit 9 0 no detection 1 detection 2 Extended Parameter Setting 1 Exter
385. ssification Internal circuit Signal Manual pulse generator A input Manual pulse generator A input Manual pulse generator B input Manual pulse generator B input Encoder A input Encoder A input Encoder B input Encoder B input 2 4 The Name and Function of each Section 1 G4F PP O G4F PP D G4F PP1O G4F PP O mrs i mA aaa EE mE EE EE ea f pi TE EE EE TE EE EEA G4F PP3LET XL OUTI CHAPTER 2 Specification 2 G6F PP O G6F PP D G6F PPID C mm um ux UE GE GE ROO GU GE GED GE GU NE GRL GE US GEO Gm m m mb un Gn Gm GE GNO OS GE RED GE GE G H6 GS UE UE UM Um 2 PS oem ea ep TR TT 2 E ers Tz eer EET Is x eda 1 1 e Lina Cis Toe Lins risp Za No Name Description G Operation indication 1 Operation indication gt Light On In operation of the corresponding axis LED gt Light Off When the corresponding axis stops 2 Error indication gt Light On In normal operation gt Blink Error of the corresponding axis Operation information gt STOP Operation stop V P RUN Nnormal operation indicator p gt EXXX Indication of error no XXX At this time operation indication LED of the axis where the
386. step no and how to determine the speed of position data gt Operation mode types are as follows Control O j i peration Operation Others method pattern method End Single End Repeat Position Go on Single control Go on Repeat Continuous Single llLinear Circular interpolation function is not used Continuous Repeat MLinear Circular interpolation function is not used End Single WLinear Circular interpolation function is not used Speed control Go on Single Enot available Continuous Repeat gt Operation mode shall be set from PLC Program or Operation data of Software Package gt Operation data can be set by max 400 from operation step no 1 400 at each axis Setting range Type ircul i Dwell ircl Step Control Operation Operation Goa Circu an M Acc Operation ne xis i Coordinate position interpolation aux speed time interpolation no method pattern method code dec No iie pulse Point pulse pls s D direction Absolute Position End Single 2147483648 ae 1 q n relative speed goron repeat v 5 E x y EW CEN 400 conti 2147483647 2147483647 65535 1000000 50000 p gt With one time start command positioning operation method by one operation step positioning data and positioning operation method by several operation step in order shall be determined by operation mode of each positioning data set by the operator 3 21
387. such as origin detection after approximate origin OFF origin detection after deceleration when approximate origin ON origin return by approximate origin and also the waiting time for origin return to be used in case of meeting the high low limit signal without detecting the approximate origin during the origin return gt As the pulse output is not possible during the time set as a waiting time for reset the motor does not move actually 5 3 8 Acceleration Deceleration Time gt When returning to the origin by origin return command the origin return shall be carried out as origin return high speed and low speed by the acceleration deceleration time setting 5 3 9 Dwell Time gt This is the time needed to maintain the precise stop accuracy of SERVO motor when using the SERVO motor for positioning Practically Dwell time is the time needed to remove the residual pulse of deviation counter after completion of positioning and especially Dwell time when returning to the origin is called as origin return dwell time gt Setting range of Origin return dwell time 0 65 535 unit 1 5 3 10 JOG High Speed p gt Jog speed is related to Jog operation a kind of manual operation and has 2 types of operation Jog low speed operation and Jog high speed operation gt For further information please refer to 3 6 1 JOG Operation p JOG high speed operation has operation pattern as acceleration constant speed deceleration secti
