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(MC612) User`s Manual

1. 114 2 Axis Motion Control Module MC612 16 2 axis Linear Interpolation Control Mode 16 2 Mode setting The linear interpolation mode can be selected by setting the MC612 s system parameter Write value 1 into the buffer memory address 28 to select the liner interpolation mode lt Axis control mode gt Setting range 0 Independent Selects the control mode either 2 axis Axis control mode 28 1 Linear interpolation independent or 2 axis linear interpolation control mode Refer to section 5 1 for how to write the parameters 1 Even if the axis control mode is set to the linear interpolation mode the following operations work as the independent control mode e Zero return operation e Jog operation e Teaching Therefore for these operations the emergency stop signal is required for each axis User s Manual 1 1 5 16 2 axis Linear Interpolation Control Mode 16 3 Related commands and parameters In the linear interpolation mode the following commands parameters and external signals are used for each operation External signal X axis command QW n 2 is used Direct command operation X axis command QW n 2 is used Point number operation X axis command QW n 2 is used Automatic stepping operation X axis command QW n 2 is used For the feed amount and the direction Y axis command QW n 3 is also used Fixed feed operation Interrupt operation e X axis
2. When the interrupt input comes ON the MC612 immediately start the positioning operation based on the point 30 data target position and speed If the interrupt input comes ON during other operation the MC612 stops the pulse output deceleration stop and starts the point 30 operation For the interrupt input refer to section 3 1 For the point 30 data refer to section 5 2 In this operation the point 30 target position is treated as absolute position Therefore the zero return must be completed before using this operation Otherwise error code 154 will occur Interrupt input Operation speed The interrupt input signal must be ON for more than 10 ms After the point 30 positioning complete the command ready flag and the positioning complete flag will return to ON under the following condition Jog command bit or positioning start bit is OFF Interrupt input signal is OFF 3 The dwell time parameter of the point 30 does not have any function for the interrupt operation User s Manual 99 100 2 Axis Motion Control Module MC612 Section 14 Other Functions 14 1 Speed changing during positioning 102 14 2 Teaching 103 14 3 Current position preset 104 User s Manual 1 01 14 Other Functions 14 Other Functions 14 1 Speed changing during positioning During the positioning operation the operation speed can be changed by this function The allowable speed setting range is 0 to 127 agai
3. 0 1 Pointnumber 1t030 Automatic stepping ABS___ 0 0 0 1 0 1 0 Pointnumber 1t030 Automatic stepping INC__ 0 0 0 1 0 1 1 Pointnumber 1to30 Current position change ofofo Change speed of o 1 fofo Speed 0t012 Skip activation TOTO it Step activation Tolo e t pe a a Interrupt operation Pool e EEPROM write read parameter initialize and parameter enable commands requires both X and Y axis are ready e Zero return jog switching from jog to positioning and teaching operations are 2 axis independent command even if the interpolation control mode is selected e For the fixed feed operation the feed direction and the feed amount for Y axis are given by QW n 3 register Start command is given by QW n 2 register e Error reset command is available for X and Y axis independently 1 0 1 0 1 0 1 0 1 0 ilo 1 0 i 0 1 0 1 0 0 Do not set illegal bit combinations Otherwise error code registration may be abnormal 56 2 Axis Motion Control Module MC612 6 Operation Summary 6 3 Operation range The MC612 has a soft limit function besides external over travel limit switch input When the current value exceeds the soft limit specified in the system parameter during operation the movement will decelerate and stop For the positioning operation that the target position will exceeds the soft limit t
4. 221 command unit ni nea Point 2 speed 1 to 32767 0 1 unit 1000 0 to 10000 0 01s unit Point 2 dwell time H8000 to H8002 H8000 Y Point 3 position 9999999 to 9999999 command unit Point 3 speed 1 to 32767 0 1 unit 1000 i O to 10000 0 01s unit Point 3 dwell time H8000 to H8002 H8000 fe 4 to Point 28 same as above Ea Point 29 position 9999999 to 9999999 ie cd command unit 330 iw Y Point 29 speed 1 to 32767 0 1 unit 1000 Ea Point 29 dwell time 0 to 10000 0 015 unit H8000 H8000 to H8002 2W Point 30 position yee eo 9299955 333 command unit E ARARE Point 30 speed 1 to 32767 0 1 unit 1000 Point 30 dwell time 0 to 10000 0 01 s unit H8000 H8000 to H8002 134 2 Axis Motion Control Module MC612 Appendices A 3 Connection example with Toei Electric s AC servo driver The figure below shows an example of the wire connection between the MC612 and Toei Electric s AC servo driver MC212 Servo driver made by AI Tohei Denki BI Dini ata i a a e a 26 FMB B2 7 A 27 FMB A3 H 5 FMA Bs 7 S16 va A7 24 Cie Z i i A8 i i i 22 el Ue lt S i 23 Ha AI ii 20 4A BI lt gt Li DI sa A6 dg ME 19 GND ATI 12 Zero stop A12 14 Operation B12 m 18 Reset A13 i 16 CCW rotation B13 an pi 15 CW rotation dan is Seen ra ai tee Si SI i aE e Uta B15 32__ Imposition 13 INCOM 11 Brake check B17 A18 O IN
5. Creep direction Zero LS 62 2 Axis Motion Control Module MC612 7 Zero Return Operation 3 Bit 2 Error counter clear output Specifies the output mode of the error counter clear signal The Toei servo mode is selected when Toei s servo motor is used When this mode is selected phase Z use must be selected 0 Normal mode Parameter setting 4 Toei servo mode Error counter clear output of the Toei servo mode Zero search direction Zero offse Creep direction i Phase Z pulse Error counter clear output e Mo For the normal mode operation see the previous page Operation speed Zero LS e The length of the zero LS ON must be longer than the distance needed for deceleration from the zero return speed If this condition is not satisfied positioning accuracy is not guaranteed see below e When the length of the zero LS ON is shorter than the distance needed for deceleration from the zero return speed the machine zero position is determined as follows Creep direction Machine zero direction search direction search direction moving in the creep direction User s Manual 63 7 Zero Return Operation 7 2 2 Zero return operation direction Address X 3 Y 171 Selects the search direction zero LS ON direction and the creep direction zero LS OFF direction for the zero return operation The search direction is specified by bit 0 and the creep direction is spe
6. LD X_SRV_OUT LD 16 FFFO LD X_SRV_OUT LD Servo CCW enable BOOL X axis servo ON condition WORD X axis servo interface output BOOL DUMMY OR_WORD EN ENO X_SRV_OUT 16 00_05 gt SET LD AND_WORD EN ENO X_SRV_OUT gt SET When the servo ON condition X_SRV_ON is changed the bit 0 of X_SRV_OUT is set reset fulfilled RO100 is set to ON And the X_SRV_OUT data is written into the MC612 s buffer memory address 39 48 2 Axis Motion Control Module MC612 5 Parameters e Reading the current position The MC612 s current position data can be read from the buffer memory by using the MREAD instruction The buffer memory address for the current position for pulse output is 33 32 for X axis and 201 200 for Y axis The program below is an example to read the X axis current position for pulse output and store it to a double word variable named X_OUT_POS I I I I Double word variable i I I I I I ri X_OUT_POS i Current position _i JUUL lt t MREAD y I i i i i i i i Variables declaration VAR X_OUT_POS DINT X axis current position DUMMY BOOL END_VAR 16 00_05 LD 32 LD X_OUT_POS LD LD Reads the current position data from the MC612 buffer memory address 32 and 33 and stores it into a double word DINT variable X_OUT_POS User s Manual 49 50 2 Axis Motion Control Module MC
7. MC612 i f 28 Vain Ri Siena me aes 0Vin BI prize oa R i i LH CCW CCW out A4 _ cow amp CCW out 0V B4 i R i CoH CW CW out A5 gt wp CW out 0V B5 ci Sensor input common B17 Zero LSin A19 psi o Z LS Emergency stopin B19 i O O EMS NC CCW over travelin A20 si DIO CCW LS NC CW over travelin B20 Dio CW LS NC Seay cee etd I 24Vdc The above connection is an example Available signals and the type of interface are different depend on the stepping motor driver used The external resistor R should be selected according to the driver s input circuit Consult with the driver maker Typically 1 5 KQ 1W 28 2 Axis Motion Control Module MC612 3 Wiring 3 8 Wiring precautions Keep the following points in mind when mounting I O modules in the PLC to wire signal lines 1 Locate the low voltage I O modules including MC612 at the left side and the power I O modules at the right side Also separate the low voltage signal lines and the power lines 2 Keepa distance of 100 mm or more around the each PLC unit for ventilation and maintenance 3 Separate the PLC unit from power cables and power equipment at least 200 mm Or shield them with metal plate etc The shield metal plate should be connected to the enclosure ground bus 4 Do not put together low voltage signal lines and power lines in the same duct Separate the pulse I O signal cables from other cable
8. for pulse output 4 Current position _ Sets the preset value for current position preset data Si 4 2101 Oooo we 9999999 This is for position based on feedback pulse 43 211 command units for feedback pulse input position 45 213 commandunits command operation command value 47 215 command units switch operation inputs External output Sets ON OFF status setting of external outputs 42 2 Axis Motion Control Module MC612 5 Parameters Name X Y Setting range unit Description axis axis Point 1 48 216 uma to 9999999 f a Point 1 o to n A o 0 01 Point 1 dwell ti Point 1 Dwell time a i Stop until step command Point 2 52 220 ua to 9999999 3 ag Point 2 to S 3 Point 2 Dwell time oor eee Stop until step command Point 3 56 224 ann to 9999999 RE Point 3 5 to 32767 Speed 226 0 1 Point 3 target speed Point 3 dwell time Point 3 Dwell time Stop until step command Point 29 gt 9999999 to 9999999 n S28 GoouDo 1o 9989909 Point 29 target positon Point 29 0 to 32767 Hees OA Point 29 target speed Point 29 dwell time 3 ta Point 29 Dwell time 19 981 Non stop Stop until step command Point 30 a 332 to 9999999 T Point 30 to a i Point 30 dwell time Point 30 167 335 Block end Dwell time Stop until step command User s Manual 43 5 Parameters 1 For the parameters of double length 32 bit data the lower address stores the lower 16 bit
9. within the operating range using the jog operation User s Manual 57 6 Operation Summary Disable the soft limit The soft limit function can be disabled by setting the data HFFFFFFFF 1 for both soft limit CW and CCW By using this setting the MC612 can be applied for an endless repeated single direction operation such as running turntables belt conveyors etc e Both CW and CCW soft limit parameters must be HFFFFFFFF 1 to be disabled the soft limit If only one soft limit is set to HFFFFFFFF 1 the soft limit works as 1 e When the soft limit is disabled the position data will be changed as follows CW direction 99 999 999 100 000 000 99 999 999 CCW direction 99 999 999 100 000 000 99 999 999 58 2 Axis Motion Control Module MC612 Section 7 Zero Return Operation 7 1 Overview 60 7 2 Related parameters 61 7 3 Operation procedure 67 7 4 Zero return completion status at power on 68 7 5 Sample program 68 User s Manual 59 7 Zero Return Operation 7 Zero Return Operation 7 1 Overview The zero return is the operation to detect the Machine zero position and set the Coordinate origin electrical origin The zero return operation generally proceeds as follows 1 Moves to the search direction at the zero return speed until the zero LS turns ON 2 Stops then moves to the creep direction at the minimum speed until the zero LS turns OFF 3 Stops at the zero
10. 1 20r3 Command timing error Code Error contents cause 4 Command Both of positioning operation Reset to OFF the both duplicate error command and JOG command are commands and set either set to ON at the same time intended command to ON Parameter related 1 Either axis is not ready to execute Confirm the command ready command not parameter save or parameter status ready initialize command 2 The corresponding axis is not ready to execute parameter read or parameter enable command Operation 1 A command was given when the 1 Give a command after command not command ready flag is OFF checking that the command ready ready 2 in the linear interpolation mode flag is ON an interpolation command was given 2 Before giving an interpolation during Y axis independent operation command check that the 3 A command other than error reset command ready flag of Y axis is was given in error state also ON 3 Execute error reset command in error state 3 27 Skip command A skip command was given when the Do not give the skip command invalid last point number in automatic during the last point operation stepping operation is being operated 1 Code Code User s Manual 1 25 Appendices Parameter error No 1 Error contents cause setting error illegal 33 Backlash The backlash compensation setting Check the setting value compensation value was out of range Allowable range is
11. 13 12 11 10 QW n 3 oT o o 1 o 1 8 7 6 5 4 3 2 1 0 1 0 Point number 1 to 30 Ojo oO Point number operation time chart The following diagram shows the time chart for X axis point number operation Start XQW n 2 Bit 12 Operation mode XQW n 2 Bit 10 to 8 Absolute or incremental XQW n 2 Bit 7 Point number XQW n 2 Bit 6 to 0 Command ready IW n Bit 15 Positioning complete IW n Bit 14 During pulse output IW n Bit 12 Speed reach IW n Bit 11 Positioning based on the f Point N data Operation speed 80 2 Axis Motion Control Module MC612 10 Point Number Operation 10 5 Sample program A sample program for the point number operation X axis is shown below To activate this program set the target point number in X_PNT select absolute or incremental by X_INC OFF Absolute ON Incremental then set X_PNT_GO to ON When the positioning is completed X_PNT_GO is reset to OFF automatically 1X0 8 DUMMY MOVE_INT EN ENO W2 OR_WORD EN X_PNT_60 ENO 16 0400 LD X_PNT_60 When X_PNT_GO is set to ON while the command ready flag 1X0 15 is ON the target point number 1 to 30 stored in X_PNT is set in the QW2 The value 4 is set in bit 10 to bit 8 of QW2 If X_INC is ON QX2 7 is set to ON Then QX2 12 is set to ON When lX0 15 command ready is turned OFF command accepted QX2 12 is reset to OFF The
12. Bit 0 Zero LS 1 Over travel LS is used no zero LS Zero return Phase Z is used operation mode PT PNASE 2 pulse Phase Z is not used Bit 2 Error counter Normal mode 50 ms clear output Toei servo mode Search direction Zero return Zero LS ON operation direction direction Creep direction Zero LS OFF direction User s Manual 39 5 Parameters Addr Name X axis D SS Setting range unit Description xis lt Electronic gear numerator for output pulse Electronic gear denominator for output pulse Electronic gear numerator for feedback pulse Electronic gear denominator 7 for feedback pulse 1 to 10000 Sets the number of pulses per one motor pulse rotation rotation Ere units Sets an amount of movement command rotation units per one motor rotation 1 to 10000 Sets the number of pulses per one motor pulse rotation rotation 1 to 10000 5 command units rotation Sets the time needed to accelerate from the Gioser On Kms minimum speed to the maximum speed 0 to 32767 ms Sets the time needed to decelerate from the maximum speed to the minimum speed Designates the maximum operating speed 20 to 200 000 pps which must be larger than any other speed parameters This is the reference value for speed commands Designates the minimum operating speed 20 to 200 000 pps This speed is also used for creep speed for the zero return operation Designates the speed to search the
13. Current position command QW n 2 is preset used 116 2 Axis Motion Control Module MC612 Speed changing X axis during command QW n 2 is positioning used Both X axis and Y axis parameters designate target position X axis speed parameters are used for the synthesis speed Both X axis and Y axis parameters designate target position X axis speed parameters are used for the synthesis speed Both X axis and Y axis parameters designate target position X axis speed parameters are used for the synthesis speed X axis dwell time setting is used X axis speed parameters are used for the synthesis speed Both X axis and Y axis parameters designate target position Point 30 X axis speed parameters are used for the synthesis speed X axis speed parameter is used as reference for the synthesis speed Both X axis and Y axis parameters designate the preset position X axis signals are used As for the over travel Y axis signal is also used X axis signals are used As for the over travel Y axis signal is also used X axis signals are used As for the over travel Y axis signal is also used X axis signals are used As for the over travel Y axis signal is also used The interrupt signal of X axis is used 16 2 axis Linear Interpolation Control Mode 1 The speed parameters including acceleration deceleration rate are applied for the synthesis movement Therefore depending on t
