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Delta AX-3 Series, Operation Manual

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Delta AX-3 Series Operation Manual Download Page 5

i i i  

Chapter 7 Motion Control Basic Settings and Operation   

7.1 

Introduction on Motion Control Instructions ..................................... 7-4 

7.1.1 

Motion Control Instructions ............................................................. 7-4 

7.1.2 

Application Notes on Motion Control Instructions ................................ 7-4 

7.1.3 

Categories of Motion Control Instructions .......................................... 7-5 

7.2 

Creating Motion Control Project ......................................................... 7-6 

7.2.1 

Process Flowchart .......................................................................... 7-6 

7.2.2 

Process for Creating a Project .......................................................... 7-7 

7.3 

Commissioning ................................................................................ 7-13 

7.3.1 

Procedure for Commissioning ........................................................ 7-13 

7.3.2 

Example of Axis Parameter Settings ............................................... 7-13 

7.3.3 

Perform Axes Commissioning ........................................................ 7-15 

7.4 

Motion Control Device ...................................................................... 7-18 

7.4.1 

Overview .................................................................................... 7-18 

7.4.2 

Introduction to Axis ...................................................................... 7-18 

7.4.3 

Procedure for Single-axis Configuration .......................................... 7-25 

7.4.4 

Axis Group Settings ...................................................................... 7-32 

7.4.5 

Procedure for Axis Group Configuration........................................... 7-35 

7.5 

Motion Axis Variables ...................................................................... 7-40 

7.5.1 

Variables for Single Axis ............................................................... 7-40 

7.5.2 

Variables for Axis Group ............................................................... 7-43 

7.6 

Motion Control Programming ........................................................... 7-45 

7.6.1 

Motion Control Program ................................................................ 7-45 

7.6.2 

Axis State Transitions ................................................................... 7-49 

7.6.3 

Execution and Status Indication for Motion Control Instructions ......... 7-52 

7.6.4    Position ...................................................................................... 7-62 
7.6.5    CAM Tables and Framework .......................................................... 7-62 

7.7 

Motion Control Functions ................................................................. 7-67 

7.7.1 

System Structure ......................................................................... 7-67 

7.7.2 

Single-axis Control ....................................................................... 7-67 

7.7.3 

Velocity Control ........................................................................... 7-85 

7.7.4     Torque Control ............................................................................ 7-87 
7.7.5 

Common Functions for Single-axis Control ...................................... 7-88 

7.7.6 

Axis Group Control ....................................................................... 7-95 

7.7.7 

High-speed IO ............................................................................. 7-99 

Summary of Contents for AX-3 Series

Page 1: ...onia La Loma CP 54060 Tlalnepantla Estado de M xico TEL 52 55 3603 9200 We reserve the right to change the information in this catalogue without prior notice EMEA Headquarters Delta Electronics Nether...

Page 2: ...AX 3 Series Operation Manual Revision History Version Revision Date 1s t The first version was published 2020 10 30...

Page 3: ...e Profiles 2 9 2 2 4 CPU Module Input Output Terminals 2 11 2 3 Power Supply Module Specifications 2 12 2 3 1 General Specifications 2 12 2 3 2 Power Supply Module Profiles 2 12 2 3 3 Power Supply Mod...

Page 4: ...4 3 1 Data Type 4 29 4 3 2 Variables 4 30 4 4 Task 4 39 4 4 1 Task Configuration 4 39 Chapter 5 Hardware Configuration 5 1 Environment of Hardware Configuration 5 2 5 2 Add a Module 5 5 5 3 Remove a M...

Page 5: ...18 7 4 2 Introduction to Axis 7 18 7 4 3 Procedure for Single axis Configuration 7 25 7 4 4 Axis Group Settings 7 32 7 4 5 Procedure for Axis Group Configuration 7 35 7 5 Motion Axis Variables 7 40 7...

Page 6: ...AT Communication 9 2 9 1 1 Features of EtherCAT Fieldbux 9 2 9 1 2 Settings up EtherCAT Master 9 3 9 1 3 Setting up the EtherCAT Slave 9 5 9 2 Introduction to Modbus Serial Communication 9 8 9 2 1 Ser...

Page 7: ...onds A 8 A 2 6 Others A 9 A 3 Troubleshooting of the Funciton Blocks A 10 A 3 1 DL_BuiltInIO_AX3 A 10 A 3 2 DL_MotionControl_AX3 A 13 A 4 Troubleshooting of I O Modules A 14 A 4 1 Troubleshooting of A...

Page 8: ...1 1 Chapter 1 Product Introduction Table of Contents 1 1 Overview 1 2 1 1 1 Related Manuals 1 2 1 1 2 Models Descriptions 1 3 1 2 DIADesigner AX Software Overview 1 9 1 2 1 Features 1 9 1...

Page 9: ...ogram to the PLC Refer to Appendix A Troubleshooting of AX 3 Series Operation Manual if any error occurs AX Series Motion Controller Manual This introduces single axis and multi axes instructions for...

Page 10: ...1 USB Micro SD interface Program capacity 32 MB Data capacity 32 MB removable terminal blocks AX 364ELA0MA1T 64 axis motion controller CPU module 2x built in Relative Encoders 1x SSI 16 DI 200KHz 8 D...

Page 11: ...terminal block AS16AN01R A 240VAC 24VDC 2A output 8A COM 16 outputs Relay Spring clamp terminal block AS16AN01T A 5 30VDC 0 5A output 4A COM 16 outputs Sinking output Spring clamp terminal block AS16...

Page 12: ...g output MIL connector AS64AM10N A 24VDC 3 2mA 64 inputs MIL connector AS64AN02T A 5 30VDC 0 1A output 3 2A COM 64 outputs Sinking output MIL connector Analog input output module AS04AD A 4 channel an...

Page 13: ...wire 3 wire RTD Sensor type Pt100 Ni100 Pt1000 Ni1000 JPt100 LG Ni1000 Cu50 Cu100 0 300 0 3000 input impedance Resolution 0 1 C 0 1 F 16 bits Conversion time 200ms channel AS06RTD A 6 channe 2 wire 3...

Page 14: ...AS324MT A AS32AM10N A AS32AN02T A AS64AM10N A and AS64AN02T A External terminal module UB 10 ID16A 16 inputs outputs 20 Pin MIL connector use for AS332T A AS332P A AS324MT A AS32AM10N A AS32AN02T A AS...

Page 15: ...EMC003 02B Ethernet communication cable 0 3M UC EMC005 02B Ethernet communication cable 0 5M UC EMC010 02B Ethernet communication cable 1M UC EMC020 02B Ethernet communication cable 2M UC EMC030 02B E...

Page 16: ...he source code and for safeguarding the operation of the controller Programmable devices from different manufacturers The user interface is extendible and adaptable without leaving the framework Trans...

Page 17: ...AX 3 Series Operation Manual 1 10 _1 MEMO...

Page 18: ...2 1 Functional specifications 2 4 2 2 2 Electrical specifications 2 7 2 2 3 CPU Module Profiles 2 9 2 2 4 CPU Module Input Output Terminals 2 11 2 3 Power Supply Module Specifications 2 12 2 3 1 Gene...

Page 19: ...60068 2 6 TEST Fc Shock resistance Tested with Half sine wave Strength of shock 15 g peak value 11 ms duration Shock direction The shocks in each in direction per axis on three mutually perpendicular...

Page 20: ...surge Radio frequency interference Reference standard IEC 61000 4 4 IEC 61000 4 5 IEC 61000 4 6 Interface Port Specific interface port Test level Test level Test level Data communication Shielded cab...

Page 21: ...Maximum number of controlled axes 16 axes 128 axes EtherCAT axes 8 axes 64 axes Pulse Out axes 4 axes 4 axes Maximum number of axes for linear interpolation axis control 6 axes 6 axes Maximum number o...

Page 22: ...ation format Stop bit 1 2 Parity bit None Odd Even Data bit 7 8 Commumication protocol MODBUS ASCII RTU EtherCAT port EtherCAT Master Class B Physical media types 100BASE TX Transmission speed 100 Mbp...

Page 23: ...P 4840 Reconfigurable via configuration file Maximum number of sessions Client 5 Maximum number ofmonitored items per server 1000 Sampling rate of the monitored items ms 100 300 500 1000 2500 5000 Max...

Page 24: ...ard SD card type Micro SD SDHC 32GB max Real time clock Year Month Date Hour Minute Second Week One CR1620 battery is required Dimension Length Width Height 110mm 88mm 100mm EtherCAT axes include posi...

Page 25: ...impedance 5 6 k Input signal Voltage input Sinking The inputs are NPN transistors whose collectors are open collectors Sourcing The inputs are PNP transistors whose collectors are open collectors Elec...

Page 26: ...2 0 3 6 7 4 5 1 2 0 AX 308E ER RO R BAT LOW RU N PO WER 9 8 10 11 12 15 13 14 STO P RU N M icr oSD EtherC AT Ethernet 6 C 0 3 OU T 2 1 0 7 2 5 4 3 1 0 I N C0 7 6 5 4 OU T S S 1 IN 9 8 10 14 15 12 13 1...

Page 27: ...ecute the programs STOP stop the programs 8 COM Port Provides an interface for RS 485 and RS 232 communication 9 Input Output LED indicator If there is an input signal the input LED indicator is ON If...

