Emotiontek MCU 2 Axis User Manual Download Page 15

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Chapter 2. MC Programming

Division

Command

Function

Type

Example of use

Input/ou

tput

IN0

Execution of programs waiting until the

designated contact signal becomes‘0’

IN0 <input contact>

IN0 <output contact>

IN0 <auxiliary contact>

IN0 X0.0
IN0 Y0.0
IN0 M0.0

IN1

Execution of programs waiting until the

designated contact signal becomes‘1’

IN1 <input contact>

IN1 <output contact>

IN1 <auxiliary contact>

IN1 X0.0
IN1 Y0.0
IN1 M0.0

IIN0

Waiting until the designated input contact
signal becomes‘0’(used to check an input

contact at a high speed)

IIN0 <input contact>

IIN0 X0.0

IIN1

Waiting until the designated input contact
signal becomes‘1’(used to check an input

contact at a high speed)

IIN1 <input contact>

IIN1 X0.0

OUT0

Outputting‘0’to the designated contact (turn

OFF the designated contact and then execute the

next command)

OUT0 <output contact>

OUT0 <auxiliary contact>

OUT0 Y0.0
OUT0 M0.0

OUT1

Outputting‘1’to the designated contact (turn
ON the designated contact and then execute the

next command)

OUT1 <output contact>

OUT1 <auxiliary contact>

OUT1 Y0.0
OUT1 M0.0

Coordina

setting

SET

Coordinate system setting(absolute coordinate)

SET <position point>

SET <L variable> <L

variable>

SET P0

SET L0 L1

XSET

X-axis coordinate system setup(absolute

coordinate)

XSET <position point>

XSET <L variable> <L

variable>

XSET P0

XSET L0 L1

YSET

Y-axis coordinate system setup(absolute

coordinate)

YSET <position point>

YSET <L variable> <L

variable>

YSET P0

YSET L0 L1

SET2

Coordinate system setting(absolute, machine

coordinate)

SET2 <position point>

SET2 <L variable> <L

variable>

SET2 P0

SET2 L0 L1

XSET2

X-axis coordinate system setup(absolute,

machine coordinate)

XSET2 <position point>

XSET2 <L variable> <L

variable>

XSET2 P0

XSET2 L0 L1

YSET2

Y-axis coordinate system setup(absolute,

machine coordinate)

YSET2 <position point>

YSET2 <L variable> <L

variable>

YSET2 P0

YSET2 L0 L1

Velocity

setting

VEL

Movement velocity setting command

VEL <F variable number

(0~9)>

VEL <L variable>

VEL 0

VEL L0

XVEL

X-axis movement velocity command (Used for the

X-axis velocity command of the PTP and IPTP

movement command)

XVEL <F variable number

(0~9)>

XVEL <L variable>

XVEL 0

XVEL L0

YVEL

Y-axis movement velocity command (Used for the

Y-axis velocity command of the PTP and IPTP

movement command)

YVEL <F variable number

(0~9)>

YVEL <L variable>

YVEL 0

YVEL L0

Acceleration time setting command

A <D variable number(0~9)>

A <L variable>

A L0

X-axis acceleration time command (Used for the

X-axis acceleration time command of the PTP and

IPTP movement command)

XA <D variable number(0~9)>

XA <L variable>

XA 0

XA L0

Y-axis acceleration time command (Used for the

Y-axis acceleration time command of the PTP and

IPTP movement command)

YA <D variable number(0~9)>

YA <L variable>

YA 0

YA L0

Deceleration time setting command

D <D variable number(0~9)>

D <L variable>

D L0

X-axis deceleration time command (Used for the

X-axis deceleration time command of the PTP and

IPTP movement command)

XD <D variable number(0~9)>

XD <L variable>

XD 0

XD L0

Y-axis deceleration time command (Used for the

Y-axis deceleration time command of the PTP and

IPTP movement command)

YD <D variable number(0~9)>

YD <L variable>

YD 0

YD L0

Summary of Contents for MCU 2 Axis

Page 1: ...User s Manual 2 AXES...

Page 2: ...or incorrect in this document z You will get a refund or exchange if there is incorrect collating or missing page Emotiontek M MC CU U 2 2 A Ax xi is s C Co on nt tr ro ol ll le er r U Us se er r M M...

Page 3: ...as used marks Danger and Warning to indicate safety warning and precautions depending on the severity Danger If handled improperly the equipment may cause severe consequences such as personal injury o...

Page 4: ...t meet the requirements of this controller or if there is noise excessive enough to distort the input voltage waveform it is required to install a noise filter or an isolated power transformer on the...

Page 5: ...e electric shock may be incurred Warning Reference Page DC power supply of this controller must be connected to the dedicated terminal as described in the manual z If you mistakenly connect AC power s...

Page 6: ...ndling of the product may cause product damage or unplanned events Make sure to get your body earthed if you need to open the controller cover and touch the inside to prevent static from flowing into...

Page 7: ...ken against power supply with excessive noise Separate the power supply of the main body from the input output lines of PLC and power supply lines from the system The telecommunication input output li...

Page 8: ...52 56 Chapter 4 PLC Program 4 1 Types of PLC commands 4 2 Types of application commands related to PLC contacts and motion 4 3 Description of PLC commands 4 4 Description of application commands rela...

Page 9: ...l 9 1 MC output signal MC PLC 9 2 MC input signal PLC MC 9 3 Example of using an MC input output signal for automatic operation 9 4 Example of using an MC input output signal for manual operation 9 5...

Page 10: ...rview of the MCU This can be used for one of the next purposes depending on the slave board combined with the Main Board for 2 axes servo motor drive by means of analog signal output for 2 axes step m...

Page 11: ...variable PLC function PLC Touch panel communication 1 3 Application fields of the MCU For transportation and assembly FEEDER LOADER UNLOADER CONVAYOR Industrial device Packer semiconductor equipment...