14. LS turns OFF if phase Z is not used or stops at the first phase Z comes ON after the zero LS turns OFF if phase Z is used 4 Moves by the zero offset amount if any at the zero return speed then sets the coordinate origin value to the current position When zero return operation is completed the zero return complete flag in the status register IW switches ON 1 Depending on the zero return complete status available operations are determined as below Zero return complete flag 0 1 Zero return complete flag 0 1 Jog operation Yes Yes Automatic stepping Absolute No Yes Change speed Yes Yes Automatic stepping Incremental Yes Yes Auxiliary command Yes Yes Teaching No Yes Zero return Yes Yes Current position change Yes Yes Fixed feed operation Yes Yes Soft limit function Yes Yes Direct command Absolute No Yes Endless repeated positioning Yes Yes Direct command Incremental Yes Yes Jog to positioning switch Yes Yes Point number Absolute No Yes Interrupt operation No Yes Point number Incremental Yes Yes Zero return complete flag 0 Zero return is not completed 1 Zero return is completed When zero return is not completed the operation of designating the absolute position is invalid because the MC612 operates with the temporal position data However the soft limit function is valid with the temporal position data Excluding zero return operation 60 2 Axis Motion Cont
15. The following operation commands are available e Jog operation e Zero return operation e Fixed feed operation e Direct command operation e Point number operation e Automatic stepping operation e Bump less switch from Jog to positioning e Interrupt operation The current position data can be taught as the target position of a specified point Teaching function The MC612 also has a function to receive the feedback pulses It is only for monitoring purpose The current position data of output pulse and feedback pulse can be changed independently 10 The soft limit can be disabled Therefore endless repeated single direction operation such as running turntables belt conveyors etc can be established easily 8 2 Axis Motion Control Module MC612 1 Introduction 1 2 System Configuration The MC612 outputs pulse train to a servo motor driver or a stepping motor driver The following figure shows a typical system configuration V series model 2000 S2 controller Driver Driver Motor e The MC612 cannot be mounted on the slot in which the station bus connector is provided Therefore the following base slot cannot be used for the MC612 Others are usable BU643D MC612 cannot be mounted BU648E MC612 cannot be mounted on the slot 0 to 4 User s Manual 9 1 Introduction 1 3 Operation overview e Control parameters The MC612 stores the control
16. and the higher address stores the higher 16 bit data For example if the X axis current position is 200 000 H00030D40 it is stored as follows Address 33 i 32 Data HEX 0 0 0 3 0 D 4 0 2 The following operation parameters are automatically updated at a fixed cycle e Current position data pulse output feedback pulse input e Operating point number e Error code e External input status 3 The following operation parameter is automatically output at a fixed cycle e External output setting 4 The following operation parameters become valid at relevant command reception e Current position preset data pulse output feedback pulse input e Direct command value e Jog position switch command position 5 Other operation parameters become valid when the parameter enable command is issued 44 2 Axis Motion Control Module MC612 5 Parameters 5 3 Sample programs for parameter setting This section describes how to write the parameters into the MC612 The MC612 s parameters can be accessed by the S2 s user program MREAD or MWRITE instruction To write the parameters write them from the S2 to the MC612 s buffer memory using MWRITE instruction Then execute the parameter enable command Refer to section 17 6 for the parameter enable command To read the parameters read them from the MC612 s buffer memory and store into the S2 s memory using MREAD instruction The parameters can also
17. be stored in the MC612 s EEPROM The EEPROM contents are restored at power on Therefore once necessary parameters are stored in the EEPROM there is no need to write parameters at every time the S2 is started Refer to section 17 3 for the EEPROM write operation Any operation to the MC612 including the parameter reading writing must be executed after the MC612 initialization is finished When the initialization is finished the command ready flag bit 15 of IW n and IW n 1 comes ON The followings are the program examples to read write the parameters In these examples it is assumed that the MC612 is mounted on the main unit 0 slot number 5 and it is allocated to IWO0 to QWS3 e Writing X axis system parameters The data used in this example are as follows Array table Data SGL_TBL 0 0 Pulse output mode CW CCW SGL_TBL 1 100 Backlash compensation 100 pulses SGL_TBL 2 0 Zero return operation mode Zero LS and Phase Z used SGL_TBL 3 1 Zero return operation direction Search CCW Creep CW SGL_TBL 4 2000 Electric gear numerator for output pulse SGL_TBL 5 500 Electric gear denominator for output pulse SGL_TBL 6 1 Electric gear numerator for feedback pulse SGL_TBL 7 1 Electric gear denominator for feedback pulse SGL_TBL 8 1000 Acceleration rate 1 second SGL_TBL 9 1000 Deceleration rate 1 second DBL_TBL 0 200000 Maximum speed 200 kpps DBL_TBL 1 100
18. body FCN 360C040 E connector cover Cable side connectors soldering type are standard accessories Operation status Lit Normal operation AND Servo ON Blink Error has occurred Lit Pulses being output Lit Positioning completed X axis Run Zero limit switch ON Over travel limit switch ON X axis Emergency stop Lit Emergency stop input ON Vade Blin Lit Normal operation AND Servo ON j Blink Error has occurred Y axis Pulse output Lit Pulses being output X axis Over travel LS Lit Lit Lit Lit Lit X axis Zero LS Lit Other status e During resetting All LEDs unlit e During initialization All LEDs lit e Hardware error has occurred All LEDs blink Positioning completed Zero limit switch ON Over travel limit switch ON Emergency stop input ON User s Manual 17 2 Specifications 2 4 Functions of external signals The external signals of the MC612 have the following functions e Pulse output 1 CW PLS output open collector and differential output Outputs CW direction pulses or feed pulses PLS The pulse output mode CW or PLS can be selected by the parameter The maximum output frequency is 200 kpps 2 CCW DIR output open collector output and differential output Outputs CCW direction pulses or direction DIR The pulse output mode CCW or DIR can be selected by the parameter The maximum output frequency is 200 kpps The direction DIR output comes OFF for the CW dir
19. issue a command Some command requires parameter data written in the MC612 buffer memory To issue commands the following conditions are required 1 The MC612 is ready to receive commands excluding change speed skip and step commands 2 No error is occurring excluding error reset command 3 Parameters stored in the MC612 are consistent The bit combinations for the each command are as follows 2 axis independent control mode QW n 2 for X axis QW n 3 for Y axis 1 1 1 1 1 1 is l4fa a 1 6 9 s 7 o s e s e tlo Emergency sop o 1 1___ iDecelrafionstop OJT j e ap ee o a Jog operation CW o o 1 fo of f 0 Speed Oto 127 Jog operation CCW 1 1 Speed 0 to 127 0 0 0 Command number 0 Parameter save EEPROM write Command number 1 Parameter read EEPROM read Command number 2 Parameter initialize Parameter enable 0 0 0 0 Fixed feed CW JO Fixed feed CCW iO 0 0 0 0 0 0 0 0 0 Command number 3 0 0 Command number 5 0 0 1 ch re ri 0 Feed amount 0 1 2 3 i eee Teaching Cd Step activation _ Ss Jog to positioning switch ___ o o lt o 1 _ Iniemuptoperationi tolo eed Safie ie Lee E e EEPROM write and Parameter initialize requires both X and Y axis are ready e Skip Step activation is valid during automatic stepping operation e A
20. mode refer to section 7 2 1 the error counter clear output will not come ON when the over travel limit is activated 112 2 Axis Motion Control Module MC612 Section 16 2 axis Linear Interpolation Control Mode 16 1 Overview 114 16 2 Mode setting 115 16 3 Related commands and parameters 116 User s Manual 1 1 3 16 2 axis Linear Interpolation Control Mode 16 2 axis Linear Interpolation Control Mode 16 1 Overview The MC612 has two axis control mode One is the 2 axis independent control mode and the other is the 2 axis linear interpolation control mode In the linear interpolation mode the 2 axes are controlled proportionally As the result when an X Y table is used with the each axis the moving path during the positioning is controlled to be a straight line Y axis Stop point Moving path Start point gt X axis The linear interpolation mode is effective for the following operations e Direct command operation e Point number operation e Automatic stepping operation e Fixed feed operation Even if the linear interpolation mode is selected other operations Zero return Jog etc work as the independent control mode 1 The accuracy of the linearity is t3 pulses when the feed amount of X and Y axes are same 2 In the linear interpolation mode speed related parameters are applied for the synthesis movement 3 The backlash compensation is effective in the linear interpolation mode
21. parameters and position data in its built in EEPROM and loads them into RAM at power on Then the MC612 performs positioning operation in response to the commands given by the S2 The control parameters can be written and monitored by the S2 by using MWRITE and MREAD instructions The maximum number of writing times into EEPROM is 100 000 Parameter enable a Power on eee Parameter save 00 Parameter read EEPROM Parameter initialization Data setting Monitoring S2 CPU module e Operation modes Operation mode Outline of operation designated Searches the machine zero position Fixed feed operation Outputs a selected number of pulses in the designated direction for positioning Direction CW or CCW Output pulses 1 10 100 or 1000 operation speed Refers the designated point number data position and speed operation and moves the machine according to the data Automatic stepping Automatically proceeds the Point number operation started with operation the designated point number by the S2 For this operation each point number data can have the parameter called dwell time The dwell time specifies the time staying before starting the next point positioning The following dwell time value has the special meaning e H8000 Operation end e H8001 Continuously move to the next point without stop e H8002 Wait until the step command is issued by the S2 Interrupt operation When the interrupt signal com
22. zero LS 20 to 200 000 pps for the zero return operation This speed is also used for zero offset movement 84 Sets the origin position coordinate of the 85 command units zero return completion position Distance of movement to shift from the 187 Command units machine zero to the coordinate origin 9999999 to 9999999 Designates the position of the movement limit 188 command units on CW plus side 189 HFFFFFFFF 1 ee function is disabled if CCW soft limit 9999999 to 9999999 Designates the position of the movement limit 190 c 191 173 74 1 Sets an amount of movement command 1 units per one motor rotation NI N N Acceleration rate 176 77 Deceleration rate 1 NN 0 Maximum speed 1 Minimum speed La O Zero return speed 10 11 2 3 4 5 6 17 8 9 20 21 22 23 1 1 1 1 1 Coordinate origin i al oa a WIN A Zero offset lt v c D CW Soft Limit Plus COW Soft Limit Minus HFFFFFFFF 1 40 2 Axis Motion Control Module MC612 5 Parameters 1 For the parameters of double length 32 bit data the lower address stores the lower 16 bit and the higher address stores the higher 16 bit data For example if the X axis maximum speed is 200 000 H00030D40 it is stored as follows Address 11 10 Data HEX 0 0 0 3 0 D 4 0 2 The current position data based on the
23. 0 Minimum speed 1 kpps DBL_TBL 2 15000 Zero return speed 15 kpps DBL_TBL 3 0 Coordinate origin value DBL_TBL 4 0 Zero offset DBL_TBL 5 750000 CW soft limit DBL_TBL 6 2000 CCW soft limit User s Manual 45 5 Parameters Variables declaration for single word parameters for double word parameters comes on when MC612 is ready VAR SGL_TBL ARRAY 0 99 OF INT DBL_TBL ARRAY 0 99 OF DINT READY BOOL CMD_WRT BOOL END_VAR 1x0 15 READY t READY b t _ _ used to issue command to MC612 0 SGL_TBL 100 SGL_TBL 1 0 SGL_TBL 2 LD ST LD ST LD ST 2000 SGL_TBL A 500 SGL_TBLI 1 SGL_TBL B LD ST LD ST LD ST 1000 SGL_TBL 1000 SGL_TBL 9 LD ST LD ST 200000 DBL_TBL 0 1000 DBL_TBL 1 15000 DBL_TBL 2 LD ST LD ST LD ST 0 DBL_TBL 4 750000 DBL_TBLIS 2000 DBL_TBLI6 ST LD ST LD ST This part is to prepare the MC612 parameters to be written When the MC612 initialization is finished IX0 15 changes ON READY is set to ON When READY changes to ON the parameters described in the previous page is set to the data table SGL_TBL 0 to 9 for the single word parameters and DBL_TBL 0 to 6 for the double word parameters 46 2 Axis Motion Control Module MC612 1 SGL_TBL LD ST 1 SGL_TBL LD ST o DEL_TBLI LD ST 5 Parameters READY CMD_WRT MWRITE MWRITE H t E E s 16 00_05 16 0
24. 0 to 1000 setting error 34 Zero return The zero return operation mode Check the setting value setting error direction setting setting is illegal error 36 Electronic gear The electronic gear numerator Check the setting value numerator setting setting for output pulse is out of Allowable range is 1 to 10000 error output range 37 Electronic gear The electronic gear denominator Check the setting value denominator setting for output pulse is out of Allowable range is 1 to 10000 setting error range output 38 Electronic gear The electronic gear numerator Check the setting value numerator setting setting for feedback pulse is out of Allowable range is 1 to 10000 error feedback range 39 Electronic gear The electronic gear denominator Check the setting value denominator setting for feedback pulse is out of Allowable range is 1 to 10000 setting error range feedback setting error range Allowable range is 1 to 32767 setting error range Allowable range is 1 to 32767 setting error range Allowable range is 20 to 200000 setting error range Allowable range is 20 to 200000 setting error of range Allowable range is 20 to 200000 45 Coordinate origin The coordinate origin value setting is Check the setting value setting error out of range Allowable range is 9999999 to 9999999 46 Zero offset setting The zero offset setting is out of Check the setting value 9999999 126 2 Axis Motion Control Mo
25. 0_05 LD LD SGL_TBL O LD This part is to write the parameters into the MC612 s buffer memory When READY changes to ON the 10 words data prepared in SGL_TBL 0 to 9 are written into the buffer memory address 0 and after and 24 words data prepared in DBL_TBL 0 to 6 are written into the buffer memory address 10 and after Then CMD_WRT is set to ON Note that the data 16 00_05 indicates the MC612 by unit slot number which is mounted on unit 0 slot 5 CMD_WRT 1X0 15 OX2 12 MOVE_INT EN ENO OX2 12 1x0 15 OX2 12 CMD_WRT RI This part is for executing the parameter enable command When CMD_WRT comes ON the parameter enable command command number 5 is executed When the command is accepted IX0 15 changes OFF QX2 12 and CMD_RWT are reset to OFF User s Manual 47 5 Parameters e Writing X axis external output setting The MC612 s external output servo interface output signals can be controlled by writing the data into the buffer memory Address 39 for X axis and 207 for Y axis The following example is to control the servo ON signal In this example RW010 is used to control the servo interface output signals The servo interface output FEDCBA987654321 0 ON 1 OFF 0 E Error counter clear ana Servo ON Reset output Servo CW enable Variables declaration VAR X_SRV_ON X_SRV_OUT DUMMY END_VAR X_SRV_ON 16 0001
26. 3 A 1 LISHOMENMGMCOGES coctiseivcoeriasiwescoseldecvecetssausuuinonndagdsiaunteeseuunueesdagtacaem 124 A 2 List of parameter default value r iici lele 131 A 3 Connection example with Toei Electric s AC servo driver 135 User s Manual 5 6 2 Axis Motion Control Module MC612 Section 1 Introduction 1 1 MC612 main functions 8 1 2 System configuration 9 1 3 Operation overview 10 1 4 Command units 11 1 5 Start up procedure 13 User s Manual 7 1 Introduction 1 Introduction The MC612 is a direct I O module for the S2 controller The MC612 can output pulse train for a servo or stepping motor driver to configure a motion control system The MC612 has 2 axis control function The each axis can be controlled independently or proportionally to achieve a linear interpolation with an X Y table 1 1 MC612 main Functions The MC612 has the following functions 7 8 9 The MC612 outputs pulse train to control the following motors e Stepping motor driver e Servo motor driver with pulse train input function The MC612 performs 2 axis independent control or 2 axis linear interpolation control The MC612 has the electronic gear function By using this function any desired command units such as mm inch degree etc can be used The MC612 has built in EEPROM to memorize the control parameters without need of a battery The operation speed can be changed during pulse output