Page 28: ...EtherCAT Eth ernet 6 C0 3 OUT 2 1 0 7 2 5 4 3 1 0 IN C0 7 6 5 4 OUT S S1 IN 9 8 10 14 15 12 13 11 S S0 RS 232 RS 485 SSI Encoder SSI ENCNDOR IN 1 DATA 1 A1 X0 0 X0 8 2 DATA 2 A1 X0 1 X0 9 6 CLK 10 B1...

Page 29: ...se the CPU and the modules AS PS02A 1 5 A for internal use the CPU and the modules 0 5 A for external use Power protection The 24 VDC output is equipped with the short circuit protection and the overc...

Page 30: ...een Indicates the status of the power supply 2 Model name Model name of the power supply module 3 Terminal Terminal for wiring 4 Arrangement of the terminals 24V connecting external 24VDC 24G connecti...

Page 31: ...R LG WARNING Risk of electrical shock Wait 5 seconds after removing power before servicing N L 24G 24V OUTPUT INPUT 24V 24G Risk of electrical shock LG L N WARNING POWER PS02A power before servicing 2...

Page 32: ...AX 3 Series Operation Manual 2 15 _2 2 4 Extension Modules You can connect the AS Series modules to AX 3 Series CPU Refer to AS Series Module Manual for more information...

Page 33: ...stalling and Replacing a Button Cell Battery 3 3 3 1 3 Installing the AX 3 Series PLC in the Control Cabinet 3 5 3 2 Installing and Uninstalling DIADesigner AX 3 7 3 2 1 Installing DIADesign AX 3 8 3...

Page 34: ...E R RO R B AT LO W R U N P O WE R 9 8 10 11 12 15 13 14 S TO P R U N M ic ro S D Et herC AT E thernet 6 C0 3 O UT 2 1 0 7 2 5 4 3 1 0 IN C 0 7 6 5 4 O U T S S 1 IN 9 8 10 14 15 12 13 11 S S0 R S 232...

Page 35: ...grounded metal or you can wear antistatic gloves to avoid the static electricity The first time battery installation can be done whether the AX 3 Series PLC is powered on or off After installation yo...

Page 36: ...ill be lost Before replacing the battery you must get rid of the static electricity in the body by touching the grounded metal or you can wear antistatic gloves to avoid the static electricity Follow...

Page 37: ...installation away from the high voltage equipment or power equipment Cut off the power supply of the control cabinet before installation Actions for Anti interference Do not install the AX 3 Series PL...

Page 38: ...rail And then push and lock the fixing clips to have the AX 3 Series PLC securely installed in the control cabinet The image below is for illustration purposes only refer to AS500E Series Motion Cont...

Page 39: ...System Windows 7 8 1 10 32 64 bits CPU Intel Celeron 540 1 8 GHz min Intel Core i5 M520 2 4 GHz min Memory 2GB or above recommend to use 4GB or more Hard Disk Drive 10GB or more Monitor Resolution 19...

Page 40: ...e installer which assists you to download and install DIAStudio software applications You can download install and update products such as DIASelector DIADesigner DIAScreen and COMMGR Go to https dias...

Page 41: ...tarted 3 9 3_ Follow the steps below for installing DIADesigner AX 1 Double click DIAInstaller icon to see the latest version of DIADesigner AX 2 Click Download 3 After that you can see DIADesigner AX...

Page 42: ...es Operation Manual 3 10 _3 4 An InstallShied Wizard shows up and starts installing Click Next 5 The window of License Agreement shows up Select I accept the terms in the license agreement and then cl...

Page 43: ...Chapter 3 Installing Hardware and Getting Started 3 11 3_ 6 Click Change to change the download path Or leave the default path unchanged Click Next...

Page 44: ...peration Manual 3 12 _3 7 The window of Setup Type shows up as the image shown below Select the one you need and then click Next 8 The window of Ready to Install the Program appears as below and then...

Page 45: ...pter 3 Installing Hardware and Getting Started 3 13 3_ It may take some time to install 9 After installation the window of InstallShield Wizard Completed appears Click Finish to complete the installat...

Page 46: ..._3 3 2 2 Uninstalling DIADesigner AX Follow the steps below for uninstalling DIADesigner AX 1 Double click DIAInstaller icon to open and then click Uninstall 2 The system will remove DIADesigner AX fr...

Page 47: ...nstalled click Start you can find it under the folder of Delta Industrial Automation and you can also find its short cut on the desktop Double click either one to start the software You can open more...

Page 48: ...e Program Files folder Double click either one to start the Gateway After that the system starts Gateway automatically whenever you turn your computer on And its icon will appear on the taskbar If not...

Page 49: ...an click Exit Gateway Control and the icon will disappear on the taskbar Open the software DIADesigner AX and open create your project to see the project setting page Double click Device Product Name...

Page 50: ...AX 3 Series Operation Manual 3 18 _3 You can configure the Local Gateway Click Gateway and click the option Configure the Local Gateway to open the setting page...

Page 51: ...interface and then use the drop down list to select the port you needed to add Here we use adding COM Port as an example After adding COM Port you can set up the COM port name its corresponding port...

Page 52: ...onfiguration setting to add the setting items After that you can further define the setting values Once the setting is done click OK After the configurations of Local Gateway are set you can select th...

Page 53: ...pter 3 Installing Hardware and Getting Started 3 21 3_ If the connection is established successfully you can find that the status light is green and the detailed device information under the device im...

Page 54: ...AX 3 Series Operation Manual 3 22 _3 MEMO...

Page 55: ...tion on DIADesigner AX 4 2 4 1 1 Creating a New Project 4 2 4 2 Setting Items on the Device Page 4 4 4 2 1 CPU Parameter Settings 4 4 4 3 Data Type and Variables 4 29 4 3 1 Data Type 4 29 4 3 2 Variab...

Page 56: ...rs a variety of user friendly engineering functions for your professional applications in controller development system sectors including PLC and motion control In DIADesigner AX you can customize the...

Page 57: ...om the drop down list Click OK the system generates a cyclic task with a default PLC_PRG After a new project is successfully created you can see a project management area in the left side of the windo...

Page 58: ...tab to add new gateways or manage existing gateways or configure local gateways You can simply specify an IP address or DNS address for the gateway while adding new gateways This is useful if you want...

Page 59: ...age You can configure the block drivers for the local gateway Device This menu includes the following setting items Options Add Current Device to Favorites Adds the currently set device to the list of...

Page 60: ...p prompting whether or not the certificate should be displayed and installed If the Enforce Encrypted Communication option is selected as Security level in the Security Screen view then the Encrypted...

Page 61: ...es Content Requirement Go to Application Proprieties Application Generation Options to activate the Download the application info option This causes information about the contents of the application t...

Page 62: ...generates a list of all backup files found on the disk Select one of these files to view its contents Load Backup File from Device After clicking this button the system generates a list of all backup...

Page 63: ...button to create a new file folder Deletes the selected files or folders Updates the list of files and folders for the set path location Write File to the PLC Write File from the PLC 4 2 1 5 Log You...

Page 64: ...or hide each category by clicking corresponding buttons in the bar Each button shows the number of log entries of the category concerned Time stamp Date and time example 08 01 2020 09 48 Description...

Page 65: ...etained Set all outputs to default The default values resulting from the I O mapping are assigned Execute program You can control the handling of the output values via a program contained in the proje...

Page 66: ...cription Generate Force variables for I O mapping The device does not support this function Enable Diagnostics for devices DIADesigner AX automatically integrates the library CAA Device Diagnosis in t...

Page 67: ...user accounts and user groups In combination with the configuration on the Access Rights tab you thus control access to control objects and files at runtime For the first time use use default settings...

Page 68: ...nt to the device and overwrite the user management there The configuration in the editor is transferred to the device and applied there Import from disk Click this button and then to select and import...

Page 69: ...ord Confirm password Password strength Levels from Very weak to Very good Hide password The password is shown only with asterisks when it is typed in Password can be changed by the user Password can b...

Page 70: ...4 Note 3 The Add Group setting page Type in the new group name and select the to be added group members for this new group and then click OK Note 4 The Import Group setting page After selected the gro...

Page 71: ...quirements for the Access Rights tab to be displayed In the DIADesigner AX options in the Device editor category the Show access rights page option must be selected Note that this DIADesigner AX optio...

Page 72: ...ditor is transferred to the device and applied there Import from disk Click this button and then to select and import a user management configuration from the file Export to disk Click this button and...

Page 73: ...Remove Modify View Execute When an object is clicked a table on the right side shows the access rights of the available user groups for the selected object This allows you to quickly see Which access...

Page 74: ...l IEC applications are inserted here automatically as child objects during download When an application is deleted it is removed automatically This allows specific control of online access to the appl...

Page 75: ...relevant Application Operation Access rights Add Remove Execute Modify View Login x Create x Create child object x Delete x Download online change x Create boot application x Read variable x Write va...

Page 76: ...is is the online access to the configuration settings of the AX 3 Series PLC By default access to Modify is granted only to the administrator UserManagement This is the online access to the user manag...

Page 77: ...der of the file system 4 2 1 10 Symbol Rights Here you can define the access rights of different user groups to the individual symbol sets available on the AX 3 Series PLC Requirement User management...

Page 78: ...anagement of the controller are listed in a table When a symbol set is selected you see the access rights of the corresponding user group to the symbols of this set Access granted Access not granted Y...

Page 79: ...Write PLC Time to write the date on DIADesigner AX PC into PLC and the result will be updated here Time Use the button Sync with Local Time to write the time on DIADesigner AX PC into PLC and the res...