Page 12: ...Phase A B Input frequency Max 2 5 MHz Extended I O Cable Length type Max 10m 16Pin Flat Cable Communication speed 1 5M Bps No of maximum extended I O 2EA 64 in 48 out I O In pu t No of contacts 16 22...

Page 13: ...en connecting this product to a serial port of a PC do not connect it to other pins but 2 RxD 3 TxD 5 GND This can damage the PC or cause a malfunction of the product When using the RS485 communicatio...

Page 14: ...ed to designate 2 dimensional position velocity time pulse manipulation and comparison data as a variable with multi purpose functions C The input output and auxiliary contacts used in MC programs can...

Page 15: ...g absolute machine coordinate SET2 position point SET2 L variable L variable SET2 P0 SET2 L0 L1 XSET2 X axis coordinate system setup absolute machine coordinate XSET2 position point XSET2 L variable L...

Page 16: ...nd point CW target point radius CW P0 P1 CW PL0 PL1 CCW CCW arc interpolation from the current position start point to the target point end point CCW target point radius CCW P0 P1 CCW PL0 PL1 ICW CW a...

Page 17: ...nce operation sentence operation sentence L0 L1 L2 L0 L0 1 L0 L1 L2 1 L1 2 L2 4 Used for multiplication in a variable manipulation sentence variable variable variable number variable operation sentenc...

Page 18: ...0 LT L1999 LB1 L0 L0 L1999 MOV PL0 MOV LL0 LL1 VEL LL0 Table 2 3 List of MC program contact functions Division Variable Function Amount Example of use Contact classifica tion X contact XP2 Main unit i...

Page 19: ...e name of a label set by a LABL command and if the name of the designated label is not set then an alarm takes place Example VEL 0 MOV P0 LABL LB0 MOV P1 MOV P2 GOTO LB0 Move to a LABELED sentence fro...

Page 20: ...Time pause function Pause as much as the DO variable value by a command DWL 0 Reference External encoder pause function Pause by an external encoder Parameter P62 Encoder accumulation dwell during au...

Page 21: ...entered from an encoder by a DWL 0 command If the accumulated pulse number is greater than DWL 0 value then the next command is executed without pulse pause The number of accumulated pulses is initial...

Page 22: ...LL1 Reset the 2 dimensional position by using a P2 variable Reset the position by using an L2 and L3 variable X Y axis respectively Reset the position by using a P variable pointed out by a L0 variab...

Page 23: ...LL0 LL1 Reset the X axis position by using the X axis position value of a P2 variable Reset the X axis position by using a L2 variable Reset the X axis position by using the X axis position value of...

Page 24: ...SET LL0 LL1 Reset the Y axis position by using the Y axis position value of a P2 variable Reset the Y axis position by using a L3 variable Reset the Y axis position by using the Y axis position value...

Page 25: ...r offset For the case of using L variable the 1 st L variable means X axis coordinate the 2nd L variable Y axis coordinate Example of use SET2 P2 SET2 L2 L3 SET2 PL0 SET2 LL0 LL1 Reset the 2 dimension...

Page 26: ...he case of using L variable the 1 st L variable means X axis coordinate The 2nd L variable is simply ignored Example of use XSET2 P2 XSET2 L2 L3 XSET2 PL0 XSET2 LL0 LL1 Reset the X axis position by us...

Page 27: ...the case of using L variable the 2 nd L variable means the Y axis coordinate The 1st L variable is simply ignored Example of use YSET2 P2 YSET2 L2 L3 YSET2 PL0 YSET2 LL0 LL1 Reset the Y axis position...

Page 28: ...XMOV YMOV CW CCW ICW ICCW PTP IPTP Parameter Maximum velocity P18 acceleration or deceleration time P23 deceleration time P65 Explanation A movement related command is executed at a velocity of the se...

Page 29: ...effective until a reset If the VEL is commanded and the XVEL is commanded next then the VEL becomes effective during interpolation movement and the XVEL becomes effective during rapid movement That i...

Page 30: ...ffective until a reset If the VEL is commanded and the YVEL is commanded next then the VEL becomes effective during interpolation movement and the YVEL becomes effective during rapid movement That is...

Page 31: ...ion value applied to a movement command is calculated in a time arriving at the maximum velocity If commanding is omitted then the Acceleration or deceleration time set to a parameter P23 Acceleration...

Page 32: ...ovement PTP IPTP command The once set Acceleration or deceleration time is effective until a reset unless it is reset If the acceleration is commanded by A and the acceleration is commanded by XA next...

Page 33: ...PTP IPTP command The once set Acceleration or deceleration time is effective until a reset unless it is reset If the acceleration is commanded by A and the acceleration is commanded by YA next then th...

Page 34: ...applied to a movement command is calculated in a time arriving at 0 from the P18 maximum velocity If commanding is omitted then the deceleration time set to a parameter P23 or P65 is effective The on...

Page 35: ...applied only to the rapid movement PTP IPTP If the deceleration time is commanded by D and commanded by XD next then the D becomes effective during interpolation movement and the XD becomes effective...

Page 36: ...ied only to the rapid movement PTP IPTP If the deceleration time is commanded by D and commanded by YD next then the D becomes effective during interpolation movement and the YD becomes effective duri...

Page 37: ...VEL Parameter Maximum velocity P18 Acceleration or deceleration time P23 deceleration time P65 Explanation Move by interpolation from the current position to the commanded variable value coordinate p...

Page 38: ...L Parameter Maximum velocity P18 Acceleration or deceleration time P23 deceleration time P65 Explanation Move by interpolation from the current position to the commanded variable value incremented pos...

Page 39: ...Acceleration or deceleration time P23 deceleration time P65 Explanation Move individually from the current position to the commanded coordinate number position at the commanded individual velocity an...

Page 40: ...ation time P23 deceleration time P65 Explanation Move individually from the current position to the commanded coordinate number increment at the commanded individual velocity and Acceleration or decel...

