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GLOFA_G 3,4,6 F-POPA,POPB_manual - Ana

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1. 7 5 Chapter 7 Function Blocks 7 3 Function Block for auto operation 7 3 1 Start Auto Start G3F POPA GAF POPA G6F POPA POSP_AST G4F POPB POSB_AST Output parameter ACT will be T if one positioning is complete by operation start command of positioning module Be Block D Data e Description st area of Function Block execution at rising edge Zoe Block executed if 0 gt T rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on m AST Base positon No BASE USI Setting area of base No postioning module is equipped on DONE Input ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 stion No X ing area of slot No positioning module is equipped on ing range 0 7 cae Assignment area of ais to use T f 0 X axis operates f 1 Y axis operates isplaying area of Function Block execution complete DONE f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 Output au AT INT Error state displaying area f error occurs during Function Block execution error No is displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to O0 with 1 output after processing Function Block command 1 Relation between output parameters DONE and ACT REQ Function Block execution by 1st REQ
2. 3 12 Setting operation step No POS SMC rising edge p This is used to change operation step number to execute which is available only when stopped D gt Setting in S W package eee oon Operation Wat el Address M code Speed tb Relative Continuous Number change by setting E mh No Pos SMC rising ae T o tae oe coos i aw Relatve Diabe Loge RER Kap H we me ome i m 5 Number change by setting T step ERE I _SMC rising edge 1 vg Relative i Continuous Afterthis only operation step No 6 is repeatedly operated if only continuous positioning start P OS AST is used without number change D gt Program Program 3 17 setting operation step No 3 45 Chapter 3 Functions 3 13 Parameter change in program POSI PRM rising edge p gt Some of parameters set in S W package can be changed by parameter change command POS PRM rising edge T p gt Changeable items are as follows 0 With mode used 1 After mode used 2 M code mode not used p gt Parameter changeable only when operation is being stopped Program 3 18 Parameter change 3 46 Chapter 3 Functions 3 47 Chapter 4 S W Package Chapter 4 S W package gt Details of SW package are described p gt Be careful that S W package is changed from POSITION to POSPACK with its terms modified also SUL New package POSPACK Old package POSITIONJ 4 1 Chapter 4 S W Package
3. 1 l d 1 Jan point Origin point i retum Di Tine D i i 1 H 1 i Near Zero Point detectn l i 1 1 f 1 1 1 1 Ir gt outpaameer STS s 3th l l 1 1 Origin point detectn 1 POSGSRD outpara ST5 s i Origin pont retum dwell ime signal POSGSRD outpara ST1 s Obi i Origin point compensation signal POSCSRD ipaa STA s bi During origin point retum POSCSRD outpara STI s b Origin point return complete POS SRD outpara fe 5 bij Chapter 5 Positioning Parameter 5 7 3 Speed of the retum to origin point gt Speed of the return toorigin point by origin point return command includes high speed and low speed gt Setting of origin point return speed shall be as follows speed limits gt origin point return high speed gt origin point return low speed 1 Origin point return high speed gt Constant staged operation speed via acceleration stage by origin point return command gt Setting range of origin point return high speed 1 20 000 Unit 10pps 2 Origin point return lowspeed gt Constant staged operation speed via deceleration stage by origin point return command p gt Setting range of origin point return low speed 1 20 000 Unit 10pps Gigin point return owspeed shall be setas low as possible when ori gi n poi nt retum speed is to be set If the low speed is set too fast detection of origin point signal may not be accurate 5 14 Address
4. G3F POPA GAFPOPA GGRPOPA POSP VCG GAF POPB POSB VCG It can be used to change operation speed at constant speed during operation Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on Base postion No Setting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Slot patton No SLOT Setting area of slot No positioning module is equipped on Seting range 0 7 BASE Assignment area of axis to use If 0 X axis operates If T Y axis operates Setting area of present operation speedto new value Seting range 1 20 000 Unit X 10Pulse AXIS State displaying area of Function Block execution complete DONE BOOL If Function Block execution complete without error 1 is output as kept until the next Output execution starts If aror occurs 0 is output wih operation stopped Error state displaying area STAT enr If error occurs during Function Block execution error No is displayed v lt dr 7 13 Chapter 7 Function Blocks 1 Caution for Function Blocks of speed change command used in program 1 Available only at constant speed during operation Busy On state 2 Available operation modes are single operation repeated operation and auto operation with J OG high speed and origin point
5. 324 Continuous operation 1 Positioning is complete upon positioning executed to the target position without stopping operation step set to continuous operation mode by one positioning start POS AST rising edge T and the dwell time elapsed Accordingly operation mode of the last operation step shall be set to single operation mode or repeated operation mode lf not error 66 occurs 2 Continuous operation command Next Move is available if next step position and speed are desired before the presently engaged operation step reaches the target position However continuous operation command Next Move can be executed only at constant speed 3 Only the same direction is available for continuous operation mode and operation direction is decided according to position address value Ex D Operation pattern Op repeatec Op steo No 1 Op continuous Op step No 0 i 1 EE i On Positioning start l POSg_AST i BUSY POS SRD ST6 3 D Setting in S W package Number of Operation t M code Speed Na Dwel rogram prog i method ald amp Positioning start Disable Continuous Disable Continuous D gt Program MOD INF 3 Pose SRD REQ DONE POS_INF OS cen REQ DONE BASE BASE STAT ERR RES ERR_INI POSP_RES IP REQ DONE BASE BASE STAT j SLOT SLOT STI INF1 our PERMI DUT EN T POSP OFF CURRENT_P ZE REQ Done BASE BASE STAT j SLOT SLOT CA OS
6. 7 2 Chapter 7 Function Blocks 7 2 Function Block for module information Read 7 2 1 Code information Read at present operation state Status Code Read G3F POPA G4F POPA G6F POPA POSP_CRD G4F POPB POSB CRD Present position address operation speed M code value and operation data No of the setting axis can be read for monitoring or using as conditions in user program n Block ae Data re Description Request area of Function Block execution Function block executed if 0 gt T level detection wth connected conditi on to this area as ros emn fion No BASE USI ing area of base No postioning module is equipped on Input ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 SLOT JUSI ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use INT If 0 X axis operates If T Y axis operates isplaying area of FunctionBlock execution complete DONE L If Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output star INT Error state displaying area S If error occurs during Function Block execution error No is displayed 7 3 Chapter 7 Function Blocks 72 2 Bitinformation Read atpresent operation state Status Bit Read G3F POPA G4F POPA G6F POPA POSP_SRD G4F POPB POSB SRD Present operation state of the setting axis can be read
7. DONE Function Block command processed ACT D Function Block execution by 24 REQ 2 Caution for F unction Blocks of auto operation command used in program 1 Available only when operation is atstop state Busy Of state 2 Available operation modes are single operation repeated operation auto operation continuous operation constant operation and positioning constant operation a If auto operation is used continuous operation constant operation and positioning constant operation are not available for the succeeding operation step No to auto operation b If continuous operation is used auto operation constant operation and positioning constant operation are not available for the succeeding operation step No to continuous operation 7 6 Chapter 7 Function Blocks 7 3 2 Linear interpolation start Linear Interpolation G3F POPA G6F POPA POSP INT G4F POPB POSB INT Command for linear interpolation operation in positioning module for 2axes us Block pos Data e Description Request area of Function Block execution at edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as co i Input BASE INT Setting area of base No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 SLOT INT Setting area of slot No positioning module is upped on Seting range 0 7 er Y axis error infomation displayed
8. F0010 GET 00001 00000 D 00006 pm P0029 Commonused RAM status total Read H D M6 Condition in Constant op Iscan On M0226 MOV 01200 M012 Variable speed value 1200 SET P004B P0027 Speed change command On RST DU com complete signal Sedo ctus d F0010 PUT 00001 00012 MOI2 00001 Data Write 13 Position Teaching TEA F0010 GET 00001 00000 D0000 00006 POOOF P0020 P0021 Commonused RAM status total Read iH pw Eror signal Condition M0227 Tn operation Ten On MOV 00012 M007 MULS 12500 I D0009 Save pos add _12500 to D0009 DMOV D009 M009 Save pos add value _12500 to M009 SET PO04D Pos Teaching com On P0027 RST PO4D Com complete signal F0010 Pos Teahing com Off PUT 00001 00007 M007 00004 Data Write 10 11 Chapter 10 MK Program 14 Speed Teaching VLT F0010 GET 00001 00000 D 00006 P0010 P0020 P0021 commonused RAM status total Read Condition Error signal In operation Iscan On M0228 MOV 00008 M013 Speed No 8 MOV 00340 M014 value 340 SET POME P0027 Speed Teaching command On RST POME Speed Teaching command Off Com complete signal F0010 PUT 00001 00013 M013 00002 Data Write 15 Inching INC F0010 GET 00001 00000 D0000 00006 POOL P0020 P0021 Common used RAM status total Read E Condition Enor In operation Iscan On M0229 ne MOV 000 wu Inching 15 P002
9. Function Blocks for positioning modules used in GMWIN are described Type of Function Blocks is as follows 1 POSP CRD POSP CRD POSB CRD POSP CRD Present operation state s code information 121 For modue Read information i iti i DH EEN o SECH operation states bit EE m POSP ORG POSP ORG POSB ORG POSP ORG Origin point retum operation 1 3 3 Manual Operation POSPJOG POSPjJOG PosBjoc PosPjoc JOG operation POSP RTP POSP pm PosBRTP POSP am Retum to prior position to manual operation Manual pulse generator operation POSP MPG POSB MPG 7144 ewe mme o allowable POSP TEA POSP TEA POSBTEA POSP TEA _ Position teaching Teaching posp VT PosP iT PosBviT posp VT Speed teaching POSP MOF POSP wt PosBMor PoOsP wo M code off Sub Operation 6 B posp VCG POSP VCG esu Hi P posp TMP Joes TMP POSP RES POSB RES POSP RES Error reset 1 1 3 B oe eem iem POSB FLT Jeer LT Others Present postion preset CT 2 gt POSePRM Parameter change 7 1 Chapter 7 Function Blocks 7 1 Function Block registration for positioning module in GMWIN Function Block can be registered as specified below while GMWIN is being executed Function Block registration is available only when the project is at open state Library insertion I G3F POPA 3 series reg Special 3fb eroi Be1pl de on ere goldea elect m cnt Acht A tn r
10. M is available only in 2 Change b overide alowable se Enoreset Operation sepno Change Enoreset 2 To be in setting range To be n inching seting enge Leg ove to operation available area by JOG or manual operation and then perom rest l mg 2 Position Teaching command executed after origin pont decided x x f Leen Toteinsetirgrnge Teaching mode value s notas assigned X EH Speed exceeded over alowable ole speed speed iis o 7 22 Chapter 7 Function Blocks Origin point return speed exceeded over allowable range bias ims ee BOUE Change speed values Origin point return low speed set higher than origin point return high sel Minor axis speed calculated by linear interpolation exceeded over kenen Char he operated alonabe range E EES Operation ime exceeded overalowable range Max 65535 ms resent Add protection circuit against execution of the other operation state comans dung operan n pogam Start origin point return or interpolation operation command input at Change CPU module state from STOP to RUN and lo operation PLCstop state perfor rest Execute inching command while operation of the other Inding command unavelable f other ap 5 in operaton Busy lp operation as ka m umomimepigem oj Ise 0 05 1 116 ie Operation data of which interpolaton operation is unavalable Operation unavailable because operation speed is higher than x 7 x
11. Set JOG forward JOG command aux output Set JOG low speed Set JOG reverse JOG command aux output Positioning start Off Origin point return Command Off Speed Teaching command Off Inching command Off Common used RAM command amp data total Write JOG command output Chapter 10 MK Program 10 29 Chapter 11 Operation Proceedings amp Installation Chapter 11 Operation proceedings amp Installation 11 1 Operation proceedings gt Operation sequence for positioning operation with positioning module is as shown below Start Decide positioning operation method Install positioning S W package in the computer Prepare positioning data with S W package D gt Positioning parameterS AXIS Y AXIS gt Position data X AXIS Y AXIS D gt Speed data X AXIS YAXIS Install positioning module on the base Let positioning module driver motor and outer devices connected Connect the cable between the computer amp positioning module Let PLC system powered On Test the system of positioning module Set change monitor positioning pre operation and various computer P Set origin point address gt Set teaching function JOG operation positioning data address etc by MPG Write setting data via positioning module in the computer data via the operation Prepare positioning program Perform positioning operation by CPU module amp positioning module 11
12. 4 1 Main manu bar Control area of positioning files and communication ports to connect with positioning module and S W package Fe Vew nam Modelseting Data seting Open O Cla v Tool Bar Comm Port T Of Online Model Set M Ctrl M X Axis Parameter A Cti A Save S Ctrl S v Status Bar S Comm Item K Ctri K Offline Model Set O At M hwisParameterZ AleZ Save as A X Axis Position Data G Ctrl G Y Axis Position Data B Ctrl B Exit X 4 1 1 File 1 Open p gt Command to open a file prepared by SAV package p gt Extension cord of the file is PLS 2 Save p gt Command to save a file prepared by S W package Save another name gt Command to save a file prepared by SW package in another name 4 Print gt Command to printa file prepared by S W package with the following 5 items as selected 1 X axis parameter 2 Y axis parameter 3 X axis position data 4 Y axis position data 5 Speed data w Positioning module Print Cur File Name No title Positioning GMB PULSE 2 Axes E Print data p X Axis Position Data E puse mm D mons To lusum escis p Y Axis Position Data T Y Axis parameter qu From S Te E pulse Timm Speed data Pinch degree Print Setup IL x Cancel 5 Close p gt Command to close SAV package program 412 View 1 Tools p gt Command to display tools at S W package S ad amp amp 7 bh xp ve xo vo
13. Base postion No BASE USI Seting area of base No positioning module is equipped on ing range GM1 series 0 31 GM2 serie 7 GM3 4 series 0 3 GM6 series 0 Input a Sion No SLOT JUSI ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use INT 0 X axis operates I Y axis operates isplaying area of Function Block execution complete DONE Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 is output Output a AT Enor state displaying area error occurs during Function Block execution error No is displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to 0 with 1 output after processing Function Block command 7 4 4 Operation approval of manual pulse generator Manual Pulse Generator G3FPOPA POSP MPG G4F POPB POSB MPG This is used to command position decision module to be in preparation state of operation performed wth outer equipped manual pulse generator MP G Kc Ye ES Ms area of Funcion Block execution at ising ede Function Block executed if O rising edge with connected conditi on to this area as conposed during programexecuti on SLOT JUSI i slot No positoning module is equipped on ingrange 0 7 Assignment area of axis to use If 0 X axis operates T Y axis operat
14. H i By external Extem Error sate error22 ptstop axis M Unchanged signal it On tputprohibited Emergency sto Error state error20 gency sop otstop b 0 Outputprohibited Deceleration stop As stopped Unchanged Package command Deceleration stop Dunkin T ebe eceleration s s stoppe nchange Byteaching command P 9 module Emergency stop Eror state error21 command Outputprohibited positioning means postion contro Speed control and speed posttion switching control by pstioning data 2 Duer input signal of near zero point and origin point signal have no influence on positioning control if origin point retum is complete 3 If axis operation state after stopped is output prohibited execute cancellation command P OS C OFF rising edge To output prohibition so to cancel output prohiblion and reset error No 34 SAN upperflower limit by parameters is unavailable in constant operation mode io and E 1 and tput prohibited pt stop axis i Unchanged on Output prohibited allow m 0 ti Bysw Decele au gt lt 3 21 Chapter 3 Functions 332 Stop processing and priority 1 Stop processing Deceleration stop command POS C STP risingedge 7 is processed differently according to acceleration stage constant stage and deceleration stage of operation pattem 1 Atacceleration constant stage p gt Since positioning operation is not complete to target position as set if stopped as
15. Jj accekratonecekraton indnaton Start command input from position data set to Complete without number Change operation step No and then perom rest Note 1 m only in G4FPOPA V1 0 Note 3 G3F POPA V1 1 or later 7 23 Chapter 8 Pro Chapter 8 Program 8 1 Prior to program introduction gt Function Blocks above shall be surely applied to all programs to refer to output parameters of operation states code information Read POSg CRD and present operation state s bit information Read POSg_ SRD for detailed information on positioning module operation gt Especially 6 types of output parameters of operation state s code information Read POSg_ CRD provide operation information of positioning module to be surely used as protection circuits against error when the respective Function Blocks are to be applied Function Output is eie Description Block parameter D ke Address present position address displayed ke Velocity present operation speed displayed POSE_CRD 1 ke M Code Number present M code value displayed mm Wee Step Number present operation data No displayed POSg_SRD n dwelling BitO n n deceleration BitOn At constant BitOn n acceleration BitOn At stop state BitOn n returning to origin point BitOn n positioning BitOn n interpolation operation BitOn G4F POPA unavailable SM upper limit detection BitOn SM lower limit detection Bit
16. K4P 15AS P000 P001 P002 P003 P004 P005 P006 TO points GL D24A G4ED24A DC input module 32 points G4ED22A DC input module 16 points G4F POPA Positioning module 32 points G4Q TRAA TR output module 32 points K4P 15AS K300S CPU module BCD digital displayer AlettersX 2 galala BOBmIS P0050 POOGE Il nas Present position address displayed SERVOAmp Motor Mobile A e p P0020 O O Positioning start a Speed Teaching command D Origin point retum command P0023 Inching command P0024 Inching command P005 O O JOG command P0026 3 O O D JOG command BCD digital switch 4lettersX 1 mz BER Speed value setting for Speed Teaching Inching amount setting forward reverse 10 25 Chapter 10 MK Program 2 Data setting and operational description WB X axis position data Step Coordinates 0 Incremental Disable Continue 1 Incremental Disable Continue 2 Absolute Disable Continue 3 Absolute Disable Continue 4 Absolute Disable Continue Speed Data Bl GQerational description Operation Sequence Origin point Return P0022 Inching P0023 JOG P0025 Positioning start P0020 gt Positioning start P0020 gt JOG P0026 Inching P0024 Speed Teaching P0021 Speed PPS Forward Position No 0 Diatance Pulse Reverse Position No 1 10 26 Chapter 10 MK Program 3 Program F0010 GET
17. LG Programmable Logic Controller Positioning Module Pulse OutType G3F POPA GLOFA G4F POPA G6F POPA System Please read the safety information described in the data sheet and this manual carefully prior to using the product Caution items described here are only forG3F POPA G4F POPA G4F POPB and G6F POPA Please referto GLOFA CPU module or MASTER K CPU module related user manual respectively according to CPU module used for the details on safety information for PLC system Cautions are intended to remind you of precautions in the warning triangle as displayed below as based on the Danger level 5 Death fatal wound or considerable property loss could happen if appropriate precautions are not taken C Serious or slight injury or property loss could happen by dangerous situations if appropriate treatment is not taken AN Caution may describe serious results according to situations Be sure to observe the 2 displays where important information is specified Keep the user manual nearby for prompt reference as necessary Designing Caution AN Caution gt Don tlet input output signal line connected with the driver and sensor be wired close to high voltage or power cable but min 100mm away if possible in order to prevent abnormal operation caused by noise Installing Cautio Use PLC in conditions as described in the general specification If not electric shock fire abnormal Operation or damage
18. Thus additional work can be executed using On information when position set to Zone area is being controlled p gt Setting range of Zone 16 744 447 16 744 447 Unit Pulse p gt Zone setting shall be as follows a Zone Setup Range 16 744 4476 744 447 pulse ONBegn ON End Zone dl bn Wi Zoned Pos sddress 600 700 10 1200 1500 5 2 U i Zones signal f i ME POSCSRD outa Off v of 573 st pog Zones sigral POSC SRD apen ST3 sb Zone signa POS SRD outor s n 5 16 Chapter 5 Positioning Parameter Remark Ch start poi r shal be set smaller than Qi end point Program 5 2 Zone setting 5 17 Chapter 6 Position Data For Position Chapter 6 Position data for positioning p gt Position data to be set in S W package is described p gt Be careful that S W package is changed from POSITION to POSPACK with its terms modified also See 68 SS p Invali ES SE Se inates ride Method jinvalid single See 6 6 Address M See 6 10 See 6 9 No invalid single invalid single invalid single invalid single invalid single invalid single invalid single invalid single invalid single invalid single o o olo oo oo ao oo oo olo olo oo o oo o o oo o o olo olo o oo o o oo oo o o o o oo a o o o invalid
19. gt It is used to change the present address value to a setting value at origin point return address when origin point return is complete by origin point return command gt Setting range of origin point return address 16 744 447 16 744 447 Unit Pulse 5 7 5 Dwell time gt Time required to keep precise stop accuracy of subo motor used for positioning Actually the time required to remove remaining pulse of the variation counter right after positioning complete is the dwell time and especially the dwell time at return to origin point is called as origin point retumdwell time gt Setting range of origin point return dwell time 0 9999Unit 5 15 Chapter 5 Positioning Parameter 5 8 Zone setting Zone Setup Range 16 744 447 16 744 447 pulse ON Begin ON End Zone 1 Zone 2 X 3 3 Zone 3 oti MIU p gt Setting available in the range of position address where positioning module can move to with the following 3 types p gt Zone No will be On when present position is passing through address value set to Zone function blockPOS C SRD function blockPOS C SRD Read function block POS C SRD D Zone 1 2 bit of output parameter ST3 in present operation state s Bit information Read Zone 2 3 bitof output parameter ST3 in present operation state s Bit information Read Zone 3 4 bit of output parameter ST3 in present operation state s Bit information
20. 1 Flickering at intervals of 0 5 sec serious error for pulse output prohibited 2 Flickering at intervals of 1 0 sec trivial error for pulse output D RS 232C connector for connection with SAW package gt As for G6F POPA connection available via communication port of CPU module However CPU module shall be in STOP state at this time P Externalr interface connector for connection with drive device 2 11 Chapter 2 Specification 2 6 Connector s pin arrangement Connector s pin arrangementfor connection with external device of positioning module is described Connector s pin arrangement Model External interface connector RS 232C connector Pin arrangement of X axis amp Y axis Connected with S W package installed in computer ES GOGGOGOGO POPA oo 000000000 a 000000 POPA OFO Q o000GQ a OCO00000000000 POPE 0909009909000 000000099000 GGF DUO o e MU OO ropa O o096006000G000000000023Q gt Direct connection is unavailable between G6F POPA positioning module and computer Use RS 232C port of GM6 CPU module or k200s cpu module for positioning module operation using S W package and perform operation with S W package after operation mode of CP U module is let positioned at STOP State 2 12 Chapter 3 Functions Chapter 3 Functions 3 1 Positioning control Positioning control is classified into position control speed control speed position switching control 3 1 1 Pos
21. 1 is output and if output parameter ACT is 1 wih intemal processing of Function Block complete 0 is output Error state displaying area If error occurs during Function Block execution error No is displayed Operation axis displaying area ACT BOOL Positioning module changes output parameter DONE from 1 to with 1 output after processing Function Block command STAT JUSI 1 Caution for Function Blocks of speed override command used in program 1 Available only at constant speedduring operation Busy On state 7 6 5 Assignment of operation step No Set Move Data NumberChange G3F POPA G4F POPA GOF POPA POSP SMC G4F POPB POSB SMC It is used to change operation step No to be performed by the next command Function Block Paramet Data m e Description ype Class Request area of Funcion Block execution at rising edge ot wi Function Block executed if 0 gt T rising edge wth connected condi ti on Base postion No Seting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 ACT Input an Je positon No SLOT Seting range 0 7 IS OOL to this ed duri ng programexecuti on DONE BASE USINT BO USINT Setting area of slot No positioning module is equipped on USINT Assignment area of axis to use f 0 X axis operates f 1 Y axis operates E T tate displaying area of Function Block execu
22. 28 29 29 31 32 33 34 34 35 37 39 39 40 3 9 Random Positioned Address Value Setting To Starting Point And Present Position Change 3 4 CONTENTS 3 9 2 Present Position ChangelPOSC PRE sisse meme 3 41 3 10 Fixed Starting Point Setting 0SC FLT cccccceeeeeeeeeeeeeeeeeeees 3 29 311 Teaching Function 2 eoo Senge er Edd ra AE SERGE ars 3 2 3 11 1 RAM Teaching Function And ROM Teaching Function sese 3 02 3 112 Speed Teaching POSG VLT L isses mmm mene 3 43 3 123 Position Teaching POSCTEA ceccecccccecceceeceaeeaeeaeeeetenteateatentenes 3 44 3 12 Operation Step No Assignment 0SC nr 3 45 3 13 Parameter Change In Program POSG nl 3 46 Chapter 4 S W 41 Main Menu Bar isis i robe ee co ean er aa eei Ee nd 42 Shortened COH cor ner ee RV oi P te Cn LI ra 43 Pre OperaBon Mode e oor EE De PR cona S aes 4 4 3 1 Monitoring Axis Selettore aa RN NNN EN WEN awed NN NENNEN EN NNN WEN weenie 4 4 3 2 Monitoring Start Stopscscvccre societe neaees crm zril cre dE SEN 4 4 3 3 Command Selection Selection Of The Axis To Bre perate esee 4 4 3 4 Pre Operation By S W Package eennn KH 4 4 3 5 Jog Operation BY S W Package 2422 rione n ore vn Rn ovr ee qs 4 Package ann tercie aus tan desc Tae wee eau ait Chapter 5 Position Decision Parameters ces ses ses cee nns nnn unn nuu nun nnn D ul C1 IL 4 ES D D RO 5 1 Basic Paramet
23. Decide origin point return method coordinates operation mode etc for positioning operation with S W package When CPU module is at STOP state Check by Ready LED of positioning module with S W package Check if setting value of operation positioning parameters position data and speed data is correct with pre operation mode of S W package and let it changed so to save if not correct GMWIN ot KGL WIN Chapter 11 Operation Proceedings amp Installation 11 2 Installation 11 2 1 Installation conditions Please take precautions to the following items for reliance and safety of the system although the machine is of high reliance regardless of installation conditions 1 Installation conditions To be installed on the contol panel waterproof and dustproof Where no continuous impact or vibration is expected Where is not directly exposed to the sunlight Where no condensation is expected due to sudden change of temperature Ambient temperature of 0 55 C as kept 2 Installation Wiring leftovers shall not be allowed into PLC when screw holes processing or wiring performed To be installed at a position easy to manage Do not install on the same panel as is with high voltage device installed on The distance from the duct and surrounding modules shall be 50 or above Allow Ground connection where ambient noise condition is normal 11 2 2 Caution for treatment Caution for treatment is described covering
24. REQ BOO Request area of Function Block execution at rising edge Function Block executed if 0 gt T rising edge wth connected condi ti on area as conposed duri ng programexeauti on iion No BASE USI base No postioning module is equipped on j GMI series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Input SLOT JUSI ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use AXIS USI f X axis operates f 1 Y axis operates isplaying area of Function Block execution complete DONE BOO f Function Block execution complete without error 1 is output and ff output parameter ACT is 1 with intemal processing of Function Block complete 0 is output Output STAT ue Error state displaying area H f error occurs during Function Block execution error No is displayed Operation axis displaying area ACT BOOL Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command POS FLT 1 Caution for Function Blocks of floating pointset setting command used is program 1 Avialable only at operation stop state Busy Off state 7 8 2 Present position Preset Preset G3FPOPA G4F POPA G6F POPA POSP PRE G4F POPB POSB PRE Itis a command used to change present position to random position Function Block Class Paramet Descrision type er p est area of Function Blo
25. 00002 00000 M000 00006 DBCD M004 P005 20 P0030 P0031 D Mo cond Error signal In operation 200 SET P0049 21 P0030 P0031 I L D MOI Speed Tea ch Error signal In operation com cond M0211 MOV 0000 M013 BIN P000 M014 SET POME P0022 P0030 P0031 H H D M Origin point ret Error In operation cond E M0220 SET P004A P0023 P0030 P0031 d H D M0 O Inching _ Error In operation com cond M0501 BIN c E RST M004 SET POO4F P0024 P0030 P0031 _ D wa Inching Error signal In operation com cond 10 27 State total Read Present pos address displayed on BCD digital displayer Positioning start On Set speed No 0 Set speed value Speed Teach com On Origin point ret com On inching amount Inching forward Ind com n a Continued Chapter 10 MK Program M0502 P0025 P0030 IT JOG Error command signal cond P0026 P0030 i O JOG Error command signal cond P0037 Command complete M050 M028 M028 P0031 In operation P0031 In operation 10 PUT 28 00002 00006 BIN P000 M011 SET M0064 SET POO4F SET M0063 RST M0064 M028 RST M0063 SET M0064 M028 RST P0049 RST P004A RST RST POO4F M006 00009 P004C Set Inching amount Set Inching reverse Inching command On Set JOG high speed
26. 11 2 Chapter 11 Operation Proceedings amp Installation 11 3 2 Connection between SERVO and stepping motor drive device 1 Connection with FDA 3000 AC SERVO driver The wiring diagram between FDA 3000 CN1 and G6F POPA is as shown below if used in position control mode FDA 3000 CNL G6F POPA X AXI S SERVO FNARI F Accumil at ed pulse CLEAR No forward pper Nb reverse E stop devi ce Speed Anal og Torg li tedus 9 9 Lin E Id 20 i ES c Uc 24V prin co ALARM CULE 1 1 2 33 or 34 shall be used for GiDtermral 2 Sura y ground connect the shi el ded line of ONL cable wth F GFRAME GROUND 11 3 Chapter 11 Operation Proceedings amp Installation 2 Connection with FDA 5000 AC SERVO driver FDA 5000 CNL G6F POPA X AX S SERVO 13 LL zav T nen groja m D FIE Accum ated T pulse CLEAR PRIO y tus No forvard 1 Nb reverse E stop PRIO din pdi nt US devi ce 00 6 Speed P Anal og Torg i r tedus E tinfy VL 0 speed tara Ospeed meor pups bk nega SN E UL zav PES pem 22 45 24v c 1 1 2 330r 34 shall be used for GiDterminal 2 Surely ground connect the shi el ded line of ON cable wth F d FRAME GROUND 11 4 Chapter 11 Operation Proceedings amp Installation 3 Connection with Sinnco SSD 5000 type SSD 5015 CNL G6F POPA X AXI S Refer to the driver nanual for the driver pins if not desc
27. 2 Operated by origin point retum at low speed as decelerated if outer input of near zero point is engaged 3 Stopped if extemal signal of origin point signal is input after near zero point signal is changed from On to Off Origin point return at high speed Origin point return at low speed l H i S Near zero poin Travel value after near zero point On Signal POS g_SRD ST5 3 l a l l l l Origin point signal Origin point undecided by POS g_SRD ST Bete at lee ts origin point signal if near zero point is On Origing point return com POSC_ORG ERVO motor rotated once PG1 rotated Origin point return in process POSE SRD STO Op state 3 24 Chapter 3 Functions i Origin point is not decided by origin point signal if near zero point point is On In other words origin point is decided the moment when changed from Off to On after near zero point signal is changed from Off to On acceleration Stage gt origin point reum at high peed and then from Ort to Off deceleration stage gt origin point retum at low speed ig 1 Origin point undecided if rear zero point is On Speed 2 Origin point is not decided even if origin point is input when origin point return speed is executed from origin point returning at high speed to deceleration stage after near zero point signal is changed from Off to On and then fom Ort
