Home

Delta Human Machine Interface & Controller HMC Series User Manual

1. BON API oas IE BON iS D Bit ON detect Bit device Word device External device x ly MT c IR Knx kny knmiT c Jp v z wipit wora 16 bit command 5 STEP s o lo O O BON n O O 32 bit command 5 STEP Notes on the use of operands S operand can use external device DAI and DBON DAO Flag signal None D can use external device DAO n can use K device SCS Source device D Target device for judgment outcome n Position of bit iis to be judged beginning with 0 description When X0 On and the value of the 15 bit in DO is 4 then MO On MO Off the value is 0 instead If XO turns to Off MO remains intact XO Lit eon o e xe b15 bO ojojo ijojofijojojojo ojo 1 fo o gt moor DO b15 bO aloe o ijo lolijolofofo ofo 1 joo moon DO ALT API ALT iD ON OFF alternate Bit device Word device External device x lv Imit lc R knx kny kn lc b v fz w Bit wora 16 bit command 2 STEP D O O O O ALT Jan 2014 4 59 Chapter 4 Command Introduction Notes on the use of operands D can use external device DY 32 bit command Flag signal None D Target device ner ALT command is executing D alternate On and Off Command description YO turns On when XO changes from Off to O
2. 4 6 Jan 2014 Chapter 4 Command Introduction Outputs the logic computing outcome before the OUT command to the given Command components description i Coil contact action OUT command Computing Contact outcome Coil A contact B contact frequently open frequently close FALSE Off Turns off Turns on TRUE On Turns on Turns off Ladder veram Command code Description art LDI XO Load X0 s B contact AND X1 Serial connect X1 s A contact OUT Y1 Drives coil Y1 SET Command Function Step Number SET Fix actions ON 1 Step Bit device Word device External device Operand XIY M IT JC IR KnX KnY IKnM TJC JD V Z W Bit Word JO JO JO IO O l k k fF JO Command description Ladder diagram Hi Jan 2014 Command code LD X0 ANI YO SET Y1 The SET command sets components assigned by it to ON and remains ON until being SET OFF by RST command Description Load X0 s A contact Serial connect YO s B contact Fix Y1 s action ON 4 7 Chapter 4 Command Introduction RST Command Function Step Number RST Clear contacts or registers 1 Step Bit device Word device External device Operand X Y M IT C R KnX KnY KnM _ T IC
3. Aare wOOl H zlea Download USB 306 2 HMC08 N500552 65536 Colors Rotate Options Window Help t Compile Ctr F7 Rebuild All EJ Download All Data Ctri F8 Upload all Data C Download Screen Ctri Fo Upload recipe Download Recipe Download Logic Data Upload Logic Data amp On line Simulation Ctri F4 Gl Off Line Simulation CtrhHF5 Update Firmware Get Firmware Information Reset HMI 6 2 Jan 2014 Chapter 6 Ladder Editor 4 Ladder Editor is ready ei Ladder Editor Ladder Diagram Prog1 o 8 ag File F Edit E Compile P Communication Options O View V Window W Help H aGag Yo EF A deha ke g LPFI PIETEI Fe ro Afo FA np PN Go AD n wk fre A 1 E Motion Program 2 Output Find Result 1 Find Result2 Monitoring Watch 5 Replace Row 7 Col 3 2 30000 Steps 4MC Series Mark Item Description 1 Tool Bar Function of file edit compile communication setting and etc 2 Program It is the framework of Ladder that used by the Tree Diagram current project 3 Program It shows the current editing program content Editing Zone 4 Application It includes output window find result and monitor Zone device window 5 Editing It shows the current editing status and can be Status switched to Replac
4. e LDX 001 Ie LDX GD D Contact type compare LDX Bit device Word device External device X Y IMIT C IR KnX KnY KnM T IC ID V Z W Bit Word 16 bit command 5 STEP S1 o lbo lo O O 0 jo Jo jo O LD3X S2 O JO O O JO O jO O jO O Notes on the use of operands gt lt lt gt lt z2 32 bit command 5 STEP DLD Flag signal None This command compares values stored in S1 and S2 When the comparing result is S1 Data source device 1 S2 Data source device 2 Command description enabled the command turns on otherwise it does not turn on The LD command may connect to a bus bar directily 32 bit command Turn on condition Not turn on condition DLD S1 S2 S1 S2 It has to use the 32 bit command DLD to compare the 32 bit counter C200 C255 4 20 Jan 2014 On Chapter 4 Command Introduction When the data contained in C10 equals to that in K200 then Y10 On When the data contained in D200 is greater than that in K 30 and X1 On then Y11 On and remains so When the data contained in C200 is less than K678 493 or M3 On then M50 e AND API 5 AND GD d Contact type compare AND Bit device Word device External device x ly mit c R Knx kny KnoIT c Io v z lwhiBit Word 16 bit command 5 S
5. Command cancel R640 Definition When executing continuous commands after triggering Command cancel R640 all preloaded continuous commands will be canceled and stop executing Related device Take axis 1 as the example when executing continuous commands if Command cancel is On command executing will stop and end the continuous commands Then Command ready R1040 and Command complete R1056 will be On The relevant handshaking procedure is as the following Continuous motion cancel HMC gt Servo Command Load R624 Command Cancel R640 Servo gt HMC Command ready R1040 Command complete PEERI R1056 Running iStop amp Cancel 3 24 Jan 2014 Chapter 3 Special Devices e FEED RATE execution R656 Definition During command execution after triggering Feed Rate execution the setting of Feed Rate speed Feed Rate acceleration time and Feed Rate deceleration time will be changed When the related commands of Feed Rate are executed this flag will return to Off automatically In continuous motions change the Feed Rate will only change the current motion Before the current command is completed it will execute the command according to the original setting speed That is to say change the feed rate is only effective to the current motion command Related device Take axis 1 as the example if Feed Rate execution R656 is On the motion speed will be changed to
6. R1040 R1056 H Comm Target and rea reach H Do K ae Comm and ex SRET a When D40 0 it starts to issue parameters Set Command code W512 to 30 means to execute helical motion Write D509 into Command selection W513 means to execute axis selection Among them 0 represents the arc interpolation of X and Y axis 1 represents the arc interpolation of Y and Z axis and 2 represents the one of X and Z axis Set Parameter start address W524 to 512 means it access the parameters starting from D512 Write D510 into Speed setting W518 Then trigger Command start R512 to On Write parameters including Radius D512 Initial angle D514 Motion angle 5 35 Chapter 5 Example of Motion Command D516 and Height D518 into the servo drive and D40 1 b When D40 1 and Command ready R1040 is On it means helical motion is executing When Command complete R1056 is On it means the command is completed Set Command start R512 to Off and D40 2 c When D40 2 the command is completed Make sure Command start R512 is Off Then set flag M560 to Off and the control procedure is over Note Helical motion issues the command to three axes for one time Thus the command only can be issued to ASDA M for executing arc interpolation of 3 axis Set the angle in helical parameter to the positive value which represents counterclockwise direction On the contrary if the
7. DWAN D Flag signal None 4 40 Jan 2014 Chapter 4 Command Introduction S1 Source data device 1 S2 Source data device 2 D Operation outcome Sommang Do logic AND operation on data sources S1 and S2 and save its outcome in D description The logic AND operation turns an outcome of 0 when either of its two values is 0 When X0 On do WAND logic AND operation on 16 bit DO and D2 and save the outcome in D4 X0 4p fwnano 00 oe 04 b15 bO cp Doli lililii llololololili lil WAND G gt D2 ofo o 1fofo 1 oo of1 1 of1 JoJo p After execution CD D4 o ojo 1 o o 1 o o o o o o 1 o o Before execution WOR API 5 WOR GD CS2 CD OR operation Bit device Word device External device X Y IMIT C IR KnX KnY KnM T IC ID V Z W Bit Word 16 bit command 7 STEP S1 O IO IO O jO O O jO jO O WOR S2 O IO IO O jO O O jO jO O D o lo lolollololo O 32 bit command 7 STEP Notes on the use of operands S operand can use external device KnDX DWOR KnDY DAI and DAO and K device a S2 operand can use external device KnDX KnDY DAI and DAO and K Flag signal None device D operand can use external device KnDY and DAO S1 Source data device 1 S2 Source data device 2 D Operation outcome Command Do logic OR operation on data sources S1 and S2 and save its outcome in D The
8. upload download port 12346 Modbus TCP Server Port 302 Network eRemote eServer Ladder Monitoring V Enable Eh PE 12345678 ScanTime Port Show waming in disconnection Close waming window when the connection is ok times then ignore IP setting of PC should be set in the same domain as HMC _ _ SS Internet Protocol Version 4 TCP IPv4 Properties E aX General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address 192 168 Subnet mask R55 295 Default gateway Obtain DNS server address automatically Use the following DNS server addresses Preferred DNS server Alternate DNS server E Validate settings upon exit Jan 2014 6 15 Chapter 6 Ladder Editor Setup HMC IP and use Port and password a2 Connection Setting IF Port 192 io l 12348 Fazawnid 12345678 Auto connect Reset Value of Device Memory Reset the device back to the default value through Ethernet 20 Connection Setting Conect to IF Fort 192 168 10 o 12348 Fazswni 12345678 Auto connect Project Function Options O View V Item Descrip
9. WSVP API WSVP G amp D G2 Write parameters of the servo drive Bit device Word device External device x ly M T Je IR knx kny knuJr fc b v z w Bit wora 16 bit command 13 STEP S1 oloo WSVP D 0 lo lo 32 bit command Notes on the use of operands S1 operand can use K device S2 operand can use K device Flag signal R48 S3 operand takes consecutive and can use K device 1 Write in servo axis ID of parameters S2 Write in parameter ID D Source of Command write in data E S1 is the write in servo axis ID Assume that P3 21 is the write in servo parameter ore the setting value of S2 is 0321 decimal Write the register content specified by D into the servo parameter S2 format and servo dirve parameters S2 AB CD Parameters PAB CD Example of S2 S2 0321 Parameters P0O3 21 If the connection breaks down or read the incorrect parameters it results in failure of writing parameters Then R18 On and W18 is 11 When M26 On write the content of D21 D20 into parameters D10 specified by the decimal system D5 M26 Jan 2014 4 61 Chapter 4 Command Introduction CKFZ API CKFZ CS Gp Forbidden zone check Bit device Word device External device x y Imh Ic R knx kny kn t lc p v Iz whit wora 16 bit command 13 STEP S O CKFZ D O JO oo ee No
10. Chapter 3 Special Devices Command error HMC gt Servo Command Start R512 Servo gt HMC Command ready R1040 Command complete R1056 Command error R1024 Error The following situations might result in Command error after activating Command start The corresponding error code will display in Error code W576 of each axis Code Definition 01 The speed is set to 0 or becomes 0 after transferring by E gear ratio 02 Axis of issuing command is in emergency stop status 03 04 Axis of issuing command is in Servo Off status Command is executing and is unable to receive the new one 05 06 Trigger the wrong command selection Command parameter error 07 Command code error 08 Exceed the largest amount of continuous command when issuing continuous command 09 Issue continuous command time out 10 Command code cannot be used in continuous motion 11 Wrong Speed command setting Quick stop R528 Definition Flag Quick stop turns On If the axis is in operation it will stop the motion and then stop urgently Jan 2014 3 17 Chapter 3 Special Devices Related device Take axis 1 as the example when Quick stop R528 is activated if the servo is in operation it will execute emergency stop according to Quick Stop deceleration time W670 Then status of Servo quick stop release R1088
11. File Function Compile P Ctrl S cain Save S Print Preview Print All Printer setup Export E Import Alt X Exit Edit Function Edit E Compile P i Communication Select All Ctrl A Delete Del Cut Ctrl X Copy Ctrl C Paste Ctrl V Find F Ctrl F Replace H Ctrl H Go To G Ctrl G Go to the Start T Ctrl Home Go to the End N Ctrl End Device Comments Ctrl Alt D Segment Comments B Ctrl Alt B Row Comment L Ctrl Alt L Device Table D Symbol Table B Chapter 6 Ladder Editor Jan 2014 Item Description Save S Save the current Ladder program Print Print the current editing content of Ladder program Preview Preview the current editing content of Ladder program Print ALL Print all the content of unlocked Ladder program Printer Setup the printing format including paper size setup border direction and etc Export E Export Ladder program cwp Import 1 Import Ladder program cwp Exit X Close Ladder Editor Op Item Description Select All Select all content of current Ladder program Delete Delete the selected content Cut Cut the selected content Copy Copy the selected content Paste Paste the selected content Find F Find the target from current or all program Replace H Find the target and specify the replaced device from current or all program Go To G Go to the specified STEP Go to the Start T
12. Counter s features Item 16 bit 32 bit Type General purpose General purpose Direction Count up Count up and down Setting value 0 65 535 2 147 483 648 2 147 483 647 value Type of setting D Constant K or data register Constant K or data register D assign both Change of the current value Stop counting when setting value reached Keep counting when setting value reached Contact sets and retains On when setting value reached during Output Contact sets and retains On f counting up contacts when setting value reached Contact resets to Off when setting value reached during counting down Reset The RST command reset current value to 0 and contact to Off When the counter s signal changes from Off to On the counter will increase by 1 When the current value of the counter matches the setup one the winding coil of the counter will turn on The setting value is either a decimal constant K or a data register D KO and K1 functions in the same way and the output contact set On at the first counting 2 14 Jan 2014 Chapter 2 Introduction of Controller 16 bit counter CO C199 Setting range of 16 bit counter KO K65 535 Counter s setting value can be done by constant K directly or by register D indirectly Example LD X0 X0 RST CO RST LD X1 x1 CNT CO K5 us ont LD co OUT YO When X0 On RST command is executed to reset CO to 0 and output c
13. PUU D1002 represents Center coordinate2 PUU and D1004 represents Angle setting Please pay attention that the angle unit is 0 5 degrees that is to say if the value is 180 it means 90 degrees According to the setting the motion path shows as below Positive Counterclockwise Negative Clockwise Pie ie Position 4 Motion angle i lt T s i I DA r t Center A1 B1 Example program HMC screen Bune Spd D510 CurveCenter_Coord 1 D512 M544 l eeeeaeee ennnnnnnn AxisOption D509 CurveCenter_Coord 2 D514 wane l eaeeaeee MotionAng D516 O X _2Axis HEETE ETETE TETE HEHE 1 Z_2Axis 2 XZ_2Axis Cyclic task M344 CALL Curve I a When M544 turns On it is in initial control status D40 0 b When M544 is On it enters sub program Curve_14 to execute arc motion When the command is completed M544 is Off Jan 2014 5 31 Chapter 5 Example of Motion Command Sub program Curve_14 H D0 Ko MOV _ D509 _ W513 MOV K512 W524 R1040 R1056 H pwo K HAH RST R52 Comm Target Comm and rea reach and ex INC D40 R512 H Do Kx HA RT M54 Comm and ex NC D40 SRET a When D40 0 it starts to issue parameters Set Command code W512 to 14 means to execute arc center amp angle motion Write D509 into Command selection W513 means to execute axis selection Among them 0 represents the arc interpolation of X and Y axis
14. Related device Flag is enabled means the axis is controlled by handwheel It might be axis 1 R608 axis 2 R609 or axis 12 R619 It only can enable one axis each time If more than one axis is enabled the alarm occurs Its scaling setting will influence the accumulated counting of Handwheel counting W76 3 11 Chapter 3 Special Devices DMCNET MASK W75 Definition It is the mask setting when controller communicates with DMCNet s each station With the general servo drive the value should set to FFFF However the special framework should have different setting value such as ASDA M which supports 4 axis synchronized servo drive The value should be set to FCFF to enable the operation Handwheel counting W76 3 12 Definition It is the accumulated counting value which magnified the pulse number received by handwheel and then transferred to the servo drive Related device When the handwheel magnified the received pulse number through Handwheel factor W74 Handwheel factor W76 will accumulate the magnification value Jan 2014 Chapter 3 Special Devices 3 4 Special Relay in Motion Mode HMC controls servo for 12 axes at most in DMCNet The corresponding axis of each axis is as the following Function Corresponding address Axis 1 Axis 2 Axis3 Axis 4 Axis5 Axis6 Axis 12 Control by Servo axis Co
15. a When M541turns On it is in initial control status D40 0 b When M541 is On it enters sub program Curve_11 to execute arc through three points After that M541 is Off 5 22 Jan 2014 Chapter 5 Example of Motion Command Sub program Curve_11 H D H D9 H Do K Ee RST M54 C SRET a When D40 0 it starts to issue parameters Set Command code W512 to 11 which means to execute arc midpoint amp end point motion Write D509 into Command selection W513 means to execute axis selection Among them 0 represents the arc interpolation of X and Y axis 1 represents the arc interpolation of Y and Z axis and 2 is the one for X and Z axis Set Parameter start address W524 to 512 means it starts to read parameters starting from D512 Write D510 into Speed setting W518 Then trigger Command start R512 to On After that write parameters including Midpoint coordinate 1 D512 Midpoint coordinate 2 D514 End point coordinate1 D516 and End point coordinate 2 D518 into the servo drive and D40 1 b When D40 1 and Command ready R1040 is On it means the arc motion is executing When Command complete R1056 is On it means the motion is completed Set Command start R512 to Off and D40 2 c When D40 2 the command is completed Make sure Command start R512 is Off Then set flag M541 to Off and the control procedure is over Note Arc motion issues the command to three axe
16. it can activate multi axis that is corresponded to bit to conduct homing Jan 2014 Chapter 5 Example of Motion Command 5 10 Arc Radius amp Angle Example description Use M540 as the enabling condition for triggering and executing arc motion After M540 is executed the related parameters are activated and issue the commands Arc motion needs to issue three parameters Radius Initial angle and Motion angle If the start address of data parameter is D1000 then D1000 represents Radius PUU D1002 represents Initial angle and D1004 represents Motion angle Please pay attention that the unit of angle is 0 5 degrees That is to say if the setting value is 180 it means it is in 90 degrees According to the setting the motion path shows as below Positive Counterciockwise b Negative Clockwize a 2N Motion oangie s i b Radius PA inital 8 T anyie k I Motior Mction End Start Example program HMC screen E Spd D510 Curve Rad D512 urme M540 l aeeeeeeee HHHHHHHHRH AxisOption D509 Curvelni Ang D514 ernea aeeeadeeae CurveMov Ang D516 O xY_2Axis l eeeeeaeee 1 Z_2Axis 2 XZ_2Axis Cyclic task MOV __ K0 D40 M540 CALL Curve I0 a When M540 turns On it is in initial control status D40 0 b When M540 is On it enters sub program Curve_10 to execute arc motion After that M540 is Off Jan 2014 5 19 Chapter 5 Example of Mot
17. o R10 Gee ee E TEENE L EO l ROL API 5 ROL i Rotate left Bit device Word device External device X IY IM IT IC JR IKnXIKnY KnMIT IC D IV IZ W Bit Word 16 bit command 3 STEP D o lo lolll lo ROL n Notes on the use of operands D operand can use external device KnDY and 32 bit command 3 STEP DAO DROL Range of n operand n K1 K16 16 bit n K1 K32 32 bit Flag signal R10 D Device to be rotated n Number of bits to be rotated in one operation Sonani Left rotate n bits of digit contained in device specified by D for one time description 4 30 Jan 2014 Carry flag CJ Upper bits Chapter 4 Command Introduction When X0 changes from Off On the 16 bits of number kept in D10 left rotates in unit of 4 bits as shown in figure below marked bit value is sent to carry flag R10 Hiro 910 e Left rotation lt Lower bits wae Cpa ef ELLs fololofofolojojo D10 16 bits LED Conditional jump Bit device Word device External device Notes on the use of operands The S operand can assign index PO P255 X Y IM IT_ C_IR KnX KnY KnM T C D V IZ IW Bit Word CJ 32 bit command Flag signal None Command description Jan 2014 S Command indicator of a conditional jump Use the CJ command to skip a section of statements in an MLC program to redu
18. 1 of1 olof Jo 1 p After execution p gt DA ollo ohola aa olola S1 Source data device 1 S2 Source data device 2 D Operation outcome r n logic XOR operation on data sources S1 and S2 and save its outcome in D omman description Before execution 4 42 Jan 2014 Chapter 4 Command Introduction NEG API D NEG CD Two s complement Bit device Word device External device x ly MIT c IR knx kny knmiT c Jp v z wjBit word 16 bit command 3 STEP D o lo bobl O NEG Notes on the use of operands D operandcanuseexternaldevice KnDYand i Sn DAO 32 bit command 3 STEP DNEG Flag signal None D The device where two s complement is required This command converts eae negative BIN value into the absolute one description When X0 On invert 0 1 1 0 every bit of digit contained in D10 and increase it by 1 to save in register D10 xample xo Hires or Presentation of negative number and absolute value Supplementary Digit in a register is either positive or negative according to value of its leftest bit 0 indicate a positive number and 1 negative description Users may convert a negative number into its absolute value with NEG command FADD API FADD Sp G2 CD Binary floating
19. 2014 Chapter 3 Special Devices Speed control gain W708 W964 W1220 W1476 W1732 W1988 W3524 Speed integral compensation W709 W965 W1221 W1477 W1733 W1989 W3525 Low pass filter of resonance suppression W710 W966 W1222 W1478 W1734 W1990 W3526 Anti interference gain W711 W967 W1223 W1479 W1735 W1991 W3527 Speed detection filter and jitter suppression W712 W968 W1224 W1480 W1736 W1992 W3528 Excessive deviation of position control DW W724 W980 W1236 W1492 W1748 W2004 W3540 E Cam curve scaling W726 W982 W1238 W1494 W1750 W2006 W3542 E Cam Master gear ratio setting P W728 W984 W1240 W1496 W1752 W2008 W3544 E Cam Activate E Cam control W730 W986 W1242 W1498 W1754 W2010 W3546 E Cam Information of disengaging time W732 W988 W1244 W1500 W1756 W2012 W3548 3 5 1 Command Register Command register in motion mode has the function of issuing the motion command Take axis 1 as the example for description Function igus Default No Description Attribute Latched value Command code W512 Motion command type R W No 0 Command The additional information that W513 R W No 0 selection command code needs Command mode W514 Mode of position command R W No 0 f Delay time when positioning Delay time W515 R W No
20. Command description index increase by 1 Saves the current value contained in the cumulative register in a stack Stack MDR Command Function Step Number MDR Read stack Stack index remain intact 1 Step Operand XIY M T C IR KnX IKnY KnM TJC D V Z W Bit Charcter Command description Jan 2014 index increase by 1 Saves the current value contained in the cumulative register in a stack Stack 4 5 Chapter 4 Command Introduction MPP Command Function Step Number MPP Read stack 1 Step Bit device Word device External device Operand X Y M T C JR KnX KnY KnM T C D V IZW Bit Word Retrieves the last saved logic computing outcome and saves it in a cumulative cae register Stack index decrease by 1 description Ladder diagram Command code Description ea LD XO Load X0 s A contact is x1 K C v1 MPS Saves it in stack X2 AND x1 Serial connect X s A contact OUT Y1 Drives coil Y1 MRD Read stack Stack index remain intact AND X2 Serial connect X2 s A contact OUT MO Drives coil Y2 MPP Read stack OUT Y2 Drives coil Y2 END Program ends OUT Command Function Step Number OUT Drives coil 1 Step Bit device Word device External device Operand XIY M T C IR KnX JKnY KnM TJC D V Z W_IBit Word JO JO IO JO JO l h oF i JO
21. Definition It represents the servo drive s status When this flag is On it means the axis is in Servo On status When this flag is Off it means the axis is Servo Off Related device Take axis 1 as the example when Servo On R576 is On it means Servo On is activated When the status of servo axis 1 becomes Servo On Servo ON R1072 will be On Servo quick stop release R1088 Definition See if servo axis is in quick stop status If this flag is On it means Quick Stop status has been released and can receive motion command However if this flag is Off it means this axis is still in Quick Stop status and cannot receive motion command Related device Take axis 1 as the example if Quick stop R528 is On it means HMC issues quick stop command to the servo When servo is in quick stop status flag of Servo quick stop release R1088 is Off Jan 2014 Chapter 3 Special Devices Set Quick stop R528 to Off means HMC issues quick stop released command to the servo If it is released successfully flag of Servo quick stop release R1088 is On In addition if Dl Function Planning of ASDA Servo parameter is set to Emergency stop EMGS DI signal will control the servo to be in quick stop status and HMC will lose its control Servo fault R1104 Definition This flag will be On if an alarm occurs in servo axis After being cleared this flag is Off Related device Take axis 1 as the example S
22. Handwheel function from other axis had been activated Command load R624 Definition Command load is the flag for loading in continuous motion commands and execution It turns On the flag Command load and HMC starts to write related parameters into servo preload command When the write in is completed HMC starts to execute continuous motion commands Before the current command has been completed At least two are executing other motion command still can be loaded in These commands will be wrote into the servo Jan 2014 3 21 Chapter 3 Special Devices 3 22 continuously and then executed in order so as to accomplish the so called continuous motion commands Multi axis linear or arc motion can be issued to continuous commands only by writing into different command code and parameters will do Also through the setting of Overlap function of PR overlap can be enabled When two PR are executed overlap the motion can be completed quickly and smoothly The way of issuing each section of continuous motion command is the same as the single one The difference is that single command should trigger Command start R512 and wait until Command complete R1056 is done so it can execute the next command As for continuous command triggering Command load R624 can issue and execute the command After enabling Command load wait till Command ready R1040 is On which means the command had been succe
23. JD V Z W Bit Word JO O IO JO JO l h hh JO See the table below for actions of components driven by RST command eee Components Status a S Y M Both coils and contacts are set Off 1 6 contacts are set Off Current timing and counting data are reset to 0 while coils and D E F Content values are reset to 0 Status of the components assigned by RST command remains intact if it was not executed Cor diagram exam Command code Description LD XO Load X0 s A contact RST Y5 Clear contact Y5 PLS Command Function Step Number PLS Upper differential output 1 Step Bit device Word device External device Operand XIY M T C IR KnX IKnY KnM ITICIDiVIZ W Bit Word IO IO JO O O lJ bk k Hd O Command description 4 8 one cycle time Upper differential output command When conditional contact turns On positive edge triggering the PLS command executes S sends one pulse with a length of Jan 2014 Chapter 4 Command Introduction Ladder diagram Command code Description X0 LD XO Load X0 s A contact MO PLS MO MO upper differential LD MO Load MO s A contact Timing diagram SET YO YO action retaining xo f ON MO p Time of one scan cycle l YO PLF Command Function Step Number PLF Lower differential output 1 Step Bit device Word device External
24. O JO IO JO Lk kkhh JO The AND command serial connects A contacts It reads the current status of the eid given serial contacts and executes the AND operation on the acquired data description together with the outcomes from previous logic operations and saves the outcome in a cumulative register Ladder a Command code Description Gare LDI X1 Load X0 s B contact AND X0 Serial connect X0 s A contact OUT Y1 Drives coil Y1 e ANI Command Function Step Number ANI Serial connect B contact 1 Step Bit device Word device External device Operand XIY M T C IR jKnX IKnY KnM T jC D V Z W Bit Word O O O O O l bk k Hd O given serial contacts and executes the AND operation on the acquired data description O The ANI command serial connects B contacts It reads the current status of the Command together with the outcomes from previous logic operations and saves the outcome in a cumulative register Ladder i Command code Description come Joe ay LD X1 Load X1 s A contact ANI X0 Serial connect X0 s B contact OUT Y1 Drives coil Y1 4 2 Jan 2014 Chapter 4 Command Introduction OR Command Function Step Number OR Parallel connect A contact 1 Step Bit device Word device External device Operand XIY M IT C IR jKnX JKnY KnM T jC D V Z W Bit Word O JO O IO JO
25. On means it is in Servo On R No status Servo quick stop R1088 On means servo quick stop has R No release been released Off means the servo is in quick stop status Servo Fault R1104 On means servo error occurs R No Servo Warning R1120 On means servo alarm warning R No occurs Servo ready R1136 On means the connection R No between DMCNet and servo drive is established 3 26 Jan 2014 Chapter 3 Special Devices Command error R1024 Definition When issuing command to the servo if parameter or servo status is in error and results in invalid command this flag is On As long as the flag is On users have to set it back to Off This flag only shows the command error that had ever occurred if the error is not cleared it will not influence the next command Related device Take axis 1 as the example when issuing Command start R512 or Command load R624 if command error occurs Command error R1024 is On And Error code W576 will show the reason of error occurs The error code is as the followings Code Definition 01 The speed is set to 0 or becomes 0 after transferring by E gear ratio 02 Axis of issuing command is in emergency stop status 03 Axis of issuing command is in Servo Off status 04 Command is executing and is unable to receive the new one 05 Trigger the wrong command selection 06 Command parameter error 07