388. t C The point ca not be arranged in a straight line Center point method The following shows the result of simulation by Center point method of circular interpolation SES Heia mag iria ui damni aisi Meiner Maid emm Fora n Da TT ied o Fig 32 Circular interpolation simulation by Center point method D Center point method is the method for simulation by calculating the center point again with the coordinate of the starting point the coordinate of ending point and the coordinate of center point In this case the user can determine the direction E Center point method is available to match the starting point with the ending point In this case it becomes the circle Chapter 4 Software Package 4 11 Status Screen External I O signal and Error history function 4 11 1 Status Screen p gt Function Description Configuration Status Screen indicates the working status information that APM software package carries out To hide cover the status screen press SHIFT V short cut key or click external I O signal from view menu AP Sade sche i I i a ef tan A Cee ge E Fig 33 Status screen 4 11 2 External I O signal function p gt Function Description Configuration External I O signal window indicates the data only during monitoring If monitoring stops the data indicated on the external I O signal window all disappeared and the screen is converted to th
389. tacted to the oil for a long time the short circuit will occur that may cause the damage or malfunction 5 Make sure to check the polarity before applying the external contact signal to the terminal board 6 In case of wiring the high voltage cable and power cables together the induction obstacle occurs that may cause the malfunction or failure 7 In case of wiring by the pipe the grounding of pipe is required 8 For the power supplied from outside DC 5V DC24V it is required to use the safe and stable power 9 In case that there is considered to be the noise source in wiring between positioning module and drive machine it is required to use and connect Twist pair and sealed cable for the wiring of output pulse that comes from the positioning and enters into the motor driver Chapter 12 Operation Order and Installation 12 3 2 Connection Example of Servo and Stepping Motor Drive Machine 1 MR H JA Connection Line drive Revival option Power ow 30 AC200v 5 i Within 10m cna G4F PP1 2 3D EE ENT ENNT pe apprit o o ea Tue e or Poe ait e og ps eet s T ps 5 Amo icin pf sS re lint We 5 e sitdim 54 fg imi liit rog T3 External conm Reverse EMD 30 fre op a oasis D 3 ws 2 eM rey i E pe p mw 3 s wvi
390. tains 0 55 C 2 Installation Construction In case of processing the screw hole or wiring cares should be taken not to put the wiring remnants to PLC inside Install on the good place to operate Do not install the high voltage machine on the same Panel The distance from duct or surrounding module shall be more than 50mm Ground to the place where surrounding noise environment is good enough 12 2 2 Notices in Handling Here describes the notices in handling the positioning module from opening to installation 1 Do not fall down or apply the strong impact 2 Do not remove PCB from the case It may cause the failure 3 In wiring cares should be taken not to put the wiring remnants or foreign materials to the upper part of module If something entered it should be removed 4 The removal of module in the status of power ON is prohibited 12 3 Wiring 12 3 1 Notices in Wiring 1 The length of connecting cable between positioning module and drive machine shall be as short as possible Max length 2m 2 For cross current and external I O signal of positioning module it is required to use the separate cables to avoid the surge or induction noise generated from the cross current 3 The wires should be selected considering surrounding temperature allowable current and it is recommended to be more than max size AWG22 0 3 4 In wiring if it is too close to the high temperature machine or material or it is directly con
391. tch P0022 X axis Next Move switch P0023 X axis operation step no change switch P0024 X axis speed change switch P002F X axis start switch P0030 X axis command receive signal P0031 X axis signal in operation P0032 X axis error status signal P0040 X axis start signal D0100 D0001 Speed change setting value M000 M003 X axis status information read operation status bit information axis information external I O signal status D0000 D0006 X axis operation information read current position speed step no M code error information 11 48 Chapter 11 MK Program 3 Description After changing position speed with speed change value set by digital switch during positioning operation by after homing and carrying out the next step operation by Next Move command during continuous operation by operation step no change positioning operation is completed 4 Operation Order P0021 Homing switch ON OFF gt POO2F Start switch ON OFF gt Speed change value setting by BCD digital switch gt P0024 Speed change switch ON OFF gt PO0023 operation step no change switch ON OFF gt P002F Start switch ON OFF gt P0022 Next Move switch ON OFF 5 Operation Data Setting Operati Operati Goal Circular Operatio Dwell Circular tems of Step Control P P 2 interpolation aux Acc De P i interpolati i rio Coordinate method on on position point M code conos speed time on Position data i cre