27. 600 0 1degree rotation User s Manual 1 1 1 Introduction e The least positioning resolution is 1 output pulse Therefore the command increment must be equal or greater than 1 pulse That is the electronic gear must be 1 or more In other words the electronic gear numerator must be equal or greater than the denominator e When the electronic gear value is not an integer calculation error cut down will occur Therefore in this case positioning accuracy is 1 pulse However the MC612 manages the position by pulses internally So the calculation error is not summed 2 Moving speed and command units The speed is designated in as a percentage of the maximum feed speed pps pulse per second Thus the moving speed by the command units is expressed as follows Electronic gear denominator Speed command units sec Speed pps x Electronic gear numerator 3 Electronic gear for feedback pulse The MC612 allows to input feedback pulses to monitor the current position Since pulse input also has the electronic gear function the amount of feedback pulses can be monitored by the command units Electronic gear denominator Position command units Feedback pulse pulse x Electronic gear numerator Decide the electronic gear for feedback pulse so that you can monitor the position in desired units e Set the electronic gear value within the range of 1 127 to 127 If the value is out of this range parameter mismatch
28. 612 Section 6 Operation Summary 6 1 Operation summary 52 6 2 Command bit control summary 55 6 3 Operation range 57 User s Manual 51 6 Operation Summary 6 Operation Summary 6 1 Operation summary The command to the MC612 is performed by combination of the relevant operation parameters and the command bit control of the output registers command registers assigned to the MC612 The followings are the summary of the MC612 operation modes In the following explanation bit N means the bit position N in the command register XQW assigned to the MC612 Jog operation During bit 13 is ON the MC612 outputs pulses at the speed specified by bit 6 to bit 0 The speed is given as percentage 1 increments against the maximum speed system parameter The direction CW or CCW can be controlled by bit 7 of the command register The speed can be changed during the jog operation Zero return operation The zero return is the operation to detect the Machine zero position and set the Coordinate origin electrical origin When bit 12 is set to ON while bit 8 is ON the zero return operation is started The zero return operation proceeds as follows 1 Moves to the search direction at the zero return speed until the zero LS turns ON 2 Stops then moves to the creep direction at the minimum speed until the zero LS turns OFF 3 Stops at the zero LS turns OFF if phase Z is not used or stops at the first phase Z comes ON after the
29. BS stands for absolute position INC stands for incremental position EELEE eee 0 0 Point number 1 to 30 0 1 Point number 1 to 30 1 0 Point number ito 30 1 0 Pointnumber 1t030 1 s ir a GG ofo ofo olo Ran olill o 1 ERE Baka 1 0 ee SO ENI User s Manual 55 6 Operation Summary 2 axis liner interpolation control mode When the liner interpolation control mode is selected the following operation works as 2 axis liner interpolation control e Direct command operation e Point number operation e Automatic stepping operation e Fixed feed operation For these operations commands bit controls are given to the register corresponding to the X axis QW n 2 it ERE Fee see Emergency stop leccata si Deceleration stop _______ 0 1 n ee Errorreset___________ o o o 1 o o o0 0 Command number 0 Parameter save EEPROM wre 0 0 0 1 o o o o Command number 1 ERO 1 o o olo Command number 2 EEPROM read ofofo Parameter initialize o o o 1 o 0 o0 0 Commandnumber 3 Parameter enable ofofo o o 0 Command number 5 Fixed feed CW 0 0 0 0 1 0 O Feed amount 0 1 2 3 Fixed feed CCW 0 0 0 10 1 0 1 Feed amount 0 1 2 3 Direct command ABS OO 10 SO cas edt Oe Direct command INC o o jo ov vale case cl Point number operation ABS 0 0 0 1 0 0 0 Pointnumber 1t030 Point number operation INC 0 0 0 1 0
30. C612 s buffer memory by using MREAD and MWRITE instructions The figure below shows the overall memory map of the MC612 buffer memory MC612 buffer memory Address 0 X axis System parameters 23 28 Axis control mode 32 X axis Operation parameters 167 168 Y axis System parameters 191 200 Y axis Operation parameters 335 Axis control mode Selection either independent control mode or liner interpolation control mode System parameters Control parameters that are used commonly for each operation mode such as pulse output mode electronic gear acceleration deceleration rate etc Operation parameters Current position for monitoring point number data position speed dwell time external input status external output etc 38 2 Axis Motion Control Module MC612 5 Parameters 5 1 System parameters Listed below are the system parameters including the axis control mode and the buffer memory addresses of the MC612 lt Axis control mode gt Setting range delndenendant Selects the control mode either 2 axis Axis control mode 28 ae ps independent or 2 axis linear interpolation 1 Linear interpolation control mode lt System parameters gt Name X Y Setting range unit Description axis axis 0 CW CCW mode Bit 0 Output pulse Pulse output CW direction CCW direction mode 0 CW CCW mode Bit 1 Feedback input pulse 0 Zero LS is used
31. MC612 buffer memory Operation parameters Address X axis Address Y axis 49 48 Point 1 Target position 217 216 Point 1 Target position 50 Point 1 Speed 0 1 218 Point 1 Speed 0 1 51 Point 1 Dwell time 0 01s 219 Point 1 Dwell time 0 01s 53 52 Point 2 Target position 221 220 Point 2 Target position 54 Point 2 Speed 0 1 222 Point 2 Speed 0 1 55 Point 2 Dwell time 0 01s 223 Point 2 Dwell time 0 01s 165 164 Point 30 Target position 333 332 Point 30 Target position 166 Point 30 Speed 0 1 334 Point 30 Speed 0 1 167 Point 30 Dwell time 0 01s 335 Point 30 Dwell time 0 01s These point number data must be stored in the MC612 before starting the point number operation If you change the point number data the parameter enable command is necessary after writing the point number data in the buffer memory For the parameter enable command refer to section 17 6 The speed designation in the point number data is 0 1 increments against the maximum speed setting 2 In the point number operation the dwell time does not have any function 3 The starting address of point N data can be calculated as follows X axis N 1 x 4 48 Y axis N 1 x 4 216 78 2 Axis Motion Control Module MC612 10 Point Number Operation 10 3 Absolute and incremental positioning In the point number operation the se
32. ROM read As described in section 1 3 the MC612 contain three types of memory These are main RAM buffer Memory and non volatile EEPROM When the Parameter read EEPROM read command is executed the control parameters stored in the EEPROM are transferred to the main RAM and the buffer memory The command number is 2 for this Parameter read EEPROM read command Refer to section 17 1 for how to execute this command In the independent control mode this command is effective for the each axis independently On the other hand in the linear interpolation mode X axis command is effective for entire parameter read 17 5 Parameter initialize When the Parameter initialize command is executed the parameters stored in the main RAM and the buffer memory are initialized to the default value Refer to appendix A 2 for the default value The command number is 3 for this Parameter initialize command Refer to section 17 1 for how to execute this command In the independent control mode this command for any axis functions entire initialization In the linear interpolation mode X axis command is effective 17 6 Parameter enable command As described in section 1 3 the MC612 contain three types of memory These are main RAM buffer memory and non volatile EEPROM When the parameters are written into the buffer memory these parameters are become effective after executing the Parameter enable command Buffer memory contents are transferre
33. T B18 FE O O Speed position switch A19 O O Zero LS B19 O Emergency stop NC A20 CCW LS NC pi o CW LS NC Z DC24V User s Manual 1 35 136 2 Axis Motion Control Module MC612 6F8C0842 Integrated Controller series
34. TO S H I B A 6F8C0842 Integrated Controlle Series lt MENU model 2000 2Axis positioning contoller MC612 User s Manual BEHEEEFEAELSEEAAA EREREREREREREEEEEEESE BESSER BESSER BESSER BERR ERE E ETETETT EEEE ELLELLE E E E E E E E E EEEE TEETE EEELLELLE E E E E E E T EEEE ETETETT ELLELELLELELLE E E E E EREREREREREREREREEEREREREEREREREEEEEGSE BERR EREREREREREREREREEREEREREEREREREEEREEGS BEER EERE EREEREREREEREREEREREEREREEGSE BERR EREREREREEREREREEREREREREEREEREEEEE GS BERR ERREREREEEREREEREREREREREREREREEEEE GS BERR EREREREREEREREREEREREREEEREREREEEEE GD BERR EREREREEEREREREEREREREEEREEREEEESE GS BEER EREEREEREREEREREEREEEREEREREEREEE GS BEER EREREREREREEREREREEREREREREEREEREEEESE GS BEER REEEREEREREREREEREREREREEREREEEESE GD RACALE BEER EEREREREREREREREREEREREREREEREEREEEEGE GD BREE EREREREEREREREREEREEREREEREEREEEEE GD BEREREREREREREEREREREREEREEREEEREEREEEEEGD BERR ERERERREREREREREREEREEREREEEEREEEEEYD BERERERREREEREREREREEREEREEEEEEEEEEY BEREREREREREREEREREREREEREEREEEEEEEEEEY BREREREREREREEREEREREEREEREEEEEEEEEEY BERREREREREREEREREREREEREEREEEEEEEEEEY BRR EREREREREEREREREREEREEREEEEEREEEESY Important Information Misuse of this equipment can result in property damage or human injury Because controlled system applications vary widely you should satisfy yourself as to the acceptability of this equipment for your intended purpose In no event will Toshiba Corporation be responsible or liable for either indirect or co
35. _ 4 XQW n 2 Bit 10 to 8 ANTA Command ready IW n Bit 15 Positioning complete IW n Bit 14 Zero return complete IW n Bit 13 During pulse output IW n Bit 12 Speed reach IW n Bit 11 Zero LS input Phase Z pulse input Operation speed i Search direction i f direction A Zero offset Error counter clear output When the zero return operation is activated while the zero return complete flag is ON the operation is executed normally However the zero return complete flag is remained ON during the operation Therefore you should judge the operation complete by the command ready flag User s Manual 67 7 Zero Return Operation 7 4 Zero return completion status at power on When the power is turned ON the zero return complete flag is 0 Therefore the absolute positioning commands are not allowed until the zero return operation is completed However by executing the following special operation the zero return complete flag can be set to 1 forcibly 1 Turn on power 2 Before executing any other command execute the current position preset for pulse output If the changed value is the same as the original position value saved in the EEPROM the zero return complete flag will set to 1 For details of this procedure refer to section 14 3 7 5 Sample program A sample program to execute the zero return operation is shown below In this program X axis zero return is start
36. a is unreliable User s Manual 1 29 Appendices Stop Error contents cause 144 External The external emergency stop signal Check the safety and reset the emergency stop comes active Resulting immediate emergency stop signal Then stop execute error reset 145 Emergency stop The emergency stop command bit of Check the safety and reset the command the QW register comes ON emergency stop command bit Resulting immediate stop Then execute error reset 146 After executing error reset moves limit switch input comes active to the CCW direction use Jog 147 After executing error reset moves limit switch switch input comes active to the CW direction use Jog soft limit operation CCW soft limit operation 151 PLC mode error During operation the PLC changes Check the PLC operation the mode other than RUN mode Resulting immediate stop Operation error Error contents cause 152 No block end No end point H8000 was found in Check the point number the automatic stepping operation parameters Operation proceeds up to point 30 Jog position switch The jog position switch input was Review the parameters and the command value turned ON and the operation was Jog speed insufficient stopped However the incremental command value was not enough to keep the specified deceleration rate 154 Interrupt operation The interrupt input signal is switched Execute zero return before using invalid ON when zer
37. arting point number in bit 6 to bit 0 The target position data handling absolute or incremental is determined by bit 7 In the automatic stepping operation the skip command and the step command are available 52 2 Axis Motion Control Module MC612 6 Operation Summary Switching from jog to positioning When the external jog position switch input comes ON during the jog operation the MC612 outputs specified amount of pulses jog position switch command value in the operation parameter and stops This function is used for positioning originated by an external sensor signal Interrupt operation When the external interrupt input signal comes ON the MC612 forcibly starts positioning based on the point number 30 If the signal comes ON during moving the operation is interrupted deceleration stop then moves to the point number 30 If the signal comes ON while stopping moving to the point number 30 is started immediately Fixed feed operation This operation is used to output the fixed amount of pulses The feed amount can be selected from 1 10 100 and 1000 command units To start this operation set bit 12 and bit 9 to ON with setting the feed amount in bit 6 to bit 0 Feed amount designation 0 1 1 10 2 100 3 1000 The direction CW or CCW can be controlled by bit 7 In addition to the above operation the following functions are available Current position preset function This function is used to change
38. ase Z input externally connect a resistor For selecting the resistor refer to section 3 5 18 2 Axis Motion Control Module MC612 2 Specifications e Servo driver interface output optional 6 Servo ON S ON signal output open collector output This output can be controlled by S2 program by setting the corresponding bit in the operation parameter When this output is ON the LED R is lit This signal is used to output the Servo ON signal to the connected servo driver Reset RST output open collector output This output can be controlled by S2 program by setting the corresponding bit in the operation parameter This signal is used to output the Reset signal to the connected servo driver Error counter clear CLR pulse output open collector output This signal is used to output the Error counter clear signal to the connected servo driver This signal is enabled when the phase Z use is selected and turns ON for approx 50 ms at the following cases e When Zero return operation is completed before zero offset movement e When the external emergency stop input comes ON e When the over travel limit switch input comes ON e When the emergency stop command is set to ON by S2 program e When the corresponding bit in the operation parameter is set to ON by S2 program in this case this output remains ON until the bit is reset to OFF CCW feed enable REV output open collector output This output can be controlle
39. ation for bit C For other positioning operation for bit C Command auxiliary data Note sections 1 Emergency stop request 0 Normal 1 Deceleration stop request 0 Normal 1 Jog feed 1 Change speed command during positioning operation 1 Positioning operation start 1 Step command at positioning complete 1 1 Skip command during pulse output 1 0 Auxiliary command error clear parameter save etc 1 Zero return 2 Fixed feed operation 3 Direct command operation 4 Point number operation 5 Automatic stepping operation 6 Teaching 7 Current position changing 1 Incremental INC command 0 Absolute ABS command Auxiliary command Type of command 0 to 5 Speed 0 to 127 Feed pulse amount 0 to 3 Point number 0 to 30 Point number 0 to 30 Point number 0 to 30 Preset object 1 2 or 3 Jog Change speed Fixed feed operation Point number operation Automatic stepping operation Teaching function Position data preset For details of the bit control for each operation refer to section 6 and the following User s Manual 35 36 2 Axis Motion Control Module MC612 Section 5 Parameters 5 1 System parameters 39 5 2 Operation parameters 42 5 3 Sample programs for setting the parameters 45 User s Manual 37 5 Parameters 5 Parameters The MC612 has the control parameters in its memory The S2 can access these parameters through the M
40. ation stop X axis is shown below X_STOP OX2 14 MOVE_INT ud EN ENO OX2 14 1x0 12 QW2 4 gt SET When X_STOP is turned ON QW2 command register is reset to 0 and QX2 14 deceleration stop command is set to ON QX2 14 is kept ON until 1X0 12 during pulse output flag comes OFF As above sample program keep the deceleration stop command QX2 14 ON until the during pulse output flag IX0 12 comes OFF Then reset the deceleration stop command QX2 14 to OFF User s Manual 1 09 15 Stop 15 2 Emergency stop signal The MC612 has the emergency stop input Refer to sections 2 4 and 3 1 When the emergency stop input is activated opened the MC612 immediately stops the pulse output and goes into the error state code 144 At the same time the zero return completion status is reset the zero return complete flag changes to OFF and the error counter clear output turns ON for 50 ms if phase Z signal is used Refer to section 7 2 1 The following diagram shows the time chart for X axis emergency stop input SS e input i Command ready IW n Bit 15 Positioning complete IW n Bit 14 Zero return complete IW n Bit 13 During pulse output Win Bi 12 a T e Error flag IW n Bit 8 Any operation Operation speed To recover from the error state reset the command bit jog etc to OFF reset the emergency stop input to normal condition then ex