26. Unit is PUU Current servo drive s average Average torque DW W580 A R No 0 torque Unit is Current servo drive s speed Current speed DW W582 ad R No 0 Unit is PUU s Servo alarm code in BCD Servo alarm code W585 R No 0 format Monitoring item 1 The specified servo information W586 Sener R No 0 DW of monitoring item 1 Monitoring item 2 The specified servo information W588 sal cola tgs R No 0 DW of monitoring item 2 Monitoring item 3 The specified servo information W590 AA R No 0 DW of monitoring item 3 Monitoring item 4 The specified servo information W592 Ae tease R No 0 DW of monitoring item 4 The current written PR number PR surplus W594 R No 0 in the servo drive DMCNet Communication error rate in communication error W596 channel A of DMCNet R No 0 A DW communication Jan 2014 3 43 Chapter 3 Special Devices DMCNet Communication error rate in communication error W598 channel B of DMCNet R No 0 B DW communication Rapid monitoring The specified servo information W600 Pea ae R No 0 item DW of rapid monitoring item Current servo drive s speed Current speed W602 bo R No 0 Unit is RPM Error code W576 Definition When command issuing is failed the error occurs with Command error and it will display the current error code which shown below Code Definition 01 The speed is set to 0 or becomes 0 after transferring by E gear rat
27. W Bit Word 16 bit command Eo s o o fo fo D obbo Notes on the use of operands S1 operand takes consecutive 2 points and can 32 bit command 5STEP use F device FINT D operand takes consecutive 2 points Flag signal R8 a S The source device to be converted D The conversion outcome Conan bar value contained in the register assigned by S is converted from binary floating point number to BIN integer and saves in the register assigned by D with the deseripilon integral floating point number being discarded For conversion outcome in zero the zero flag R8 On When X1 On convert binary floating point number D21 D20 to BIN integer save the outcome in D31 D30 and discards the BIN integral floating point number X1 Example FDOT API Oo FDOT iS Integer Binary floating point number Bit device Word device External device x ly MIT c R knx kny knmlr c b v fz wlBit Word 16 bitcommand S o Jo lo o D ooob Notes on the use of operands S1 operand takes consecutive 2 points and can 32 bit command 5STEP use F device FDOT D operand takes consecutive 2 points Flag signal R8 S The source device to be converted D The conversion outcome Command The register content specified by S is converted to floating point number from BIN integer and saved in the register specified by D descripti
28. contained in S1 S2 and D during 16 bit and 32 bit operation This command is ignored in case the divisor is 0 When R20 On the error code of Chapter 4 Command Introduction D Quotient and remainder W20 is 02 16 bit BIN division operation Quotient Remainder G Gd M 1 AM nao aAa OKOE b0 DIri BO Dirias DO DIB aerieni b0 32 bit BIN division operation Quotient Remainder GD GD Gd 1 Da Dr 2 PE N a b15 00615 00 b15 b0b15 00 b15 b0 b15 b0 615 b0 b15 b0 When XO On the quotient and remainder of DO divided by divisor D10 is kept in D20 and D21 respectively Both numbers positive or negative property is determined by Off On status of their first bit respectively i INC API 5 INC BIN add one Bit device Word device External device x ly Mt fe R knx kny knm t c Jo v z w pit wora 16 bit command 3 STEP D o lo bobl O INC Notes on the use of operands D operand can use external device KnDY and DAO 32 bit command 3 STEP DINC Flag signal None Command description Jan 2014 D The target device This command increases the value contained in specified device D by 1 every time it is scanned by the program For 16 bit operation the sum of 32 767 and 1 is 32 768 and the sum of 2 147 483 647 and 1 is 2 147 483 648 for 32 bit operation 4 39 Chap
29. 1 represents arc interpolation of Y and Z axis and 2 represents X and Z axis Set Parameter start address W524 to 512 means to read parameters starting from D512 Write D510 into Speed setting W518 Then trigger Command start R512 to On and write parameters including Center coordinate 1 D512 Center coordinate 2 D514 and Angle D516 into the servo drive and D40 1 b When D40 1 and Command ready R1040 is On it means the arc motion is executing When Command complete R1056 is On it means the command is completed Then set Command start R512 to Off and D40 2 c When D40 2 the command is completed Make sure Command start R512 is Off Then set flag M544 to Off and the control procedure is over Note Arc motion issues the command to three axes for one time Thus the command only can be issued to ASDA M for executing arc interpolation of 3 axis For 3 axis servo drive when two axes are executing arc motion the other one will be unable to execute other commands 5 32 Jan 2014 Chapter 5 Example of Motion Command Set the angle to the positive value which represents counterclockwise direction On the contrary if the value is set to negative it represents clockwise direction Jan 2014 5 33 Chapter 5 Example of Motion Command 5 15 Helical Example description Use M560 as enabling condition for triggering and executing helical motion After activating M560 the related parameters are
30. Command code Description Load X0 s A contact ORP x1 X1 Positive edge a detection parallel connection OUT Y1 Drives coil Y1 ORF Command Function Step Number ORF Negative edge detection parallel connection 1 Step Bit device Word device External device Operand XIY M T C IR jKnX JKnY KnM T jC D V Z W Bit Word OIO IO IO O JO l e fe hd O The ORF command parallel connects the contact s falling edge detection Command description Ladder diagram Command code Description Load X0 s A contact X1 ORF X1 X1 Negative edge 4 detection parallel connection OUT Y1 Drives coil Y1 TMR Command Function Step Number TMR 16 bit timer 2 Step T K TO T255 KO K32 767 Operand T D T0 T255 DO D65 535 After a TMR command is executed the timer assigned by it turns On and starts timing The timer s contacts function as shown in table below when setup time is Command cee reached timing value gt setup value 4 14 NO Normally Open contact Open NC Normally Close contact Close Jan 2014 Ladder diagram Example Xo 00 Chapter 4 Command Introduction Command code Description LD X0 Load X0 s A contact TMR T5K1000 Timer T5 is set to K1000 CNT Command Function Step Number CNT 16 bit counter 2 Step C K C0 C199 KO K32 767
31. Example of Motion Command it means axis 1 is activated Bit 1is On means axis 2 is activated Write D500 into Speed setting W518 Then trigger Command start R512 to On and D20 1 b When D20 1 and Command ready R1040 is On it means reverse operation is executed Since the status of Command complete will not be changed when executing speed command flag of Command start R512 can be Off and D20 2 c When D20 2 make sure Command start R512 is Off Then set flag M410 to Off and the control procedure is completed Note If the operation speed is greater than Max speed limit it will operate at the limited max speed Reverse speed operation should be stopped by deceleration stop command or flag of Quick stop When speed command at forward or reverse direction is executed issuing the motion command again will cause command error 5 14 Jan 2014 Chapter 5 Example of Motion Command 5 8 Decelerate to Stop Example description Use M420 as the enabling condition for triggering and executing deceleration to stop command After M420 is activated the related parameters are executed and issue the command Example program Cyclic task MOV _ K0 D20 M OS T a When M420 turns On it is in initial control status D20 0 and resets Command start R512 at the same time b When M420 is On it enters sub program STOP_Speed to execute deceleration to stop command After that M420 is Off a
32. Group servo setting The setting of servo architecture in use implements the multiple axis motion between different servo drives a0 Group Servo setting l DEMCMet station list Station Station Stationt Stations Stationb Station Station Station 1 Statonl2 OF Cancel Option Function View V x Item Description Prompt to Edit Device Comment H Prompt to Edit After entering the command Device automatically check if the device Comment comment does exist If not it will automatically activate the window for entering the device comment 6 18 Jan 2014 View Function Chapter 6 Ladder Editor Window W Help H Item Description Zoom sit ae Zoom The window can be zoomed in or Ghana Welw Zoom Out zoomed out to 50 70 100 Watch Window 50 125 and 150 TEREN 70 Output Window It shows the output window Show IL 100 Watch Window It shows the watch window Show Comment Show LD It shows the ladder program Show Symbol Show IL It shows the instruction Window Function Helps Cascade C Title Horizontally H Title Vertically V Help Function About A Jan 2014 Show Comment Show the device comments and row comments or not Show Symbol Show the symbol or device or not Item Description Cascade More than one ladder diagrams are in cascade display Title Horizontally More th
33. NEXT command after being repeated 3 times During each execution of program A program B is executed for 4 times That is program B runs for 12 times in total Jan 2014 Chapter 4 Command Introduction ADD API 5 ADD IGD CDd CD BIN addition 018 H Bit device Word device External device X IY M T JC JR KnX KnY KnMIT C D V Z W Bit Word 16 bit command 7 STEP S1 o lo lo lolololololo O ADD S2 O IO JO OJOJOO jO JO O D o lo lolololololo O 32 bit command 7 STEP Notes on the use of operands S operand can use external device KnDX DADD KnDY DAI and DAO and K device a ee S2 operand can use external device KnDX KnDY DAI and DAO and K device Flag signal R8 R9 R10 D operand can use external device KnDY and DAO 1 Summand S2 Addend D Sum Coniiand Add values contained in data sources S1 and S2 in BIN format and save the sum in D desenption The very first bit of each data represnts it s positive 0 or negative 1 This enables algebraic addition operations like 3 9 6 Flag of addition 16 bit BIN addition 1 When the addition outcome is 0 the zero flag R8 is On 2 When the addition outcome is less than 32 768 the borrow flag R9 is On 3 When the addition outcome is greater than 32 767 the carry flag R10 is On 32 bit BIN addition 1 When the addition outcome is 0 the zero flag R8 is
34. No 100 Resonance suppression of low pass filter W710 Remote No 20 Anti interference gain W711 Remote No Speed detection filter and jitter suppression W712 Remote No Excessive deviation of position control o W724 Remote Yes 3840000 deviation DW E Cam curve scaling W726 Remote No 1000000 E Cam Master gear ratio setting P W728 Remote No 3600 E Cam Activate E Cam control W730 Remote No 0 E Cam Information of disengaging time W732 Remote No 0 3 60 Jan 2014 Chapter 3 Special Devices Auto setting of low frequency vibration suppression W704 Definition It corresponds to the setting of P1 29 Auto setting of low frequency vibration suppression If it is set to 0 the function is disabled If it is set to 1 the value will set back to 0 after vibration suppression Inertia ratio and load weight ratio to servo motor W705 Definition It corresponds to the setting of P1 37 Inertia ratio and load weight ratio to servo motor Rotary motor J_load J_motor J_motor rotor inertia of the servo motor J_load Total equivalent of inertia of external mechanical load Proportional gain of position control W706 Definition It corresponds to the setting of P2 00 Proportional gain of position control When the value of position loop gain is increased the position response can be enhanced and the position error can be reduced If the value is set too big it may easily cause
35. PUU s Ter The content of Monitoring item index1 W666 ee R W Yes 1 monitoring item index 1 reer The content of Monitoring item index 2 W667 ot ene R W Yes 13 monitoring item index 2 aa ere The content of Monitoring item index 3 W668 Snide R W Yes 39 monitoring item index 3 oe tee The content of Monitoring item index 4 W669 ONIN R W Yes 40 monitoring item index 4 Quick Stop Deceleration time when NIAI W670 l R W Yes 200 deceleration time Quick Stop Deceleration time of Deceleration time of stop W671 Remote Yes 30 stop command command Deceleration time for Deceleration time for A aid W672 an Remote Yes 30 communication error communication error Deceleration time of Deceleration time when W673 Remote Yes 30 motor overload motor overload Deceleration time of Deceleration time when a W674 om Remote Yes 30 reverse software limit in reverse software limit Deceleration time of Deceleration time when a W675 as Remote Yes 30 forward software limit in forward software limit Deceleration time of Deceleration time when Me W676 _ _ Remote Yes 30 reverse hardware limit in reverse hardware limit Deceleration time of Deceleration time when ots W677 __ Remote Yes 30 forward hardware limit in forward hardware limit Jog speed DW W678 Jog speed Remote Yes 426666 a Acceleration curve Jog acceleration time W680 ane R W Yes 200 during jog operation a Deceleration curve Jog deceleration time W681 Pot R W Yes 200 du
36. Servo alarm code w585 W841 W1097 W1353 W1609 W1865 W3401 3 30 Jan 2014 Chapter 3 Special Devices Monitoring item 1 DW W586 W842 W1098 W1354 W1610 W1866 W3402 Monitoring item 2 DW W588 W844 W1100 W1356 W1612 W1868 W3404 Monitoring item 3 DW W590 W846 W1102 W1358 W1614 W1870 W3406 Monitoring item 4 DW W592 W848 W1104 W1360 W1616 W1872 W3408 Motion surplus W594 W850 W1106 W1362 W1618 W1874 W3410 DMCNet communication A error rate W596 W852 W1108 W1364 W1620 W1876 W3412 DMCNet communication B error rate W598 W854 W1110 W1366 W1622 W1878 W3414 Rapid monitoring item W600 W856 W1112 W1368 W1624 W1880 W3416 Current speed W602 W858 W1114 W1370 W1626 W1882 W3418 Motion parameter Electronic gear ratio Numerator DW W640 W896 W1152 W1408 W1664 W1920 W3456 Electronic gear ratio Denominator DW W642 W898 W1154 W1410 W1666 W1922 W3458 Unit display W644 W900 W1156 W1412 W1668 W1924 W3460 Acc Dec curve W645 W901 W1157 W1413 W1669 W1925 W3461 Acceleration time W646 W902 W1158 W1414 W1670 W1926 W3462 Deceleration time W647 W903 W1159 W1415
37. TEL 1 919 767 3800 FAX 1 919 767 8080 Delta Greentech Brasil S A Sao Paulo Office Rua Itapeva 26 3 andar Edificio Itapeva One Bela Vista 01332 000 S o Paulo SP Brazil TEL 55 11 3568 3855 FAX 55 11 3568 3865 Europe Deltronics The Netherlands B V Eindhoven Office De Witbogt 15 5652 AG Eindhoven The Netherlands V1 0 TEL 31 40 2592850 FAX 31 40 2592851 DELTA_HMC_M_EN_20140130 jenuelW 49S Sales JWH We reserve the right to change the information in this catalogue without prior notice A NELTA www delta com tw ia Smarter Greener Together Table of Contents Chapter 1 Introduction 1 1 Brief Introduction of HMC Controller ceccccccccceececcecceececeecececcesaeceeeneeeees 1 1 1 2 Concept of Distributed Motion Control ccccccceseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 1 1 Chapter 2 Introduction of Controller 2 1 Gontrollens Franiework xc scceoccestceccnestinenenesecencpeseecsenestoesecesbectesesteeseeeseeeseeeseeeseee 2 1 2 2 Ladder PRON AM eec ieee eese eee vesdens Ee Ee e EE eE eE EEEE SE 2 2 2221 LE I E E E EE A A AEE 2 2 22 2 CyelietaS kroen a e oe Ge ae oe Ge SN Oe ace 2 2 Ze2 Sr Inal ASK se cesar ene ceseceuecuseghecesecgucedsecgueseseseucedseceueceseceuecdsecgueceseeeueeesecesese 2 3 2 ZA SUD Program dep bceict ten Se secon Se secon i setae Se Sesion Se sei oe Se sean Se seo Se seen de eee see 2 4 2 29 Motion Progra Ms eere eee eee e eE EEEE EEEE EEEn 2 6 Z9 VDW
38. W1671 W1927 W3463 Homing speed 1 DW W648 W904 W1160 W1416 W1672 W1928 W3464 Homing speed 2 DW W650 W906 W1162 W1418 W1674 W1930 W3466 Homing mode W652 W908 W1164 W1420 W1676 W1932 W3468 Homing acc dec time W653 W909 W1165 W1421 W1677 W1933 W3469 Homing offset value DW W654 W910 W1166 W1422 W1678 W1934 W3470 Forward software limit DW W656 W912 W1168 W1424 W1680 W1936 W3472 Reverse software limit DW W658 W914 W1170 W1426 W1682 W1938 W3474 Maximum speed limit DW W660 W916 W1172 W1428 W1684 W1940 W3476 Monitoring item index 1 W666 W922 W1178 W1434 W1690 W1946 W3482 Monitoring item index 2 W667 W923 W1179 W1435 W1691 W1947 W3483 Monitoring item index 3 W668 W924 W1180 W1436 W1692 W1948 W3484 Monitoring item index 4 W669 W925 W1181 W1437 W1693 W1949 W3485 Jan 2014 3 31 Chapter 3 Special Devices Quick Stop deceleration time W670 W926 W1182 W1438 W1694 W1950 W3486 Deceleration time of stop command W671 W927 W1183 W1439 W1695 W1951 W3487 Deceleration time for communication error W672 W928 W1184 W1440 W1696 W1952 W3488 Motor overload deceleration time W673 W929 W118
39. Word OJO O JO IO JO bh fe of J JO Command description status in a cumulative register The LD command applies to the starting A contact of a left bus bar or a starting A contact in loop block It saves the current value and stores the acquired contact Ladder diagram Command code Description xo X1 LD X0 Load X0 s A contact H _ lt v gt AND X1 Serial connect X1 sA contact OUT Y1 Drives coil Y1 e LDI Command Function Step Number LDI Load B contact 1 Step Bit device Word device External device Operand XIY M T JC IR KnX IKnY KnM ITICID V Z W Bit Word OJO IO JO JO JO J fF bhh JO Command description Ladder ea Care Jan 2014 status in a cumulative register LDI AND OUT X0 X1 Y1 Command code The LDI command applies to the starting B contact of a left bus bar or a starting B contact in loop block It saves the current value and stores the acquired contact Description Load X0 s B contact Serial connect X1 s A contact Drives coil Y1 4 1 Chapter 4 Command Introduction AND Command Function Step Number AND Serial connect A contact 1 Step Bit device Word device External device Operand X Y M T C R KnX KnY KnM _ T IC JD V Z W Bit Word OJO
40. and set flag M530 to Off The control procedure is completed Note Jan 2014 If the speed is greater than Max speed limit it will operate at the limited max speed At non vector speed or in multi axis linear motion with the specified speed the servo drive will operate base on the speed which with the longest traveling distance and adjust the speed of other axes so as to accomplish synchronous linear motion 5 7 Chapter 5 Example of Motion Command 5 5 4 axis Synchronous Linear Motion Special Type Example description Use M531as the enabling condition for triggering and executing 4 axis synchronous linear motion After M531 is activated the related parameters will be executed and issue the command Example program HMC screen Spd D510 Pcs 1 D512 Pos 4 D518 M531 l PRRRRRARRA HAAHHRBHRRA dl et Pcs 2 D514 eareaazeee Pos 3 D516 eeeaeeeee Cyclic task MOV KO D30 Multi Flow M531 CALL Four Movin a When M5371 turns On it is in initial control status D30 0 b When M5371 is On it enters sub program Four_Moving to execute 4 axis synchronous motion After that M531 is Off automatically Jan 2014 Chapter 5 Example of Motion Command Sub program Four_Moving H 30 Ko MOV K24 W512 Multi Comm Flow 6 A o o DMOV D510 W518 speed s atting DMOV D512 W520 Target positio DMOV D514 W776 Target positio DMOV D516 W1032 Target positio DM
41. can be executed for one time If more than one motion program is called they will be executed one by one in order Please note that once the motion program is launched it will only execute one scanning See the following diagram as the example Call Motion1 by LAUNCH Motion1 when executing cyclic task A cyclic task A will not be interrupted when triggering LAUNCH Motion1 command It will be executed continuously If no motion program is executed at the moment Motion1 will be executed until SRET command appears which means the motion program is completed Cyclic Task Motion Program A Motion1 a E M100 RO MOV Kil D120 S MOV D100 W518 RO R1024 R1056 e K fistr_ sro 2 6 Jan 2014 Chapter 2 Introduction of Controller Please pay attention that motion program cannot call another motion program 256 motion programs which are waiting to be executed by HMC are at most If exceeding the limit status of Grammar error R18 will be On and the display of Code of grammar error W18 will show 12 Jan 2014 2 7 Chapter 2 Introduction of Controller 2 3 Devices Range and number of devices available in HMC controller Type Device Range Contents X Input relay 0 511 Total 512 points Y Output relay 0 511 Total 512 points DX DMCNet input relay 1 0 12 63 Total 768 points DY DMCNet output relay 1 0 12 63 Total 768 points M Auxi
42. command frequency 07 Motor speed 08 Speed input command 09 Speed input command 10 Torque input command 11 Torque input command Chapter 3 Special Devices 12 Average torque 13 Peak torque 14 Main circuit voltage 15 Inertia ratio 16 IGBT temperature 17 Resonance frequency 18 The absolute pulse number of Z phase 39 DI status 40 DO status Related device Rapid monitoring item index W688 determines the display content of Rapid monitoring item W600 Maximum speed limit W689 Definition Maximum moving speed in rpm and this value will be changed with Maximum speed limit W660 During Jog operation if the speed exceeds this setting value the servo drive cannot execute Jog When executing other motion commands if the speed exceeds the setting value it will operate at the speed of Maximum speed limit 3 5 4 Register of Servo Parameter It issues parameters which are related to servo control Take axis 1 as the following description Function No Attribute Latched Default value Auto setting of low frequency vibration W704 Remote No 0 suppression Inertia ratio and load weight ratio to servo W705 Remote No 10 motor Proportional gain of position control W706 Remote No 35 Feed forward gain of position control W707 Remote No 50 Speed control gain W708 Remote No 500 Speed integral compensation W709 Remote
43. detection filter and jitter suppression W712 Definition It corresponds to the setting of P2 49 Speed detection filter and jitter suppression which is for setting speed detection filter Excessive deviation of position control W724 Definition It corresponds to the setting of P2 35 Condition of excessive position control deviation The setting of excessive position control deviation warning in servo drive error display E Cam curve scaling W726 Definition It corresponds to the setting of P5 19 E Cam curve scaling This parameter is used to magnify or minify the E Cam table E Cam Master gear ratio setting P W728 Definition It corresponds to the setting of P5 84 E Cam Master gear ratio setting P When receiving pulse number P of the master E Cam will rotate M circle which is the M cycle of the E Cam table E Cam Activate E Cam control W730 Definition It corresponds to the setting of P5 88 E Cam Activate E Cam control which controls E Cam activate Command source and Engaging E Cam Information of disengaging time W732 Definition It corresponds to the setting of P5 89 E Cam Information of disengaging time Control E Cam disengaging time 3 62 Jan 2014 Chapter 4 Command Introduction 4 1 Basic Command LD Command Function Step Number LD Load A contact 1 Step Bit device Word device External device Operand X Y M IT C JR KnX KnY KnM TCID JV Z W_ bit
44. i i 2 DEF 6 ra Timer i Slimer Timer_1 E Sub Program iE Motion Program Jan 2014 6 7 Chapter 6 Ladder Editor 6 2 4 Sub Program 1 New Sub Program Right click the Sub Program and select New Sub Program A New program window will pop up a O Task B 00 Task Initial Initial kn Pod i ieS Prog B Cyclic B Cyclic i i 1Pmgl i ob hem 1Progl Ln 2DEF L 2DEF M Timer fe Timer U 3 Timer Timer_1 E E Motion Program gt Enter the program name which is up to 16 characters Then press OK B 50 Task 6 Initial i Prog0 Cyclic bE 1Progl LS 2 DEF i Gf Timer Program Type l off 3 Timer Timer_1 Sub Program New Program 2 Rename the program Right click the program name and select Rename A New program window will pop up Sf Task Initial g Task G Cyl 4 Initial 1 ae eee The Poa i 2DEF a Cyclic amp m Timer l l L 1Progl iP 3 Timer Tin LO 2DEF B E Sub Program i JEON gt Timer Delete af 3Timer Timed B Motio B E Sub Progra x E Motion Program gt Jan 2014 Enter the new program name and press OK called the command about this sub program P New Program Program Name Program Type Sub Program 6 2 5 Motion Program 1 New Motion Program Chapter 6 Ladder Editor Meanwhile if the Ladder program has it will be renamed automatically g 6 Tas
45. logic OR operation turns an outcome of 1 when either of its two values is 1 description Jan 2014 4 41 Chapter 4 Command Introduction When X0 On do WOR logic OR operation on 16 bit DO and D2 and save the outcome in D4 XO Hiwmor oo 02 oe b15 bO GSD Do o 1 Jo o 1fo 1fo 1 o 1 fofa o 1 Before execution WOR GS n2 o o o of1 1l lili ol olo lofa U After execution ED D4 1o 1fo 1 1 1 4 1 144 1 1 0 1 o 1 WXOR API 5 5 WXOR CSD G2 CD XOR operation O H Bit device Word device External device X Y IMIT C IR KnX KnY KnM T IC ID V Z W Bit Word 16 bit command 7 STEP S1 O IO IO O jO O O JO jO O WXOR S2 O IO IO O jO O O JO jO O D o lo o JoJo jo oO o O 32 bit command 7 STEP Notes on the use of operands S operand can use external device KnDX DWXR KnDY DAI and DAO and K device SER S ee S2 operand can use external device KnDX KnDY DAI and DAO and K lag signal None device D operand can use external device KnDY and DAO The logic XOR operation turns an outcome of 0 when both of its two values are the same and 1 when its two values differ from each other When X0 On do WXOR logic XOR operation on 16 bit DO and D2 and save the outcome in D4 X0 it wxor oo 02 os b15 bO csp Do oliloliloliloliloliloli oli o 1 WXOR GS nD2 o o lo ojh hh 1
46. ly mfr lc JR knx kny kamit c D v z wiBit word 16 bit command 5 STEP _ S o lo lo Jo BIN D oboo use F device Command description exam S Source data radian Converts the value in units of radians to degrees degree radian x 180 tr Notes on the use of operands S1 operand takes consecutive 2 points and can Flag signal R20 D Conversion outcome degree The register content specified by S is converted to the degree in floating point number format from the radian in floating point number format and saved in the register specified by D If the outcome equals 0 the zero flag R8 turns On When XO On it converts the binary floating point radian value contained in D1 L a degree value in binary floating point format and saves it in D11 D10 oo on aT y Radian value DB Dn D10 Degree value radian x 180 17 J38 FSIN GS D SIN operation in floating point number format Bit device Word device External device X IY IMIT JC JR KnX KnY KnM IT C D IV Z W Bit Word 16 bit command S O O O O D OOJOO use F device D operand takes consecutive 2 points Notes on the use of operands S1 operand takes consecutive 2 points and can Flag signal R8 Jan 2014 4 49 Chapter 4 Command Introduction S Specified source value floating
47. motion is executing When Command complete R1056 is On it means the command is completed Then set Command start R512 to Off and D40 2 When D40 2 the command is completed Make sure Command start R512 is Off Then set flag M542 to Off and the control procedure is completed Jan 2014 Chapter 5 Example of Motion Command Note Jan 2014 Arc motion issues the command to three axes for one time Thus the command only can be issued to ASDA M for executing arc interpolation of 3 axis For 3 axis servo drive when two axes are executing arc motion the other one will be unable to execute other commands If the value is set to 1 it represents counterclockwise direction On the contrary if the value is set to O it represents clockwise direction 5 27 Chapter 5 Example of Motion Command 5 13 Arc End Point amp Radius Example description Use M543 as the enabling condition for triggering and executing arc motion After activating M543 the related parameters are executed and issue the commands Arc end point amp radius motion should issue parameters including End point coordinate 1 A1 End point coordinate 2 B1 Radius and Reverse and forward direction If data start address is D1000 D1000 represents End point coordinate 1 PUU D1002 represents End point coordinate 2 PUU D1004 represents Radius PUU and D1006 represents Reverse and forward direction According to the setti
48. of Motion Command Sub program Three_line D30 K0 MOV __ KI W512 Multi Comm Flow and co MOV __ K7 W513 Comm and op DMOV D510 W518 speed 5 atting DMOV _ D510 W4 speed s etting DMOV D510 W1030 speed s etting DMOV D512 W520 Target positio DMOV D514 W776 Target positio DMOV D516 W1032 Target positio R512 Fi SET _ R512 Comm Comm and ex and ex INC D30 Multi Flow R1040 R1056 D30 KI a RST R512 Multi Comm Target Comm Flow and rea reach B a INC D30 Multi Flow R512 D30 K2 HA7 RST M530 Multi Comm Flow and ex INC D30 Multi Flow SRET When D30 0 it starts to write the command Set Command code W512 to 1 which means linear motion is executed When Command selection W513 is set to 7 it represents the 3 axis motion of axis 1 2 and 3 Write D510 into Speed setting W518 W744 W1030 of each axis Write D512 into Target position W520 of axis 1 Write D514 into Target position W776 of axis 2 and write D516 into Target position W1032 of axis 3 Then trigger Command start R512 to On and D30 1 When D30 1 Command ready R1040 is On which means the 3 axis synchronous motion is being executed When Command completed R1056 is On it means the motion is completed Then set Command start R512 to Off and D30 2 When D30 2 the motion is completed Make sure Command start R512 is Jan 2014 Chapter 5 Example of Motion Command Off
49. of command number If not load in the next command to the servo drive First increase the command offset value V1 When the value is added 100 it should refer to Path 2 200 is for Path 3 and so on and so forth Return to D90 0 and issue the command CJ P1 If the issued command number is enough no need to load other commands and D90 3 d When D90 0 again for N times it means to issue motion parameters Write D 2100 100x N 1 into Command code W512 D 2101 100x N 1 into Command selection W513 D 2102 100x N 1 into Overlap W525 D2010 100x N 1 into Speed setting W518 of each axis and the starting address of D 2110 100x N 1 into Target position W520 of each axis Also write the starting address of D 2110 100x N 1 into the continuous address of PR data zone starting from D1000 After that trigger Command load R624 to On D90 1 and repeat step b e When D90 3 wait until all continuous motion command is completed which means Command complete R1056 is On Then D90 4 and M610 is Off Note Jan 2014 The continuous path can issue unlimited number of motion parameters to the servo drive The number of motion that is waited to be executed in servo drive is 8 at most Trigger the next motion command by Command load right after a command is completed will do In continuous motion the command will not be executed until two PR commands at least are issued In continuous
50. of latched device D W13 The size of latched Default value 1000 R W Yes device D Alarm code W16 Remote I O alarm R No code W17 DMCNet alarm code R No W18 Grammar error code R No W19 Motion control alarm R No code W20 Command error R No code Remote IO W32 Module version R No module version number of station 0 number No W63 Module version R No number of station 31 Jan 2014 3 7 Chapter 3 Special Devices Information of W66 FPGA firmware R No FPGA controller version W67 FPGA PCB version R No Others W68 Time stamp DW Unit 0 1 ms R No W72 Retry times of Default value 0 R W Yes command issuing W73 Retry times of servo Default value 0 R W Yes parameter issuing W74 Handwheel factor R W Yes W75 DMCNet Mask Command mask R W Yes setting of each station in DMCNet The default value is FFFF It should be set to FCFF when using special ASDA M 4 axis synchronized servo drive W76 Handwheel counting DW pulse counter of R W No outer type of handwheel Module number WO Definition Controllers module number which is in DW format DSP firmware number W2 Definition Controllers DSP firmware number which is in DW format CWP format version W4 Definition Controller s program format version which is in DW format Program size W7 Definition Step number in controller s program Address of execution error W8 Def