Page 80: ...ther the CPU and other normal modules can operate constantly when there is an extension module which does not response during offline period Stop default The CPU module stops running and then shows er...

Page 81: ...age or not installed 4 2 1 13 Task Deployment Here displays a table of inputs and outputs and their assignments to the defined tasks and bus cycle task You can search for the relevant information here...

Page 82: ...opped and specific diagnostic messages from the respective device also information about the card used and the internal bus system 4 2 1 15 Information Here you can find general information that origi...

Page 83: ...INT 263 263 1 64 bit ULINT 0 264 1 64 bit REAL 3 402823E 38 3 402823E 38 32 bit LREAL 1 7976931348623157E 308 1 7976931348623157E 308 64 bit TIME T 0ms T 49d17h2m47s295ms 32 bit LTIME LTIME 0ns LTIME...

Page 84: ...iority within the POU Variables with the same name can be declared in different global variables list For example globe_list1 bvar and globe_list2 bvar can co exist in two different global variables l...

Page 85: ...B Q Output Memory Range 8 KB M Flag Memory Range 512 KB Size Prefix Data Type Data Width X 1 bit B Byte 8 bit W Word 16 bit D DWord 32 bit L LWord 64 bit Memory Area The numbering that you use for add...

Page 86: ...obal variable and it can used in any POU Address Description QX7 5 Single bit address of the output bit 7 5 IW215 Word address of the input word 215 QB7 Byte address of the output byte 7 MD48 Address...

Page 87: ...Operation 4 33 _4 Constant Variables You can declare a variable as a constant variable Constant variables can be accessed as read only and without assigning an initialization value Declaration of Con...

Page 88: ...etain variable and persistent variable Initialize Reboot PLC Reset warm Reset cold Download Reset Origin Variable O O O O O Retain Variable X X O O O Persistent Variable X X X X O Declaration of Retai...

Page 89: ...Chapter 4 Basic Operation 4 35 _4 If you need to declare a local variable as persistent you need to add the variable instance path in the persistent variable list...

Page 90: ...ata Type by clicking ADD Object and selecting DUT Four data types can be created including Structure Enumeration Alias and Union DUT Structure A structure is a compound data type used for grouping sim...

Page 91: ...to numeric values Enumerated data types help make the code more self documenting and make program listing more readable Syntax TYPE Enumeration Name First Component Declaration Component Declaration L...

Page 92: ...single value and self define the data type Example TYPE Alias Name STRING 20 END_TYPE Union Union is a data structure that contains different data types All components have the same amount of memory...

Page 93: ...priority level satisfy the condition for processing at the same time then the system processes the longest waiting task first The program calls are processed in the order they appear in the configurat...

Page 94: ...tion for starting Task 1 is met Task 1 starts Task 1 completes and the I O data from buffer is exchanged with the I O channel physical hardware Task 3 starts The condition for starting Task 2 is met a...

Page 95: ...4 41 4 4 1 3 Watchdog If the task exceeds the time set for the watchdog then the task is halted with an error status Several consecutive timeouts Sensitivity 0 watchdog timeout time 1 Sensitivity n w...

Page 96: ...In V MC_CamOut V MC_MoveVelocity V MC_PositionProfile V MC_VelocityProfile V MC_AccelerationProfile V MC_Jog V MC_GearIn V MC_GearOut V MC_GearInPos V MC_Phasing V DMC_TorqueControl V DMC_VelocityCont...

Page 97: ...on V V V DMC_ReadMotionState V V V Note it is suggested a motion function block should be created within a bus cycle EtherCAT to avoid inconsistent movement Positioning axes Classification Instruction...

Page 98: ...AX 3 Series Operation Manual 4 44 _4 MEMO...

Page 99: ...Environment of Hardware Configuration 5 2 5 2 Add a Module 5 5 5 3 Remove a Module 5 7 5 4 Copy and Paste a Module 5 9 5 4 1 Copy a Module 5 9 5 4 2 Paste a Module 5 10 5 5 Cut and Paste a Module 5 11...

Page 100: ...re Configuration Double click on the Device section to open the Hardware Configurate Device window as the image shown below Hardware Configuration Device This is the main work area for system configur...

Page 101: ...left corner to see the current configurations For example the width of the total connected module the current consumption and power current output Use on the upper right corner to rearrange the devic...

Page 102: ...AX 3 Series Operation Manual 5 4 _5 Enter a key word in the Search Toolbox on the right side window and press Enter button on your keyboard to search for the matched modules...

Page 103: ...dule can install on the right side of AX 3 Series PLC directly Double click or drag and drop the extension module that you d like to add from the Product List Newly added extension modules will apper...

Page 104: ...d extension module are powered on and the gateway is correctly set you can use the icon to scan and add the modules in Newly added extension modules will apper on the right side of the AX 3 Series PLC...

Page 105: ...ht click the module image that you d like to remove to open the context menu and click the option Delete or use the Delete Button on your keyboard to remove the module After you click Delete a confirm...

Page 106: ...the device name under Delta_LocalBus_Master that you d like to remove to open the context menu and click the option Delete or use the Delete Button on your keyboard to remove the module After that the...

Page 107: ...e on extension modules 5 4 1 Copy a Module Method 1 Right click the module image that you d like to copy to open the context menu and click the option Copy to duplicate the module Method 2 Right click...

Page 108: ...g the to paste the copied module there And the device names will also be updated on the left side under Delta_LocalBus_Master Method 2 You can place the module between modules Right click where you d...

Page 109: ...e on extension modules 5 5 1 Cut a Module Method 1 Right click the module image that you d like to cut to open the context menu and click the option Cut to take out the module Method 2 Right click the...

Page 110: ...g the to paste the copied module there And the device names will also be updated on the left side under Delta_LocalBus_Master Method 2 You can place the module between modules Right click where you d...

Page 111: ...6 1 Chapter 6 Network Configuration Table of Contents 6 1 Network Configuration 6 2 6 1 1 Introduction 6 2 6 1 2 Basic Knowledge 6 3 6 1 3 Creating a Network Topology 6 5 6 6...

Page 112: ...rnet CANOpen in a project and set up file sending paths b set up EtherCAT Master c set up Modbus COM port d set up Ethernet IP settings Network Configuration is under the Device tree You can double cl...

Page 113: ...f devices which are interconnected Every communication port should be assigned with a network type such as Modbus Ethernet EtherCAT or CANOpen A physical interface that a device uses to connect to a n...

Page 114: ...ast digit appeared in the EtherCAT address 1001 is used as an indicator of this connection on the Network Configuration Editor page Modbus TCP EtherNETIP The blue line indicates the Modbus TCP EtherNe...

Page 115: ...raphical representation automatically You can use the following methods to add devices including PLCs servo motors and drives in the network topology Method 1 Double click the device that you want to...

Page 116: ...context menu to open a setting page for adding devices Double click the device you d like to add or click Add Device to add the device in Method 3 Right click the device to bring out the context menu...

Page 117: ...ion You can use the following methods to add created network connections Method 1 Drag and drop the communication port to the corresponding network type shown in line to create a connection between de...

Page 118: ...AX 3 Series Operation Manual 6 8 _6 MEMO...

Page 119: ...2 7 4 4 1 Prameters for Axis Group 7 32 7 4 4 2 Using Axis Groups in Program 7 34 7 4 5 Procedure for Axis Group Configuration 7 35 7 5 Motion Axis Variables 7 40 7 5 1 Variables for Single Axis 7 40...

Page 120: ...xis Direction 7 93 7 7 6 Axis Group Control 7 95 7 7 6 1 Linear Interpolation 7 95 7 7 6 2 Circular Interpolation 7 96 7 7 6 3 Group Stop Command 7 98 7 7 7 High speed IO 7 99 7 7 7 1 IO Configuration...

Page 121: ...ttings Operation 7 3 7_ 7 8 2 7 Switch CAM Table during CAM Operation 7 146 7 8 2 8 Perform Master PhaseOffset for CAM 7 154 7 8 2 9 Change Current Position in Movement 7 162 7 8 2 10 Perform Superimp...

Page 122: ...tructions please be sure that you understand the devices symbols and the function of instructions sufficiently You can also refer to the Appendices for a quick reference of the motion control instruct...

Page 123: ...xis motion control instructions Motion Single axis positioning SMC Motion instructions MC_ PLCopen motion control instructions DMC_ Delta motion control instructions MC_XXX_DML Delta motion control in...

Page 124: ...AX 3 Series Operation Manual 7 6 _7 7 2Creating Motion Control Project 7 2 1 Process Flowchart The following flowchart shows the process of creating motion control project and positioning axis...

Page 125: ...uble ckick on the DIADesign AX icon to open the software Click File Choose New Project Type in the fields of Name and Location in the New Project window select the desired project and then click OK Mo...

Page 126: ...Manual 7 8 _7 Double click on Network Configuration to continue with EtherCAT settings Network Configuration Editor window will pop up after double click Find the target slave devices from Product Lis...

Page 127: ...E from the product list Then the device will be automatically added to Network Configuration Editor after a double click Click and hold the left mouse button on the yellow box of slave device and drag...

Page 128: ...s Operation Manual 7 10 _7 Double click on the yellow box of master device to continue on parameter settings for EtherCAT master device EtherCAT distributed clock can be configured within master devic...

Page 129: ...ation 7 11 7_ Double click on the slave device to continue on EtherCAT slave device settings Tabs relating to slave device configuration will be displayed after double clicking such as Station address...