41. ber 1 to 30 Y axis 8 7 6 5 4 3 2 1 0 1 0 Point number 1 to 30 15 14 13 12 11 10 QW n 3 oTo o 1 o 1 o 4 Operation example The following diagram shows an operation example when the following point data is registered and the point 10 is specified as the starting point Point Target position Speed Dwell time 10 10000 500 100 11 20000 750 200 12 30000 1000 H8000 1 Absolute positioning 100 speed 50 speed 1s stay 30000 Operation complete 2s stay 0 Starting position 75 speed 2 Incremental positioning 100 speed 50 speed 1s stay Po 20000 Operation complete Po Starting position 75 speed 86 2 Axis Motion Control Module MC612 11 Automatic Stepping Operation Automatic stepping operation time chart The following diagram shows the time chart for X axis automatic stepping operation Start XQW n 2 Bit 12 Operation mode XQW n 2 Bit 10 to 8 Absolute or incremental XQW n 2 Bit 7 Point number XQW n 2 Bit 6 to 0 Command ready IW n Bit 15 Positioning complete IW n Bit 14 During pulse output IW n Bit 12 Speed reach IW n Bit 11 Operation speed User s Manual 87 11 Automatic Stepping Operation 11 4 Sample program A sample program for the automatic stepping operation X axis is sh
42. cified by bit 1 See table below all other bits must be 0 Setting eee ne ner ro o CW_ CW__ Over travelLS cannotbeused orf CW CCW _ Over travel LS can be used CW side over travel LS a tor CCW CW __ Over travel LS can be used CCW side over travel LS The zero return operation in each setting is shown below In the following diagram the zero offset and the phase Z pulse are omitted for ease of explanation 1 Zero LS used Search direction CW Creep direction CW Zero return speed Start Zero LS Machine zero 2 Zero LS used Search direction CW Creep direction CCW Zero return speed lan Cc DE Start Machine zero Zelo D ____nu 64 2 Axis Motion Control Module MC612 7 Zero Return Operation 3 Zero LS used Search direction CCW Creep direction CW Machine zero CCW Start cw n return speed Zeols e Essi ___ o 4 Zero LS used Search direction CCW Creep direction CCW Machine zero Start CCW ia Zero return speed Zelo e e oo o 5 Over travel LS used Search direction CW Start i Machine zero CW Over travel LS CCW Over travel LS 6 Over travel LS used Search direction CCW Creep direction CW Machine zero CCW CW Over travel LS CCW Over travel LS User s Manual 65 7 Zero Return Operation 7 2 3 Zero offset Address X 19 18 Y 187 186 When the machine zero is dete
43. d by S2 program by setting the corresponding bit in the operation parameter This signal is used to output the CCW enable signal to the connected servo driver 10 CW feed enable FWD output open collector output This output can be controlled by S2 program by setting the corresponding bit in the operation parameter This signal is used to output the CW enable signal to the connected servo driver e Servo driver interface input monitoring purpose only 11 Servo ready RDY input 24 Vdc The servo driver s Ready signal is connected here The signal status can be monitored by S2 program by reading the corresponding operation parameter 12 In position INP input 24 Vdc The servo driver s In position signal is connected here The signal status can be monitored by S2 program by reading the corresponding operation parameter This signal status is not always matches with the positioning complete flag managed in MC612 bit 14 of IW register NOTE Do not use the servo driver interface signals for other purposes User s Manual 19 2 Specifications e Machine sensor input 13 Zero limit switch Z LS input 12 24 Vdc The machine zero position signal is connected here Normally open This signal is used for Zero return operation 14 CW over travel limit switch CW LS input 12 24 Vdc The CW side over travel limit signal is connected here Normally closed When this input is opened while the CW directio
44. d to the main RAM The command number is 5 for this Parameter enable command Refer to section 17 1 for how to execute this command In the independent control mode this command is effective for the each axis independently On the other hand in the linear interpolation mode X axis command is effective for entire parameter 122 2 axis Motion Control Module MC612 Appendices A 1 List of Error codes 124 A 2 List of parameter default value 131 A 3 Connection example with Toei Electric s AC servo driver 135 User s Manual 1 23 Appendices A 1 List of Error codes When an error has occurred in the MC612 the error status is indicated as follows e Error bit of the corresponding axis bit 8 of IW n or bit 8 of IW n 1 turns ON e Error code is stored in the lower 8 bit of the status register IW n or IW n 1 e Error code is stored in the buffer memory address 37 for X axis or address 205 for Y axis The following list shows the error codes The errors are divided into two levels alarm error code 1 to 31 and error error code 32 or more Depending on the error levels error recovery method is different Alarm by removing the error cause Error by executing the Error reset command Basic operation error Code Error name Error contents cause Remedy osi No error TE a ee a Speed limit The specified operation speed is out 1 Change the speed parameter of the allowable speed range to 100 or less 1 Mor
45. dule MC612 Appendices Parameter error No 2 Error contents cause 48 CW soft limit The CW side soft limit setting is out Check the setting value setting error of range Allowable range is 9999999 to 9999999 49 CCW soft limit The CCW side soft limit setting is out Check the setting value setting error of range Allowable range is 9999999 to 9999999 50 Current position The current position preset data Check the setting value preset data error setting for output pulse is out of Allowable range is 9999999 to output range 9999999 51 Current position The current position preset data Check the setting value preset data error setting for feedback pulse is out of Allowable range is 9999999 to feedback range 9999999 52 Direct command The target position data of the direct Check the setting value target position command operation is out of range Allowable range is 9999999 to error 9999999 Target position The target position of the point Check the setting value setting error Allowable range is 9999999 to point data 9999999 Speed setting The speed setting of the point Check the setting value error number data is out of range Allowable range is 1 to 32767 point data 56 Dwell time setting The dwell time setting of the point Check the setting value error number data is out of range Allowable range is 0 to 10000 point data H8000 H8001 or H8002 53 Jog to positioning The target pos
46. e function to register the current position data into the designated point number s target position data The teaching function does not change the speed and the dwell time in the point data To execute the teaching function the zero return must be completed beforehand The teaching function registers the current position data into the buffer memory and the main RAM in the MC612 However it is not saved into the EEPROM Therefore the EEPROM write command is necessary after teaching to save into EEPROM Operation procedure This function uses the status register IW and the command register QW assigned to the MC612 X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 0 1 0 1 1 0 Point number 1 to 30 Do not care Y axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 3 0 0 0 1 0 1 1 0 Point number 1 to 30 The teaching procedure is as follows 1 Use the jog or other operations to move to the position to be registered 2 Set the required point number 1 to 30 in bit 6 to bit 0 of the command register set value 6 in bit 10 to bit 8 and set bit 12 to ON 3 When the request is accepted by the MC612 bit 15 command ready of the status register comes OFF 4 Then reset bit 12 of the command register to OFF The teaching function registers the position data as command units On the other hand in the jog feed the least increment is pulse Therefore i
47. e than 100 speed is set in 2 Change the speed parameter the independent mode for the synthesis speed not to 2 The synthesis speed exceeds the exceed the maximum speed maximum speed in the linear 3 Change the speed specified interpolation mode between the maximum and the 3 The specified speed to be minimum speed changed is out of the range to ON OFF da return The command that requires zero Execute zero return before the incomplete return complete was given before command zero return Soft zero return The soft zero return was failed Execute zero return and set the failed because the condition was not zero return complete flag satisfied 124 2 Axis Motion Control Module MC612 Appendices Command data error Code Error name error invalid must be 0 1 2 3 0r 5 error operation is invalid must be 0 to 3 Point number error The point number specified is invalid Check the point number lt must Point number in the point number operation be 1 to 30 operation Point number error The point number specified is invalid Check the point number lt must automatic in the automatic stepping operation stepping operation 22 Point number error The point number specified is invalid Check the point number It must teaching in the teaching operation be 1 to 30 3 Current position The changing target for the current Check the data for target It must preset target error position preset is invalid be
48. ection and ON for the CCW direction e Feedback pulse input monitoring purpose only 3 CW pulse phase A pulse input 5 Vdc Inputs the CW direction pulses or phase A pulses for monitoring The pulse input mode CW or phase A can be selected by the parameter The maximum input frequency for CW pulses is 200 kpps The maximum input frequency for the phase A quadrature pulses is 100 kpps 400 k count sec 5 Vdc open collector output or differential output can be is connected When 12 or 24 Vdc open collector output device is connected connect a resistor externally to adjust the voltage 4 CCW pulse phase B pulse input 5 Vdc Inputs the CCW direction pulses or phase B pulses for monitoring The pulse input mode CCW or phase B can be selected by the parameter The maximum input frequency for the CCW pulses is 200 kpps The maximum input frequency for the phase B quadrature pulses is 100 kpps 400 k count sec 5 Vdc open collector output or differential output can be is connected When 12 or 24 Vdc open collector output device is connected connect a resistor externally to adjust the voltage e Phase Z input optional 5 Phase Z input 5 Vdc Inputs phase Z signal for Zero return operation 5 Vac open collector output or differential output can be connected When 12 or 24 Vdc open collector output device is connected connect a resistor externally to adjust the voltage If other than 5 Vdc is used for the feedback pulse input or ph
49. ecute the error reset command For the error reset command refer to section 17 2 If the selected error counter clear mode is Toei servo mode refer to section 7 2 1 the error counter clear output will not come ON when the emergency stop input is activated 110 2 Axis Motion Control Module MC612 15 Stop 15 3 Emergency stop command As well as the external emergency stop input the S2 can also issue the emergency stop command The behavior at the emergency stop command is the same as the external emergency stop input The emergency stop command is executed by setting bit 15 of the command register QW to ON X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 d ja Joes ite ee ne e es esi Poe ea e ee Do not care Y axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SOW EErEsssSss SS eal Ss eee When the emergency stop command bit 15 turns ON the MC612 immediately stops the pulse output and goes into the error state code 145 At the same time the zero return completion status is reset the zero return complete flag changes to OFF and the error counter clear output turns ON for 50 ms if phase Z signal is used Refer to section 7 2 1 To recover from the error state reset the command bit jog etc to OFF reset the emergency stop command bit F of the command register to OFF then execute the err
50. ed Feed Operation Fixed feed operation time chart The following diagram shows the time chart for X axis fixed feed operation Start XQW n 2 Bit 12 Operation mode XQW n 2 Bit 10 to 8 Absolute or incremental XQW n 2 Bit 7 Feed amount XQW n 2 Bit 6 to 0 Command ready IW n Bit 15 Positioning complete IW n Bit 14 During pulse output IW n Bit 12 Speed reach IW n Bit 11 Operation speed User s Manual 95 12 Fixed Feed Operation 12 3 Sample program A sample program for the fixed feed operation X axis is shown below In this sample program the MC612 outputs pulses corresponding to 100 units at the each time of X_INCH changes to ON The direction is controlled by X_INC OFF CW ON CCW DUMMY X_INCH 1X0 15 1X0 8 MOVE_INT EN When X_INCH is turned ON while the command ready flag X0 15 is ON the feed amount type type 2 100 units in this sample is set in the QW2 The value 2 is set in bit 10 to bit 8 of QW2 If X_INC is ON QX2 7 is set to ON Then QX2 12 is set to ON When IX0 15 command ready is turned OFF command accepted QX2 12 is reset to OFF 96 2 Axis Motion Control Module MC612 Section 13 Special Operations 13 1 Bump less switching from jog to positioning 98 13 2 Interrupt operation 99 User s Manual 97 13 Special Operations 13 Special Operations 13 1 Bump less switching from jog to positioning During the jog operation whe
51. ed when X_Z_RTN is set to ON When the zero return operation is completed X_Z_RTN is reset to OFF automatically OX2 12 s KANZ X_Z_RTN gt SET OX2 12 When X_Z_RTN is set to ON the value 1 is set in bit 10 to bit 8 of QW2 then QX2 12 is set to ON When IX0 15 command ready is turned OFF command accepted QX2 12 is reset to OFF Then when IX0 15 is turned ON again operation complete X_Z_RTN is reset to OFF 1 To start the operation the start command bit bit 12 of QW register must be kept ON until the command ready flag bit 15 of IW register is turned OFF 2 The operation complete should be judged by the command ready flag bit 15 of IW register 68 2 Axis Motion Control Module MC612 Section 8 Jog Operation 8 1 Overview 70 8 2 Operation procedure 70 8 3 Sample program 72 User s Manual 69 8 Jog Operation 8 Jog Operation 8 1 Overview The jog operation performs the jog feed for the specified direction CW or CCW at the specified speed The speed is given by the percentage 1 increments against the maximum speed system parameter The speed can be changed during the operation The allowable speed setting range is 0 to 127 However even if it is more than 100 the speed is limited by the maximum speed parameter value In this case speed setting alarm is occurred Jog operation is continued 8 2 Operation procedure When bit 13 is set to ON with the speed desi
52. egister Name X Y Setting range unit Description axis axis Direct command 44 212 9999999 to 9999999 Designates the target position for the direct position 45 213 command units command operation 9 3 Absolute and incremental positioning In the direct command operation the selection either absolute positioning or incremental positioning is possible The absolute positioning requires the zero return completion before starting this operation 1 Absolute positioning When the absolute positioning is selected the target position data is treated as absolute position based on the coordinate origin For example if the current position is 2000 and the target position is 8000 the positioning operation is as follows feed amount is 6000 Current position 2000 Target position 8000 CCW CW 2000 8000 1000 2 Incremental positioning When the incremental positioning is selected the target position data is treated as relative position from the current position For example if the current position is 2000 and the target position is 8000 the positioning operation is as follows feed amount is 8000 Current position 2000 Target position 8000 CCW CW 2000 8000 1000 14 2 Axis Motion Control Module MC612 9 Direct Command Operation 9 4 Operation procedure The direct command operation is started by setting bit 12 bit 9 and bit 8 of the command register XQW to ON while the command ready fla