51. point after leaving Home Switch If homing is executed on Home Switch it will operate in positive direction to leave Home Switch Then regard the first Z pulse as homing point Simply to say it is for searching the falling Ei signal of neue Switch Negative divection ositive divection Z Pulse Horne Switch a E 1i l Positive Limit Switch T 11 14 Homing method corresponds to 7 10 The difference is the initial operating direction 3 53 Chapter 3 Special Devices Negative direction zPuse Cp Horne Switch i fT 1 L Negative Limit Switch T 17 30 Homing method is similar to 1 14 but it no longer needs to search Z pulse 33 Operate in reverse direction and regard the first Z pulse as homing point 34 Operate in forward direction and regard the first Z pulse as homing point 35 Regard the current position as homing point Related Device When executing homing Command code should be set to 8 and write Command selection into axis selection Then trigger Command start according to Homing mode Homing speed 1 Homing speed 2 Acceleration deceleration time of homing and Offset value of homing for homing Acceleration deceleration time of homing W653 Definition It is the acceleration deceleration time setting of homing Its unit is ms Offset value of homing W654 Definition After homing set the distance between home position and zero position a
52. point number addition Bit device Word device External device x ly Im fr Ic JR knx kny knuJr fc b v z wIBit word 16 bitcommand S1 O JO IO O O S2 O JO IO O O i D o o o fo O 32 bit command 7 STEP Notes on the use of operands S1 operand could use F device FADD S2 operand could use F device Flag signal R8 R9 R10 Jan 2014 4 43 Chapter 4 Command Introduction 1 Summand S2 Addend D Sum Add the value contained in the register assigned by S1 and S2 save the sum in the register assigned by D with all operations executed in binary floating point number description format When the absolute value of the sum is greater than the maximum value of floating point the carry flag R10 turns On When the absolute value of the sum is less than the minimum value of floating point the carry flag R9 turns On When the sum equals 0 the zero flag R8 turns On Command When X2 On place the sum of a binary floating point number D1 DO binary Example 1 floating point number D3 D2 in D11 D10 X2 E FADD D2 D10 Example 2 When X0 On place the sum of a binary floating point number D3 D2 F1 234568 after automatically converted into a binary floating point format in D11 D10 X0 F1 234568 D10 FSUB API FSUB Sp G2 Binary floating point number subtraction Bit device Word device Externa
53. the percentage of Speed proportion If Speed setting is 10000 and speed proportion is set to 20 then the actual speed will be 10000 x 20 2000 Also each axis influences the speed of all synchronized axis by the speed of triggering axis The setting value is between 1 and 100 When exceeding the range the setting of speed proportion will be regarded as 100 which operates at the speed of Speed setting Parameter start address W524 Jan 2014 Definition When issuing arc and helical commands the related parameters should be written into the continuous D register Parameter start address is the start address of setting PR Take axis 1 as the example if Parameter start address W524 is set to 1000 then when issuing commands the system will start to capture data from D1000 and send it to servo Take axis 1 in Arc Radius amp angle mode Command code is 10 as the example if Parameter start address W524 is set to 1000 when issuing arc motion command the system will issue parameters which start from D1000 to the servo drive Since the parameter needs 6 continuous bits the 6 continuous bits should 3 37 Chapter 3 Special Devices 3 38 be reserved For example if W524 is set to 1000 when planning the program D1000 D1005 should be reserved Assume that Parameter start address is set to n when executing arc motion the definition of D register data is as the followings Defi
54. value is set to negative it represents clockwise direction 5 36 Jan 2014 Chapter 5 Example of Motion Command 5 16 Helical W Example description Jan 2014 Use M561 as the enabling condition for triggering and executing helical W motion After M561 is activated the related parameters are executed and issue the commands Refer to the current position helical W motion completes the settings of center coordinates helical radius pitch total pitch number and final offset angle Thus helical W needs to issue five parameters including Center coordinate 1 Center coordinate 2 Pitch Total pitch number and Offset angle If the data start address is D1000 then D1000 represents Center coordinate 1 D1002 represents Center coordinate 2 D1004 represents Pitch D1006 represents Total pitch number and D1008 represents Offset angle Pay special attention that the angle unit is 0 5 degrees which means 180 90 degrees According to the setting the motion path shows as below End Point Total pitch number CounterClockwise Clockwise Start Point arc interpolation axis ounterClockwise Clockwise ie wae 5 37 Chapter 5 Example of Motion Command Example program HMC screen Spd D510 SpiralCenter_Coord 1 D512 l eeeeeeaee eaeeaaeeee AxisOption D509 SpiralCenter_Coord 2 D514 aaa mmi eaeenvaes O xY_2Axis eeeeeeeae 1 Z_2Axis 4 2 XZ_2Axis Spiral Laps
55. vibration and noise Feed forward gain of position control W707 Definition It corresponds to the setting of P2 02 Feed forward gain of position control If the position command is changed smoothly increasing the gain value can reduce the position error If the position command is not changed smoothly decreasing the gain value can tackle the problem of mechanical vibration Speed control gain W708 Definition It corresponds to the setting of P2 04 Speed control gain Increase the value of speed loop gain can enhance the speed response However if the value is set too big it would easily cause resonance and noise Speed integral compensation W709 Jan 2014 Definition It corresponds to the setting of P2 06 Speed integral compensation Increasing the value of speed integral compensation can enhance speed response and diminish the deviation of speed control However if the value is set too big it would easily cause resonance and noise Chapter 3 Special Devices Resonance suppression of low pass filter W710 Definition It corresponds to the setting of P2 25 Resonance suppression of low pass filter Set the low pass filter of resonance suppression When the value is set to 0 the function of low pass filter is disabled Anti interference gain W711 Definition It corresponds to the setting of P2 26 Anti interference gain Increasing the value of this parameter can increase the damping of speed loop Speed
56. 0 35 30 25 20 10 0 Grade F E D C B A 9 8 Percentage 100 90 80 75 70 65 55 50 2 Overlap for PR distance It is the percentage of the current and next PR distance Parameter P1 78 The setting of PR overlap P1 78 should set to 1 the range of Overlap setting value and its definition are as the followings Index 0 F Description 0 1 1 2 Jan 2014 3 41 Chapter 3 Special Devices Speed option W526 3 42 2 4 6 8 10 12 14 16 18 20 Ww S ol oln eo on A w Refer to P1 79 The setting of the percentage of overlap PR path Refer to P1 80 The setting of the distance of overlap PR path Reserved n m UO o Reserved Reserved The setting range of parameter P1 79 is 1 30 The setting unit of parameter P1 80 is PUU and the range is 100 2147483647 Related device When executing continuous motion take axis 1 as the example when using Command load R624 to load and trigger command it will issue the command Overlap to the servo drive so as to setup the interpolation between two PR paths Definition Through the setting of speed option the speed type of linear motion can be changed Refer to the followings for its setting 1 0 The longest traveling distance 2 1 12 Speed of specified axis The setting value means the multi axi
57. 0 complete Unit ms Acceleration i W516 Acceleration time of servo axis R W No 0 ime Deceleration i W517 Deceleration time of servo axis R W No 0 ime Speed setting W518 Unit PUU s R W No 0 DW Target position W520 Unit PUU R W No 0 DW Speed Percentage of actual motion W522 R W No 0 proportion speed Jan 2014 3 33 Chapter 3 Special Devices The start address of accessing Parameter start W524 parameters in D device in R W No 0 address continuous PR path Overlap W525 PR overlap R W No 0 Additional information that linear R W No 0 Speed option W526 motion needs Command code W512 Definition According to different demands different command code will be issued to the servo drive Followings are the codes that are supported No action Linear synchronization Forward speed Reverse speed OOA O Decelerate to stop 8 Homing 10 Arc Radius amp angle mode 11 Arc Midpoint amp end point mode 12 Arc Center amp end point mode 13 Arc Radius amp end point mode 14 Arc Center amp angle mode 24 4 axis linear synchronization Special type of servo drive 30 Helical 31 Helical W Related device When HMC issues command to the servo drive the command needs to be written into Command code of trigger axis For example for the 3 axes of ASDA M if users desire to execute 3 axis motion
58. 007 BCD DNCD BIN BCD convert 5 008 BIN DBIN BCD BIN convert 5 009 FCMP Floating point compare 7 050 FMOV DFMOV Assign all 11 O 010 REF I O update 2 Rotate and 011 ROR DROR Right rotate 3 shift 012 ROL DROL Left rotate 3 Loop 013 CJ Conditional jump 2 control 014 CALL Call subroutines 2 015 LAUNCH Activate motion 2 program 016 FOR Nest loops start 3 017 NEXT Nest loops end 1 Arithmetic 018 ADD DADD BIN addition 7 computing 019 SUB DSUB BIN subtraction 7 command 020 MUL DMUL BIN multiplication 7 021 DIV DDIV BIN division 7 022 INC DINC BIN add one 3 023 DEC DDEC BIN minus one 3 Logic 024 WAND DWAND AND operation 7 computing 025 WOR DWOR OR operation 7 command 026 WXOR DWXOR XOR operation 7 027 NEG DNEG Two s complement 3 Floating 028 FADD Floating point number 7 points addition computing 029 FSUB Floating point number 7 and subtraction convert 030 FMUL Floating pointnumber 7 multiplication 2 23 Chapter 2 Introduction of Controller 031 FDIV Floating point number 7 division 032 FINT Floating point 5 Integer 033 FDOT Integer Floating 5 point 034 FRAD Degree Radian 035 FDEG Radian Degree 036 FSIN Floating point SIN operation 037 FCOS Floating point COS 5 operation 038 FTAN Floating point TAN 5 operation 039 FASIN Floating po
59. 014 4 23 Chapter 4 Command Introduction Notes on the use of operands S operand can use external device such as KnDX KnDY DAI and DAO D operand can use KnDY and DAO external device Flag signal None S Source of data D Destination of data to be moved to Gominand ta command moves data contained in S to D Contents contained in D remain intact ean For 32 bit outoput from computing outcomes e g application command MUL and current values of the 32 bit device s high speed counter it moves them with the DMOV command Move 16 bit data with the MOV command When X0 Off contents of D10 remain intact If XO On it moves data contained Example in K10 to register D When X1 Off contents of D10 remain intact If X1 On it moves the current value of TO to register D10 Move 32 bit data with DMOV command When X2 Off contents of D31 D30 and D41 D40 remain intact If X2 On it moves the current values of D21 D20 to register D31 D30 and that of C235 to register D41 D40 X0 X1 X2 BMOV API BMOV ics C All transmission Bit device Word device External device x lv MIT Ic fR knx kny knm r lc p v fz w Bit wora 16 bit command 11 STEP S o lo lo O O BMOV D O IO JO w n O O 32 bit command Notes on the use of operands S operand can use external device such as DAI and DAO la
60. 2 1 Controllers Framework The processing theorem of ladder used by HMC controller is time division multiplexing which is different from the traditional PLC ladder diagram The traditional PLC only has one processor and can only execute one single ladder program The theorem of PLC is that PLC reads the status of input device first at the beginning of every cycle and executes the command step by step sequentially Then it sends the computing result to the output device at the end of each cycle Go round and begin again starting from the cycle of Read input status gt Computing gt Change output status However a single ladder program will encounter difficulties like a more complicated control and computing in development and maintenance HMC controller adopts TDM Time Division Multiplexing framework which can execute from a single Cyclic Task to four Cyclic Tasks simultaneously at most It provides users a great flexibility on program development When HMC executes four Cyclic Tasks at the same time it can be regarded as four small individual PLC for programming which is a great benefit to the complicated program development Each Cyclic Task of HMC has its own scanning time Through the software setting users can determine the time proportion of each Cyclic Task being executed by processor and to adjust the scanning time of each task It can allocate more time to the vital one so as to shorten its scanning cycle HMC con
61. 33 Setting of C201 On count down Off R W Yes mode counting mode count up R86 Setting of C254 On count down Off R W Yes counting mode count up R87 Setting of C255 On count down Off R W Yes counting mode count up Remote IO R96 Connection status of On online Off offline R No module station 0 connection R97 Connection status of On online Off offline R No status station 1 R126 Connection status of On online Off offline R No station 30 R127 Connection status of On online Off offline R No station 31 PLC special R139 EMS button status On press Off release R No flag R140 Limit switch status On press Off release R No Normally close contact RO Definition The flag is constantly On during operation It is called normally close contact B contact NC Normally open contact R1 Definition The flag is constantly Off during operation It is called normally open contact A contact NC Jan 2014 3 3 Chapter 3 Special Devices Error flag R4 Definition One of the error flags is activated this flag will be On It should be cleared by users after the alarm is relieved Related device Remote I O error R16 DMCNet communication error R17 Grammar error R18 Motion control error R19 or Command error R20 is activated so that this flag is ON Motion control reset R7 Definition Set this flag On to reset system motion contro
62. 5 W1441 W1697 W1953 W3489 Deceleration time of reverse software limit W674 W930 W1186 W1442 W1698 W1954 W3490 Deceleration time of forward software limit W675 W931 W1187 W1443 W1699 W1955 W3491 Deceleration time of reverse hardware limit W676 W932 W1188 W1444 W1700 W1956 W3492 Deceleration time of forward hardware limit W677 W933 W1189 W1445 W1701 W1957 W3493 Jog speed DW W678 W934 W1190 W1446 W1702 W1958 W3494 Jog acceleration time W680 W936 W1192 W1448 W1704 W1960 W3496 Jog deceleration time W681 W937 W1193 W1449 W1705 W1961 W3497 Jog torque limit W682 W938 W1194 W1450 W1706 W1962 W3498 Feed Rate speed DW W684 W940 W1196 W1452 W1708 W1964 W3500 Feed Rate acceleration time W686 W942 W1198 W1454 W1710 W1966 W3502 Feed Rate deceleration time W687 W943 W1199 W1455 W1711 W1967 W3503 Rapid monitoring item index W688 W944 W1200 W1456 W1712 W1968 W3504 Maximum speed limit W689 W945 W1201 W1457 W1713 W1969 W3505 Servo parameter Auto low frequency vibration suppression setting W704 W960 W1216 W1472 W1728 W1984 W3520 Inertia ratio to servo drive W705 W961 W1217 W1473 W1729 W1985 W3521 Proportional gain of position control W706 W962 W1218 W1474 W1730 W1986 W3522 Feed forward gain of position control W707 W963 W1219 W1475 W1731 W1987 W3523 3 32 Jan
63. 87 Definition When flag is Off the counter counts up while On means the counter counts down REMOTE I O connection status flag R96 R127 Definition When flag is On it means the connection is normal while Off means it is disconnected R96 is the 1 station s connection status and R97 represents the second one and so on EMS button status R139 Definition When flag is On it means the EMS button is pressed Off means it is released Limit switch status R140 Definition When flag is On it means the limit switch is in enabled status Off means the switch is disabled Jan 2014 Chapter 3 Special Devices 3 3 PLC Special Register This special register can acquire system s status and the related settings including the information of version and controller s system alarm code peripheral devices and etc Type No Function Description Attribute Latched Information of Wo Module number DW R No controller W2 DSP Firmware DW R No system number W4 Program format DW R No version W7 Program size Unit Step R No W8 Address of execution DW Unit Step R W No error W10 The starting address Default value 512 R W Yes of latched device M The setting value should be 16 s multiple W11 The size of latched Default value 512 R W Yes device M The setting value should be 16 s multiple W12 The starting address Default value 3000 R W Yes
64. A NELTA Smarter Greener Together Industrial Automation Headquarters Delta Electronics Inc Taoyuan Technology Center No 18 Xinglong Rd Taoyuan City Taoyuan County 33068 Taiwan TEL 886 3 362 6301 FAX 886 3 371 6301 Asia Delta Electronics Jiangsu Ltd Wujiang Plant 3 1688 Jiangxing East Road Wujiang Economic Development Zone Wujiang City Jiang Su Province People s Republic of China Post code 215200 TEL 86 512 6340 3008 FAX 86 769 6340 7290 Delta Greentech China Co Ltd 238 Min Xia Road Pudong District ShangHai P R C Post code 201209 TEL 86 21 58635678 FAX 86 21 58630003 Delta Electronics Japan Inc Tokyo Office 2 1 14 Minato ku Shibadaimon Tokyo 105 0012 Japan TEL 81 3 5733 1111 FAX 81 3 5733 1211 Delta Electronics Korea Inc 1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 1 101 UuO09 R DILLID U DUIYDe Y Uewny ezda Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 TEL 65 6747 5155 FAX 65 6744 9228 Delta Human Machine Delta Electronics India Pvt Ltd t t r r Plot No 43 Sector 35 HSIIDC Gurgaon PIN 122001 Haryana India TEL 91 124 4874900 FAX 91 124 4874945 e ri es Sse r a n u a Americas Delta Products Corporation USA Raleigh Office P O Box 12173 5101 Davis Drive Research Triangle Park NC 27709 U S A
65. ATAN D operand takes consecutive 2 points Flag signal R8 S Specified tangent source floating point number D Acquire radian result of Command ATAN value floating point number ATAN value tan 1 Following shows the relation of input data and result description 4 54 Jan 2014 Example Chapter 4 Command Introduction S Input data tangent R result of ATAN value radian If the conversion result is 0 then R8 On When M12 On acquire ATAN value from D11 D10 and save in D21 D20 which is in floating point number format M12 L FSQR API Square root operations in floating point number FSQR ics Cb i 04 format Bit device Word device External device X IY M T JC IR KnX KnY KnM T C D V Z W Bit Word 16 bit command S o lolo lo D O 0 0 jO use F device Command description Jan 2014 Notes on the use of operands S1 operand takes consecutive 2 points and can D operand takes consecutive 2 points Flag signal R8 S The source device is took square root floating point number D Result of square root floating point number The register content specified by S is took square root The result is saved in the register specified by D and is in floating point number format If the source of S operands is constant K or H the command will convert the constant in
66. Chapter 4 Command Introduction ENCO API y ENCO iS Encoder Bit device Word device External device x ly MIT lc R knx kny kn It lc Ip v fz w Bit wora 16 bit command 11 STEP S O OJO OOJO O O ENCO D O OJOJOO o n 32 bit command Notes on the use of operands S operand can use external device DX DY D can use external device DAO n can use K device DAI DAO and K device Flag signal R20 Command description 4 58 S Source device for encoding D Target device where encoded value is kept n Encoding bit length Encode the lower bits of the n bits in source device S and save their outcome of 2 bit length in D If more than one bit in data source is 1 the first 1 bit the higherest one will be processed If none of the bit in data source is 1 then R20 On and W20 is 03 When S is a bit device and n 1 8 if n 0 or n gt 8 the error occurs When n 8 the ENCO command can encode up to 256 2 points When X0 On the ENCO command encodes 8 2 bits of data MO M7 and saves in the lower bits b2 b0 of DO Bits not used in DO b15 b3 are all set to 0 When ENCO command turns X0 to Off after its execution data in D remains intact x0 e E M7 M4 M3 M2 b15 All are set to 0 Jan 2014 Chapter 4 Command Introduction
67. Command code error 08 Exceed the largest amount of continuous command when issuing continuous command 09 10 11 Issue continuous command time out Command code cannot be used in continuous motion Wrong Speed command setting Command ready R1040 Definition When issuing command to the servo controller will write parameters into the corresponding servo drive through DMCNet After that flag of Command ready is On Jan 2014 3 27 Chapter 3 Special Devices If command error occurs it means the command issuing is failed Then flag of Command ready will not On Command ready is the vital one to issue the command Related device Take axis 1 as the example when Command start R512 is On Command ready R1040 is Off automatically When Command start R512 is Off Command ready R1040 is Off too Please refer to Command start in Control relay in motion mode for detailed time sequence description Command complete R1056 Definition After issuing the command to servo drive Command complete will be Off first When the command is completed Command complete will be On Related device Take axis 1 as the example when Command start R512 is set to On Command complete R1056 of axis 1 is Off automatically Please refer to Command start in Control relay in motion mode for detailed time sequence description Servo ON R1072
68. D 3 D2 MDH CD a n a NN b31 b16 b15 b0 b31 b16 b15 b0 b63 b48 b47 b32 b31 b16 b15 b0 b31 is a sign bit b31 is a sign bit B63 is a sign bit the b15 of D 3 Sign bit 0 indicates positive number sign it 1 indicates negative number The product of 16 bit DO and 16 bit D10 is a 32 bit value with the upper 16 bit kept Example in D21 and lower 16 bit in D20 The number s positive or negative property is determined by Off On status of its first bit i DIV API 5 DIV iS Gz CG BIN division Bit device Word device External device X IY M T JC JR KnX KnY KnMIT IC D IV Z W Bit Word 16 bit command 7 STEP S1 o jo jo lo lololololo O DIV 52 O JO O O JO O jO O JO O D O JO O 0 JO 0 jO O O 32 bit command 7 STEP Notes on the use of operands S operand can use external device KnDX DDIV KnDY DAI and DAO and K device go ee ae ana S2 operand can use external device KnDX KnDY DAI and DAO and K Flag signal R20 device D operand can use external device KnDY and DAO 16 bit command D operand takes consecutive 2 points 32 bit command D operand takes consecutive 4 points 4 38 Jan 2014 Command description 1 Dividend S2 Divisor Values contained in S1 divided by that of S2 in binary integer division and saves its quotient and remainder in D Please pay special attention to the sign bit of data
69. D11 D10 to RAD value and save in D6 D5 Then acquire TAN value of D6 D5 and save in D21 D20 which is in floating point number format M12 FTAN Dio D20 M22 FASIN API na FASIN iS ASIN operation in floating point number format Bit device Word device External device x MIT lc R knx kny knu t lc b W z whit Word 46 bitcommand S O O O JO D O O JO JO n Notes on the use of operands S1 operand takes consecutive 2 points and can 32 bit command 5 STEP _ use F device FASIN D operand takes consecutive 2 points Flag signal R8 R20 4 52 Jan 2014 Chapter 4 Command Introduction S Source of specified sine value floating point number Pe of ASIN value floating point number ASIN value sin 1 description Following shows the relation of input data and result R S Input data sine R result of ASIN value radian D Acquire radian result The sine value specified by S operand can only between 1 0 and 1 0 If the value is not within the range then R20 On and W20 is 10 If the conversion result is 0 then R8 On When M12 On acquire ASIN value from value of D11 D10 and save in D21 D20 which is in floating point number format M12 L FASIN Dio D20 FACOS API FACOS I ACOS operation in floating
70. Feed Rate speed W684 the acceleration time will be changed to Feed Rate acceleration time W686 and the deceleration time will be Feed Rate deceleration time W687 After the change is completed flag Feed Rate execution R656 is Off automatically Meanwhile this will not influence the time sequence of command issuing FeedRate HMC gt Servo Command Start R512 Feed Rate execution R656 Servo gt HMC Command ready R1040 Command complete R1056 lRunning motion speed changed Pause R672 Definition Set Pause to On during operation the current action will stop Set it to Off when the operation stops so that it will resume the original operation Jan 2014 3 25 Chapter 3 Special Devices FeedRate HMC gt Servo Command Start R512 j Feed Rate execution S W o R656 Servo gt HMC Command ready R1040 Command complete R1056 Running motion speed changed 3 4 2 Status Relay in Motion Mode Status relay in motion mode indicates servo s current alarm and function The following is described in axis 1 Function ae No Description Attribute Latched Command error R1024 On means it is in error when R W No issuing command Users should self clear the error Command ready R1040 On means the command has R No been issued to the servo Command complete R1056 On means the servo has R No completed the command Servo ON R1072
71. Go to STEP 0 in editing program Go to the End N Go to END command in editing program Device Edit Device Comments Comments Segment Edit Segment Comments Comments Row Comments Edit Row Comments Device Table D Open the window of Device Table Symbol Table D Open the window of Symbol Table 6 11 Chapter 6 Ladder Editor Find and Replace Find and Replace Item Description 1 Find the device 2 Replace the device Find Replace Device Find what a re 3 Find from the current program or all Replace with program 2 4 Select the output result to result 1 Find options window or result 2 window SID 3 5 Replace find device comment with replaced device comment 6 Replace find device comment with replaced device comment and remove find device comment 7 The replaced device number Replace options Ear Feplace All Device Comments Segment Comments Row Comments 6 12 MOV K123 D100 2 Section Comment Section 1 Ml Conditio nl M2 3 Row Comment C n5 External OUT 1 Device Comment 2nd output 7 Select the Device first and click Edit Device Comments to open the editing window Device Comment Device Edit Commen Mie Cont Cal Select the blank row and click Edit Segment Comments to open the editing window Bit Commen
72. ICES e a eane e E R E E E E EEEE 2 8 2 3 1 Input Relay X Output Relay Y cccccceceeeeeeeeeeeeeeeeeeeeeeeseneeeetes 2 10 2 3 2 DMCNet Input Relay DX Output Relay DY eeeseeeeeeteeees 2 11 20 0 HAUMINARY Relay s322 Fac anes acta cate esate a nex aia 2 12 234e Mimer GL BRR net RPE e A a a a E E A Re ERn TREY EEN SRST a RRvESS 2 13 2 39 Counter C neea ere eer rey eer yer ery eer rer ae 2 14 2 3 6 aR CIS CD a a se a a a a ar cl ards Be 2 17 2 3 7 Indirect Reference Register V Z s ssseseeeeeecececeeeceeeceeeeees 2 18 2 3 8 Indicator N Indicator P 2osed is ears oe ni rested ruedaiee radia pedeiee reams ey 2 19 Jan 2014 Table of Contents 2 3 9 Special Relay R Special Register W eee eeeeeee teeta 2 20 2 3 10 Constant K Floating Points F ieee eeeeeeeeeeeeeeeeeeeeeeeee 2 21 24 Command List ccc cape aes a a ae a e aa aae aE 2 22 Chapter 3 Special Devices 3 1 kistof Special Device S eere ereeroeeeeierieeee toee reeter e eee erated eea evtdseddccbccesiextees 3 1 32 PIG Special Relay sx 22 202 cxexcnenececenececereneceseecneceneucnececeecneceneecneceseecneceneeenecesete 3 2 Sos VPLC Special Register moci eee eeaeee iaeaea dene sede sear eee dean EEEa arae 3 7 3 4 Special Relay in Motion Mode s cecccscccuecesecesecesectuecesecesecesecenecesevesceeseveneceseeeuere 3 13 3 4 1 Relay Control in Motion MOOG siccsdorieceddonseceieorsaseicorsesedeors
73. MOV D operand can use DAO as the external device N operand can use K device Flag signal None specified and the block length is n If the number specified by n exceeds the range S Data source D Start of target device n Length of assigned block comard o value of S is assigned to each device in a data block starting from the D description the command will not be executed When X10 On content of register DO D3 will be transmitted to the four registers D20 D23 gi K10 K10 gt Kio gt K10 n 5 n four points Kio K10 gt Example 4 28 Jan 2014 Chapter 4 Command Introduction REF API A0 REF CD I O refresh Bit device Word device External device x ly MT c IR Knx kny knmiT c Jp v z wipit wora 16 bit command 2 STEP D lolo O REF rr de a ayes ie ee Notes on the use of operands D operand can use external device DX and DY 32 bit command ieee which shuld select the multiple of 16 as the device number Range of n operand 16 512 which is the multiple of 16 Flag signal None gt D The starting device for I O refresh n Number of devices to be I O refreshed feasts The I O terminals are refreshed only after all their statuses are scanned The status of the input device is read from the status of the external input point and saved in descnptan the inpu
74. NP Computing result is rising edge OUT Y1 Drives coil Y1 PN Command Function Step Number PN Falling edge 1 Step Bit device Word device External device Operand XY M KnX KnY KnM_ ITICID V ZW Bit Word Acquire the falling edge status from the logical computing result which is before PN ii command then store it in the accumulative register description Ladder diagram x0 Mi a ee Example 4 18 Command code Description LD XO Load X0 s A contact LD M1 Load M1 s A contact PN Computing result is falling edge OUT Y1 Drives coil Y1 Jan 2014 Chapter 4 Command Introduction NOP Command Funciton Step Number NOP No action 1 Step Bit device Word device External device Operand X Y M IT C R KnX KnY KnM T C V W Bit Word Command description Ladder di Jan 2014 agram The NOP command is omitted from the ladder diagram XO H A Command code LD NOP OUT X0 Y1 The NOP command does not compute at all After its execution the logic computing outcome remains If users desire to delete a statement in a program and keep the program size intact then it can be replaced with a NOP command Description Load X0 s B contact No action Drives coil Y1 4 19 Chapter 4 Command Introduction 4 2 Application Command