Page 41: ...P0 XMOV L0 XMOV PL0 XMOV LL0 26 YMOV Input type YMOV P variable or YMOV L variable Terminology P variable Set the variable for a position from the Position Table P0 P99 L variable Set the variable for...

Page 42: ...L variable Terminology P variable Set the variable for a position from the Position Table P0 P99 L variable Set the variable for a position from the L VAR Table L0 L1999 Related variable P VARIABLE L...

Page 43: ...the X axis value of P variable 2 is regarded as its radius However if the basic parameter P61 I J arc commanding method is enabled then it is regarded as an I J circle center commanding method not a r...

Page 44: ...he X axis value of P variable 2 is regarded as its radius However if the basic parameter P61 I J arc commanding method is enabled then it is regarded as an I J circle center commanding method not a ra...

Page 45: ...variable 2 is regarded as a radius The Y value at this time has nothing to do with the command If there is a start point an end point and a radius 2 circles are possible There are 4 arcs going from th...

Page 46: ...regarded as a method of commanding the circle center with I J not a radius In this case the X axis of the P variable 2 corresponds to I and the Y axis corresponds to J I J are vector components seen f...

Page 47: ...3 Number of pallet points in the second axis under preparation for execution to be executed next L variable 1 4 1 if all the palletizing has been executed This lies at 0 during PCLR but changes to 1...

Page 48: ...nts in the first axis Explanation Set the pallet point under preparation for execution of the relevant PMOV to 1 and the palletized L variable to 0 Only the commanding to an L variable is possible Exa...

Page 49: ...ce of the block currently under execution comes into the scope of the commanded ratio then move to the next block by overlapping 0 means the cancellation of a pre execution mode 100 is set as a mode t...

Page 50: ...then execute the next block LABL LB1 VEL 0 MOV P0 IN0 M0 0 LB1 MOV P1 36 IN1 Input type IN1 inspection contact label name Terminology Inspection contact Designate a contact to inspect Input contact X0...

Page 51: ...mmand applies to equipment requiring a high speed input function as a function to inspect the inspection contact in a 1ms period Example This is an example of stopping execution until the input contac...

Page 52: ...form up to 7 multiple operation functions Example L0 L0 L1 L0 L0 L1 L0 L0 L1 L0 L0 L1 L0 L0 L1 Store a value of L1 added to L0 in L0 Store a value of L1 subtracted from L0 in L0 Store a value of L1 mu...

Page 53: ...10 If L0 equals 10 then it is true LE If the value is less or equal it is true Ex IF L0 LE 10 If L0 is less than or equal to 10 then it is true LT If the value is less then it is true Ex IF L0 LT 10...

Page 54: ...variable Used to designate dwell data Used to designate acceleration time data Used to designate deceleration time data Used as comparison data for a comparative conditional expression Used as operati...

Page 55: ...A special function is applied to some variables by parameter setting Related command DWL A D XA YA XD YD macro command Explanation This is called a D or E variable indicating the same area That is D0...

Page 56: ...nction Example 1 Example of position variable functions L100 10 L101 11 VEL 0 MOV L0 L1 This is a command to move to a position value set at a L0 variable X and L1 variable Y MOV PL100 A command to mo...

Page 57: ...nch the execution to a LB0 declared label and otherwise execute the next command Example of a comparative macro function using indirect designation L1 100 IF LL1 EQ 1000 LB0 LABL LB0 If a L100 variabl...

Page 58: ...escribed in Section 3 3 4 Homing velocity 1 2 3 Parameter P20 P21 P22 Homing velocities 1 2 3 are parameters to set a moving velocity during homing return movement Homing velocity 1 sets a velocity un...

Page 59: ...direction until the homing DOG sensor is turned OFF at the homing return velocity 2 and stop and if phase C is detected from the servo drive during movement at a velocity of homing return velocity 3...

Page 60: ...il the homing DOG sensor is turned OFF at the homing return velocity 2 and stop and if phase C is detected from the servo drive during movement at a velocity of homing return velocity 3 in the continu...

Page 61: ...homing return direction at a velocity of homing return velocity 1 then stop move to the same direction until the homing DOG sensor is turned OFF at the homing return velocity 3 stop and set this posit...

Page 62: ...t to a homing return direction at a velocity of homing return velocity 1 then stop move to the opposite direction until the homing DOG sensor is turned OFF at the homing return velocity 3 stop and set...

Page 63: ...0 SET M0 1 LOAD M0 0 AND N0T M50 B M50 B ORG ORG mode state bit OUT M80 B M80 B ORG ORG mode commanding bit LOAD M0 0 AND M50 B M50 B ORG ORG mode state bit AND NOT M50 C M50 C ZP1 X axis return comp...

Page 64: ...n between blocks OUT Output auxiliary Outputting of an operation result contact A OUT NOT Output auxiliary Outputting of an operation result contact B D Output auxiliary Outputting of a differential p...

Page 65: ...g logic operation contact A PUT Input output auxiliary TIMER COUNTER P variable F variable D E variable L variable Command to output an MC variable P F D E L variable GET Input output auxiliary TIMER...

Page 66: ...riable F variable L variable X Y axis direction relative position movement ISTEP command rise edge input ISTEP Input output auxiliary TIMER COUNTER P variable L variable F variable L variable X Y axis...

Page 67: ...D LOAD OR LOAD Use it in starting a logic operation or a block operation See the AND LOAD OR LOAD 2 Sequence and timing chart 2 LOAD NOT 1 Definition Reverse the content of a contact designated by a L...

Page 68: ...ult The series connection of AND has no limit in the number of nested uses 2 Sequence and timing chart 4 AND NOT 1 Definition Reverse the content of the designated contact do the AND operation of it w...