Page 130: ...3 Series Operation Manual 7 12 _7 Afterwards you can start writing programs with motion function blocks in POUs which should be placed under EtherCAT Task to ensure normal operation of function block...

Page 131: ...ing 7 3 1 Procedure for Commissioning The chart below shows the steps to build a commissioning process 7 3 2 Example of Axis Parameter Settings Before using software to perform commissioning axis para...

Page 132: ...Axis Command pulse per motor rotation 10 000 Pitch Unit 1 1 Gear ratio denominator 128 2 Gear ratio numerator 1 2 Software limit_Posotive 10 000 Software limit_Negative 10 000 Note 1 In case of the Un...

Page 133: ...tings Operation 7 15 7_ 7 3 3 Perform Axes Commissioning Select EtherCAT_Master_SoftMotion and double click on it Left click on the Online Config Mode icon After entering online commissioning double c...

Page 134: ...meters Introduction of commissioning screen Information of axis commands Name Function Position u Command position and actual position Velocity u s Command value and actual value of velocity Accelerat...

Page 135: ...elocity Moving velocity Acceleration Acceleration rate Deceleration Deceleration rate Jerk Command value of jerk Read Write Read write parameters of upper axes If need be you can read and modify Objec...

Page 136: ...hronous axis 2 Achieve servo motor control and basic positioning control via EtherCAT as well as synchronous motion control like electronic cam function Pulse type axis Achieve real servo motor contro...

Page 137: ...s Name Function Activated Activate software limits only supports Linear axis Negative u Reverse software limit Positive u Forward software limit Rotary Axis Modulo Setting Name Function Modulo Value u...

Page 138: ...lag limit Positive Negative Command Name Function Reverse OFF On Enable or disable reverse function for positive negative command setting Transmission Mechanism Descriptions of different machanism typ...

Page 139: ...l motor retation Gear ratio numerator Numerator of gear ratio Gear ratio denominator Denominator of gear ratio Belt Pully Name Function 1 Command Pulse per motor rotation The command pulse value for p...

Page 140: ...t the homing acceleration rate Positioning Axis Axis Type and Limits Name Function Linear Axis Rotary Axis Set to be linear axis or rotary axis Linear Axis Software Limits Name Function Activated Acti...

Page 141: ...e Name Function 1 Command Pulse per motor rotation The command pulse value for per motor rotation 4 Movement distance per motor rotation Movement distance for one full motor retation 2 Gear ratio nume...

Page 142: ...ch for switch Set the homing speed during search for switch Homing Speed during search for z phase pulse Set the homing speed during search for Z phase pulse Homing Acceleration Set the homing acceler...

Page 143: ...7_ 7 4 3 Procedure for Single axis Configuration The procedure for axis settings is shown as follows For more details of creating new projects please find section 7 2 Configure EtherCAT settings after...

Page 144: ...finishing the connection Switch to Procesas Data page to configure mapping groups of PDO The default setting for ASDA A2 is second group which can operate normally with most function blocks If additi...

Page 145: ...rol Basic Settings Operation 7 27 7_ Initialize EtherCAT communication After initialization is completed you need to input fixed values for the required Object Dictionary which can be configured on St...

Page 146: ...s communication double click on SM_Drive_ETC_Delta_ASDA_A2 Axis settings page Options of axis type Rotary Axis and Liner Axis Setup Software Limits for linear axis Click Activated to start software li...

Page 147: ...e setup Modulo value IN Modulo settings Scaling Mapping page Set the pulse value for Command pulse per motor rotation Set the movement distance within one full motor retation for Pitch To configure th...

Page 148: ...AX 3 Series Operation Manual 7 30 _7 Scan PLC controller Add the newly scanned PLC controller and click OK...

Page 149: ...ontrol Basic Settings Operation 7 31 7_ A green light icon will be shown if the connection is successful then click Login A prompt box will pop out to remind you if you want to perform a download clic...

Page 150: ...xecutes linear interpolation and circular interpolation with multiple axes DIADesigner AX is required for grouping axes Maximum controll axes Linear interpolation 6 axes Circular interpolation 6 axes...

Page 151: ...2 Velocity ramp type Max Velocity Limit 3 The max velocity of axis group Max Acceleration Limit 3 The max acceleration of axis group Max Deceleration Limit 3 The max deceleration of axis group Max Jer...

Page 152: ...ue Max Deceleration Limit An error occurs when the deceleration exceeds the setting value 7 4 4 2 Using Axis Groups in Program To follow the procedure you must add the node of axis group to the projec...

Page 153: ...e the axis group movement function you must name the axis group and set the corresponding individual axes with DIADesigner AX The process flowchart of creating axis groups is shown below Procedure of...

Page 154: ...X 3 Series Operation Manual 7 36 _7 After finish creating axes select Application and right click Add Object Delta Axis Group Set the name for axis group on the Add Delta Axis Group page then click Ad...

Page 155: ...7 Motion Control Basic Settings Operation 7 37 7_ Afterwards DMC_Axis_Group will be shown on the Project tree Click DeltaAxisGroup then enter the names of two virtual axes into the fields of Axis X an...

Page 156: ...Task to enter Input Assistant then choose EtherCAT_Task on the screen and click OK with EtherCAT_Task shown in the Tasks field afterwards Add DMC_GroupEnable function block below PLC_PRG and connect...

Page 157: ...Motion Control Basic Settings Operation 7 39 7_ After the program writing is completed click the Compile button to confirm the validity After compilation click Online Monitoring button to download th...

Page 158: ...hen communication is normal refer as True if disconnected refer as False 1014 uiDriveInterfaceError UINT 0 When Driver Interface detects an error Error Handling occurs 1021 wDriveId WORD Driver The nu...

Page 159: ...L 0 Commanded acceleration Unit User defined unit s 2 1125 bAccelerating BOOL FALSE True when Axis is accelerating 1135 bDecelerating BOOL FALSE True when Axis is decelerating 1140 fSetJerk LREAL 0 Co...

Page 160: ...or UINT 0 When Driver Interface detects an error Error Handling occurs 1051 iRatioTech UnitsNum DINT 1 Change gear ratio in axis setting denominator 1052 dwRatioTec hUnits Denom DWORD 1 Change gear ra...

Page 161: ...eration of axis group lrJerk LREAL Positive number negative number or zero 0 Current jerk of axis group bAccelerating BOOL TRUE FALSE FALSE TRUE when accelerating bDecelerating BOOL TRUE FALSE FALSE T...

Page 162: ...0000 lrMaxAcceleration Limit LREAL Positive number or zero 2000000 The max acceleration of axis group lrMaxDecelerationLi mit LREAL Positive number or zero 2000000 The max deceleration of axis group l...

Page 163: ...wing to the fact that the operation is performed on the value memorized in the function block and an input value the output values may be different even if the input values are the same Besides a func...

Page 164: ...roject management area for editing The POU editing section is composed of two parts The upper part of the editing section is the symbol table of local variables while the lower part is the main part o...

Page 165: ...tings Operation 7 47 7_ Type in POU name For Implementation language select a programming language then click Add The POU appears in the left column Double click on EtherCAT_Task and choose Add Call S...

Page 166: ...the software DIADesigner AX and AX motion CPU must be setup first Setting values for PDO Mapping RxPDO 1600 hex Control Word 6040 hex TargetPosition 607A hex TxPDO 1A00 hex Status Word 6041 hex Actual...

Page 167: ...es fulfills PLCopen motion control standard 7 6 2 1 Axis State Synchronous Axis Note 1 Regardless of the state An error in the axis has occured Note 2 Regardless of the state MC_Power Enable FALSE The...

Page 168: ...ynchronized Achieves state of synchronized motion via instructions for synchronized control Includes synchronous waiting state Stopping When Execute is True via MC_Stop instructions Cannot execute axi...

Page 169: ...or single axis 7 6 2 2 Axis Group State Note 1 Applicable to all function blocks of group moving non administrative Note 2 All motion function blocks are able to be executed when the state is GroupErr...

Page 170: ...axes in the axis group should be in state SynchronizedMotion When an error occurs during the movement of axis group all axis in the group should stop immediately till the axis group entering state Gr...

Page 171: ...on blocks BOOL True False False CommandAbort ed Aborted Aborts execution for motion control function blocks BOOL True False False Error Error occurs in function blocks BOOL True False False A motion c...

Page 172: ...contains Enable input and input signal changes from True to False Valid output Busy output and Error output are reset For input and output description not mentioned please refer to MC_Power instructio...

Page 173: ...error occurs in a motion control function block 7 6 3 3 Repeated Execution Behavior of Single Axis Motion Instructions When single axis motion function blocks are executing Busy state variables for in...

Page 174: ...urrent instruction The motion control instruction that was in operation just before executing the multi execution instruction 2 Buffered instruction A motion control instruction that was executed duri...

Page 175: ...cceleration 2 Present instruction aborted at constant speed 3 Present instruction aborted during decelerating 4 The instruction transferred and the present instruction are in opposite direction t Curr...

Page 176: ...started Current instr uction The buffer ed instruction is started V1 V2 S1 S2 t Buffered instruction V Current instruction is started Cur rent i nstruction The buffered i nstruction is started The buf...

Page 177: ...he axis velocity is that of the previous instruction V2 V1 S1 S2 t Buffered instruction V Current instruction is started C urrent i nstruction The buffered instr uction is star ted The buffered i nstr...