28. Block D Data e Description st area of Function Block execution at rising edge Zoe Block executed if 0 gt T rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on post AST Et Base postion No BASE USI Setting area of base No postioning module is equipped on REQ we Input ing range GM1 series 0 31 GM2 sevies 0 7 GM3 4 series 0 3 GM6 series 0 stion No s v ing area of slot No positioning module is equipped on SLOT ing range 0 7 dm Tr Assignment area of ais to use T f 0 X axis operates II Y axis operates isplaying area of Function Block execution complete DONE f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 Output au a Em die displaying area f error occurs during Function Block execution error No is displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to O0 with 1 output after processing Function Block command REQ DONE ACT Function Block execution by Ist REQ Function Block command processed G Function Block execution by 2 REQ 1 Relation between output parameters DONE and ACT 2 Caution for F unction Blocks of auto operation command used in program 1 Available only when operation is at stop state Busy Off state 2 Available operation modes are single operat
29. Block execution error No is displayed 7 3 Chapter 7 Function Blocks 72 2 Bitinformation Read atpresent operation state Status Bit Read G3F POPA G4F POPA G6F POPA POSP_SRD G4F POPB POSB SRD Present operation state of the setting axis can be read for detailed monitoring or using as conditions in user program Request area of Function Block execution Function Block executed if O gt T level detection wth connected ee k Paramet KEE BASE USI Input AXIS USINT DONE BOOL S BOOL oT naas BOOL BOOL ARRAY BOOL ARRAY AR RAY AR RAY cond tion to this area as conposed during progranexecuti on Base postion No ing area of base No postioning module is equipped on ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 ston No ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use If 0 X axis operates IF T Y axis operates isplaying area of Function Block execution complete If Function Block execution complete without error 1 is output as kept until the next execution starts If eror occurs 0 is output STAT Error state displaying area If error occurs during Function Block execution error No is displayed 7 4 Chapter 7 Function Blocks 1 Contents of output parameters ST1 ST6 in present operation state s bit Read function block a
30. Introduction 1 1 Features The features of the position decision module are as follows 1 Positioning module can be used for GLOFA GM series and MASTER K series 1 Positioning module for GM3 series and K1000S series G3EPOPAQ axes 2 Positioning module for GM4 amp K300S series GAF POPA 1 axis G4FPOPB 2 axes 3 Positioning module for GM6 amp K200S series GOF POPA 2 axes 2 Various control functions of positioning 1 Max 300 position decision setting data are allowed including position decision address and operation method per axis 2 Linear control by position decision control of each axis separate position decision by 1 position decision data and continuous position decision by several data is available 3 Linear stepped control by position decision control of 2 axes separate position decision by 1 position decision data and continuous position decision by several data is available 4 Various returning control functions to starting point A Retur to origin point can be performed by selection of one of those below gt origin point detection after near zero point Off D gt origin point detection after deceleration at near zero point On D gt origin point detection by origin point and upper lower limit D gt origin point detection by near zero point B Position decision control floating point set setting can be executed from random position to origin point of the machine 3 The number of positioning modules us
31. M code G6F POPA 1 Setting in S W package M Code Mode C With C After 2 Operation pattern 1000 20000 30000 40900 Step Noo Step No 1 Step No 2 SteplNoB l ot 1 1 I 1 boa bg i 1 1 bog i 1 bog d a i t Repeated 1 ba K P 1 bog 1 bag j a i bog 1 D Next positioning start execute step eg AST No 0 1 BUSY POSH SRD STER In dwelling PO SRD STD M code signa POS SRD ST M code No POSI CRD MCD M code Off com M code signa Dog SRD ST3T M code signa POSg CRD MCD M code Off com D WE M code signal is changed to the applicable M code No in continuous operation mode without stop whenever operation step numbers are changed and the operation to be continued b gt In auto operation mode M code On signal f tumed On shal be Off by M cock Off command to operate the following operation step No ter 8 3 Programming example Chapter 8 Program 8 3 3 2 axes linear interpolation operation 1 Setting in S W package X axis position data Y axis position data 2 Operation pattern Y pos address value 800 Step No 3 700 600 500 Step No 2 400 300 200 Step No 1 Step No 0 100 X pos address value Origin point 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 11000 Chapter 8 Program EE 3 Programming example Retumed to starting point only if undecided Chapter 8 Program EE 8 34 Position Teach
32. P2 PT P2 p If decided position amount is too smaller than operation speed in continuous operation mode error 106 occurs because calculation is unavailable Please set operation speed of the step which was set to continuous operation mode a litle lower gt Operation mode which can use operation step No change by continuous operation POS G NM is continuous operation and the next available operation modes for the operation step are single operation repeated operation and continuous operation ff any other operation mode is used eror 36 occurs 3 35 Chapter 3 Functions Program 3 12 Operation step No change by continuous operation POSC NM Chapter 3 Functions 3 73 Speed change by speed override OSC OR p gt The override shall be setto allowable per applicable operation step at position data of S W package for application of Speed override Error 60 may occur if operated with override prohibited in the applicable operation step at this time p gt Use only at constant staged operation pattem if not error 56 occurs gt Setting rangeis 1 15 setting unit 10 If speed is changed to other value than setting range error 67 occurs Ex f speed data value is set to 2000 the speed is 20K pps and if speed overide is set to 15 150 the speed is 20 000 X 1 5 30 000 30Kpps p gt If speed override is to be continuously used the operation shall be as based on the speed value as set at speed data Speed override av
33. POPA Positioning module 64 points SERVO Amp Motor Y axis Mobile L BCD digital displayer 4lettersX 2 w III ILLI Present position address displayed DUU o o Positioning start PO O O Speed change command P02 to Origin point retum command a POO gt G Next Move command L PO D O Start position No change command BCD digital switch AlettersX 1 RUE SRI Bee Variable speed value setting BCD digital switch 4lettersX 1 P0010 POOIF Start position change No setting 10 16 Chapter 10 MK Program 2 Data setting and operational description Bb Y axis position data Operation pattern 1 Coordinat Operation Ed Operation Address Ste Step Con Ee method mode Pulse Mot E ee Absolute Disable Continuous Valid Single 100 000 0 1 Absolute Disable Continuous Valid Single 120 000 0 1 2 Absolute Disable Continuous Valid Single 0 0 0 s 3 Absolute Disable Continuous Invalid Single 0 0 0 0 4 Absolute Disable Continuous Invalid Single 0 0 0 0 Operation pattern 2 Absolute Disable Continuous Valid Continuous Absolute Disable Continuous Valid Continuous Absolute Disable Continuous Valid Single Absolute Disable Continuous Invalid Single Absolute Disable Continuous Invalid Single Bb Speed data Data Bl Qerational description Operation Sequence Origin point Return P022 Positioning start P020 Speed Change P021
34. anual pulse generator phase B Common Ground i m mn UJ D N Oo 2 7 Chapter 2 Specification 2 4 2 rterral circu t Internal circuit for connecting interface with the external device of the positi oni ng nodu e is descri bed Internal circuit G4F G6F Signal POPB POPA POPA 2 03 7 k n Xaispuseouput extemalsuppledp ower DC 24V X_24V xis _24V X axis pulse output extemal supplied power DC 24V output external supplied p ower DC 24V mn kw X axis pulse output external supplied power DC 5V HE xis forward direction pulse output is reverse direction pulse output Pulse E xm axis pulse output ground output terminal T axis pulse output external supplied power DC 24V is pulse output external supplied power DC 5V is forward direction pulse output is reverse direction pulse output 3 4 d 2i axis pulse output G round md i i i TUE dii Starting e afael XZCOM X axis phase Z input Ground point input 17 8 axi input_ Open Collector axi input_Line Driver JUM Yeas phase Z npn 2 8 Chapter 2 Specification Internal circuit G4F POPB input signal input signal Emergency stop signal Manual pulse 2 9 Signal xis external Kas enema overimtsinanputB conach input B contact is external upperr limit signal input B contact is near zero point signal input A contact is speed position switching si
35. as program 3 4 G6F POPA same as program 3 1 D Operation timing refer to 3 1 3 for the details 3 3 Positioning stop Causes stopping the axis during positioning are described 3 3 1 Stop command and stop causes Stop command and stop causes are as follows which are classified into stop per axis and simultaneous stop of all axes 1 Wem command or stop cause per axis is engaged only the axis in stop command On or stop cause is stopped However if stop command or stop cause for one axis is engaged during linear interpolation control execution both axes under interpolation control are stopped 2 f simultaneous stop command or stop cause for all axes is engaged both axes are stopped at stop command On orthe point of stop cause Manual pulse M code Positioning Jog Stop Axis operation state 3 Stop causes generator e 0 operation xs after stopped operation signal S imt Error state error WV upper lim got 1 tror S ke 5 Unchanged By parameter range exceeded Output prohibited setting 4 SM lower imit Error state error24 ptstop 5 i Unchanged range exceeded Output prohibited Deceleration stop Deceleration stop axis As stopped Unchanged By function block 2 Emergency stop tate error ptstop Co E In emallower in ation stop en en en e ei m og g a S S Es m 3 e 3 S c c S c I 3 E T E 3 E
36. at resent poston exceeded over sl pper mi value set atparereess ams 2 Operae afer origin pontre deel ext operation mode is incorrect in auto operation or continuous operelon mode e jon operation is available only at single nterpolation operation command input in continuous constant and oning constant operation mode Chapter 7 Function Blocks Stat command unavalable atM code ON site Speed position control switching unavailable in acceleration of positioning constant operation mode EOM stop or positioning stop command input in constant positioning Sippcommandnput n origin point retum lowspeed operation Stop command input while return RTP command to prior position to manual operation executed stop command input compersaton during dwell time processing or origin point Continuous operationN M trans command input at o operation O R speed change ther states than constant stage during operation by Continuous operation NM or trans operation OR command input in constant or positioning constant operation mode Or speed change command input in continuous constant or positioning constant operation Continuous operation NM command input in other operation modes than continuous opereton mode Override and continuous operation command unavailable in other states than i operation by sert commend Override command input in operation step executed set to override onhied Co
37. axis operates 1 Lat operates isplaying area of Function Block execution complete nction Block execution complete without error 1 is output and if output EH is 1 wih intemal processing of Function Block complete 0 DONE BOOL Y axis error information displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to 0 with 1 output after processing Function Block command 1 Caution for F unction Blocks ofstop command used in program 1 Availble at operation stop state during acceleration constant and deceleration Busy Off state 2 Function Block POSP STP of G3F POPA and G4F POPA can be used only in ROM V1 0 7 16 Chapter 7 Function Blocks 7 7 Function Block for error processing 7 7 1 Internal emergency stop Emergency G3F POPA GAFPOPA G6FPOPA POSP EMG GAF POPB POSB EMG It is used to promptly stop operation in case of emergency Since switched over to output prohibited and origin point undecided state if once Stopped cancel output prohibited and re decide origin point to re start e E DONE Output STAT Request area of Function Block execution at rising edge Function Block executed if O gt rising edge with connected conditi on to this area as conposed duri ng programexecuti on Base postion No Seting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4
38. code No POS CRD ut parameter BUSY POSG SRD parameter ST6s M code On signal POS SRD od parameter ST3s Pt M code Offcom Pos 5 11 Chapter 5 Positioning Parameter 2 Mer mode This is a mode outputting M code Onsignal and simultaneously producing out M code No set at position data to output parameter MCD of present operation state s code Read function blocKPOS C CRD level after positioning is complete by positioning start start POSC AST linear interpolation start POSC INT G6F POPA Single Positioning start POSE AST M code No POSG CRD out perameer MCD BUSY POSE SRD out parameter ST6 s 3i M code On signal POSE SRD out paameerST 3 s Fi M code Off com POSC MOF G3F POPA G4F POPA G4F POPB Single Postoning sat POSG AST M code No POSE CRD out parameter MCD BUSY POS SRD o paameerST6s Zu M code On signal POSE SRD ot paemetrST3 5 f M code Offcom POSC MOF 5 12 Chapter 5 Positioning Parameter 55 0G speed Jog Speed High 500 Low 50 xl pps gt JOG speed for JOG operation P0S C JOG manual operation is available for JOG low speed operation and JOG high speed operation gt Refer to 3 6 1 JOG operation for further information 5 5 1 High speed gt JOG high speed operation is of acceleration constant and deceleration staged pattern Acceleration stage and decel
39. contact command common used RAM command P0000 P0020 P0021 In operation Positioning start X AXIS RST P0049 Command complete Positioning start X AXIS Reset by P contact command complett Data accompanied command shall be processed simultaneously with data and command under the same conditions or positioning module may be abnormal in operation Data accompanied commands present value preset start position No change override inching position teaching speed teaching 10 4 Chapter 10 MK Program P0001 P0020 P0021 3 DMOV 00001000 vm Eror In operation Preset position address 1000 SET M0065 Present value preset command On RST M0065 F0010 Present value preset command reset l PUT 00001 0006 M006 0004 Commonused RAM command amp Preset position address total Write Command complete JOG amp MPG approval command is a level command Namely it is operated only when command condition is On If command condition is Off the operation stops promptly Others than 2 commands described above shall be operated with the pulse of command condition Override Next Move and speed change command shall be executed only at constant If position data is of Absolute method other commands shall be executed after execution of origin point return or floating point set command Just one command shall be executed 2 or above commands are not allowed simultaneously If powered On origin point return or flo
40. duri ng prog amexecuti on Base postion No Setting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Slot patton No SLOT Setting area of slot No positioning module is equipped on Seting range 0 7 BASE Assignment area of axis to use If 0 X axis operates If T Y axis operates Setting area of present operation speedto new value Seting range 1 20 000 Unit X 10Pulse AXIS State displaying area of Function Block execution complete DONE BOOL If Function Block execution complete without error 1 is output as kept until the next Output execution starts If aror occurs 0 is output wih operation stopped Error state displaying area STAT enr If error occurs during Function Block execution error No is displayed v lt dr 7 13 Chapter 7 Function Blocks 1 Caution for Function Blocks of speed change command used in program 1 Available only at constant speed during operation Busy On state 2 Available operation modes are single operation repeated operation and auto operation with J OG high speed and origin point return high speed also usable However available for constant operation mode in G4F POPB amp G6F POPA 7 6 3 Continuous operation NextMove G3FPOPA G4F POPA G6FPOPA POSP NM GAFPOPB POSB NM This is used for continuous operation from present operation step No to the next ope
41. is output and if output parameter ACT is 1 with intemal processing of Fundon Block complete 0 le _ X axis error information displayed output 1 Caution for function blocks of linear interpolation operation command used in program 1 Available only when operation is at stop state Busy Off state 2 Available operation modes are interpolation operation repeated operation and auto operation 7 7 Chapter 7 Function Blocks 7 3 3 Start to return to origin point POSC ORG DONE Origin G3FPOPA G4F POPA GGPOPA POSP ORG GAF POPB POSB ORG Operation command to find the machine s origin point by origin point return processing methods with direction compensation speed high low address and dwell time set at origin point retum parameters of each axis If complete signal of origin point retum is tumed On origin point retum operation of the machine is complete e Block SE Data e Description BASE USI Input AXIS DONE Output an USI BOOL Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng progamexecuti on Base postion No Setting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 sition No ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to
42. move to the exact work position to reach p gt Setting rangeis1 99 pulse and shift speed is set to 50pps Program 3 9 Inching operations 3 32 Chapter 3 Functions 3 6 4 Shift to prior position to manual operation POSC_RPT rising edge 1 p gt A function used to retum to prior position address to manual operation OG operation Inching operation manual pulse generator operation when the position is changeed into manual operation p gt Shift speed is set to 30Kpps Program 3 10 Shift to prior position to manual operation p gt If present position address value is A and position address value changed by manual J OG operation and Inching operation is B during operation return to prior position of A to manual operation is performed by shift POS E ORG rising edge T command to prior position to manual operation 3 33 Chapter 3 Functions 3 7 Speed change in positioning operation 3 7 1 Speed change command POS VCG rising edge 1 p gt Speed change is allowed only at constant stage among operation patterns with available operation modes of single operation repeated operation and autooperation which used also for JOG operation at high speed and origin point return operation at high speed However G4F POPB amp G6F POPA are available for constant operation mode Setting range is 10 200 000pps setting unit 10pps Program 311 Speed change Remark p Take precautions if the difference b
43. on product may occur Besure to fix the module after inserting the mounting protrusion into the module mounting hole Abnormal operation error or dropping may happen if the module is not equipped correctly Caution for preparation repai A Warning Don t touch the terminal when powered abnormal operation may happen Prior to cleaning or tightening the the terminal screws let it powered off Jf not error or abnormal operation may happen Caution for waste Wiring Caution ZN Caution Connection distance between position decision module and driver Shall be as short as possible 1 3 m Length of the connection cable Shall be as short as possible Use safe power source DC 5V DC24V If any nose is expected let input output signal line wired in twist pair and shield cable ZN Caution Don t remove PCB from the module case nor remodel the module error abnormal operation damage on product may happen Assembly disassembly of the module Shall be after powered off If not error or abnormal operation may happen ZN Caution Productwaste shall be processed as industrial waste CONTENTS Chapter 1 Introduction L1 Features EI 1 2 1 2 Features Of Position Decision Control Function 1 3 1 2 1 Position Decision Control Funchon cece eee cnet nese seen eee a ees 1 3 1 2 2 Introduction Of The Operation Mode 1 6 1 2 3 Introduction Of Acc
44. operation and the operation is allowed at lower speed than bias setting speed 14 Position Teaching 1 Function to change position address of position data to random set value 2 Operation data No of position address to change shall be assigned to address 7 X axis and 57 Y axis of buffer memory and position address value to set shall be assigned to address 9 10 X axis and 59 60 Y axis of buffer memory so to be processed as programmed under the same conditions as position teaching command 4 In G6F POPA position teaching is available by position teaching command even if origin point is at undecided state 15 Speed Teaching 1 Function to change speed value of speed data 2 Speed data No and speed data to change shall be assigned to address 13 and 14 of buffer memory so to be processed under the same conditions as speed teaching command 16 Inching 1 A Manual operation function to operate with pulse amount 1 99 set by user 2 Inching operation is performed at fixed shift speed of 50pps 3 Used for accurate move in case JOG operation is not available Remark 1 Be careful that the application number of RAM Teaching G6F POPA is not limited but the number of ROM Teaching is limited available 100 000 times 2 To increase the application number if performed by one step of teaching operation 1 set 300 operation steps to repeated operation via software package and 2 change start position No to the nex
45. or error occurs and the operation is not available 2 Bias speed setting gt Bias is to be set to optimize the operation time or to avoid injurious vibration noise the stepping motor has in low frequency band approx 100 200pps Setting is allowed in the value range not exceeding over the selfoperating frequency produced by motor load Be careful if the value is set too high it causes impact noise or damage on the machine at initial acceleration and stop point of time A1 LI IE Appendix 1 How To Set Postioning Module Parameters For Stepping Motor Drive 3 Acceleration deceleration time setting gt If acceleration deceleration time is set too low for stepping motor separation may occur Ihus try to find the max inclination available with acceleration deceleration time as changed at load connected state At this time since the characteristics of the motor and driver can be changed if used for long let the inclination set a little gentle in consideration of safety Set parameters Set speed limit Yes Over the rated motor No Set bias speed Yes Over the self operating frequency Set acceleration deceleration Any separation in acceleration deceleration Max inclination Yes Re adjust the inclination to be gentle considering safety A1 1 N Appendix 1 How To Set Postioning Module Parameters For Stepping Motor Drive 4 Testing example of stepping motor with no load
46. pior command is not complete Bus prior command is complete ES Setting aux input value exceeded overthe range 2 24 o eenen To be in setting range Stop related command or emergency stop input while Reseteror Function Blockis executed Cancel oupuepofibied a Continuous operation or speed override command put ae Ge operation or speed override is I other states than constant stage in autooperation available only at constant stage 15 Command given wih module op pont ue given with module origin Command given wih module origin pont undecded undecided __ Start command atterorgn point decided command Start command afterorgin point decided point decided postoing module gt erort powered OfOn Watgen Cancel Soe Of0n EES ESES ES Ce Remove cause of eemal emergency Sp Exemal emergency stopinput Cancd oupuprohbled Operae afer ogn pont redecided Remove cause of femal emergency stp Wed emergency styinput Cancel oupuprohibled Operae afer origin pont redecided Remove cause of enor Extemallowerimitsiyal input Perom JOG operation twad upper imt Operate afer origin pont redecided Remove cause feror femal upperltsnal input Perm OG operation toward lower i 3 Operae afer origin port redecided e s w lower limit address range set at resent postion exceeded over s w lower imt value setaparamees faramees fer ort pontre decer l Change s w upper limit address range set
47. return high speed also usable However available for constant operation mode in G4F POPB amp G6F POPA 7 6 3 Continuous operation NextMove G3FPOPA G4F POPA G6FPOPA POSP NM GAFPOPB POSB NM This is used for continuous operation from present operation step No to the next operation step No at a Fandom point of time without stop if continuous operation mode is applied Ke E Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng programexeauti on POS NM iion No ing area of base No postioning module is equipped on m DOE ing range GH sers 0 31 GM2 series 0 7 ED series 0 3 GM6 series SINT positon No Setting area of slot No positioning module is equipped on Setingrane 0 7 Assignment area of axis to use f 0 X axis operates II Y axis operates tate displaying area of Function Block execution complete f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 is output output Error state displaying area BET i f error occurs during Function Block execution error No is displayed Operation axis displaying area ACT BOOL Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command ACT DONE BOO 1 Ca
48. return processing methods 5 13 Chapter 5 Positioning Parameter 5 7 Retum to origin point Origin Return Method Direction C Forward Backward Compensation 0 pulse High Speed 5000 xl pps Low Speed 50 xl pps Address p pulse Dwell Time po x1 ms gt Origin point returnitems which are influencing origin point return command POS C ORG processing are classified into the following 6 types 5 7 1 Direction gt Origin point return direction is classified into forward rotation and reverse rotation on the basis of 5 3 FORD direction direction ee Fassung Forward origin point retum executed O O O O O O CH ET emm ionada mesengo mem Forwardrotation Reverse origin point retum executed Reveserotaion Reverse and forward origin point retum executed 5 7 2 Compensation gt Compensation is used at origin pointdetecton input at phase Z to adjust a litte divergence of the machine s origin point difference between setting value and actual travel value due to mechanical error gt If origin point compensation has been set detect origin point and then move it as much as set data as origin point compensation when executing origin point return command so to complete origin point retum operation gt Setting range of starting point compensation 999 999 Unit Pulse LatNearZeo Pont On High Speed 1 l l wi 1 Origin point Retum l 1
49. reverse operation u Travel ae setting area in inching operation ing range 1 99 UnitPuse isplaying area of Function Block execution complete Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 is output Error state displaying area error occurs during Function Block execution error No is displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to O0 with 1 output after processing Function Block command 7 8 Chapter 7 Function Blocks 7 4 2 J OG operation OG G3F POPA G4F POPA GGF POPA POSP JOG G4F POPB POSB_J0G As a manual operation function for test itis used to check system operation wiring state and teaching position address Whose speed is classified into high and low as required Puse is output by setting value if connection condition of input parameter REQ is ON and is stopped if OFF K E Request area d Function Block execution Function Block executed if 0 gt T level detection wth connect ed POS JoG condi ti on to this area as co Base postion No BASE USI Seting area of base No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Slot position No SLOT JUSI Setting area of slot No positioning module is equipped on Input Seting range 0 7 Assignment are
50. series 0 3 GM6 series 0 Slot positon No Setting area of slot No positioning module amp equipped on Seting range 0 7 State displaying area of Function Block execution complete If Function Block execution complete without error is output as kept until the next execution starts If error occurs 0 is output with operation stopped Error state displaying area If error occurs during Function Block execution error No is displayed 7 7 2 Cancellation of output prohibition Pulse Out Inhibit Off G3F POPA G4FPOPA G6RPOPAPOSP OFF GAF POPB POSB OFF Command to cancel pulse out prohibited state POS OFF i i P S BASE SIAT sor sor DONE Output by extemal emergency stop poor limit detection etc equest area of Function Block execution at rising edge Function Block executed if QT rising edge wth connected conditi on to this area as co i ing area of base No postioning module is equipped on ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 stion No ing area of slot No positioning module is equipped on ingrange 0 7 isplaying area of Function Block execution complete Function Block execution complete without error 1 is output as kept until the next execution starts if error occurs 0 is output with operation stopped Error state displaying area ff error occurs during Function Block execution eror No is displayed 7 17 Chapter 7 Funct
51. speed value on positioning module after perparing in S W Package PosPack if not necessary to change after once set However position teaching and speed teaching shall be performed in sequence program if position address or speed value is required frequently to change according to input conditions or the product 1 Example execution results of this section System is configured as in Fig 8 1 Position No STEP Position address 1000 2000 3000 4000 6 Address through Position 10000 on 0 0 owMwneo Speed No No Data Speed value 100 150 200 250 5 Speed value through Speed 550 Teaching moe Mwneo f RAM Teaching mode is set by assignment of position teaching mode speed teaching mode the operation is performed with the value through teaching at start after the teaching which can not be confirmed in S W Package If RAM teaching mode is set teaching is available as unlimited f ROM Teaching mode is set by assignment of position teaching mode speed teaching mode the operation is performed with the value through teaching at start after the teaching which can be immediately confirmed in S W Package If ROM teaching mode is set teaching is limited upto 100 000 times 10 23 Chapter 10 MK Program 2 Program F0010 Ss GET 00001 00000 M000 00006 Status total Read P0000 P0027 Teaching com On whenever D M00 Pos Teaching cond Is Continuous Pos Teaching cond complete if Pos Teaching M
52. teaching program of present position address 20 000 to position No 3 after rotated forward at JOG high speed and then moved reverse at JOG low speed Speed JOG high speed forward P0000 On forward Present position address reverse JOG lowspeed reverse P0001 On F0010 GET 00001 00000 M000 00006 State total Read Normally On PUUUU JOG high speed points On JOG high speed forward RST M0064 JOG forward add 6 4 contact Of M0210 JOG aux contact P0001 l JOG low speed add 6 3 JOG low speed reverse contact Off SET M09 JOG reverse add 6 4 contact On M0220 JOG aux contact P0002 P0020 P0021 1 scan On if T 3 D M0230 teaching condition On Teaching coundition Error signal In operation Y Continued 10 21 Chapter 10 MK Program P0027 RST PO08D Com complete signal F0010 PUT 00001 10 22 DMOV M04 M009 MOV 00003 M007 00006 M006 00009 Send present pos add to preset position address Set op step No to teach to3 Position Teaching command On Position Teaching command Off Common used RAM command amp data Write Chapter 10 MK Program 10 3 3 Continuous teaching Position Teaching Speed Teaching Teaching means a function to assign a position address to move which is called as Position teaching to be distinguished from speed teaching which assigns speed value Basically just write position address or
53. to start point address and specified address of each axis start point address lt specified address position decided forward p gt start point address gt spectfied address position decided reverse Forward Y Y2 Y travel value Eed DN Specified address us KH KH X2 Y2 i X amp Y linear interpolation operation Forward X X travel value Reverse Ex D lf start point address is 1000 4000 and gt specified address is 10000 1000 the operation isas follows Start point address 4000 Y travd value 1000 4000 3000 1000 Specififed address X D gt Setting in SW package Step Coordin rid Operation inal Operation in m E e e STT Y axis setting Chapter 3 Functions D Program Cancelled if output prohibited by error Axis error informa P oper UR t Program 3 2 Basic setting of Inear interpolation start floating point set Chapter 3 Functions Take preautions for linear interpolation start POS Ig INT rising edge 7 at which 2 axes are simultaneously operated l Operation related subdata is operated as based on X axis position data step coordinates override operation method invalid valid operation mode position address M code speed No dwell time M code mode among parameter items 2 Classified into major axis and minor axis according to positioning address amount of X axis amp Y axis at interpolation positioning start Speed data of minor axi