Page 69: ...lt The parallel connection of OR has no limit in the number of nested uses 2 Sequence and timing chart 6 OR NOT 1 Definition Reverse the content of the designated contact do the OR operation of it wit...

Page 70: ...ommand to do the AND connection of two blocks Each block starts with LOAD or LOAD NOT 2 Sequence and timing chart 8 OR LOAD 1 Definition This is a command to do the OR connection of two blocks Each bl...

Page 71: ...change so the parallel use of the OUT command is possible Output can be designated to output contacts Y and auxiliary contacts M 2 Sequence and timing chart 10 D 1 Definition Detect the change of an...

Page 72: ...timer is cumulative and turns ON the output when the current value arrives at the set value The range of an output contact is 0 15 T0 0 T0 F Ex For 10 T0 A is an output contact If the input b is turne...

Page 73: ...OFF the current value of a counter is reset to 0 and the pulse input after completion of counting is ignored 2 Sequence and timing chart 14 SET RST 1 Definition The SET command maintains turning ON th...

Page 74: ...results are memorized into a Master Control Register MRG by an MCS command The MCS command is cancelled by an MCS NOT command The program between the MCS and the MCS NOT realizes a normal command when...

Page 75: ...specific area DWORD 32Bits data to the designated area 2 Sequence and timing chart 17 FWR 1 Definition This is a command to eternally store the changed position velocity and dwell variable data into a...

Page 76: ...the instant when the input contact changes from OFF to ON 2 Sequence and timing chart LOADP X0 0 OUT Y0 0 X0 0 Y0 0 X0 0 Y0 0 P 1 Scan 2 LOADN 1 Definition The LOADN command loads the ON input only fo...

Page 77: ...OFF to ON 2 Sequence and timing chart LOAD X0 0 ANDP X0 1 OUT Y0 0 X0 0 X0 1 Y0 0 X0 0 X0 1 Y0 0 P 1 Scan 1 Scan 4 ANDN 1 Definition The ANDN command does the AND operation of the ON input only for 1...

Page 78: ...g chart LOADP X0 0 ORP X0 1 ORP X0 2 OUT Y0 0 X0 0 Y0 0 X0 2 Y0 0 X0 1 X0 2 X0 1 X0 0 P P P 1 Scan 1 Scan 1 Scan 6 ORN 1 Definition The ORN command does the OR operation of the ON input only for 1 sca...

Page 79: ...that of the D command 2 Sequence and timing chart LOAD X0 0 OUTP Y0 0 D Y0 0 P X0 0 Y0 0 X0 0 Y0 0 1 scan 8 OUTN 1 Definition This detects changes in an input contact and makes an output for 1 scan t...

Page 80: ...to LOAD the result of an operation by a comparison equal of the DINT 32Bits data Sequence and timing chart LOAD M31 123456 OUT Y0 0 Y0 0 LOAD Y0 0 M31 123456 IN1 IN2 M32 M31 123456 123455 123457 Examp...

Page 81: ...to LOAD the result of an operation by a comparison less of the DINT 32Bits data 2 Sequence and timing chart LOAD M31 123456 OUT Y0 0 Y0 0 LOAD Y0 0 M31 123456 IN1 IN2 M32 M31 123456 123455 123457 3 Ex...

Page 82: ...o LOAD the result of an operation by a comparison greater of the DINT 32Bits data 2 Sequence and timing chart LOAD M31 123456 OUT Y0 0 Y0 0 LOAD Y0 0 M31 123456 IN1 IN2 M32 M31 123456 123455 123457 3...

Page 83: ...M1 0 M13 M12 PUT M10 P0 IN OUT M0 0 M1 0 M14 F0 IN OUT M0 0 M11 M10 10000 P0_X 10000 PUT 20000 M1 1 P P M1 1 F0 5000 P0_Y 20000 M15 M14 5000 PUT P0 M10 Store the DINT 32Bits value of M11 M10 into the...

Page 84: ...1 M0 0 M1 0 F0 GET M10 P0 IN OUT M0 0 M1 0 M14 F0 IN OUT M0 0 P0_X 30000 M11 M10 30000 GET 1000 M1 1 P P M1 1 M13 M12 40000 P0_Y 40000 M15 M14 1000 GET P0 M10 Store the X axis position data value of P...

Page 85: ...ng direction of a parameter and outputs the completion of execution after completing a homing return by starting a command via a rise edge input Generally the homing return execution completion output...

Page 86: ...pletion of execution after completing a homing return by starting a command via a rise edge input Generally the homing return execution completion output ORIGIN FIN is used for the execution of other...

Page 87: ...pletion of execution after completing an homing return by starting a command via a rise edge input Generally the homing return execution completion output ORIGIN FIN is used for the execution of other...

Page 88: ...turn execution completion output ORIGIN FIN of an ORG command The command is started by a rising edge input 2 Sequence and timing chart LOAD X0 0 ORG OUT Y0 0 LOAD X0 1 ORGRST OUT Y0 1 X0 0 ORG REQ OU...

Page 89: ...is direction manual feed JOG application command executes manual feed in the direction and outputs a state during execution of manual feed by a start command 2 Sequence and timing chart LOAD X0 0 JOGX...

Page 90: ...is direction manual feed JOG application command executes manual feed in the direction and outputs a state during execution of manual feed by a start command 2 Sequence and timing chart LOAD X0 0 JOGX...

Page 91: ...is direction manual feed JOG application command executes manual feed in the direction and outputs a state during execution of manual feed by a start command 2 Sequence and timing chart LOAD X0 0 JOGY...

Page 92: ...is direction manual feed JOG application command executes manual feed in the direction and outputs a state during execution of manual feed by a start command 2 Sequence and timing chart LOAD X0 0 JOGY...

Page 93: ...execution as soon as beginning automatic operation execution of an MC program by being started by a rising edge input The automatic operation execution start completion output is reset when a program...

Page 94: ...completion of execution after completing automatic operation execution stop of an MC program by being started by a rising edge input The automatic operation execution stop completion output is reset w...