75. Num D518 laeeeeaneee SpiralMov Ang D520 eeeaeeeea Cyclic task M561 CALL Spiral W a When M561 turns On it is in initial control status D40 0 b When M561 is On it enters sub program Spiral_W to execute helical W Then set M561 to Off 5 38 Jan 2014 Jan 2014 Chapter 5 Example of Motion Command Sub program Screw_W a C D40 K0 R1040 R1056 Dio Ki HA RST R512 Comm Target Comm and rea reach and ex INC D40 RST__ M561 NC D40 R512 D40 K2 HA7 RST M561 NC D40 Comm and ex SRET When D40 0 it starts to issue parameters Set Command code W512 to 31 means to execute helical W motion Write D509 into Command selection W513 means to execute axis selection Among them O represents the arc interpolation of X and Y axis 1 represents the arc interpolation of Y and Z axis and 2 represents the one of X and Z axis Set Parameter start address W524 to 512 means it reads parameters starting from D512 Write D510 into Speed setting W518 Then trigger Command start R512 to On and write parameters including Center coordinate 1 D512 Center coordinate 2 D514 Pitch D516 Total pitch number D518 and Offset angle D520 into the servo drive D40 1 When D40 1 and Command ready R1040 is On it means helical W motion is executing When Command complete R1056 is On it means the command is completed Set Command start R512 to Of
76. O O JO OOJOO JO JO O SUB S2 O O JO OOJOO jO JO O D o lo lololblololo O 32 bit command 7 STEP Notes on the use of operands S operand can use external device KnDX DSUB KnDY DAI and DAO and K device EEE S2 operand can use external device KnDX KnDY DAI and DAO and K Flag signal R8 R9 R10 device D operand can use external device KnDY and DAO 4 36 Jan 2014 Chapter 4 Command Introduction 1 Minuend S2 Subrahend D Difference aes Previn values contained in data sources S1 and S2 in BIN format and save the sum in D description The very first bit of each data represnts it s positive 0 or negative 1 This enables algebraic subtraction operation like 3 9 6 Flag of subtraction 16 bit BIN subtraction 1 When the addition outcome is 0 the zero flag R8 is On 2 When the addition outcome is less than 32 768 the borrow flag R9 is On 3 When the addition outcome is greater than 32 767 the carry flag R10 is On 32 bit BIN subtraction 1 When the addition outcome is 0 the zero flag R8 is On 2 When the addition outcome is less than 2 147 483 648 the borrow flag R9 is On 3 the addition outcome is greater than 2 147 483 647 the carry flag R10 is 16 z an subtraction When X0 On the remnant of DO less D10 is kept in D20 ae JH sw 90 010 020 32 bit BIN subtraction When X1 On the remnant of D31 D30 less D41 D40 is kept in D51 D50 where D30 D40 and D50 are th
77. O JO l Lk fe Je fe JO ome The ANDP command serial connects the contact s rising edge detection Command description 4 12 Jan 2014 Ea Ladder diagram Command code Description Chapter 4 Command Introduction Hi A LD X0 Load X0 s A contact Ce ANDP X1 X1 positive edge detection serial connection OUT Y1 Drives coil Y1 ANDF Command Function Step Number ANDF Negative edge detection serial connection 1 Step Bit device Word device External device Operand X Y M IT C R KnX KnY KnM _ T IC JD V Z W Bit Word OIO IO IO O JO l k J Hd O The ANDF command serial connects the contact s falling edge detection Command description Ladder diagram Command code Description w iy LD X0 Load X0 s A contact eis ANDF X1 X1 Negative edge detection serial connection OUT Y1 Drives coil Y1 ORP Command Function Step Number ORP Positive edge detection parallel connection 1 Step Bit device Word device External device Operand XIY M T C IR jKnX IKnY KnM ITICID V Z W Bit Word OIO IO IO O JO l bh H hd O oe The ORP command parallel connects the contact s rising edge detection Command description Jan 2014 4 13 Chapter 4 Command Introduction Ladder diagram
78. OV D518 W1288 Target positio R512 SET R512 Comm Comm and ex and ex INC D30 Multi Flow R1040 R1056 H D30 KI HA mH Multi Comm Target Comm Flow and rea reach and ex INC D30 Multi Flow R512 H pmo Kx HA RST M53 Multi Comm Flow and ex INC D30 Multi Flow SRET a When D30 0 it starts to write parameters Set Command code W512 to 24 means to execute 4 axis synchronous linear motion Write D510 into Speed setting W518 of axis 1 D512 into Target position W520 of axis 1 D514 into Target position W776 of axis 2 D516 into Target position W1032 of axis 3 and D518 into Target position W1288 of axis 4 Then trigger Command start R512 to On and D30 1 b When D30 1 if Command ready R1040 is On it means the 4 axis synchronous linear motion is being executed When Command ready R1056 is On it means the motion is completed Set Command start R512 to Off and D30 2 c When D30 2 it means the motion is completed Make sure Command start R512 is Off Set flag M531 to Off and the control procedure is completed Note The 4 axis synchronous linear interpolation is for the special function of ASDA M servo drive When issuing the command to the servo drive the 4 axis synchronous servo drive will execute the interpolation Please refer to appendix C Jan 2014 5 9 Chapter 5 Example of Motion Command for the using framework and setting If the speed is greater than Max spee
79. On 2 When the addition outcome is less than 2 147 483 648 the borrow flag RQ is On 3 When the addition outcome is greater than 2 147 483 647 the carry flag R10 is On 16 bit BIN addition In case X0 0n the sum of summand DO and addend D10 is kept in D20 XO Hi ao oo ovo f o2 32 bit BIN addition when X1 On the sum of summand D31 D30 and addend Example 2 D41 D40 is kept in D51 D50 where D30 D40 and D50 are the lower 16 bit data while D31 D41 and D51 are the upper one X1 Hipan Jan 2014 4 35 Chapter 4 Command Introduction Zero flag Relations between flag changes and the positive negative property of a number Supplementary 16 bit Zero flag Zero flag description oy NAAN A 2 1 gt 0 32 768 lt 1 0 1 gt 32 767 0 1 gt 2 ACT VU 7 Borrow flag First bit of the data is 1 First bit of the data is 0 negative positive 32 bit Zero flag Zero flag M NA Uz7 Carry flag Zero flag MNS 2 1 0 2 147 483 648 lt 1 0 1 2 147 483 647 0 1 2 ET SUZ Ur Borrow flag First bit of the data is 1 First bit of the data is 0 Carry flag negative positive SUB API m SUB G amp D Gz CG BIN subtraction Bit device Word device External device X IY IM IT C JR KnX KnY KnMIT C D IV Z W Bit Word 16 bit command 7 STEP S1
80. Operand C D C0 C199 DO D65 535 Command description it switches from Off to On leading to its counting value increasing by 1 The counter s When the CNT command changes from Off to On the coil of the counter assigned by contacts function as shown in table below when setup counts is reached counting value gt setup value NO Normally Open contact Open NC Normally Close contact Close After the count settings is reached the counter s contacts and counting values remain intact even when more counting pulse inputs are received An RST command is required to restart counting or clear the value Ladder diagram X0 LD X0 Load X0 s A contact 7 0 CNT C20 K100 Counter C20 is setK100 Command code Description DCNT Command Function Step Number DCNT 32 bit counter 3 Step C K C200 C255 K 2 147 483 648 K2 147 483 647 Operand C D C200 C255 DO D65 535 Jan 2014 4 15 Chapter 4 Command Introduction The DCNT is a 32 bit counter for counters C200 C255 initiation eee General arithmetic counter C200 C255 When the DCNT command changes from a Off to On the counter s current value increases or decreases by 1 in setup mode to that of special R32 R87 When the DCNT command is OFF its counters stop counting and the existing values remain An RST C2XX command is required to clear the counting values and its contacts Ladder diagr
81. PT module respectively Please refer to the table below Device DMC RMxx MN NT PT Station 1 Station 2 Station 12 Input DX DX1 0 DX1 63 DX2 0 DX2 63 DX12 0 DX12 63 Output DY DY1 0 DY1 63 DY2 0 DY2 63 DY12 0 DY12 63 l l DMCNet input relay DX Connect to the input device of DMCNet RM MN NT PT module and access the input signal Each A or B contact of input relay can be used without time limit On Off of input relay D only can be switched by the On Off of external input device DMCNet output relay DY Send On Off signal to set the contact DY of DMC RM module Each A or B contact of input relay can be used without time limit in the program Jan 2014 2 11 Chapter 2 Introduction of Controller 2 3 3 Auxiliary Relay Auxiliary relay M has output winding contact A B which acts as output relay Y has no use limit in the program Users can use auxiliary relay M but cannot drive the external devices According to the characteristics there are two types Auxiliary relay M General MO M511 M1024 M4095 Latched M512 M1023 512 points is for latched zone as default Adjust the range by W10 and W11 Total 4096 points Auxiliary relay for general use When HMC power off the status will be set to Off even when the power is On again Auxiliary relay for latched When HMC power off the status will be remained even when the po
82. RR Ree data 4 D2140 enHeaR RE Con No D2000 weve Path 2 Cmd D2200 EZEAN Axis no D2201 weer OVLP D2202 eraz data 1 D2210 lHHHeHHHHAH data 2 D2220 eeeeeeene data 3 D2230 eHHee Hee ee data 4 D2240 eRHRRHHRRH Speed D2010 HHHARHRR RRR Path 3 Cmd D2300 Derea Axis no D2301 arRe OVLP D2302 azna data 1 D2310 deeeeeeaee data 2 D2320 EZEEEEZEETII data 3 D2330 HeeHHaRHHe data 4 D2340 eeeezeaee Path 4 Cmd D2400 EZEAN Axis no D2401 ezza OVLP D2402 Merza data 1 D2410 HHHRRHHRAH data 2 D2420 eeeeeeenzee data 3 D2430 eHHeHHRRAH data 4 D2440 eHteHHHeRE 5 41 Chapter 5 Example of Motion Command Cyclic task MOV _ K0 D9999 M610 CALL Continu a When M610 status turns On it is in initial control status D90 V1 parameter offset and D9999 continuous PR number that has been issued successfully b When M610 is On call sub program Continue to issue and execute continuous PR command After that M610 is Off 5 42 Jan 2014 Chapter 5 Example of Motion Command Sub program Continue 0 ia D90 K0 MOV___D2100VW512 Comm and co MOV___D2101VW513 Comm and op MOV__K1000 W524 Contin uous p MOV__D2102VW525 Overla p inde DMOV D2010 W518 speed 5 atting DMOV D2010 W774 speed 5 etting DMOV_D2010 W1030 speed s atting DMOV D2010 W1286 spee
83. TEP S1 O O JO O jO jO O O O O AND S2 O O JO O jO jO 0 O O 0 Notes on the use of operands 3 gt lt lt gt Ss 2 32 bit command 5 STEP DAND Flag signal None Command description Jan 2014 S1 Data source device 1 32 bit command S2 Data source device 2 This command compares values stored in S1 and S2 When the comparing result is enabled the command turns on otherwise it does not turn on The AND is a compare command series connects to a contact Turn on condition Not turn on condition DAND S1 S1 S2 DAND gt S1 S1 lt S2 DAND lt S1 S1 2 S2 DAND lt gt DAND lt 4 21 Chapter 4 Command Introduction AND gt DAND gt S1 S2 S1 lt S2 It has to use the 32 bit command DAND to compare 32 bit counter C200 C255 When X0 On and the data contained in C10 equals to that in K200 then Y10 On When X1 Off and the data contained in register DO is not equal to that in K 10 then Y11 On and remains so When X2 On and data contained in 32 bit register DO D11 are less than 678 493 or M3 On then M50 On X0 X1 DAND gt K678493 Cms50 gt ORX API ORX iG CP Contact type compare ORX Bit device Word device External device x ly Mir le R knx kny Knut c b v lz lwiBit w
84. V Z W_IBit Word OIO IO IO IO JO l l J k Hd O The LDP command is used as the LD command but with a different function It K saves the current contents and saves the acquired contact s rising edge detection description Jan 2014 status in a cumulative register 4 11 Chapter 4 Command Introduction Command code come Ladder diagram Example XO X1 LDP COFEE ea Description XO XO the positive edge detection operation starts AND X1 Serial connect X1 s A contact OUT Y1 Drives coil Y1 LDF Command Function Step Number LDF Start of negative edge detection 1 Step Bit device Word device External device Operand X Y M IT C R KnX KnY KnM _ T IC JD V Z W Bit Word OJO IO IO IO JO l bh k Hd O The LDF command is used as the LD command but with a different function It saves the current contents and saves the acquired contact s falling edge detection Command description r status in a cumulative register Command code Ladder diagram Hmi cD Description X0 XO the negative edge detection operation starts AND x1 Serial connect X1 s A contact OUT Y1 Drives coil Y1 ANDP Command Function Step Number ANDP Positive edge detection serial connection 1 Step Bit device Word device External device Operand XIY M T C IR KnX IKnY KnM T jC D V Z W Bit Word OJO O JO I
85. W66 Definition FPGA firmware version of HMC FPGA PCB version W67 Definition FPGA PCB version number of HMC Time stamp W68 Definition Time stamp of the system Unit 0 1ms in DW format Retry times of command issuing W72 Definition It is the setting of communication times when HMC issues command to servo If the default value is 0 the system will issued each command twice to servo Users could increase the time in order to enhance the communication quality If the setting value is 3 then the command will be issued five times to servo Retry times of servo parameter issuing W73 Definition It is the setting of communication times when HMC writes the special relay with Remote attribute into servo If the default value is 0 the system will writes into servo twice User can increase the time in order to make sure the accuracy of writing parameters If the setting value is 3 then the parameter will be written into servo for 5 times Handwheel factor W74 Jan 2014 Definition The scaling setting of pulse received by handwheel and transferred to servo drive Through this handwheel pulse can be magnified in order to meet the requirement For example 100 pulses can be sent by operating the handwheel for a cycle If the motor needs 1 280 000 pulses for running a cycle in ASDA M the scaling setting should be 12 800 1 280 000 100 12 800 Then if handwheel operates a cycle the motor will run a cycle
86. W660 C Servo is in Quick Stop status D Handwheel function is activated E Jog speed W678 is set to 0 Reverse Jog R560 Definition Flag Reverse Jog is On This axis is executing Jog in reverse direction and will stop when the flag turns Off Related device Take axis 1 as the example when Reverse Jog R560 turns On it will accelerate to the speed of Jog speed W678 according to the curve of Jog acceleration time W680 Then it will remain at constant speed in reverse direction according to Jog speed W678 When Reverse Jog R560 is Off the axis will decelerate to stop according to the curve of Jog deceleration time W681 In addition set up Jog torque limit W682 can accomplish the torque protection function of Jog Jan 2014 3 19 Chapter 3 Special Devices Forward Reverse Jog HMC gt Servo Reverse Jog R560 Servo gt HMC Command ready R1040 Command complete R1056 Jogging Jogging stop Error The following situation might result in no action of servo after enabling the flag A Servo is not in Servo On status B Jog speed W678 exceeds the setting of maximum speed limit W660 C Servo is in Quick Stop status D Handwheel function is activated E Jog speed W678 is set to 0 SERVO ON R576 Definition Set flag Servo On to On This axis is Servo On If the flag is set to Off then it is Servo Off Related device Take axis 1 as the example w
87. aa aaa Galea aaa 5 15 Bid IOMUPG 5 2c et a oct sea ed e areas erect T a E A E AEA 5 17 5 10 Arc Radius amp Angle esses coer reels aa ca ca a a ca as ca eee 5 19 5 11 Arc Midpoint amp End POM icsccismascntssanratsasascoamessaietandtniaccaddddetnnatacatdddnitetedtas 5 22 5 12 Arc Center amp End ce Me ee aannkkaa akanaka akana 5 25 5 137 Art End Point amp Ra diUS iei a a e A a 5 28 514 Arc Center amp Angle Seer ree ee ne ema aaa aaaea aaa aeaaea akaa aaia 5 31 AS Helicak serae e a e e a E e E E E a 5 34 SPNA mE 12 AAEE EEE E A ET 5 37 5 17 COMUNUGUS PR Paths iiie cerien eeaeee eaae ea ea ea Na aa aa ea Ena ia 5 41 548 Mandwheels areren eneee ee dia aa A EATE A AS 5 46 Chapter 6 Ladder Editor 6 1 Ladder Editor Software siecle ee ese eee eee 6 1 6 2 New Ladder Program and Its Setting eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee 6 4 62 inital TASK eee tr ee ee ei ee ec eee 6 4 6 2 27 CYVClIC TAS oz terden ted cartons cations aaa E tact taitestnaatsa 6 4 6 2 33 imer VASKS Ais sec ses ak tek ted Chek te Chet ad Set ads cet acd abet asds stata 6 6 Jan 2014 Table of Contents 62 4 Sub Program succes cceseeeeiEGeGEGeGEGeEGEGEGeGeeEeaenas 6 8 6 2 9 NOON Program audience ieee aed ates 6 9 63 Other FUNCIONS sce oeoe eee eee Ree Eee EWE eRe enQaae 6 11 Chapter7 Appendix 7 1 Extension Pin including the installation of handwheel eee 7 1 2 Detintonm of BS PMsesenenenene nen
88. adian data R result COS value When M12 On acquire COS value from RAD value of D11 D10 and save in D21 D20 which is in floating point number format When M22 On convert the angle of D11 D10 to RAD value and save in D6 D5 Then acquire COS value of D6 D5 and save in D21 D20 which is in floating point number format M12 Fcos Dio D20 M22 FTAN API FTAN iS TAN operation in floating point number format Bit device Word device External device X IY IMIT IC IR KnX KnY KnM T C D V Z W Bit Word 16 bit command _ S o o o lo D O O JO JO o Notes on the use of operands S1 operand takes consecutive 2 points and can 32 bit command 5 STEP use F device FTAN D operand takes consecutive 2 points Flag signal RE o Jan 2014 4 51 Chapter 4 Command Introduction S Specified source value floating point number D Acquire TAN value floating Command point number Acquire TAN value from the radian specified by S and save in the register specified description by D Following shows the relation of radian and result R S radian data R result TAN value If the conversion result is 0 then R8 On When M12 On acquire TAN value from RAD value of D11 D10 and save in Example D21 D20 which is in floating point number format When M22 On convert the degree of
89. am Jan 2014 Setting 6 5 Chapter 6 Ladder Editor Change the program name and click OK 5 New Program So E Sub Program iE Motion Program 6 2 3 Timer Task 1 New Timer Task Right click Timer and select New timer program A New program window will pop up a Initial Enter the program name which is up to 16 characters Then press OK a New Program ea S A Tek B E Initial Progf B Cyclic 1 Progl 2 DEF Timer l E Sub Program E Motion Program 2 Setup Timer Task Each Timer Task has to be set individually Right click the program name and select Setting Timer task setting window will pop up B Task g Task B E Initial S Initial Fogl BE FProg0 g Cyclic i 1 Progl g Cyelic 2DEF i 1Progl B Timer Pa 2 DEF amp E D a RB E Sub Prog a i 3 Tumer T1 iE Motion P i R E Sub Program as E Motion Program gt Setting 6 6 Jan 2014 Chapter 6 Ladder Editor Enter the time interval of the Timer Task Its setting unit is ms and range is between 1 ms and 30000 ms f Timer task setting 3 Rename the program Right click the program name and select Rename A New program window will pop up L E Motion Program gt Enter the program new and press OK 5 GF Task New Program baban B Initial LS Pod amp Cyclic bem 1Progl
90. am Command code Description MO LD MO Load MO s A contact H DONT 525 1008 DCNT C254 K1000 Counter C254 is set to K1000 END Command Function Step Number END Cyclic task ends 1 Step Bit device Word device External device Operand XIY M T JC IR KnX KnY KnM TJC JD JV ZW Bit Word The cyclic task has to be saved in END command PLC scans from address 0 to Command END command Then return to address 0 to scan again description After compiling END command will be added into the software automatically IRET Command Function Step Number IRET Timer task ends 1 Step Bit device Word device External device Operand XIY M T JC IR KnX KnY KnM IMCD JV ZW Bit Word The timer task has to be saved in IRET command In timer task PLC scans from Command address 0 to IRET command Then the timer task ends description After compiling IRET command will be added into the software automatically 4 16 Jan 2014 Chapter 4 Command Introduction SRET Command Function Step Number SRET Sub program Motion program end 1 Step Bit device Word device External device Operand XIY M T JC IR KnX KnY KnM IT D V W Bit Word Command description The sub program motion program have to
91. am logic control in Delta s distributed motion control framework including calculating and issuing parameters of motion commands HMC commands ASDA servo drive to conduct the interpolation during the process so as to acquire a more precise motion interpolation path During the process HMC only needs to exchange the data from ASDA servo drive such as current position current speed and flag status including servo alarm command completed Unlike the traditional PLC the controller has to frequently calculate the motion path and sends to the servo drive the interpolation calculation in this framework is conducted by ASDA servo drive Therefore it will acquire a more accurate path and more smooth motion curve However since the multi axis interpolation e g multi axis linear interpolation arc interpolation or helical interpolation is directly conducted and calculated by servo drive the interpolation can only be done by one or each servo drive individually Aiming at this multi axis linear interpolation motion HMC allocates the speed to different servo drive to conquer this barrier Further explanation about this motion control will be detailed later Following is the figure of distributed motion control framework Jan 2014 1 1 Chapter 1 Introduction 1 2 3 axis linear Single axis linear Arc Helical Single axis linear 3 axis linear Single axis linear Arc Helical Jan 2014 Chapter 2 Introduction of Controller
92. an one ladder diagrams are in title horizontally Title Vertically More than one ladder diagrams are in title vertically Item Description About A Version of Ladder Editor 6 19 Chapter 6 Ladder Editor This page is intentionally left blank 6 20 Jan 2014 Chapter 7 Appendix 7 1 Extension Pin including the installation of handwheel Pin Definition See diagram on the Description right 24V A FOR PHASE A B PHASE A Handwheel PHASE A PHASE B Handwheel PHASE B GND A For PHASE A B CRD E POnINTERRUPLD cn es ts ee INTERRUPT 0 INTERRUPT 1 INTERRUPT 2 INTERRUPT 3 10 24V B FOR INTERRUPT 0 3 Note Handwheel only needs to connect to 1 4 pins oloi NIIA RR ww dM Jan 2014 7 1 Chapter 7 Appendix 7 2 Definition of Bus Pin Name URG_C URG_C URG_O URG_O Lines White amp Orange White amp Orange White amp Green White amp Green Description Emergency switch B contact Emergency switch B contact Emergency switch A contact Emergency switch A contact Power PGND EGND Power supply 24V Black White Power ground Ground Yellow 422 TX RS422 TX RS232 TX RS485 T R White amp Yellow 422_TX RS422 TX RS485 T R Black amp White CGND Signal ground Black amp White CGND White amp Blue LIM_O White amp Blue LIM_O Signal ground Limit switch A contact Li
93. ant Jan 2014 2 21 Chapter 2 Introduction of Controller 2 4 Command List Followings are the commands provided by HMC controller Basic Command Type Code Symbol Type Code Symbol Contact LD I Timing TMR command LDI a ele Counting CNT AND DCNT ANI FE Program END OR Loy 4 4 end ORI Ly p Timing IRET Combine ANB ies ies program command pete aE at a end ORB Pity Subroutine SRET SRET ae a ii K end MPS __ lt Invert INV gt MRD MR phase MPP PPS C Rising NP t Output OUT lt 4 edge command SET SET z gt Falling PN 1 RST RST z gt edge PLS No NOP PLF operation Main MC control MCR MCR command Rising LDP KATH and LDF 4LH falling ANDP 47 edge ANDF H detection ORP L T oRF 4 2 22 Jan 2014 Application Command Chapter 2 Introduction of Controller Jan 2014 Type API Command code Function STEPS Page 16 bit 32 bit Data 001 LDX DLD Contact type compare 5 compare 002 AND DAND Contact type compare 5 003 ORX DOR Contact type compare 5 Data 004 MOV DMOV Data move 5 transfer 005 BMOV All sending 11 and 006 CML DCML Invert sending 5 compare
94. assigned number by decimal Input relay X and Output relay Y corresponds to the input point and output point of Remote I O module respectively Please refer to the table below Device Remote 1 O Station 1 Station 2 Station 3 Station 16 Input X X0 X31 X32 X63 X64 X95 X480 X511 Output Y YO Y31 Y32 Y63 Y64 Y95 Y480 Y511 Note 1 A Remote I O module has 32 input points and 32 output points Note 2 Remote I O module can connect up to 16 stations at most Note 3 The station number of Remote I O module is determined by module number and its physical station number For example if HMC is connected for 3 Remote I O modules the least physical station number is station 1 the second one is station 2 and the maximum one is station 3 Input relay X Connect to the input device and read the input signal Each A or B contact of input relay can be used without time limit in the program On Off of input relay X only can be switched by the On Off of external input device Output relay Y Send On Off signal and connect to contact Y Each A or B contact of input relay can be used without time limit in the program 2 10 Jan 2014 Chapter 2 Introduction of Controller 2 3 2 DMCNet Input Relay DX Output Relay DY DMCNet input output relay is assigned number by decimal DMCNet input relay DX and DMCNet output relay DY corresponds to input point and output point of DMCNet RM MN NT
95. atio Denominator pulse command Pulse is transferred to position command PUU Command pulse input f1 Position command f2 Jan 2014 Chapter 3 Special Devices Electronic gear ratio N N Electronic gear ratio D M f2 f1 x N M Related Device According to Electronic gear ratio Denominator it transfers the user unit of servo axis PUU Unit display W644 Definition It is the unit setting of HMC and servo drive It only supports O as the default value which is PUU Acceleration Deceleration curve W645 Definition It is the setting of S curve acceleration deceleration smooth constant during operation which corresponds to the setting of parameter P1 36 Acceleration Deceleration constant of S curve Acceleration time W646 Definition It is the setting of system s acceleration time during operation Deceleration time W647 Definition It is the setting of system s deceleration time during operation Homing speed 1 W648 Definition It is the setting of first homing speed When executing homing the starting speed corresponds to parameter P5 05 HSP1 The range of setting value is 0 1 2000 0 rpm HSP1 A HSP2 ORG IN i Related Device When executing homing it starts by Homing speed 1 first When ORG signal is ON it will switch to the speed of Homing speed 2 Then stop homing until Z pulse is found Jan 2014 3 49 Chapter 3 Special Devic
96. axis servo drive when two axes are executing arc motion the other one will be unable to execute other commands Set the angle to the positive value which represents counterclockwise direction On the contrary if the value is set to negative it represents clockwise direction Jan 2014 5 21 Chapter 5 Example of Motion Command 5 11 Arc Midpoint amp End Point Example description Use M541 as the enabling condition for triggering and executing arc motion After activating M541 the related parameters are activated and issue the commands Arc Midpoint amp End point should issue four parameters including Midpoint coordinate 1 A1 Midpoint coordinate 2 B1 End point coordinate 1 A2 and End point coordinate 2 B2 If the data start address is D1000 then D1000 represents Midpoint coordinate 1 PUU D1002 represents Midpoint coordinate 2 PUU D1004 represents End point coordinate 1 PUU and D1006 represents End point coordinate 2 PUU According to the setting the motion path shows as below Midpoint A1 B1 Endpoint A2 B2 Current Position Example program HMC screen 3 Point Arc Spd D510 CurveMid P_Coord 1 D512 M54 1 l eeaeeeee eeeeeeeeee AxisOption D509 CurveMid P_Coord 2 D514 aeeee l eeeeaeeee CurveEnd P_Coord 1 D516 O xY_2Axis eeeeeeae 1 Z_2Axis 2 XZ_2Axis CurveEnd P_Coord 2 D518 l eaeeaeee Cyclic task MOV__Ko D40 M341 CALL Curve jl
97. b When M550 is On it enters sub program Home_1 to execute homing of single axis After that M550 is Off automatically Sub program Home_1 nso xa Comm and co Comm and op DMOV D550 W648 Homin g spee DMOV D552 W650 Homin g spee MOV D560 W652 Homin gFlow Homin gmod DMOV D562 W654 Homin g offse R512 Comm Comm and ex and ex Homin 2 Flow R1040 R1056 H Do KI 4rR 4 Homin Comm Target 2 Flow and rea reach H D59 K Homin gFlow a When D50 0 it starts to write parameters Set Command code W512 to 8 homing is executed When Command selection W513 is set to 1 it Jan 2014 5 17 Chapter 5 Example of Motion Command means axis 1 is executed Write the setting value of D550 into First speed of homing W648 D552 into Second speed of homing W650 D560 into Homing mode W652 and D562 into Offset amount of homing W654 Then trigger Command start R512 to On and D50 1 b When D50 1 and Command ready R1040 is On it means the command has been executed When Command complete R1056 is On the operation is completed Then set Command start R512 to Off and D50 2 c When D50 2 the operation is completed Make sure Command start R512 is Off and set flag M550 to Off The control procedure is completed Note If the operation speed is greater than Max speed limit it will operate at the limited max speed Through the setting of Command selection
98. be saved in SRET command In sub program motion program PLC will scan from address 0 to SRET command After that the scan of the sub program motion program is complete After compiling SRET command will be added into the software automatically INV Command Function Step Number INV Invert the computing outcome 1 Step Bit device Word device External device Operand XIY M IT JC IR KnX KnY KnM IT V W Bit Word Command register description Invert the logic outcome before the INV command and saves it in a cumulative Ladder diagram ewe J a a Jan 2014 Command code LD INV OUT X0 Y1 Description Load X0 s A contact Computing outcome invert Drives coil Y1 4 17 Chapter 4 Command Introduction NP Command Function Step Number NP Rising edge 1 Step Bit device Word device External device Operand X Y M T C JR KnX KnY KnM T C D V IZW Bit Word Acquire the rising edge status from the logical computing result which is before NP Command commana then store it in accumulative register description Ladder diagram Command code Description Example a a LD xXo _ _ _ Load X0 s A contact LD M1 Load M1 s A contact
99. ce scan time Multiple CJ commands can point to one subject P DO NOT point CJ and CALL commands to the same subject P as this may lead to a program error Device actions when executing jump command Status of device Y M and S remains intact before jump command execution The 10ms and 100ms timer stops timing Timer T192 T199 for sub program keeps on timing and the output contact functions normally Counter stops counting If the clear command of timer is executed before jumping the device is in clear status when executing jumping thus the command will not be executed Chapter 4 Command Introduction When X0 On the program jumps from address 0 to N the assigned label P1 for execution and ignore all statements in between PARS When XO Off the program executes from address 0 downward in sequence as common ones and ignores the CJ command x0 Jump command CALL API oF CALL Call sub programs Bit device Word device External device x ly MIT c IR Knx kny knmiT c Jp v z wjBit wora 16 bit command 2 STEP Notes on the use of operands S operand is the name of sub program CALL 32 bit command Flag signal R18 S Command indicator of calling sub program which should be already existed ee Call command call a sub program as many times as desired description The CALL command can nest eight calling layer