54. upper limit signal and external input lower limit signal via external input connector of positioning module p gt Stroke limit of positioning module is to be installed inside stroke limit stroke end of the drive device for positioning module to stop it promptly before reaching to stroke limit stroke end of the drive device Error23 if over top limit and error22 if below bottom limit may occur Controllable range of positioning module lower limit Stopper Stopper Positionin Prompt stop if upper Prompt stop if lower limit detected limit detected Positioning start moqule Drive device Positioning operation is notavailable if positioning module is stopped out of controllable range Move positioning module inside the controllable range by manual operation OG operation inching operation manual pulse generator operation ff stopped by extemd input stroke limit detection gt Outputprohibited can be cancelled and manual operation can be executed even if out of the stroke range because external input upper lower stroke limit error is detected by the edge at positioning module gt Information on external input upper lower stroke limit is displayed at land 2v bits of output parameter ST5 in presentoperation state s Bit information Read function block POSC SRD D 1st bit of output parameter ST5 in present operation state s Bit information Read function block On external input upper stroke limit undetected Off extemal input up
55. use f 0 X axis operates f 1 Y axis operates isplaying area of Function Block execution complete f Function Block execution complete without error 1 is output and ff output parameter ACT is 1 with intemal processing of Function Block complete 0 is output bw eer displaying area f error occurs during Function Block execution error No is displayed LN axis displaying area Positioning module changes output parameter DONE from 1 to 0 with 1 output after processing Function Block command 7 4 Function Block for manual operation 7 4 1 Inching eg nching G3FPOPA G4F POPA G6F POPA POSP INC G4F POPB POSB INC Function Block ype POS INC REO BASE DONE STAT ACT REQ BASE SLOT AXIS ROT INCH AMT DONE STAT type B00 USI USI USI BOO USI BOO USINT Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on Base postion No Setting area of base No postioning module is equipped on Setting range GM1 series 31 GM2 series Q 7 GM3 4 series 0 3 GM6 series 0 positon No Setting area of slot No positioning module is equipped on Seting range 0 7 ignment area of axis to use 0 X axis operates T Y axis operates Direction assignment of iching operation O forward operati f T
56. value to execute Postion Teaching ET Seting range 16 744447 16744447 MODE Selection area of Postion Teaching type BOOL f 0 RAM Position Teaching f 1 ROM Position Teaching State displaying area of Function Block execution complete DONE BOOL If Function Block execution complete without error D is output as kept until the next execution starts If error occurs 0 is output with operation stopped Error state displaying area SE SS If error occurs during Function Block execution error No is displayed Note Input parameter MODE can be used only in G6F POPA p gt In G3F POPA and G4F POPA Postion Teaching command is available only at origin point decided gt When Position Teaching Function Block has been executed the operation step No set at input parameter ST SET shall be the same as the next operation step No to be performed If input parameter ST SET setting value differs from the operation step No to be performed the operation step No shall be changed to be identical by operation step No change command POSC_SMC Function Block prior to the next eration gt Differences between RAM Postion Teaching amp ROM Postion Teaching In RAM Position Teaching address value is not saved at position data and the operation if CPU module is powered Off On will be executed by prior address value In ROM Position Teaching address value is saved at position data and the operation even if CPU module is powered Off On will be maintaine
57. 0 001 Pulse
58. 010 GET 00001 00000 D0000 00006 P0008 P0020 P0021 Commonused RAM status total Read L 3 T 44 Condition Error signal In operation signal 1 scan On M0220 MOV 00010 M008 Operation data No 10 P0027 Op data No change command On Com complete signal F0010 7 Floating point set FLT Op data No change command Off PUT 00001 00008 Moos 00001 Data Write P0009 P0020 P0021 H 3 IM Condition Error signal In M0221 i P0027 Floating point set com set Com complete signal 8 Output disable cancellation OFF P000A P0025 Condition Pulse out disable 1 scan On M0222 Output disable cancel com set complete signal 10 9 Chapter 10 MK Program 9 Override OR F0010 GET 00001 00000 D0000 00006 POOOB P0029 commonused RAM state total Read H D M95 Condition in Constant op 1 san On M0223 MOV MIDI MOI Speed 110 SET P0044 P0027 Override command On RST P0044 Com complete signal Override command Off F0010 PUT 00001 00011 MOlI 00001 Data Wrie 10 Error reset RES P000C P0020 P0021 Condition Error signal In operation M0224 Error res com Off Comcomplete signal 11 M code Off MOF P000D P0026 It Condition Mcode On signal M0225 P0027 McodeOff command On Com complete signal McodeOff command Off 10 10 Chapter 10 MK Program 12 Speed change VCG
59. 0200 DADD M009 0000001000 M009 ON on M0300 Position address SET POUD increased by 1000 Teaching command stop signal P0000 P0027 i SS J Iscan On with com complete DNO M signal at falling Command complete signal edge RST PO04D Teaching M0202 command Off Increase Position Teaching op step No SET M0300 M007 00009 Stopped if op step P0001 P0027 No is 9 7 Teaching com On wheneer D M0204 Speed Teach cond Is Continuous Speed Teaching condition oe Teach M0204 tion teaching command M013 00000 MOV 00100 M014 complete Save initial speed data 100 to M014 gt M013 00001 H ADDP MM 00050 M014 Increase speed data by M0400 50 l SET POME Speed Teaching P0001 P0027 command On D M0206 Speed Teach com Off if RST POME com complete signal On M0206 Increase speed data No NCP MO M013 00010 SET M0400 Speed Teach com P0002 stopped if speed data No _ isl0 PUT 00001 00015 00000 000 r3 T Position Speed Teach Mode RAM Teaching mode setting condition set to RAM Teaching P0003 mot E E 90007 Position Speed Teach Mode ROM Teaching mode setting condition EEN Teaching F0010 PUT 00001 00006 M006 00009 Data total Write 10 24 Chapter 10 MK Program 10 3 4 Positioning Start Speed Teaching return to origin point Inching JOG operation 1 System configuration TO word No Le
60. 05 vi 17 5 24 GND i 11 9 Chapter 11 Operation Proceedings amp Installation 8 Connection with MITSUBISHI MELSERVO SA type MEL SERVO SA 11 10 Chapter 12 External Dimensions Chapter12 External di nensi ons 121 G6F POPA 90 0 12 1 Unit Y BUSY X BUSY G6F POPA 5 0 H D PO OO se V 8322332253 Lei Lei r r Le x lt lt e ee oe eo Ooo 3 UZHDHHM lt gt lt D o o o o o o o o o o o o o o o o o gt lt ee ee e ee e mumm 35 0 Chapter 12 External Dimensions 12 2 G4F POPA G4F POPB p Extemal dimensions of G4F POPA is the same as G4F POPB Unit 1350 12 2 Chapter 12 External Dimensions 12 3 G3F POPA Unit 12 3 Appendix 1 How To Set Postioning Module Parameters For Stepping Motor Drive Appendix 1 How to set positioning module parameters for stepping motor drive 1 Setting of speed limit gt Speed limit decides acceleration deceleration inclination when operated with acceleration deceleration time Lo Speed limit Setting speed Actual decel time P Actual accel time Time Decel time r Profile example p gt First set the max frequency available in compliance with load conditions to speed limit referring to the characteristic curve of Torque vs Frequency of the stepping motor Later input speed data shall be set in the range of the value
61. 0pps gt Speed data origin point retum speed and J OG operation speed in positioning operation are influenced by speed limits If the value is set larger than speed limits error will be detected f origin point retum speed is larger than speed limits error 87 lf speed data for positioning operation is larger than speed limits error 86 lf OG operation speed is larger than speed limits error 86 5 1 6 Position passing time Signal of position passing time is tumed on after positioning complete in single operation repeated operation auto operation continuous operation constant operation with positioning and origin point returning and is turned off after kept on as long as set The moment positioning start command or starting point return command is executed during position passing signal On the signal will be Off In continuous operation mode position passing signal will be output whenever shift is complete to the address set at operation step Setting rangeisO 999 Unit 10 Chapter 5 Positioning Parameter In single operation mode Start a tw pos pass ouput ime Pos passing time p gt In auto operation mode Pos passing ime i tw pos pass ouputime Busy p gt In continuous operation mode Start Busy t Pos passing time tw pos pass output time Chapter 5 Positioning Parameter 5 2 Output direction Output Dir C AType B Type gt Since input methods use
62. 100 D0015 Speed teaching com On SET P0007 LC ong RST PUT 00000 00014 D0014 00002 9 21 Chapter 10 MK Program Chapter 10 MK program Various examples are discribed for operation of positioning module in MASTERK K200S 300S 1000S series via the PLC program Example program is prepared in the system below unless noted otherwise TVO contact of GGF POPA positioning module includes 64 points upto P0020 POO4F P000 P001 P002 P005 Step motor Step motor driver Fig 10 1 System configuration of basic example program Fig 10 1 shows G6F POPA positioning module as installed on slot 1 of K200S CPU A sequence program shall be composed with I O word No as changed for installation on the other slots For status information reading to Read Write common used RAM positioning module s buffer memory data between PLC CPU and positioning module use GET GETP command and for command and data writing use PUT PUTP command Carefully read 10 2 1 Programming caution for sequence programming with positioning module prior to application 10 1 Chapter 10 MK Program 10 1 Information exchange between positioning module amp PLC CPU 2 types of information classified into bit unit and word unit are transmitted received as exchanged between PLC CPU and positioning module Positioning module 1 Upper limit L S Lower limit L S el E stop Near zero point Onginpoint Pulse line i Bit da
63. 2 Exchange Of Word Data Word Information 10 3 10 2 Programming esses 10 4 10 21 Programming Caution nen hh meme n nnns 10 4 10 22 Basic Program ANNE dra ect nem odi EE SEENEN EEN 10 6 10 3 Application Program end dE ECH EEN EEN ter EEN EEN NEEN 10 16 10 3 1 Speed Change Next Move Change Of Start Position No 10 16 10 32 Position Teaching By og Operation cccseceaceaceeceeeeeeeeateeeeeeeaes 10 21 10 33 Continuous Teaching Position Teaching Speed Teaching 10 23 CONTENTS 10 3 4 Start Speed Teaching Return To Starting Point Inching Jog Operation 10 25 Chapter 11 Operation Proceedings amp Installation 11 1 Operation Proceedings 11 1 112 Installation oorr rrt er Re EUREN E HaT IR VE EE SEENEN SEA Fd 11 2 11 2 1 Installation Condition zu osi iei eee kx ree Ra rre En rta ENEE 11 2 11 2276 auton For reageiert 11 2 11 3 WANING cor bo bb vcro Ee Taft Vus a a celia rdum 11 2 EIST Wiring Datt aseo eoe sane sao dno ia A Le eR e SEENEN sc Paca ll 2 11 32 Caution For Treatment as iaa et emeea s se a ata Beggener AEN 11 3 11 3 3 Connection Between Subo And Stepping Motor Drive Device 11 3 1 Connection With FDA 3000 AC Subo Driver ccceceeceeeeeeeeeueeees 11 3 2 Connection With FDA 5000 AC Subo Driver 11 4 3 Connection With Sinnco SSD 5000 Type een nmn 11 5 4 Connection With MITSUBISHI MELSERVO J Type cssess
64. 20Kpps PK596BW Time 160ms 390ms 450ms Table1 Testing example of G6F POPA stepping motor s max accel decel inclination Set Motor PK569BHW Driver UDK5128NW2 Max acceleration deceleration inclination 160ms Operation Speed 20Kpps Full Step Max speed 59000pps speed limit 100000pps acceleration deceleration time5 sec Set2 Motor PK596BW Driver UDK5114NW2 Max acceleration deceleration inclination 450ms Operation Speed 20Kpps Full Step Max speed 33600pps speed limit 100000pps acceleration deceleration time 5 sec Set3 Motor PK264 2A Driver CSD2120 P Max acceleration deceleration inclination 390ms Operation Speed 20Kpps Half Step Max speed 23500pps speed limit 50000pps acceleration deceleration time 1 1 sec Note The example above resulted from the test with no load which is subject to change according to characteristics and conditions of the load A1 3 Appendix 2 Calculation Of Travel Value Per Pulse Appendix 2 1 Calculation of travel value per pulse gt Shifting amount per pulse means the value of the machine gauge used when the positioning module executes position control gt Setting shall be performed at the ratio of the pulses number to 1 motor rotation of the machine gauge used shifting amount to 1 motor rotation and shifting amount to 1 pulse as magnified 2 1 Calculation of shifting amount per pulse 1 Specification of the machine gauge Items necessary to
65. 7 2 Cancellation Of Output Prohibition 0 emm 1 17 TIa Error ROS elata Rav Ra eO desea REM e E wEN ERN 7 18 7 8 Other Function Block 19 7 81Fixed Starting Point Setting ssssssseee enm 4 7 19 7 82 Present Position Preset eceeceeeeceeeeeeeeeeeeeeeeeeseeeeeeeeneaes 7 19 1 83 Parameter Change scvasistevsvadissavalevevavideateysaaiaeveabenvavideaseen 7 20 79 Error Codes In Function Block 7 21 CONTENTS Chapter 8 GM Program ucc iri Wen eiiam rns e9 10 8 1 Prior To Program Introduction 8 1 82 Basic Program 8 3 8 3 Application Program 8 4 8 3 1 Position Decision For Separate Repeated Auto And Continuous Operation 8 4 8 32 Program With M Code ug dixe y xxr e xv ve vee eee XRMEEPSRN ER YXMANUE ES 8 6 8 33 2 Axes Linear Stepped Operation 8 8 8 3 4 Position Teaching With MM 8 10 Chapter 9 Inner Memory And Input Output Signal se ve vk 91 Inner Memory eege ees dhe PRO o aunties 9 1 dE Contents Of Inner Memory 2 dek eere tui bores ie a rr ele ed de RRE e ones 9 1 9 1 2 State Of Inner Memory seriveriar ien inttr mmm 9 4 91 3 Command And Data Of Common Used RAM Inner Memory 9 7 92 Input Output Signal ssseeem Hm 9 12 9 21 Contents Of Input Output Song 9 12 9 2 2State Slghalecsce cede tta esee ed reo Mite cer aae e Ur arie a e UR s 9 14 0 23 Command EEN 9 17 Chapter 10 MK Program tect sacer ne aces wi ooa d DOE s 10 1
66. 7 Inching command On Com complete signal F0010 Inching command PUT 00001 00011 M011 00001 Data Write 10 12 Chapter 10 MK Program 16 2 axes interpolation operation Positioning operation Y AXIS position address Pulse Position No 2 30000 1 Q i i 25000 i i 20000 i i l BCE pe E NEE EE EE EE i9 Position No 1 i i EEES PES i 10000 i e i i i 5000 d i i D t i i Position No 0 I XAXIS position address Pulse 5000 10000 15000 20000 25000 30000 35000 2 Position data and speed data WB X axis position data EON Eeer Invalid Position Dwell Step Override Valid Operation mode address Pu M code Speed No Time Ise Absolute Disable Continuous Single Absolute Disable Continuous ag Single Absolute Disable Continuous Valid Single Absolute Disable Continuous Invalid Single Absolute Disable Continuous Invalid Single Bb Y axis position data Position Coordinat Ge E nm P cia Operati Dwell Step DEEN Override Vera M Operation address Pu M code Speed No bibs mode Ise Time Absolute Disable Continuous Valid Absolute Disable Continuous Valid Absolute Disable Continuous Valid Absolute Disable Continuous Invalid Absolute Disable Continuous Invalid Bl Speed data 10 13 Chapter 10 MK Program 3 System configuration System shall be configured as shown in Fig 10 1 and be connected with the driver with 2 axes of X amp Y The operation shall be with X axis in
67. AO9 8762524321 0 4 pBiNo X add 0 Y add 50 External upper limit signal External lower limit signal Emergency stop InJOG operation In compensation operation Zone 1 Zone 2 Zone 3 1 External upper lower limit signal 1 It is turned On if stroke upper lower limit is exceeded over 2 Pulse output prohibited state expected 3 Turned Off during position adjustment by manual operation JOG operation after pulse out prohibited state is cancelled 2 Emergency stop 1 Turned On if stopped by external or internal emergency stop signal since then leading to pulse out prohibited state 2 Pulse out prohibited state and all errors are cancelled by cancellation command of pulse out prohibition 3 JOG operation Turned On during JOG low high operation 4 In compensation operation Turned On during backlash compensation and origin point compensation 5 Zone 1 2 3 Turned On respectively if into Zone 1 2 3 set to parameters 6 Present M code value 1 Present M code value 0 255 set to position data is displayed 2 M code value of G4F POPA is displayed on bit 8 F and that of G3F POPA G4F POPB amp G6F POPA is displayed on bit 0 7 respectively However G3F POPA is United O S V3 0 or above 3 If value of buffer memory address 0 is 15 in G4F POPA the value to be monitored will be hOF00 or 3840 as displayed 9 4 Chapter 9 Inner Memory And I O signals Err code EE Err data 1 F
68. Buffer Memory of G3F POPA G4F POPB G6F POPA Y axis Address decimal bF Es Present M code value Status information Fal p Error code error information Present operation speed Present M code 0 255 Present operation data No External upper limit signal External lower limit signal Present position address lower Binerseney ston Present position address higher InJOG operation Common used RAM command Incompensation operation ZONE 1 Position Teaching operation step No SORRY Operation step No ZONE 3 Preset position address lower a uid RACE N i Gere nea fe MEE Override Inching Variable speed value 7 Y rror code Error data Unused Waming code of positioning module Serious error on positionin Unused module H W error EE EE e Position Teaching Unused Acceleration time 0 999 P ME Deceleration time 0 999 Waming code of positioning module M code mode 0 With 1 After 2 None JOG high speed value 1 20 000 Origin point return high speed pF b6 b5 b4 b3 b2 bl b0 A Unused Present value preset JOG Inching operation 0 forward 1 reverse JOG 0 low 1 high G3F POPA G4F POPB MPG operation allowed G6F POPA parameter transmission command Next Move Return to prior position to manual operation RTP o 1 UJ G4F POPB G3F POPA G6F POPA Chapter 9 Inner Memory And I O signals 9 1 2Buffer Memory state Status information Present M code Value FEDCB
69. D STIRI In constant Post SRD STIP In deceleration Pret sro STIR In dwell OSG SRD 10 Position passing Position pasing time signal Pos SRD Positioning complete Post SRD b Abnormal operation pattern Chapter 1 Introduction If operation speed is set larger than position travel value Ifoperation speed is setthe same as bias speed Bias speed Positioning start Post AST e E S Busy POSGSRD STAR Dwell time t gt time Positioning start POS ast Busy POSCSRD ST In acceleration POSCSRD STAB In acceleration POSCSRD STIB _ Ch In constant POSCSRD STI In constant Post sro STID In deceleration POSC SRD STIN In deceleration POSC SRD STAM In dwell POSC SRD 10 In dwell POSC SRD 10 Position passing signal PosC sap Position passi signal POS SRD Positioning complete pos SRD Positioning complete Pos SRD 2 Repeated operation moc positioning complete 1 Positioning is complete upon positioning executed to the target position by start command POS G AST rising edge 1 and the dwell time elapsed 2 The pattern of repeated operation mode is the same as separate operation however the ne xt operation is decided by operation step No which is set at assignment command of oper
70. EDCBAO9 87654 3210 Y add 51 G3F POPA EX Err code X add 1 FEDCBAO9 87 654 3 2 10 7 Error data Error serious on internal CPU of positioning module which is unavailable to use 8 Error code Error trivial on positioning module Refer to troubleshooting list of error codes Present speed FEDCBA9 87654 32 10 X add 2 Y add 52 0 200 000 9 Present speed Speed value presently operated is displyed Present op data No FEDCBAO9 87654 321 0 Y add 53 0 299 10 Present operation data No Operation data No operation step No presently operated is displayed Chapter 9 Inner Memory And I O signals Present pos address FEDCB A9 87 654 3 2 1 0 add 4 add 5 add 55 higher 11 Present position address X EX Position address 16 744 447 16 744 447 presently operated is displayed Pn gt Program Area to save to M000 X Buffer Memory add 0 Words to save 6 Slot No positioning module is equipped on 3 GET 00003 00000 M000 Whole Read of common used RAM status gt Results of program execution in case of G6F POPA s buffer memory Address decimal Marea bF bE bD bC bB bA b9 b8 b7 O b0 S State piesen M Oe valve ee I 1 Error code A Y Present M code value 2 Present operation speed 0008 Upper Limit cb M0009 Lower Limit 3 Present operation data No ere SR Wi Ge Emergency stop 4 Present position adds low
71. ESN peter d FE unavailable Wi Interpolation function unavailable I Changeable from speed control to position control by deceleration stop function block P0S C STP rising edge T in G3F POPA D POPA G4F POPB and extemal input signal of speed position switching input signal in G6F POPA E interpolation function unavailable Speed control Positioning position control constant operation p gt The following rules are between operation modes nlth operation Positioning Sige Repeated Aut Continuous Constant Nth operation f Constant operation operation operation operation operation l operation Operation Operation Operation Operation Operation Operation Single operation avaiable available available availabe available available Operation Operation Operation Operation Operation Operation Repeated operation avaiable available available availabe available available Operation Operation Operation Operation Operation Operation Auto operation avaiable available avaliable unavailable unavailable unavailable Operation Operation Operation Operation Operation Operation Continuous operation avaiable available unavailable avaiable unavailable unavailable Operation Operation Operation Operation Operation Operation Constant operation avaiable available available avaiable available avaiable Positioning Operation Operation Operation Operation Operation Operation Constantoperation avalable avalable avalable avaiable available avaliable p
72. G K s fav st POS CAST S N T Linear Interpolation Linear interpolation start POS CINT Return To Position Return to prior position to manual operation POS C RTP F L pos f POS cs met POS CN POS CES RI 0 F F Pulse Out Inhibit Output prohibited cancelled POS C OFF cic le BL BLA i G Manual Pulse Generator MPG allowed POS C MPG RT STP MOF wi Y i J Position teaching r i Le nm FES OFF MPG y h No step no setting range0 299 A T Pise T E A Position Teachin POS C TEA i address setting range xips Pulse ism V L T Vebciy Teaching No speed data No seting range 127 POS CMT X10pulse speed data setting range0 20 000 oo hss Ne Present position preset P R E Preset Pulse position address setting range POS CPRE 16 744 447 i Speed change VC G Velocity Change POS C VCG ag ins data setting range0 20 000 R Speed override R POS COR pa Se UM Set Move Data Operation step No assignment S M C POS C SMC D Number Change No step No setting range0 299 N C 3 Inching forward Inching stat l POS CINC I N C4 IInching everse Pulse position address setting range99 99 D Click the icon to execute an applicable command 4 35 og operation by S W package Shape of SW Wi Related JOG High Speed Reverse Reverse highspeed OG operation JOG Low Speed Reverse Reverse low speed OG operation POS C06 J OG High Speed Forward Forward highspeed O
73. G POSP ORG POSB ORG POSP ORG Origin point retum operation 1 3 3 Manual Operation POSPJOG POSPjJOG PosBjoc PosPjoc JOG operation POSP RTP POSP pm PosBRTP POSP am Retum to prior position to manual operation Manual pulse generator operation POSP MPG POSB MPG 7144 ewe mme o allowable POSP TEA POSP TEA POSBTEA POSP TEA _ Position teaching Teaching posp VT PosP iT PosBviT posp VT Speed teaching POSP MOF POSP wt PosBMor PoOsP wo M code off Sub Operation 6 B posp VCG POSP VCG esu Hi P posp TMP Joes TMP POSP RES POSB RES POSP RES Error reset 1 1 3 B oe eem iem POSB FLT Jeer LT Others Present postion preset CT 2 gt POSePRM Parameter change 7 1 Chapter 7 Function Blocks 7 1 Function Block registration for positioning module in GMWIN Function Block can be registered as specified below while GMWIN is being executed Function Block registration is available only when the project is at open state Library insertion I G3F POPA 3 series reg Special 3fb eroi Be1pl de on ere goldea elect m cnt Acht A tn ri nl av the creen bel ow 4 series reg m For OWN 3 1 or above Ex of GF PCPA WER E GE Special 4fb au alo dA ael je COMMUNI 3fb a Stdlib 3fu 6 series registration G6F POPA Special 6fb ue Demi SPECTAL 2 710 HS SAC 201242 Sit ate bd E
74. G operation JOG Low Speed Forward Forward low speed OG operation D Click the icon to execute an applicable command and click oncemore to stop the command 4 5 Chapter 5 Positioning Parameter Chapter 5 Positioning parameter p gt Parameters to be set in S W package are described Be careful that SAV package is changed from POSITION to POSPACK with simultaneous control available if 2 axes used and its terms modified also p gt Parameters of SA package are structured as shown below The parameter items shall be set per axis i E a a er EN m EE EE New package POSPACK To write parameter setting value by positioningmodule ead To read parameters used in positioning module to S W package To monitor or save new parameter setting value as changed Cancel Tocancel new parameter setting value and use previous value continuously Chapter 5 Positioning Parameter x Axis Parameter set PULSE Accel Time fp sime Decel Time inn xl ms Backlash D pulse Bias Speed D xl pps Upper Limit 16744447 pulse Lower Limit 16744447 pulse Speed Limit 20000 xl pps Pass Time B x1Oms Output Dir M Code Mode C A Type B Type C With C After None Rotation Jog Speed Forward Backward High pn X Lew j0 xl pps Origin Return Method _ Origin Return Method after N
75. ITION AXIS AXIS ST2 INT2 Jegen A BASE BASE STAT SLOT SLOT AXIS AXIS cy OLOCITY ST3 INF3 CURRENT M SLOT SLOT AXIS AXIS MCDO CODE ST4 INF4 CURRENT_S CON TEP NU SCH INFS Lal Sch INF amp ORIGIN ST ORIGIN DO ORIGIN ART Zoch 11 INF6 3 NE POSP RG IP i Lei Le i AF RE Sa BASE BASE STAT AUTO_STAR START DON START T INF6I 1 INF6 3 E POSP AST IP 4 wt Lei Li REQ Sec SLOT SLOT ACT BASE BASE Hes H AXIS AXIS SLOT SLOT ACT AXIS AXIS program is the same as program 34 3 17 Chapter 3 Functions 3 2 5 Constant operation 1 In constant operation mode the operation at speed set without target position is continued by speed control operation Since constant operation is not the positioning operation it displays 0 for present position and is switched 2 over to undecided origin point state even if the origin point has been previously decided 3 Accordingly if the next operation step is at decided origin point state returning to origin point shall be executed or eration after floating point set setting shall be executed 4 Ifconfronted by deceleration stop commandin constant operation the correspondent step operation is regarded as complete leading to the next operation step of position data at restart 5 If confronted by deceleration stop commandin acceleration stage constant stage deceleration stage of the constant operation it stops as decelerated 6 O
76. No is displayed Operation axis displaying area ACT BOOL Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 7 15 H AX E ST S Setting area of operation step No tb be performed by start command Seting ange 0 D Chapter 7 Function Blocks 1 Caution for function blocks of operation step No change command used in program 1 Available only atoperation stop state Busy Off state 2 Operation step No is changeable by function block of succeeding operation step No change command to repeated operation in G3F POPA G4F POPA amp G4F POPB but notchangeable in S W package 7 6 6 Deceleration stop Temporary G3F POPA G4F POPA POSP TMP bm G3FPOPA GAF POPA GGFPOPA POSP STP GAF POPB POSB STP Itis used to temporarily stop operation of positioning module as decelerated ies Block s Data e Description Request area of Function Block execution at rising edge REQ BOOL Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on Base postion No BASE US Seting area of base No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 3 GM6 series 0 n positon No SLOT JUSI Seting area of slot No positioning module amp equipped on ingrange 0 7 Assignment area of axis to use AXIS USI f 0 X
77. OA G4F POPB 100 E DC425 5 5 DC 4V or above DC 1V or below Approx 4300 18 or teon DC108 13 2V DC 8V or above DC 2V or below Approx 4300 i j 1 Pulse width 3g m t Manual pulse generator 150 oui or Dies 2Phase diference Position address value increased if phase Ainput pulse is ahead of phase B input pulse Position address value decreased if phase B input pulse is ahead of phase A input pulse PORTS DC2NIOT DC204 264 DC 16V orabove DC AV orbebw Approx 22 geif or beow constant operation 2 4 Chapter 2 Specification 2 3 2 Qutput speci fi cati on e Rated load Operating load voltage Max voltage descent when Max load current voltage range powered On DC475 525V DC 03V or below DC 20 4 264V DC 03V or below Class Foward rotation Foard rotation FP CW A Type Pulse output forward direction pulse RP CCW reverse drecton pulse B Type 2 5 Chapter 2 Specification 2 4 Extemal interface connector 2 4 1 Connector s pi n arrangenent Nuntber connector pins are descri bed S m m ePlRePle X_ZOC X_ZCOM Y Zoc Y ZCOM X ORG X VIR Y ORG Y VTP X 24V X GND Y 24V Y GND N 1 G4F POPB IET RES ES EE E 1 23 1 23 NNINININNININ BP ele lel ePlelelelele 3 Alw A ON EF S oO Gi4l ol Doni Slul NITE o Ul Wull S G3F POPA ES ES signal nane signal contents si gnal s input output di recti on axis forward direction pulse ou
78. On Emergency stop detection BitOn ulse output prohibitedstate BitOn Information displaying area on signals produced from program or S W package inching complete BitOn osition Teach ing complete BitOn in OG low speed operation BitOn n J OG high speed operation BitOn Unuse orward BitOff Reverse BitOn ZONE 2 BitOn ZONE38 BitOn Chapter 8 Pro ep eated operation complete BitOn ositioning start complete BitOn M code On BitOn n origin point compensation BitOn n backlash compensation BitOn G6F POPA unused n continuous operation Next Mo ve BitOn Po n speed overriding BitOn At deceleration stop and Stop complete BitOn eed teaching complete BitOn Valid only in G3F POPA G4F POPA V1 0 eed change complete BitO n Valid only in G3F POPA G4F POPA V1 0 Speed position control switching Only G6F POPA used External upper limit signal BitOff External lower limit signal BitOff External near zero pointsignal Bit On Information displaying area on input m d signals from outer device to position decision module External origin point signal BitO n Unuse Unuse External emergency stop signal Bit Off C a mooo m mu 0000 LL q e 1 Chapter 8 Pro 8 2 Basic program Refer to Chapter 3 amp 5 for the details on basic program m Related E eer 1 Basic floating point s
79. Operation axis displaying area Positioning module changes output parameter DONE from 1 to 0 with 1 output after processing Function Block command State displaying area of Function Block execution complete DONE If Function Block execution complete without error 1 is output and if output 7 parameter ACT is 1 with intemal processing of Function Block complete 0 le _ X axis error information displayed output 1 Caution for function blocks of linear interpolation operation command used in program 1 Available only when operation is at stop state Busy Off state 2 Available operation modes are interpolation operation repeated operation and auto operation 7 7 Chapter 7 Function Blocks 7 3 3 Start to return to origin point POSC ORG DONE Orign G3FPOPA G4F POPA GGF POPA POSP ORG GAF POPB POSB ORG Operation command to find the machine s origin point by origin point return processing methods with direction compensation speed high low address and dwell time set at origin point retum parameters of each axis If complete signal of origin point retum is tumed On origin point retum operation of the machine is complete e Block SE Data e Description BASE USI Input AXIS DONE Output an USI BOOL Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng progame
80. PALPOSP FLT G4F POPB POSB FLT It is a command used to set present position to origin point compulsorily without origin point return operation The assigned address value to origin point retum address will be the present position Function Block Ci Paramet Data Descrip e ass e escription REQ BOO Request area of Function Block execution at rising edge Function Block executed if 0 gt T rising edge wth connected condi ti on area as conposed duri ng programexeauti on iion No BASE USI base No postioning module is equipped on j GMI series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Input SLOT JUSI ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use AXIS USI f X axis operates f 1 Y axis operates isplaying area of Function Block execution complete DONE BOO f Function Block execution complete without error 1 is output and ff output parameter ACT is 1 with intemal processing of Function Block complete 0 is output Output STAT ue Error state displaying area H f error occurs during Function Block execution error No is displayed Operation axis displaying area ACT BOOL Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command POS FLT 1 Caution for Function Blocks of floating pointset setting command used is program 1 Avialabl
81. POPA G4F POA G4F POPB M code signal operates along with M code No according to M code mode as set at parameters during positioning operation but positioning operation can be executed by the next operation Step No regardless of M code signal On Off pin G6F POPA the next operation step No is not operated when M code signal is On even if positioning is complete which will lead to error errorNo 40 Thus if M code signal is On M code signal shall be Off by M code Off command POS C MOF rising edge t for positioning operation of the next operation step No p gt M code mode is classified into With mode and After mode accoring to output timing of M code signal Chapter 5 Positioning Parameter gt Setting in S W package E oO a 8 u o D Parameters s etting Program 5 1 M code mode 5 10 Chapter 5 Positioning Parameter 1 Wihmode This is a mode outputting M code Onsignal and simultaneously producing out M code No set at position data with start command start POS C AST linear interpolation start P SC INT of positioning operation to output parameter MCD of present operation state s code Read function blocKPOS C CRD level Positioning s POSG AST M code 90st out parameter BUSY POSE SRD od parameter ST6 s fbi Mcode On signal POSE SRD out parameter ST3 s bij M code Off com post G3F POPA G4F POPA G4F POPB Positioning start Pos M