Page 178: ...decreased to the veloci ty o f the next instruction V1 V2 S1 S2 t Buffered instr uction V Current instruction is started Current instruction The buffered i nstruction is started The buffer ed instruct...

Page 179: ...ax when current instructi on execution is com plete and the axi s vel ocity r eaches the higher of the two instr uction velocities V2 V1 S1 S2 t t Buffered i nstruction V Current instr uction is star...

Page 180: ...n Type Description Command position This is the position that motion controller outputs to servo drive Actual feedback position This is the position feedback from servo drive or encoder Note For axes...

Page 181: ...sition through the two methods described below Method 1 Obtains the relationship between master and slave axis position based on E CAM data setting Method 2 Measures the corresponding relationship bet...

Page 182: ...AX 3 Series Operation Manual 7 64 _7 2 Type the name of the CAM table 3 After clicking Add CAM icon is shown on the left item box...

Page 183: ...lave axis A Acceleration of slave axis J Jerk of slave axis Segment Type Curve type 6 You can configur multiple tappets on Tappets page and several tappets can be set for each tappet ID After finishin...

Page 184: ...ter passing the tappets Click to add new Track ID Click to delete TrackID Track ID Tappet ID X Master position Positive pass Axis passes tappets in positive direction which the setting is as below Non...

Page 185: ...owing sections 7 7 2 Single axis Control 7 7 2 1 Cyclic Synchronous Position Mode The synchrinization between AX series controllers and servo drives is implemented via sync signal transmission sent by...

Page 186: ...tion Limit Function Velocity Limit Function Position Trajectory Generator Servo M Acceleration Limit Function Position_Demand _value 60FCh Target_Position 607Ah Profile_Velocity 6081h Profile_Accelera...

Page 187: ...g figure shows the motion trajectory for relative positioning 7 7 2 4 Stop Method The stopping state includes using motion instructions or enabled limit input as well as error stop input to stop axis...

Page 188: ...is velocity reaches 0 When the axis stops the axis state changes to Standstill During axis deceleration other motion instructions can be executed to immediately abort MC_Halt operation Limit input sto...

Page 189: ...different between companies and brands The following description takes Delta ASDA A2 E servo drive as example Use MC_Jog function block to perform axis rotating in positive direction Once the hardware...

Page 190: ...continue the movement and enters the state of continuous motion During synchronized motion when executing MC_Stop on the slave axis MC_GearIn is aborted while master axis maintains the state of contin...

Page 191: ...twice the speed of the master velocity RatioNumerator RatioDenominator 2 1 2 When InGear is True synchronization of master and slave axes are completed and slave axis is in synchronized motion state...

Page 192: ...assigned position based on the curve of the slave axis The master axis starts to execute sync position as MasterSyncPosition 180 MasterStartDistance 50 When the axis reaches to that position StartSync...

Page 193: ...ion The following is the information about creating E CAM Initial setting Create E CAM data The following two methods can create E CAM curve data Method 1 Master and slave positions are determined bas...

Page 194: ...use DMC_HCnt function block System structure and DMC_HCnt Relationship between master and slave positions By using the software to pre plane the relationship between CAM master and slave positions the...

Page 195: ...solute in CamTableSelect Absolute mode StartMode 0 When E CAM synchronization starts the CAM calculation and current slave position is irrelevant When current slave position is different from the star...

Page 196: ...s amongst different dimensions can be adjusted You can input specific scaling values for master scaling of CAM and slave offset The master and slave can setup offset and scaling values accordingly The...

Page 197: ...aling ratio is 2 and offset for both axes is 0 the slave position that corresponds to the master position is twice the amount of pre planned measurement Situation 3 When master scaling ratio is 1 slav...

Page 198: ...When the scaling ratio of master and slave is 1 the master offset is 0 and the slave offset is 60 the slave position that corresponds to the master position need to add 60 based on the pre planned me...

Page 199: ...ng characteristics of CAM Features of CAM table Direct observation on the changes of CAM curves in corresponds to the slave motion range velocity acceleration and jerk at any time The master starting...

Page 200: ...crease on critical points and positions directly on the CAM table page Programming editing You can also adopt programming to make modifications regarding critical points on the CAM table To modify a p...

Page 201: ...with the actual one and receive CAM ID to be used for later instructions 3 After receiving CAM ID use instruction MC_CamIn to execute engagement for assigned master and slave 4 Use instruction MC_Cam...

Page 202: ...m table Cam_1 Timing diagram for switching of Cam table When switching Cam tables the slave moves along the motion path based on the first CAM table until the master position reaches to the next criti...

Page 203: ...as a result to compensate these position errors The use of motion instruction MC_MoveVelocity can execute velocity and motion control in CSP mode When executing the axis state enters continuous_motion...

Page 204: ...truction MC_ VelocityControl to execute velocity control for single axis in CSV mode Please refer to AX Series Motion Controller Manual for more function block details 7 7 3 3 Profile Velocity Mode Un...

Page 205: ...rol the control mode switches to torque mode and cannot use function blocks regarding shifts or velocity Use MC_TorqueControl Enable instead of MC_Stop to stop motors Do not set Torque to 0 when setti...

Page 206: ...osition and actual position Item Command position Actual position Count mode Linear axis rotary axis The same count mode setting as in command position Command unit Length unit m mm inch angle unit de...

Page 207: ...he axis reports error as in SMC_ERROR SMC_DI_POSITIONLAGERROR Software limits Setting Value Meaning Software limits Activated Checked Unchecked Whether or not software limits is activated Negative u L...

Page 208: ...Each section is constant acceleration Sin2 The velocity ramp equals to sin2 function acceleration ramp is fixed Quadratic Acceleration ramp with trapezoidal profile jerk limited Quadratic smooth Adop...

Page 209: ...ng Acceleration Target acceleration Deceleration Target deceleration Note Due to inadequate trajectory length small jerk and other factors it is not possible to obtain target acceleration or target de...

Page 210: ...s in command units s3 Axis settings related to jerk 1 Types of jerk waveform Please refer to 7 7 5 2 Velocity Command Velocity ramp type for more information Description of jerk in MC function modules...

Page 211: ...ates in a positive direction current Motion operates based on the current direction Only for rotation axis fastest Motion operates in the fastest way Only for rotation axis Note The concept of shortes...

Page 212: ...eration 1000 Direction shortest When MC_MoveAbsolute Execute triggers the system determines the shortest way to reach position 180 is to move in negative direction 350 180 170 However since the proces...

Page 213: ...y of interpolation changes while in motion By using the input variable TransitionMode the chances of the above situation will be minimized Available transition modes Mode Description None No effects d...

Page 214: ...be run in the three main planes of the spatial coordinate system only using X Y Z axis and three additional follower axes Concept of follower axes Follower axes A B C move in a propotional and synchro...

Page 215: ...ity given to axis group function block is used for the follower axis whichever the distance is the longest At the same time other follower axes move in synchronized motion based on the proportion of d...

Page 216: ...state switches to GroupStopping which no motion instruction can be executed under this status The velocity for a deceleration stop must be set to the lrDeceleration pin Error stop As soon as an error...

Page 217: ...coding type clock frequency and SSI data length Refer to section 7 7 7 3 for more information Pulse Encoder Set functions including high speed counter variables count modes enable or disable Z phase s...

Page 218: ...ting Default value Activate external interrupt When external interrupt is activated set input signals as rising edge When external interrupt is activated set input signals as falling edge When externa...

Page 219: ...Basic Settings Operation 7 101 7_ IO interrupt mode setting After activate the interrupt function on DIO setting page click on Task tp proceed Enter Task configuration page and choose External from th...

Page 220: ...elow The input range for hardawre filter is from 0 to 50 000 000 unit as 0 01 s The relation between filter frequency and filter time Filter frequency 1 Hz Filter frequency 1 2 t t is the filter time...

Page 221: ...function Through connecting D SUB port and PLC the port provides 5V encoder power output You can click and enable SSI encoder function to setup the required parameters as well as receive data via hard...

Page 222: ...descriptions for settings respectively General Item Function Setting value Default value EncoderType Set SSI encoder type Gray code Binary code Gray code Clock Frequency Set SSI clock frequencies Nee...

Page 223: ...rd Item Function Setting value Default value Encoder Type Display encoder type Axis Type Item Function Setting value Default value Linear Axis Rotary Axis Set the axis type to be Linear Axis or Rotary...

Page 224: ...rator of gear ratio 3 Gear ratio denominator The denominator of gear ratio Round Table Item Description 1 Command Pulse per motor rotation Amount of pulses that the encoder counts per revolution of th...

Page 225: ...SingleTurns is bigger than 32 then ErrorID 2 The error situations mentioned above allows BusCycle to stop updating EncoderPosition and the EncoderPosition will keep the last value the purpose is to av...

Page 226: ...MC_CamIn Click IEC Objects on BuiltIn_IO page Example of variable reading The actual position and ErrorID can be accessed via the variable with red border such as SSI_Encoder EncoderPosition and SSI_E...

Page 227: ...cy the open collector for pulse input regarding the external encoder requires connecting input points on the IO boards the section contains 6 sets of high seepd counter to count the amount of encoder...

Page 228: ..._7 Enable hign speed IO function A number of 8 counters are displayed on BuiltIn_IO page Select Counter 0 then click Counter Configuration tag On Counter Configuration page choose Counter 0 which has...

Page 229: ...iptions are as follows Counter Mode Pulse Counter Mode Description UD Forward rotation pulse train and reverse rotation pulse train PD Pulse and direction AB A phase and B phase pulse 4AB A phase and...