Page 95: ...of execution after completing an automatic operation execution reset and alarm reset function of an MC program by being started by a rising edge input All other PLC motion application commands cannot...

Page 96: ...tomatic operation by being started by a rising edge input A value for the program number input can be designated by using a number M area D E variable and L variable The MC program number cannot be ch...

Page 97: ...e or L variable When using an L variable as an absolute position designation value the designated address is used as an X axis position value and the next address is used as a Y axis position value Th...

Page 98: ...ated by using an F variable or L variable When using an L variable as an absolute position designation value the designated address is used as an X axis position value and the next address is used as...

Page 99: ...ue can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the execution of a ST...

Page 100: ...solute position value can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing th...

Page 101: ...designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the execution of a STEPY appli...

Page 102: ...solute position value can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing th...

Page 103: ...e or L variable When using an L variable as a relative position designation value the designated address is used as an X axis position value and the next address is used as a Y axis position value The...

Page 104: ...gnated by using an F variable or L variable When using an L variable as a relative position designation value the designated address is used as an X axis position value and the next address is used as...

Page 105: ...ignated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the execution of a ISTEPX applicat...

Page 106: ...ive position value can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the e...

Page 107: ...ignated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the execution of a ISTEPY applicat...

Page 108: ...tive position value can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the...

Page 109: ...to an MPG mode with a MPG mode selecting application command 2 Sequence and timing chart LOAD X0 0 MPG OUT Y0 0 X0 0 MPG REQ OUT X0 0 Y0 0 Y0 0 Example of use MPG MODE CHANGE LOAD M0 0 MPG OUT M1 0 MP...

Page 110: ...Pulses per revolution Note 1 25 Distance per revolution Note 1 26 P gain 27 Motor rotation direction Note 1 28 Following error 29 Coordinate reset range Note 1 30 Servo Ready Check delay time ms Note...

Page 111: ...the controller works abnormally P02 Types of pulse outputs Range CW CCW Pulse Direction Unit POWER Definition This is a parameter valid for MCU XP2 CW CCW The direction is directed by separate pulse t...

Page 112: ...he model name of the extended I O controller Note Even though the extended I O controller is physically connected if this value is not set then communication with the extension I O controller is not e...

Page 113: ...es after the completion of a homing return If it is set to 99999999 the minimum setting value then this function becomes invalid Note If the motor movement command position is less than or equal to th...

Page 114: ...0 F contact when a homing return of the contact M is executed P17 Homing method Range Method 1 method 2 1 2 Unit RESET Definition Method 1 Detect the homing DOG signal and then complete a homing retur...

Page 115: ...eceleration is based on the setting value of a parameter P23 acceleration deceleration time and a parameter P67 deceleration time This is used as an initial velocity of automatic operation If there is...

Page 116: ...ter P18 maximum velocity Acceleration and deceleration slope Maximum velocity acceleration or deceleration time If deceleration is set by a parameter P65 deceleration time then this parameter applies...

Page 117: ...rotation as seen from the shaft side of a motor by the command 1 Description Set the rotation direction of a motor If the movement direction of a machine is opposite during trial operation then change...

Page 118: ...it RESET Definition Enable Set the input signal X0 9 X0 A as a Servo Ready signal 0 Disable Set the input signal X0 9 X0 A as an user contact 1 P43 Reset contact input Range Enable Disable 0 1 Unit RE...

Page 119: ...rc interpolation P62 Encoder accumulation dwell Range Disable Enable Unit RESET Definition Set a pulse accumulation dwell function for the automatic command DWL Disable Set the DWL as a time pause com...

Page 120: ...n time becomes a deceleration time constant P66 Going further after the homing Range 99999999 99999999 Unit RESET Definition Set an additional movement distance after completing a homing return Descri...

Page 121: ...during closed loop control at MCU XP2 Description Set the maximum value to be applied by the I action when the position control loop function is executed by a parameter P67 In position Pulse at MCU X...

Page 122: ...lt in input contacts is wired internally to the 24V input power b The common terminal for built in output contacts is wired internally to the ground of 24V input power Pin arrangement Pin No I O Signa...

Page 123: ...ut contact Common 0 OUT0 3 13 O OUT0 BRAKE_X Y0 0 Output contact 0 X axis Brake ON OFF output 14 O OUT1 BRAKE_Y Y0 1 Output contact 1 Y axis Brake ON OFF output 15 O OUT2 SVON_X Y0 2 Output contact 2...

Page 124: ...1 26 P O 5V 5V supply power 27 I PHA Y Y axis encoder phase A 28 I PHA Y Y axis encoder phase A 29 I PHB Y Y axis encoder phase B 30 I PHB Y Y axis encoder phase B 31 I PHC Y Y axis encoder phase C 32...

Page 125: ...ter Connector 5264 6 MOLEX P Power I Input O Output Pin arrangement Pin No I O Signal name Content 1 P O 5V GND External Encoder 5V Output Power Ground 2 I B External Encoder B Phase 3 I B External En...

Page 126: ...3 Y AXIS Servo ON OFF output 11 O OUT4 Y0 4 Output contact 4 12 I OUTCOM0 Output contact Common 0 OUT0 OUT4 13 38 P O 24V GND 24V output power Ground 14 I IN0 LIMIT_X X0 0 Input contact 0 X axis Limi...

Page 127: ...common 24 49Pin Pin arrangement Pin No I O Signal name Content 1 26 P O 5V 5V output power 27 O PPA Y Y axis Pulse CW Pulse 28 O PPA Y Y axis Pulse CW Pulse 29 O PPB Y Y axis Pulse CCW Dir 30 O PPB Y...

Page 128: ...encoder phase A 5 I XA X axis external encoder phase A 6 P O 5V X axis external encoder 5V output power 7 P O 5V GND Y axis external encoder 5V output power ground 8 I YB Y axis external encoder phase...