82. Y AXIS origin point In operation return condition Error signal P M0222 SET DA Y AXIS origin point return command On ane FS P0023 Next Move command MI 00010 D Mu condition position No 10 in Constant progress with constant op M0223 SET vum Next Movecommand On P0024 P0060 P0061 P0024 Operation data No 7 LA M103 00002 D M0224 ee change Eent s In operation r signal L M103 00012 1 D M0225 J M0224 h0010 h000A JUMP BIN DU M108 7 Position No 22No 10 M0225 h0000 h0000 IMP BIN POO MIR Position No 12 No 0 Continued 10 19 Chapter 10 MK Program M0224 M0225 P0067 Y AXIS command complete signal F0010 PUT 00003 00056 M106 Remark SET DUR 00007 Operation data No change command On Positioning start Off Origin point return command Off Operation data No change command Of Next Move command Off Speed change command Of RAM command amp data total Write Common used 1 The above application program example can be applied in system configuration even if G4F POPB amp G3F POPA are used as installed on slot No 3 position where G6F POPA is equipped 2 G3F POPA G4F POPB and G6F POPA all for 2 axes control takes possession of 64 I O points identically 10 20 Chapter 10 MK Program 10 3 2 Position Teaching by JOG operation 1 The system configuration is as shown in Fig 10 1 2 It is position
83. a of axis to use AXIS USI X axis operates T Y axis operates ROT BOOL Direction assignment of J 06 operation f 0 forward operation I 1 reverse operation Speed assignment of J OG operation PU lowspeed operation profile wihout accelerationldeceleration f 1 high speed operation profile with accelerationldeceleration State displaying area of Function Block execution complete DONE If Function Block execution complete without error 1 is output as kep t until the next Output execution starts if error occurs 0 is output with operation stopped EH AT Error state displaying area If error occurs during Function Block execution error No is displayed In Function Blocks for OG startcommand input parameter REQ is operated via the level Itmeans J OG operation state If connection condition of REQ is On and OG output stopped If Off 7 9 Chapter 7 Function Blocks 7 4 3 Return to prior position to manual operation Retum To Position G3F POPA G4FPOPA G6RPOPA POSP RTP G4F POPB POSB_RTP Command used to return to prior position to manual operation when the position has been changed by manual operation after positioning p gt Manual operation means inching operation OG operation or manual pulse generator operation Be Block pes Data e Description Request area of Function Block execution at rising edge Function Block executed if O T rising edge wth connected conditi on to this area as co
84. ailable only a constant stage Constant Speed value set at ot override speed data p gt Take the following precautions far speed override application 1 For higher speed Max speed allowable at speed override is 150 of speed value set Thus max changeable speed is 15 Kpps Speed overriding Speed value Ne set at speect gt data 10Kpps 2 For lower speed overriding Min speed allowable at speed override is 10 of speed value set Thus min changeable speed is 1 Kpps Speed value set at spe data 10K pps Error89 occurs if shift time is over 65535 3 37 Chapter 3 Functions Remark gt Caution shall be exercised for lower speed by speed override If reaching time to changed speed is over 65535 in comparison with the left value from speed overiding point to target address error 89 occurs D gt Operation modes available for speed override are single operation repeated operation and autgoperation Error 57 occurs for the other operation modes and error 59 occurs f speed override is used when the operation ls not by start command Program 3 13 Speed override 3 38 Chapter 3 Functions A8 Upper lower stroke limit Positioning module includes external input stroke limit extemal input upper limit signal external input lower limit signal and S W stroke limit SW upper limit SAV lower limit 38 1 Outer input upper lower stroke limit gt Outer stroke limit includes external input
85. and the operation of positioning module may be abnormal 9 11 Chapter 9 Inner Memory And I O Signals 92 1 0 signal 9 2 1 Contenis of I O signal In case positioning module is applied to MASTER K 2008S 300S amp 1000S CPU module Input Signal and Output Signal are used for data exchange with PLC CPU The contents and functions are as described below See below If I O Word No of positioning module equals n The contents of I O signals of G6F POPA G4F POPB amp G3F POPA are identically 2 axes 64 points 1 I O signal of G4F POPA 32 points Signal direction PLC CPU Positioning module ILI PoO n 1 2 Positioning complete a ans Mcode On o n 1 6 Command complete O n 1 7 GE vn Position Teaching complete Speed Teaching complete d Origin point undecided state Pulse outprohibited state dg dg PO In origin point return d dg eege m 9 12 Chapter 9 Inner Memory And I O Signals 2 I O signal of G3F POPA G4F POPB G6F POPA 64 points Signal direction PLC CPU Positioning module Signal direction PLC CPU gt Positioning module P ara toi Com sgral contact command n O Error F00 n 2 0 Emergency stop In operation F00 n 2 1 Operation data No Change Positioning complete POO n 2 2 Floating point set Origin point return complete Ouiput prohibited cancellation g 4 3 3 E 2 2 2 ei 0 2 giis gt d Origin point unde
86. anual pulse operation is in permission state From now on positioning control is operated by pulse input from manual pulse generator 2 After permission command of manual pulse generator operation BOS MPGrising edge T Js executed manual pulse operation is in prohibition state by the following operation start command origin point retum command interpolation operation JOG operation Inching operation 3 Operated regardless of starting point decided or undecided 4 Pulse input from manual pulse generator is incremental or decrement at present position 5 Shift direction is decided according to phase difference D gt Forward position decided If phase A input pulse is ahead of phase B input pulse D gt Reverse position decided If phase B input pulse is ahead of phase A input pulse fhe A ai pede phse B mu pde pln aides det emt f faseB npe ed of phase Aint ube poston adess walee dcemet Program 3 8 Manual pulse generator 3 31 Chapter 3 Functions 36 3 Inching operation POSC_ INC rising edge 1 p gt One ofmanual operation methods used to process minute move as determinate operation gt JOG command operation is hard to move to exact position because operation starts and stops according to the command butvia the inching command with travel value easily set as desired the target is easy to reach p gt Thus after rapid move near to work position by J OG commandPOS c J OG perform operation by inching command for minute
87. are adhered closely to each other Direction switched by external upper lower limit Origin point return at high Origin point decided Origin point return at low Revers External upper lower limit POSg_SRD ST5 1 2 i Origin point POS g_SRD STSI4 Origin point M SERVO meter rotated once PG rotated return command POSg ORG Origin point return in process Origin point return done Op state 1 Origin point is decided at the moment when external upper lower limit signal is input if origin point signal is previously On prior to outer input of upper lower limit signal Time Speed External upper lowe r limit signal i Pos CF origing point F C A posm_srd st5 4 3 27 Chapter 3 Functions 3 5 5 Origin point detection by near zero point This method is used to decide origin point only by near zero point Forward Direction switched at rising edge of near zero point signal Origin point return at high speed Direction switched at rising edge of near zero point signal Origin point return at high speed Time Origin point decided Reverse Near zero point Origin point return command POSg ORG Origin point return in process Origin point return done Op state Read Origin point return in Remark 1 ff near zero point s Orf time is longer than deceleration time the operation is as follows Time Origin point return at high speed Forward Or
88. ating point set shall be complete first to allow other command or error 76 occurs in Absolute operation with the command not executable Read only area is arranged according to the address of buffer memory common used RAM Never apply PUT command to this area X axis Read only area address 0 5 X axis Read Write available area address 6 21 Y axis Read only area address 50 55 Y axis Read Write available area address 56 71 Do not Read Write on other addresses than assigned at buffer memory when executing PUT GET commands Surely refer to 3 1 Buffer memory because the address of buffer memory differs according to the type of positioning module Present position address shall be surely read in 2 word unit simultaneously and preset position address be written in 2 word unit simultaneously also PUT GET commands 10 5 Chapter 10 MK Program 10 2 2 Basic program 1 Positioning start AST P0000 P0020 P0021 t t _ Positioningstartcond Error signal In operation signal 1 scan On if positioning start cond is On M0200 Positioning start On P0027 Com complete signal Positioning start Off 2 Origin point return ORG P0001 P0020 P0021 E M M Origin point Error signal n operation signal 1 scan On if Origin pnt ret cond is On return condition MUZUI Origin pnt ret positioning start On P0027 Com complete signal Origin pnt ret Positioning start Off 3 Decel
89. ation step No POS C SMC rising edge T previously executed after positioning is complete Thus if assignment command of operation step No POS G SMC is not previously executed step No 0 is assigned and then operated at the next start command POS AST Accordingly it is very useful in the system where several operation steps are repeated 3 Operation direction is decided according to position address value 4 Operation pattern Start op step No 0 Op single Op single Op step No 0 Op step No 0 Positionin start Busy POS can STAAN Chapter 1 Introduction 3 Auto operation mode positioning complete 1 Positioning is complete upon positioning executed to the target position by positioning start POS AST geing edge T and the dwell time elapsed 2 Operation step present operationstep No 1 position is decided for operation in this mode without additional positioning start POSC_AST 3 Accordingly operation mode of the last operation step shall be set to single operation mode or repeated operation mode 4 Several operation steps of auto operation mode can be successively executed 5 Operation direction is decided according to position address value 6 Operation pattern Start op step No 0 Op Op auto Op single Op single Op step No 0 Op step No 1 Op step No 2 Op step No 3 Positioning start POSCAST Busy bist SRD STEB 4 Continuous operation mode p
90. blerangell 3 Setting position address exceeded over s w upper limit or s w lower limit range at present poston preseconmrand Position data setting value of positioning constant operation mode is too small Start command of Absolute Coordinates operation data unavailable at origin port Positon Teaching command iutatogin pointundecided state lp operation resen operation sate Present operation state unchanged resent operation state operation state 1 TunM code Offand 2 stat operaion Change speedposton contolswiching fom accekraton to constant ragam change needed because sop command is rocessed as an error if return command to prior postion t manual operation is exeauted gam change needed because sopcommand b unavalable during del time processing or origin intcompensaton ogam change needed because continuous operation NM tars aech OR speed char 2 Continuous operation N M amp trans operation 0 R unavailable in constant positioning constant operation mode J Speedchange unavailable in continuous and posting constant operatormode constant 1 Eroreset 2 Cont inves opera tion M is available only in 2 Change b overide alowable se Enoreset Operation sepno Change Enoreset 2 To be in setting range To be n inching seting enge Leg ove to operation available area by JOG or manual operation and then perom rest l mg 2 Positi
91. calculate shifting amount per pulse are supposed as described below A2 1 A endix 2 Calculation Of Travel Value Per Pulse Items Abbr Unit Shifting amount per pulse AZ Pulse Speed of the op area at emergent Vo min To be set below parameter speed limit transfer Motor rpm at emergent transfer Ball screw lead Deceleration rate 1 n Pulses number of encoder P Pulse rev Output frequency of Fo Pulse Max input pulse of the servo positioning module Shifting amount per motor AS rev rotation N rpm To be set below servo rated rpm rev DO gt Shifting amount per motor rotation A S AS Ppg X 1 n rev No rpm s Rated rpmof the SERVO motor gt Shifting amount per pulse A AS Al Puse X a P a coefficient of electronic gear rate or P rate gt Output frequency of positioning module Fo Vo No XAS pps Fo 60 X AZ 60 X AL 60 constant to convert the unit of min to sec A2 2 A endix 2 Calculation Of Travel Value Per Pulse Items Al Pulse 1 Shifting amountper pulse Speed of the op area at emergent transfer Motor rpm at emergent transfer Ball screw lead Deceleration rate P Pulse rev i AS Drev P 12000 Pulses number of encoder Output frequency positioning module Shifting amount motor rotation per A2 3 Results AS Pg Xn 12 2 6 0 001 1 Pulse Shifting amount per pulse is
92. cceleration time deceleration time J OG high speed origin point return high speed and M code mode at parameters during operation Function Block POS PRM REQ ing area of deceleration time at parameters seting range 1 999Uni 10 Setting area of J OG highspeed at parameters Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on Base postion No Seting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 jon No area of slot No positioning module is equipped on e 0 7 ignment area of axis to use f 0 X axis operates 1 Y axis operates ing area of acceleration time at parameters ing range 1 WAnt 10 ing range 1 20000Unit X 10pps ing area of origin point retum highspeed at parameters ing range 1 20 000 Unit X 10pps ing area of M code mode at parameters Wih If T After mode If 2 None mode State displaying area of Function Block execution complete If Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output with operation stopped T Error state displaying area If error occurs during Function Block execution error No is displayed 1 Caution fo
93. ceceeeeesaeaeans 11 6 5 Connection With UPD566 Stepping Motor Driver scseceeeeeeeeeeeees 11 7 6 Connection With UPK5114NW2 Stepping Motor Driver eese 11 8 7 Connection With TAMAGAWA TBL l e 11 9 8 Connection With MITSUBISHI MELSERVO SA Type eene 11 10 Chapter 12 External Dimensions 12 1 REES ee 12 1 12 2 G4F POPA G4F POPB 12 2 12 3 G3F POPHR EE 12 3 Appendix 1 How To Set Position Decision Module Parameters For Stepping Motor Drive en cee A pp l 1 App 1 3 Appendix 2 Calculation Of Shifting Amount Per Pulse App 2 1 App 2 3 Chapter 1 Introduction Chapter 1 Introduction This user manual describes the specification of the positioning module displayed below installation how to use each positioning function programming and wiring with outer devices Number of Related S W package control axes txs GAF POPA G3 POPA Pospack exe 2axes GFJOPB POSPACKEXE mfc42 dll msvcrt dll DEI msvcrt20 dl og70as dll positioning module Driver Steooina motr Forward Program M Set data L AJ Reverse p gt GOF PTUA Teaching emia p gt SIN package Pospack Fig 1 1 Position control for stepping motor Posttioning module SERVO motor Deviation D A counter Converter Reverse Feed back pulse UUUL GOF PTUA nishteouir S Package SERVO rated Puse ditibaton Fig 12 Position control for subo motor 1 1 Chapter 1
94. celeration BitOn Pube utprohibited BitOn ZONE 2 BitOn At stop state BitOn Inching complete BitOn ZONEB BitOn n retuming to origin pointBitOn Position teaching complete BitOn Repeated operation complete BitOn LH LU n postioning BitOn In JOG low speed operaton BitOn Positioning operation complete BitOn 7 In interpolation operation not for G4F POPA In OG high speed operation BitOn code On BitOn STS terminal signal ST6 n origin point compensaton BitOn Speed position control switching only for G6F POPA Bio LU tOn ENT compensation BitOn not for G6F Exenal upper isa OF Emor D Innext move BitOn Extemal lower limit signalBitO M B in speed overidingBitOn Extemal near zero point signal BitOn n operation Busy W lme SSS Ted mp pointsignal BitOn Positoning complete 5 n stopping as decelerated amp stop Unused Origin point retum complete complete BiOn Speed teaching complete BitOn Unused Origin pont undecided valid only in GF POPAG4 POPA V10 7 Speed change complete BitOn External emergency stop signal Bit Off Unused valid ony in G3F POPAG4F POPA V10 7 5 Chapter 7 Function Blocks 7 3 Function Block for auto operation 7 3 1 Start Auto Start G3F POPA GAF POPA G6F POPA POSP_AST G4F POPB POSB_AST Output parameter ACT will be T if one positioning is complete by operation start command of positioning module Be
95. cided state Speed override Pulse out prohibited state Error reset Mcode On Mcode Off Command complete Deceleration stop Decel stopping complete Interpolation positioning start Inconstant operation Positioning start In origin point return Origin point return operation In positioning Speed change In interpolation operation JOG start Position Teaching complete Position Teaching Speed Teaching complete Speed Teaching Inching complete Inching start Error Unused In operation Setting operation ceta No Positioning complete Floating point set Origin point return complete Output prohibited cancelation Origin point undecided state Speed override S Ss oi E J g d d d 2 o co SIE es z z g d d ge zx d 3 UJ d 2 2 gt d d 2 3 O d e 2 I 9 d EI SS Z z mm d J ci d dg 2 T Ere oi d Pulse out prohibited state 0 n 3 5 Error reset Mcode On 0 n 3 6 Mcode Off Command complete Deceleration stop Sl Sl 5 d dd olo 2 2 zl un d d d 1 8 Decel Stopping complete 0 n 3 8 Unused 1 9 In constant operation 0 n 3 9 Positioning start O n 1 A In origin point return O n 3 A Origin point return operation n 3 O ne1 In positioning Speed change bei d eo d d e 3 d n 1 C In interpolation operation O n 3 C JOG start O n 1 Position Teaching complete O n 3 D Position Teachin
96. ck execution at bing edge REQ IS Function Block executed if O 1 rising edge wth connected condi ti on BASE to this area as conposed duri ng programexeauti on Input stor AX used to change present postion ype Base postion No USINT ing area of base No postioning module is equipped on ing range GM1 series 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 USINT USINT PRES DINT ET Setting range 16744447 16744447 stion No State displaying area of Function Block execution complete DONE BOOL Function Block execution complete without enor 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 is output Output ing range 0 7 Assignment area of axis to use 0 X axis operates Y axis operates ing area of slot No positioning module is equipped on Error state displaying area STAT HSIN error occurs during Function Block execution error No is displayed Operation axis displaying area ACT BOOL Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 1 Caution for F unction Block of preset command used in program 1 Available only at operation stop state Busy Off state 7 19 Chapter 7 Function Blocks 7 8 3 Parameter change Parameter Write G3F POPA G4F POPA G6FPOPA POSP PRM G4F POPB POSB PRM Command used to change a
97. crement direction position decided to reverse direction address Ex When operated with the target of shifting amount of 5 000 5 000 and 5 000 if start address is 10 000 10 000 fe tt c E if target is 5 000 EA Start address Positioning if target is 5 000 5 000 Direction if the signal is plus Chapter 1 Introduction 2 2 axes linear interpolation control Linear interpolation control is performed at start address presently stopped position using assigned 2 axes A Linear interpolation control is performed from start address to target address wsing 2 axes B Travel direction is decided by start point address and specified address of each axis Ex When operated with the target of positioning address of axisl 2 000 amp axis2 5 000 if start point address is axisl 1 000 amp axis2 2 000 Start point address TNT address 2 000 1 000 xX 5 000 2 000 Positioning Control by incremental method Relative Coordinates A Positioning is controlled from start point address to the position which includes travel direction and travel value assigned as a target per axis B Travel direction of each axis is decided by travel value sign of each axis If the sign of shifting amount is or no sign incremental direction positioning decided to forward direction address If the signal of shifting amount is decrement direction positioning decided to reverse direction address Ex When operated wi
98. d Note1 7 11 Chapter 7 Function Blocks 7 5 2 Speed Teaching Velocity G3FPOPA G4FPOPA G6FPOPA POSP VLT G4F POPB POSB_VLT This is used for user to set random speed value to specific speed data No Function Block type Request area of Function Block execution at rising edge Function Block executed if O T rising edge wth connected tion to this area as co i Base postion No REQ ing area of base No postioning module is equipped on ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 ston No ing area of slot No positioning module is equipped on ing range 0 7 ing area of speed data No to execute Speed Teaching ing mme H DI ing area of speed value to execute Speecd Teaching ing range 1 20 000 Unit X 10P use POSG VLT BASE SLOT Selection area of Speed Teaching type f 0 RAM Speed Teaching f T ROM Speed Teaching State displaying area of Function Block execution complete f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 output Operation axis displaying area Positioning module changes output parameter DONE from 1 to with 1 output after processing Function Block command Remark Note1 Input parameter MODE can be used only in G6F POPA 7 12 Chapter 7 Function Bl
99. d for SERVO driver or stepping motor differ each other such a pulse out direction of positioning module shall be selected as applicable gt Output direction types TypeA Forward pulse andreverse pulse are output from cifferent terminals respectively Forward output gt TypeB Forward pulse and reverse pulse are output from one terminal and detecion signals of forward reverse directions are output from different terminals respectively Forward output Reverse output 5 3 Rotation direction ee gt Forward rotation Rotation direction is set to the direction where present value of position address is on the increase Reverse op If set reverse _ EUM mel If set forward If set reverse 5A M code mode Chapter 5 Positioning Parameter M Code Mode C With C After None gt M code mode which has been setat parameters are wholy applied to all position data of its applicable axis p gt M code No can be set respectively per operation step No of positioning data gt M code No setting range 0 255 gt Mcode can be used to check operation step No presently executed and to perform supplementary work clamp amp drill rotation tools exchange etc by Read at output parameter MCD of present operation state s code Read function blocKP0S C CRD level in program p gt M code signal produced during operation can be reset by M code Off command POS C MOF rising edge p gt InG3F
100. d the target position even though positioning module is at stop state gt Operation state of the applicable axis of positioning module is kept On during dwell time operation and will be Off with positioning complete signal On if dwell time elapsed 6 6 Position Chapter 6 Position Data For 6 11 Speed data so D Ka UD 5 ES E 5 so o o 8 Ei E New package POSPACK 2 S m m B B r i RSS D ir Er ae l eeog aN aebekaAnh BELLI Next speed No Enter speed data hera Old package POSITION gt Speed data decides operation speed of position data with 128 setting types Thus 128 speed numbers as assigned can be used by setting speed at speed data gt Setting range of speed data amp 0 20 000 setting unit X10pps If setting speed value is 5 000 actual speed data is 5 000X10pps 50Kpps gt Speed data value of speed No is changeable in program by speed teaching function blockP0S c VLT rsing edge TL gt Cauton for speed data setting 2 E e g E VI ES 3 3 g E VI 3 Es E 2 ES 6 7 Chapter 7 Function Blocks Chapter 7 Function Blocks Function Blocks for positioning modules used in GMWIN are described Type of Function Blocks is as follows 1 POSP CRD POSP CRD POSB CRD POSP CRD Present operation state s code information 121 For modue Read information i iti i DH EEN o SECH operation states bit EE m POSP OR
101. data setting 7 14 Chapter 7 Function Blocks 7 6 4 Speed override Override G3F POPA G4F POPA G6F POPA POSP OR G4F POPB POSB_ OR This is used for user to execute operation with speed value as changed at constant speed Function Block Paramet Data Description type er pe p Request area of Function Block execution at rising edge REQ BOOL Function Block executed if 0 gt rising edge wth connected condi ti on to this area as co i ng programexeauti on Base postion No BASE Seting area of base No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 3 GM6 series 0 Slot position No Setting area of slot No positioning module amp equipped on Seting range 0 7 Assignment area of axis to use If 0 X axis operates ICT Y axis operates Setting area of present operation speed to new value op Seting range 1 15 Unit 10 Ex f seting value is 12 operation speed value after changed operation speed Value before changed X 120 State displaying area of Function Block execution complete DONE BOOL If Function Block execution complete without error 1 is output and if output parameter ACT is 1 wih intemal processing of Function Block complete 0 is output Error state displaying area If error occurs during Function Block execution error No is displayed Operation axis displaying area ACT BOOL Positioning module changes ou
102. decelerated by deceleration stop command no positioning complete signal occurs Q no position passing signal occurs and M code signal of After mode among M code mode is not On Afterthis if start command is input at stop state left positioning distance of the present operation step that is not output is operated by absolute method and the next operation step No is operated by relative method 2 Atdeceleration stage p gt Error occurs if deceleration stop command is input at deceleration stage and positioning complete signal position passing signal and M code signal occurs just like the normal stop gt ff confronted by deceleration command at deceleration stage during positioning stop is followed after positioning address reached 2 Emergency stop external input upper lower limit processing p gt If emergency stop command or extemal input upper lower limit is input during positioning control positioning control is Stopped at output prohibited state to display error 3 Priority of stop processing Priority of stop processing of positioning module is as follows Deceleration stop lt Promptstop p gt Promptstop is processed atthe moment when prompt stop cause occurs at decebration stage during positioning However if prompt stop time is longer than deceleration time deceleration stop processing is continued even though prompt stop cause occurs during deceleration stop processing D gt ff prompt stop cause occurs
103. during deceleration stop Positioning speed Decel Stot Prompt stop Pos stopped by prompt stop p gt Prompt stop causes intemallextemal emergency stop extemal input upperfower limi s w upperfower imit 3 22 Chapter 3 Functions 34 Restart after positioning stop 1 Restartafter deceleration stop command POSC STP rising edge 1 1 If deceleration stop command input at acceleration constant stage gt Operation step No in execution is performed if restarted after deceleration stop p gt Restartis available by changing M code signal from On to Off if With mode has been used among M code modes 2 If stop command input at deceleration stage p gt The following step of the operation step No in execution is performed if restarted after deceleration stop p gt M code On signalis nottumed On if With mode has been used among M code modes however M code On signal shall e Off to allow re start if After mode has been used 2 After internal emergency stop external emergency stop extemal input upper lower limit s w upper lower limit gt If internal emergency stop extemal emergency stop external input upper lower limit and s w upper lower limit is input positioning module is at CD outputprohibited state and origin point undecided state p gt cancell outputprohibited redecide origin point origin point retuming operation floating poirt set setting and D gt perform restart operation beginning
104. e 0 output Operation axis displaying area Positioning module changes output parameter DONE from 1 to with 1 output after processing Function Block command Remark Note1 Input parameter MODE can be used only in G6F POPA 7 12 Chapter 7 Function Blocks 76 Auxiliary operation 7 6 1 M code off MCode Off G3F POPA G4F POPA G6F POPA POSP_MOF G4F POPB POSB_ MOF This is used to turn M code signal Off when the signal is On if M code has been set to With or After mode at parameters of each axis e E Request area of Function Block execution at rising edge Function Block executed if 0 gt T rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on Base postion No BASE USI Seting area of base No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 stion No ing area of slot No positioning module is equipped on ingrange 0 7 Assignment area of axis to use If 0 X axis operates E IT Y axis operates State displaying area of Function Block execution complete If Function Block execution complete without error 1 is output as kept until the next Output execution starts If eror occurs D is output wih operation stopped Error state displaying area au If error occurs during Function Block execution error No is displayed Input 7 6 2 Speed change Velocity Change
105. e only at operation stop state Busy Off state 7 8 2 Present position Preset Preset G3FPOPA G4F POPA G6F POPA POSP PRE G4F POPB POSB PRE Itis a command used to change present position to random position Function Block Class Paramet Descrision type er p est area of Function Block execution at bing edge REQ IS Function Block executed if O 1 rising edge wth connected condi ti on BASE to this area as conposed duri ng programexeauti on Input stor AX used to change present postion ype Base postion No USINT ing area of base No postioning module is equipped on ing range GM1 series 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 USINT USINT PRES DINT ET Setting range 16744447 16744447 stion No State displaying area of Function Block execution complete DONE BOOL Function Block execution complete without enor 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 is output Output ing range 0 7 Assignment area of axis to use 0 X axis operates Y axis operates ing area of slot No positioning module is equipped on Error state displaying area STAT HSIN error occurs during Function Block execution error No is displayed Operation axis displaying area ACT BOOL Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 1 Ca
106. ear Zero signal On Direction C Forward Backward C after Near Zero signal On and Off Compensation z pulse by Near Zero signal and Limit signal High Speed 5000 xl pps C by Near Zero signal only Low Speed 0 xl pps Zone Setup ien CNN ee Range 16 744 447 16 744 447 pulse 71 nm 00 xime ON Begin ON End Zone 1 fj S 0 0 Zone 3 D D Od package POSITION Wi Terms modified Related After modified Bi 4 Bi Referto 5 13 ds aS Spes Unitchange pulse sec dm o Nome f Return after origin point L S Origin point detection after detection ear zero point Off Return upon origin point L S detection deceleration at near zero point On VEER n Retun fo phase Z Origin point detection by ear zero point ON stat point OFF position ON end point WEEN be rigin point detection by origin point DENN ADU GR IES and upper lower limit p fee Chapter 5 Positioning Parameter 5 1 Basic parameter Basic parameters are described Accel Time M xl ms Decel Time Pm xl ms seesi2 Let Backlash D pulse Bias Speed D xlOpps og JOT ula IT pulse Lower ali eda pulse i Speed Limit From xl pps Pass Time f xl ms 5 1 1 Acceleration deceleration time gt Applied to start point amp stop point of positioning operation origin point returning high speed operation and JOG high speed operation and also to continuous operation command POSC NM rising edge 1 speed cha
107. ed at one base is unlimited 4 Convenient maintenance and repairs G6F POPA is designed to save position decision data parameters and other data in the flash memory of positioning module Chapter 1 Introduction 1 2 Features of position decision control function Summary of positioning control function will be described 1 2 1 Positioning control function Summary of positioning by positioning datawill be described below 1 Linear position decision control gt Available operation modes are single repeated auto and continuous operation 1 1 axis linear positioning control Positioning of assigned axis is controlled from start address presently stopped position to target position Control by absolute method Absolute Coordinates A Positioning is controlled from start address to target position B Shift direction is decided by start address and target address Ex When operated with the target of positioning address values of 5 000 amp 15 000 if start address is 10 000 Positioning if target is 5 000 10 000 Start address Positiondecision if target is 15 000 Control by incremental method Relative Coordinates A Positioning is controlled as much as target at start address B Shift direction is decided by signals of shifting amount If the signal of shifting amount is or no signal incremental direction position decided to forward direction address If the signal of shifting amount is de