392. te coordinate A This carries out Circular interpolation from Start address to Goal address through the assigned Middle point address B The circle is made around the crossing point created by vertical bisection of Start address and Middle point address or Middle point address and Goal address Middle point address Normal en r Circle address Action by circle interpolation lt 4 Goal address Positioning address Start address Center point of circle present stop position 4 Reverse Normal Ss Origin Reverse C Circular interpolation control can not be used with control unit Degree D Transfer direction shall be determined by APM module Example gt When X transfer amount 13000 Y transfer amount 9000 the action is as follows in case that X auxiliary point 10000 Y auxiliary point 7500 rotation direction CW main axis X subordinate axis Y Software Package Setting Operation Data Items of Step Control Operation Operation Goa iod M Acce adi Dwell PIU n Coordinate method ciem method position interpolation aux code dece No speed time interpolation position data i P pulse Point pulse __ piss 1 direction Positi X Setting 1 Absolute bon End Single 13000 10000 0 1 1000 0 cw Position i l E ingl 7 1 1 W Y Setting 1 Absolute control nd Single 9000 500 0 000 0 C Command window
393. ternal input right away in the positioning control When external stop signal a contact is ON the action will stop Stroke limit This is the range available for the positioning action or the range that the machine can move without any damage The movement out of this range is available in Jog operation mode For the action using the warm gear the stroke limit shall be set according to the length of screw Sudden stop This stop is carried out within the shorter time than deceleration time set by parameter Torque control By this function the limit of resistance torque applied to the motor that is used for positioning will be fixed If the excessive torque is applied to the motor the power shall be OFF When the excessive torque is applied to the motor it may cause the sudden increase of current If the stress different from motor consumption occurs the motor life will be reduced This function uses the sudden increase of torque when the machine homing gives the command to stop the motor Torque loop mode This is called as current loop mode Refer to Appendix 1 11 Appendix 1 Positioning Terminology Positioning loop mode terminology Torque ripple This means the change of torque width or deviation of torque Turn table This is the turn table that is turning by the power This table is used by dividing into the necessary position from 360 degree rotation The unit of positioning control is
394. terpolation start when Linear interpolatin subordinate axis 1 is in output prohibit status Noi ab when Linear interpolation subordinate axis 2 is in output available to carry out the linear interpolation start prohibit status ab M code sign available to carry the linear interpolation start when al of linear interpolation main axis is ON available to carry the linear interpolation start when M code signal of linear interpolation subordinate axis 2 is ON available to carry the linear interpolation start when M code signal of linear interpolation subordinate axis 3 is ON Not available to carry out the absolute coordinate positioning operation when linear interpolatin main axis is in origin unsettled status Not available to carry out the absolute coordinate positioning operation when linear _ interpolatin subordinate axis 1 is in origin unsettled status Not available to carry out the absolute coordinate positioning operation when linear interpolatin subordinate axis 2 is in origin unsettled status ha ion is set wrong In case the main axis and subordinate axis of linear interpola the subordinate axis is not set or only one axis is set or the axis is not set ilab the li ilab the li ilab the li e to carry out the operation as SERVO ready near interpolation main axis e to carry out the operation as SERVO ready near interpolation subordinate axis 1 e to carry