Page 129: ...ngement Pin No I O Signal name Content 1 I INCOM0 Input contact Common 0 IN0 IN5 14 I IN0 Input contact 0 2 I IN1 Input contact 1 15 I IN2 Input contact 2 3 I IN3 Input contact 3 16 I IN4 Input contac...

Page 130: ...In IN4 4 In IN5 17 In INCOM1 5 In IN6 18 In IN7 6 In IN8 19 In IN9 7 In IN10 20 In IN11 8 Out OUT0 21 Out OUT1 9 Out OUT2 22 Out OUT3 10 Out OUT4 23 Out OUT5 11 Out OUT6 24 Out OUT7 12 Out OUT8 25 Ou...

Page 131: ...I IN10 Input contact 10 26 I IN11 Input contact 11 8 I IN12 Input contact 12 27 I IN13 Input contact 13 9 I IN14 Input contact 14 28 I IN15 Input contact 15 10 I IN16 Input contact 16 29 I IN17 Input...

Page 132: ...nputting power Expansion I O 1 1 2 ON 3 4 OFF Expansion I O 2 1 2 OFF 3 4 ON There may be an I O malfunction when setting other ID than above Do not set an ID after inputting power so be careful 3 Exa...

Page 133: ...CS1 CS2 CS2 RESET RESET CLK CLK Ext I O 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 DC 24V Power 24V GND 24V VCC S G 5V 1 2 3 4 5 1 2 Power O I 7 2 8 1 3 6 1 2 4 5 3 Note 1 Do not use other pins 4 than i...

Page 134: ...IS IO Axis X Interface Axis Y Interface Note 1 If there is no AG in the servo driver connect AG of this product to SG 2 When using external power do not connect external power to the internal power pi...

Page 135: ...Power 24V GND 24V VCC S G 5V 1 2 3 4 5 1 2 Power O I 7 2 8 1 3 S G A 5V A B B 5V A A B B S G 6 1 2 4 5 3 S G A 5V A B B 5V A A B B S G 12 7 8 10 11 9 EXT ENC 1 EXT ENC 2 Note 1 Do not use the remaini...

Page 136: ...129 Chapter 6 Connection Note 1 Select one among 3 types of wiring methods 2 When using external power do not connect external power to the internal power pin 13 38 25 50 of this module...

Page 137: ...5 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 6 7 8 9 10 11 12 13 14 15 16 17 18 19 OUTPUT1 OUTPUT2 OUTPUT3 OUTPUT4 OUTPUT5 OUTPUT6 OUTPUT7 OUTPUT8 OUTPUT9 OUTPUT10 OUTPUT11 OUTPUT12 OUTPUT13 Output...

Page 138: ...PUT19 O U TPU T0 2 3 1 20 21 22 4 5 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 6 7 8 9 10 11 12 13 14 15 16 17 18 19 O U TPU T1 O U TPU T2 O U TPU T3 O U TPU T4 O U TPU T5 O U TPU T6 O U TPU T7 O U...

Page 139: ...1 6 26 4 0 MCU XP2 124 7 5 136 107 5 3 98 5 6 75 6 68 6 1 6 26 4 0 MCU XL 124 7 5 136 107 5 3 98 5 6 75 6 68 6 1 6 26 4 0 Connector Plug Maker Content POWER CAN BR 500LH 2P Bee Ryong Electronics Co Lt...

Page 140: ...a1 L l l1 l2 l3 H h h1 t W X MCU E 124 7 5 136 101 5 3 98 5 75 6 68 6 1 6 26 4 0 MCU EL 124 7 5 136 107 5 3 98 5 6 75 6 68 6 1 6 26 4 0 Connector Plug Maker Content POWER BR 500LH 2P Bee Ryong Electro...

Page 141: ...s don t appear on the menu bar before being connected to an MCU 1 Main status bar Give a reset command to the MCU with a command button This is an information area to show the state of communication s...

Page 142: ...object a PLC Compile exclusively for a PLC program button a string search button a button to move a cursor to a specific column and a print button whose functions are as follows Can select an object P...

Page 143: ...an MCU Note When making a new PLC program if there is a PLC program in the MCU then delete the existing PLC program and make a new PLC program 2 Open submenu This is a function to activate the editor...

Page 144: ...an object PC or MCU to store the program Click this button to store the content of the editor into a selected storage object This is a button used to compile a PLC program stored in an MCU and appears...

Page 145: ...mode Automatic mode With an automatic operation mode the user can set an MCU operation mode as an automatic mode by selecting the button The user can select an MC program stored in the MCU at an autom...

Page 146: ...peration Give a command to clear the error in the MCU when the operation of an MCU stops due to an error In addition give a command to completely stop the automatic operation Manual operation mode ope...

Page 147: ...input method is a method to select a variable to enter and enter the absolute position or machine position being displayed on the teach panel into the position variable The direct input method of a po...

Page 148: ...into an input box to input a value Entering a setting value in the input box and then pressing the ENTER key sets a D variable value compulsively Pressing the ESCAPE key during an input cancels the in...

Page 149: ...an handle MC programs registered in the MCU A program explorer window is composed of an MC program list part and a command part The user can see all the MC programs registered in the MCU through the M...

Page 150: ...order to cancel the name change select the button Then the execution is cancelled and the confirmation part is converted into a command part again button The attributes of an MC program include Normal...

Page 151: ...elect the Selecting the button in the confirmation part executes program area initialization and converts the confirmation part into a command part again In order to cancel the program area initializa...

Page 152: ...value in the relevant contact M contact The M contact view area is a function to monitor and forcedly set a memory contact so it is displayed by selecting a tab in the I O explorer The M contact view...

Page 153: ...Double clicking the integer area DEC of a variable to set shows an input box on the word area for the relevant contact Entering an integer setup value in the input box and pressing the ENTER key sets...