100. celeration time in single motion If there is no setting please refer to the system s Deceleration time W647 ed setting W518 Definition In multi axial synchronized motion since the multi axis has to be activated and ended simultaneously the actual speed should be adjusted by the speed setting and moving distance of each axis The default setting is based on the speed of the longest traveling distance The speed of the axes with shorter travel distance will be adjusted by the based speed in order to synchronize multi axis Fault Take axis 1 as the example if the speed is set to 0 error will occur and Command error R1024 will be On If the speed setting exceeds the setting value of Max speed limit W660 the system will operate at the speed of Max speed limit In multi axis synchronized motion if one of the axes exceeds the speed of Max speed limit that axis will operate at Max speed limit Thus Jan 2014 Chapter 3 Special Devices the speed of multi axis synchronized motion will be limited by Max speed limit of each axis and reduce its speed Target position W520 Definition Setting of command arrival position Related device The target position will be influenced by Command mode W514 The target position will be different because of the absolute relative or incremental mode Speed proportion W522 Definition The actual speed is the result of Speed setting multiplies
101. command flag of Command start R512 can be Off directly and D20 2 c When D20 2 make sure Command start R512 is Off After that set M400 to Off and the control procedure is completed Note If the operation speed is greater than Max speed limit it will operate with the limited max speed Forward speed operation should be stopped by deceleration stop command or flag of Quick stop When speed command at forward or reverse direction is executed issuing the motion command again will cause command error Jan 2014 Chapter 5 Example of Motion Command 5 7 Reverse Speed Example description Use M410 as the enabling condition for triggering and executing operation at reverse speed After M410 is activated the related parameters will be executed and issue the command Example program Cyclic task MOV_ K0 D20 a When M410 turns On it is in initial control status D20 0 and resets Command start R512 at the same time b When M410 is On it enters sub program N_Speed to execute multi axis reverse operation Then M410 will be Off automatically Sub program N_SPEED H D0 Ko MOV K5 Wi MOV D400 W513 DMOV D500 W518 RST SRET a When D20 0 it starts to write parameters When Command code W512 is set to 5 it means the operation is at reverse direction Write D400 into Command selection W513 to select reverse speed axis When Bit 0 is On Jan 2014 5 13 Chapter 5
102. converted from BIN to BCD format and the digit in ones of the outcome is stored in bit elements K1Y0 YO Y3 XO BCD K1Y0 If D10 001E Hex 0030 decimal then the outcome of execution is YO Y3 0000 BIN Jan 2014 Chapter 4 Command Introduction BIN API sos IE BIN iS BCD BIN conversion Bit device Word device External device x ly mfr lc JR knx kny kamit c D v z wiBit wora 16 bit command 5 STEP _ S o lolo O BIN D o lolo 0 Notes on the use of operands S operand can use external device such as DAI 32 bit command 5 STEP and DAO D operand can use DAO as the external device DBIN Flag signal R20 S Source of data D Outcome of conversion Sonni v BIN conversion for source data in S BCD 0 9 999 and save in D Valid range of source data in S is BCD 0 9 999 and DBCD 0 99 999 999 description When the data contained in S is not BCD value Any of the digit in Hex format is not within the range between 0 and 9 computing error will occur Then R20 is On and the command error code W20 is 04 Constant K is converted to BIN automatically thus no need to use this command When X0 On BCD format value in K1MO is converted to a BIN format one and save in D10 X0 905 FCMP G amp D G2 CD Floa
103. d limit it will operate at the limited max speed It only needs to issue the speed command to axis 1 5 10 Jan 2014 Chapter 5 Example of Motion Command 5 6 Forward Speed Example description Use M400 as the enabling condition for triggering and executing forward speed motion After M400 is executed the related parameters will be executed and issue the command Example program Cyclic task MOV __ K0 D20 Comm and ex M400 a When M400 turns On it is in initial control status D20 0 and resets Command start R512 at the same time b When M400 is On it enters sub program P_Speed to execute multi axis forward speed motion After the motion is completed M400 is Off automatically Sub program P_SPEED H D20 Ko MOV K4 W512 MOV _ D400 W513 DMOV D500 W518 RST SRET a When D20 0 it starts to write parameters Set Command code W512 to 4 means the operation at forward direction is executed Write D400 into Command selection W513 to activate forward speed axis Bit 0 is On Jan 2014 5 11 Chapter 5 Example of Motion Command means axis 1 is activated while Bit 1 is On means axis 2 is activated Write D500 into Speed setting W518 Then trigger Command start R512 to On and D20 1 b When D20 1 and Command ready R1040 is On it means the operation at forward direction is executed Since the status of Command complete will not be changed when executing speed
104. d s atting DMOV_D2110V1 W520 Target positio DMOV_D2120V1 W776 Target positio DMOV_D2130V1 W1032 Target positio DMOV_D2140V1 W1288 Target positio DMOV_D2110V1 D1000 DMOV_D2120V1 D1002 DMOV_D2130V1 D1004 Jan 2014 5 43 Chapter 5 Example of Motion Command Comm and Fe 94 R624 R1040 a D9 K 4 108 D90 K2 lt D9999 D2009 pe cane CJ Pl INC D90 RST 137 R1056 5 D90 K3 k M610 Target reach INC D90 a When D90 0 it starts to issue commands Write D2100 into Command code W512 and D2101 into Command selection W513 Set Parameter start address W524 to 1000 and write D2102 to Overlap W525 D2010 to Speed setting W518 of each axis and write D2110 D2120 D2130 and D2140 into Target position W520 of each axis If the command is not linear motion but arc or helical motion parameters shall be accessed via referral data zone Thus write D2110 D2120 D2130 and D2140 into the referral data zone starting from D1000 Then trigger Command load R624 to On and D90 1 b When D90 1 trigger Command load R624 until Command ready R1040 is On which means this motion is successfully loaded into the servo drive and add 1 to the value of Command number that has been issued D9999 Then D90 2 c When D90 2 check if the command number is the same as it set first D2000 5 44 Jan 2014 Chapter 5 Example of Motion Command is the setting
105. d the first Z pulse as homing point Determine to operate in forward or reverse direction according to Home Switch status If homing is executed on Home Switch it will operate in reverse direction until it leaves Home Switch Then it will operate in forward direction and regard the first Z pulse as homing point If homing is not executed on Home Switch it will operate in forward direction to search Home Switch Then regard the first Z pulse as homing point Nezative direction j Positive divection Z Pulse Home Switch Determine to operate in forward or reverse direction according to Home Switch status If homing is executed on Home Switch it will operate in forward direction until it leaves Home Switch Then regard the first Z pulse as homing point If homing is not executed on Home Switch it will operate in reverse direction and search Home Switch Then after leaving Home Switch regard the first Z pulse as homing point Determine to operate in forward or reverse direction according to Home Switch status If homing is executed on Home Switch it will operate in forward direction until it leaves Home Switch Then it will operate in reverse direction and regard the first Z pulse as homing point If homing is not executed on Home Switch it will operate in reverse direction to search Home Switch Then regard the first Z pulse as homing point 3 51 Chapter 3 Special Devices 3 52 Nezative direc
106. device Operand XIY M IT C JR KnX KnY KnM _ IT C D V ZW Bit Word IO JO JO JO JO JF Ff O Lower differential output command When conditional contact turns Off negative ne edge triggering the PLF command executes S sents one pulse with a length of description one cycle time Ladder diagram Command code Description X0 LD XO Load X0 s A contact MO PLF MO MO lower differential LD MO Load MO s A contact Timing diagram SET YO YO action retaining X0 l l ON MO Time of one scan cycle YO MC MCR Command Function Step Number MC MCR Connection disconnection of common serial contacts 1 Step Operand NO N7 Jan 2014 4 9 Chapter 4 Command Introduction The MC command serves as the beginning of primary control After it is executed Sommang commands placed between MC and MCR commands run as usual When the MC ee command is OFF execution of commands placed between MC and MCR commands is described in table below Types of commands Description f Reset timing value coil OFF contacts remain Common timers inactive a Coil OFF counting values and contacts Accumulative timer remain as the current status Coil OFF counting values and contacts Counter remain as the current status Coils driven by OUT command All turned Off Components driven by SET and RST commands Remain th
107. drive is On Set Servo On R1072 R1073 R1074 to On Release Quick Stop Quick stop R528 R529 R530 of the servo axis that executes motion has to be Off Make sure the quick stop status of the servo drive is released Set Servo quick stop release R1088 R1089 R1090 to On If the quick stop status cannot be released please check the DI setting of the servo drive Others When it is not in Handwheel status make sure Handwheel activate R608 R609 R610 is set to Off Jan 2014 5 1 Chapter 5 Example of Motion Command 5 2 JOG Example description Use M500 as the forward jog control bit of the 1 axis and M501 as the reverse jog control bit of the 1 axis Example program Cyclic Task M500 DMOV D500 W678 JOG 5 peed 3 M301 M500 SET R544 JOGC Weaxi M500 RST R544 JOGC Weaxi M3501 SET__R560 JOG C CWea M3501 RST__R560 JOGC CWea When the status of M500 or M501 turns On write the setting value of D500 into Jog Speed W678 Jog speed of the 1 axis When M500 turns On set Forward Jog R544 to On the 1 axis will execute jog in forward direction When M500 turns Off set Forward Jog R544 to Off the 1 axis will stop jog in forward direction When M501 turns On set Reverse Jog R560 to On the 1 axis will execute jog in reverse direction When M501 turns Off set Reverse Jog R560 to Off the 1 axis will stop jog in reverse direct
108. e current status Action remains intact The FOR NEXT nest a loop keeps running for N times Commands in Application commands the FOR NEXT loop run in the same manner as that of commands between MC and MCR The MCR command is the primary control end command and is placed after cyclic task No contact command is allowed before the MCR one The MC MCR primary control commands support nest structure up to 8 layers from NO to N7 See example program shown below for details 4 10 Jan 2014 Ladder diagram Chapter 4 Command Introduction Command code Description X0 Example g LD X0 Load X0 s A contact x4 MC NO NO common serial contacts connection in existence x2 I LD X1 Load X1 s A contact OUT YO Drives coil YO X3 ii lt 2 LD X2 Load X2 s A contact MCR MC N1 Connection of N1 common age serial contacts MOR LD X3 Load X3 s A contact X10 JL OUT Y1 Drives coil Y1 X11 MCR N1 Disconnection of N1 age common serial contacts MCR NO Disconnection of NO common serial contacts LD X10 Load X10 s A contact MC NO Connection of NO common serial contacts LD X11 Load X11 s A contact OUT Y10 Drives coil Y10 MCR NO Disconnection of NO common serial contacts LDP Command Function Step Number LDP Start of positive edge detection 1 Step Bit device Word device External device Operand XIY M IT C IR KnX JKnY KnM T jC D
109. e for communication error and the servo is Off Jan 2014 3 57 Chapter 3 Special Devices Deceleration time of motor overload W673 Definition When the motor is overload the servo will decelerate to stop by command of Deceleration time of motor overload Deceleration time of reverse software limit W674 Definition It is the deceleration time setting when servo encounters reverse software limit during operation Deceleration time of forward software limit W675 Definition It is the deceleration time setting when servo encounters forward software limit during operation Deceleration time of reverse hardware limit W676 Definition It is the deceleration time setting when servo encounters reverse hardware limit during operation Deceleration time of forward hardware limit W677 Definition It is the deceleration time setting when servo encounters forward hardware limit during operation Jog speed W678 Definition It is the speed setting during jog operation Related Device If the setting value of Jog speed is greater than the value of Maximum speed limit it will be unable to execute jog Jog acceleration time W680 Definition It is the curve setting of acceleration time during jog operation Jog deceleration time W681 Definition It is the curve setting of deceleration time during jog operation Jog torque limit W682 Definition It is the maximum torque limit setting during j
110. e lower 16 bit data while D31 Example 2 D41 and D51 are the upper one X1 Hi psus MUL API D MUL D G2 CG BIN multiplication Bit device Word device External device X Y IMIT JC IR KnX KnyY KnM T IC ID V Z W Bit Word S1 O JO O OjO O jO O jO O S2 O JO O OjO O jO O jO O D O O O O JO 0 jO O O Notes on the use of operands S operand can use external device KnDX KnDY DAI and DAO and K device S2 operand can use external device KnDX KnDY DAI and DAO and K Flag signal None device D operand can use external device KnDY and DAO 16 bit command D operand takes consecutive 2 points 32 bit command D operand takes consecutive 4 points Jan 2014 4 37 Chapter 4 Command Introduction 1 Multiplicand S2 Multiplier D Product Command Multiply values contained in data source S1 and S2 in binary integer multiplication 7 and save its product in D Please pay special attention to the sign bit of data gaiii contained in S1 S2 and D during 16 bit and 32 bit operation 16 bit BIN multiplication operation CD GQ eS Sf DI Oe ecsosetiaoes bO DI Sredi no bO DS Tisi b16 b15 bO o k ee b15 is a sign bit b15 is a sign bit b31 is a sign bit the b15 of D 1 Sign bit 0 indicates positive number sign it 1 indicates negative number 32 bit BIN multiplication operation D 1 G Gt
111. e max limit of the servo drive the value will be changed to the setting value of Maximum speed limit If HMC goes with ASDA servo drive which has the resolution of 1280000 pulses the maximum speed is 5000rpm Through Electronic gear ratio Numerator and Electronic gear ratio Denominator pulse command Pulse will be transferred to position command PUU Following is the calculation with max speed limit Command pulse input f1 Position command f2 Jan 2014 3 55 Chapter 3 Special Devices Electronic gear ratio N N Electronic gear ratio D M f2 f1 x N M gt f1 f2 x M N gt 1 Pulse M N PUU gt 1280000 Pulse 1280000 x M N PUU gt 1 r 1280000 x M N PUU gt 1 rps 1280000 x M N PUU s gt 1 rpm 1280000 60 x M N puu s Servo s maximum speed 5000rmp gt 5000 rmp 5000 x 1280000 60 x M N puu s Monitoring item index 1 2 3 4 W666 W667 W668 W669 Definition Setup the display of Monitoring item 1 2 3 4 The setting content is the same as parameter function of Servo drive status display Parameters definition is as the following 00 Motor feedback pulse number 01 Pulse number of command input 02 Command pulse and feedback pulse error 03 Motor feedback pulse number 04 Pulse number of command input 05 Error pulse number 06 Pulse command frequency 07 Motor speed 08 Speed input command 09 Speed input command 10 Torque input com
112. e or Insert Mode Jan 2014 6 3 Chapter 6 Ladder Editor 6 2 New Ladder Program and Its Setting 6 2 1 Initial Task It can only exist one initial task Users are unable to change its name The initial setting can be written into this task Task Prog Cyclic 1 Progl fe Timer E Sub Program E Motion Program 6 2 2 Cyclic Task 1 New Cyclic Task Right click Cyclic Then select New cyclic program A New Program window will E Sub Program Gf Task Initial Progl a Cyclic 0 1 Progl M Timer E Sub Program E Motion Program New Program 2 Setup Cyclic Task Right click Cyclic Then select Setting The Time slot setting window will pop up 6 4 Jan 2014 Chapter 6 Ladder Editor L E Motion Program gt Se Pr E Sub Program S Task 5 Initial ioe Prol New cyclic program E Motion Program According to the actual Task which shown in the window enter the usage of each task The usage sum of all tasks has to be 100 Otherwise a warning message of Total usage of time slot must equal to 100 might pop up Users could also use Average to all and Average to unassigned to do quick setting Time slot setting Cyclic task Usage 1 100 Qo Free 3 Rename the program Right click the program name up and select Rename A New Program window will pop E Sub Program iE Motion Progr
113. ecuted on Home Switch it will operate in reverse direction until it leaves Home Switch Then it will operate in forward direction and regards the first Z pulse as homing point Simply to say it is for searching the rising edge signal of Home Switch Determine to operate in forward or reverse direction according to Home Switch status If homing is not executed on Home Switch it will operate in forward direction and encounters Home Switch Keep operating in forward Jan 2014 Jan 2014 Chapter 3 Special Devices direction until it leaves Home Switch Then operate in reverse direction until it regards the first Z pulse as homing point If homing is executed on Home Switch it will operate in forward direction until it leaves Home Switch Then operate in reverse direction encounter Home Switch and regard the first Z pulse as homing point Simply to say it is for searching the rising edge signal of Home Switch 10 Determine to operate in forward or reverse direction according to Home Switch status If homing is not executed on Home Switch it will operate in forward direction until it encounters Home Switch Keep operating and regard the first Z pulse as homing point when leaving Home Switch If it does not encounter Home Switch in forward direction but positive limit switch it will operate in reverse direction to leave positive limit switch Keep operating until it encounters Home Switch Then regard the first Z pulse as homing
114. ene CPR E CORR AE PRE Oven UPen OP eRUPRE Uren UPEnG 7 2 7 3 Setting and Framework of ASDA M 4 axis Synchronous Servo Drive 7 3 Jan 2014 Chapter 1 Introduction 1 1 Brief Introduction of HMC Controller Today s industry develops toward automation and follows a more precise higher speed and higher cost performance trend Thus Delta offers a distributed motion control framework which separates the logic controller and motion computing controller Without the centralized computing load it uses lots of lower level processor the price is cheaper in overall instead of the high level processor In Delta s distributed framework HMC is mainly in charge of logic control and human machine operation ASDA servo drive is responsible for motion control Through the high speed communication DMCNet HMC and ASDA servo drive perfectly combine together With this concept the distributed framework accomplishes multi axis precise motion control and reduces the cost of equipment at the same time Delta s HMC Human Machine Interface amp Control integrates HMI and the function of logic computing controller which brings the high efficiency integration of HMI and logic control It even plays an important role in today s industrial system and distributed control framework and provides users a great benefit including more powerful functions and less development time 1 2 Concept of Distributed Motion Control HMC processes the progr
115. ervo alarm code W585 can show the alarm content of servo axis Fault Reset R592 Set to On can be used to clear the alarm and reset the servo Servo warning R1120 Definition When a warning occurs this flag is On When the warning is cleared then this flag is Off Related device Take axis 1 as the example Servo alarm code W585 can show the content of servo warning and Fault Reset R592 Set to On can be used to clear the alarm and reset the servo Servo ready R1136 Definition When DMCNet connection between HMC and the servo is completed the corresponding servo axis will set this flag to On which means successful connection Jan 2014 3 29 Chapter 3 Special Devices 3 5 Special Register in Motion Mode Latched readable R and writable W are included in the attribute of Special register in motion mode When the attribute of Latched Jand Remote are both in special register its parameters setting value will be written into the servo drive when DMCNet connection between HMC and servo drive is successfully built Take Electronic gear ratio Numerator Denominator as the example when HMC successfully connects to servo drive the setting value of Electronic gear ratio Numerator W640 and Electronic gear ratio Denominator W642 will be wrote into P1 44 GR1 and P1 45 GR2 of the servo drive Thus through the parameter setting HMC could keep the consistency of the sys
116. es Homing speed 2 W650 Definition It is the setting of second homing speed When executing homing the starting speed corresponds to parameter P5 06 HSP2 The range of setting value is 1 500 0 rpm HSP1 Related Device When executing homing it starts by Homing speed 1 first When ORG signal is ON it will switch to the speed of Homing speed 2 Then stop homing until Z pulse is found Homing mode W652 Definition The homing mode setting during operation Followings are the codes of supported homing mode 1 Homing in reverse direction It becomes forward direction when encounter negative limit switch and regard the first Z pulse as homing point Negative divection i Positive direction ied A Z Pulse _j_ l Wipala Homing in forward direction It becomes reverse direction when encounter aes limit switch and regard the first Z pulse as homing point Neg e divection Positive divection m Z Pulse Positive Lirit Switch Determine to operate in forward or reverse direction according to Home Switch status If homing is executed on Home Switch then it will operate in reverse direction until it leaves Home Switch and regard the first Z pulse as homing point Jan 2014 Jan 2014 Chapter 3 Special Devices If homing is not executed on Home Switch it will operate in forward direction to search Home Switch Then it will operate in reverse direction until it leaves Home Switch and regar
117. eseicordeseneeriact 3 14 3 4 2 Status Relay in Motion Mode s ccsc cs ccscccsecenectsecesecedecesecaseeesecedecezecedets 3 26 3 5 Special Register in Motion Mode 22 cccccccccccccecdcdede tcecean secedece vedesesn vecedeaeuedeeeddee 3 30 3 5 1 Command REOISlelc cscie cence cee ee ee ee 3 33 3 5 2 Status nC cle kc ae aw ante ane nee a OT ae ae ae ee ee 3 43 3 5 3 Parameter Register in Motion Mode ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 3 46 3 5 4 Register of Servo Parameter 2 2 2 0 200 s0ceseee see eteeeteeeteeeseeeteeeteeeteeees 3 60 Chapter 4 Command Introduction 4 1 Basic Command see crvc cand snd nieda iie e a a eter acaba kaha abet EER 4 1 4 2 Application Command cccccceeeeeeeeeeeeeeeeeceeeeeeeeeeeeeeeeeesaaeeeeeeeeeeeeeeseeeeaeees 4 20 Chapter 5 Example of Motion Command 5 1 PrepatatiOM s cenccesecesanune peice esee Eeer Erne eE Eeee eee Eeee Ee EEES oE ESEE ESEE 5 1 52 JOG onere e e e E RAE e ES Ane ner e SE E E SEE EEE NEEESE 5 2 Jan 2014 Table of Contents 5 3 Single Axis Linear Motion cscncncncnecncnenenenenenenenenenanes 5 3 5 4 3 axis Synchronous Linear Motion 1 0 0 0 eee eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee 5 5 5 5 4 axis Synchronous Linear Motion Special Type eeeeeeeeeeeeeeeeeeeeeeee 5 8 560 Forward Speedie rendieren e n e E E E E E E 5 11 Sf Reverse Speed scat ncoancl nenen e E N E a 5 13 5 8 Decelerate to Slop acs cescad secs akc ccdk Gaieed Galea a
118. evice DAO 32 bit command Flag signal R18 S Number of times the loop is to be executed Command description Jan 2014 4 33 Chapter 4 Command Introduction NEXT API NEXT Nest loops end Bit device Word device External device X IY IM IT IC IR IKnXIKnY KnMIT JC ID IV Z IW Bit Word 16 bit command 1 STEP Command description 4 34 Notes on the use of operands No operand is required Connection point driven command does not follow 32 bit command Flag signal R18 The FOR command specifies the number of times a FOR NEXT loop is to be executed After the loop is ended the program continues running from the statement next to the NEXT command The valid range of repetition times is indicated by N K1 K32 767 Any value of N less than K1 will be rounded to K1 when the range is N lt K1 Users can use a CJ command to exit the FOR NEXT loop Possible errors are The NEXT command precedes the FOR one 2 The FOR command lacks an accompanying NEXT one 3 END SRET or IRET command follows by a NEXT one 1 4 FOR and NEXT command are not in pair The FOR NEXT loops can nest for up to 5 layers If the nesting number exceeds the limit grammar error might occur Then R18 On and the grammar error code W18 is 05 U U U U U Program A continues running the subroutine next to the last
119. executed and start to issue commands Helical motion is the combination of arc motion and the height interpolation of another axis Four parameters are needed including Radius Initial angle Motion angle and Height If the data start address is D1000 then D1000 represents Radius PUU D1002 represents initial angle D1004 represents Angle and D1006 represents Height PUU Please pay attention that the angle unit is 0 5 degrees That is to say 180 90 degrees According to the setting the motion path shows as below Up side view of Helical Positive Counterclockwise f Negative Clockwise Height Current Position NA Initial angle A pang Motion angle T Example program HMC screen Spi Spd D510 SpiralRad D512 piral M560 HHHAHHHHRHRH Hee RRR RRA AxisOption D509 Spirallni Ang D514 arean l eeeeaeee SpiralMotionAng D516 O XY _2Axis Hee RRR RRA 1 Z_2Axis 2 XZ_2AxiS SpiralMotion_Hei D518 l eeeeadee 5 34 Jan 2014 Jan 2014 Chapter 5 Example of Motion Command Cyclic task MOV _ K0 D40 M560 CALL Spiral_ Spiral a When M560 turns On it is in initial control status D40 0 b When M560 is On it enters sub program Spiral to execute helical motion After that M560 is Off Sub program Spiral H D40 Ko MOV _K30___ W512 Comm and co MOV _ D509 _ W513 Comm and op MOV__K512 W524 Contin uous p DMOV D510 W518
120. f the 3 axis of ASDA M is axis 1 axis 2 and axis 3 in sequence then 0 means arc moving is executed in axis 1 and 2 and axis 3 is for helical height moving 1 means arc moving is executed in axis 2 and 3 and axis 1 is for helical height moving 2 means axis 1 and 3 is for arc moving and axis 2 is for helical height moving Related device If the motion axis includes axis 1 it needs to trigger Command start R512 And parameters it uses willbe Command code W512 Command selection W513 and the related ones such as speed position and etc Please refer to Chapter 5 for further information Chapter 3 Special Devices Command mode W514 Definition The command mode used by linear motion supports the followings 0 Absolute position command The destination of position command is directly specified as DATA 1 Relative position command The destination of position command is the current feedback position plus the specified incremental DATA 2 Incremental position command The destination of position command is the previous command destination plus the specified incremental DATA DELAY time W515 Definition The setting of Delay time after the single motion reaches the position Acceleration time W516 Dec Spe Definition The setting of acceleration time in single motion If there is no setting please refer to the system s Acceleration time W646 eleration time W517 Definition The setting of de
121. f and D40 2 When D40 2 the command is completed Make sure Command start R512 is Off Then set flag M561 to Off and the control procedure is completed 5 39 Chapter 5 Example of Motion Command Note Helical W motion issues the command to three axes for one time Thus the command only can be issued to ASDA M for executing arc interpolation of 3 axis If the value of pitch and offset angle is set to positive it represents counterclockwise direction on the contrary if the value is set to negative it represents clockwise direction 5 40 Jan 2014 5 17 Continuous PR Path Example description Chapter 5 Example of Motion Command Use M610 as the enabling condition for triggering and executing continuous motion After activating M610 setup the number of Co PR No 4 paths are showed at most in the example Download the data from Path 1 to Path 4 in the screen to the servo If set Co PR No to 3 only three continuous motion Path 1 Path 3 are loaded in and executed Example program HMC screen Four PR data can be entered to the screen at most When activating continuous motion load in the setup number to the servo drive according to Co PR No Following is the setup screen of HMC Jan 2014 Con Start M610 Path 1 Cmd D2100 Haze Axis no D2101 ezza OVLP D2102 eree data 1 D2110 HeReHHRR RE data 2 D2120 eezeeezeee data 3 D2130 HeRRH
122. g End point coordinate 1 D512 End point coordinate 2 D514 Radius D516 and Reverse and forward direction D518 into the servo drive and D40 1 b When D40 1 and Command ready R1040 is On it means the arc motion is executing When Command complete R1056 is On it means the command is completed Set Command start R512 to Off and D40 2 c When D40 2 the command is completed Make sure Command start R512 is Off Then set flag M543 to Off and the control procedure is over Note Arc motion issues the command to three axes for one time Thus the command only can be issued to ASDA M for executing arc interpolation of 3 axis Jan 2014 5 29 Chapter 5 Example of Motion Command For 3 axis servo drive when two axes are executing arc motion the other one will be unable to execute other commands If the value is set to 1 it represents counterclockwise direction On the contrary if the value is set to O it represents clockwise direction 5 30 Jan 2014 Chapter 5 Example of Motion Command 5 14 Arc Center amp Angle Example description Use M544 as the enabling condition for triggering and executing arc motion After activating M544 the related parameters are executed and issue the commands Arc center amp angle motion should issue parameters including Center coordinate 1 A1 Center coordinate2 B1 and Angle If data start address is D1000 D1000 represents Center coordinate 1