395. ting 4 5000 Plural setting 5 6000 Program 3 18 Plural Teaching 3 60 Chapter 3 Function 314 StartStep No Change This is used to change the operation step no to start only when it is in Stop status Example gt Software Package Setting No of Program Step Zoordinatt Control Operation Operation id ns aux M Ad Mods j dis ud E start command no method pattern method IDs Point pulse code Dec no pls s D direction 1 1 Relative Position End Single 1000 0 0 1 100 0 cw i KE gt E 2 Relative Position End Single 2000 0 0 1 150 0 cw step im hande by Operation step no setting APM SNS Rising edge T 10 220 10 Relative Position Go on Single 1000 0 0 1 100 0 cw 11 Relative Position Go on Single 2000 0 0 1 150 0 Cw 12 Relative Position Go on Single 3000 0 0 1 200 0 CW 13 Relative Position End Single 4000 0 0 1 250 0 cw Step nd MM by Operation step no setting APM SNS Rising edge 7 20 E Mn PR 20 Relative Position End Single 5000 0 0 1 300 0 cw If setting the step no as 0 by indirect start command it carries out the positioning operation by the current operation step no But if the current operation step no is 3 and operation speed is 0 151 will occur Program Es xij xi A8 in PE a 1 Axis operation Axis error information information M3 B STW P ixi rile Eis LA
396. tion 0 Word no 0 1 2 3 4 GM4 K4P G4l G4l G4F PA2A 15AS D24A D22A PP10 Sorvo Amp Motor Amp X axis Transfer body Encoder lt P0020 o Errorreset P0021 o o Homing P0022 O Jog high speed normal rotation P0023 gt o Jog high speed reverse rotation P0024 as d I 4 o Inching normal direction P0025 Sane L oO o Inching reverse direction Ur es Position teaching PQQ2F 1 o o Start BCD Digital S witch 4digit X 2 Inching setting P0000 POO1F 11 45 Chapter 11 MK Program 2 Used device Device Description P0020 X axis error reset output prohibit release switch P0021 X axis homing switch P0022 X axis Jog high speed normal rotation switch P0023 X axis Jog high speed reverse rotation switch P0024 X axis inching normal rotation switch P0025 X axis inching reverse rotation switch P0026 X axis position teaching switch P002F X axis start switch P0030 X axis command receive signal P0031 X axis signal in operation P0032 X axis error status signal P0040 X axis start signal D0000 D0001 X axis current position D0100 D0101 Incing normal rotation setting value D0102 D0103 Incing reverse rotation setting value M000 M003
397. tion Data Setting Goal Circular Operation Dwell Circular Step Control Operation Operation A A M Acc k Coordinate position interpolation aux Speed time interpolation no method pattern method code Dec no EE pulse Point pulse pls s 0 direction 1 Relative Position End Repeat 1000 0 0 1 100 0 CW lt Parameter Setting gt S W upper limit 0 pls Extended parameter S W lower limit 0 pls 3 56 Chapter 3 Function 3 11 Random Position Address Value Setting to the Origin and The Change of the current Position 3 11 1 Random Position Address Setting to the Origin P Available to set the random position address by using the homing address item of Software package parameter gt Available to confirm the random position address of the setting axis by the current operation status code information read function block after completing the floating point setting or the homing gt And also available to confirm it by the current position after completing the floating point setting from software package monitor or the homing 3 11 2 The Change of the current Position gt The change of the current position is to change the current address with random address gt If the change of current position command is executed in the origin unsettled status it is changed with the origin settled status p gt If the current position is changed by the
398. tion command Check the speed availab availab availab available he last step available available operation statu available RVO ready status available hibit status available 421 available e able available he direct start operation available to carry out Jog command in the operation RVOready OFF O carry ou se generator Move Check if the axis is in operation when giving manual pulse operationin operation status generator operation command Check if the axis is in operation to the subordinate axis of available to carry out Continuous operation command P ae i i Stop linear interpolation when giving Continuous operation he subordinate axis of linear interpolation operation command o carry out Continuous operation command Sto Check if the axis is in circular interpolation operation when he axis of circular interpolation operation p giving Continuous operation command f Check if the axis is in operation to the subordinate axis of o carry out Continuous operation command S Move synchronous start operation when giving Continuous he subordinate axis of synchronous start operation operation command o carry out Continuous operation command Move Check if the axis is in manual pulse generator operation he axis of manual pulse generator operation when giving Continuous operation command o carry out Continuous operation command Move Check if the