108. eleration Deceleration Processing seen 1 11 12 4 Iritroduction OT Starting yx eec ex ea Fer e ieee ee Maw e Tur cack eae 1 12 12 5 Introduction Of The Return To Starting Point 1 13 Chapter 2 Specification e tee stade aeo ERR CREER gef ana Yao cea Ead 2 2 1 General Specificato esses 2 1 2 2 Performance Specification 2 3 2 3 Input Output Specification Of The Outer Interface 2 4 2 3 1 Input Specification us sacvadse eva ntn hn neta asa eave Sie SR ign 2 4 2 3 2 Q utput S pecification sigri nii oir cir werceRcx x ilm ia vh Ra OR Xa TR CRX IRR i 2 5 24 Outer Interface Connechor enn Henne 2 6 2 4 1 Connector s Pin Arrangement 2 6 SC Winer Gireuit saw T 2 8 2 5 Designation And Function Of The Barts aaa 2 11 2 6 Connector s Pin Arrangement 2 12 Chapter 3 Functions wen vu ek ae cue a eee EK eee KR AER ER KE annann AER ER nnn n nn 3 1 Position Decision Control eem 3 1 31 1 Position Emtee 3 1 32172 Speed Control ed edit vest NEES eae PEE T Ea Ya ANEN dE EE 3 7 3 1 3 Speed Position Switchover Control 3 9 3 2 Op ration Mode de Fro aae obe EXE SENE E ONE e 3 10 32 Separate Op ration recie eee rs Td vet n vias COR ER RET da 3 11 CONTENTS 3 2 2 Repeated Operations 2 seen e T e ER ved exce Ee Ee ERC 32 4 Continuous Operation i522 iocis riis uy re erred KENE ee exa EELER 32 5 Constant Operation ee si ce eth DER e EEN rx nn A ENNER SEENEN 3 2 6 Position Decisio
109. ellation Command to let positioning module find the Position Teaching next position No to operate Speed Teaching D D Inchine Q Origin point return command gt Command to find the machine s origin pant to operate Fig 10 4 Output of positioning module 10 1 2 Exchange of word data word information Information of word data is exchanged in 16 bit unit There is buffer memory common used RAM in positioning module to save data Positioning module Add Buffer memory commonused RAM X AXIS O mwa av Present operation speed memory Commonused RAM command Read only available PUT PUTP Pos op step No CPU Read Write available Fig 10 5 Buffer memory common used RAM Buffer memory common used RAM Reads status information with GET GETP commands and Writes commands and data with PUT PUTP commands in CPU M code value 0 255 Fig 10 4 Example of buffer memory common used RAM 10 3 Chapter 10 MK Program 10 2 Programming 10 2 1 Programming Caution Read the status always prior to execution of command GET 00001 00000 D0000 00006 Buffer memory status total Read X AXIS GET 00001 00050 D0050 00006 Buffer memory state total Read Y AXIS Any other command than error reset speed change override deceleration stop and Next Move command is not allowed to execute during operation or in error Command Off is to be processed by command complete signal P
110. er SY 000B In JOG operation 5 Present positi on adds higher M000C In compensation operation MOD ZONE 1 MONE ZONE 2 MO00F ZONE 3 Remark Since addresses 0 5 X axis and 50 55 Y axis of positioning module s buffer memory are the area exclusively for Read Read of positioning module status shall be performed by GET command Chapter 9 Inner Memory And I O Signals 9 1 3 Command of Commonused RAM BufferMemory and data Common RAM Buffer Memory command FED C BAY 8 FY 65 4 3 2 1 Uu AME x G4F POPA G4EPOPB G3EPOPA Return command to prior position to manual operation RTP Next Move command only in continuous op mode MPG operation alowed JOG lowhigh JOG Inching forward reverse Present value presetcommand Common RAM Buffer Memory comman F ED CB AY 87 06054 3 2 l1 U S m 7 G6F POPA Unused etum command to prior position to manual operation RTP Next Move command only in continuous op mode arameter transmission command OG lowhhigh OG Inching forward reverse Present value preset command 1 Return RTP command to prior position to manual operation Command used to return to prior position to JOG Inching operation after JOG Inching operation 1 On 0 Off 2 Next Move command 1 Command used in continuous operation mode for operation with the operation speed of the next operation data No as changed 1 On 0 Off 2 Command available only at constant speed 3 Ma
111. eration stage are controlled by acceleration deceleration time gt JOG high speed setting range 1 20 000 Unit 10pps Caution for high speed setting bias speed lt JOG highspeed lt speed limits 5 5 2 Lowspeed gt JOG low speed operation has not acceleration decelemation staged pattern but only constant staged pattern gt JOG low speed setting range 1 10 000 Unit 10pps Caution for low speed setting Caution required since operation is performed regardless of bias Speed and speed limits 5 6 Origin point retum processing method Origin Return Method after Near Zero signal On C after Near Zero signal On and Off by Near Zero signal and Limit signal C by Near Zero signal only gt 4 starting point return processing methods are available as restricted respectively according to positioning modules meagre prrergmaed Der able able Origin point detection after deceleration at near ero point On Available Available Available Available Origin point detection by origin point and upperlower iit Available Unavailable Available Available Origin point detection by Near zero pont Available Unavailable Available Available However as for G3F POPA O S V3 0 or above origin point return is available through origin point detection by origin point and upper lower limit and by near zero point gt Refer to 3 5 Return to origin point for the details on origin point
112. eration stop STOP P0002 P0020 P0021 ii Decel stop cond Error signal In operation 1 scan On if decel stop cond is On M0202 Decel stop positioning start On Com complete signal Decel stop positioning start Off 10 6 Chapter 10 MK Program 4 Internal emergency stop P0003 Inner e stop cond M0203 1 scan On ifinternal emergency stop condition is On Internal e stop com On P0025 Pulse out disable On disable Off cancelled Intemal e stop com Off Internal emergency stop Emergency stop with NC B contact switch or sensor as connected to external connector pin No 19 by program External emergency stop Emergency stop with NC B contact switch or sensor as connected to external connector pin No 19 irrelevant to program 10 7 Chapter 10 MK Program 5 JOG operation JOG F0010 GET 00001 00000 D0000 00006 P0000 Common used RAM status D won total Read M0210 JOG lowspeed forward M0200 RT M0064 forward P0001 D M0201 M0211 JOG lowspeed reverse M0201 T SET M64 ES P0002 D M0202 M0212 JOG high speed forward M0202 SET M0063 high speed RST M0064 forward P0003 D M0203 M0213 JOG high speed reverse M0203 SET M03 high speed SET M0064 reverse M0210 POC M0211 JOG operation command M0212 M0213 F0010 PUT 00001 00006 M006 00001 Common used RAM command Write 10 3 Chapter 10 MK Program 6 Operatia data No change SMC F0
113. erpolation operation l Forward X X travel value Reverse Ex D Ifstart address is 1000 4000 and D gt target address is 9000 3000 the operation is as follows Start point address 4000 Y travel value 3000 Specified address X D Setting in SW package D Program Program is the same a program 32 C hapter 3 Functions 3 12 Speed control constant operation mode gt Speed is controlled as set until deceleration stop command is input after executed bypositioning start Origin point undecided if operation is stopped bydeceleration stop command gt Speed control includes forward start and reverse start Forward direction start Reverse direction start Moe Setposition address value positive Ex 100 1000 Ex 100 1000 1 If prior direction to constant operation start is 1 If prior direction to constant operation start is forward forward operation is continued reverse reverse operation is continued 2 If prior direction to constant operation start is 2 If prior direction to constant operation start i G3 POPA feverse forward GAF POPA forward separate or repeated positioning D reverse separate or repeated positioni GAF POPB operation shall be performed at a constant operation shall be performed at a consta speed speed 3 As specified in 1 amp 2 above for execution of starting 3 As specified in 1 amp 2 above for execution of starti point deci
114. ers 5 5 11 Acceleration Deceleration Time sese mmm meme n 5 12 Backlash Correction usu oer ee rete cen OO nace e c e ca o od ante ere Ra 5 13 Bias Speed 5 14 SW Top Bottom Stroke Limit ccc se esac cee ENEE EE e hn ENNEN NEE dE retten 5 1 5 Speed Limits 5 6 Position P ssing TIme sese wag ta dee mE er rr pe PRA MER TET E RR eR eege A PArnondr snp ER OTI TEE 54 M Code Mode i d 1 1 i 1 1 1 LOCH CO CO a a a c1 E 99 99 CONTENTS 55109 Speed et ep ptor Ee 5 13 56 Processing Method Of The Return To Starting Point 5 13 57 Return To Starting Point 5 14 MEI Ra 5 M E EE EET 5 14 5 7 3 Speed Of The Return To Starting Point 5 15 KR NEE 5 15 WAIT E 5 15 BB Ee MEET 5 16 Chapter 6 Position Data For Position Decision ae e enne Ol Step p mE eke 6 3 LE 6 3 6 2 1 Absolute Coordinates o ree NR EE a ne reet x urea x YR KENT ET NN ENEE EEN 6 3 622 Relative Coordinates 55 2 soccer eene ed SEENEN he Cheeses SN DI RR SES 6 4 63 Dveim e coco Ee EE 6 4 64 Operation Method 6 5 HUET ET recen ree nens 6 5 66 Operation Mode nger aO x ERU De a RENE ER A 6 5 67 Posmon Address sione ROO go SRM Ses P aor 6 5 LAKE 6 6 69 Roo H EE 6 6 6 10 Dwell Time ru EE ae Gece E E 6 6 GTI Speed Data nicin ro pride E EA SR k Fro av ER VES EYE ERR 6 7 Chapter 7 Function Block eu gd agedeelt care EI QU RET ana decay ae 7 1 Function Block Re
115. es isplaying area of Function Block execution complete 33 If Function Block execution complete without error D is output as kept until the next Output execution starts if eror occurs 0 is output with operation stopped Error state displaying area If error occurs during Function Block execution error No is displayed ion No BASE USI ing area of base No postioning module is equipped on j GMI series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 7 10 Chapter 7 Function Blocks 75 Teaching Function Block 7 5 1 Position Teaching Teaching G3FPOPA G4F POPA G6F POPA POSP TEA G4FPOPB POSB_TEA This is used for user to set random address value to specific operation step No a Cas ye ye p m ke er REQ IS ET Request area of Function Block execution at rising edge Function Block executed if O gt T risi ng edge wth connected condi ti on to thi s area as conposed during progranexecuti on Base postion No Setting area of base No postioning module is equipped on Setting range GM1 series 31 GM2 series 0 7 GM3 4 series 3 GM6 series 0 positon No USINT Setting area of slot No positioning module is equipped on Setingrae 0 7 UINT SLOT Input AX ST S signment area of axis to use f 0 X axis operates f 1 Y axis operates etting area of operation step No to execute positon Teaching Seting range 0 D PRES DI eting area of positon address
116. es Q 7 GM3 4 series 0 3 GM6 series 0 positon No Setting area of slot No positioning module is equipped on Seting range 0 7 ignment area of axis to use 0 X axis operates T Y axis operates Direction assignment of iching operation O forward operati f T reverse operation u Travel ae setting area in inching operation ing range 1 99 UnitPuse isplaying area of Function Block execution complete Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 is output Error state displaying area error occurs during Function Block execution error No is displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to O0 with 1 output after processing Function Block command 7 8 Chapter 7 Function Blocks 7 4 2 J OG operation OG G3F POPA G4F POPA GGF POPA POSP JOG G4F POPB POSB_J0G As a manual operation function for test itis used to check system operation wiring state and teaching position address Whose speed is classified into high and low as required Puse is output by setting value if connection condition of input parameter REQ is ON and is stopped if OFF K E Request area d Function Block execution Function Block executed if 0 gt T level detection wth connect ed POS JoG condi ti on to this area as co Base postion N
117. et setting 2 Basic linear interpolation positioning start floating point set setting Deceleration stop origin point return 37 4 Single operation origin point return Single operation operation step No assignment Eee 6 Constant operation operation stepNo assignment 7 JOG operation Manual pulse generator E Owdmsspiodegpbycriueqedn B Sedo 14 Present position change 15 SpeedTeaching Inching operation X3 mmm S Chapter 8 Program 83 Application program 8 3 1 Positioning of single operation repeated operation auto operation amp continuous operation 1 Setting in SAV package Position data Speed data Continuou 1000 3000 6000 10000 15000 45000 Ken NoO Step No 1 Step No 2 Step No 3 Step No 4 Step No 6 l 1 1 1 l l Repeat 1 l Start com E E s s Next start command executes step POS a No 0 gt In continuous operation mode an operation pattem with direction switching carl tbe used in G3F POPA amp G4F POPA Accordingly program shall be surely changed to autsoperation instead of continuous operation in G3F POPA amp G4F POPA y Succeeding operation mode to aute operation is only separate repeated or autboperation as available y Succeeding operation mode to continuous operation is only separate repeated or continuous operation as avaiable Chapter 8 3 Programming example Chapter 8 Program 8 3 2 Positioning with
118. etween present speed value used in oper ation and newly changed speed value by speed change POS C VCG ising edge 1 is too large separation may occur p gt If reaching time to target position right after speed value is St by the d change is over 65 535 error 89 occurs Also if restarted after removal of error causes at this time operation step No di e d Chapter 3 Functions 3 12 Operation step No change by continuous operation P OS C NM p gt Used only if operation mode is continuous operation andat constant stage among operation patterns gt If continuous operation P OSC NM command is used during operation the operation is performed as shifted from presently operated step No to the next operation step No p gt Continuous operation command is performed differently according to Absolute Coordinates and Relative Coordinates in position data setting gt If used in Absolute Coordinates gt fused in Relative Coordinates Op continuou Op continous 2 Op step No 1 Op step No 1 l H Op cdntinuous Oj continuous If continuous Op step No 0 i Op stap No 0 op command oH p I not used Positioning sot 01 POS AST I t BUSY BUSY DE EAR DE EAR PT P2 If continuous BUSY BUSY op command DEE POS 50 562 used Conti Op com Conti Op com ors i EG A post Nt I Area of A is the same as that of B D gt Present position decided by continuous operatiqn command becomes
119. ffer Memory And I O Signals 2 Buffer Memory of G3F POPA G4F POPB G6F POPA X axis Address decimal Es F bO bF bE bD bC bB bA b9 b8 b7 aja DO 0 Present M code value status information deed ec f 1l 1 Error code error information Y 2 Present operation speed Present M code 0 255 p p 3 Present operation data No External upper limit signal External lower limit signal 4 Present position address lower Emergency stop 5 Present position address higher InJOG operation S 6 Common used RAM command en 8 7 Position Teaching operation step No ZONE 42 P 8 Operation step No ZONE 3 2 9 Preset position address lower zg S 10 Preset position address higher s 11 Override Inching DB meme bB b tme bO Variable speed value aS ee Speed Teaching speed data No y Y Speed Teaching speed value nigra sing dd doses shia Position Teaching module H W error Speed Teaching Acceleration time 0 999 Ir O O Deceleration time 0 999 M code mode 0 With 1 After 2 None tase JOG high speed value 1 20 000 Origin point return high speed Es kd Es e pF b6 b5 b4 b3 b2 bl b0 Unused Present value preset JOG Inching operation 0 forward 1 reverse JOG 0 low 1 high G3F POPA G4F POPB MPG operation allowed G6F POPA parameter transmission command Next Move Return to prior position to manual operation RTP 9 1 N G4F POPB G3F POPA G6F POPA Chapter 9 Buffer Memory And I O Signals 3
120. fied address Control by absolute method Absolute Coordinates can be started at the state that origin point has been decided ff started at the state that origi point has not been decided error 76 occurs Arliable operation modes are separate repeated auto and continuous operation 6 3 Chapter 6 Position Data For Positioning 6 2 2 Relative Coordinates c ontrol by incremental method A Positioring is controlled atstartaddress as much as target travel value B Shift direction is decided according totravel value sign D If shift direction is or no sign position decided forward address incremental direction D lf shift direction is position decided reverse address decremental direction Start point address Reverse o o Eo h Forward Shift direction if sign is Shift direction if sign is Ex gt gt Iforigin point return address is 5000 and gt target address is 7000 position is decided at 2000 Setting in S W package Setting at parameters Setting at position data Origin Aetum Method Direction Forward F Backward Compansaton fi pulse WghsSpeed MOT lge Coord Owar Op Invalid Spaced Deeg Mts zi pube inc ds core valid singe ALU H H U Dwie Tj ome Results of positioning 0 do e 4 1 i Specified address Start point address 6 3 Override gt Override of position data means speed override classified into allowable and prohibited If speed override is used
121. for detailed monitoring or using as conditions in user program Request area of Function Block execution Function Block executed if O gt T level detection wth connected ee k Paramet KEE BASE USI Input AXIS USINT DONE BOOL S BOOL oT naas BOOL BOOL ARRAY BOOL ARRAY AR RAY AR RAY cond tion to this area as conposed during progranexecuti on Base postion No ing area of base No postioning module is equipped on ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 ston No ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use If 0 X axis operates IF T Y axis operates isplaying area of Function Block execution complete If Function Block execution complete without error 1 is output as kept until the next execution starts If eror occurs 0 is output STAT Error state displaying area If error occurs during Function Block execution error No is displayed 7 4 Chapter 7 Function Blocks 1 Contents of output parameters ST1 ST6 in present operation state s bit Read function block are important information surely to apply in p ogram BitNo Sr ST D I 0 In dwellBitOn Upper limit detected BitOn Unused n 5 n deceleration BitOn Lower limit detected BitOn Forward BitOff Reverse BitOn n constant BitOn Emergency stop detected BitOn ZONE 1 BitOn n ac
122. from the operation step No 07 3 5Return to origin point POSC_ORG rising edge 1 p gt To be executed to check the machine s origin point when powered p gt Origin point return parameters shall be set peraxis for origin point retum p gt Refer to 4 1 4 6 amp 4 7 for origin pointreturn parameters If origin point position is decided by origin point return origin point detection signal is not detected during positioning operation c 35 1 How to retum to origin point p gt By near zero point near DOG Origin point retum processing methods by near zero point near DOG are as follows 1 origin point detection after near zero point Off 2 origin point detection after deceleration at near zero point On 3 origin point detection by origin point and upper lower limit 4 origin point detection by near zero point gt Parameter items of S W package which influence origin point return are as follows 1 origin point retum direction 2 origin point compensation 3 origin point em speed high low 4 origin point address 5 dwell time for origin point return Refer to 4 7 for the details 3 23 Chapter 3 Functions 352 Origin point detection after near zero point OFF Starting point retum command POSG ORG rsing edge T operation by approximate starting point and starting point signal is as follows 1 Operated by origin point retum at high speed as accelerated toward starting point retum direction as set
123. g 0 n 1 E Unused FoO n 3 E Unused 0 F Inching complete FO0 n 3 F Inching start d be d d d n1 lI 9 13 Chapter 9 Inner Memory And I O Signals 9 2 2 S tatus signal 1 Error Turned On if error occurred and turned Off by error reset command and cancellation command of pulse output prohibited 2 In operation 1 Turned On at positioning start command and turned Off if start command complete 2 Signals In operation of X axis amp Y axis are turned On simultaneously at interpolation operation command and turned Off simultaneously if command complete 3 Turned On Off also at inching command and in JOG operation 4 Turned Off at deceleration stop and emergency stop 5 Turned On during the dwell time 3 Positioning complete 1 Turned Off at operation commands of positioning and origin point return 2 Turned On if single amp repeated operation complete and origin point return complete and in positioning constant operation after dwell time elapses 3 Turned Off at deceleration stop amp emergency stop 4 Turned On Off simultaneously at X axis amp Y axis if in interpolation operation 5 Turned Off in auto operation or continuous operation 4 Origin point return complete 1 Turned On if dwell time and origin point compensation are executed after operation command of origin point return 2 Turned Off by any other command signals 5 Origin point undecided 1 Tur
124. gh speed operation acceleration deceleration pattern available 2 J og low speed operation acceleration deceleration pattern unavailable 5 Inching command POSG IC p gt One of manual operation methods used to process minute operation as determinate operation gt Jog command operation is hard to move to exact position because operation starts and stops according to the com mand but via the inching command with travel value easily set as desired the target is easy to reach gt Thus after rapid move near to work position by jog command perform operation by inching command for minute move to the exact Work positon to reach 1 12 Chapter 1 Introduction 1 2 5 Introduction of the return to origin point gt Origin point return is executed to check origin point of the machine when powered gt Various methods for origin point return are available according to the structure and stop accuracy of the machine while approximate origin point adjacent DOG method is used for LG positioning module gt If origin point position is decided to origin point return detection signal of origin point is not used during positioning operation 1 Nearzero point adjacent DOG methods 4 near zero point adjacent DOG methods for origin point return processing are as follows 1 origin point detection after near zero point Off 2 origin point detection after deceleration at near zero point On 3 origin point detection by origin point and u
125. gistration For Position Decision Module In GMWIN 7 2 7 2 Function Block For Module Information Read 7 3 7 2 1 Code Information Read AtPresent Operation State EEN 7 3 7 2 2 Bit Information Read At Present Operation State EE l 4 CONTENTS 7 3 Function Block For Operation 1 6 EAS MES ICT MENOR TETTE TO QE 1 6 7 3 2 Linear Sieten deir crest Ili EEN UI ADIP EELER ERR 7 7 7 33 Start To Return To Starting Point cceccecceceeceeeeeaeeaeeaeeeseeeseeseues 4 8 74 Function Block For Manual Operatpon 7 8 7 4 1 Inching Operation cccececccccceeeeceeceeeeeceeseaueeaeesesuaeane canes 1 8 7 42 Jog Operation gt ccu odo er ea RR Aaa MER E ERE eeh os 1 9 7 43 ReturnTo Prior Position To Manual Operation 1 10 7 4 4 Operation Approval Of Manual Pulse Generator MPG esee 7 10 7 5 Teaching Function Block 7 11 7 5 1 Position Teaching Teaching sssscceeseeeeeceeeeceeeeeueeetesseegueteeauees 7 11 7 52 Speed Teaching Teaching eese nmm nmm mnn 7 2 7 6 Function Block For Module Information Read 7 13 TAE KOTIS AON E a E E A EET 7 133 1 62 Speed Changes EE 7 13 7 6 3 Continuous Operation 7 14 7 6 4Speed Override 7 15 7 6 5 Assignment Of Operation Step No 7 15 7 66 Deceleration Stop e EN NENNEN NNN NEEN ENNEN ERNEIEREN ENN 7 16 7 7 Function Block For Error brocessing 7 17 Tek Lilnriet Emergency Stop sn anaana aa eee etal 1 11 7
126. gnal input A contact Input signal common NER i a N es e is outer bottom limit signal input B contact is outer top limit signal input B contact Y ORG Y axis approximate starting point signal input A contact is speed position switching signal input A contact Input signal common Emergency stop signal input ENG _ XN axis common B contact INPUT Input signal common Manual pulse generator phase A input Manual pulse generator phase A Common Chapter 2 Specification 29 MPG B Manual pulse generator phase B input generator input MPG BGND Manual pulse generator phase B Common Input contact Ground Common External 4 13 10 INPUT EMG power 5 14 _COM X STOP X_OV X OV X ORG X STOP Y STOP Y OV Y OV Y ORG Y STOP 1 If emergency stop signal is used in G3F POPA only independent X axis 19 or Y axis 19 shall be used 2 10 Chapter 2 Specification 25 Designation and function of the parts 1 G3F POPA 2 G4F POPA 3 G4F POPB 4JG6F POPA G4F POPB G3F POPA xn eoo 19 S EN 9 amp MI MIC amp wc FP e no o Desmplon 0000000 Ready sgnal Gee 0 jj Busy signal Tumed O n if each axis is in eege operation state DIR DR signal On forward pulse output p gt Off reverse pulse output ERR signal gt G3F POPA G4F POPA G4F P OPB tumed on if error occurs Ww G6F POPA flickering if error occurs
127. gram No ates Override metod held Address M code Speed No vm Positioning start occ BR e a oe Ti Number changing by operation step No settngP 0S C SMCrising ue f oe e 3 14 Chapter 3 Functions D Program Program 3 5 Single operation setting operation step No 3 15 Chapter 3 Functions 323 Auto operation 1 Positioning is complete upon positioning executed to the target position by one start command POS C AST rising edge T and the dwell time elapsed And the operation step present operation step No 1 position is decided for operation in this mode without additional start command present operation step No 1 Accordingly operation mode of the last operation step shall be set to single operation mode orrepeated operation mode If not error 66 occurs 2 Several operation steps of auto operation mode can be successively executed 3 Operation direction is decided according to position address value Ex D Operation pattem Start op step No 0 Op auto Op auto Op sinale Op sinale Op step No 0 Op step No 1 Op step No 2 Op step No 3 Positions POS g_AST BUSY POS _SRD ST6 3 D Setting in S W package Mein Sey i Operati e Operati p in peration fied peration program Override method is Address M Code Speed No Start commands log o t DI o epe e D Program Program is the same as program 3 4 3 16 Chapter 3 Functions
128. gt Positioning start P020 Positioning start P020 Operation Data No Change P024 gt Positioning start P020 Next Move P023 gt Operation Data No Change P024 Positioning start P020 10 17 Chapter 10 MK Program Speed change operation Positioning Start P020 Speed change com P021 36000pps Speed Position No 0 Operatio Distance Pulse 100000 E Next Move operation Positioning start P020 command P023 d Nomi operation ger oo XS OR R gt Next Move command 20000pps Position Nol operation Position No 10 Operation Time Position No 12 Wi Geration of operation data No change Pos No 0 DEN Tos No2 ACT SUME Cds command to operation data No 0 JUMP change command to operation data No 10 Pos No 12 os Noll Ch No 10 10 18 Chapter 10 MK Program 3 Program F0010 Common used RAM Buffer GET 00003 00050 M100 00006 memory state total Read Y AXIS Present position address DBCD M104 P3 displayed on BCD digital displayer P0020 P0060 P0061 HHH D M00 P0020 Y AXIS start condition Error signal In operation M0220 SET P0080 Y AXIS positioning start On P0021 P0069 Position No 0 in progress M103 00000 D MD2DI with constant operation Speed change n constant M0221 P0000 h3600 gt M1 12 3600 BIN P000 M112 Y AXIS speed change command SET PO08B 7 P0022 P0060 P0061 IHH wm P0022
129. gt Operation mode is set at position data of S W package p gt Max 300 position data can be set per axis in the range of operation step No 0 299 Step Coordnat Operation Invalidi Operation Dwel e ra ila ra al ra il ra ila ra ila ra Position data No Sigk Repeated Setti H Absolute Continuous Auto 16744447 ng rangetype 5 Relative Complete Continuous x Constant 1674447 p gt Positioning operation method by one positioning data per operation step or by several positioning data via successive operation steps at a start command is decided according to operation mode user defined at each positioning data 3 10 Chapter 3 Functions 32 1 Separate operation 1 Positioning is complete upon positioning executed to the target position by one positioning start POS C_AST rising edge 1 and the dwell time elapsed 2 Positioning complete in this operation mode can be used for the operation mode of the last positioning data in auto operation mo de and continuous operation mode 3 Operation direction is decided according to position address value 4 Operation pattern is of trapezoid with acceleration constant and deceleration stages according to setting speed and position data however the following operation pattern may be produced in compliance with set value a Normal operation pattern Dwell Time Positioning start On POSC AST BUSY POS _SRD ST6 3 In accele
130. i nl av the creen bel ow 4 series reg m For OWN 3 1 or above Ex of GF PCPA WER E GE Special 4fb au alo dA ael je COMMUNI 3fb a Stdlib 3fu 6 series registration G6F POPA Special 6fb ue Demi SPECTAL 2 710 HS SAC 201242 Sit ate bd E 7 2 Chapter 7 Function Blocks 7 2 Function Block for module information Read 7 2 1 Code information Read at present operation state Status Code Read G3F POPA G4F POPA G6F POPA POSP_CRD G4F POPB POSB CRD Present position address operation speed M code value and operation data No of the setting axis can be read for monitoring or using as conditions in user program n Block ae Data re Description Request area of Function Block execution Function block executed if 0 gt T level detection wth connected conditi on to this area as ros emn fion No BASE USI ing area of base No postioning module is equipped on Input ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 SLOT JUSI ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use INT If 0 X axis operates If T Y axis operates isplaying area of FunctionBlock execution complete DONE L If Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output star INT Error state displaying area S If error occurs during Function
131. id d direction p M e 1 MP 1 bisae conos e Ga 1 direction positon ff tems with no influence D gt Direction forward or reverse is decided according to value sign of position address in positioning constant operation At this time all are processed by absolute method without distinction of methods absolute or relative forward direction when position address value is reverse direction when position address value is p gt Operation timing G6F POPA G6F POPA at accelerated stage speed pos control switching signal G3 POPA G4F POPA G4F POPB error 45 occurs if stop command is input S d Accelerated stage Error 70 occurs if pos data set of pos pee K dec constant op mode too small Speed Position control Setting speed Setting travel value Dwell time Positioning start POSE AST l l Busy 4 l POSE_SRD ST6 3 U l Speed position switchi i signal external input signal 1 l U l Speed position swi signal Goen SRD ST5 0 gt Program Program is the same as program 33 Chapter 3 Functions 3 2 Operation mode gt Operation mode is to form various configurations required to operate positioning data and to process position data speed with each operation step No p gt Type of operation mode is as follows Control method Operation made OOo o osie IL Position control Repeated Continuous E interpolation function unavailable Speed conto Constant
132. ided if faced by external origin point signal regardless of On or Off signal of near zero point during origin point retumoperation at low speed SOEN Decelerated at near zero point Or Near zero point signal Origin point return at low speed n Time ue after near zero point On Origin point undecided by origin point isi signal if origin point return speed is POS l oint SET being decelerated by near zero point POS SRD ST5 4 SERVO motor rotated once PG1 rotated Origin point return command POSm_ORG Origin point retur in process Origin point return done Op state 1 If approximate starting point signal is once turned On starting point is promptly decided by starting point signal input regardless of approximate starting point signal of On or Off during starting point retumoperation at low speed via high speed and deceleration stage In other words starting point is not decided by starting point signal while starting point retunspeed is decelerated 2 faced by outer nputtopbotom imt signal prior to staring point afer approximate staring point signalis changed bf to Ort te operaton s the same as n 105361 3 If starting point signal s Ort time is short tis hard for postiondecision module to identify 3 26 Chapter 3 Functions 3 5 4 Origin point detection by origin point and upper lower limit This method is available if external upper lower limit signal and near zero point signal
133. igin point return at high speed Deceleration bog i Reverse 1 staae r Fog Fog Origin point return at low speed Near zero poin POS SRD ST5 3 3 28 Chapter 3 Functions 3 6 Manual operation Manual operation includes OG operation manual pulse generator operation inching operdion and position shift prior to Manual operation 3 6 1 OG operation POSC_J OG level input 1 JOG operation p controls positioning by jog command P 0S C OG p gt monitors position address value if changed by positioning operation through JOG command p Information on J OG operation is displayed at 6 and 7 bits of output parameter ST2 in present operation state s Bit information Read function blocKP 0S C SRD D gt 6 bitof output parameter ST in present operation state s Bit information Read function block On in JOG operation at low speed Off in stopping of JOG operation at low speed D gt 7 bit of output parameter ST2 in present operation state s Bit information Read function block On in JOG operation at high speed Off in stopping of OG operation at high speed p gt used when operated without origin point decided 2 Acceleration deceleration processing and jog speed 1 Acceleration deceleration processing is controlled as based on the time setto acceleration time and deceleration time among parameter setting items in SW package gt JOG operation at high speed with acceleration dece