Page 154: ...ntact through the display part Addition of a contact Select a contact to search through the selection box Selecting the button adds a contact to the display part Deletion of a contact Select a contact...

Page 155: ...hange the physical object This is used to select a physical object PC or MCU to store or read the entire basic parameters This button is used to read the entire basic parameter from a physical object...

Page 156: ...ers This button is used to read the entire expansion parameter from a physical object This button is used to store the entire expansion parameters into a physical object This button is used to print t...

Page 157: ...xternal device communication of an MCU and is composed of communication station number node no line method communication speed Baudrate data bit parity bit stop bit and communication protocol protocol...

Page 158: ...tional function to the operation of MSW MCU2 and activates the following window Editor This can be selected as a function to identify the indication of a special command on an editor with different co...

Page 159: ...d program doesn t exist 202 SOFT LIMIT Invasion into a prohibited area of STORED STROKE LIMIT before movement of an axis has been detected 203 No label to jump A label cannot be found when seeking an...

Page 160: ...r after a AND command in a PLC program 307 There is an error in the application before or after a NOT command in a PLC program 308 There is an error in the application before or after a MCS command in...

Page 161: ...12 Dh11 Dh10 M65 Dl2F Dl2E Dl2D Dl2C Dl2B Dl2A Dl29 Dl28 Dl27 Dl26 Dl25 Dl24 Dl23 Dl22 Dl21 Dl20 M66 Dh2F Dh2E Dh2D Dh2C Dh2B Dh2A Dh29 Dh28 Dh27 Dh26 Dh25 Dh24 Dh23 Dh22 Dh21 Dh20 M67 M68 M69 1 Prepa...

Page 162: ...AA2 Y M57 F When an axis related alarm happens the signal in the relevant axis is turned ON This output is valid when the AL M50 3 is ON 14 Motor position machine coordinate output X axis Cl10 Ch1F M5...

Page 163: ...M95 RlF RlE RlD RlC RlB RlA Rl9 Rl8 Rl7 Rl6 Rl5 Rl4 Rl3 Rl2 Rl1 Rl0 M96 RhF RhE RhD RhC RhB RhA Rh9 Rh8 Rh7 Rh6 Rh5 Rh4 Rh3 Rh2 Rh1 Rh0 M97 JOT Mra 100 10 1 MXY JOVE OVE JOV8 JOV4 JOV2 JOV1 OV8 OV4 O...

Page 164: ...81 and M83 respectively and the upper 16 bits into the M82 and M84 respectively 8 STEP MODE command velocity input Fl0 Fh7 M85 M86 Enter a velocity to move from the STEP MODE in HEX Enter the lower 16...

Page 165: ...tion data READ Not recommended function Enter a position data number to read from a data setting signal DT0 M87 9 and Dn0 Dn7 M87 0 M87 7 in HEX 0 99 The position value at the relevant number is outpu...

Page 166: ...100 22 Movement velocity override signal in during manual operation JOVE M97 9 JOV1 JOV8 M97 4 M97 7 JOT M97 F If the input signal JOVE is closed 1 and JOT is opened 0 then the manual feed velocity i...

Page 167: ...per pulse 1 0 1 Move to a designated distance at L96 per pulse 1 1 0 Move to a designated distance at L97 per pulse 1 1 1 Move to a designated distance at L98 per pulse If the X axis gain of basic par...

Page 168: ...bsolute coordinate of the relevant axis changes to a setting value of the Position table P99 28 MPG interpolation feed in Mra M97 E If the input signal of Mra M97 E is closed 1 then the XY can be simu...

Page 169: ...50 8 AUTO automatic mode state bit OUT M80 8 M80 8 AUTO automatic mode command bit LOAD M0 0 AND M50 8 M50 8 AUTO automatic mode state bit OUT M80 2 M80 2 ST automatic operation start signal LOAD M50...

Page 170: ...The program number is inputted through X1 0 to X1 7 LOADP X0 9 SET M0 0 LOAD M0 0 MCS LOAD X1 0 OUT M87 0 M87 0 Dn0 1st command bit of the program number LOAD X1 1 OUT M87 1 M87 1 Dn1 2nd command bit...

Page 171: ...nd bit LOAD M57 9 M57 9 DE Data input END state bit RST M0 0 The above functions can be replaced by a PLC motion related application command as follows LOAD X0 9 MOV X1 M1 LOAD X0 9 OUT NOT M1 8 OUT N...

Page 172: ...130 1 1 1 1 0 140 1 1 1 1 1 150 0 X X X X 100 This is an input to select an automatic velocity override function of input contact X1 8 and if the X1 9 X1 C is used as an input to designate the veloci...

Page 173: ...e input contact X0 B is 1 When the EMERGENCY STOP is entered the axis under movement stops immediately and all commands except for a mode command are cancelled LOAD X0 B OUT M80 0 M80 0 ESP EMERGENCY...

Page 174: ...n is selected you can control the Servo On output contact Y0 2 Y0 3 Turn OFF the servo when X0 4 is 1 LOAD X0 4 OUT M94 C M94 C SOF1 1st axis Servo Off commanding bit OUT M94 D M94 D SOF2 2nd axis Ser...

Page 175: ...nding bit LOAD X0 5 AND M50 9 M50 9 JOG JOG mode state bit OUT M80 C M80 C A1 X axis manual feed direction commanding bit LOAD X0 6 AND M50 9 M50 9 JOG JOG mode state bit OUT M80 D M80 D A1 X axis man...

Page 176: ...M97 5 JOV1 M97 4 Percentage 1 0 0 0 0 0 0 1 0 0 0 0 1 10 1 0 0 0 1 0 20 1 0 0 0 1 1 30 1 0 0 1 0 0 40 1 0 0 1 0 1 50 1 0 0 1 1 0 60 1 0 0 1 1 1 70 1 0 1 0 0 0 80 1 0 1 0 0 1 90 1 0 1 0 1 0 100 1 0 1...