123. g signal None D operand can use DAO as the external device N operand can use K device 4 24 Jan 2014 Command description Example Chapter 4 Command Introduction S Start of source device D Start of target device n Length of transmission block Content of the n register starting from the S specified device is converted to the one specified by D If the number specified by n exceeds the range the command will not be executed When X10 On content of register DO D3 will be transmitted to the four registers D20 D23 n four points CML API D CML iS Invert transmission Bit device Word device External device x ly mfr lc R knx kny kn r lc b v z w pit Word 16 bit command 5 STEP 5 o lo lo olol o ololo O CML D o Jo lolololololo o a Notes on the use of operands S operand can use external device such as 32 bit command 5 STEP KnDX KnDY DAI and DAO DCML D operand can use KnDY and DAO as the external device Flag signal None o Command description Example 1 Jan 2014 S Source of data to be transmitted D Target device of transmission Invert 0 1 1 0 data contained in S and send to D Automatically invert constant K to BIN value When X10 On invert D1 s bO b3 contents and send to YO Y3 X10 4 CML K1Y0 b15 b3 b2 bi bo D 1lol l1ilol1ilo l1i
124. g the program D1000 D1009 should be reserved Assume that Parameter start address is set to n when executing arc motion the definition of D register data is as the followings Definition Parameter address Circle center coordinate 1 DW Dn Circle center coordinate 2 DW Dn 2 Height of one cycle DW Dn 4 Jan 2014 Chapter 3 Special Devices Total pitch number DW Dn 6 Offset angle DW Unit 0 5 Dn 8 Related device Take axis 1 in arc motion as the example set up arc command in Command code W512 and setup axis selection in Command selection W513 Then trigger the flag of Command start R512 to start the execution HMC will access arc motion data from D register of Parameter start address W524 and then issue parameters to the servo drive OVERLAP W525 Definition When executing the continuous motion Overlap is for setting the overlap extent between the current motion and the next one This setting could help to accomplish the interpolation between two paths There are two ways for overlap 1 Overlap for acceleration deceleration time It is the overlap percentage of the current PR deceleration time and the next PR acceleration time Parameter P1 78 The setting of PR overlap P1 78 should set to 0 the range of Overlap setting value and its definition are as the followings Grade 7 6 5 4 3 2 1 0 Percentage 45 4
125. ger the command will do Trigger Command start R512 of axis 1 to On and 3 14 Jan 2014 Chapter 3 Special Devices sets up Command selection Set W513 to 31 If BitO is On in W513 it means axis 1 should be activated Bit1 On represents axis 2 and so on and so forth to determine the related motion axis If desire to execute 3 axis linear synchronized motion of axis 2 3 and 4 Issue the command to axis 2 will do Trigger Command start R513 of axis 2 to On and setup Command selection can be done Set W769 to 7 Bito On means axis 2 should be activated Bit On represents axis 3 and Bit3 On represent s the fourth axis Apart from linear motion of multi axis if desire to execute the arc or helical motion issuing the command to the first axis of ASDA M will do In the following framework HMC can only enable Command start R512 of axis 1 to execute arc or helical motion of axis 1 2 and 3 Activate Command start R516 of axis 5 to execute arc or helical motion of axis 5 6 and 7 R512 1 R515 4 R516 5 ADSA M ADSA M 1 2 3 5 6 7 Related device Flag off Command complete will have different status in different motion type It is suggested to use handshaking method for program procedure control and to accomplish command issuing Take axis 1 as the example in homing linear and jog motion before activate the command users should write in the motion command and its correct corre
126. hed On is starting motion command Command start R512 R W No execution On means servo quick stops while Quick stop R528 l R W No Off means to release quick stop On is for activating JOG in forward Forward Jog R544 oer f R W No direction Off is to release On is for activating JOG in reverse Reverse Jog R560 S f R W No direction Off is to release On means Servo On while Off Servo On R576 R W No means Servo Off Fault Reset R592 On means to clear the servo error R W No f On is to enable handwheel while Handwheel activate R608 f f R W No Off means to disable it On is to load in the continuous Command preload R624 motion command and starts to R W No execute On is for cancelling the Command cancel R640 R W No continuous motion command On means to change the speed during operation It turns Off after Feed Rate execution R656 R W No the command is completed automatically On means pause Off means Pause R672 R W No resume Command start R512 Definition When the flag is On HMC starts to write the related parameters into servo and starts to execute the motion command When HMC controls more than one servo drives it only needs to issue the command to the very first one For instance if HMC controls a 5 axis servo drive axis 1 2 3 4 and 5 when the drive is executing 5 axis linear synchronized motion issue the command to axis 1 and trig
127. hen flag Servo On R576 is On this axis will be Servo On Status in Servo On R1072 will be On If flag Servo On R576 is Off then the axis will be Servo Off and display Off status in Servo On R1072 Error The following situation might result in no action of servo after enabling the flag A DMCNet connection error Check if it is DMCNet communication error R17 or motion control error R19 FAULT RESET R592 Definition When servo axis is in error this flag is On and enables the servo to clear the error Users have to self turn the flag Off 3 20 Jan 2014 Chapter 3 Special Devices FAULT RESET HMC gt Servo FAULT RESET R592 Servo gt HMC Servo Fault R1104 Servo Warning R1120 Alarm occur Alarm relieve Handwheel activate R608 Definition Turn On the flag to activate the handwheel Only one axis of handwheel can be activated at a time Activate multi axis of handwheel will cause command error Related device After enabling handwheel function the controller will multiply the pulse number which sent by handwheel according to Handwheel factor W74 then issue operation command to the servo Handwheel HMC gt Servo Handwheel activate R608 Servo gt HMC Command ready R1040 Command complete R1056 ihandwheel using ino using Error The following situation might result in no action of servo after enabling the flag A Servo is not in Servo On status B
128. hich is the same as the general ones It can be written in or read without limit If it is used as the general register it only can be used in 16 bit of command Z is the 32 bit data register If it is used as the general register it only can be used in 32 bit of command When XO On VO 8 Z0 14 D5V0 D 5 8 D13 D10Z0 D 10 14 D24 and contents in D13 will be moved to D24 Jan 2014 Chapter 2 Introduction of Controller 2 3 8 Indicator N Indicator P For main control loop NO N7 8 points Main control loop s control point Indicator For CJ command PO P255 256 points Position indicator by using CJ Indicator N Work together with MC MCR command MC is the main control initial command When MC command is active commands between MC and MCR run in a normal manner Indicator P Work together with application command CJ Example When X0 On the program jumps cs pt from address 0 to N the assigned label P1 keeps executing and X1 a C v1 ignores statements in between When X0 Off the program executes from address 0 downward X0 and ignores command CJ Jan 2014 2 19 Chapter 2 Introduction of Controller 2 3 9 Special Relay R Special Register W Detailed descriptions are in the chapter of special devices 2 20 Classification Range Special relay in PLC system RO R511 Special register in PLC system WO W511 Special relay in mo
129. hus the corresponding Monitoring item will display the correct parameter content after 1ms PR surplus W594 i Definition It represents the command number that has been written into the servo drive and waits for execution HMC can preload 8 commands into the servo drive at most Range is from 0 to 8 0 means no command is executing In continuous command when PR surplus is 8 it means the system has already been preloaded 8 commands and cannot trigger Command load R624 at the moment That is to say flag of Command ready R1040 will not be On until the current command is completed When the number of PR surplus is less than 8 the new command can be loaded into the servo drive and flag of Command ready R1040 will be On Jan 2014 3 45 Chapter 3 Special Devices DMCNet communication error A B W596 W598 Definition The cumulative number of lost packages on communication channel A B of DMCNet Rapid monitoring item W600 Definition The rapid monitoring register which corresponds to the servo drive Related device Rapid monitoring item index W688 determines the content of Rapid monitoring item W600 When changing the setting of Rapid monitoring item index HMC will change the setting value and then send it to servo drive Thus the corresponding Rapid monitoring item will display the content of correct parameter after 1ms Current speed W602 Definition The current speed U
130. in Error Code of Remote IO W16 when this flag is activated This flag is off automatically when the connection is back to normal DMCNET communication error R17 Definition Check if the connection of DMCNet is normal On means the connection is in error This flag is off automatically when the connection is back to normal Related device The alarm code is shown in Error Code of DMCNet W17 when this flag is activated Grammar error R18 Definition This flag is On when grammar error occurs during the command execution Then program scan is unable to carry on jumps from the error occurred command and starts scan from the beginning Users need to set this flag to off after the alarm is cleared Related device The alarm code is shown in Grammar error code W18 when this flag is activated Motion control error R19 Definition On means the system s motion control is in error Grammar Error Code needs to be activated to clear the error Command error R20 Definition This flag is On when command error occurs during the operation Program scan is unable to carry on It will jump from the wrong command and start Jan 2014 3 5 Chapter 3 Special Devices 3 6 to scan from the beginning Users need to set this flag to off after the alarm is cleared Related device The alarm code is shown in Command error code W20 when this flag is activated Setting of C200 C255 counting mode flag R32 R
131. inition When command execution error occurs the step address of program error will be reported Related device It occurs with Grammar error R18 or Command error R20 Jan 2014 Chapter 3 Special Devices The starting address of latched device M W10 Definition The setting of starting address of latched device M Its setting value should be 16 s multiple The size of latched device M W11 Definition The setting of the size of latched device M Its setting value should be 16 s multiple The starting address of latched device D W12 Definition The setting of starting address of latched device D The size of latched device D W13 Definition The setting of the size of latched device D REMOTE I O error code W16 Definition Communication error code of Remote I O The error code A 01 No Remote I O device is detected B 03 Detect the disconnection of Remote I O device Related device Activate with Remote IO error R16 DMCNET error code W17 Definition Communication error code in DMCNet underlying network The error code A 01 unable to initialize DMCNet hardware B 02 unable to activate DMCNet hardware C 03 unable to initialize DMCNet connection D 04 underlying communication error on DMCNet E 05 device connection error on DMCNet Related device Activate with DMCNet communication error R17 Grammar error code W18 Definition Grammar error code during operati
132. int ASIN 5 operation 040 FACOS Floating point ACOS 5 operation 041 FATAN Floating point ATAN 5 operation 042 FSQR Floating point square 5 root operation Data 043 ZRST Zone reset 4 processing 044 DECO Decoder 11 command 045 ENCO Encoder 11 046 BON DBON Bit ON detect 5 047 ALT ON OFF alternation 2 Others 048 RSVP Read parameters from 13 servo drive 049 WSVP Write parameters to 13 servo drive 051 CKFZ Forbidden zone check 5 2 24 Jan 2014 Chapter 3 Special Devices 3 1 List of Special Devices There are two types of special devices special relay R and special register W For controller system and servo motion control it can be classified as PLC system and motion mode System s motion control and monitoring function can be realized by special devices of HMC Please note that the command of block move e g BMOV command cannot be executed by special devices Type Range PLC special relay RO R511 Special relay in motion mode R512 R1535 PLC special register WO W511 Special register in motion mode W512 W4095 Jan 2014 3 1 Chapter 3 Special Devices 3 2 PLC Special Relay This special relay can be used to acquire the system s current status including the calculating result error monitoring the connection of peripheral devices key trigger and etc Type No Function Descriptio
133. io 02 Axis of issuing command is in emergency stop status 03 Axis of issuing command is in Servo Off status 04 Command is executing and is unable to receive the new one 05 06 Trigger the wrong command selection Command parameter error 07 Command code error 08 Exceed the largest amount of continuous command when issuing continuous command 09 Issue continuous command time out 10 Command code cannot be used in continuous motion 11 Wrong Speed command setting Current position W578 Definition The current position Unit is PUU Average torque W580 Definition The current average torque Unit is 3 44 Jan 2014 Chapter 3 Special Devices Current speed W582 Definition The current speed Unit is PUU s Servo alarm code W585 Definition The code shows when servo error occurs and the code is in BCD format Please refer to servo drive s user manual for code definition Monitoring item 1 2 3 4 W586 W588 W590 W592 Definition The status monitoring register which corresponds to the servo drive Related device Monitoring item index determines the content of Monitoring item Take axis 1 as the example Monitoring item 1 W586 will change its content according to Monitoring item index 1 W666 When changing the setting of Monitoring item index HMC will change the setting value and then send it to servo drive T
134. ion Note The jog speed cannot exceed the maximum speed limit or the servo drive will has no action after being triggered If forward jog and reverse jog is activated in the same axis the priority will be given to the first activated one Setup Jog torque limit W682 to enable the torque limit protection function when Jog is activated Jan 2014 Chapter 5 Example of Motion Command 5 3 Single Axis Linear Motion Example description Use M510 as the enabling condition for triggering and executing linear motion of single axis After M510 is activated related parameters will be executed and starts to issue the motion command Example program Jan 2014 Cyclic Task MOV K0 D10 Contro M510 CAL ina Ef line a When the status of M510 turns On it is in initial control status D10 0 b When M510 is On it enters the sub program line to execute linear motion of single axis After the motion is completed M510 is Off Sub program Line H DO Ko MOV KI w512 R1040 R1056 H DO K 4 Flow Comm Target Contro and rea reach H DO K a When D10 0 it starts to write parameters Set Command code W512 to 1 it means linear motion Set Command selection W513 to 1 it means to execute the single axis motion selection of the 1 axis Write D510 into Speed setting W518 of the 1 axis and write D512 into Target position W520 of 5 3 Chapter 5 Example of Motion C
135. ion Command Sub program Curve_10 H D0 Ko H Dao K HA m RST RN Comm Target Comm and rea reach and ex INC D40 R512 H Do Kx HA RST M540 Comm and ex NC _D40 SRET a When D40 0 it starts to write parameters Set Command code W512 to 10 means to execute arc motion Write D509 into Command selection W513 it means to execute axis selection 0 represents the arc interpolation of X and Y axis while 1 represents the arc interpolation of Y and Z axis and 2 represents the arc interpolation of X and Z axis Set Parameter start address W524 to 512 which means to access parameters starting from D512 Write D510 into Speed setting W518 of axis 1 Then trigger Command start R512 to On Parameters and arc data including Radius D512 Start angle D514 and Motion angle D516 will be written into the servo drive and D40 1 b When D40 1 if Command ready R1040 is On it means the arc motion is executing When Command complete R1056 is On it means the command is completed Then set Command start R512 to Off and D40 2 c When D40 2 command is completed Make sure Command start R512 is Off After that set flag M540 to Off and the control procedure is completed Note Arc motion issues the command to three axes for one time Thus the command only can be issued to ASDA M for executing arc interpolation of 3 axis 5 20 Jan 2014 Chapter 5 Example of Motion Command For 3
136. is Off which means the axis is in the status of Quick stop When Quick stop R528 is Off status of Servo quick stop release R1088 will be On which means the axis is not in quick stop status _ Quick stop HMC gt Servo Command Start R512 Quick stop R528 Servo gt HMC Command ready R1040 Command complete R1056 Release servo quick stop R1088 l l IStop Stop Cancel Forward Jog R544 Definition Flag Forward Jog is On This axis is executing Jog in forward direction and will stop when the flag turns Off Related device Take axis 1 as the example when Forward Jog R544 turns On it will accelerate to the speed of Jog speed W678 according to the curve of Jog acceleration time W680 Then it will remain at constant speed in forward direction according to Jog speed W678 When Forward Jog R544 is Off the axis will decelerate to stop according to the curve of Jog deceleration time W681 In addition set up Jog torque limit W682 can accomplish the torque protection function of Jog Jan 2014 Chapter 3 Special Devices Forward Reverse Jog HMC gt Servo Forward Jog R544 Servo gt HMC Command ready R1040 Command complete R1056 Jogging Jogging stop Error The following situation might result in no action after enabling the flag A Servo is not in Servo On status B Jog speed W678 exceeds the setting of maximum speed limit
137. it Word Command description Ladder diagram outcome and current value in a cumulative register Command code The ANB command executes the AND operation on previously saved logic Description XO ANB X1 LD X0 Load X0 s A contact X2 ORI X2 Parallel connect X2 s B contact Block A Block B LDI X1 Load X1 s B contact OR X3 Parallel connect X3 s A contact ANB Parallel connect X3 s A contact OUT Y1 Drives coil Y1 ORB Command Function Step Number ORB Parallel connect loop block 1 Step Bit device Word device External device Operand XY M JT KnX KnY KnM _ T jC D W Bit Word Command description and the current value in a cumulative register The ORB command executes the OR operation on previously saved logic outcomes Jan 2014 Chapter 4 Command Introduction Ladder Diagram Command code Description BlockA xO X1 LD XO Load X0 s A contact x2 x3 ANI X1 Parallel connect X1 s B ORB contact Block B LDI X2 Load X2 s B contact AND X3 Serial connect X3 s A contact ORB Parallel connect loop block OUT Y1 Drives coil Y1 MPS Command Function Step Number MPS Saves it in stack 1 Step Bit device Word device External device Operand XIY M T JC IR KnX IKnY KnM C D V IZ W _ Bit Word
138. k Initial Prog Cyclic 1 Progl 2 DEF E m Timer Jo 3 Timer Timer_1 5 E Sub Prosra 6 Motion Program Right click the Motion Program and select New Motion Program A New program window will pop up Task GF Task B E Initial 5 Initial 5 Progf 5 Progf a Cyclic 5 Cyclic D 1Progl 1 Progl pa e 2 DEF 2 DEF IA l Timer o RE 3 Timer Tin f 3 Timer Timer_1 B es HE Sub Progra a ZY Motion Program n gt Enter the program name which is up to 16 characters Then press OK eo Tew Program Program Name Program Type Motion Program ba Jan 2014 M Task Initial D Prog B E Cyclic ie 1 Progl ce Timer E Sub Program a Motion Ei gram 6 9 Chapter 6 Ladder Editor 2 Rename the program Right click the program name and select Rename A New program window will pop up a m Task B Initial L Progt B E Cyclic i 1 Prog E Timer H E Sub Program 5 6 Motion Program Task 3 Initial Prog 3 Cyclic 1 Progl 2 DEF H Timer PU 3 Timer Tin B E Sub Program 6 Acton 6 Motion Program Setting Enter the new program name and press OK Meanwhile if the Ladder program has launched the command about this motion program it will be renamed automatically S New Program Program Marne Program Type Motion Program Jan 2014 6 3 Other Functions
139. l Lk kkhh JO O Command description cumulative register The OR command parallel connects A contacts It reads the current status of the given serial contacts and executes the OR operation on the acquired data together with the outcomes from previous logic operations and saves the outcome in a Ladder diagram Command code Description xo XO Load X0 s A contact OR X1 Parallel connect X1 s A X1 contact OUT Y1 Drives coil Y1 ORI Command Function Step Number ORI Parallel connect B contact 1 Step Bit device Word device External device Operand XIY M IT C JR KnX KnY jKnM TJC D V Z W Bit Word OJO O JO IO JO k kkhh JO Command description given serial contacts and executes OR operation on the acquired data together The ORI command parallel connects B contacts It reads the current status of the with the outcomes from previous logic operations and saves the outcome in a cumulative register Ladder diagram Jan 2014 X1 ORI OUT XO X1 Y1 Command code Description Load X0 s A contact Parallel connect X1 s B contact 4 3 Chapter 4 Command Introduction ANB Command Function Step Number ANB Serial connect loop block 1 Step Bit device Word device External device Operand XY M T KnX KnY KnM TJC D W B
140. l After it is done the flag will be Off automatically Zero flag R8 Definition After executing operational command if the result is 0 this flag will be On Borrow flag R9 Definition After executing 16 bit operational command if the result is less than 32 768 or the result of 32 bit operation is less than 2 147 483 648 then this flag is ON Carry flag R10 Definition After executing 16 bit operational command if the result is more than 32 767 or the result of 32 bit operation is more than 2 147 483 647 then this flag is ON aa up data exchange R13 Definition On means the speed up function is done and the system will arrange more time to deal with the communication between PLC and HMI Therefore the display of servo status on HMI will be timelier and the data exchange between PLC and HMI will be more quickly While turning off this flag this function will be disabled Motion control ready R14 Definition Check if the node connection of DMCNet network is completed On means the connection is done Jan 2014 Chapter 3 Special Devices Motion control activate R15 Definition Check if the node underlying connection of DMCNet network is completed On means the connection is completed Set it to Off can reset the network REMOTE IO error R16 Definition Check if the connection of Remote IO connected to HMC is normal On means the connection is in error Related device The alarm code is shown
141. l device x y mfr c R knx kny knm r fe p v Jz whet wora eoira 0 0 jO jo o 0 0 JO O rr i ofofo o lo 22 bit commana 7 STEP Notes on the use of operands S1 operand could use F device FSUB S2 operand could use F device Flag signal R8 R9 R10 S1 Minuend S2 Subtrahend D Remnant Subtract value contained in the register S1 by value contained in register S2 by Command F x i i f i k value contained in register D with all operations executed in binary floating point description number format When the absolute value of the remnant is greater than the maximum value of floating point the carry flag R10 turns On When the absolute value of the remnant is less than the minimum value of floating point the carry flag R9 turns On When the remnant equals 0 the zero flag R8 turns On When XO On place the remnant of the binary floating point number D1 DO Example 1 binary floating point number D3 D2 in D11 D10 4 44 Jan 2014 Chapter 4 Command Introduction Sie Loe Te oe When X0 On places remnant of F 1 234568 binary floating point number D3 D2 in D11 D10 F 1 234568 D10 FMUL API FMUL Sp G2 Binary floating point number multiplication Bit device Word device External device X IY IMIT JC IR KnX KnY KnMIT C ID V Z W Bit Word 16 bit command oe S1 o Jo l
142. lete scan However cyclic task B is only allocated 100 time units which only can execute one fourth ladder program in each cycle Thus cyclic task B can execute a program after four scanning cycles while cyclic task A has already executed the program for four times Therefore aiming at different cyclic task users can setup different usage such as allocate more usage to a more important or timely needed cyclic task So that it can reduce its scanning time 2 2 Jan 2014 Chapter 2 Introduction of Controller Time Cyclic Task Cyclic Task A B 0 n Task Name Usage 1 100 1 scanning A 80 is B 20 500 upat scanning 1000 2 scanning Ladder 1500 Lh See Time slot setting Main task Ladder Scanning 2000 SS ee ee 3 scanning Ladder Non Scanning 3 4 part scanning 2500 3000 T eee me meee ee eee tee ee ee ee teat a scanning 3500 __ ___ eee 4 times 1 time Y complete scanning complete scanning The ladder program of traditional controller updates the external input signal On Off status into the memory zone of input signal device Save the computing result into the memory zone of each device during program execution When END command is executed send the On Off status of memory zone to output device so as to change the external output Since HMC controller can execute more than one cyclic task at the same time it will read the exter
143. liary General 0 511 Total relay 1024 4096 4095 points Latched 512 1023 Relay Use W10 Bit and W11 to adjust the range W10 can determine the start position while W11 can determine its size T Timer 100ms 0 199 Total 10ms 200 255 256 points C Counter 16 bit 0 199 Total 32 bit 200 255 256 points 2 8 Jan 2014 Chapter 2 Introduction of Controller R Special relay 0 1535 Total 1536 points T Timer s 16 bit 295 Total 0 65535 current 256 value points C Counter s 16 bit 0 199 Total 0 65535 current 32 bit 200 255 256 2147 483 648 2147 4 value points 83 647 D Data 16 General 0 2999 Total 32 768 register bit 4000 65536 65535 points 32 767 Latched 3000 3999 Use W12 and W13 to adjust the range W12 Register can Word determine the start position while W13 can determine its size V Indirect 16 bit 0 127 Total 32 768 32 767 reference 128 register points Z Indirect 32 bit 0 127 Total 2147 483 648 2147 4 reference 128 83 647 register points W Special 16 bit 0 4095 Total register 4096 points N Loop indicator 0 7 Total 8 points Indicator P Jump indicator 0 255 Total 256 points Jan 2014 2 9 Chapter 2 Introduction of Controller Constan K Decimal constant t Floating F Floating point number point number 2 3 1 Input Relay X Output Relay Y The input output relay is
144. lo j ijol l ijo ijof1ifo ats tsrean int Sign bit 0 positive 1 negative No datainieStence Invert contents for sending 4 25 Chapter 4 Command Introduction Example 2 X000 X001 X002 X003 X a or 1000 cM K1X0 K1MO Always ON contact The circuit shown to the left in the figure below can be presented with a CML command as presented in the circuit to the right BCD API 507 IF BCD BIN BCD conversion Bit device Word device External device x ly MIT lc R knx kny kn It lc Ip v fz w Bit wora 16 bit command 5 STEP S 0 o o O BCD D OOJO o Command description S Source of data D Outcome of conversion and DAO D operand can use DAO as the external device Notes on the use of operands S operand can use external device such as DAI Flag signal R20 Do BCD conversion for BIN data contained in S and save in D When the BCD conversion output exceeds 0 9 999 and R20 On the command error code is 01 When the DBCD conversion output exceeds 0 99 999 999 and R20 On the command error code W20 is 01 The INC and DEC commands used by PLC s arithmetic operations are executed with values in BIN format To see values displayed in decimal format users need to convert values in BIN format to BCD one with the BCD conversion When X0 On values in D10 are
145. m k Jan 2014 Chapter 6 Ladder Editor Click Edit Row Comments to open the Edit Row Comment window r B Fdi Row Comment el First outpui nd mtt 3rdontput Outpt T Device Table It shows the comment of all devices Users can directly edit the table according to the selected device Goto Device No Goto X ug M T C D R W Used Device Comment po E Mi Condition E mm E M3 E M4 Symbol Table Repeated Device Comment Symbol Repeated Symbol Repeated j Item Description 1 If the device is checked it means it is being used in the program 2 Symbol Repeated Different devices use the same symbol Device Repeated One device use more than two symbols 3 Symbol is used by the device It will replace the device in the program Mov _K123__ Speed 4 Select the device which uses symbol 6 13 Jan 2014 Chapter 6 Ladder Editor Compile Function Communication Options O Item Description Compile A Ins Ladder gt Instruction Ctrl F7 Ctrl F9 struction gt Ladder L Ctrl F10 Ladder Instruction Instruction Ladder Compile all_ Compile all program Convert ladder diagram to instruction Convert instruction to ladder diagram Communication Setting Function Communication Options O Vie ff Online Monitoring GF C
146. mand 11 Torque input command 12 Average torque 13 Peak torque 14 Main circuit voltage 15 Inertia ratio 16 IGBT temperature 17 Resonance frequency 18 The absolute pulse number of Z phase Jan 2014 Chapter 3 Special Devices 39 DI status 40 DO status Related Device Monitoring item index determines the display content of Monitoring item Take axis 1 as the example Monitoring item 1 W586 will change the display content according to the setting of Monitoring item index 1 W666 Quick Stop deceleration time W670 Definition Deceleration time setting of servo s Quick Stop Related Device Take axis 1 as the example activate Quick stop R528 during operation the system will stop by Servo quick stop release W670 Flag of Release servo Quick Stop R1088 will be Off which means the servo is in stop status Deceleration time of stop command W671 Definition Deceleration time setting when servo is executing deceleration stop command Related Device Take axis 1 as the example if desire to execute deceleration stop command Command code W512 should be set to 6 and trigger Command start R512 When the servo speed is 0 Command complete R1056 will be On which means the command is completed Deceleration time for communication error W672 Definition When DMCNet communication is in error the servo will decelerate to stop by command of Deceleration tim
147. mit switch A contact 422 RX RS422 R RS232 RX 422 _RX RS422 R INT1 Interrupt 1 Reserved INTO Interrupt 0 Reserved GND Purple White amp Purple Black amp Orange Black amp Green Red amp Black White amp Red RJ45 Blue DMC DMCNet wiring RJ45 Black ETH Ethernet wiring RJ45 Green Interrupt ground _PW Interrupt power supply 24V RemotelO wiring a X Jan 2014 Chapter 7 Appendix 7 3 Setting and Framework of ASDA M 4 axis Synchronous Servo Drive Framework of special 4 axis synchronous control HMC Setting of station Set P3 00 to 9 number P3 00 pate is 1 2 and 3 L ADSA M ADSA A2 1 2 3 4 ASDA M calculates the interpolation command value of the 4 axis Jan 2014 7 3 Chapter 7 Appendix This page is intentionally left blank 7 4 Jan 2014