134. in program override shall be set to allowable at position data per step No Available only at constant staged operation pattern If used at others error 56 occurs gt Available operation modes are separate operation repeated operation and autooperation p gt The speed will be with acceleration stage and deceleration stage if changed by speed override gt Setingrange S1 15 setting unit 10 Ex If speed data value is set to 2000 the speed is 20Kpps and if speed override is set to 15 150 the speed is 20 000 X 1 5 30 000 30K pps gt If speed override is to be continuously used the operation shall be as based on the speed value as set at speed data p gt Refer to 3 73 for the details on Override 6 4 Chapter 6 Position Data For Positioning 6 4 Operdion method gt Operation method of position data includes and only available for GF POPA and G4F POPA gt means that positioning operation is executed by present operation step No and then by the next operation step No set to valid at 6 5 Invalid valid gt means that positioning operation is executed by present operation step No and then not executed by the next operation step Vo regardless of 6 5 Invalic velid y If positioning of operation step No set to Operation method is complete operation step No shall be changed by operation step NoassignmenfPOS amp SMC rising edge 7 prior to the next start command OSC AST ishg edge TL ff star
135. ing p gt Manual operation means inching operation OG operation or manual pulse generator operation Be Block pes Data e Description Request area of Function Block execution at rising edge Function Block executed if O T rising edge wth connected conditi on to this area as co Base postion No BASE USI Seting area of base No positioning module is equipped on ing range GM1 series 0 31 GM2 serie 7 GM3 4 series 0 3 GM6 series 0 Input a Sion No SLOT JUSI ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use INT 0 X axis operates I Y axis operates isplaying area of Function Block execution complete DONE Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 is output Output a AT Enor state displaying area error occurs during Function Block execution error No is displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to 0 with 1 output after processing Function Block command 7 4 4 Operation approval of manual pulse generator Manual Pulse Generator G3FPOPA POSP MPG G4F POPB POSB MPG This is used to command position decision module to be in preparation state of operation performed wth outer equipped manual pulse generator MP G Kc Ye ES Ms area of Funcion Block execution at
136. ing with MMI 1 Setting in S W package Sub OO ses ISS coo2a2c FEL 2 Inpuoutput parameters used 1 To transmit position address value to CPU module with MW100 at MMI MW 100 2 To change position address values MO position changed at MMI 3 To start Position Teaching M1 start command of MMI 3 Programming example Operated only if origin point decided Chapter 9 Buffer Memory And I O Signals Chapter9 Buffer Memory and I O signals 9 1 Buffer Memo 9 1 1 Contents of Buffer Memory Buffer Memory common used RAM is used to save positioning module and communication data between PLC and CPU 1 Buffer Memory of G4F POPA K3008 1 axis Address decimal bF o 11 Override value E oO o N Oo oO A CO PD Override value Inching value used for speed change by override setting range 1 99 command in with setting range of 1 15 Waning code of positioning module LAE n EG Re b8 b7 b6 b5 b4 b3 b2 bl b0 Present M code 0 255 ZONE 3 ZONE 2 ZONE 1 In compensation operation In JOG operation Emergency stop External lower limit signal External upper limit signal Error code Error data Serious error on positioning module H W error Uee b5 b4 b3 b2 bl b Unused Present value preset JOG Inching operation 0 forward 1 reverse JOG 0 low 1 high Unused Next Move Return to prior position to manual operation RTP Chapter 9 Bu
137. ion repeated operation auto operation continuous operation constant operation and positioning constant operation a If auto operation is used continuous operation constant operation and positioning constant operation are not available for the succeeding operation step No to auto operation b If continuous operation is used auto operation constant operation and positioning constant operation are not available for the succeeding operaton step No to continuous operation 7 6 Chapter 7 Function Blocks 7 3 2 Linear interpolation start Linear Interpolation G3F POPA G6F POPA POSP INT G4F POPB POSB INT Command for linear interpolation operation in positioning module for 2axes us Block Ge Data e Description Request area of Function Block execution at edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as co i Input BASE INT Setting area of base No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 SLOT Setting area of slot No posttoning module isequipped on Seting range 0 7 er Y axis error infomation displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command State displaying area of Function Block execution complete DONE If Function Block execution complete without error
138. ion Blocks 7 13 Error reset Reset G3FPOPA G4F POPA G6F POPA POSP_RES G4F POPB POSB_RSE Itis used to reset error if occurred during operation or by exceeding parameter setting range iet Block pa Data We Description Request area of Function Block execution at rising edge Function Block executed if O T rising edge wth connected condition to this area as co Base postion No BASE US ing area of base No postioning module is equipped on ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Input Sion No SLOT JUSI ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use If 0 X axis operates If T Y axis operates isplaying area of Function Block execution complete DONE L If Function Block execution complete without error 1 is output as kept until the next Output execution Starts If error occurs 0 is output with operation stopped f error occurs during Function Block execution error No is displayed 7 18 Chapter 7 Function Blocks 78 Other Function Bblock 7 8 1 Floating point set setting Floating PointSet G3F POPA GAFPOPA GGF POPALPOSP FLT G4F POPB POSB FLT It is a command used to set present position to origin point compulsorily without origin point return operation The assigned address value to origin point retum address will be the present position Function Block Ci Paramet Data Descrip e ass e escription
139. ising ede Function Block executed if O rising edge with connected conditi on to this area as conposed during programexecuti on SLOT JUSI i slot No positoning module is equipped on ingrange 0 7 Assignment area of axis to use If 0 X axis operates T Y axis operates isplaying area of Function Block execution complete 33 If Function Block execution complete without error D is output as kept until the next Output execution starts if eror occurs 0 is output with operation stopped Error state displaying area If error occurs during Function Block execution error No is displayed ion No BASE USI ing area of base No postioning module is equipped on j GMI series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 7 10 Chapter 7 Function Blocks 75 Teaching Function Block 7 5 1 Position Teaching Teaching G3FPOPA G4F POPA G6F POPA POSP TEA G4FPOPB POSB_TEA This is used for user to set random address value to specific operation step No a Cas ye ye p m ke er REQ IS ET Request area of Function Block execution at rising edge Function Block executed if O gt T risi ng edge wth connected condi ti on to thi s area as conposed during progranexecuti on Base postion No Setting area of base No postioning module is equipped on Setting range GM1 series 31 GM2 series 0 7 GM3 4 series 3 GM6 series 0 positon No USINT Setting area of slot No po
140. items of S W package Setting speed Speed data value actually operated by position data Actual acceleration time Time required to reach speed value set to speed data from speed 0 stop state Actual deceleration time Time required to reach speed 0 stop state from speed value set to speed data 1 11 Chapter 1 Introduction 1 2 4 Introduction of starting gt If stopped by stop causes in position controlling POS SRD ST6 3 positioning can be executed at stopped position address value by restart gt Start type is of 1 positioning start 2 interpolation positioning start 3 positioning start to return to origin point 4 jog command amp 5 inching command gt If start executed surely check that operation signal POS SRD STEB is at Of state 1 Positioning start POS AST A command to start operation by parameters position data and speed data set per axis of paitioning module 2 Interpolation positioning start POSG INT 1 A command only available for 2 axes positioning module to perform operation in a straight shift channel as allowed by 2 axes 2 Take preautions for interpolation positioning start at which 2 axes are simultaneously operated a Operation related subdata is operated as based on Xaxis position data step coordinates override operation method invalid valid operation mode position address M code speed No dwell time M code mode among parameter items b Classified into major axis and
141. ition control speed control speed position switching control positioning address operation method etc gt Max 300 positioning setting data are allowed at step No 0 299 per axis Coordinat Invalid Operation halid mode Single Repeated Continuo Invalid Auto 16 744 447 us Continuous e Complete i Constant 16 744 447 Constant Posi Absolute Allowable Relative Prohibited tion gt Positioning operation by 1 positioning data and positioning operation by several positioning data at single positioning start POSC AST rising edge T are respectively decided according to userset operation mode to the positioning data 1 Single operation mode positioning complete 1 Positioning is complete upon positioning executed to the target position by positioning start DOS G AST rising edge 1 and the dwell time elapsed 2 Positioning complete in this operation mode can be used for the operation mode of the last positioning data in auto operation mode and continuous operation mode 3 Operation direction is decided according to position address value 4 Operation pattern is of trapezoid with acceleration constant and deceleration stages according to set spee d and position data however the following operation pattern may be produced in compliance with set value a _ Normal operation pattern Speed Accelerated Constant Decelerated Positioning start POSK AST Busy Post SRD STER In acceleration POS SR
142. ition control 1 laxis position control Positioning of assigned axis is controlled from start point address presently stopped position to specified address travel valug 1 Control by absolute method Absolute Coordinates A Positioning is controlled from start point address to specified address at positioning data B Positioning control is executed as based on the address origin point address assigned at origin point retum B Travel direction is decided according to start point address amp specified address p start point address specified address position decided forward start point address specified address position decided reverse Ex D If start point address is 1000 and gt specified address is 8000 forward travel value is 7000 80001000 44 tt kasten Start point address Specified address D Setting in SW package d Stp Coordin Opern Invalid Operaton sen Dwel Ovenide Address M code Speed No Position cata tims ates E mid ald mp m vm s Absolut Setting e Enable Continuous Vald Singe 8000 C hapter 3 Functions D gt Program U aa GA WE BRIE STAT oR IM rit tn WE ban am am ad mi T i P ue Am sm o Rut eS MIS STE we eno wt 20 uS wis 0 f d ag we rem am wus wr id mm wi LS ae PL ate t xm mr r on rine Sit BET asia Eet meet ma mat i AJ d dn Error infomation operation Control by absolute method Absolute Coordinates can be started at
143. le if stopped during operation as decelerated by deceleration stop command POSC_STP rising edge 1 the correspondent step operation is regarded as incomplete leading to the same step number operation as position data at restart p gt The outer input signal of speed position control switching signal is valid only in positioning constant operation mode 2 Positioning constant operation is available for positioning ope ration starting from the position of sensor input point via marker sensor input at packer or for its equivalent 3 Deceleration stop command POSC_STP is available at acceleration stage of positioning constant operation however speed position control switching signal input is available only at constant stage gt Error occurs if speed position control switching signal is input during acceleration 4 If the position address is set smaller than positioning amount by deceleration inclination in position decision constant operation positioning module re calculates the deceleration inclination for operation Accordingly stop can be followed as decelerated abruptly rather than deceleration inclination set by parameters 5 Operation pattern Op pos deci constant Op step No 0 to n RES i Speed Pos 008 ast i t 1 l 1 Positioning start i i d 1 Busy POSCSRD STEB Speed position Control switching signa 1 10 Chapter 1 Introduction 1 2 3 Introduction of acceleration decelerati
144. leration pattem gt JOG operation at low speed without acceleratonjdeceleration pattem Tima 2 IF OG speed is set exceeding the setting range erroroccurs and operation is impossible JOG operation at high 1 20 000 10 200 000 pps speed RE setting range JOG operation at low 1 10 000 10 100 000 pps SEO DM OE speed Caution items for JOG speed seting are as follows 1 Jog at high speed shal be carefully set as below bias speed lt JOG athigh speed s speed limit JOG atlow speed can be operated regardless of bias speed and speed limit 3 29 Chapter 3 Functions 3 Programming example Condition To be repeatedly operated between random position 0 and 10 000 Forward Position address 10 000 Reverse program 3 7 OG operation Remark p gt JOG command function block operation starts JOG operation if detected input parameter REQ level is On and stops Off p If JOG speed is too fast in program 3 7 error in position address value may occurs during repeated operation between position and 10000 3 30 Chapter 3 Functions 3 6 2 Operation of manual pulse generator POSC_MPG rising edge 1 1 Operation of manual pulse gt controls positioning by pulse input from manual pulse generator p gt used for manual accurate positioning 2 Operation of manual pulse generator 1 ff permission command of manual pulse generator operation POS MPGrising edge Ts executed m
145. minor axis according to positioning address amount of X axis amp Y axis at interpolation positioning start Speed data of minor axis is calculated as follows Majoraxis speed X Minor axis length Minor axis speed Major axis length gt Tems major axis Xaxis or Yaxis of whichever positioning address amount is larger in applicable operation step No minor axis Xaxis or Yaxis of whichever positioning address amount is smaller in applicable operation step No Speed acceleration time deceleration time and bias speed of minor axis will be recalculated at this time c Operating items based on setting value per axis are Backlash compensation S W upper limit S W lower limit position passing time and zone setting area of parameter items 3 Available operation mode is separate operation repeated operation and autooperation only 3 Positioning start to retum to starting point POSC_ORG p gt An operation command to find origin point of the machine according to origin point return processing method by direction correction speed high low address and dwell time set at origin point return parameters of each axis And if complete signal of return to origin point is On origin point returr operation of the machine is complete 4 Jog command POS _J OG p gt As a test operation function t is necessary to check system operation wiring and position address gt og operation is available at high speed and low speed 1 og hi
146. mplete If Function Block execution complete without error 1 is output as kept until the next execution starts If error occurs 0 is output with operation stopped T Error state displaying area If error occurs during Function Block execution error No is displayed 1 Caution for Function Block of parameter change used in program 1 Available only at operation stop state Busy Of state 7 20 Chapter 7 Function Blocks 79 Error codes in Function Block Eror type displayed on output parameter STAT and actions to take against will be described Ltr Positioning Description mik Actions pora f poa Poa Poma operation Status E In normal eae E Base Con O No exceeded oversetting range Set base position within setting range leese LLL e aaen ET 3 3 3 5 e Applicable slot not equipped Fo fofofo is positioning module on the applicable ELILICI NE Different module name of applicable sit EE E ee E positioning module on the applicable 6 Setting axis No exceeded oversetingrange axis No exceeded over setting range Set correct axis No of Set corect axis No of postioning mode module Ss NY Conard gen wih CPU mode at STOP sat spe SEENEN 8 TGonnaused pen RAMenor us NSmqet sd Function Block command unavailable to execute due to Set correct command execution conditions module Wat operation stop New command Function Block executed at the state that egan EATUR der exeputernew command
147. n Block execution at rising edge Function Block executed if O gt rising edge with connected conditi on to this area as conposed duri ng programexecuti on Base postion No Seting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Slot positon No Setting area of slot No positioning module amp equipped on Seting range 0 7 State displaying area of Function Block execution complete If Function Block execution complete without error is output as kept until the next execution starts If error occurs 0 is output with operation stopped Error state displaying area If error occurs during Function Block execution error No is displayed 7 7 2 Cancellation of output prohibition Pulse Out Inhibit Off G3F POPA G4FPOPA G6RPOPAPOSP OFF GAF POPB POSB OFF Command to cancel pulse out prohibited state POS OFF i i P S BASE SIAT sor sor DONE Output by extemal emergency stop poor limit detection etc equest area of Function Block execution at rising edge Function Block executed if QT rising edge wth connected conditi on to this area as co i ing area of base No postioning module is equipped on ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 stion No ing area of slot No positioning module is equipped on ingrange 0 7 isplaying area of Function Block execution complete Functio
148. n Block execution complete without error 1 is output as kept until the next execution starts if error occurs 0 is output with operation stopped Error state displaying area ff error occurs during Function Block execution eror No is displayed 7 17 Chapter 7 Function Blocks 7 13 Error reset Reset G3FPOPA G4F POPA G6F POPA POSP_RES G4F POPB POSB_RSE Itis used to reset error if occurred during operation or by exceeding parameter setting range iet Block pa Data We Description Request area of Function Block execution at rising edge Function Block executed if O T rising edge wth connected condition to this area as co Base postion No BASE US ing area of base No postioning module is equipped on ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Input Sion No SLOT JUSI ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use If 0 X axis operates If T Y axis operates isplaying area of Function Block execution complete DONE L If Function Block execution complete without error 1 is output as kept until the next Output execution Starts If error occurs 0 is output with operation stopped f error occurs during Function Block execution error No is displayed 7 18 Chapter 7 Function Blocks 78 Other Function Bblock 7 8 1 Floating point set setting Floating PointSet G3F POPA GAFPOPA GGF PO
149. n Constant Operaton sess 33 Position Decision Stop POSCSTP occse 3 31 Stop Command And Stop Causes sssssesesnn nnns 3 32 Stop Processing And Priotity Zeie eege dE NEEN nn xh tees 3 4 Restart After Position Decision Stop POS AST 35 Return To Starting Point Ins one 3 51 How To Return To Starting Point EE 3 5 2 Starting Point Detection After Approximate Starting Point Off 3 5 3 Starting Point Detection After Deceleration At Approximate 3 5 4 Starting Point And Starting Point Detection By Top B 3 5 5 Starting Point Detection By Approximate Starting Point 36 Manual period EE dE dee En 3 61 Jog Operation POSC JOG os reire 3 62 Operation Of Manual Pulse Generator POSC MPG 3 63 Inching Operation POSC INC e 3 64 Shift To Prior Position To Manual Operation POSC RPT Starting Point On ottom Limit 37 Speed Change In Position Decision Operation 3 7 1 Speed Change Command POSC VCG E 3 7 2 Operation Step No Change By Continuous Operation POSE NM 3 7 3 Speed Change By Speed Override POSC OR 3 8 Top Bottom Stroke Limit 3 81 Outer Input Top Bottom Stroke Limit sees 3 82 S W Top Bottom Stroke Limit EE 3 91 Random Positioned Address Value Setting To Starting Point 13 16 17 18 20 21 21 22 23 23 23 24 26 27
150. n data No per execution of positioning start 3 In auto operation or continuous operation mode operation is performed upto setting operation data No of single operation mode by one positioning start of positioning 4 Refer to 4 2 Operation mode 11 Origin point return operation 1 Command to fine the mechanical origin point 2 Origin point address assigned by parameter setting will be the present address if origin point return is complete 3 4 methods are available for origin point return Refer to 3 5 Origin point return for details 12 Speed change 1 Function to change operation speed to setting speed up to 10 200Kpps during operation 2 Actual setting speed value is 1 20 000 with operation speed range of 10 200 000pps 3 Since acceleration deceleration time is not applied at speed change command sudden speed change may cause separation if step motor used 4 Speed change is available in constant operation 9 18 Chapter 9 Inner Memory And I O Signals 5 Speed value to be changed shall be set at address 12 X axis amp 62 Y axis of buffer memory and speed change command and speed value shall be programmed to be processed under the same conditions 13 JOG operation 1 A manual operation command used for forward and reverse rotation operation at JOG high low speed as set at parameters 2 JOG low speed shall be set lower than high speed 3 In G6F POPA no speed limit error occurs in JOG low speed
151. n or deceleration time by external input 2 Available only in G6F POPA with setting range of 0 999 X 10 M code mode EE X add 19 Wj Y add 69 0 With 1 After 2 None 18 M code mode 1 To be set to change M code modes Available only in G6F POPA 2 In case of After Mode M code and M code On signal are output simultaneously with positioning complete signal 3 Error pem if start command is executed with M code On 4 Execution of start command is available after M code is cancelled 5 In case of auto operation mode M code once generated is standing by until M code is cancelled and then executes the next step operation if M code On signal is Off JOG high speed value X add 20 ED CB A9 87 6 554 32 1 Y add 70 1 20 000 9 10 Chapter 9 Inner Memory And I O Signals 19 JOG high speed value It is used to change operation speed in JOG high speed operation Available only in GGF POPA High speed value of origin point return X add 21 Y add 71 20 High speed value of origin point return It is used to change operation speed at origin point return command Available only in G6F POPA Remark Addresses 6 21 Xaxis and 56 71 Y axis are Read Write areas of positioning module s buffer memory where to perform Write and Read through PUT GET command Be careful if Write Read of other data than set address of positioning modules buffer memory is performed through PUT GET comm
152. nal emergency stop 2 Internal emergency stop shall be applied when external emergency stop signal is at normal wired state N C 3 Pulse out prohibited state is expected after this command is executed 2 Operation data No change 1 Function to jump to random operation data No by this change command of operation data No 2 Operation will be executed with operation data No saved by positioning start command if operation data No to jump is saved address 8 X axis amp 58 Y axis of positioning module s buffer memory and the change command of operation data No is On 3 Floating point set 1 Setting command of floating point set shall be applied to find S W datum point in a system where circle operating index table or mechanical datum point is not necessary even though origin point return is a function to find a mechanical datum point in system 2 Present position is changed to origin point address set at parameters if setting command of floating point set is executed 4 Cancellation of pulse out prohibited Cancellation function of the state of pulseout prohibited by stroke upper lower limit and emergency stop 5 Override 1 Function to change operation speed within 10 150 2 Speed change data which is higher byte of address 11 X axis amp 61 Y axis of positioning buffer memory shall be set in the range of hO100 hOF00 3 h0100 10 h0200 20 hOF00 150 respectively 6 Error reset Command
153. ne p gt The setting position at this time is the value set at origin point retum address D gt The folowing caution shall be exercised for pogram with the origin point fixed because fixed origin point settingPOSy EL T decides compulsorily only origin point of the present position by origin point return address 1 Removelreset error if occurred cancel output prohbited and 2 Reset the fed opp point and then 3 Change operation step No to operate by operation step No assignmentPOSy SMC for starting 3 11 Teaching function p gt A function to change positioning address value of positioning data s step No set to positioning address by manual operation OG operation manual pulse generator operation Teaching function is available only for stopped axis p gt Convenient for frequent application of position address value and speed value as changed p gt G6F POPA has RAM teaching function and ROM teaching function G3F POPA G4F POPA and G4F POPB has only ROM teaching function 3 11 1 RAM teaching function and ROM teaching function 1 RAM teaching function Speed value and position address value can be used as changed when positioning module is operated as powered on while the values are lost if powered off gt Only for G6F POPA 2 ROM teaching function Speed value and position address value can be used as changed when positioning module is operated as powered on in permanent preservation ofthe values applied even if p
154. ned Off if floating point set is set or origin point return is complete 2 Turned On if origin point is not decided 6 Pulse output prohibited 1 Turned On at emergency stop or if stroke upper lower limit is exceeded over 2 Turned Off by cancellation command of pulse out prohibited 7 Mcode On 1 M code value is produced as classified into With After mode at positioning Turned On if the value is 1 255 2 Turned On in single repeated auto amp constant operation mode after the dwell time 3 Turned On at setting position in continuous operation mode 4 Turned Off by M code Off command 9 14 Chapter 9 Inner Memory And I O Signals 8 Command complete 1 A signal notifying PLC CPU that the command is normally executed at positioning module when Common used RAM command or P contact command output contact command of positioning module is On which is turned On if the command is normally executed 2 Turned Off immediately if Commonused RAM command or P contact command is Off 3 Do not use this command complete signal in JOG operation or at approval command of manual pulse generator PLC CPU Connie RAM Positioning module command P contact command gt Command t complete Command of PLC CPU Command complete of positioning module m Remark 1 Command shall be turned Off if command complete signal is On 2 In PLC CPU commands 2 or above are not allowed simultaneously on positioni
155. ng module Surely apply the next command after the prior command is executed 9 Deceleration stopping complete 1 Turned On until stopped by deceleration stop command 2 Turned Off at positioning start origin point return operation JOG command and inching command 10 In constant operation Turned On only in constant operation Turned Off in others acceleration stage deceleration stage dwell time operation stop etc 11 In origin point return Turned On at operation command of origin point return and turned Off if origin point return is compbte 9 15 Chapter 9 Inner Memory And I O Signals 12 In interpolation operation Turned On at interpolation operation command and turned Off if positioning complete 13 Position teaching complete 1 Turned On if position teaching complete 2 Turned Off in positioning start origin point return operation and JOG operation 14 Speed teaching complete 1 Turned On if speed teaching complete 2 Turned Off in positioning start origin point return operation and JOG operation 15 Inching complete 1 Turned On if inching complete 2 Turned Off in positioning start origin point return operation and JOG operation 9 16 Chapter 9 Inner Memory And I O Signals 9 2 3 Command signal P contact command 1 Emergency stop 1 Signal input from the outside of positioning module is called as external emergency stop and P contact emergency stop is called as inter
156. nge command POSC_VCG rising edge T and speed override command POSC_OR rising edge 1 inpositioning operation Remark However error nay occur if deceleration stop command POSQ STP is used during accel erati on decel eration staged operation at continuous operati on conmand POS GC NM speed change omand HSC VD and speed overri PS OH in posi ti ori ng operati on gt Acceleration deceleration time shall be set in unit of axis at parameters of S W package gt Setting range is 0 999 Unit 10 per axis 1 Acceleration time Time required to reach speed limit set at parameter from speed 0 stop state gt It means the time required to reach speed limit set at parameter from bias speed set if bias used 2 Deceleration time Time required to reach speed 0 stop state from speed limit set at parameter gt It means the time required to reach bias speed set from speed limit setat parameter if bias used Actual decel time gt Actual accel time Decel time p Tem Speed limit Max speed when position is decided as allowed in parameter items of S W package Setting speed Speed data value actually operated by position data Actual acceleration time Time required to reach speed value set to speed data from speed 0 stop state Actual deceleration time Time required to reach speed 0 stop state from speed value set to speed data Chapter 5 Positioning Parameter 5 12 Backlash compensation p gt Backlash mean
157. nge command and variable speed value shall be processed under the same conditions during constant operation mmm Speed teaching speed data No E ED CBA 9 8 7 6 5 4 32 1 0 X add 13 0 127 14 Speed teaching speed data No Speed data No to change at Speed teaching command with setting range of 0 127 Speed teaching speed value Eu eer rere X add 14 20 000 Chapter 9 Inner Memory And I O Signals 15 Speed teaching speed value 1 Speed value to change at speed teaching command 2 In case of execution of speed teaching command speed teaching command speed teaching speed data No and speed teaching speed value shall be processed under the same conditions Position teaching mode i EDC BA 7 4 3 4 X add 15 F e 225 ee d Y add 65 0 RAM Teaching 1 ROM Teaching Speed teaching mode l F EDCBA987654 3 2 1 X add 16 0 RAM Teaching 1 ROM Teaching 16 Teaching mode 1 Teaching mode setting is available only in G6F POPA 2 If O is set to the assigned address of buffer memory RAM teaching mode will be set and If 1 is set to ROM teaching mode will be set 3 In case position teaching or speed teaching is expected to be frequently executed the teaching can be performed infinitely If RAM teaching mode is set FFA Acceleration deceleration time Led EDCB A9 87 6 54 3 2 1 X add 17 18 0 999 Y add 67 68 17 Acceleration deceleration time 1 Used satisfactorily to change acceleratio
158. ntinuous constant and oning constant operation mode Chapter 7 Function Blocks Stat command unavalable atM code ON site Speed position control switching unavailable in acceleration of positioning constant operation mode EOM stop or positioning stop command input in constant positioning Sippcommandnput n origin point retum lowspeed operation Stop command input while return RTP command to prior position to manual operation executed stop command input compersaton during dwell time processing or origin point Continuous operationN M trans command input at o operation O R speed change ther states than constant stage during operation by Continuous operation NM or trans operation OR command input in constant or positioning constant operation mode Or speed change command input in continuous constant or positioning constant operation Continuous operation NM command input in other operation modes than continuous opereton mode Override and continuous operation command unavailable in other states than i operation by sert commend Override command input in operation step executed set to override onhied Continuous operation NM command unavailable in continuous operation whose drecion b be changed No next operation dala o operate at sat command Data No range exceeded at Position Teaching and Speed Teaching Overideing ratsexceedec over alowable angel 3 Inching amount exceeded over alowa
159. ntinuous operation NM command unavailable in continuous operation whose drecion b be changed No next operation dala o operate at sat command Data No range exceeded at Position Teaching and Speed Teaching Overideing ratsexceedec over alowable angel 3 Inching amount exceeded over alowablerangell 3 Setting position address exceeded over s w upper limit or s w lower limit range at present poston preseconmrand Position data setting value of positioning constant operation mode is too small Start command of Absolute Coordinates operation data unavailable at origin port Positon Teaching command iutatogin pointundecided state lp operation resen operation sate Present operation state unchanged resent operation state operation state 1 TunM code Offand 2 stat operaion Change speedposton contolswiching fom accekraton to constant ragam change needed because sop command is rocessed as an error if return command to prior postion t manual operation is exeauted gam change needed because sopcommand b unavalable during del time processing or origin intcompensaton ogam change needed because continuous operation NM tars aech OR speed char 2 Continuous operation N M amp trans operation 0 R unavailable in constant positioning constant operation mode J Speedchange unavailable in continuous and posting constant operatormode constant 1 Eroreset 2 Cont inves opera tion