399. tion o SHIFT I Restore None Enlarge e None Reduce Q None Area enlargement None Data indication vie None Table 14 Simulation related tool gathering P Function Description Execution environment If you click profile or circular interpolation simulation icon tool gathering with 5 buttons except dialogue box shall be displayed This tool gathering helps the user know the related result in detail by enlarging reducing the simulation screen The function for the corresponding tool gathering is shown same as Table 11 Tracking tool gathering function description Profile simulation is available only for 1 axis simulation That is it is not available to carry out simulation for the 2 axis interpolation operation mas F z edo Bad Ema bna fl arae rd Gees Fig 29 Profile simulation screen 4 24 Chapter 4 Software Package Run Time Refresh function Profile simulation has Run Time Refresh function and if operation data is changed the changed result shall be reflected right away and indicated on the simulation dialogue box cot coms rm eet tit nti coe vin cob den HEH bb 4H EH Hj H H EEH Hebe ajk b LI Jair aa a J IEH Fig 30 Profile simulation Run Time Refresh function 4 10 2 Circular Interpolation Simulation p gt Method 1 Click Circular interpolation simulation from simulati
400. ttled status Check the step coordinate to operate and the current origin determination status After setting the origin by homing command or floating point setting command it is available to carry out the Absolute coordinate operation Check if Driver ready signal of command axis is OFF when Stop ar ere giving indirect start command ENEN m ER iis e il 7 27 Check if the control method is set as speed control during Continuous operationof position control from operation data and there is the step set by Continuous operation as operation pattern Set the step no to carry out Point control less than 20 Check if extended he acceleration deceleration pattern of parameter of command axis is S Curve Check if the main axis is in operation status when giving linear interpolation command Check if the subordinate axis 1 is in operation status when giving linear interpolation command Check if the subordinate axis 2 is in operation status when giving linear interpolation command Chapter 7 Function Block Check if the main axis is in output prohibit status when giving linear interpolation command Output prohibit shall be released by RST command as output prohibit release option Linear interpolation start can not be used in case that the main axis of linear interpolation is in output prohibit status 7 2 Chapter 7 Function Block Error description code Not available to carry out the linear in
401. ubordinate axis when giving the speed override command Check if the axis is in operation to the circular interpolation subordinate axis when giving the speed override command Check if the axis is in operation to the synchronous start operation subordinate axis when giving the speed override command Check if the axis is in manual pulse generator operation when giving the speed override command Check if the axis is in the deceleration stop status when giving speed override command Check if acceleration deceleration pattern of extended parameter of command axis is S Curve Check if the axis is in stop status when giving the random Stop M position speed override command Check if the axis is in speed control operation when giving Stop n the random position speed override command The speed of random position speed override commandshould Stop be smaller than or equal to max speed set by basic parameter Check the speed Check if the axis is in operation to the subordinate axis of linear interpolation when giving the random position speed override command Not available to carry out speed override command not in he operation status Busy 372 Speed override exceeds the range Not available to carry out speed override command in subordinate axis of linear interpolation operation Not available to carry out speed override command in axis of circular interpolation operation 373 374 Not available to carry out speed ov