Page 230: ...cts tab on BuiltIn_IO page The column marked on the IEC Objects tab is the configuration function of each variable To enable counter function the variavle Counter_0 needs to be input to the Counter pi...

Page 231: ...Tmr Enable high speed timer function When selecting Tmr function in Hardware IO Configuration the high speed timer in AX series is set as 0 1 s To enable timer function select Timer 0 between 8 sets...

Page 232: ...AX 3 Series Operation Manual 7 114 _7 Timer mapping variable setting Right click BuiltIn_IO and choose Edit IO Mapping Click to add new variables on Edit IO Mapping page...

Page 233: ...mer in program The Timer variables can be used for MC function blocks in POU Click IEC Objects on BuiltIn_IO page The column marked on the IEC Objects tab is the configuration function of each variabl...

Page 234: ...function block in POU enter Timer_0 as the axis name 7 7 7 5 Capture Compare Function Setting This section introduces the Capture and Compare function modules with built in high speed counters A maxim...

Page 235: ...trol Basic Settings Operation 7 117 7_ Enable Capture function Select one of the 8 Capture groups to activate on the BuiltIn_IO page Then choose the external trigger input from the drop down list afte...

Page 236: ...for MC function blocks in POU Click IEC Objects on BuiltIn_IO page The column marked on the IEC Objects tab is the configuration function of each variable For the axis used in POU the axis name shoul...

Page 237: ...Chapter 7 Motion Control Basic Settings Operation 7 119 7_ Compare Enable Compare function Select one of the 8 Compare groups to activate on the BuiltIn_IO page...

Page 238: ...ual 7 120 _7 Then choose the external trigger output from the drop down list after activating Compare Use Compare in program The Compare variables can be used for MC function blocks in POU Click IEC O...

Page 239: ...ration 7 121 7_ The column marked on the IEC Objects tab is the configuration function of each variable For the axis used in POU the axis name should be set as Compare _0 For DFB_Compare function bloc...

Page 240: ...ulse output function modules with built in IO shown as follows A maximum of 4 groups pulse output unit can be chosen to use with AX series motion controllers Activate axis function Choose one of the f...

Page 241: ...Chapter 7 Motion Control Basic Settings Operation 7 123 7_ Click to enter Axis 0 tab on PoAxis Configuration page...

Page 242: ...etting page which is described in the following information Mode setting Item Funtion Setting Value Default Mode Set the type of pulse output CW CCW Pulse and Direction A B Reverse ONn Reverse OFF Set...

Page 243: ...gative software limit 0 Positive u Set the positive software limit 10000 Rotary Axis Modulo Setting Item Funtion Setting Value Default Modulo Value u Set the area of rotation for a turn only supports...

Page 244: ...z phase pulse Set the homing speed during search for z phase pulse 50 Homing Acceleration Set the homing acceleration 10000 Use Pulse Axis in program To use Pulse Axis in POU Pulse Output Axis variab...

Page 245: ...ulse_Output_Axis_0 as the axis name 7 7 7 7 Confirm High Speed IO Errors Errors in Pulse Output Axis are displayed on Status tab under BuiltIn_IO page with messages notifying you of which pulse axis h...

Page 246: ...nals with the same value The following error between command position and actual position remains the same value The function block is used to change the coordinate system and does not lead to servo d...

Page 247: ...ll as feedback position are located at zero while the axis is in motion If there s a greart difference between command position and feedback position an error will be reported The position lag reactio...

Page 248: ...rns to ON again for 2500ms and then shifts to OFF 7 7 8 5 Position Capture MC_TorchProbe captures and records an axis position when a trigger event occurs A total of two trigger signals can be configu...

Page 249: ...of the trigger input signal the signal is not accepted because the axis position hasn t reach the specified window mask section When the axis position enters the window mask section the second activat...

Page 250: ...lated configuration description in Delta servo drive user manuals Wiring for EtherCAT slave device Delat ASDA A2 E EtherCAT Interface Servo Drive User Manual 7 8 1 2 Configuration The following config...

Page 251: ...Chapter 7 Motion Control Basic Settings Operation 7 133 7_ The Interval time for ECAT synchronization is set to be 4 ms Set the gear ratio as 10000 10000 for mechanism setting...

Page 252: ...guage Check for the successful EtherCAT communication when Start is True so as to enable MC_Power via ServoOn output which the status should be True ST language Check for the successful EtherCAT commu...

Page 253: ...d for clearing servo errors The following example supports with LD and ST programming languages Main variables used in programming Variable Data Type Default Note SM_Drive_Virtual AXIS_REF_SM3 Virtual...

Page 254: ...ut FBErrorOccured of MC_ReadStatus would shift to Fulse once an error occurs in the function block In addition since input of SMC_ClearFBError need to be tranferred via pointers ADR input must be fed...

Page 255: ...Velocity0_Acceleration Deceleration 10000 Jerk 10000 Direction MC_DIRECTION positive InVelocity Busy CommandAborted Error ErrorID MC_ReadStatus_0 Axis SM_Drive_Virtual Enable TRUE Set acceleration of...

Page 256: ...following example supports with LD and ST programming languages Main variables used in programming Variable Data Type Default Note SM_Drive_Virtual AXIS_REF_SM3 Virtual axis variables ServoOn BOOL FAL...

Page 257: ...the next step ST Language IF Start THEN ServoOn TRUE ELSE ServoOn FALSE END_IF IF MC_Power_0 Status TRUE OR MC_Power_0 Busy TRUE THEN ProgNext TRUE ELSE ProgNext FALSE END_IF MC_Power MC_Power_0 Axis...

Page 258: ...ual AXIS_REF_SM3 Virtual axis variables ServoOn BOOL FALSE To enable MC_Power MC_MoveAbsolute0_Execute BOOL FALSE Execute input of MC_MoveAbsolute MC_DIRECTION positive MC_Direction Assigned moving di...

Page 259: ...eleration stop for axis based on the setting of deceleration then the Done output of MC_Stop shifts to True after the stop command completed ST Language The process is same as LD After MC_Home is done...

Page 260: ...o perform the homing operation Currently a total of 36 homing modes 0 35 are supported and the OD is 6098 Homing method 6099sub1 Speed during search for switch 6099sub2 Speed during search for zero Fo...

Page 261: ...Main variables used in programming Variable Data Type Default Note Axis_1 AXIS_REF_SM3 Real axis variables ServoOn BOOL FALSE To enable MC_Power Timing diagram Disabled Execute StandStill Done MC_Hom...

Page 262: ...ess is same as LD The state is Standstill after execution of MC_Home is completed which the output status can be checked via variables and Watch tables MC_Home_0 Axis Axis_1 Execute Position 0 Done Bu...

Page 263: ...ault Note Axis_1 AXIS_REF_SM3 Real axis variables ServoOn BOOL FALSE To enable MC_Power MC_MoveAbsolute0_Execute BOOL FALSE Execute input of MC_MoveAbsolute MC_DIRECTION positive MC_Direction Assigned...

Page 264: ...s well as using two MC_CamIn instructions Use CamTable 1 when the instruction position of master axis is below 3000 Once the position is over 3000 it will switch to CamTable 2 Main variables used in p...

Page 265: ...mTableSelect MC_CAM_REF Specify the corresponding Cam table CamTable1_En BOOL FALSE TRUE when CamTable1 is chosen to be used CamTable2_En BOOL FALSE TRUE when CamTable2 is chosen to be used CamTableID...

Page 266: ...AX 3 Series Operation Manual 7 148 _7 Timing diagram LD language Set StartFlag to be TRUE then the normal operation of communications for both master and slave axis would be checked respectively...

Page 267: ...Under normal condition Servo ON state will be set to master and slave axis Under Servo On state and unsure of the start position home positioning will be operated first After the homing operation of m...

Page 268: ...osition is over 3000 use CamTable2 CamTable1_En False CamTable2_En True Under both conditions set the corresponding Cam table with MC_CamTableSelect instruction When absolute positioning is operated f...

Page 269: ...Servo ON state will be set to master and slave axis MC_Power_0 Axis Axis_Master Enable MC_Power0_Enable bRegulatorOn MC_Power0_RegulatorOn bDriveStart MC_Power0_DriveStart Status MC_Power0_Status bReg...

Page 270: ...eceleration 1000 Jerk Direction positive Done MC_MoveAbs_Done Busy MC_MoveAbs_Busy CommandAborted Error ErrorID When the instruction position of master axis is below 3000 use CamTable1 CamTable1_En Tr...

Page 271: ...xis_Master Slave Axis_Slave Execute TRUE MasterOffset 0 SlaveOffset 0 MasterScaling 1 SlaveScaling 1 StartMode relative CamTableID CamTableID VelocityDiff 1000 Acceleration 1000 Deceleration 1000 Jerk...

Page 272: ...olled master axis Phase offset of the master axis is operated by executing MC_Phasing when PhasingActive is TRUE and the slave axis synchronizes with the phase after offset completed The following exa...

Page 273: ...Velocity BOOL FALSE The InVelocity output variables of MC_MoveVelocity TRUE when the target velocity is reached CamTableID MC_CAM_ID The internal data structure of the selectedCam table which is from...

Page 274: ...AX 3 Series Operation Manual 7 156 _7 Timing diagram LD language Set StartFlag to be TRUE then the normal operation of communications for both master and slave axis would be checked respectively...