160. nual pulse generator operation allowable 1 Approval command of operation by external manual pulse generator 1 allowable 0 prohibited 2 Available only in G4F POPB amp G3F POPA 3 Approval command of manual puse generator operation is automatically Off at positioning start and interpolation positioning start 4 Parameter transmission command 1 Command used to transmit acceleration time deceleration time M code mode JOG high speed origin point return high speed parameters 1 On 0 Off 2 Used to Write parameter value to change on address 17 21 X axis and 67 71 Y axis and turn On the parameter transmission command 3 Available only in G6FPOPA 4 Valid only until powered off because the changed parameters by parameter transmission command are saved in RAM Chapter 9 Inner Memory And I O Signals 5 JOG low speed high speed Used to decide the speed low or high for JOG operation 1 high 0 low 6 JOG Inching forward reverse Used to decide the rotation direction forward or reverse for JOG operation or inching operation 1 reverse 0 forward 7 Present value preset As a changing command of present position address it is used to Write position address value to change on address 9 amp 10 X axis and 59 amp 60 Y axis and turn present value preset command On Position teaching operation step No FEDC BAO9 8 76 5 4 3 2 1 O0 X add 7 Y add 57 0 299 8 Position teaching ope
161. o BASE USI Seting area of base No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 Slot position No SLOT JUSI Setting area of slot No positioning module is equipped on Input Seting range 0 7 Assignment area of axis to use AXIS USI X axis operates T Y axis operates ROT BOOL Direction assignment of J 06 operation f 0 forward operation I 1 reverse operation Speed assignment of J OG operation PU lowspeed operation profile wihout accelerationldeceleration f 1 high speed operation profile with accelerationldeceleration State displaying area of Function Block execution complete DONE If Function Block execution complete without error 1 is output as kep t until the next Output execution starts if error occurs 0 is output with operation stopped EH AT Error state displaying area If error occurs during Function Block execution error No is displayed In Function Blocks for OG startcommand input parameter REQ is operated via the level Itmeans J OG operation state If connection condition of REQ is On and OG output stopped If Off 7 9 Chapter 7 Function Blocks 7 4 3 Return to prior position to manual operation Retum To Position G3F POPA G4FPOPA G6RPOPA POSP RTP G4F POPB POSB_RTP Command used to return to prior position to manual operation when the position has been changed by manual operation after position
162. ocks 76 Auxiliary operation 7 6 1 M code off MCode Off G3F POPA G4F POPA G6F POPA POSP_MOF G4F POPB POSB_ MOF This is used to turn M code signal Off when the signal is On if M code has been set to With or After mode at parameters of each axis e E Request area of Function Block execution at rising edge Function Block executed if 0 gt T rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on Base postion No BASE USI Seting area of base No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 stion No ing area of slot No positioning module is equipped on ingrange 0 7 Assignment area of axis to use If 0 X axis operates E IT Y axis operates State displaying area of Function Block execution complete If Function Block execution complete without error 1 is output as kept until the next Output execution starts If eror occurs D is output wih operation stopped Error state displaying area au If error occurs during Function Block execution error No is displayed Input 7 6 2 Speed change Velocity Change G3F POPA GAFPOPA GGRPOPA POSP VCG GAF POPB POSB VCG It can be used to change operation speed at constant speed during operation Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed
163. ol operation is swithed to position control operation by amp External input signal of speed position control switching inputsignal and Deceleration stop command POS C STP risingedge T By external input signal of speed position control switching inoutsignat DOC SRD STO By deceleration stop command PO5 c STP rising edge Switched from speed control to position contro 2 Origin point decision Origin point is decided as based on the value set at Origin point return among positioning parameters in SW package 3 Positioning is complete upon positioning executed as swifted to target address set at position data and the dwell time elapsed 1 Switched from speed control to position control 2 Origin point decision ur aen pate mg he ne step No as postion data when SAN package re started as processed with applicable step operation MINE UNE incomplete 3 Positioning is complete upon positioning executed as swifted to specified address set at position data and the dwell time elapsed p gt Extemal input spalo speed positon control switching input signal is valid only in positioning constant operation gt Deceleration stop command POS amp STP is available at acceleration stage of positioning constant operation however speed position controkswitching signal input is available only at constant stage Thus eror 45 occurs if speed positon controlswitching signal is input during acceleration p gt If the positi
164. on Teaching command executed after origin pont decided x x f Leen Toteinsetirgrnge Teaching mode value s notas assigned X EH Speed exceeded over alowable ole speed speed iis o 7 22 Chapter 7 Function Blocks Origin point return speed exceeded over allowable range bias ims ee BOUE Change speed values Origin point return low speed set higher than origin point return high sel Minor axis speed calculated by linear interpolation exceeded over kenen Char he operated alonabe range E EES Operation ime exceeded overalowable range Max 65535 ms resent Add protection circuit against execution of the other operation state comans dung operan n pogam Start origin point return or interpolation operation command input at Change CPU module state from STOP to RUN and lo operation PLCstop state perfor rest Execute inching command while operation of the other Inding command unavelable f other ap 5 in operaton Busy lp operation as ka m umomimepigem oj Ise 0 05 1 116 ie Operation data of which interpolaton operation is unavalable Operation unavailable because operation speed is higher than x 7 x Jj accekratonecekraton indnaton Start command input from position data set to Complete without number Change operation step No and then perom rest Note 1 m only in G4FPOPA V1 0 Note 3 G3F POPA V1 1 or later 7 23 Chapter 7 Function Blocks Chapter 7 Function Blocks
165. on address is set smaller than positioning amount by deceleration inclination in po sitioning constant operation positioning module re calculates the deceleration incination for operation Accordingly stop can be followed as decelerated abruptly rather than deceleration inclination set by parameters D gt Operation direction is decided according to address position and target positon address value prior to operation start Ex D Setting of origin point retum in positioning parameters of S W package r Origin Return Method Direction Forward Backward t iti tt m ini resent position is set to origin poin Compensation 0 pulse H ae g p returning address if origin point return is High Speed 2000 xl pps complete by return command or floating point Low Speed 50 xl pps f g EE set is set However there is no influence on ress uise m 5000 p speed position control switching Dwell Time io x10ms Starting point retum Direction ForwardReverse Correction High Low speeddress Dwell time D Setting of positioning data in SAV package Number of program Step Coordin Operation Invalidi Operation Dwel Override Address M code Speed No Positioning start ates m method ald mote k1 o MT oae Onus va SE mm 1 bo Disable Continuous Vaid Singe 1200 ee ome ee a ems with no influence 3 20 Chapter 3 Functions D gt Program DT POPA G4F POPA G4F POPB same
166. on data 4 Y axis position data 5 Speed data 4 16 Help p gt Area to display the version of S W package 4 3 Chapter 4 S W Package 42 Shortened icons Commands in 4 1 are shown via the shortened icons for quick processing Module elt rel X position data 43 Pre operation mode Area for preoperation of positioning module through S W package r Mon Axis CMD Axis amp XCmd C Y Cmd FLT J STP vor wl RES OFF MPG TeA wm EES Pulse Me Mo ji xl pps PRE 0 Pulse on T xox sMc o No INC INC T Pulse 43 1 Monitoring axis selection To select an axis desired to monitor by positioning module KI Xaxisand Y axis can be selected as available according to the module If no axis is selected monitoring can not be executed 432 Monitoring start stop p gt Monitoring starts on the selected axis as specified in 4 3 1 Tostartmonitoring select the icon Monitoring start which will be changed to Monitoring stop and to stop monitoring select Monitoring stop which will be changed to Monitoring start 43 3 Command selection selection of the axis to preoperate To selectan axis desired to preoperate or OG operate in SW package p gt Any selected axis here can be pre operated in 4 3 4 amp 4 35 4 4 Chapter 4 S W Package 4 34 Preoperation by SAV package o R Gg Origin point retumoperation POS C OR
167. on processing gt Applied to start point amp stop point of positioning operation starting point returning high speed operation and jog high speed operation and also to continuous operation command POS NM rising edge 1 speed change command POSC_VCG rising edge and speed override command POSC_OR rising edge 1 in positioning operation However error may occur if deceleration stop command POSC_STP is used during acceleration deceleration staged operation at continuous operation command POS G NM speed change command POSC_VCG and speed override POSC_OR in positioning operation gt Acceleration deceleration time shall be set in unit of axis at parameters of S W package gt Setting range isQ 999 Unit 10 per axis 1 Acceleration time Time required to reach speed limit set at parameter from speed 0 stop state D It means the time required to reach speed limit from bias speed if bias used Bias speed and speed limits can be set at parameters 2 Deceleration time Time required to reach speed 0 stop state from speed limit set at parameter gt It means the time required to reach bias speed from speed limit if bias used Fa Speed limit D 1 D 1 k Setting speed 1 S 1 l 1 DU 1 L 1 D 1 DU Actual decel time gt Actual accel time Tme Decel time it gt p Tems Speed limit Max speed when position is decided as setwithin the speed limits in parameter
168. ool i ng ir net hod enter E Chapter 2 Specification Remark 1 I EQ Internati onal Electro techni cal Conmnssi on An international nongovernnental organi zation whi ch pronotes internati onal y cooperated standardi zation in electri c el ectronic fields publishes international standards and nanages appl i cabl e esti nati on systemrel ated wth 2 Poll uti on degree An index indicating pollution level of the application environment which decides insulation performance of the device Pollution degree 2 means that only non conductive contamination occurs However tenporary conducti on nay occur accordi ng to condensat i on Chapter 2 Specification 2 2 Performance specification Performance specification of positioning module is described in Table 2 2 Specification G3F POPA G4F POPB GGF POPA G4F POPA Interpolation function 2 axes linear interpolatior simultaneously2 axes separately2 axes o vw PTP Point to Point linear interpolation speed control speed position switching control 1 300 data per axis operation step No 0 299 EN e Max 200Kpps speed setting range 10 200 000 pee speed setting data 0 127 Acceleration deceleration Operation pattern trapezoid method acceleration time 10 9 990 processing deceleration time 10 9 990 Positioning SMW upper limit setting range 0 16 744 447 SM upper lower limit SW lower limit setting range 16 744 447 0 setting number 3 set
169. ositioning complete 1 Positioning is complete upon positioning executed to the target position without stopping operation step set to continuous operation mode by startcommand POSC_AST rising edge T and the dwell time elapsed 2 Accordingly operation mode of the last operation step shall be set to separate operation mode or repeated operation mode 3 Continuous operation command POSC NM rising edge T is available if next step position and speed are desired before the presently engaged operation step reaches the target position However continuous operation command PCSC_NM can be executed only at constant speed 4 Only the same direction is available for continuous operation mode and operation direction is decided according to position address value 5 Operationpattern ed Continuous op com POS d i Operation single Op step No 1 Op continuous Op step No 0 Positioning start POSC AST Busy Did SRD em Chapter 1 Introduction 5 Constant operation mode positioning incomplete 1 Inconstant operation mode the operation at speed set without target position is continued by speed control operation 2 Since constant operation is not the positioning operation it displays 0 for present position and is switched over to undecided starting point state even if the starting point has been previously decided gt G3F POPA G4F POPB G6F POPA Dwell time is available but positioning complete signal is no
170. override command put ae Ge operation or speed override is I other states than constant stage in autooperation available only at constant stage 15 Command given wih module op pont ue given with module origin Command given wih module origin pont undecded undecided __ Start command atterorgn point decided command Start command afterorgin point decided point decided postoing module gt erort powered OfOn Watgen Cancel Soe Of0n EES ESES ES Ce Remove cause of eemal emergency Sp Exemal emergency stopinput Cancd oupuprohbled Operae afer ogn pont redecided Remove cause of femal emergency stp Wed emergency styinput Cancel oupuprohibled Operae afer origin pont redecided Remove cause of enor Extemallowerimitsiyal input Perom JOG operation twad upper imt Operate afer origin pont redecided Remove cause feror femal upperltsnal input Perm OG operation toward lower i 3 Operae afer origin port redecided e s w lower limit address range set at resent postion exceeded over s w lower imt value setaparamees faramees fer ort pontre decer l Change s w upper limit address range set at resent poston exceeded over sl pper mi value set atparereess ams 2 Operae afer origin pontre deel ext operation mode is incorrect in auto operation or continuous operelon mode e jon operation is available only at single nterpolation operation command input in co
171. ower stroke limit detected Off external input lower stroke limit undetected B P SMV upper lower stroke limit is not deteced a Starting point undecided D gt If output prohibited occurs by upperflower limit error origin point retum shall be reexecuted after moving to starting stroke area by a manual operation Ike JOG operaton because itis switched over tp origin pointundecided state Chapter 3 Functions 39 Randontpositioned address value setting to origin point and present position change 39 1 Randompositioned address value seting to origin point p gt Randomposttioned address value setting to origin point can be allowed through origin point returmaddress items at SW package parameters gt Check of randompositioned address value of the set axis can be performed through present operation state s code information Read function blockPOS CRD outputparameter CA after fixed origin point setting or origin point return is executed Also the position present can be identified at S W package monitor after floating point set setting ororigin point return is executed 392 Present position change POS _PRE rising edge p gt Present position change is to change the present address value to random address value Program 3 14 Present position change 3 41 Chapter 3 Functions 3 10 Floating point set seng POS HI p gt Used to set present position to origin point compulsorily without origin point retumoperation of the machi
172. owered off p gt Be careful that the number of ROM teaching is limited available number 100 000 D gt To increase the application number with teaching operated step 1 set 300 operation steps to repeated operation via software package and 2 change operation step No POS SMC to the next operation step if the teaching count number reaches 99 000 as compared with 100 000 or below 99 000 in PLC program so to 3 use upto teaching times of 99000X300 29700000 3 42 Chapter 3 Functions 3112 Speed taching POS VLT rising edge 1 p gt A function to change speed value of the speed No set at positioning operation step D Setting position data D gt Setting speed data of speed No 11118 l 1 4 alll KNNkkk D gt Program Program 3 155 peed teaching 3 43 Chapter 3 Functions 3113 Position teaching POS _TEAstising edge 1 p gt A function to change position address value of position data D gt Setting position data T Use position teaching when position address value of position data s operation step No O though set to 100 is applied as changed If position address value of operation step No 0 is always to be changed set operation mode to repeated and change position address value to position teaching P za d H Jess D H 1 Uu E Hi am POSG TEA prior to start Program 3 16 Position teaching Chapter 3 Functions
173. peed Chapter 5 Positioning Parameter 5 14 S W upper lower stroke limit Also called as stroke upper lower limit p gt Stroke limit means movable range of the machine with its upper lower value set to S W upper lower Stroke limit If operated out of the setting range positioning will not be executed Namely if operated out of the setting range positioning by its applicable execution command is not executed This is used to prevent separation from upper or lower limit due to positioning address value Set incorrectly and abnormal operation due to error in user program Limit switch for emergency Stop needs installation near by stroke limit of the machine for this function 1 S W lower limit S W upper limit gt Range check of upper lower stroke limit is performed at operation start and during operation p gt If an error is detected by S W upper lower stroke limit value setting S W stroke upper limit address range exceeded 25 S W stroke lower limit address range exceeded 24 pulse output of positioning module is prohibited Thus cancell output prohibited POSC OFF ising edge 7 to detect the error and restart the operation p gt Setting range shall be set per axis SM stroke upper limit address valuerange 16 744 447 16 744 447 SAN stroke lower limit address value range 16 744 447 16 744 447 Unit Pulse 5 1 5 Speed limits p gt Max speed of positioning operation available p gt Setting range is 0 20 000 Unit 1
174. per stroke limit detected D 2m bit of output parameter ST5 in present operation state s Bit information Read function block On extemal input lower stroke Imit undetected Off external input slower stroke limit detected gt Both upper lower limit signals are not detected if either upper or lower limit is just used as connected with the sensor in connection with external input upperlower stroke mit Please connect the signal surely to B contact if not used 3 39 Chapter 3 Functions 382 S W upper lower stroke limit p gt S W upper lower stroke limit is for a function notto execute positioning if operated out of upper lower stroke limit setting range which is set at parameters of S W package p gt Range check of upper lower stroke limit is performed at operation start and during operation S W lower limit S W upper limit gt Function not to execute positioning by its applicable command if operated out ofthe setting range p gt Information on SW upperllower stroke limit is displayed at Ohand 1st bits of output parameter ST2 in present operation state s Bit information Read function block POSC SRD D 0b bit of output parameter ST2 in present operation state s Bit information Read function block On external input upper stroke limit detected Off external input upper stroke limit undetected D 2m bit of output parameter ST2 in present operation state s Bit information Read function block On external input l
175. peration direction is decided according to the prior position address However G6FPOPA is decided according to position address sign Ex D Operation pattern Stopped as decelerated by stop com at constant Op constant Op constant Op step No 0 Op step No 1 Positioning start BUSY POS g SRD ST6 3 Decel stop com POS g_STP Floating point set set com POSM FLT Origin point return complete sign by Origin point return Origin point undecided by stop command is to be re decided D Setting in S W package ER o oe p oes uc cm 3 a ne me oue a gt 1 positioning start gt acceleration stage gt constant stage deceleration stop command gt deceleration stage gt positioning complete origin point undecided gt origin point decided origin point returning positioning start or floating point set setting command gt operation step No assignment 2 start commands y In constant operation mode dwell tme is not available for G4FPOPA 3 18 Chapter 3 Functions D Program Cancelled if output prohibited by error Command operation Operation step No Deceleration stop command Program3 6 Constant operation setting operation step No 3 19 Chapter 3 Functions 3 2 6 Positioning constant operation 1 Positioning of positioning constant operation is complete as switched from speed control operation to position control operation 2 Speed contr
176. pper lower limit 4 origin point detection by near zero point 2 Parameter items of S W package which influence origin point return are as follows 1 origin point return direction 2 origin point compensation 3 origin point return speed high low 4 originpoint address 5 dwell time for origin point return L 13 Chapter 2 Specification Chapter 2 Specification 2 1 General specification General specification of GLOFA GM series and MASTER K series is described in Table 2 1 rs E Related Specification NEE speci fi cati on 1 Cperat i ng 0 55 C tenperature tenperature erati ng 5 959BH No condensati on hunndi ty 4 oi 5 9598H No condensati on hunndi ty vibratedinternittently vi brated i nternnttent vibratedinternittently Anplitude of vi bration 0 075nm M rati on 10 ti nes each EC61131 2 direction of X Y Z e Mx shock accel eration 147 RE Shocks e Duration tine Um EC61131 2 e pulse wave half sine wave pulse 3 times each directi on of X Y A Square wave Based on LG i npul se noi se 1 500 V test spec El ectrostati C ECO1131 2 voltage 4kV contact di scharge LEA Lr Mi se ad 27 500 Mk 10 Wm EC1000 4 3 i nmani t y l D gi tal Digital i nput output fact i nput out put less than 24V EC61131 2 Transi ent 24V or Anal og i nput out put EE above conm interface SE Cperat i ng No corrosi on gas or dust alloved at nospher iud eade i i fruse degr ee C
177. r Function Block of parameter change used in program 1 Available only at operation stop state Busy Of state 7 20 Chapter 7 Function Blocks 79 Error codes in Function Block Eror type displayed on output parameter STAT and actions to take against will be described Ltr Positioning Description mik Actions pora f poa Poa Poma operation Status E In normal eae E Base Con O No exceeded oversetting range Set base position within setting range leese LLL e aaen ET 3 3 3 5 e Applicable slot not equipped Fo fofofo is positioning module on the applicable ELILICI NE Different module name of applicable sit EE E ee E positioning module on the applicable 6 Setting axis No exceeded oversetingrange axis No exceeded over setting range Set correct axis No of Set corect axis No of postioning mode module Ss NY Conard gen wih CPU mode at STOP sat spe SEENEN 8 TGonnaused pen RAMenor us NSmqet sd Function Block command unavailable to execute due to Set correct command execution conditions module Wat operation stop New command Function Block executed at the state that egan EATUR der exeputernew command pior command is not complete Bus prior command is complete ES Setting aux input value exceeded overthe range 2 24 o eenen To be in setting range Stop related command or emergency stop input while Reseteror Function Blockis executed Cancel oupuepofibied a Continuous operation or speed
178. ration step No Position No step No setting data for Position teaching Position teaching position address change is performed by Position teaching command with position addresses 9 amp 10 X axis and 59 amp 60 Y axis Operation step No afl FEDCBA9876543210 Y add 58 0 299 9 Operation step No Operation step No value for operation start which can be used along with change command of operation data No PEE Preset pos add a i FEDCBA 98 76 5 4 3 2 1 0 X add 9 lower Y add 59 X add 10 Y add 60 Sen 10 Preset position address Used to change present position address if Preset command of present value is executed and to change position address of operation step No assigned at Position teaching operation step No if Position teaching command is executed Chapter 9 Inner Memory And I O Signals Override value Inching value X add 11 Y add 61 11 Override value 96 Speed in in case that override operation is desired with speed changed at the rate 10 150 of operation speed of setting speed data The setting range is 1 15 10 150 12 Inching value Shifting distance if inching command is executed The setting range is 1 99 I Variable speed value FEDC BA9 87654 3210 X add 12 Y add 62 MET 1 20 000 13 Variable speed value 1 Speed value when operation speed is desired to change to random set speed during positioning operation 2 Speed cha
179. ration step No at a Fandom point of time without stop if continuous operation mode is applied Ke E Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng programexeauti on POS NM iion No ing area of base No postioning module is equipped on m DOE ing range GH sers 0 31 GM2 series 0 7 ED series 0 3 GM6 series SINT positon No Setting area of slot No positioning module is equipped on Setingrane 0 7 Assignment area of axis to use f 0 X axis operates II Y axis operates tate displaying area of Function Block execution complete f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complete 0 is output output Error state displaying area BET i f error occurs during Function Block execution error No is displayed Operation axis displaying area ACT BOOL Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command ACT DONE BOO 1 Caution for Function Blocks of continuous operation command used in program 1 Available only atconstant speed during operation Busy On state 2 Available only for continuous operation mode 3 Continuous command operation by absolute method differs from that by relative method in position
180. ratior POS _SRD ST1 3 In constant POS SRD ST1 2 In deceleratior POSC epp grupp In dwell POL SRD Position passing signal Pos _SRD ST6 2 Positioning complete POSC SRD Tea Abnormal operation pattern If operation speed is set larger than position travel value Positioning start A i Positioning_start A BUSY In acceleration In acceleration In constat 3 i lInconsta In deceleration i i In deceleration i i In dwell Time Position passing signal i Positioning 3 i Positioni complete i f complete 3 11 Chapter 3 Functions Ex D Operation pattern Start op step No 0 Op sinale Op sinale Op sinale Op sinale Op step No 0 Op step No 1 Op step No 2 Op step No 3 Positioning POSm AST BUSY POS g_SRD ST6 3 D gt Setting in S W package rupe I II TE o e e e e e a E oe ee pL Pm jejej aji Program 3 4 Single operation return to origin point 3 12 Chapter 3 Functions 322 Repeated operation 1 Positioning is complete upon positioning executed to the target position by one start command POS G AST rising edge T and the dwell time elapsed 2 The pattern of repeated operation mode is the same as single operation however the next operation is decided by operation sep No which is set at change command of operation step No previously executed after positioning is complete 3 Thu
181. re important information surely to apply in p ogram BitNo Sr ST D I 0 In dwellBitOn Upper limit detected BitOn Unused n 5 n deceleration BitOn Lower limit detected BitOn Forward BitOff Reverse BitOn n constant BitOn Emergency stop detected BitOn ZONE 1 BitOn n acceleration BitOn Pube utprohibited BitOn ZONE 2 BitOn At stop state BitOn Inching complete BitOn ZONEB BitOn n retuming to origin pointBitOn Position teaching complete BitOn Repeated operation complete BitOn LH LU n postioning BitOn In JOG low speed operaton BitOn Positioning operation complete BitOn 7 In interpolation operation not for G4F POPA In OG high speed operation BitOn code On BitOn STS terminal signal ST6 n origin point compensaton BitOn Speed position control switching only for G6F POPA Bio LU tOn ENT compensation BitOn not for G6F Exenal upper isa OF Emor D Innext move BitOn Extemal lower limit signalBitO M B in speed overidingBitOn Extemal near zero point signal BitOn n operation Busy W lme SSS Ted mp pointsignal BitOn Positoning complete 5 n stopping as decelerated amp stop Unused Origin point retum complete complete BiOn Speed teaching complete BitOn Unused Origin pont undecided valid only in GF POPAG4 POPA V10 7 Speed change complete BitOn External emergency stop signal Bit Off Unused valid ony in G3F POPAG4F POPA V10
182. ress value Setting range is 16 744 447 16 744 447 setting unit Pulse gt Position address value is changeable in program by position teaching P 05 C TEA rising edge TL 6 5 Chapter 6 Position Data For Positioning 68 M code gt M code function is wholly applied to all axes by M code mode set at positioning parameter and can be used for the program by number setting per operation step No in the setting range gt Setingrangeis 0 255 p gt How t use M code in program 1 M code No Read is allowed by present operation stat s code information Read POSC_CRD s output parameter MCD 2 On Off state of M code operation can be checked by present operation sta s bit information Read 7 bof POS C SRD s output parameter ST3 p gt Refer to 5 4 for the details 69 Speed No gt It means the number of speed data set at speed data available per operation step No SetingrangesO 127 gt Speed data value of speed No is changeable in program by speed teachindP 05 G VLT rising edge TL 6 10 Dwell time X 10 gt assigned prior to the next positioning operation after one positioning operation is complete Setingrange 5 0 999 setting unit X1Q If setting dwell time value is 50 actual dwell time is 50X100 500 gt In particular if SERVO motor is used it is setting data of standing by time until stable stop state is reached since actual SERVO motor may not have reached or may have exceede
183. ri bed 11 5 Chapter 11 Operation Proceedings amp Installation 4 Connection with MITSUBISHI MELSERVO J type G6F POPA X AXI S 32 33 34 3 Gein a Lower D r us EN ue 24V 1l In case that internal pover is used x Refer to the driver nanud for the driver pins if not descri bed 11 6 Chapter 11 Operation Proceedings amp Installation 5 Connection with UPD566 stepping motor driver UPD 566 Type Dri ver G6F POPA X AXI S sv aw 22 23 rtrd lable by PLC s rel ay output or transi stor s output contact 726 Protection control is avail abl e f romoverheati ng dri ver usi ng PLC DC i nput si gal Qign point return is avail abl e by maki ng phase Z signal by optical sensor ad aert sensor or linnt swtch si nce the steppi ng nator has no encoder 11 7 Chapter 11 Operation Proceedings amp Installation 6 Connection with UPK5114NW2 stepping motor driver UPK5114NV2 Dri ver G6F POPA X AXI S 5 step notor DC 24V rtrol lab e by PLCs relay output or transistor s output contact 2 Protection cortrd is avail abl e fromoverheati ng driver usi ng PLC DC i nput signal 3 Qigin point return is avail able by naki ng phase Z signal by optical sensor adjacent sensor or linht swtch si nce the steppi ng nator has no encoder 11 8 Chapter 11 Operation Proceedings amp Installation 7 Connection with TAMAGAWA TBL I series G3F POPA X AXIS
184. s if change command of operation step No is not previously executed step No 0 is assigned and then operated atthe next start command Accordingly it is very useful in the system where several operation steps are repeated 4 Operation direction is decided according to position address value Ex 1 Jf operated only by positioning start PO SC AST rising edge 1 D Operation pattern Start op step No 0 Step No 0 is reported if op step No is not changed after repeated operation Op single Op repeated i Op step No 0 Op step No 1 Op step No 0 Positioning start POSg AST BUSY POS _SRD ST6 3 D Setting in S W package Number of Step Coordin over Operation Invalid program No ates ST method halid Positioning start V Ls pep ae e ome ome e Operation step 2 amp 3 are not operated Repeated p Program Program is the same as program 34 3 13 C hapter 3 Functions Ex2 If operated by start command POS C AST rising edge T and operation step No setting POSC SMC risingedge 1 D Operation pattern Start op step No 0 Op step No22 3 is repeatedly operated if positioning start op is continued Op single E Op single Op step No 0 1 R Op step No 2 Positioning start POSH_AST BUSY POS _SRD ST6 3 Op step No set POS c SMC D Setting in S W package ena Ste Coordi Operati Invalid Dwel p oordin peration nal wel pro
185. s is calculated as follows Major axis speed X Minor axis distance Minor axis Speer Major axis distance gt Terms major axis X axis or Y axis of whichever positioning address amountis larger in applicable operation step No minor axis X axis or Y axis of whichever positioning address amount is smaller in applicable operation step No Speed acceleration time deceleration time and bias speed of minor axis will be recalculated at this time 3 Operating items based on setting value per axis are Backlash compensation S W upper limit S W lower limit position passing time and zone setting area of parameter items Available peration mode is single operation repeated operation and auto operation only 4 If required time for moving a position address value to specified address exceeds 65 535 error 89 occurs C hapter 3 Functions 2 Control by incremental method Relative Coordinates A Positioning controlled to the position which includes travel direction and travel value as aimed at start point address per axis B Travel direction of each axis is decided according to travel value sign of the axis Iftravel value sign is or no sign position decided forward address incremental direction travel value spn is position decided reverse address decrement direction Forward Y Y2 Start point address Y travel value XL Y1 er address H 1 1 l l X2 Y2 i Y1 s X amp Y linear int