53. en X_JOG_CCW is ON CCW jog feed is executed The feed speed is designated by X_JOG_SPD xX JOG_Cw XxX JOG_CCw OX2 13 MOVE_INT X_JOG_CCMI X_JOG_CW When X_JOG_CW is ON the speed data in X_JOG_SPD is transferred to QW2 and QX2 13 is set to ON And when X_JOG_CW is changed to OFF QX2 13 is reset to OFF When X_JOG_CCW is ON the speed data in X_JOG_SPD is transferred to QW2 and QW2 7 and QW2 13 are set to ON And when X_JOG_CCW is changed to OFF QW2 7 and QW2 13 are reset to OFF 72 2 Axis Motion Control Module MC612 Section 9 Direct Command Operation 9 1 Overview 74 9 2 Related parameters 74 9 3 Absolute and incremental positioning 74 9 4 Operation procedure 75 9 5 Sample program 76 User s Manual 73 9 Direct Command Operation 9 Direct Command Operation 9 1 Overview In the direct command operation the target position is given by the S2 program at each time the positioning is started The operation speed is fixed to the maximum speed It is possible to select the absolute positioning or the incremental positioning at the command activation The absolute positioning requires the zero return completion before starting this operation 9 2 Related parameters The direct command position is the target position data located in the operation parameter To execute the direct command operation write the target position into this parameter and issue the command by the command register QW r
54. en X_DIRECT_GO is set to ON while the command ready flag X000F is ON the target position data in X_TAR_POS is written into the buffer memory address 45 44 X axis direct command position Then the value 3 is set in bit 10 to bit 8 of QW2 QX2 7 is set to ON if X_INC is ON and QX2 12 is set to ON When IX0 15 command ready is turned OFF command accepted QX2 12 is reset to OFF Then when lX0 15 is turned ON again operation complete X_DIRECT_GO is reset to OFF 76 2 Axis Motion Control Module MC612 Section 10 Point Number Operation 10 1 Overview 78 10 2 Related parameters 78 10 3 Absolute and incremental positioning 79 10 4 Operation procedure 80 10 5 Sample program 81 User s Manual TI 10 Point Number Operation 10 Point Number Operation 10 1 Overview In the point number operation the S2 program specifies the point number in which the positioning data target position and speed is pre stored The point number data is a part of the operation parameters Different from the direct command operation the point number operation can control the operation speed It is possible to select the absolute positioning or the incremental positioning at the command activation The absolute positioning requires the zero return completion before starting this operation 10 2 Related parameters The point number operation executes the positioning based on the point number data stored in the operation parameter
55. error occurs e The electronic gear for output pulses and feedback pulses can be designated independently e When the electronic gear setting is changed write it into MC612 s EEPROM and cycle power off on Otherwise positioning deviation will occur 12 2 Axis Motion Control Module MC612 1 Introduction 1 5 Start up Procedure The following flowchart shows the procedure to start up your MC612 MC612 start up Mount your MC612 in the rack Registering the MC612 Using the Engineering tool register the MC612 and load this information Writing the S2 program Write the S2 program in order to write the necessary parameters into the MC612 and load this program Writing the parameters 1 Run the S2 and execute the program 2 Set the parameters using MWRITE instruction 3 Confirm the parameters using MREAD instruction 4 Issue the EEPROM Write command to save the written parameters into the MC612 s EEPROM TION Operation check A ON O Check the MC612 operation Jog Zero Pay special care for safety in case of the return positioning etc by setting the MC612 operation checking each command bit Writing debugging the S2 program Write the actual MC612 control program in the S2 Debug the program User s Manual 13 14 2 Axis Motion Control Module MC612 Section 2 Specification 2 1 Functional specifications 16 2 2 I O specifications 16 2 3 External features 17 2 4 Functio
56. es ON immediately moves to the position specified by the point 30 MWRITE Buffer LT memory MREAD 10 2 Axis Motion Control Module MC612 1 Introduction 1 4 Command units 1 Electronic gear for output pulse The MC612 has the electronic gear function By using this function any desired command units such as mm inch degree etc can be used The MC612 outputs the pulses as follows Electronic gear numerator Electronic gear denominator Therefore decide the electronic gear as follows Electronic gear numerator Pulses per Motor 1 rotation Electronic gear denominator Command value per Motor 1 rotation Output pulses Command value x Example 1 In the following system if you want to use the command increment as 0 01 mm you can decide the electronic gear value as follows By this setting if command value is 1 the machine moves 0 01 mm Motor Gear ratio Feed pitch 2000 pulses rotation 1 5 5 mm rotation Electronic gear numerator 2000 pulse rotation Electronic gear denominator 500 x 1 5 100 0 01mm rotation Example 2 In the following system if you want to use the command increment as 0 1 degree you can decide the electronic gear value as follows By this setting if command value is 1 the table rotates 0 1 degree Direct drive turntable Gear ratio Motor er 1 1 8000 pulses rotation Electronic gear numerator 8000 pulse rotation Electronic gear denominator 3
57. flag bit 14 of IW register is ON 2 Set the step command bit 11 of QW register to ON 3 When the step skip acknowledge flag bit 9 of IW register comes ON reset the step command bit 11 of QW register to OFF 90 2 Axis Motion Control Module MC612 11 Automatic Stepping Operation 11 6 Skip command In the automatic stepping operation it is possible to skip the current point operation This function is called skip command When the skip command is issued during a point operation the MC612 immediately start the next point operation The followings are the operation example of the skip command Case 1 Point 2 CW Point 1 Point Position Dwell time 1 5000 50 2 10000 H8000 CCW Skip command Positioning complete ne en Commandready O Oo S Case 2 Point 2 CW Point 1 Point Position Dwell time 1 5000 H8001 2 10000 H8000 CCW Skip command Positioning complete ti I ee Command ready ale _ _ li cu 1 The skip command is not valid for the final point block end 2 When you issue a skip command do not issue the next skip command repeatedly until the operating point number IW register is changed to the next point Otherwise the second skip command will not accepted normally If the skip command is issued during incremental positioning mode the original target position is kept For example if the skip command is issued d
58. for the V series model 2000 Read this manual carefully for your correct operation of the MC612 The following related manuals are available for your reference Sequence Controller S2 User s Manual Basic Hardware 6F8C0836 Sequence Controller S2 User s Manual Functions 6F8C0837 Engineering Tool Setup 6F8C0873 Engineering Tool Introduction 6F8C0874 Engineering Tool Basics 6F8C0875 Note In this manual the model 2000 controller is simply called as S2 2 2 Axis Motion Control Module MC612 Table of Contents Table of Contents is niroduettoni incorre 7 1 1 MC612 main functions rie ole Soh Selene LIO Sade Newel a 8 1 2 System configuration saliti oriana pei iii 9 1 3 Operation Overview cio alli arc iaia 10 14 GOMMANdUNis shell iii 11 1 5 Startup PIOGGAUTE Miscaisirssre inonda r Aaa sni Be n eree keerati enande 13 2z SPCCHICATONS gt rho eli dere hie aa elsa 15 2 1 Functional specifications cazinages aadusnacdedy she testusctebe2andenksaages aa nsapeeetageteaeesst 16 2 2 VOPSPECIICANIONS ironia peli id iis iii ia 16 2 3 External feat res illa lil ili nadia nese 17 2 4 Functions of external signals ala a 18 3 WINO aliena 21 3 1 External signal connectors sare lo aa 22 3 2 QUIPUEGIIGUIS gt scialle ian e aaa ironia lata 23 3 3 Input circuits tell 24 3 4 Pulse output wiring example 0 i 25 3 5 Feedback pulse input wiring example e 26 3 6 Typical connect
59. g bit 15 of IW register is ON Bit 7 is used to select absolute or incremental positioning 0 Absolute 1 Incremental X axis 15 14 13 12 11 10 QW n 2 o o0 0 1 0 0 Y axis NI D o A w n EA o 110 T T T Do not care 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 3 0 0 0 1 0 0 1 1 1 0 Direct command operation time chart The following diagram shows the time chart for X axis direct command operation Start XQW n 2 Bit 12 Operation mode XQW n 2 Bit 10 to 8 Absolute or incremental XQW n 2 Bit 7 Target position Buffer memory 45 44 Command ready IW n Bit 15 Positioning complete IW n Bit 14 During pulse output IW n Bit 12 Speed reach IW n Bit 11 Maximum speed Operation speed User s Manual 75 9 Direct Command Operation 9 5 Sample program A sample program for the direct command operation X axis is shown below To activate this program set the target position in double word variable X_TAR_POS select absolute or incremental by X_INC OFF Absolute ON Incremental then set X_DIRECT_GO to ON When the positioning is completed X_DIRECT_GO is reset to OFF automatically X_DIRECT_GO 1X0 15 1X0 8 DUMMY MWURITE t __ E 16 00_05 MOVE_INT EN ENO 16 0300 LD XOX2 12 1X0 15 OX2 12 OX2 12 IX0 15 X_DIRECT_GO bt Wh
60. gnation in bit 6 to bit 0 the jog feed is started And when bit 13 is reset to OFF it is stopped Bit 7 is used to specify the feed direction 0 CW 1 CCW X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 1 0 0 1 0 Speed 0 to 127 Do not care Y axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 3 0 0 1 0 0 1 0 Speed 0 to 127 Jog operation time chart The following diagram shows the time chart for X axis jog operation 1 Constant speed start stop Jog XQw n 2 Bit 13 Speed XQw n 2 Bit 6 to 0 Direction XQW n 2 Bit 7 Command ready IW n Bit 15 Positioning complete IW n Bit 14 During pulse output IW n Bit 12 Speed reach IW n Bit 11 Operation speed Speed Max speed x n TO 2 Axis Motion Control Module MC612 8 Jog Operation 2 Speed change during jog Jog XQW n 2 Bit 13 Speed XQW n 2 Bit 6 to 0 Direction XQW n 2 Bit 7 Command ready IW n Bit 15 Positioning complete IW n Bit 14 During pulse output i 4 IW n Bit 12 e i S i ll Speed reach IW n Bit 11 Max x n2 Operation speed Max x n1 User s Manual 71 8 Jog Operation 8 3 Sample program A sample program for jog operation X axis is shown below In this program when X_JOG_CW is ON CW direction jog feed is executed And wh
61. he dwell time value also has the special functions as listed below Dwell time Meaning Condition to start the next point Step value operation command O to 100000 Dwell time 0 01s units Specified dwell time is elapsed or the Available step command is issued H8000 Block end N A N A H8001 Non stop No condition continue N A H8002 Wait until Step command The step command is issued Available When this automatic stepping operation is used at least one point data must have the block end designation H8000 in the following points Otherwise No block end error will occur 2 For the step command refer to section 11 5 3 When the non stop designation H8001 is used the operation will continue without stopping However in the following cases the operation will be stopped before starting the next positioning When the operation direction is changed In the 2 axis liner contouring control mode User s Manual 85 11 Automatic Stepping Operation 11 3 Operation procedure The automatic stepping operation is started by setting bit 12 bit 10 and bit 8 to ON with specifying the starting point number in bit 6 to bit 0 of the command register XQW while the command ready flag bit 15 of IW register is ON Bit 7 is used to select absolute or incremental positioning 0 Absolute 1 Incremental X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 0 1 0 1 0 1 1 0 Point num
62. he moving path operation speed of X axis or Y axis may be slower than the minimum speed setting The synthesis speed is designated by the X axis parameter Therefore more than 100 value can be designated However each axis cannot exceed the maximum speed setting In this case the axis speed is limited by the maximum speed and the other axis speed is kept the proportion User s Manual 1 1 7 118 2 Axis Motion Control Module MC612 Section 17 Auxiliary Commands 17 1 Overview 120 17 2 Error reset 121 17 3 Parameter save EEPROM write 121 17 4 Parameter read EEPROM read 122 17 5 Parameter initialize 122 17 6 Parameter enable command 122 User s Manual 1 1 9 17 Auxiliary Commands 17 Auxiliary Commands 17 1 Overview The MC612 has the following auxiliary commands e Command number 0 Error reset e Command number 1 Parameter save EEPRPM write e Command number 2 Parameter read EEPROM read e Command number 3 Parameter initialize e Command number 5 Parameter enable How to execute the auxiliary command To execute the auxiliary command the status register IW and the command register QW assigned to the MC612 are used For X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 0 1 0 0 0 0 Command number 0 to 5 For Y axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 3 0 0 0 1 0 j0 0 0 Command number 0 to 5 The procedure is a
63. he operation start is not accepted Normally the soft limit CW and CCW are specified inside the external over travel limits The buffer memory addresses of the soft limit are as follows Name Y Setting range unit Description axis axis 9999999 to 9999999 Designates the position of the movement limit CW Soft Limit 20 188 command units on CW plus side Plus 21 189 Soft limit function is disabled if CCW soft limit HFFFFFFFF 1 aaa 9999999 to 9999999 Designates the position of the movement limit CCW Soft Limit 22 190 Minus 23 191 HFFFFFFFF 1 Soft limit function is disabled if CW soft limit is also 1 Normal operation range COW Li CW soft limit i soft limit Operation range CCW over travel LS i CW over travel LS Margin 7 i Margin Max speed PER FER lt gt Moving distance for Moving distance for deceleration stop deceleration stop Decide the position of soft limit CW and CCW so that the movement will not reach the external over travel limit even if operating at maximum speed as the figure above e The soft limit function is effective for the operations other than zero return regardless of zero return completion e For the zero return operation the soft limit function is not effective e When the movement exceeds the soft limit CW CCW and stops the MC612 enters error mode To recover from this state execute the error reset command then return the position
64. ion directions to be opposed when inconsistent over travel LS is used 72 Electronic gear The electronic gear value for the Correct the electric gear value data error output pulse is out of the allowable output range 1 127 to 127 73 Electronic gear The electronic gear value for the Correct the electric gear value data error feedback pulse is out of the feedback allowable range 1 127 to 127 128 2 Axis Motion Control Module MC612 Appendices Hardware error Code During reset process Hardware error EEPROM data error Code 129 130 131 132 137 EEPROM write incomplete 138 EEPROM write times over The MC612 is being reset No error A hardware error in the MC612 has been detected BCC error has been detected in the EEPROM data Writing into the EEPROM has not been completed normally The number of EEPROM writes times exceeded the limit 100 000 times Error contents cause When reset process is completed the error code is automatically cleared Do not give any command during reset process Cycle power off on When this error occurs repeatedly replace the MC612 Execute error reset Save the parameters into the EEPROM again When this error occurs repeatedly replace the MC612 Execute error reset Save the parameters into the EEPROM again When this error occurs repeatedly replace the MC612 It is recommended to replace the MC612 because the EEPROM dat
65. ion parameters Address X axis Address Y axis 49 48 Point 1 Target position 217 216 Point 1 Target position 50 Point 1 Speed 0 1 218 Point 1 Speed 0 1 51 Point 1 Dwell time 0 01s 219 Point 1 Dwell time 0 01s 53 52 Point 2 Target position 221 220 Point 2 Target position 54 Point 2 Speed 0 1 222 Point 2 Speed 0 1 55 Point 2 Dwell time 0 01s 223 Point 2 Dwell time 0 01s 165 164 Point 30 Target position 333 332 Point 30 Target position 166 Point 30 Speed 0 1 334 Point 30 Speed 0 1 167 Point 30 Dwell time 0 01s 335 Point 30 Dwell time 0 01s These point number data must be stored in the MC612 before starting the point number operation If you change the point number data the parameter enable command is necessary after writing the point number data in the buffer memory For the parameter enable command refer to section 17 6 1 The speed designation in the point number data is 0 1 increments against the maximum speed setting 2 The starting address of point N data can be calculated as follows X axis N 1 x 4 48 Y axis N 1 x 4 216 84 2 Axis Motion Control Module MC612 11 Automatic Stepping Operation The point N dwell time value basically specifies the time interval from the completion of point N positioning to the starting of point N 1 operation 0 01s increments However t
66. ion with a servo driver i 27 3 7 Typical connection with a stepping motor driver ee cere eee eee ee ee eens 28 3 8 Wirmo precautions lr lenti elle AA Aa KENES 29 4 WO Allocatlon tassare ii habla 31 4 1 Allocation to the S2 data memory eee 32 4 2 Functions of the assigned data Lorraine 33 Di Parameters issue aaa 37 5 1 SYSISM parameters eion E E a alates EENE ean ETEA AAE eee 39 5 2 Operation parameters stalla lei ai al Mai So Seta tel halle tt 42 5 3 Sample programs for setting the parameters _ eee ee ec ease eeeeeeeeees 45 6 Operation Summary gt clelia liane 51 6 1 Operation SUMMAry siero lepre giro 52 6 2 Command bit control summary curielieieaaea lla 55 6 3 Operation range alleata 57 User s Manual 3 Table of Contents 7 7 1 7 2 7 3 7 4 7 5 8 8 1 8 2 8 3 10 Point Number Operation 10 1 10 2 10 3 10 4 10 5 11 Automatic Stepping Operation 11 1 11 2 11 3 11 4 11 5 11 6 12 Fixed Feed Operation 12 1 12 2 12 3 Zero Return Operation Jog Operation Direct Command Operation Overview Related parameters Operation procedure Zero return completion status at power on Sample program Overview Operation procedure Sample program Overview Related parameters Absolute and incremental positioning Operation procedure Sample program Overview Related parameters Absolute and incremental positioning Operation