Page 275: ...57 7_ Under normal condition Servo ON state will be set to master and slave axis Under Servo On state and unsure of the start position home positioning will be operated first After the homing operatio...

Page 276: ...ute MC_CamIn with the Cam table specified by MC_CamTableSelect If PhasingActive is TRUE and the slave axis is in synchronized with the master axis based on the setting of MC_Phasing master and slave a...

Page 277: ...age Set StartFlag to be TRUE then the normal operation of communication for both master and slave axis would be checked respectively IF StartFlag TRUE THEN IF Axis_Master bCommunication TRUE THEN MC_P...

Page 278: ...atus TRUE THEN MC_Home0_Execute TRUE END_IF IF MC_Power1_Status TRUE THEN MC_Home1_Execute TRUE END_IF MC_Home_0 Axis Axis_Master Execute MC_Home0_Execute Position 0 Done MC_Home0_Done Busy CommandAbo...

Page 279: ...Velocity_InVelocity TRUE THEN MC_CamIn_1 Master Axis_Master Slave Axis_Slave Execute TRUE MasterOffset 0 SlaveOffset 0 MasterScaling 1 SlaveScaling 1 StartMode relative CamTableID CamTableID VelocityD...

Page 280: ...ommunication with axes is normal Servo ON will be activated and continue on further actions MC_Power0_Status BOOL FALSE Status output variables of MC_Power for master TRUE when Servo On MC_Home0_Done...

Page 281: ...gram LD language Set StartFlag to be TRUE then the normal operation of communication for axis would be checked Under normal condition set the axis to be in state Servo On Under Servo On state and unsu...

Page 282: ...Distance 3000 so as to change the current position to be the assigned target position Start a relative positioning procedure based on the current set position in coordinate system according to the ab...

Page 283: ...The displacement would be 8000 8000 4000 0 7000 3000 same as the original setting ST language Set StartFlag to be TRUE then the normal operation of communication for axis would be checked IF StartFla...

Page 284: ...is_Virtual Execute MC_Home0_Done Distance MC_MoveRel_Distance Velocity MC_MoveRel_Velocity Acceleration MC_MoveRel_Acc Deceleration MC_MoveRel_Dec Jerk Done MC_MoveRel_Done Busy MC_MoveRel_Busy Comman...

Page 285: ...les of MC_Power for slave TRUE when Servo On MC_Home0_Done BOOL FALSE Output Done variables of MC_Home for master TRUE when homing operation completed MC_Home1_Done BOOL FALSE Output Done variables of...

Page 286: ...SuperImposed for slave axis TRUE when the superimposed movement is completed MC_MoveSuperImposed _Distance LREAL 1000 Superimposed displacement of the assigned slave axis MC_MoveSuperImposed _ Velocit...

Page 287: ...e normal operation of communications for both master and slave axis would be checked respectively Under normal condition Servo ON state will be set to master and slave axis When the master and slave a...

Page 288: ...eset target position According to the above settings slave axis would move a displacement according to the gear ratio relative to the master axis and also the specific distance superimposed while in m...

Page 289: ...able TRUE MC_Power0_RegulatorOn TRUE MC_Power0_DriveStart TRUE END_IF IF Axis_Slave bCommunication TRUE THEN MC_Power1_Enable TRUE MC_Power1_RegulatorOn TRUE MC_Power1_DriveStart TRUE END_IF END_IF Un...

Page 290: ...ioning operation will be required IF MC_Power0_Status TRUE THEN MC_Home0_Execute TRUE END_IF IF MC_Power1_Status TRUE THEN MC_Home1_Execute TRUE END_IF MC_Home_0 Axis Axis_Master Execute MC_Home0_Exec...

Page 291: ...eleration MC_MoveAbs_Acc Deceleration MC_MoveAbs_Dec Jerk Direction Positive Done MC_MoveAbs_Done Busy MC_MoveAbs_Busy CommandAborted Error ErrorID At the same time when the slave axis moves to the pr...

Page 292: ...AX 3 Series Operation Manual 7 174 _7 Jerk Done MC_MoveSuperImposed_Done Busy CommandAborted Error ErrorID...

Page 293: ...a Project for OPC UA Access 8 2 8 2 Setting up a Connection with the UaExpert Client 8 4 8 3 Setting up a Certificated Connection 8 8 8 3 1 Creating a Certificate for the DIADesigner AX OPC UA Server...

Page 294: ...mmunication to the client and OPC UA user management See the following sections for these settings Browsing of data types and variables Standard read write services Notification for value changes subs...

Page 295: ...hat Symbol Configuration setting page shows up automatically 5 Click Build on the Symbol Configuration setting page The variables are shown in a tree structure 6 Select the variables that you want to...

Page 296: ...ng this client you can connect to the OPC UA server The following description refers to this program Other OPC UA clients work in a similar way After download UAExpert follow the following steps to se...

Page 297: ...OK to close the window If the connection type is NOT an encrypted one the node None None appears under the added server 5 If you need to edit the server properties go back to the starting window Expa...

Page 298: ...peration Manual 8 6 8_ 6 Change the Endpoint Url from OPCUAServer AX 308EA0MA1T 4840 to opc tcp 192 168 1 5 4840 and click OK to close the window 7 Right click AX308 to open a context menu Click Conne...

Page 299: ...connection you can change the variables in AX308E through the OPC UA client UaExpert Select and drag the variables you d like to modify from the left view Address Space to the right view Default DA Vi...

Page 300: ...PC UA In order to encrypt data and exchange it with the client safely the server needs a certificate that the client must classify as trusted when a connection is established for the first time You wi...

Page 301: ...8_ 2 Open DIADesigner AX to create a project and then right click AX 308EA0MA1T to bring out a context menu Click Add Object and select Marikon FLEX OPC UA Server to open the setting page and add Mar...

Page 302: ...AX 3 Series Operation Manual 8 10 8_ 3 The setting page of Matrikon FLEX OPC UA Server 4 Setting up the Ethernet interface by click Browse Select the network you need and click OK...

Page 303: ...up User Account and Password Setting up an account and password for OPC UA Server is the same as setting up the account for AX 3 Series PLC Refer to section 4 2 1 8 of AX 3 Series Operation Manual for...

Page 304: ...the first time You will need CODESYS Security Agent for creating a certificate for the DIADesigner AX Go to CoDeSys Store to download the software https store codesys com matrikon flex opc ua editor...

Page 305: ...ller that require a certificate are displayed in the right view 5 Select the service OPC UA Server and then click to open the Certificate Settings page for the creation of a new certificate for the de...

Page 306: ...lick to open the Certificate Settings page for the creation of a new certificate for the device After setting up the certificate parameters click OK And the certificate is created on the controller 7...

Page 307: ...in a similar way After download Prosys OPC UA Client follow the following steps to set up a connection 1 Double click the Prosys OPC UA Client to start the Prosys OPC UA Client 2 Type in the OPC UA S...

Page 308: ...for AX 3Series PLC You need to go back to DIADesigner AX to approve this service 8 Go back to DIADesigner AX Click View on the toolbar and then click the option Security Screen to open the setting pa...

Page 309: ...s shown in to connect to the AX 3 Series PLC as an Administrator After establishing the connection you can edit the settings in AX308E through ProsysOpcUaClient If you connect to the AX 3 Series PLC a...

Page 310: ...AX 3 Series Operation Manual 8 18 8_ MEMO...

Page 311: ...up EtherCAT Master 9 3 9 1 3 Setting up the EtherCAT Slave 9 5 9 2 Introduction to Modbus Serial Communication 9 8 9 2 1 Modbus Serial Port 9 8 9 2 2 Modbus Serial Master 9 11 9 2 3 Modbus Serial Slav...

Page 312: ...which have been handled to the master in chronological order See the illustration of data transmission shown below Thanks to the ESC chips in slaves the master can make a communication with all slave...

Page 313: ...ycle time Master sends out corresponding data to the Slaves in a cycle time specified here Sync offset Parameter for setting the delay time between the Distributed Clock time base of the EtherCAT slav...

Page 314: ...I O Mappting Here you can select the bus cycle task for EtherCAT communication The bus cycle task selected will be synchronized with the specified EtherCAT_Master cycle time Bus cycle task Select a bu...

Page 315: ...he network to add the slaves in or add slaves from the Product list Refer to section 6 1 3 for more information General Address EtherCAT address Final address of the slaves assigned by the master duri...

Page 316: ...contain the lists of PDOs which are available for data exchange and can be edited For ESI file of a device the PDOs and PDO contents for option have been defined and some PDO contents are allowed to...

Page 317: ...dex subindex entries a new object can be added to the SDO that is not yet described in the EDS file This is useful if only an incomplete object directory or none at all is present Edit In this window...

Page 318: ...tion is possible And only the FIRST slave can communicate with the master Since RS 485 has multipoint capability RS 485 does NOT have such limitations Follow the below section to set up the basic sett...

Page 319: ...Port Parameters Settings include COM Port RS 232 RS 485 Baudrate Parity Data Bits Stop Bits and Transmission Mode can be set here Item Description COM Port Communication interface RS 232 RS 485 Baudra...

Page 320: ...es from the respective device also information about the card used and the internal bus system Item Description Modbus Serial The status of Modbus Serial Communication Information Here you can find ge...

Page 321: ...created Modbus Master COM port and Modbus Slave COM port Follow the below section to set up the Modbus Serial Master 9 2 2 1 Adding Delta Modbus Master Slave COM 1 Right click the created Delta_Modbu...