402. used for SERVO Driver or Stepping Driver is different it is required to select pulse output mode of positioning module according to the input method 1 PLS DIR mode gt PLS DIR mode shows the case that normal pulse and reverse pulse are outputted from one terminal and the normal reverse discrimination signal is outputted from different terminal The following shows the case that pulse output level is low active FP Terminal RP Terminal CCW reverse output 2 CW CCW mode gt CW CCW mode shows the case that normal pulse and reverse pulse comes from different terminal The following shows that pulse output level is Low Active Leeper CCW reverse output 3 PHASE mode gt PHASE mode shows the case that normal pulse and reverse pulse will be outputted with 90degree phase difference The following shows the case that pulse output level is Low Active FP Terminal RP Terminal CW normal output CCW reverse output CHAPTER 5 Positioning Parameter amp Operation Data 5 1 5 Bias Speed P As the stepping motor has unstable torque near speed 0 the start speed shall be set in the beginning of operation in command to smooth the rotation of motor and reduce the positioning time The speed to be set at this time is called Bias Speed gt The setting range is 1 200 000 unit 1pps for open collector 1 1 000 000 for line driver at each axis P Bias speed shall be used for the main axis of positioning ope
403. ut level of common parameter is 0 Low Active 1 High Active Select one from these Zone output mode of common parameter is 0 individual output 1 batch output Zone1 Select one from these Circular interpolation method of common parameter is 0 middle point 1 center point Select one from these Set the operation speed as the value greater than 0 Set the operation speed as the value smaller than or equal to max Speed of basic parameter to bias speed of basic parameter Set the Dwell time to operate as less than 50000 Chapter 7 Function Block Error code Error description oming command can not be used in operation status H Homing command can not be used in output prohibit satus Homing command can not be used in SERVO Ready FF m oating origin command can not be used in opertion atus oating origin command can not be used in SERVO eady OFF Direct atus start command can not be used in operation Direct status start command can not be used in output prohibit Direct start command can not be used in M Code ON Direct start command can not be used in the absolute coordinate of origin unsettled status Direct OFF ndirec prohibi start command can not be used in output status ndirect start command can not be used in M Code ON ndirect start command can not be used in the absolute coordinate of origin unsettled status ndirect start command can not be used in SERV
404. ux point 1 and aux point 2 carries out the circular interpolation operation by the middle point of X axis and Y axis respectively cares should be taken in using 2 For further information please refer to Article 3 1 2 Interpolation Control 3 This carries out the circular interpolation from Start address to Goal address via the assigned middle point address 4 The circle is made around the crossing point created by vertical bisection of Start address and Middle point address or Middle point address and Goal address The circular interpolation control can not be used with control unit Degree 6 Transfer direction shall be determined automatically by APM module 7 If the of 2 axis middle point is set wrong the circular interpolation radius deviates from the area available to operate and Error 286 will occur 3 33 Chapter 3 Function 3 4 Positioning Stop Here describes the causes to stop the axis during positioning 3 4 1 Stop Command and Stop Causes The stop command and stop causes are as follow and is divided into Stop per axis and Synchronous stop of all axis 1 In case of Stop command and Stop causes per axis only the axis that has the stop command ON or the stop causes will stop But in case that there is Stop command and Stop cause on one axis during linear interpolation circular interpolation control both axis of interpolation control will stop 2 In case of Synchronous stop command and Stop causes of
