Eaton ELCM Series, Operation Manual

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4 . P o s i t i o n i n g U n i ts
MN05003006E F or more information visit:
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4-33
4.
Program Description
y
Read CR#33, #34 (current position) and CR#35, #36 (current speed).
y
Write K1 (H’1, i.e. b0 = 1) into CR#32 to set up the single-speed positioning mode.
y
Set up CR#23, #24 (target position) and CR#25, #26 (operation speed V(I)).
y
Set up CR#12 ~ #19 to complete the parameter settings for zero return.
y
When X0 = On, write K256 (H’100, i.e. b8 = 1) into CR#31 to enter single-speed
positioning mode.
y
When X1 = On, write K64 (H’40, i.e. b6 = 1) into CR#31 to enable the zero return.
y
When X0, X1 = Off, stop all the executions and set the current position to 0.
5.
Program example
Ladder diagram: Explanation:
Read current position
Read current speed
Set up as single-speed
positioning mode
Set up target position
Set up operation speed
Set up zero return speed
Set up zero return
deceleration speed
Set up the number of
PG0 signals in zero
return mode (N)
Set up the number of
pulse signals in zero
return mode (P)
Select zero return mode
Define the position of
zero point
Enter single-speed
positioning mode
Stop all executions
Set the current position
to 0
Enable zero return
M1000
M1002
X0 X1
X0 X1
X1
K0 K35 K1
K0 K23 K1
K0 K25 K1
END
K0 K12 K1
DTO
DFROM
K0 K33 K1 DFROM
K0 K14 K1
DTO
DTO
DTO
TO K0 K16 K1
TO
K0
K17 K1
TO K0 K19 K1
TO K0 K31 K1
TO K0 K31 K1 K64
K2
K256
K0
K10000
K0
K10000
K30000
K1000
K10000
D200
D100
TO K0 K33 K1 K0
K31 K0 TO
TO K0 K18 K1 K0
TO K0 K32 K1 K1