67. ires and power cables Connect the cable shield to a good grounding point 26 2 Axis Motion Control Module MC612 3 Wiring 3 6 Typical connection with a servo driver 24 Vdc in 0 Vin CCW out CCW out CW out CW out Signal ground Phase Z in Phase Z in Error counter clear out Servo ON out Servo reset out Output common Input common Servo ready in In position in Sensor input common Zero LS in Emergency stop in CCW over travel in CW over travel in A7 B7 A11 A12 B12 B14 A14 A15 B15 I 24Vdc Servo driver i CCW pS cow gt i Wi Mod SG Z Z Ei i 24Vde CR i SON fA RT Aa SG i v 24Vde l P24 i RDY T INP __ FG Z LS EMS NC CCW LS NC CW LS NC The above connection is an example Available signals and the type of interface are different depend on the servo driver used The above example uses differential RS422 RS485 interface for the pulse output and phase Z input Feedback pulse input is not used User s Manual 27 3 Wiring 3 7 Typical connection with a stepping motor driver
68. it switch 112 User s Manual 1 07 15 Stop 15 Stop 15 1 Deceleration stop command When the MC612 is in positioning operation including zero return the S2 can forcibly stop the operation by the deceleration stop command The deceleration stop command is executed by setting bit 14 of the command register XQW to ON X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 1 Do not care Y axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ana raise When the deceleration stop command is executed during operation the MC612 decelerates and stops the pulse output The zero return completion status is not changed The following diagram shows the time chart for X axis deceleration stop command Deceleration stop XQW n 2 Bit 14 Start XQW n 2 Bit 12 Operation mode XQW n 2 Bit 10 to 8 Command ready IW n Bit 15 Positioning complete IW n Bit 14 During pulse output IW n Bit 12 Any operation Operation speed When the deceleration stop command is executed the positioning complete flag will not return to ON even when the operation is stopped This flag will come ON when the next operation is completed normally 108 2 Axis Motion Control Module MC612 15 Stop Deceleration stop command sample program A sample program for the deceler
69. ition incremental Check the setting value target position value of the jog to positioning Allowable range is 0 to 9999999 error operation is out of range User s Manual 1 27 Appendices Parameter mismatch Soft limit CW and CCW soft limits relation is Correct the settings inconsistent not correct 1 CW soft limit gt CCW soft limit 1 CW soft limit lt CCW soft limit 2 Both CW and CCW soft limits 2 Soft limit disable condition is must be 1 to disable mismatched 65 Maximum speed The maximum speed setting is Review the maximum speed and Monni smaller than the minimum speed minimum speed settings for setting correction Zero return speed The zero return speed setting is Review the zero return speed inconsistent smaller than the minimum speed or minimum speed and maximum greater than the maximum speed speed settings for correction 67 Operation speed The operation speed setting is Review the operation speed or error smaller than the minimum speed minimum speed settings for correction Soft limit The positioning command that will 1 Correct the target position positioning cause the soft limit over is given within the soft limit range 2 Review the soft limit value Internal calculation MC612 internal calculation overflow See error reset ern eer eo replace the MC612 70 Zero return Search and Creep directions are the Set the Search and Creep parameter same at over travel LS use select
70. lection either absolute positioning or incremental positioning is possible The absolute positioning requires the zero return completion before starting this operation 1 Absolute positioning When the absolute positioning is selected the target position data is treated as absolute position based on the coordinate origin For example if the current position is 2000 and the target position is 8000 the positioning operation is as follows feed amount is 6000 Current position 2000 Target position 8000 CCW CW 2000 8000 1000 2 Incremental positioning When the incremental positioning is selected the target position data is treated as relative position from the current position For example if the current position is 2000 and the target position is 8000 the positioning operation is as follows feed amount is 8000 Current position 2000 Target position 8000 CCW CW 2000 8000 1000 User s Manual 79 10 Point Number Operation 10 4 Operation procedure The point number operation is started by setting bit 12 and bit 10 to ON with specifying the point number in bit 6 to bit 0 of the command register XQW while the command ready flag bit 15 of IW register is ON Bit 7 is used to select absolute or incremental positioning 0 Absolute 1 Incremental X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 0 1 0 1 0 0 1 0 Point number 1 to 30 Y axis 15 14
71. m the error state To execute this command set bit 12 to ON with setting the command number 0 in bit 7 to bit 0 Parameter save EEPROM write command 1 This command is used to save the system and operation parameters into the MC612 s EEPROM Both X and Y axis at a time To execute this command set bit 12 to ON with setting the command number 1 in bit 7 to bit 0 Parameter read EEPROM read command 2 This command is used to read the system and operation parameters from the MC612 s EEPROM and set them in the buffer memory X and Y axis independent To execute this command set bit 12 to ON with setting the command number 2 in bit 7 to bit 0 Parameter initialize Command 3 This command is used to initialize the system and operation parameters The parameters are returned to the default value EEPROM write is not executed by this command To execute this command set bit 12 to ON with setting the command number 3 in bit 7 to bit 0 Parameter enable command 5 Just writing the parameters in the MC612 s buffer memory they are not valid for the MC612 operation By executing this command they become valid To execute this command set bit 12 to ON with setting the command number 5 in bit 7 to bit 0 54 2 Axis Motion Control Module MC612 6 Operation Summary 6 2 Command bit control summary The MC612 is operated by the command from the S2 The S2 s output registers XQW assigned to the MC612 is used to
72. mit eee 16 299999 9999999 command unit CW Soft limit 7979999 109993999 9999999 command unit Address Data length Axis gt lt Zero return operation mode O O x lt Q No use Axis control mode a a ngepeneeit oo N 0 axis linear interpolation KJER EJES EAEE esi oon Essi Z e Cc ao oO 31 User s Manual 1 31 Appendices Address Data Axis Name Data range Default length value urrent position to OW C 9999999 to 9999999 pulse output command unit urrent position to gt W C 9999999 to 9999999 feedback pulse command unit W Operating point number 0 1 to 30 monitor H0080 to H0085 Error code monitor 0 1 to 255 o 38 1w x External input status monitor a ma A External output setting H0000 urrent position preset to gt W C 9999999 to 9999999 data output pulse command unit urrent position preset 5 to OW C 9999999 to 9999999 data feedback pulse command unit 2W Do Direct command position 3999399 A Da command unit ow Jog position switch 0 to 9999999 command value command unit 9999999 to 9999999 2W Point 1 position command unit Point 1 speed 1 to 32767 0 1 unit 1000 O to 10000 0 01s unit H8000 Point 1 dwell time H8000 to H8002 ERKAK 2W Point 2 position 9999999 to 9999999 command unit css Point 2 speed 1 to 32767 0 1 unit 1000 0 to 10000 0 01s unit Point 2 dwell time H8000 to H8002 H8000 X Point 3 positio
73. mplete Jog Change speed Jog Change speed During pulse output During pulse output Start Start Speed reach Speed reach Step Skip command Step Skip command Change speed ack Change speed ack Step skip acknowledge Step skip acknowledge Error flag Error flag Operation mode Operation mode Operating point number Operating mode or Error code IW n Operating point number Operating mode or Error code IW n 1 CW CCW or ABS INC CW CCW or ABS INC Command auxiliary data QW n 2 Command auxiliary data QW n 3 X axis status Command ready Y axis status Command ready X axis command Emergency stop Y axis command Emergency stop Jog Positioning complete Positioning complete Deceleration stop Deceleration stop Jog Zero return complete Zero return complete Jog Change speed Jog During pulse output During pulse output Start Start Zero Teaching Speed reach Step Skip command Change speed ack Speed reach Step skip acknowledge Error flag Error flag Operation mode Operation mode Zero return Teaching Operating point number Operating mode or Error code Operating point number Operating mode or Error code CW CCW or ABS INC CW CCW Jog Fixed fd Command auxiliary data Command auxiliary data For Jog Fixed feed Teaching operatio
74. ms 10000 Maximum speed 20 to 200000 pps 3000 Minimum speed 20 to 200000 pps Zero return speed 20 to 200000 pps 3000 Coordinate origin value 9999999 to 9999999 command unit 9999999 to 9999999 Zero offset command unit W Soft limit pee P seer 9999999 command unit CW Soft limit a OAN 10 2009939 9999999 command unit User s Manual 1 33 lt Zero return operation mode lt 170 171 172 173 174 75 EARE EA 182 183 186 aa 188 189 192 198 196 197 198 A NI NI zl N N N N N N N J a A ae pare r oo W i lauflaula 00 O0 00 O O0 N D i Q li O WIN EE E ooo N Appendices length value ee ee e e 201 pulse output command unit Peo ene p feedback pulse command unit Hole monitor H0080 to H0085 205 iw Y lErrorcode monitor 0 1t0255 dei 206 1w y External T wate monitor Sara External output setting H000 Current position preset 9999999 to 9999999 2W 209 data output pulse command unit ow Current position preset 9999999 to 9999999 211 data feedback pulse command unit 2W Direct command position ARN PI 213 command unit ow Jog position switch 0 to 9999999 215 command value command unit 216 9999999 to 9999999 TE OW Point 1 position command unit Point 1 speed 1 to 32767 0 1 unit 1000 0 to 10000 0 01s unit H8000 H8000 to H8002 2W Point 2 position A
75. n 9999999 to 9999999 command unit oint 3 spee to 1 unit 58 1W X Point 3 d 1 to 32767 0 1 unit 1000 i O to 10000 0 01s unit Point 3 dwell time H8000 to H8002 H8000 foe 4 to Point 28 same as above hoe Point 29 position 9999999 to 9999999 ie cd command unit 162 1W X__ Point 29 speed 1 to 32767 0 1 unit 1000 tes ww x Point 29 dwell time 0 to 10000 0 01 s unit H8000 H8000 to H8002 2W Point 30 position SIR I9PRO III 165 command unit ie se Point 30 speed 1 to 32767 0 1 unit 1000 Point 30 dwell time 0 to 10000 0 01 s unit H8000 H8000 to H8002 132 2 Axis Motion Control Module MC612 Appendices Axis Address Data length Name Data range Default value Bit 0 Output pulse 0 or 1 pulse euipulmoge Bit 1 Feedback pulse 0 or 1 9008 Backlash compensation Oto 1000 pulse ____ 0 Bit 0 Zero LS 0 or 1 Bit 1 Phase Z pulse 0 or 1 H0000 Bit 2 Error counter clear 0 or 1 Zero return operation Bit 0 Search direction 0 or 1 H0001 direction i irecti Bit 1 Creep direction 0 or 1 Electronic gear numerator 4 10000 pulse rotation 1000 output pulse Electronic gear denominator Ito 49900 1000 command units rotation output pulse Electronic gear numerator feedback pulse 1 to 10000 pulse rotation 1000 Electronic gear denominator A units rotation 1000 feedback pulse Acceleration rate 0 to 32767 ms 10000 Deceleration rate 0 to 32767
76. n when lX0 15 is turned ON again operation complete X_PNT_GO is reset to OFF User s Manual 81 82 2 Axis Motion Control Module MC612 Section 11 Automatic Stepping Operation 11 1 Overview 84 11 2 Related parameters 84 11 3 Operation procedure 86 11 4 Sample program 88 11 5 Step command 89 11 6 Skip command 91 User s Manual 83 11 Automatic Stepping Operation 11 Automatic Stepping Operation 11 1 Overview The automatic stepping operation is a variation of the point number operation In the automatic stepping operation the positioning proceeds automatically based on the two or more consecutive point number data stored in the MC612 operation parameter The time interval until starting the next point operation is determined by the dwell time stored in the point number data If the dwell time value is H8000 it is determined as the final point In the automatic stepping operation the S2 program specifies the starting point number It is possible to select the absolute positioning or the incremental positioning at the command activation The absolute positioning requires the zero return completion before starting this operation For the absolute and incremental positioning refer to section 10 3 11 2 Related parameters As same as the point number operation the automatic stepping operation executes the positioning based on the point number data stored in the operation parameter MC612 buffer memory Operat
77. n is the specified maximum speed with the specified acceleration deceleration Right after power on for the first time operation the MC612 executes backlash compensation in the CCW direction but not in the CW direction lt For the first time operation gt CW direction No backlash compensation CCW direction Backlash compensation User s Manual 41 5 Parameters 5 2 Operation parameters Listed below are the operation parameters and the buffer memory addresses of the MC612 lt Operation parameters gt Name Y Setting range unit Description axis axis pulse output 33 201 command units for monitoring feedback pulse 35 203 command units input for monitoring Operating point number for point number Operating point number 36 204 for monitoring Error code 37 205 No error for monitoring 1 to 255 Error code refer to appendix A 2 it 0 Servo ready input it 1 Servo in position input External input wonga Oor i o e ae erma Inpu 38 206 status of the external 3 p np status monitor Zero LS input CW over travel LS input CCW overt ravel LS input External emergency stop input Servo ON output Servo CW feed enabled output Servo CCW feed enabled output Servo error counter clear pulse output Servo reset output AI 40 208 9999999 to 9999999 Sets the preset value for current position P 41 209 command units This is for position based on pulse output
78. n pulses are being output the pulse output is immediately stopped 15 CCW over travel limit switch CCW LS input 12 24 Vdc The CCW side over travel limit signal is connected here Normally closed When this input is opened while the CCW direction pulses are being output the pulse output is immediately stopped 16 External emergency stop EMS input 12 24 Vdc The emergency stop signal is connected here Normally closed When this input is opened the pulse output is immediately stopped 17 Jog to position switch J P input 12 24 Vdc When this input comes ON during Jog operation the MC612 immediately starts positioning without speed bump The positioning value is specified by the operation parameter in incremental value 18 Interrupt INT input 12 24 Vdc When this signal switches ON the MC612 stops pulse output deceleration stop and performs the Point number operation using the parameter of point 30 In the linear interpolation mode the interrupt input of Y axis side is not valid 20 2 Axis Motion Control Module MC612 Section 3 Wiring External signal connectors 22 Output circuits 23 Input circuits 24 Pulse output wiring example 25 Feedback pulse input wiring example 26 Typical connection with servo driver 27 Typical connection with stepping motor driver 28 Wiring precautions 29 User s Manual 21 3 Wiring 3 Wiring 3 1 External signal connectors The MC612 has two connectors for e
79. n the jog position switch input comes ON the MC612 immediately switches from jog to positioning control with keeping the current speed and direction The positioning feed amount from the timing of the jog position switch input comes ON is specified by the operation parameter jog position switch command value For the jog position switch input refer to section 3 1 For the jog position switch command value refer to section 5 2 This function is useful for the application in which the positioning start timing is given by an external sensor signal during jog speed control operation Jog command Jog position switch input During pulse output flag Operation speed Positioning feed amount specified by the Jog position switch command value operation parameter The jog position switch input signal must be ON for more than 10 ms After the positioning complete the command ready flag and the positioning complete flag will return to ON under the following condition Jog command bit is OFF Jog position switch input is OFF If the jog position switch command value is too small against the operation speed and the specified deceleration rate the error code 153 will occur If the jog position switch input comes ON after the jog command bit has been OFF during deceleration the error code 155 will occur 98 2 Axis Motion Control Module MC612 13 Special Operations 13 2 Interrupt operation