186. s the error that the machine doesn t operate due to abrasion when rotation direction is changed in case motor shaftis connected with gear and screws Backlash compensation when output shall be added to positioning amount if rotation direction is to be changed p gt In G3F POPA G4F POPA G4F POPB itis available for positioning operation and in G6F POPA it is available for positioning operation inching operation and J OG operation p gt Setting range is 999 Unit Pulse per axis Remark Origin point return shall be surely executed if backlash conpensation is ever set or changed p gt Since the original position may not be reached by backlash if the position is moved 1m to right and then 1m to left again backlash compensation shall be added move 1m to right forward Direction change move 1m to left reverse Backlash Shifting with backlash compensation p gt Backlash compensation is In G3F POPA G4F POPA G4F POPB moved at low speed for backlash compensation value after positioning address amountreaches target point AB C Feati ve PO P1 P2 Figure in is notor rpm P1 P2 P3 Absol ute Cher than is load travel val ue P2 3000 qus ge 3000 compensation P0 1000 1000 C 1500 1500 In GGF POPA moved to target point with backlash compensation value added to address value of positioning operation inching operation and JOG operation ABC Felati ve PO P1 P2 Figure in is notor rpm P1 P2 P3 Absol
187. se No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 3 GM6 series 0 n positon No SLOT JUSI Seting area of slot No positioning module amp equipped on ingrange 0 7 Assignment area of axis to use AXIS USI f 0 X axis operates 1 Lat operates isplaying area of Function Block execution complete nction Block execution complete without error 1 is output and if output EH is 1 wih intemal processing of Function Block complete 0 DONE BOOL Y axis error information displayed Operation axis displaying area Positioning module changes output parameter DONE from 1 to 0 with 1 output after processing Function Block command 1 Caution for F unction Blocks ofstop command used in program 1 Availble at operation stop state during acceleration constant and deceleration Busy Off state 2 Function Block POSP STP of G3F POPA and G4F POPA can be used only in ROM V1 0 7 16 Chapter 7 Function Blocks 7 7 Function Block for error processing 7 7 1 Internal emergency stop Emergency G3F POPA GAFPOPA G6FPOPA POSP EMG GAF POPB POSB EMG It is used to promptly stop operation in case of emergency Since switched over to output prohibited and origin point undecided state if once Stopped cancel output prohibited and re decide origin point to re start e E DONE Output STAT Request area of Functio
188. single linvalid single Read OK New package POSPACK To write values set at position data by positioning module To read position data used in positioning module to S W package To monitor or save new value set at position data as changed Tocancel new value set at position data and use previous value continuously I How to prepare Step Coordina Operatio Invalid Operation No tes DE 2 halid mode Method d Use the mouse to select applicable cell ER single Use the mouse to select applicable cell and to Detals of EISE de define the details directly cell valid 6 1 Chapter 6 Position Data For Position M Code Speed No Dwell disable disable disable disable disable disable disable disable disable disable disable disable disable disable disable disable disable 1Co INN SON CO CO Co 300 CD Soon COccccocooooooooooococe C Incremental I Current Data No Skip Op Mode Single Pos Address Pulse Repeat M Code jr 0 25 Speed No fO D 127 Dwell Time O xl ns C Auto se T Continuous See 66 Const Const Pos Related items Before modified POSITION E Terms modified 61 62 64 65 61 62 610 Dwell Dwell time x10 6 2 Chapter 6 Position Data For Position 6 1 Step No gt Serial No of positioning data in setting range of 0 299 gt Posi
189. sion point decision If speed control is applied the following items of positioning data have no influence on constant operation mode Step Coordin Operation Invalid Operation Dwell tems with no influence d Only for G4F POPA K N code applied use With mode only If After mode used M code On signal is not output p gt Operation timing Speed Setting speed Positioning start POSg AST Busy POS g_SRD ST6 3 l l Deceleration stop command DO STP Ex D Setting in SAV package G6F POPA fmaddmdm O ete me cams vai covet lw CT eedem 1 ete ite cams vai sel m Tix Chapter 3 Functions D Program Program 3 3 Deceleration stop return to origin point Chapter 3 Functions 3 1 3 Speed position switching control positioning constant operation gt If speed position switching signal is input via positioning module outside while the axis set by positioning start controls speed speed control is switched to position control to decide position as much as target travel value set gt Speed position switching control is processed by outer input signal of Speed position switching input signal in G6F POPA and by deceleration stop command in G3F POPA G4F POPA amp G4F P OPB p gt Positiondecision constant operation is available as directed forward and reverse i 7 i Invalid Operati Dwell Forward d Disable Continuous Val
190. sition Teaching address value is not saved at position data and the operation if CPU module is powered Off On will be executed by prior address value In ROM Position Teaching address value is saved at position data and the operation even if CPU module is powered Off On will be maintained Note1 7 11 Chapter 7 Function Blocks 7 5 2 Speed Teaching Velocity G3FPOPA G4FPOPA G6FPOPA POSP VLT G4F POPB POSB_VLT This is used for user to set random speed value to specific speed data No Function Block type Request area of Function Block execution at rising edge Function Block executed if O T rising edge wth connected tion to this area as co i Base postion No REQ ing area of base No postioning module is equipped on ing range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 ston No ing area of slot No positioning module is equipped on ing range 0 7 ing area of speed data No to execute Speed Teaching ing mme H DI ing area of speed value to execute Speecd Teaching ing range 1 20 000 Unit X 10P use POSG VLT BASE SLOT Selection area of Speed Teaching type f 0 RAM Speed Teaching f T ROM Speed Teaching State displaying area of Function Block execution complete f Function Block execution complete without error 1 is output and if output parameter ACT is 1 with intemal processing of Function Block complet
191. sitioning module is equipped on Setingrae 0 7 UINT SLOT Input AX ST S signment area of axis to use f 0 X axis operates f 1 Y axis operates etting area of operation step No to execute positon Teaching Seting range 0 D PRES DI eting area of positon address value to execute Postion Teaching ET Seting range 16 744447 16744447 MODE Selection area of Postion Teaching type BOOL f 0 RAM Position Teaching f 1 ROM Position Teaching State displaying area of Function Block execution complete DONE BOOL If Function Block execution complete without error D is output as kept until the next execution starts If error occurs 0 is output with operation stopped Error state displaying area SE SS If error occurs during Function Block execution error No is displayed Note Input parameter MODE can be used only in G6F POPA p gt In G3F POPA and G4F POPA Postion Teaching command is available only at origin point decided p gt When Position Teaching Function Block has been executed the operation step No set at input parameter ST SET shall be the same as the next operation step No to be performed If input parameter ST SET setting value differs from the operation step No to be performed the operation step No shall be changed to be identical by operation step No change command POSC_SMC Function Block prior to the next eration gt Differences between RAM Postion Teaching amp ROM Postion Teaching In RAM Po
192. sp 4 2 Help S W Information amp Chapter 4 S W Package 2 State display p gt Command to display the state barat the left bottom of SAV package GM6 Pulse2 Slot4 Al 413 Communication 1 Communication port p gt Command to set serial communication port between computer and positioning module Comm Port RE Jl Speed 9 Parity 4s lione Even Odd Data Bits Stop BIKEY C Bits 1 1 Stop Bit B Bits 2 Stop Bits Iv BCC Enalbe Cancel 2 Communication items p gt Command to select and send parameters position data and speed data setin S W package to positioning module orto read positioning module data in SAW package KR Rei parametet Y Anis parameter F X Ai Ponton Data E Send data from SW package to posttoning module J Read data of positoning module in SAV package TY Atta Posifon Data T Speed data 4 14 Model setting 1 Online model setting p gt Used for processing S W package data with positioning module equipped p gt Preoperation and monitoring of each axis are available only if set to On line model 2 Offline model setting p gt Used for processing SA package data without positioning module equipped 4 15 Data setting p gt Data preparing area for operation of positioning module p gt Refer to Chapter 5 amp Chapte 6 for the details gt 5 types of data are available for the setting 1 X axis parameter 2 Y axis parameter 3 X axis positi
193. t gt G4F POPA Dwell time amp positioning complete signal are unavailable 3 Accordingly if the next operation step is at decided starting point state returning to s tarting point shall be executed or operation after fixed starting point setting shall be executed 4 If confronted by deceleration stop command POS STP rising edge T in constant operation the correspondent step operation is regarded as complete leading to the next operation step of position data at restart 5 If confronted by deceleration stop command POSG STP in acceleration stage constant stage deceleration stage of the constant operation it stops as decelerated 6 Operation direction is decided according to the prior position address However G6EPOPA is decided according to position address sign 6 Operation pattern Op constant Op step No 0 Dwell time l 1 i Positioni 1 POS AST Busy OSC SRD STE Decel e LL com POS STP Chapter 1 Introduction 6 Positioning constant operation mode positioning complete 1 If an outer input signal of speed position control switching signal is input in speed control operation positioning constant operation is changed into position control operation to regard the signal detected position address value as 0 and execute positioning upto target position position address value set to position data to finish positioning upon the dwell time elapsed p In G6F POPA positioning modu
194. t command is used without operation step Na change eror 119 occurs 6 5 Invalid valid gt Invalid valid is used to decide whether or not positioning operation is to be executed per operation step No of position data gt If set to Invalid positioning operation is executed not by the applicable operation step No but by the next operation step No gt If set to positioning operation is executed by the applicable operation step No 6 6 Operation mode gt Operation modes of position data are classified into position control speed control and speed control position control according to control methods Control method Single operation Repeated operation Position control oper Auto operation Continuous operation Speed conro Speed control Positioning position control constant operation p gt Be careful that changing methods from speed control to positon control differ according to postioring modules when positoingconstant operation is used Un G3F POPA G4F POPA amp G4F POPB speed contol is changed to postion control by deceleration stop POSC STPxising edge T and In G6F POPA changed by outer input signal of speed positon switching input signal d Accordingly deceleration stop POS C STP rising edge 7 is regarded as a dp command in G6F POPA wih origin point undecded p gt Refer to 3 2 Operation mode for the details 6 7 Position address Pulse gt Setting area of travel value of position data by add
195. t operation step if the teaching count number reaches 99 000 as compared with 100 000 or below 99 000 in PLC program so to 3 use up to teachingtimes of 99 000X300 29 700 000 9 19 Chapter 9 Inner Memory And I O Signals Example of position teaching For position teaching of 4 step s position address of X axis with 100 000 Position data of X axis Ti Coordi Operatio Invalid v Operation Sa a us as us A us Absol Continuo Preset position address T S Add 7 100 00 D0009 Add 10 0 D0010 U Position teaching command P002D D Program If G6F POPA is installed on p slot 00004 D0007 Position teaching com On P002D RST P002D PUT 00000 00007 D0007 00004 9 20 Chapter 9 Inner Memory And I O Signals Rematk Data accompanied command shall be processed with data and command simultaneously under the same conditions M0100 in case of the program above position teaching speed teaching present position preset parameter transmission inching start speed change speed override operation data No change Example of speed teaching For speed teaching of speed value of speed data No 3 with 100 Speed data of X axis EA EE E E p Speed teaching speed data No U BR Speed teaching speed value egenen U Speed Teaching command POO2E D Program If G6F POPA is installed on 0 slot D M0101 Speed teaching com conditions MOV 00003 D0014 MOV 00
196. ta CPU PLC CPU i dat Word dati Commonused RAM Buffer memory Accessible by PUT PUTP GET GETP commands Fig 10 2 Structure of positioning module 10 1 1 Exchange of I O signals bit information I O signals in bit unit are exchanged between PLC CPU and positioning module The I O signals original of positioning module which are different from external I O are used in PLC Input signal is P contact status signal and Output signal is P contact command signal nput signal PLC CPU Positioning module Input signal used for sequence program is a signal input from positioning module to CPU Enor which is generated from positioning module side It is used as a contact point in programming See the examples below Bror signal In operation Positioning complete Signal turned On if error occurred in operation Speed Teach complet normal Off error On Inching complete IN operation signal Fig 10 4 Input signal of positioning module Signal that inputs what is in positioning operation to CPU 10 2 Chapter 10 MK Program amp Qiput si gnal SET RST or OUT used for sequence program is PLC CPU Positioning module CP a signal output from CPU to positioning module Emergency stop as is generated from CPU to be used as coil or Op data No chang gt m contact point of program oating point set Positioning start command Output disable canc
197. terpolation command signal to let interpolation command On 4 Program P0014 P0020 P0021 P0030 P0031 VI Li Li L4 e Cond x ax i d an j Vag interpolation com M0300 error signal P error signal in operation Interpolation com On Com complete signal Interpolation com Off 10 14 Chapter 10 MK Program 17 Teaching mode change Available only in positioning module G6F POPA P0012 Condition Iscan On M0230 MOV 00000 M015 ROM Teach mode set 0 RAM Teaching mode F0010 1 ROM Teaching mode PUT 00001 00015 Mutz 00001 Data Write 18 Parameter change Available only in positioning module G6F POPA P0013 P0020 P0021 i Condition M0231 In operation FMOV 00150 Mu 00002 Set accel 1500ms decel 1500ms MOV 00001 M019 Set M code mode to After mod 0 With 1 After 2 None MOV 00800 M020 Set JOG high 8Kpps MOV 01000 M21 Set origin pnt ret high 10Kpps Parameter change com On P0027 Com complete signal F0010 Parameter change com Off PUT 00001 00006 M006 00016 Data Write 10 15 Chapter 10 MK Program 10 3 Application program 10 3 1 Speed change Next move Change of operation data No 1 System configuration WO word No P000 P001 P002 P003 P004 POOS PO08 T O occupation points K3P 07AS K200S CPU module G6LD24B DC input module 32 points G6LD22B DC input module 16 points G6Q TRAA TR output module 32 points GOF
198. th the target of travel value of axis 1 000 amp axis2 3 000 if start point address is axis1 1 000 amp axis2 2 000 Start point address NC Shift position when target 2 000 1 000 ee M travel value is axis1 1 000 amp axis 2 3 000 positioning Chapter 1 Introduction 2 Speed control positioning control is performed at the specified speed until deceleration stop command POSC STP POSC TMP is input after positioning start POS AST is executed p Available operation mode is constant operation Dwell time s Time positioning start POSG AST Busy POS SRD STEB l I i Deceleration_s Command pos om i 3 Speed position switching control If speed position switching signal is input via positioning module outside starting from speed control by positioning start POSC_AST and then changed into position control the position is decided as much as travel value set as a target p gt Available operation mode is positioning constant operation Speed control Positi p Position control Target travel value Dwell time D I DU 1 Positioning start l 1 i 1 I 1 POSC AST i 1 i l 1 1 Busy 4 POSCSRD STEB I l External speed position D switching signal Chapter 1 Introduction 1 2 2 Introduction of the operation mode gt Positioning module can be set by positioning data user defined in combination with control method pos
199. the ste that orign point has been decided ff started at the state that origin point has not been decided error 76 occurs Available operation modes are single repeated and continuous operation 2 Control by incremental method relative coordinates A Positioning is controlled at start point address as much as target travel value B Travel direction is decided according to travel value sign D fftravel direction is or no sign position decided forward address incremental direction D fftravel direction is position decided reverse address decrement direction Start point address Reverse E Sa Forward Travel direction if sign is Travel direction if sign is Ex D If start point address is 5000 and gt specified address is 7000 position is decided at 2000 0 Specified address Start point address D Setting in SW package Step Coordin Operation Invalid Operation Dwell D gt Program Program is the same as program 3 1 Chapter 3 Functions 2 2axes position control Linear interpolation control is performed at start point address presently stopped position using assigned 2axes 1 Control by absolute method Absolute Coordinates A Linear interpolation control is executed from start point address to specified address assigned at positioning data via 2axes B Positioning is controlled as based on the address assigned at origin point return C Travel direction is decided according
200. ting range 16 744 447 16 744 447 Single operation repeated operation auto operation continuous operation Operation mode Constant operation Positioning constant operati Compensation setting range 999 999 Pulse speed setting range 10 200 000 speed setting range 10 100 000 Return setting range 16 744 447 16 744 447 to setting time 0 9 990 1 origin Methods by near zero point signal and origin point signal point 1 origin port detection afer near ze pont Of Method 2 origin point detecton ater deceerain at approximate og port On origin point deecion by orn point and upperfower init origin pont detection bynearzero pont lt Manual pulse generator MPG l Ss Inching setting range Speed position teaching ROM teaching ROM RAM teaching ROM teaching Floating point set available lt e a E Present position preset available M code mode With After Continuous operation Next move availab Speed override Setting range Position return prior to manual operation availab Setting operation step No available P hoto coupler isolation between input terminal and PLC power Isolation unavailable between channels Zn 50 SS G6F POPA available only Chapter 2 Specification 2 3 Inputoutput interface specification with extemal device I nput output interface wth the External device is descri bed 2 3 1 Input specifi cation Rated input ent CN G3F POPA G4F P
201. tion complete DONE BOOL f Function Block execution complete without eor 1 is output and ff output parameter ACT is 1 with internal processing of Function Block complete 0 is output Error state displaying area Output STAT ae f error occurs during Function Block execution error No is displayed Operation axis displaying area ACT BOOL Positioning module changes output parameter DONE from 1 to O with 1 output after processing Function Block command 7 15 H AX E ST S Setting area of operation step No tb be performed by start command Seting ange 0 D Chapter 7 Function Blocks 1 Caution for function blocks of operation step No change command used in program 1 Available only atoperation stop state Busy Off state 2 Operation step No is changeable by function block of succeeding operation step No change command to repeated operation in G3F POPA G4F POPA amp G4F POPB but notchangeable in S W package 7 6 6 Deceleration stop Temporary G3F POPA G4F POPA POSP TMP bm G3FPOPA GAF POPA GGFPOPA POSP STP GAF POPB POSB STP Itis used to temporarily stop operation of positioning module as decelerated ies Block s Data e Description Request area of Function Block execution at rising edge REQ BOOL Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on Base postion No BASE US Seting area of ba
202. tioning operation of each step No is decided according to 6 5 Invalid valid setting Remark If 65 Imvalid vaid setting is ae step No executes positi ori ng operati on If 65 Inalidvadid setingis invalid applicable step Nb is skipped over until 6 5 Invalid valid s ting is valid arong the fol I ow ng step nunters and valid step Nb if encountered executes posi ti ori ng operati on 62 Coordinates P Coordinates of position data classified into Absolute Coordinates and Coordinates 6 2 1 Absolute Coordinates control by absolute method A Positioning is controlled from start address to targetaddress setat positioning data B Positioning control is executed as based on the address prigin point address assigned at origin point return C Shift direction is decided according to start address amp target address start address lt target address position decided forwad p gt start address gt target address position decided reverse Ex If origin point return address is 1000 and P gt target address is 8000 forward travel valueis 7000 8000 1000 Setting in S W package Setting at parameters Setting at position data Dilgin Retum Method Direction C Forward Backward Compensation puse SET o eere ce n e e LowSpeed O sips D fF di Gs fa n H n Address 00 pce Dwenmnme Ti ale gt Results of positioning ee ttt H f Travel value 2000 f Start point address Speci
203. to Off Speed MH Origin point undecided if near zero point is On l POSg SRD Sri 3 The operation is as follows if external upper limit lower limit is engaged while waiting for origin point input after near zero poin t signal is changed from Off to On and then from On to Off Forward rotation Reverse rotation Origin point return command POS g ORG Near zero point POSE SRD ST5 3 External input upper lower limi P POSE e ST5 2 1 External input upper lower limit POSRSRD ST5 2 Near zero point POSg SRD ST5I4 I Be careful the direction of position decision module at the moment when faced by outer input top bottom limit in starting point return operation is switched over without passing acceleration stage if stepping motor applied and separation may occur 3 lf starting point s Ort time is short itis hard for positioning module to identiy Near zero point l l l D 1 G3EPOPA GAF POPA GAEPOPB IO G6FPOPA 1 above i 3 25 Chapter 3 Functions 353 Origin point detection after deceleration at near zero pont ON Origin point retumcommand operation by near zero point and origin point signal is as follows 1 operated by origin point retum at high speed as accelerated toward origin point retumidirection as set 2 operated by origin point return at low speed as decelerated if external near zero point signal is input at this moment 3 stopped with origin point dec
204. to settle light error if occurred 7 M code Off M code On signal if occurred is let turned Off 9 17 Chapter 9 Inner Memory And I O Signals 8 Deceleration stop 1 It temporarily stops positioning amp origin point return operation internally if executed 2 Position shift is performed as much as travel value by relative position INC shift and as much as the remaining position address by absolute position if positioning start command is executed after execution of deceleration stop 9 Interpolation operation 1 Linear interpolation operation is performed at interpolation positioning start 2 Arrangement of position data at X axis amp Y axis shall be set identical 3 Target speed dwell time M code and other controls shall be operated as based on Xaxis 4 Override command is not processed 5 Bias speed is always regarded as 0 6 Operation mode is as based on X axis 7 Interpolation operation for others than single repeated and auto operation mode is not available but causing error 8 Stopped unconditionally at emergency stop 9 Processed by signal of either X axis or Y axis at deceleration stop and positioning stop 10 Refer to 2 2 axes position control in 3 1 1 10 Positioning start 1 If positioning start is executed operation will be performed upto position address of present operation data No according to position data 2 In single operation mode operation is performed with incremental operatio
205. tput axis reverse direction pulse output axis forward direction pulse output xis reverse direction pulse output ut DC24V ut DC5V ut Ground ut DC24V ut DC5V ut Ground ut A contact itswitch input B contact axis externalupper limit swi a input B contact xis speed position s g input A contact xis near zero poin ut A contac xis external lower limit s witch input B xis external upper limit switch input B contact xis speed position switching input A contact E stop switch input X Y axes common B contact axis pulse output external power inputtermi xis pulse output external power input terminal DC5V pui axis pu put ground external power inputterminal DC24V external power input terminal DC5V ground 2 6 shape of the nput output direction Positioning Outerdevice Module Chapter 2 Specification UJ N Input contact common EMG INPUTCOM X STOP X_OV x_OV X_ORG X STOP Y STOP Y OV Y OV4 Y ORG Y STOP UJ Ww 2 4 5 16 D e nput contact Vcc Common PO COM IfDC24V used for outer input power letit connected to DC24V if DC5V used let it connected to DC5V 10 MPG A anual pulse generator phase A input MPG_AGND anual pulse generator phase A Common Ground MPG B anual pulse generator phase B input MPG BGND
206. tput parameter DONE from 1 to with 1 output after processing Function Block command STAT JUSI 1 Caution for Function Blocks of speed override command used in program 1 Available only at constant speedduring operation Busy On state 7 6 5 Assignment of operation step No Set Move Data NumberChange G3F POPA G4F POPA GOF POPA POSP SMC G4F POPB POSB SMC It is used to change operation step No to be performed by the next command Function Block Paramet Data m e Description ype Class Request area of Funcion Block execution at rising edge ot wi Function Block executed if 0 gt T rising edge wth connected condi ti on Base postion No Seting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 ACT Input an Je positon No SLOT Seting range 0 7 IS OOL to this ed duri ng programexecuti on DONE BASE USINT BO USINT Setting area of slot No positioning module is equipped on USINT Assignment area of axis to use f 0 X axis operates f 1 Y axis operates E T tate displaying area of Function Block execution complete DONE BOOL f Function Block execution complete without eor 1 is output and ff output parameter ACT is 1 with internal processing of Function Block complete 0 is output Error state displaying area Output STAT ae f error occurs during Function Block execution error
207. unpacking of positioning module and instalation 1 Do not let it fall or shocked hard 2 Do not remove PCB from the case it may cause error 3 Do not let foreign substances such as leftovers into the module top during wiring Remove those if ever inserted 4 Do not remove or attach the module while powered On 113 Wiring 113 1 Caution for wiring 1 Cable shall be connected between positioning module and driver as short as possible since its length is just max 2 m 2 Let AC and outer UO signals of positioning module not influenced by surge or induction noise produced at AC side using a Separate cable 3 The electric cable shall be selected considering ambient temperature and allowable current with the max cable size of AWG22 0 30 orabove as recommended 4 Damage or abnormal operation acurs by short circuit if wired too close to hot devices or materials or directly on oil for long time 5 The poles shall be checked before the outer contact signal is approved to the terminal 6 Abnormal operation or error may be caused by induction error ifwired with high voltage line or power line 7 Ground connection of the pipe is necessary for piped wiring 8 The power supplied from the outside DC 5V DC24V shall be stable 9 If noise seems underlying in wiring between positioning module and driver the pulse output from positioning module and input to motor driver shall be wired as connected with twisted pair cable or shield cable
208. ute Gher than is load travel val ue A 1000 1000 P2 3000 P1 1500 3000 compensation 1500 compensation Chapter 5 Positioning Parameter 5 1 3 Bias speed p gt Stepping motor is used to reduce positioning time with startspeed setting at early operation stage to make motor rotation smooth because torque may be unstable near at speed The setting speed at this case is bias speed p gt Setting range is 0 20 000 Unit 10pps per axis gt Bias speed is used for D positioning operation by start command origin point retumoperation JOG operation and major axis of interpolation operation unavailable for minor axis Speed limit Operation with bias speer Positioning speed Origin point return speed N J06 speed a Operation without bias Interpolation op speed speed set 1 1 Accel time t Decel time Be careful If bias speed is set high whole operation time can be reduced profitably but if set too high impact noise occurs at start and stop points leading to damage on the machine p gt Bias speed shal be set wihin the folowing rage If origin point return speed is set lower than bias speed error 87 occurs and if operation speed is set lower than bias speed at positioning error 86 occurs 1 Bias speed lt positioning speed data 2 Bias speed lt origin point retum at low lt origin point retum at high 3 Bias speed lt JOG at high JOG lowspeed operation has no connection with bias s
209. ution for F unction Block of preset command used in program 1 Available only at operation stop state Busy Off state 7 19 Chapter 7 Function Blocks 7 8 3 Parameter change Parameter Write G3F POPA G4F POPA G6FPOPA POSP PRM G4F POPB POSB PRM Command used to change acceleration time deceleration time J OG high speed origin point return high speed and M code mode at parameters during operation Function Block POS PRM REQ ing area of deceleration time at parameters seting range 1 999Uni 10 Setting area of J OG highspeed at parameters Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on Base postion No Seting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 jon No area of slot No positioning module is equipped on e 0 7 ignment area of axis to use f 0 X axis operates 1 Y axis operates ing area of acceleration time at parameters ing range 1 WAnt 10 ing range 1 20000Unit X 10pps ing area of origin point retum highspeed at parameters ing range 1 20 000 Unit X 10pps ing area of M code mode at parameters Wih If T After mode If 2 None mode State displaying area of Function Block execution co
210. ution for Function Blocks of continuous operation command used in program 1 Available only atconstant speed during operation Busy On state 2 Available only for continuous operation mode 3 Continuous command operation by absolute method differs from that by relative method in position data setting 7 14 Chapter 7 Function Blocks 7 6 4 Speed override Override G3F POPA G4F POPA G6F POPA POSP OR G4F POPB POSB_ OR This is used for user to execute operation with speed value as changed at constant speed Function Block Paramet Data Description type er pe p Request area of Function Block execution at rising edge REQ BOOL Function Block executed if 0 gt rising edge wth connected condi ti on to this area as co i ng programexeauti on Base postion No BASE Seting area of base No positioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 3 GM6 series 0 Slot position No Setting area of slot No positioning module amp equipped on Seting range 0 7 Assignment area of axis to use If 0 X axis operates ICT Y axis operates Setting area of present operation speed to new value op Seting range 1 15 Unit 10 Ex f seting value is 12 operation speed value after changed operation speed Value before changed X 120 State displaying area of Function Block execution complete DONE BOOL If Function Block execution complete without error
211. xecuti on Base postion No Setting area of base No postioning module is equipped on Setting range GM1 series 0 31 GM2 series 0 7 GM3 4 series 0 3 GM6 series 0 sition No ing area of slot No positioning module is equipped on ing range 0 7 Assignment area of axis to use f 0 X axis operates f 1 Y axis operates isplaying area of Function Block execution complete f Function Block execution complete without error 1 is output and ff output parameter ACT is 1 with intemal processing of Function Block complete 0 is output bw eer displaying area f error occurs during Function Block execution error No is displayed LN axis displaying area Positioning module changes output parameter DONE from 1 to 0 with 1 output after processing Function Block command 7 4 Function Block for manual operation 7 4 1 Inching eg nching G3FPOPA G4F POPA G6F POPA POSP INC G4F POPB POSB INC Function Block ype POS INC REO BASE DONE STAT ACT REQ BASE SLOT AXIS ROT INCH AMT DONE STAT type B00 USI USI USI BOO USI BOO USINT Request area of Function Block execution at rising edge Function Block executed if O 1 rising edge wth connected condi ti on to this area as conposed duri ng prog amexecuti on Base postion No Setting area of base No postioning module is equipped on Setting range GM1 series 31 GM2 seri

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