405. vailable to use only by GET GETP command better This is the area not allowed to use PUT PUTP command 8 9 Chapter 8 MK Internal Memory and I O Signal 2 Use of Status Information 1 Operation Status Bit Information Lower X address 4370 b15 bl4 b13 b12 bll b10 b9 b8 b7 b6 b5 b4 b3 b2 bl b0 Yiadiress 77 leje e eleieleieieieieieieieleie Z address 13170 In operation 0 stop 1 In operation Error status 0 no error 1 error occur Positioning completed 0 positioning not completed 1 positioning completed M Code signal 0 M code OFF 1 M code ON Origin fixed status i 0 origin not fixed 1 origin fixed Pulse output prohibit status 0 pulse output permit 1 pulse output prohibit Stop status 0 not stop status by stop command 1 stop status by stop command No use 0 High limit detection 0 not detected 1 detected Low limit detection 0 not detected 1 detected Emergency stop status 0 normal status 1 emergency stop status Rotation direction 0 normal direction 1 reverse direction In acceleration 0 notin acceleration 1 in acceleration In constant speed 0 notin constant speed 1 in constant speed In deceleration 0 not in deceleration 1 in deceleration In dwell 0 not in dwell 1 in dwell Chapter 8 MK Internal Memory and I O Signal 2 Operation Status Bit Information upper X address
406. ver the external input signal is On B If setting the external start of extended parameter as permitted and the command selection as Jog the Jog high speed operation normal rotation is carried out while the external input is On 2 External auxiliary command If setting the external start of extended parameter as permitted and the command selection as Jog the Jog high speed operation reverse rotation is carried out while the external auxiliary command input is On 3 3 2 Simultaneous Start 1 lt carries out the synchronous start operation for 2 axis 3 axis positioning operation data by internal synchronous start command according to the axis information and the setting step In this case the external synchronous start of extended parameter should be set as prohibited 2 If stop command is entered during synchronous start operation reduce the speed and stop the corresponding axis and if the internal synchronous start command is entered again the positioning operation is carried out according to Relative coordinate or Absolute coordinate in case that the synchronous start setting step no is the current operation step no 3 It carries out the synchronous start operation for 2 axis 3 axis positioning operation data by external input signal according to the axis information and the setting step 4 Setthe external synchronous start of the corresponding axis for the synchronous start of extended parameter as perm
407. ves per pulse This is the same as the positioning detection unit The movement amount per axis rotation from the motor is as follows Movement amount per pulse P rate movement amount per rotation no of pulse per encoder rotation Multi phase pulse This is the combination of pulse that has more than 2 phase difference Ex 2 phase pulse etc Change rate Increase rate setting P rate Refer to P rate terminology Numerical control language This is the language of paper tape with a punch hole that indicates the numerical control to the numerical control module Numerical language is composed of EIA code EIA code ISO standard and JIS code JIS standard language ISO Near point dog This is a limit switch located before the origin When this switch is ON the homing speed changes with creep speed Thus the time required to switch ON for this switch should be longer than the time necessary for the deceleration from the homing Appendix 1 7 Appendix 1 Positioning Terminology speed to creep speed Numerical control This is the existing positioning by using the numerical control module This control can be used to carry out high precision more than 3 axis high speed control This is available to carry out movement control for complicated bending and surface Origin This is the position set as the basis for positioning The positioning of absolute coordinate cannot start without standard point Ope