80. nitial position error round error may occur within the command increment User s Manual 1 03 14 Other Functions 14 3 Current position preset This function is used to change the current position data to the desired value In the MC612 there are two types of current position data One is for output pulse and the other is for feedback pulse input The current position preset function can select either or both as the changing target Operation procedure The operation procedure to change the current position data is as follows 1 Write the position data into the current position preset data of the operation parameters see below Name X Setting range unit Description axis axis CI TO 40 9999999 to 9999999 Sets the preset value for current position p 41 e command units This is for position based on pulse output for pulse output Current position Sets the preset value for current position preset data Az 13999999140 9739999 This is for position based on feedback 43 command units for feedback pulse pulse input 2 Set the preset target 1 to 3 in bit 7 to bit 0 of the command register set value 7 in bit 10 to bit 8 and set bit 12 to ON X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 0 1 0 1 1 1 Preset target 1 to 3 Y axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 3 0 0 0 1 0 1 1 1 Preset target 1 to 3 Preset target 1 Cur
81. ns User s Manual 33 4 I O Allocation The status of each bit is shown below Status register ia Comma d reid 1 Command acceptable y 0 During command processing or during initialization 1 Positioning completed Positioning complete 0 Positioning not completed including emergency stop or deceleration stop command 1 Zero return normal complete status 0 Other than above 1 During pulse output Zero return complete During pulse output 0 Nopulse cutout 1 1 During operation at designated speed 0 Other than above 10 Change speed 1 Change speed request has been accepted acknowledge 0 Other than above o Step Skip 1 Step Skip request has been accepted acknowledge 0 Other than above 1 Speed reach IW n and IW n 1 Status E 4 1 Error mode MC gt S2 rror tag 0 Normal During Point number Operating point number 1 to 30 Jog operation Zero return operation During other Fixed feed operation operations Direct command operation Interrupt operation Jog Position switch operation In case of error Error code occurred 34 2 Axis Motion Control Module MC612 4 I O Allocation Command register Emergency stop 14 Deceleration stop Jog Change speed Start Step Skip command valid in automatic stepping operation 10 Operation mode 8 QW n 2 and QW n 3 Command SEM For Jog operation for bit D For Fixed feed oper
82. ns of external signals 18 User s Manual 15 2 Specifications 2 Specifications This section describes the MC612 specifications and explains the functions of the external signals The general specification for the MC612 conforms to the specification for the S2 PLC 2 1 Functional specifications Number of controlled axes 2 axes X and Y axes independent control or X and Y axes linear interpolation control Automatic trapezoidal triangular acceleration deceleration I O allocation type EEPROM life of writing times approx 100 000 Current consumption 2 2 I O Specifications Limit switch input etc OFF voltage 3 2 V maximum Feedback Input voltage pulse input Input current Typ 16 mA Z phase input ON OFF voltage ON voltage 4 0 V minimum OFF voltage 1 2 V maximum External input ON OFF delay Pulse output CW CCW pulses or PLS DIR pulse direction Open collector 5 to 24 Vdc max 50 mA or Differential output RS485 equivalent max 30 mA 40 to 60 at 30 kpps Output system Open collector 5 to 24 Vdc max 50 mA ON OFF dela External output 16 2 Axis Motion Control Module MC612 2 Specifications 2 3 External features Status LEDs X RP I Z OE eee e ee lt For X axis eee e ee lt For Y axis RP Z OE Y External I O connectors 40 pin x 2 Connector type PCB side FCN 365P040 AU 2 Cable side FCN 361J040 AU connector
83. nsequential damage or injury that may result from the use of this equipment No patent liability is assumed by Toshiba Corporation with respect to use of information illustrations circuits equipment or examples of application in this publication Toshiba Corporation reserves the right to make changes and improvements to this publication and or related products at any time without notice No obligation shall be incurred other than as noted in this publication This publication is copyrighted and contains proprietary material No part of this book may be reproduced stored in a retrieval system or transmitted in any form or by any means electrical mechanical photocopying recording or otherwise without obtaining prior written permission from Toshiba Corporation TOSHIBA Corporation 2002 All rights reserved Publication number 1st edition January 2003 Safety Precautions This module MC612 is a 2 axis motion control module for Toshiba s Integrated Controller V series model 2000 Read this manual thoroughly before using this module Also keep this manual and related manuals so that you can read them anytime while this module is in operation Safety Symbols The following safety symbols are used on the product and or in the related manuals Pay attention to the information preceded by the following symbols for safety AR WARNING Indicates a potentially hazardous situation which if not avoided could result in death or
84. nst the maximum speed parameter value However even if it is more than 100 the speed is limited by the maximum speed parameter value In this case speed setting alarm is occurred Operation is continued Operation procedure This function uses the status register IW and the command register QW assigned to the MC612 The speed changing procedure is as follows 1 During a positioning operation set the required speed in bit 6 to bit 0 of the command register and set bit 13 jog change speed bit to ON 2 When the request is accepted by the MC612 bit 10 change speed acknowledge of the status register comes ON 3 Then reset bit 13 jog change speed bit of the command register to OFF The following diagram shows an example of X axis Speed QW n 2 Bit 6 to 0 y 80 Change speed XQW n 2 Bit 13 Change speed acknowledge vi IW n Bit 10 Original speed Operation speed This speed changing is valid only for the current positioning operation Other than the normal positioning operations speed changing is also possible for the following operations by the same procedure In the following cases the speed changing percentage is against the zero return speed value Zero return zero LS search Zero offset Creep speed in the zero return operation can not be changed by this function 102 2 axis Motion Control Module MC612 14 Other Functions 14 2 Teaching Teaching is th
85. ntial RS485 output A3 CW PLS A2 CCW DIR B3 CW PLS B2 CCW DIR A6 B6 LG2 3 Servo interface output A13 REV B13 FWD A12 S ON K B12 RST A11 CLR gt B14 Common OV User s Manual 23 3 Wiring 3 3 Input circuits 1 Feedback pulse input AQ CW A A8 CCW B A7 Z 5Vdc B9 CW A B8 CCW B B7 Z 2 Servo interface input A14 Common 24Vdc A15 RDY B15 INP 3 Machine sensor input B17 Common 12 24Vdc A20 CCW LS A19 Z LS A18 INT B20 CW LS B19 EMS B18 J P 24 2 Axis Motion Control Module MC612 7 i 7 3 Wiring 3 4 Pulse output wiring 1 Pulse output transistor 5 12 24Vdc Driver e A shielded twisted pair cable at least 0 2 mm is recommended for pulse output signal e The cable length must be 3 m or less and must be separated from other input output wires and power cables Connect the cable shield to a good grounding point User s Manual 25 3 Wiring 3 5 Feedback pulse Input wiring 1 Open collector output device Driver External resistor R 5 Vdc Not needed internal 200 Q 12 Vdc 470 Q 1 W 24 Vdc 1 5 KQ 1W 2 Differential output RS422 RS485 device Driver ES pim o H L e A shielded twisted pair cable at least 0 2 mm is recommended for pulse input signal e The cable length must be 3 m or less and must be separated from other input output w
86. o return has not been the interrupt operation completed No operation 155 Jog position switch The Jog position switch input signal The Jog position switch input is operation invalid is switched ON when the Jog effective during the Jog command command is OFF No operation is ON 130 2 Axis Motion Control Module MC612 Appendices A 2 List of parameter default value The list below shows the default value initial value of the each parameter Name Data range Default value Bit 0 Output pulse 0 or 1 PA SA A Bit 1 Feedback pulse 0 or 1 MOJO Backlash compensation 0 to 1000 pulse 10 Bit 0 Zero LS 0 or 1 Bit 1 Phase Z pulse 0 or 1 H0000 Bit 2 Error counter clear 0 or 1 Zero return operation Bit 0 Search direction 0 or 1 H0001 direction Bit 1 Creep direction 0 or 1 Electronic gear numerator 4 10000 pulse rotation 1000 output pulse Electronic gear denominator 1049090 1000 command units rotation output pulse Electronic gear numerator l feedback pulse 1 to 10000 pulse rotation 1000 Electronic gear denominator Tie ne its 1000 feedback pulse command units rotation Acceleration rate 0 to 32767 ms 10000 Deceleration rate 0 to 32767 ms 10000 Maximum speed 20 to 200000 pps 3000 Minimum speed 20 to 200000 pps Zero return speed 20 to 200000 pps 3000 oordinate origin value eee es command unit Zero offset 9999999 to 9999999 command unit W Soft li
87. odule E MC612 EEN variable Engineering Tool Product tree screen MC612_Sample QI Libraries C Networks 3 Stations E Station 1 model 2000 J Units GW 00 BU648E Modules 00 S2PU72_X fm 03 DI633 fm 04 DI633 d O5 MCE12 fy 07 D0633 CI Station memories i Value Tool C Controller 0 MC_X_STATUS 1 BatchiN 0 MC_Y_STATUS WORD 2 Batch OUT 0 MC_X_COMMAND WORD 3 Batch OUT 0 MC_Y_COMMAND WORD gt il In the above example the MC612 is registered on the unit 0 BU648E slot 5 And four IQ registers IW8 IW9 QW10 and QW11 are assigned to the MC612 32 2 Axis Motion Control Module MC612 4 I O Allocation 4 2 Functions of the assigned data The functions of the assigned registers are as follows IW N Status flags for X axis IW n 1 Status flags for Y axis QW n 2 Command for X axis QW n 3 Command for Y axis Each bit in the registers has the following functions 2 axis independent control mode IW n IW n 1 QW n 2 QW n 3 X axis status Command ready Y axis status Command ready X axis command Emergency stop Y axis command Emergency stop Positioning complete Positioning complete Deceleration stop Deceleration stop Zero return complete Zero return co
88. on and the creep direction LS OFF direction must be opposite Otherwise parameter mismatch error will occur User s Manual 61 7 Zero Return Operation 2 Bit 1 Phase Z pulse use selection Selects either use or non use of the phase Z pulse in the zero return operation When the phase Z is not used the machine zero is determined at the point where the zero LS turns OFF When the phase Z is used the machine zero is determined at the point where the phase Z comes ON after the zero LS turns OFF Also at the time the MC612 outputs the error counter clear signal 0 Phase Z used Error counter clear output Parameter sening 1 Phase Z unused No error counter clear output e When phase Z is used When the phase Z pulse is used it stops at the first phase Z ON after the zero LS goes OFF and determines the machine zero At the same time the MC612 outputs the error counter clear output for approx 50 ms This mode is selected when a servo motor is used Zero search direction I Zero offse Creep direction Phase Z pulse Error counter clear output ee Approx 50 ms Operation speed Zero LS e Phase Z pulse is not used When the phase Z pulse is not used it stops at the zero LS coming OFF and determines the machine zero The error counter clear output is not functioning This mode is selected when a stepping motor is used Zero search direction Operation speed
89. operation example of the step command Case 1 Point 2 CW Point 1 Point Position Dwell time 1 5000 H8002 a 2 10000 H8002 3 3000 H8000 CCW Step command Positioning complete gt Command ready gt Case 2 Point 2 CW Point Position Dwell time 1 5000 500 A 2 10000 H8002 3 3000 H8000 CCW Step command i Positioning complete gt Command ready gt Case 3 Pana ia GW Point 1 EN Point Position Dwell time OA 1 5000 2000 2 10000 H8000 Step command CCW Positioning complete gt Command ready 2 User s Manual 89 11 Automatic Stepping Operation Step command The step command is issued by setting bit 11 of the command register XQW to ON while the positioning complete flag bit 14 of IW register is ON X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 1Ut1 Do not care Y axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 3 0 0 1 Step command acknowledge When the step command is accepted the step skip acknowledge flag bit 9 of the status register IW comes ON Therefore to execute the step command follow the procedure below 1 Confirm the positioning complete
90. or dwell time it is accepted as step command The functions of these two commands are the same That is immediately start the next point operation 92 2 Axis Motion Control Module MC612 Section 12 Fixed Feed Operation 12 1 Overview 94 12 2 Operation procedure 94 12 3 Sample program 96 User s Manual 93 12 Fixed Feed Operation 12 Fixed Feed Operation 12 1 Overview The fixed feed operation performs the fixed amount of feed positioning The feed amount can be selected from 1 10 100 and 1000 command units The maximum speed specified in the system parameter is used as the operation speed The feed direction CW or CCW can be selected This operation mode is used for inching function 12 2 Operation procedure The fixed feed operation is started by setting bit 12 and bit 9 to ON with specifying the feed amount in bit 6 to bit 0 of the command register QW while the command ready flag bit 15 of IW register is ON Bit 7 is used to select absolute or incremental positioning 0 Absolute 1 Incremental X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 0 1 0 0 1 0 1 0 Feed amount 0 to 3 Y axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 3 0 0 0 1 0 0 1 0 1 0 Feedamount 0t03 Feed amount bit 6 to bit 0 0 1 1 10 2 100 3 1000 command units 94 2 Axis Motion Control Module MC612 12 Fix
91. or reset command For the error reset command refer to section 17 2 If the selected error counter clear mode is Toei servo mode refer to section 7 2 1 the error counter clear output will not come ON when the emergency stop command is executed User s Manual 1 1 1 15 Stop 15 4 Over travel limit switch The MC612 has the CW over travel limit input and the CCW over travel limit input Refer to sections 2 4 and 3 1 When the CW over travel limit input comes active opened during CW direction operation the MC612 immediately stops the pulse output and goes into the error state code 146 On the other hand when the CCW over travel limit input comes active opened during CCW direction operation the MC612 immediately stops the pulse output and goes into the error state code 147 When the CW or CCW over travel limit input comes active the zero return completion status is reset the zero return complete flag changes to OFF and the error counter clear output turns ON for 50 ms if phase Z signal is used Refer to section 7 2 1 To recover from the error state execute the error reset command refer to section 17 2 then operate for the opposite direction to escape from the over travel limit switch 1 When wiring the CW and CCW over travel limit switches make sure the CW and CCW side If they are reversed the over travel limit switches will not function correctly 2 If the selected error counter clear mode is Toei servo
92. output pulse is increased when outputting CW pulse and decreased when outputting CCW pulse The maximum pulse output rate is 200 kpps 3 The current position data based on the feedback pulse input is increased when inputting CW pulse and decreased when inputting CCW pulse When CW CCW pulse mode is selected the maximum input pulse rate is 200 kpps When quadrature bi pulse mode phase A B is selected the maximum input pulse rate is 100 kpps However in this case both rising and falling edges of phase A and B pulses are counted As the result the maximum counting speed is 400 k count sec 4 The axis control mode parameter written in the buffer memory is enabled at each time the command in issued All other system parameters written in the buffer memory become valid when the parameter enable command is issued 5 When the pulse mode and or electronic gear parameters are changed positioning deviation or erroneous current position data changing may occur due to the internal calculation Therefore when you change these parameters write the parameters into the EEPROM and reset the power or execute the zero return operation or execute the current position data preset before starting the positioning operation 6 When the backlash compensation parameter is set other than 0 the specified number of pulses is output before starting the positioning in the case of operating direction is changed The pulse rate of the backlash compensatio