148. mmand start R512 R513 R514 R515 R516 R517 R523 Quick stop R528 R529 R530 R531 R532 R533 R539 Forward Jog R544 R545 R546 R547 R548 R549 R555 Reverse Jog R560 R561 R562 R563 R564 R565 R571 Servo On R576 R577 R578 R579 R580 R581 R587 Fault Reset R592 R593 R594 R595 R596 R597 R603 Handwheel activate R608 R609 R610 R611 R612 R613 R619 Command load R624 R625 R626 R627 R628 R629 R635 Command cancel R640 R641 R642 R643 R644 R645 R651 Feed rate a execution R656 R657 R658 R659 R660 R661 R667 Pause R672 R673 R674 R675 R676 R677 R683 Servo axis Command error R1024 R1025 R1026 R1027 R1028 R1029 R1035 Command ready R1040 R1041 R1042 R1043 R1044 R1045 R1051 Command re complete R1056 R1057 R1058 R1059 R1060 R1061 R1067 Servo ON R1072 R1073 R1074 R1075 R1076 R1077 R1083 Servo quick stop release R1088 R1089 R1090 R1091 R1092 R1093 R1099 Servo Fault R1104 R1105 R1106 R1107 R1108 R1109 R1115 Servo Warning R1120 R1121 R1122 R1123 R1124 R1125 R1131 Servo ready R1136 R1137 R1138 R1139 R1140 R1141 R1147 Jan 2014 3 13 Chapter 3 Special Devices 3 4 1 Relay Control in Motion Mode The list below is about the relay control in motion mode These could accomplish the function to activate motion or clear the flag error Take axis 1 as the example Function aie No Description Attribute Latc
149. motion when executing the last command no more new command can be accepted When using Command load to issue the command users could know if the command issuing is succeed via Command ready and acquire the information of unfinished command number of the current servo drive through Motion surplus 5 45 Chapter 5 Example of Motion Command 5 18 Handwheel Example description Connect the handwheel device to HMC08 and switch the factors 1 10 and 100 times and control axis axis 1 2 and 3 via I O device Use handwheel to send signal to XO means to activate axis 1 send signal to X1 means to activate axis 2 and send signal to X2 means to activate axis 3 Send signal to X3 means to switch the factor to 1 X4 means to switch the factor to 10 and X5 means to switch the factor to 100 Example program Cyclic task X1 x2 a A n A e R08 Enable MPG X1 X2 bl Re 09 Enable MPG X1 X2 Pi s A a D a G A Enable MPG MOV Kl W74 MPG Ratio v MOV KIO W74 MPG Ratio v MPG Ratio v a When X0 is On X1 is Off and X2 is Off R608 is On R609 is Off and R610 is Off Set Handwheel activate of axis 1 to On Then the handwheel function of axis 1 is enabled b When X1 is On X0 is Off and X2 is Off R608 is Off R609 is On and R610 is Off Set Handwheel activate of axis 2 to On Then the handwheel function of axis 2 is enabled c When X2 is On X0 is Off and X1 is Off R608 is Off R609 is Off and R610 is O
150. n 2014 Chapter 3 Special Devices Definition Parameter address Circle center coordinate 1 DW Dn Circle center coordinate 2 DW Dn 2 Endpoint coordinate 1 DW Dn 4 Endpoint coordinate 2 DW Dn 6 Forward amp reverse DW 0 forward 1reverse Dn 8 Take axis 1 in Arc Endpoint amp radius mode Command code is 13 as the example if Parameter start address W524 is set to 1000 when issuing motion command the system will issue parameters which start from D1000 to the servo drive Since the parameter needs 8 continuous bits the 8 continuous bits should be reserved For example if W524 is set to 1000 when planning the program D1000 D1007 should be reserved Assume that Parameter start address is set to n when executing arc motion the definition of D register data is as the followings Definition Parameter address Endpoint coordinate 1 DW Dn Endpoint coordinate 2 DW Dn 2 Radius DW Dn 4 Forward amp reverse DW 0 forward 1reverse Dn 6 Take axis 1 in Arc Center amp angle mode Command code is 14 as the example if Parameter start address W524 is set to 1000 when issuing motion command the system will issue parameters which start from D1000 to the servo drive Since the parameter needs 6 continuous bits the 6 continuous bits should be reserved For example if W524 is set to 1000 when planning the program D1000 D1005
151. n Set Handwheel activate of axis 3 to On Then the handwheel function of axis 3 is enabled d When X3 is On set Handwheel factor W74 to 1 the speed of handwheel operation is double e When X4 is On set Handwheel factor W74 to 10 the handwheel will operate 10 times more f When X5 is On set Handwheel factor W74 to 100 the handwheel will operate 100 times more Note Only one axis can active handwheel function within the same time 5 46 Jan 2014 Chapter 6 Ladder Editor This chapter details the instructions of Ladder Editor which is integrated into DOPSoft Please refer to DOPSoft User Manual for the installation of DOPSoft and the function of HMI editing 6 1 Ladder Editor Software 1 Open Ladder Editor Software S SeeBS 9e yXx ae KA Oe sO 2 Select HMC model Project Wizerd E E era HMC08 N500S52 800 600 65536 Colors HMCO07 N500H52 800 600 65536 Colors Project Name NewHMI Sereen Name Screen_1 Screen No 1 Printer NULL System Message Language Traditional Chinese HMI Rotation 0 m degree sa Heit Caeo i Finish Jan 2014 6 1 Chapter 6 Ladder Editor 3 Open Ladder Editor Click the icon of Edit Logic Data in the tool bar to enable Ladder Editor epost E E File Edit View Element Screen Tools Options Window Help SBR 9C YR Aes Qpr a Aleo emj A A oR la ee Tii ENG etans
152. n Attribute Latched Operation flag RO Normally close B contact R No contact R1 Normally open A contact R No contact R4 Error flag On means abnormal Off R W means normal Yes R7 Motion control reset On means reset and will R W be clear automatically No R8 Zero flag On means the calculation R No is 0 R9 Borrow flag On the computing result R No is to borrow R10 Carry flag On the computing result R No is to carry R13 Speed up data On means activate Off R W No exchange means deactivate R14 Motion control ready On means ready Off R No means not ready R15 Motion control On means activate Off R W No activate means deactivate Flag of error R16 Remote IO error On means it is unable to R No types establish connection Off means the connection is established R17 DMCNet On means it is unable to R No communication error establish connection Off means the connection is established R18 Grammar error On means grammar error R W No occurs during the operation which needs 3 2 Jan 2014 Chapter 3 Special Devices to be cleared by users R19 Motion control error On means motion control R No is abnormal Off means normal R20 Command error On means command R W No error occurs during the operation which should be cleared by users Setting of R32 Setting of C200 On count down Off R W Yes 32 bit counting mode count up counting R
153. n for the first time then YO turns Off when X0 changes from Off to On for the second time Hirr o f Lf LF ef Lf RSVP API Sin RSVP So Gd CD Read parameters of the servo drive Bit device Word device External device x ly Im fr Ic IR knx kny knuJr fc b v z wIBit Word 16 bit command 13 STEP S1 o lo o RSVP D oloo 32 bit command Notes on the use of operands S1 operand can use K device S2 operand can use K device S3 operand takes consecutive Flag signal R18 e S1 Access servo axis ID of parameters S2 Access parameter ID D Accessing result nmang Access the servo parameter from S1 If reading P3 21 then value of S2 is 0321 description decimal The accessing content is saved in the register specified by D S2 format and servo dirve parameters S2 AB CD Parameters PAB CD Example of S2 S2 0321 Parameters P0O3 21 4 60 Jan 2014 Chapter 4 Command Introduction If the connection breaks down or read the incorrect parameters it results in failure of reading parameters Then R18 On and W18 is 11 Examble When M26 On access parameters D10 from servo axis specified by the decimal P system D5 and save the result in D21 D20 M26 L rsvp pos po p20
154. nal input signal at the beginning of every cyclic task When any of the cyclic task executes END command the On Off status of computing result will be outputted to the external output device 2 2 3 Timer Task In a whole project executing 8 timer task is at most Each timer task can setup its Time Interval Unit ms It has the highest priority of execution for ensuring the task can be executed in time Since HMC can execute more than one timer tasks a single task cannot be executed too long Otherwise it is unable to execute other tasks timely Setup Switching time Default 50 us in the system so that timer tasks can be switched for execution simultaneously Jan 2014 2 3 Chapter 2 Introduction of Controller See the following diagram as the example If a project has two timer tasks T1 and T2 set Switching time to 100 us and both set Time Interval to 100 ms Since T1 is a bigger ladder program the complete scanning time of T1 is longer than 100 us While T2 is the smaller task it takes less than 100 us for a scanning As the following diagram T1 is executed every 100 ms but it could not complete scanning within 100 us When the scanning runs for 100 us it will stop the execution of T1 and the processor will switch to T2 The scanning time of T2 will not exceed 100 us after the scanning is completed the controller will switch back to T1 until the execution of T1 is completed Time Time
155. ng the motion path shows as below 1 Counterclockwise 0 Clockwise A Current Position Radius Example program 5 28 HMC screen Spd D510 Pine pd CurveEnd P_Coord 1 D512 M543 l eeeeeeeee eeeeeeeee AxisOption D509 CurveEnd P_Coord 2 D514 wenee l eeeeaeeee Rad D516 O X _2Axis HHHHHHHAHH 1 Z_2Axis 3 2 XZ_2AX S Rot_Direct D518 eeaeeeane Cyclic task MOV_ K0 D40 M543 CALL Curve a When M543 turns On it is in initial control status D40 0 b When M543 is On it enters sub program Curve_13 to execute arc motion When the command is completed M543 is Off Jan 2014 Chapter 5 Example of Motion Command Sub program Curve_13 H DO Ko R1040 R1056 H pwo K HA mH RST R52 Comm Target Comm and rea reach and ex INC D40 R512 H Do K2 H RST M543 Comm and ex NC D40 a When D40 0 it starts to issue parameters Set Command code W512 to 13 means to execute arc end point amp radius motion Write D509 into Command selection W513 means to execute axis selection Among them O represents the arc interpolation of X and Y axis 1 represent the arc interpolation of Y and Z axis and 2 represents the one of X and Z axis Set Parameter start address W524 to 512 means to read parameters starting from D512 Write D510 into Speed setting W518 Then trigger Command start R512 to On and write parameters includin
156. nit is rpm 3 5 3 Parameter Register in Motion Mode Parameters that are related to motion control Take axis 1 as the example for the following description Function Te Default No Description Attribute Latched i setting Electronic gear ratio Electronic gear ratio W640 Remote Yes 1 Numerator DW Numerator Electronic gear ratio Electronic gear ratio W642 Remote Yes 1 Denominator DW Denominator Unit display W644 Unit setting 0 PUU R W Yes 0 Acceleration S curve acceleration W645 Remote Yes 0 Deceleration curve deceleration constant Acceleration time W646 Acceleration time R W Yes 200 Deceleration time W647 Deceleration time R W Yes 200 Homing speed 1 DW W648 First homing speed R W Yes 2133333 Homing speed 2 DW W650 Second homing speed R W Yes 426666 Homing mode W652 Homing mode selection R W Yes 1 Homing acc dec time W653 Acceleration R W Yes 200 3 46 Jan 2014 Chapter 3 Special Devices deceleration time of homing Homing offset value Offset of homing and W654 oh R W Yes 0 DW positioning point Forward software limit Position of forward Ox7FFFF W656 he Remote Yes DW software limit FFF Reverse software limit Position of reverse 0x800000 W658 ei Remote Yes DW software limit 00 Maximum speed limit The maximum operation W660 Remote Yes 64000000 DW speed Unit
157. nition Parameter address Radius DW Dn Start angle DW Unit 0 5 Dn 2 Motion angle DW Unit 0 5 Dn 4 Take axis 1 in Arc Midpoint amp endpoint mode Command code is 11 as the example if Parameter start address W524 is set to 1000 when issuing motion command the system will issue parameters which start from D1000 to the servo drive Since the parameter needs 8 continuous bits the 8 continuous bits should be reserved For example if W524 is set to 1000 when planning the program D1000 D1007 should be reserved Assume that Parameter start address is set to n when executing arc motion the definition of D register data is as the followings Definition Parameter address Midpoint coordinate 1 DW Dn Midpoint coordinate 2 DW Dn 2 Endpoint coordinate 1 DW Dn 4 Endpoint coordinate 2 DW Dn 6 Take axis 1 in Arc Center amp endpoint mode Command code is 12 as the example if Parameter start address W524 is set to 1000 when issuing motion command the system will issue parameters which start from D1000 to the servo drive Since the parameter needs 10 continuous bits the 10 continuous bits should be reserved For example if W524 is set to 1000 when planning the program D1000 D1009 should be reserved Assume that Parameter start address is set to n when executing arc motion the definition of D register data is as the followings Ja
158. ntinue its execution Similarly if it encounters SRET command when executing Sub1 it means Sub1 is completed and will return to cyclic task A continue the execution of CALL Sub1 command until it goes to END command which means the scanning of cyclic task is finished Cyclic Task Sub Program A Sub1 RO 1 MOV KI pmo fh INC D300 oe J fear saad RO 4 Ros f X D Sub Program Sub2 Z RO INC D200 INC D201 i INC D202 J ser lt Since sub program is allowed to call sub program 8 layers of called sub program is at most If exceeding the limit status of Grammar error R18 will be On and the display of Code of Grammar error W18 will show 6 Jan 2014 2 5 Chapter 2 Introduction of Controller 2 2 5 Motion Program 256 motion programs can be used in a project at most Its feature is similar to sub program but the original program will continue to operate after using motion programs The called motion program will be activated and executed with the original one Motion program is mainly used in motion control This is for maintaining the original execution of main control when the cyclic task triggers the motion command and will not influence the original procedure The LAUNCH command plus the name of motion program can activate the motion program When SRET command is executed during operation it means the motion program is completed One motion program
159. o o O S2 O IO JO JO O D o o o jo O 32 bit command 7 STEP Notes on the use of operands S1 operand could use F device FMUL S2 operand could use F device Flag signal R8 R9 R10 S1 Multiplicand S2 Multiplier D Product Conimand beer the value contained in the register assigned by S1 and S2 save the E product in the register assigned by D with all operations executed in binary floating clan point number format When the absolute value of the product is greater than the maximum value of floating point the carry flag R10 turns On When the absolute value of the product is less than the minimum value of floating point the carry flag R9 turns On When the product equals 0 the zero flag R8 turns On When X0 On places the product of the binary floating point number D1 DO Example 1 multiply binary floating point number D3 D2 in the register assigned by D11 D10 When XO On places the product of the constant F1 234568 x binary floating Example 2 point number D3 D2 in D11 D10 X0 FMUL F1 234568 D10 Jan 2014 4 45 Chapter 4 Command Introduction FDIV API r FDIV D G2 G Binary floating point number division Bit device Word device External device Ae Re ee Pe ie ee Word 16 bit command a O IO JO JO o 0 0 jO O a pt D o lo fo o O 32 bit command 7 STEP Note
160. og operation The unit is 0 1 If the value is set to 500 it means the maximum torque cannot exceed 50 during jog operation 3 58 Jan 2014 Chapter 3 Special Devices FEED RATE speed W684 Definition Change the setting value of current speed Related Device When Feed Rate execution is On the current speed will be changed to the value of Feed Rate speed Then Feed Rate execution will be Off FEED RATE acceleration time W686 Definition Change the acceleration time of current operation Related Device When Feed Rate execution is On the current acceleration time will be changed to the value of Feed Rate acceleration time Then Feed Rate execution will be Off FEED RATE deceleration time W687 Definition Change the deceleration time of current operation Related Device When Feed Rate execution is On the current deceleration time will be changed to the value of Feed Rate deceleration time Then Feed Rate execution is Off Rapid monitoring item index W688 Jan 2014 Definition Setup the display of Rapid monitoring item The setting content is the same as parameter function of Servo drive status display Parameters definition is as the following 00 Motor feedback pulse number 01 Pulse number of command input 02 Command pulse and feedback pulse error 03 Motor feedback pulse number 04 Pulse number of command input 05 Error pulse number 06 Pulse
161. ommand the 1 axis Trigger Command start R512 to On and then D10 1 b When D10 1 and Command ready R1040 is On it means the motion is executing When Command complete R1056 is On it means the motion is completed Then set Command start R512 to Off and D10 2 c When D10 2 it means the motion is completed Make sure Command start R512 is set to Off Then clear the executed flag M510 to Off The control procedure is completed Note If the speed is greater than Max speed limit it will operate at the limited max speed Jan 2014 Chapter 5 Example of Motion Command 5 4 3 axis Synchronous Linear Motion Example description Use M530 as the enabling condition for triggering and executing 3 axis synchronous motion After M530 is activated the related parameters are executed and start to issue the command Linear motion path of the 3 axis is shown in the diagram below ZAxis Motion End Y Axis Motion Start X Axis Example program HMC screen Spd D510 Pos 1 D512 msao eeeeeeee eeeHeeRee Pos 2 D514 eatevenee Pos 3 D516 PERET satre Cyclic Task MOV KO D30 Multi Flow M530 CALL Three lipe a When M530 turns On it is in initial control status D30 0 b When M530 is On it enters sub program three_line to execute 3 axis synchronous motion After the motion is completed M530 is Off automatically Jan 2014 5 5 Chapter 5 Example
162. on For conversion outcome in zero the zero flag R8 On Jan 2014 4 47 Chapter 4 Command Introduction X1 When X1 On convert BIN integer D21 D20 to binary floating point number and save the outcome in D31 D30 e FRAD API Oo y FRAD Degree Radian Bit device Word device External device x ly r lc JR knx kny kamit Ic D v z wiBit word 16 bitcommand S o lo lo o D oboo 4 48 use F device D operand takes consecutive 2 points Command description Notes on the use of operands S1 operand takes consecutive 2 points and can Flag signal R8 S Source data degree D Conversion outcome radian Converts the value in the unit of degrees to radians radian degree x 11 180 The register content specified by S is converted to the radian in floating point number format from the degree in floating point number format and saved in the register specified by D If the outcome equals 0 the zero flag R8 turns On x0 Hin o 0 T RAD value degree x 11 180 When X0 On convert binary floating point degree value contained in D1 DO to radian value in binary floating point format and save in D11 D10 Jan 2014 Chapter 4 Command Introduction FDEG API s FDEG Radian Degree Bit device Word device External device x
163. on The error code Code Definition 05 FOR NEXT loop depth exceeds 5 Jan 2014 3 9 Chapter 3 Special Devices 06 CALL sub program depth exceeds 8 07 Floating point format is in error 10 The used device exceeds the range 11 RSVP WSVP command execution error 12 The launched motion programs in queue that wait to be executed exceed 255 Related device Activate with Grammar error R18 Motion control error code W19 Definition Error occurs while processing motion control The error code Code Definition 09 Error occurs when processing motion command Related device Activate with Motion control error R19 Command error code W20 Definition Command error code during operation The error code code Definition 01 The conversion of BCD command exceeds 0 9 999 or the conversion of DBCD command exceeds 0 99 999 999 02 The devisor of DIV DDI FDIV command is 0 03 No bit is 1 in ENCO command source 04 The value exceeds 0 9 in BIN DBIN command source 10 The source of FASIN command exceeds 1 0 1 0 11 The source of FACOS command exceeds 1 0 1 0 Related device Activate with Command error R20 REMOTE IO module version W32 W63 Definition Remote IO module version of each station Jan 2014 Chapter 3 Special Devices FPGA firmware version
164. onnection Setting Reset to default memory Online Monitoring Connect to HMC according to the connection setting Before executing online monitoring HMC program has to be compiled first and check if the HMC internal program is the same as editing ladder Warning message will pop up if it is different 6 14 Item Description Online Monitor the execution of HMC ladder Monitoring program through Ethernet Connection Connection setting of HMC s Ethernet Setting Reset to Reset the value to the default one default memory Warming Code is changed download again When the connection is successfully built users can monitor the execution of current ladder RO pen M100 SERVO ON M101 SERVO OFF a M20Dff AGAR a ROR ROR RONG ROR R1033 R1033 M20brr Teall servo CALL SERVO Off RST M202 Off RST M203 TAR sol y a 6 aB yon MOn Miop MA qott port Jan 2014 Chapter 6 Ladder Editor Connection Setting Click Option Communication Setting to open the window from DOPSoft Then setup IP address as the followings and check Enable Network Application to download the screen to HMC Communication Setting W PE i 4 Dee aE me 9 e J m Overwrite IP La Obtain an IP address automatically HMI HMC HMI IP Address 192 168 1 10 255 255 255 0 T EN EU
165. ontact to Off When X1 changes from Off gt On the counter counts up by 1 When counter CO matches with the setting value of K5 the CO contact turns On The current value of CO setting value K5 Later CO does not accept the trigger signal from X1 Its value remains equal to K5 CO counts the current value Setting value YO CO contact 32 bit general purpose arithmetic operation counter C200 C255 Range of 32 bit general purpose counter s setting value K 2 147 483 648 K2 147 483 647 32 bit general purpose arithmetic operation counters counting up or down can be switched by special relay R32 R87 For example R32 Off indicates C200 is for addition and R32 On for subtraction The setting value can be constant K or data register D The value can be positive or Jan 2014 2 15 Chapter 2 Introduction of Controller negative If data register D is used two consecutive data registers are required for one setup value Counter s current value changes from 2 147 483 647 to 2 147 483 648 when counting upward and 2 147 483 648 to 2 147 483 647 when counting downward Example LD X10 OUT R32 X10 LD X11 ie RST C200 RST X12 DCNT C200 K 5 Te D LD C200 OUT YO X10 driven R32 determines C200 is either addition count up or subtraction count down When X11 changes from Off to On RST command is executed to reset C200 to 0 and output contact to Off When X12 changes from Off to On the counte
166. ora 16 bit command 5 STEP S1 O O JO OOJOO JO JO O OR S2 O O JO O jO 0 jO JO JO ef Notes on the use of operands X gt gt lt gt lt gt lt 2 32 bit command 5 STEP DOR Flag signal None 4 22 Jan 2014 Command description S1 Data source device 1 This command compares values stored in S1 and S2 When the comparing result is enabled the command turns on otherwise it does not turn on The OR is a compare command parallel connects to a contact 16 bit command 32 bit command Chapter 4 Command Introduction S2 Data source device 2 Turn on condition Not turn on condition DOR 1 S2 S1 S2 DOR gt S1 S2 S1 lt S2 DOR lt S1 S2 S1 2 S2 DOR lt S1 S2 DOR lt S1 S2 DOR gt S2 It has to use 32 bit command DOR amp to compare the 32 bit counter C200 C255 When X1 On or the data contained in C10 equals to that in K200 then YO On When X2 and M30 is On or the data contained in 32 bit register D100 D101 is greater or equals to K100 000 then M60 On K100000 MOV API MOV iS gt Move data Bit device Word device External device x ly Im fr e RR knx kny Iknamlr fc b v z wIBit word 16 bit command 5 STEP S o o lb lolololololo O MOV D o lo lolololololo 0 Jan 2
167. point number D Result acquired from SIN Command value floating point number ae Acquire SIN value from the radian specified by S and save in the register specified escription by D The following shows the relation of radian and result R S radian data 1 R result SIN value If the conversion result is 0 then R8 is On When M12 On acquire SIN value from the radian of D11 D10 and save in D21 D20 which is in floating point number format When M22 On convert the angle of D11 D10 to RAD value and save in D6 D5 Then acquire SIN value of D6 D5 and save in D21 D20 which is in floating point number format M12 FCOS API 5 FCOS i COS operation in floating point number format Bit device Word device External device x ly mfr lc JR knx kny kamit Ic D iv z wiBit wora 16 bit commana S o Jo lo fo D sgaoil PS a Notes on the use of operands S1 operand takes consecutive 2 points and can 32 bit command 5 STEP use F device FCOS D operand takes consecutive 2 points Flag signal None S Specified source value floating point number D Acquire COS value floating Commend point number 7 Acquire COS value from the radian specified by S and save in the register gescripion specified by D The following shows the relation of radian and result 4 50 Jan 2014 t Command Introduction S r
168. point number format Bit device Word device External device x MIT lc R knx kny knu t lc b W z whit Word 46 bitcommand S o o o jo D O JO O JO a Notes on the use of operands S1 operand takes consecutive 2 points and can use F device D operand takes consecutive 2 points Flag signal R8 R20 Jan 2014 4 53 Chapter 4 Command Introduction S Source of specified cosine value floating point number D Acquire radian ee result of ACOS value floating point number ACOS value cos 1 description Following shows the relationg of input data and result R S Input data cosine R result of ACOS value radian The cosine value specified by S operand can only between 1 0 and 1 0 If the value is not within the value then R20 On and W20 is 11 If the conversion result is 0 then R8 On When M12 On acquire ACOS value from D11 D10 and save in D21 D20 which is in floating point number format M12 E FACOS FATAN API FATAN ics ATAN operation in floating point number format Bit device Word device External device x y MIT lc R knx kny knu t lc b W z whet Word 46 bitcommand S O IO JO JO D O JO JO JO a Notes on the use of operands S1 operand takes consecutive 2 points and can 32 bit command 5 STEP use F device F
169. r task setting Timer Task Timer Task T1 1 T2 0 ms vw Interval 100 gt ms i T f 100 us Ct 2 la 3 100ms F LOM Ladder Running st f 100 us 4 x Ladder Non Running Please bear in mind when using this task Timer task has the highest priority of execution in all types of tasks If timer tasks are executed too frequently it will influence the scanning of cyclic task Even the cyclic task might be unable to operate 2 2 4 Sub Program 256 sub programs can be used in a project at most Different function can be classified to different sub programs And all types of tasks can repeatedly call the sub programs in order to accomplish program modularization which is good for maintenance as well as enhance the readability Command CALL plus the sub program name can trigger the sub program Then the processor will execute the called sub program When executing the command SRET it 2 4 Jan 2014 Chapter 2 Introduction of Controller means to end the sub program and return to the position where the sub program is called and continue the execution See the following diagram as the example Call sub program Sub1 by the command of CALL Sub1 in cyclic task A And Sub1 will be executed Then call Sub2 by the command of CALL Sub2 It will switch to execute Sub2 When SRET command is executed in Sub2 Sub2 is completed It will return to the position where CALL Sub2 is called in Sub1 and co
170. r value increased by 1 or decreased by 1 When the value of counter C200 changes from K 6 to K 5 count up the C200 contact turns On When the value of counter C200 changes from K 5 to K 6 count down the C200 contact turns On x10 count up count down count up C200 current value 1 3 If the contact 6 is ON 7 47 Yo Ni 1 C200 contat 4 2 16 Jan 2014 Chapter 2 Introduction of Controller 2 3 6 Data Register D The data register is used for keeping 16 bit numeric data in range of 32 768 32 767 The left most bit is a sign bit Two 16 bit registers can be combined into one 32 bit register D 1 D where the smaller ID represents the lower bits 16 bit with the left most bit serving as the sign bit It can store numeric data in range of 2 147 483 648 2 147 483 647 DO D2999 General D4000 D65535 Total Data register a D D3000 D3999 1000 points is for latched 65536 Latched zone points Adjust the range by W12 and W13 General register When power Off its value will be reset to 0 Latched register The value will remain when power Off Jan 2014 2 17 Chapter 2 Introduction of Controller 2 3 7 Indirect Reference Register V Z Indirect reference register V is the 16 bit register and Z is the 32 bit one Range is from VO V127 to ZO Z127 Each has 128 points 16 bit 32 bit xO 2 18 V is the 16 bit data register w
171. re all reset to 0 x0 ZRST M300 M399 x1 ZRST C127 x10 X3 ZRST po D100 4 56 Jan 2014 Chapter 4 Command Introduction DECO API F DECO ED D Decoder Bit device Word device External device x ly MIT c IR Knx kny knmiT c Jp v z wjBit wora 16 bit command 5 STEP s lololo ooo a 16 DECO 2 ele anr e ta l nce al Notes on the use DAI DAO and K device Flag signal None D can use external device DY and DAO n can use K device of operands S operand can use external device DX DY Command description Example Jan 2014 S Source device for decoding D Target device where decoded value is kept n Decoding bit length Decode the lower bits of the n bits in source device S and save its outcome of 2 n bit length in D When D is a bit device n 1 8 If n 0 or n gt 8 the error occurs When n 8 the DECO command can decode up to 256 2 points Please ensure that the range of storage devices after decoding is not duplicated When X10 On the DECO command decodes values stored in XO X2 to M100 M107 When data source is 1 2 3 then the 3 bit M103 from M100 is set to 1 When the DECO command turns X10 to Off those have been decoded continue the operation X10 f 6 S 3 2 1 0 po of of of sfo oto M107 M106 M105 M104 M103 M102 M101 M100 e 4 57