Page 322: ...or click Add Device to add this port in You can only add one Master COM Port After you added one master the other added devices are slave ports Delta_Modbus_Master_COM_Port the Delta_Modbus_Slave_COM_...

Page 323: ...ection is lost Auto Reconnect Enable this option to have this port to reconnect automatically if an error occurs or commection timeout occurs Delta Modbus Serial Master I O Mapping Bus cycle task Sele...

Page 324: ...fCommunicatingSlaves The number of the Slaves that are in communication bAllSlavesOk The communication status of the Slave Status Here you can find the device status information for example Running or...

Page 325: ...ype Item Description Slave Addres Address of a serial Modbus device value between 1 and 247 Response Timeout Time interval for the master to wait for the response from the slave This is especially con...

Page 326: ...l channels share the same Modbus connection Click Add Channel you can edit the channel before adding it in The Device Address shows the Modbus protocol address whether the device type you selected is...

Page 327: ...e request occurs as a reaction to a rising edge of the Boolean trigger variables The trigger variable is defined in the tab I O Mapping Application The Modbus request is triggered by DFB_ModbusComChan...

Page 328: ...ion Value and Comment Click OK to confirm the settings Modbus Generic Serial Slave I O Mapping After you have added channels under the tab of Modbus Slave Channel you can find the variables and the se...

Page 329: ...that showed error previously continues to execute the data transmission And this function is only available when the option Auto Reconnect is NOT enabled bDoInit Initialized the Slave bInitDone The in...

Page 330: ...Operation Manual 9 20 _9 Information Here you can find general information that originates from the device description file name vendor categories version order number description and other relevant...

Page 331: ...otocol there is no access restrictions Follow the below section to set up the Modbus Serial Slave 9 2 3 1 Adding a Modbus Serial Device 1 Right click the created Delta_Modbus_COM Delta Modbus COM in t...

Page 332: ...view and double click it to open the setting window to set up 9 2 3 2 Setting up the Modbus Serial Device General Here you can configure the basic settings for Modbus Serial Device Set up the allowab...

Page 333: ...Refer to section 4 2 1 6 PLC Settings for more information Status Here you can find the Modbus Serial Slave Device status information for example Running or Stopped and specific diagnostic messages fr...

Page 334: ...EtherNet IP Follow the below section to set up the basic settings for communication via the Ethernet Adapter 9 3 1 1 Adding an Ethernet Adapter Device 1 Right click the PLC in the tree view to open up...

Page 335: ...onfigure Ethernet Parameters Settings include Interface IP address Subnet mask Default gateway and Adjust operating system settings can be set here Item Description Interface Current communication int...

Page 336: ...scription Ethenet Device The status of Ethenet Communication Last Diagnostic Message Network diagnosis Ethernet Device I O Mapping Bus cycle task Select a bus cycle task to synchronize with the commun...

Page 337: ...are listed that allow for access to the device from the IEC application In online mode you can use the table of IEC objects as a monitoring view Information Here you can find general information that...

Page 338: ...Master 9 3 2 1 Adding a Modbus TCP Master Slave 1 Right click the Ethernet Ethernet node in the tree view to open up a conext menu And click Add Device to open the Add Device setting window 2 Find and...

Page 339: ...under the Ethernet node in the tree view to open up a conext menu And click Add Device to open the Add Device setting window 4 Find and double click Delta Modbus TCP Slave Fieldbuses Modbus Modbus TCP...

Page 340: ...the tree view and double click it to open the setting window to set up 9 3 2 2 Setting up the Modbus TCP Master Delta Modbus TCP Master I O Mapping Bus cycle task Select a bus cycle task to synchroniz...

Page 341: ...connected Slaves EX ST programming language Delta Modbus TCP Master bStop TRUE Status Here you can find the device status information for example Running or Stopped and specific diagnostic messages f...

Page 342: ...ut Time interval for the master to wait for the response from the slave This is especially configured for this slave node and overwrites the general response timeout setting of the respective master P...

Page 343: ...nnels share the same Modbus TCP connection Click Add Channel you can edit the channel before adding it in The Device Address shows the Modbus protocol address whether the device type you selected is S...

Page 344: ...ally Rising edge The request occurs as a reaction to a rising edge of the Boolean trigger variables The trigger variable is defined in the tab I O Mapping Application The Modbus request is triggered b...

Page 345: ...n between AX 3 Series PLC and the slaves is established you can use Add Channel button to edit the Initialization Value of the Coil Register Click Add Channel you can edit the Access Type Device Addre...

Page 346: ...Delta Modbus TCP Slave IEC Objects You can check the status of Modbus TCP Slave under this tab Expression Description bConfirmError If the option Auto Reconnect is NOT enabled during the data transmis...

Page 347: ...Stopped and specific diagnostic messages from the respective device also information about the card used and the internal bus system Information Here you can find general information that originates...

Page 348: ...ation protocol there is no access restrictions Follow the below section to set up the Modbus TCP Slave 9 3 3 1 Adding a Modbus TCP Slave Device 1 Right click the Ethernet Ethernet node in the tree vie...

Page 349: ...view and double click it to open the setting window to set up 9 3 3 2 Setting up the Modbus TCP Slave Device General Here you can configure the basic settings for Modbus TCP Slave Device Set up the al...

Page 350: ...e time Refer to section 4 2 1 6 PLC Settings for more information Status Here you can find the Modbus TCP Slave Device status information for example Running or Stopped and specific diagnostic message...

Page 351: ...or 1 Second A 8 A 2 4 BAT LOW LED Indicators Are ON A 8 A 2 5 BAT LOW LED Indicators Blinking Every 0 5 Seconds A 8 A 2 6 Others A 9 A 3 Troubleshooting of the Funciton Blocks A 10 A 3 1 DL_BuiltInIO_...

Page 352: ...P state Check the settings for the AX 3 Series to RUN STOP Check and eliminate errors from external devices Use the System Log function in DIADesigner AX to check system operation and logs 3 Identify...

Page 353: ...ection A 2 No Module Yes Yes Yes Yes Yes Yes CPU No Yes No Yes A 1 4 Viewing Log When an error occurs the system generates corresponding error codes and stores the error messages in the PLC You can fi...

Page 354: ...Series Operation Manual A 4 _A _A 2 Files The system generates log files csv when the PLC is power off or the log exceeds 64 KB You can read the log file from the Files tab of the Device setting page...

Page 355: ...Appendix A Troubleshooting A 5 _A...

Page 356: ...cannot be operated 1 Make sure the module is properly connected to the CPU module and turn the modules on again 2 If the problem persists contact the local authorized distributors 1604 Extension modul...

Page 357: ...e EtherCAT Master 5 EtherCAT Slave failed to initialize Make sure the actual placement is the same as the settings in the Network Configuration 6 Vendor ID of the Slave does NOT match Make sure the ac...

Page 358: ...Refer to section A 4 for more information on the extension module error codes A 2 4 BAT LOW LED Indicators Are ON The blinking happens when there is no battery CR1620 or the power is low Turn this fun...

Page 359: ...quirement on the DDF 2501 SSI encoder is NOT connected to PLC Check the connection between SSI concoder and PLC 2502 The setting value of the single turn and multiturn SSI encoders exceed the setting...

Page 360: ...cation and then change the mode accordingly 186A5 DMC_HP_HOMING_MO VEMENT_HW_LIMIT If the positive negative limit is activated the axis cannot move in this homing mode Make sure the hardware limit use...

Page 361: ...e device for high speed counter is already enabled Check if the device for high speed counter is already enabled by other DFB_HCnt 186C2 DFB_HC_COUNTER_R EF_CHANGED_ DURING_ OPERATION The input pin Co...

Page 362: ...mple Check if this counter is enabled by other DFB_Sample 186DF DFB_SP_PRESET_ NOT_DONE The counter is executing DFB_PresetValue and is not done yet Execute this function block after the execution of...

Page 363: ...own Set the pin diPositionPeriod of the function block bigger than 0 and less than the setting value of bSetDown 186ED DFB_SR_COUNTER_R EF_CHANGED_ DURING_ OPERATION The input pin Counter has been cha...

Page 364: ...ERROR LED Indicators Blinking Every 0 2 Seconds The following errors are specified as warnings to ensure that the AX 3 Series CPU can still run even when the warnings are triggered by its AIO modules...

Page 365: ...analog inputs temperature Check the signal received by channel 6 16 180E The signal received by channel 7 exceeds the range of analog inputs temperature Check the signal received by channel 7 16 180F...

Page 366: ...the power supply 16 1802 Hardware failure If the problem persists contact the local authorized distributors 16 1807 The CJC is abnormal If the problem persists contact the local authorized distributo...

Page 367: ...ncluding LED indicator ON OFF blinking fast blinking normally and blinking slowly When the LED indicator is ON blinking fast normally clear the problems first for the CPU module to keep on running Whe...

Page 368: ...top V 2002 RTC cannot keep track of the current time the battery LED is blinking Continue V 2003 Battery low the battery LED is ON Continue V 2004 24VDC power supply is not sufficient and then is reco...

Page 369: ...st Blinking normally Blinking slowly OFF 1 EtherCAT communication lost Continue V 2 EtherCAT data mapping failed Continue V 4 Incorrect EtherCAT network name Continue V 5 EtherCAT Slave failed to init...

Page 370: ...ing 16 1809 The signal received by channel 2 exceeds the range of analog inputs temperature 16 180A The signal received by channel 3 exceeds the range of analog inputs temperature 16 180B The signal r...

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