408. vo motor are subject to the change of inertial moment and strength caused by the change of machine load This function adjusts automatically speed loop gain and position loop gain to be harmonized with the machine status Thus the action of the machine is maintained in the optimized status For the machine that has big load fluctuation the real time auto tuning should be used Trapezoidal acceleration deceleration The operation pattern that the time and speed graph has trapezoidal shape when positioning operation Backlash Compensation As like normal direction is changed to reverse or reverse direction is changed to normal there is sometimes backlash in gear when rotation direction is changed This occurs when using warm gear Because of this backlash in case of 1m 3 2feet left feed after 1m right feed it is not accurate for the machine to return to the original position Thus Appendix 1 1 Appendix 1 Positioning Terminology without additional feed corresponding to the backlash the machine cannot reach the original backlash position In this case set the compensation to make up the difference Back up function While power is cut off the setting value of positioning parameter and operation data saved in positioning module shall be saved in Flash memory and available to read write and change in positioning software and PLC sequence program Ball screw One type of screw with the balls arranged on the pitch l
409. well Ciroular Items of Step Coordina Control p P K interpolation aux Acc De P interpolati 2 o te malhiod on on position point M code QUE speed time Oh Position data i pattern method pulse pls s 0 ud pulse direction X setting 1 Absolute Position End Single 10000 0 0 1 1000 100 CW Y setting 1 Absolute Position End Single 15000 0 0 1 1500 100 CW 2 Program F0010 GE 0000 04370 MOOO 00004 GE 00001 04374 DO000 00007 F0010 GE 0000 08770 NO10 00004 ff GE 0000 08774 DO 00 00007 POD00 PODIO P0012 j J J PUTP 0000 04317 0000 0000 f PUTP 0000 04300 00038 0000 HH Pools PODI7 PUTP 0000 08717 0000 0000 H PUTP 0000 08700 00038 0000 __ P000 POOID PODI POO 2 Jj J PUTP 00001 04300 0000 0000 P0015 PODIG PODI7 l 1 J PUTP 00001 08700 00001 0000 POOOE POO010 POOII POOI2 PODIB PODI7 Jj J l 4 l i PUTP 00001 04310 0000 ooo H DMOVP 0000002000 Dozo H PUTP 00001 04302 D0200 00002 _ PUTP 00001 04314 0000 000 H PUTP 0000 04300 00012 0000 i POOOF P0015 PODIB POO 7 d Jj i PUTP 00001 08701 0000 0000 H PUTP 0000 08700 00004 0000 _ Chapter 11 MK Program 11 2 10 Synchronous Start by Speed 1 Description 1 Used device Device Description P0000 X Y axis erro
410. x point of 2 axis is set as O gt When X axis transfer amount 0 0um Y axis transfer amount 0 0um the action of the case that X axis center point 10000 um Y center point 0 0um rotation direction CW main axis X subordinate axis Y axis is as follows Software Package Setting Operation Data Le tad a ircul j Dwell ircul i Items of Step 7 Control Operation Operation Carl ircu id M Acc Operation s Circi a p Coordinate ositior interpolation aux Speed time interpolation Position data no method pattern method code Decno n ie e ENS um Point um mm m 0 direction X Setting 1 Relative Position End Single 0 0 10000 0 0 1 100 00 0 CW Y Setting 1 Relative Position End Single 0 0 0 0 0 1 100 00 0 cw lt Command Window gt Circular interpolation Step 1 Execution operation Subordinate axis Y axis Action Pattern Normal Y axis Start position 0 0 Goal position 0 0 X axis Reverse Center point Normal Reverse 3 31 Chapter 3 Function 3 The case that does not operate by using the setting value of aux Data as actual radius is shown as below gt When X axis start position amp goal position 0 0um Y axis start position amp goal position 0 0um the action of the case that X axis aux Point 10000 0um Y aux Point 10000 0um rotation direction CW main axis
411. xel am O Anu Drap hk rap ng n ia pb aC DEC Patan Trapeszaid oi Trapaeaida 0 Trapezni S Cune Riti 40 2 i ome M eihicid DDE FF IE hee PE iT HOME OF FI Ho re Ds i i 1 Cv 1 Hom ld ast IE oy tif i Home Compensation Ipa r Opis ome High Speer DUnDr ID p nin p y Hime Lra Speed EUL pi EU E Sid p I Heme Rai Tirra Home AC CIDEE a Chea Jot High Gace S000 p So pe zd JO Low Seed 1000 pi 1 pn pi Tod r DP AC ES Time n mn Tango mes ne a Spies D pj B pi 13 g To Article 5 4 Putse Oiau Laval I Low Aeir i 2 bru interest ation tt Seb Point I Encaje Epl E PHASE Ajnrz Phsxzs I Bulb ha bed 4121049 T 295 i ZP hace CH Dabi I DONE Clout Mone perse OUD i DOMEI A I SEAT eit DOME ass i TOME Aas I TONE OM Aveo l ZONE OFF Sree zl l DONE OH Arta zi i DOME OFF rme I TONE OM Aves z i ZUNE OFF iras Hl I Parameter Configuration CHAPTER 5 Positioning Parameter amp Operation Data 5 1 Basic Parameter Here describes the basic parameter Item x Axis Y Axis Z Axis E ACCIDEC No 4 2000 ms 2000 ms 2000 ms Configuration of Basic Parameter Items Setting Range Initial value Unit 0 pulse 1 mm 2 Inch 3 degree 0 PUR per 1 65 535 unitpulse 20 000 rotation m 1 65535 X10 Transfer distance Inch 1 65535 X10 inch 20 000 per rotation degree 1 65535

User`s Manual - Ana

Contents

Download Pdf Manuals

Related Search

Related Contents