172. ring jog operation Jan 2014 3 47 Chapter 3 Special Devices Torque limit setting Jog torque limit W682 during jog operation R W No 0 Unit 0 1 Setting of Feed Rate Feed Rate speed DW W684 R W No 0 speed Feed Rate acceleration Setting of Feed Rate W686 ete R W Yes 200 time acceleration time Feed Rate deceleration Setting of Feed Rate W687 nan R W Yes 200 time deceleration time Rapid monitoring item The content of rapid W688 a ot a R No 0 index monitoring item Maximum speed limit W689 R No 0 The maximum operation speed Unit rom Electronic gear ratio Numerator W640 Definition The setting of servo drive s electronic gear ratio numerator should be done when Servo Off Through the setting of Electronic gear ratio Numerator and Electronic gear ratio Denominator pulse command Pulse is transferred to position command PUU Command pulse input f1 Position command f2 Electronic gear ratio N N Electronic gear ratio D M f2 f1 x N M Related Device According to Electronic gear ratio Denominator it transfers the user unit of servo axis PUU Range 1 50 25600 Electronic gear ratio Denominator W642 3 48 Definition The setting of servo drive s electronic gear ratio Denominator should be done when Servo Off Through the setting of Electronic gear ratio Numerator and Electronic gear r
173. s 2 XZ_2Axis CurveEnd P_Coord 2 D518 l eeeeeanee Pos Neg Rot_ D520 eeaeeeae Cyclic task MOV__K0 D40 M542 CALL Curve Ib a When M542 turns On it is in initial control status D40 0 b When M542 is On it enters sub program Curve_12 to execute arc motion Jan 2014 5 25 Chapter 5 Example of Motion Command When the command is completed M 542 is Off Sub program Curve_12 H a b D40 K0 MOV D509 _ W513 DMOV D510 W518 R1040 R1056 D40 K1 a RST R512 Comm Target Comm and rea reach and ex INC D40 R512 D40 K2 RST M542 Comm and ex INC D40 SRET When D40 0 it starts to issue parameters Set Command code W512 to 12 means to execute arc center amp end point motion Write D509 into Command selection W513 means to execute axis selection Among them 0 represents the arc interpolation of X and Y axis 1 represents the arc interpolation of Y and Z and 2 represents the one of X and Z axis Set Parameter start address W524 to 512 means to access parameters starting from D512 Write D510 into Speed setting W518 Then trigger Command start R512 to On After that write parameters including Center coordinate 1 D512 Center coordinate 2 D514 End point coordinate 1 D516 End point coordinate 2 D518 and Reverse and forward direction D520 into the servo drive and D40 1 When D40 1 and Command ready R1040 is On it means the arc
174. s linear motion should be adjusted according to the speed of specified axis For example in three axis linear motion including axis 1 2 and 3 if the setting value is 2 speed of axis 1 and 3 should be adjusted according to the speed setting of axis 2 W774 so as to accomplish 3 axis linear synchronization 3 255 Vector speed when regarding Speed setting of trigger axis as the vector speed of multi axis linear motion in 3 axis linear motion axis 1 2 and 3 if the setting value is 255 it means the speed W518 of trigger axis is regarded as the vector speed during operation Jan 2014 Chapter 3 Special Devices Related device When executing multi axis linear motion command including axis 1 users should set Command code W512 of axis 1 to 1 linear and Command selection W513 as the related selection of motion axis such as Speed setting W518 W774 W1030 and Target position W520 W776 W1032 Refer to Speed option W526 so as to determine the speed mode Then trigger Command start R512 of axis 1 will do 3 5 2 Status Register It shows the current servo alarm status and servo function Take axis 1 as the example Function e Default No Description Attribute Latched value Error code when failed to issue Error code W576 R No 0 the command Current position Current servo drive s position W578 i R No 0 DW
175. s been preloaded into the servo When the number reached the limit PR surplus W594 equals 8 users will not be able to issue new Command load Flag of Command ready will not be On which means the new motion command will be unable to write into the servo Some current PR have to be completed which means PR surplus W594 should less than 8 so that the system could trigger new Command load and write into the servo When the continuous command is being executed if that is the last one W594 1 then it could not receive new preload command Users should wait until the current command is completed or stopped If preload the wrong command the preload command is failed and will not be wrote into the servo Error The following situation might result in command error Jan 2014 Code Definition 01 The speed is set to 0 or becomes 0 after transferring by E gear ratio 02 Axis of issuing command is in emergency stop status 03 Axis of issuing command is in Servo Off status 04 Command is executing and is unable to receive the new one 05 Trigger the wrong command selection 06 Command parameter error 3 23 Chapter 3 Special Devices 07 Command code error 08 Exceed the largest amount of continuous command when issuing continuous command 09 Issue continuous command time out 10 Command code cannot be used in continuous motion 11 Wrong Speed command setting
176. s for one time Thus the command only can be issued to ASDA M for executing arc interpolation of 3 axis Jan 2014 5 23 Chapter 5 Example of Motion Command For 3 axis servo drive when two axes are executing arc motion the other one will be unable to execute other commands 5 24 Jan 2014 Chapter 5 Example of Motion Command 5 12 Arc Center amp End Point Example description Use M542 as the enabling condition for triggering and executing arc motion After activating M542 the related parameters are executed and issue the commands Arc center amp end point motion should issue parameters including Center coordinate 1 A1 Center coordinate 2 B1 End point coordinate 1 A2 End point coordinate 2 B2 and Reverse and forward direction If data start address is D1000 D1000 represents Center coordinate 1 PUU D1002 represents Center coordinate 2 PUU D1004 represents End point coordinate 1 PUU D1006 represents End point coordinate 2 PUU and D1008 represents Reverse and forward direction According to the setting the motion path shows as below Direction End Counterclockwise Point A2 B2 COCEWISO A Current Position ee Center A1 81 Example diagram HMC c Spd D510 CurveCenter_Coord 1 D512 urme M542 l eeeeaeee HeHHHHHHAE AxisOption D509 CurveCenter_Coord 2 D514 Derre ennnnnnnRR CurveEnd P_Coord 1 D516 O xY_2Axis eeeaeeeae 1 Z_2Axi
177. s inclduing the original one Subroutine called in the nineth layer does not run and will cause grammar error Then R18 On and the grammar error code W18 is 06 4 32 Jan 2014 Chapter 4 Command Introduction LAUNCH API 5 LAUNCH ICS Activate motion program Bit device Word device External device X IY IM IT IC JR KnX KnY KnMIT IC D iV Z W Bit Word 16 bit command 2 STEP Notes on the use of operands S operand is the name of motion program LAUNC Flag signal R18 Command description S The called motion program has to be existed LAUNCH command can be used to call any motion program without limit number of times LAUNCH command cannot be used in motion program LAUNCH command can be used to call motion program without limit number of times in cyclic task or sub program The number of motion program that is wating to be executed can up to 256 If it exceeds 256 the command which is called after that will not be executed and cause grammar error Then R18 On and W18 is 12 FOR API FOR iC Nest loops start Bit device Word device External device X IY IM IT IC IR KnX KnY KnMIT C ID IV Z W Bit Word 16 bit command 3 STEP S ololo O FOR Notes on the use of operands S operand can use external d
178. s on the use of operands S1 operand could use F device S2 operand could use F device Flag signal R8 R9 R10 R20 Command description Example 1 Example 2 4 46 1 Dividend S2 Divisor D Quotient and remainder Divide value contained in the register S1 by value contained in the register S2 and save the quotient in the register defined by D with all operations executed in binary floating point number format If the value in S2 is 0 then the command is ignored with error message computing error Then R20 On and the error code is 02 When the absolute value of the quotient is greater than the maximum value of floating point the carry flag R10 turns On When the absolute value of the quotient is less than the minimum value of floating point the carry flag R9 turns On When the quotient equals 0 the zero flag R8 turns On When X0 On place the remainder of the binary floating point number D1 DO divided by binary floating point number D3 D2 in the register assigned by D11 X0 a A IET When XO On place the outcome of the binary floating point number D3 D2 K1 234568 in D11 D10 X0 D10 Jan 2014 Chapter 4 Command Introduction FINT API FINT iS Binary floating point number Integer Bit device Word device External device X IY M T JC JR KnX KnY KnMJT C D IV Z
179. s the offset value If the setting value is 1000 the home position will be 1000 Forward software limit W656 Definition Setup the position of forward software limit Related Device During Jog or homing the operation will not stop when encountering software limit However Servo Warning will be On If encounter Jan 2014 Chapter 3 Special Devices software limit while executing other commands the operation will stop and Servo Warning will be On and Servo quick stop release will be Off If desire to enable the operation again set Fault Reset to On to reset the servo alarm status then the command can be executed Reverse software limit W658 Definition Setup the position of reverse software limit Related Device During Jog or homing the operation will not stop when encountering software limit However Servo Warning will be On If encounter software limit while executing other commands the operation will stop and Servo Warning will be On and Servo quick stop release will be Off Set Fault Reset to On to reset the servo alarm status then the command can be executed Maximum speed limit W660 Definition During jog operation if the speed exceeds this setting value the servo drive cannot execute jog When executing other motion commands if the speed exceeds the setting value it will operate at the speed of Maximum speed limit After changing electronic gear ratio and the value exceeds th
180. should be reserved Assume that Parameter start address is set to n when executing arc motion the definition of D register data is as the followings Jan 2014 3 39 Chapter 3 Special Devices 3 40 Definition Parameter address Circle center coordinate 1 DW Dn Circle center coordinate 2 DW Dn 2 Motion angle DW Unit 0 5 Dn 4 Take axis 1 in helical command Command code is 30 as the example if Parameter start address W524 is set to 1000 when issuing helical command the system will issue parameters which start from D1000 to the servo drive Since the parameter needs 8 continuous bits the 8 continuous bits should be reserved For example if W524 is set to 1000 when planning the program D1000 D1007 should be reserved Assume that Parameter start address is set to n when executing arc motion the definition of D register data is as the followings Definition Parameter address Radius DW Dn Start angle DW Unit 0 5 Dn 2 Motion angle DW Unit 0 5 Dn 4 Height DW Dn 6 Take axis 1 in helical W command Command code is 31 as the example if Parameter start address W524 is set to 1000 when issuing helical W command the system will issue parameters which start from D1000 to the servo drive Since the parameter needs 10 continuous bits the 10 continuous bits should be reserved For example if W524 is set to 1000 when plannin
181. sponding parameters When the setting of Command code W512 Command selection W513 Speed setting W518 Target position W520 is correctly completed activate Command start R512 If the command has been written into the servo the status of Command ready R1040 is On Then Jan 2014 3 15 Chapter 3 Special Devices execute the motion command When Command complete R1056 turns On it means the motion command is completed Homing Liner synchronization Arc Helical Decelerate to Stop HMC gt Servo o C Command Start R512 Servo gt HMC Command ready i R1040 o Command complete i R1056 iy He jRunning Complete In speed command when issuing Command start Command ready is On which means the command is issued to the servo drive and executed However it will not turn On Command complete when the servo drive executes the speed command There is no need to wait flag Command complete It is suggested to use handshaking method for program procedure control and to accomplish command issuing Forward Reverse speed HMC gt Servo Command Start R512 Servo gt HMC Command ready R1040 Command complete R1056 L r Running When issuing the command is in error or servo status error which is unable to accept the command Command start R512 will be failed to trigger motion and Command error turns On 3 16 Jan 2014
182. ssfully loaded into the servo And then users can issue the next command When all issued commands are completed Command complete R1056 turns On Please note that for continuous command when the last one is executed the new command cannot be loaded in Related device Take axis 1 as the example when issuing continuous commands please write in commands and parameters first such as Command code W512 Command selection W513 Speed setting W518 Target position W520 and Parameter start address W525 Then trigger Command load R624 in order to write parameters into the servo When the status of Command ready R1040 is On it means the command has been successfully written into the servo When the second command is loaded in the system will start to execute the motion Before the last command has been executed users can load in new command continuously These load in commands will be executed in order Jan 2014 Chapter 3 Special Devices Command complete R1056 turns On when all load in commands are completed The relevant Handshaking procedure is as the following Continuous motion HMC gt Servo Command Load R624 Servo gt HMC Command ready R1040 Command complete E ee o me o MM oo ccc ccccccs R1056 i Leaning on Motions Complete HMC can preload 8 motion commands at most Through PR surplus W594 users could acquire the remained number of commands which ha
183. t point s memory after the program scanning is started Contents contained in the output terminal s memory are sent to output devices only after the END command is executed Use this command to get the latest I O data during computing When X0 On it reads the status of the input points XO X17 and updates the input signals immediately without any input delay XO Bit device Word device External device X IY IM IT JC IR IKnXIKnY KnMIT C ID V Z W Bit Word 16 bit command 3 STEP D o lo lololol lo ROR n Notes on the use of operands D operand can use external device KnDY and 32 bit command 3 STEP DAO DROR Range of n operand n K1 K16 16 bit n K1 K32 32 bit Flag signal R10 D Device to be rotated n Number of bits to be rotated in one operation Comma Right rotate n bits of digit contained in device specified by D for one time description Jan 2014 4 29 Chapter 4 Command Introduction When X0 changes from Off On the 16 bits of number kept in D10 right rotates in unit of 4 bits as shown in figure below gt xmarked bit value is sent to carry flag R10 x0 Hiro o0 s Right rotation Upper bits y Lower bits D10 Lol 4 4fof o 4Jofo fof Jol R10 Carry flag 16 bits Rotate once L Upper bits Lower bits l D10 o 1 o jol lh olo o o
184. tem s parameters HMC can control 12 axes of servo axis at most Its function and corresponding address of DMCNet each axis are as the followings Function Corresponding address Axis 1 Axis 2 Axis3 Axis4 Axis5 Axis6 Axis 12 Command Command code W512 W768 W1024 W1280 W1536 W1792 W3328 Command selection W513 W769 W1025 W1281 W1537 W1793 W3329 Command mode W514 W770 W1026 W1282 W1538 W1794 W3330 Delay time W515 W771 W1027 W1283 W1539 W1795 W3331 Acceleration time W516 W772 W1028 W1284 W1540 W1796 W3332 Deceleration time W517 W773 W1029 W1285 W1541 W1797 W3333 Speed setting DW W518 W774 W1030 W1286 W1542 W1798 W3334 Target position DW W520 W776 W1032 W1288 W1544 W1800 W3336 Speed proportion W522 W778 W1034 W1290 W1546 W1802 W3338 Parameter start address W524 W780 W1036 W1292 W1548 W1804 W3340 Overlap W525 W781 W1037 W1293 W1549 W1805 W3341 Speed option W526 W782 W1038 W1294 W1550 W1806 W3342 Status Error code W576 W832 W1088 W1344 W1600 W1856 W3392 Current position DW W578 W834 W1090 W1346 W1602 W1858 W3394 Average torque DW W580 W836 W1092 W1348 W1604 W1860 W3396 Current speed DW W582 W838 W1094 W1350 W1606 W1862 W3398
185. ter 4 Command Introduction When X0 Off On value of DO increase by 1 automatically Hire o DEC API 7 5 DEC BIN less one Bit device Word device External device x ly MIT c IR knx kny knmiT c Jo v z w pit Word 16 bit command 3 STEP D o o lolololololo O DEC DAO Command description Example D The target device This command decreases value contained in specified device D by 1 every time it is scanned by the program For 16 bit operation the remnant of 32 768 less 1 is 32 767 and the remnant of 2 147 483 648 less 1 is 2 147 483 647 Notes on the use of operands D operand can use external device KnDY and Flag signal None When X0 Off On value of DO decrease by 1 automatically XO Li reer o e WAND API D WAND GD d GD JAND operation Bit device Word device External device x ly Mmh Jc R knxlkny Iknmlr lc Jp v Iz wlBit word 16 bit command 7 STEP s1 o lo lb lolololololo O WAND S2 o lo lb lolololololo oO fo D o lo lolololololo O 32 bit command 7 STEP device D operand can use external device KnDY and DAO Notes on the use of operands S operand can use external device KnDX KnDY DAI and DAO and K device S2 operand can use external device KnDX KnDY DAI and DAO and K
186. tes on the use of operands S1 operand can use K device 32 bit command S2 operand can use K device S3 operand takes consecutive and can use K device Flag signal None _ S Start device stored forbidden zone and the line coordinate data D Result of Command intersection check ese The content of coordinate data is defined as below If the intersection doesn t occur between forbidden zone and line the result device will turn On When M10 On check the intersection of coordinate data D100 D123 While it exists the result YO will be turned On If it doesn t exist the result will be Off Ml 0 CKFZ D100 Y0 4 62 Jan 2014 Chapter 5 Example of Motion Command 5 1 Preparation Confirm the setting and servo drive version Setup P3 00 for servo drive station number In DMCNet it must have station 1 Setup P1 01 in control mode of servo drive Set P1 01 to x00b means DMCNet communication Setup P3 01 for servo drive communication Set P3 01 to 0203 for general servo drive Set P3 01 to 5203 for 4 axis synchronous servo drive Clear the alarm of servo drive Servo drive s alarm reset set Fault Reset R592 R593 R594 to On Make sure Servo Fault R1104 R1105 R1106 is set to Off Make sure Servo Warning R1120 R1121 R1122 is set to Off Servo activate The servo axis that executes motion has to be activated Set Servo On R576 R577 R578 to On Make sure the servo
187. the command needs to be written into Command code W512 Command selection W513 Speed setting W518 and target position W520 of axis 1 Then trigger flag of Command start R512 of axis 1 to enable the servo Please refer to Chapter 5 for further information 3 34 Jan 2014 Chapter 3 Special Devices Command selection W513 Jan 2014 Definition Different Command code has different corresponding setting method of Command selection which needs to be written into the trigger axis In linear and speed motion Command selection is for enabling the axis which starts from low bit to high bit in sequence It will trigger the very first one For example when triggering Command start R512 of axis 1 if bitO of Command selection W513 is On it means axis 1 needs to be activated If bit1 is On it means axis 2 needs to be activated and so on However when triggering Command start R514 of axis 3 if bitO of Command selection W1025 is On it means axis 3 needs to be activated And if bit1 is On it means axis 4 needs to be activated Command selection is the axis selection for arc motion If the 3 axis of ASDA M is axis1 axis 2 and axis 3 in sequence then 0 means the arc motion is executed in axis 1 and 2 1 means it is executed in axis 2 and 3 and 2 means the motion is executed in axis 1 and 3 In helical motion Command selection is the axis selection for helical moving I
188. ting point number compare Bit device Word device External device x ly miT e R knx kny knmir lc p Jv z weit wora 16 bit commana S1 o l o lo S2 olololol D o lo 32 bit command 7 STEP Notes on the use of operands S1 operand could use F device and so does S2 FCMP Flag signal None S1 comparison value 1 S2 comparison value 2 D comparison result Command compare the comparison value 1 and 2 and place the outcome gt lt inD description When the comparison outcome gt is established the first bit of D is On When the comparison outcome is established the second bit of D is On When the Jan 2014 4 27 Chapter 4 Command Introduction comparison outcome lt is established the third bit of D is On When M3 On compare the content of register D10 and D20 in floating point number format When the value of D10 is greater than D20 M100 On When the value of D10 equlas to D20 M101 On When the value of D10 is less than D20 M102 On M3 L emp pio p20 mo FMOV API nie FMOV OM Assign all Bit device Word device External device x ly Imir le R knx knyY Knut c b v lz wipit wora 16 bit command 11 STEP S O O JO O O FMOV D O O JO O n O O O Notes on the use of operands S operand can use K device and external 32 bit command 11 STEP device such as DAI and DAO DF
189. tion i Positive direction Z Pulse H Home Switch l 7 Determine to operate in forward or reverse direction according to Home Switch status If homing is not executed on Home Switch it will operate in forward direction until it encounters Home Switch Then it will operate in reverse direction until it leaves Home Switch and regard the first Z pulse as homing point If it does not encounter Home Switch but positive limit switch it will operate in reverse direction and leaves positive limit switch Then keep operating until it encounters Home Switch and regards the first Z pulse as homing point after leaving Home Switch If homing is executed on Home Switch it will operate in reverse direction until it leaves Home Switch and regards the first Z pulse as homing point Simply to say it is for searching the falling edge signal of Home Switch Determine to operate in forward or reverse direction according to Home Switch status If homing is not executed on Home Switch it will operate in forward direction until it encounters the first Z pulse and regards it as homing point If it does not encounter Home Switch in forward direction but positive limit switch Leave the positive limit switch in reverse direction and then it will encounter Home Switch Then keep operating in reverse direction until it leaves Home Switch and operates in forward direction and regards the first Z pulse as homing point If homing is ex
190. tion Title Title Setup the project version Settings Setting Setup parameters of the project TE Y E ae Lock the After verifying the password lock the Ladder specified ladder The locked program OEE cannot be opened or changed Group Servo setting Change the Change the password POSET Password EEren ea Group servo Servo architecture in use setting Lockladder program settin g Change locked password 6 16 Jan 2014 Chapter 6 Ladder Editor Title Enter the project tile file version and file description oo Create New Project Title Device Type HMC HMC Reres File Version Model Tape 0xDC1061 50 1 Max Steps 30000 File Description Generall Setting Setup the maximum switch time Unit is us in timer task and automatically save the cycle of ladder program al Project Setting o Timer Task Max switch time The bese unit is 50 us 100 El us r Other Arto Save Lock Ladder program Password authentication first fF Lock ladder program b OQ Tasword Tefanlt pasword 12345478 Select the ladder program that lock and check And that program will be unable to open or edit Jan 2014 6 17 Chapter 6 Ladder Editor a Lock ladder program _ lll Please select the programs thet will be locked Ae 2 Control EOS 4am Contine Curve 10 o Pe Timer Delay Pu 3 Timer OneSec 3 6 Sub Program B Continue
191. tion mode R512 R1535 Special register in motion mode W512 W4095 Jan 2014 Chapter 2 Introduction of Controller 2 3 10 Constant K Floating Points F Use 2 value types to execute computing The following details the function of each one The internal numerical computation adopts binary system which is shown below Bit Bit is the fundamental unit of a binary numeric value It features only two states 0 and 1 Nibble Composed of four consecutive bits e g bit0 bit3 to express decimal numbers 0 15 or once place hexadecimal numbers 0 F Byte Composed of two consecutive nibbles e g 8 bits bit0 bit7 to express two places hexadecimal numbers 00 FF Word Composed of two consecutive bytes e g 16 bit bit0 bit15 to express four places hexadecimal numbers 0000 FFFF Double Composed of two consecutive words e g 32 bit bitO bit31 to express eight places Word hexadecimal number 00000000 FFFFFFFF Constant K Decimal numbers are usually prefixed with the letter K such as K100 represents a decimal constant of value 100 Exceptions Constant K can be combined with bit devices X Y M to express data in nibble byte word or double word format Take K2Y10 and K4M100 as the example Here K1 represents a 4 bits combination K2 K4 represents a combination of 8 12 and 16 bits respectively Constant F Operand in application command e g FADD F12 3 FO DO F represents a floating point const
192. to the floating point number for operation Only positive number is effective in source operand the negative one will be regarded as operation error In this situation R20 On and W20 is 12 If the result of square root is 0 R8 On 4 55 Chapter 4 Command Introduction When X0 On take the square root of floating point number D1 DO and save the result in register specified by D11 D10 M12 L o oo oo Bit device Word device External device x ly MIT c R knx kny knm T c D v z w pit word 16 bit command 4 STEP _ D1 o o Jo lo o o lo Jo lo ZRST D2 O O IO JO ololololol Notes on the use of operands The D1 operand ID lt D2 operand ID 32 bit command ae Both D1 and D2 operands must be assigned to devices of the same type Flag signal None D1 Zone reset starting device D2 Zone reset ending device R E Mes 16 bit and 32 bit counters can use the ZRST command together omman description When D1 opernad ID gt D2 operand ID only the device assigned by D2 is reset When XO is On auxiliary relays M300 M399 are reset to Off Bari When X1 is On 16 bit counters CO C127 are all reset Overwrite with value 0 ple and reset contacts and coils to Off When X10 is On timer TO T127 are all reset Overwrite with value 0 and reset contacts and coils to Off When X3 is On data register DO D100 a
193. troller also adopts the concept of calling subroutine It programs the function as subroutine which will be called when needed for simplifying program development HMC controller also provides Motion Program for the demand of motion control This is for offering users different control method HMC controller s program includes Initial Task Cyclic Task Timer Task Sub Program and Motion Program Detailed description of each type will be shown in later part Jan 2014 1 1 Chapter 2 Introduction of Controller 2 2 Ladder Program 2 2 1 Initial Task Awhole project can only exist one initial task After activating HMC it will be firstly executed once only The initial setting of the system or the servo drive can be programmed in initial task 2 2 2 Cyclic Task A project will exist at least one cyclic task Four is at most HMC simultaneously executes these cyclic tasks by TDM Through the setting of each task s usage HMC can determine the computing time of cyclic task executed by processor See the following diagram as the example If two cyclic tasks A and B are in a project both have the same ladder program and require 400 units of each scan the usage is set as 80 and 20 respectively Assume the processor allocates 500 time units to scan cyclic task A and B the pattern of executing cyclic task is as the following diagram In the cycle cyclic task A will be allocated 400 time units for execution which could accomplish a comp
194. utomatically Sub program STOP_SPEED H D0 Ko MOV K6 w512 R1040 R1056 EE H D2 Kx HA Comm Target and rea reach R512 H 20 K2 HA RST M420 Comm and ex INC _D20 SRET a When D20 0 it starts to write parameters When Command code W512 is set to 6 it means the deceleration to stop operation is executed Write the value of D400 into Command selection W513 to select stop axis When Bit 0 is On it means axis 1 is activated Bit 1 is On means axis 2 is activated Then trigger Command start R512 to On and D20 1 Jan 2014 5 15 Chapter 5 Example of Motion Command b When D20 1 and Command ready R1040 is On it means deceleration to stop command is enabled When Command complete R1056 is On the command is stopped Set Command start R512 to Off and D20 2 c When D20 2 make sure Command start R512 is Off Then set flag M420 to Off and the control procedure is completed Note Deceleration to stop command uses Deceleration time of stop command W670 as the time basis 5 16 Jan 2014 Chapter 5 Example of Motion Command 5 9 Homing Example description Use M550 as the enabling condition for triggering and executing homing After M550 is activated the related parameters are executed and issue the command Example program Cyclic task MOV __ K0 D50 Homin g Flow M550 CALL Home a When M550 turns On it is in initial control status D50 0
195. wer is On again 2 12 Jan 2014 Chapter 2 Introduction of Controller 2 3 4 Timer T Timer is coded by decimal number Range TO T255 100ms for TO T199 200 points general use Timer T Total 256 points 10ms for T200 T255 56 points general use Timer uses 10ms or 100ms as the timing unit and counts upward When Time s current value Setting value the output winding is On Its setting value is a decimal constant K which can use a data register D as its setting value Timer s actual setting time time unit setting value The timer times once after each TMR command execution When the current value of the timer equals its setting value its winding coil turns On AD When XO On the current value of the 0 timer TO counts up in units of 100ms In case the current value of TO equals the setting value K100 10 seconds the winding coil TO turns On 10 seconds When XO Off or power outage the e gt l current value of timer TO resets to 0 and i its winding coil sets to Off Setting value K100 Current value l YO Jan 2014 2 13 Chapter 2 Introduction of Controller 2 3 5 Counter C Counter is coded by decimal numbers Range CO C255 Counter C 16 bit count up CO C199 200 points general purpose Total 32 bit count 256 C200 C255 56 points can be changed to f up down general points purpose count down with settings R32 R87

Delta Human Machine Interface & Controller HMC Series User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents

Delta Human Machine Interface &amp; Controller HMC Series User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents

Delta Human Machine Interface & Controller HMC Series User Manual