93. own below This program designates the point 10 as the starting point It is assumed that the point 10 to 12 data point 12 is block end has been written into the MC612 before activating this sample program To activate this program select absolute or incremental by X_INC OFF Absolute ON Incremental then set X_AUTO_GO to ON When the consecutive positioning operation point 10 to point 12 is completed X_AUTO_GO is reset to OFF automatically IX0 8 DUMMY wi OX2 12 OR_WORD EN S ENO X_AUTO_G0 16 0500 LD uz LD OX2 7 s 0X2 12 X_AUTO_GO y When X_AUTO_GO is set to ON while the command ready flag 1X0 15 is ON the starting point number 10 in this sample is set in the QW2 The value 5 is set in bit 10 to bit 8 of QW2 If X_INC is ON QX2 7 is set to ON Then QX2 12 is set to ON When lX0 15 command ready is turned OFF command accepted QX2 12 is reset to OFF Then when lX0 15 is turned ON again operation complete X_AUTO_GO is reset to OFF 88 2 Axis Motion Control Module MC612 11 Automatic Stepping Operation 11 5 Step command In the automatic stepping operation if the dwell time value is H8002 the next point operation will not be started until the step command is issued This function is used to give the step timing from the S2 instead of the pre specified dwell time The step command is also available during the dwell time counting The followings are the
94. procedure Sample program Overview Related parameters Operation procedure Sample program Step command Skip command Overview Operation procedure Sample program 4 2 Axis Motion Control Module MC612 Table of Contents 13 Special Operations 97 13 1 Bump less switching from jog to positioning 98 192 ImerruptoperatiOn sioni iena I al erre 99 14 Other Functions 101 14 1 Speed changing during positioning 102 14 27 Teaching cossa ERO enne parate analisti 103 14 3 Current position preset 104 ESTES Co o A E tite olen see ili cli Lia 107 15 1 Deceleration Slop commeand sorta lho ille eds 108 15 2 Emergency stop signal leleine ANO AKETE 110 15 3 Emergency stop command sue aaa 111 15 4 Over travel limit switch ian leda 112 16 2 axis Linear Interpolation Control Mode 113 dol OVerviEW silla A A E A E E AE E garnered 114 16 2 Mod setting spurl ellaral elica lei i 115 16 3 Related commands and parameters _ eee eee eeeeeeees 116 47 Auxiliary Commands lire illeciti 119 Za OVEMIGW gt sere a a ai I ce ti Boe eed e ivi E Ai 120 17 2 ERO reset iii cate neta Aik a i che a oa io ai ii ie ua 121 17 3 Parameter save EEPROM write 121 17 4 Parameter read EEPROM read _ eee ee ee eee ease ee een ease eeneeaed 122 17 5 Par ameterinitialize oo e rasi last 122 17 6 Parameter enable command riunir 122 ADPPEendices sgualdrina lla 12
95. rent position for output pulse only 2 Current position for feedback pulse input only 3 Both 3 When the request is accepted by the MC612 bit 15 command ready of the status register comes OFF 4 Then reset bit 12 of the command register to OFF 104 2 Axis Motion Control Module MC612 14 Other Functions Special procedure to set the zero return complete flag forcibly Soft zero return When the power is turned ON the zero return complete flag is 0 Zero return incomplete However by executing the following special operation the zero return complete flag can be set to 1 forcibly By this special operation absolute positioning becomes possible without executing the zero return Preparation 1 Preset the current position for output pulse to the desired value e g 100 2 Execute parameter save EEPROM write command The current position data is also saved in the EEPROM But it cannot be seen At the normal operation 1 Turn on power to the S2 2 Before executing any other command preset the current position for output pulse by the value that is saved in the EEPROM e g 100 If the changed value is the same as the position data saved in the EEPROM the zero return complete flag will be set to 1 User s Manual 1 05 106 2 Axis Motion Control Module MC612 Section 15 Stop 15 1 Deceleration stop command 108 15 2 Emergency stop signal 110 15 3 Emergency stop command 111 15 4 Over travel lim
96. rmined the MC612 outputs the pulses of the zero offset incremental value which is specified in the system parameter at the zero return speed Then the coordinate origin value specified in the system parameter is preset to the current position Zero search direction CW Operation speed CCW Cheep direction Zero offset Zero LS Z phase pulse Error counter clear pulse CW Coordinate i origin value Position CCW 1 Zero offset movement starts in 50 ms after detecting the machine zero 2 The Coordinate origin value is set to the current position data both pulse output and feedback pulse input in 200 ms after completing zero offset movement 66 2 Axis Motion Control Module MC612 7 Zero Return Operation 7 3 Operation procedure The zero return operation is started by setting bit 12 and bit 8 of the command register QW to ON while the command ready flag bit 15 of IW register is ON X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 0 1 0 0 0 1 Do not care Y axis 15 14 13 12 11 10 QW n 3 oTo o 1ToT0 o pure 1 1 1 1 1 Zero return operation time chart The following diagram shows the time chart for X axis zero return operation When using the zero LS and normal phase Z pulse Start 4QW n 2 Bit 12 Operation mode i
97. rol Module MC612 7 Zero Return Operation 7 2 Related parameters To perform the zero return operation the following parameters must be set before starting the zero return operation Address Name X Y Setting range unit Description axis axis Zero LS is used PIO udelors Over travel LS is used no zero LS Zero return Phase Z is used operation mode 2 Ug T RnaG A pulse Phase Z is not used Bit 2 Error counter Normal mode 50 ms clear output Toei servo mode Bit 0 Search direction Zero return Zero LS ON SRI een Bit 1 Creep direction Zero LS OFF direction o Designates the speed to search the zero LS Zero return speed IG io 20 to 200 000 pps for the zero return operation This speed is also used for zero offset movement es E ee value 17 185 command units zero return completion position 19 187 command units machine zero to the coordinate origin 7 2 1 Zero return operation mode Address X 2 Y 170 1 Bit 0 Zero return movement mode selection Selects either zero LS or over travel LS as the machine zero position limit switch for the zero return operation Using the over travel LS instead of the zero LS will allow the zero return operation at over travel LS position Refer to section 7 2 2 for the operation 0 Zero LS used Parameter setting 1 Over travel LS used When the over travel LS is selected for zero return operation the search direction LS ON directi
98. s Basic unit 200 mm or longer 100 mm or longer Expansion unit Low voltage Power signal Power signal line duct line duct line DC input module AC input module Analog input module DC output module Analog output module AC output module Pulse input module Relay output module Motion control module Communication module Network module User s Manual 29 30 2 Axis Motion Control Module MC612 Section 4 VO Allocation 4 1 Allocation to the S2 data memory 32 4 2 Functions of the assigned data 33 User s Manual 31 4 I O Allocation 4 I O Allocation 4 1 Allocation to the S2 data memory The MC612 occupies the four consecutive IQ register of the S2 These are two input registers IW lower addresses and two output registers QW higher addresses In this manual these assigned IQ registers are expressed as IW n IW n 1 QW n 2 and QW n 3 Each bit in the IW register is designated as lX register number bit position and each bit in the QW register is designated as QX register number bit position For example bit 10 of IW20 is designated as IX20 10 The following figure shows an example of I O registration screen of the V series Engineering tool In this case the MC612 is mounted in the slot 5 of the base unit BU648E 8 lt Slot number I O Variables screen I OVariables Station 1 0 BU648E 5 MC612 d Find Word Find Ae 1 0 M
99. s follows 1 Set the required command number 0 to 5 in bit 7 to bit 0 of the command register and set bit 12 to ON 2 When the command is accepted by the MC612 bit 15 command ready of the status register comes OFF 3 Then reset bit 12 of the command register to OFF A program example is shown below CMD_WRT 1X0 15 OX2 12 OX2 12 X0 15 VOX2 12 CMD_WRT R This example is for executing the X axis parameter enable command When CMD_WRT comes ON the command number 5 is written in QW2 and QX2 12 is set to ON When the command is accepted IX0 15 changes OFF QX2 12 and CMD_WRT are reset to OFF 120 2 Axis Motion Control Module MC612 17 Auxiliary Commands 17 2 Error reset When the MC612 detects an abnormality parameter error emergency stop over travel etc the MC612 stops pulse outputs then enters the Error mode To recover from the Error mode the Error reset command is necessary The command number is 0 for this Error reset command Refer to section 17 1 for how to execute this command In the independent control mode this command is effective for the each axis independently On the other hand in the linear interpolation mode X axis command is effective 1 When an error has occurred the corresponding error code is stored in the status register IW and in the buffer memory address 37 for X axis and address 205 for Y axis Confirm the error code before executing the error rese
100. serious injury ZAN CAUTION Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury It may also be used to alert against unsafe practices Safety Precautions N CAUTION e Turn off power to the controller and to this module MC612 before removing or mounting this module Failure to do so can cause electrical shock or damage to this product e Read the Safety Precautions described in the controller User s Manual before using this module e Follow the instructions described in this manual and in the controller User s Manual when installing and wiring this module e This module has been designed for the Integrated Controller V series model 2000 Use your MC612 only on the V series model 2000 rack e Follow the power up and the power down sequences described below Failure to do so may cause unexpected behavior of the controlled loads machines Power up Controller power ON MC612 load power ON Power down MC612 load power OFF Controller power OFF e This module consumes maximum 770 mA of internal 5 Vdc power Confirm that the total 5 Vdc consumed current per one power supply module is within the limit If it exceeds the limit the controller cannot operate properly and this may cause unsafe situation User s Manual 1 About This Manual About This Manual This manual describes the specification and the operations of Toshiba s 2 axis motion control module MC612
101. t Then after resetting the error take the corrective action Refer to appendix A 1 for the error code 17 3 Parameter save EEPROM write As described in section 1 3 the MC612 contain three types of memory These are main RAM buffer Memory and non volatile EEPROM When power is turned on to the MC612 the control parameters stored in the EEPROM are transferred to the main RAM and the buffer memory To write the parameters into the EEPROM 1 Write the parameters into the MC612 s buffer memory 2 Execute the Parameter save EEPROM write command Then the parameters are written into the main RAM and the EEPROM From the next time power on the parameters stored in the EEPROM are automatically retrieved to the main RAM and the buffer memory The command number is 1 for this Parameter save EEPROM write command Refer to section 17 1 for how to execute this command In the independent control mode this command for any axis functions entire parameter save In the linear interpolation mode X axis command is effective 1 The EEPROM has the life limit for the writing It is 100 000 times When it exceeds the error code 138 is registered 2 It is also possible to operate the MC612 without using the EEPROM In this case every time the S2 starts the operation write the parameters into the buffer memory and execute the Parameter enable command User s Manual 1 21 17 Auxiliary Commands 17 4 Parameter read EEP
102. the current position data to desired value Either one or both the current position data the pulse output position and the feedback pulse input position can be changed To perform this function write the preset position value in the operation parameter current position preset data and set bit 12 bit 10 bit 9 and bit 8 to ON with setting the changing object in bit 7 to bit 0 Changing object designation 1 pulse output position 2 feedback pulse input position 3 both Change speed during positioning function The operating speed during positioning can be changed by this function To perform this function set bit 13 to ON with setting the speed designation in bit 6 to bit 0 The speed designation is given as percentage 1 increments against the maximum speed system parameter Teaching function By using this function the current position is recorded as the target position of the specified point data To perform this function set bit 12 bit 10 and bit 9 to ON with setting the point number in bit 6 to bit O The teaching does not change the speed and the dwell time values of the point number data User s Manual 53 6 Operation Summary The MC612 also has the following auxiliary commands Error reset Command 0 When the MC612 detects an abnormality including over travel LS emergency stop signal etc it stops pulse output immediately and sets the error flag This error reset command is used to recover fro
103. uring point 1 operation under the condition that point 1 1000 point 2 2000 and the position before starting point 1 is Po the position after completing point 2 operation is Po 1000 2000 User s Manual 91 11 Automatic Stepping Operation Skip command The skip command is issued by setting bit 11 of the command register XQW to ON while the positioning operation is executing positioning complete flag bit 14 of IW register is OFF X axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 2 0 0 1Ut1 Do not care Y axis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 QW n 3 0 0 1 Skip command acknowledge When the skip command is accepted the step skip acknowledge flag bit 9 of the status register IW comes ON Therefore to execute the skip command follow the procedure below 1 Confirm the positioning complete flag bit 14 of IW register is OFF 2 Set the skip command bit 11 of QW register to ON 3 When the step skip acknowledge flag bit 9 of IW register comes ON reset the skip command bit 11 of QW register to OFF The operation procedure for the step command and the skip command are the same If it is issued during the positioning operation it is accepted as skip command And if it is issued after completing positioning and waiting f
104. xternal signal connections One is for X axis and the other is for Y axis The pin assignment of the connector is as follows e Connectors W over travel LS input mergency stop input og position switch input ensor input common ervo in position input ervo output common OV ervo CW enable output CCW over travel LS input Z S input cimo Servo ready input Servo ready input MIZ W O Servo input common 24 Vdc n Servo CCW enable output n Servo ON signal output Servo error counter clear output wn D rvo reset output ulse input CW phase A Z O O U Z ulse output Tr CCW DIR OV ulse output RS485 CW PLS ulse output RS485 CCW DIR External power input OV 1 Pulse input phase Z Pulse input output ground LG2 Pulse output Tr CW PLS Pulse output Tr CCW DIR Pulse output RS485 CW PLS Pulse output RS485 CCW DIR External power input 24Vdc 1 Pulse input CW phase A NC No connection Do not connect any signal 1 A1 B1 pins are X axis side only These pins of Y axis connector are NC The pin assignment except A1 B1 is the same between X axis and Y axis DC DC converter 24Vdc 5Vdc BI O A6 B6 VLG2 X axis side For X axis and Y axis 22 2 Axis Motion Control Module MC612 3 Wiring 3 2 Output circuits 1 Pulse transistor output A5 CW PLS A4 CCW DIR B5 B4 A6 B6 LG2 2 Pulse differe
105. zero LS turns OFF if phase Z is used 4 Moves by the zero offset amount if any at the zero return speed then sets the coordinate origin value to the current position The operation speed and the moving direction are specified by the system parameters Direct command operation This operation is used to specify the target position absolute or incremental by the S2 program each time To start this operation write the target position in the operation parameter and set bit 12 bit 9 and bit 8 to ON Then the positioning operation is started at the maximum speed The target position data handling absolute or incremental is determined by bit 7 Point number operation This operation is used for positioning based on the pre stored point data target position and speed in the operation parameters To start this operation set bit 12 and bit 10 to ON with setting the point number in bit 6 to bit 0 The target position data handling absolute or incremental is determined by bit 7 Automatic stepping operation This is a variation of the point number operation The positioning proceeds automatically based on the pre stored two or more consecutive point data The time interval until starting the next point operation is determined by the dwell time stored in the point data operation parameter If the dwell time value s H8000 it is determined as the final point To start this operation set bit 12 bit 10 and bit 8 to ON with setting the st

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