Page 177: ...1 1 0 L66 L86 1 1 0 1 1 1 L67 L87 1 1 1 0 0 0 L68 L88 1 1 1 0 0 1 L69 L89 1 1 1 0 1 0 L70 L90 1 1 1 0 1 1 L71 L91 1 1 1 1 0 0 L72 L92 1 1 1 1 0 1 L73 L93 1 1 1 1 1 0 L74 L94 1 1 1 1 1 1 L75 L95 0 0 X...

Page 178: ...0 D A1 X axis manual feed direction commanding bit LOAD M0 1 AND M50 B M50 B ORG ORG mode state bit AND NOT M50 D M50 D ZP2 Y axis return completion state bit OUT M80 F M80 F A2 Y axis manual feed dir...

Page 179: ...signal becomes 1 then the Y axis is selected and if it becomes 0 then the X axis is selected LOAD X0 5 AND NOT M50 F M50 F MPG MPG mode state bit OUT M80 6 M80 6 MPG MPG mode command bit LOAD X0 6 OU...

Page 180: ...to the M83 and M84 of Y axis incremental distance LOADP X1 1 GET L102 M81 A command to set the L102 value to the M81 and M82 of X axis incremental distance GET L103 M83 A command to set the L103 value...

Page 181: ...de commanding bit LOADP M0 5 GET L110 M81 A command to set the L110 value into the M81 and M82 of X axis target position GET L111 M83 A command to set the L111 value into the M83 and M84 of Y axis tar...

Page 182: ...ut contact area of the extended No 1 unit MCU E Y2 F Y2 0 x x x x x x x x Output contact area of the extended No 1 unit MCU L Y3 F Y3 0 Output contact area of the extended No 2 unit MCU E Y4 F Y4 0 x...

Page 183: ...Contact name General contact X4 0 X5 3 Input contact area of the MCU E module X5 4 X5 F Input contact area of the MCU L module 2 Output contact area Y0 0 Y4 F Output contact area of the main unit Y0 0...

Page 184: ...ct area M0 0 M199 F Auxiliary memory contact area M0 0 M49 F M100 0 M199 F Used as a general memory contact 5 Timer contact area T0 0 T0 F Contact area of timer TMR 0 TMR 15 6 Counter contact area C0...

Page 185: ...xtended No 1 unit MCU E Y2 F Y2 0 x x x x x x x x Output contact area of the extended No 1 unit MCU L Y3 F Y3 0 Output contact area of the extended No 2 unit MCU E Y4 F Y4 0 x x x x x x x x Output con...

Page 186: ...module Input contact area of the extended No 2 unit X4 0 X4 F Contact name General contact X4 0 X5 3 Input contact area of the MCU E module X5 4 X5 F Input contact area of the MCU L module 2 Output c...

Page 187: ...M0 0 M49 F M100 0 M 199 F Auxiliary memory contact area M0 0 M49 F M100 0 M199 F Used as a general memory contact 5 Timer contact area T0 0 T0 F Contact area of timer TMR 0 TMR 15 6 Counter contact a...

Page 188: ...rea PLC MC M99 F M99 0 M100 F M100 0 M1600 M3199 C24 M001600 M003199 UC24 MW100 MW199 MK MW100 MW199 GM CIO 0900 00 CIO 0999 15 Auxiliary contact area M199 F M199 0 T0 F T0 0 TC0000 TC0015 C24 TC00000...

Page 189: ...500 C24 word D000501 D000500 UC24 word DW501 DW500 MK MW801 MW800 GM CIO 3400 CIO 3401 Velocity data area F0 F9 32Bits data type F1 D0503 D0502 C24 word D000503 D000502 UC24 word DW503 DW502 MK MW803...

Page 190: ...PLC communication module setting and touch connection When connecting a TOUCH panel for example select No 1 TOP PMU of M2I company No 4 GP for Proface company and one among No 1 and 4 for other compan...

Page 191: ...XA2 MCU XP2 Protocol type of a PLC communication parameter No 1 Protocol type of a PLC communication parameter No 4 MCU RS232C TOUCH GP GP Unit 2 RXD 1 PTC 3 TXD 4 6 7 5 SG 8 9 2 SD 1 FG 3 RD 4 RS 6...

Page 192: ...sition and connection of MCU XA2 MCU XP2 MCU XA2 XP2 1 2 3 4 5 6 7 8 9 RS232C RX RS232C TX SG TRX SRD A TRX SRD B RDA RDB SDA SDB SG RS485 Interface PLC Touch MCU MA2 MP2 1 2 3 4 5 6 7 8 9 PROTOCOL RS...

Page 193: ...1 O U T 3 S E R V O O N _ Y O U T C O M 1 2 4 V G N D 2 4 V G N D A A B B C C A C M D 2 4 V IN C O M 1 2 4 V IN 6 S T A R T IN 7 S T O P IN 2 L IM IT S W IT C H _ Y IN 3 L IM IT S W IT C H _ Y IN 5 O...

Page 194: ...2 1 1 5 7 6 5 1 1 8 3 9 4 0 2 5 4 9 2 5 2 4 V P A O P A O P B O P B O P Z O P Z O S P D IN G N D R D Y S V O N E N E S T O P C C W L IM C W L IM G N D 2 4 A A B B C C A C M D A G N D G N D 2 4 V IN C...

Page 195: ...C H _ X IN 8 R E S E T IN 9 S E R V O R E A D Y _ X A G N D 19 P LB 47 N O T 48 P O T O U T 3 S E R V O O N _Y O U T C O M 1 24 V G N D 24 V G N D A A B B C C A C M D 24 V IN C O M 1 24V IN 6 S T A R...

Page 196: ...T S W IT C H _ X IN 1 L IM IT S W IT C H _ X IN 4 O R IG IN S W IT C H _ X IN 8 R E S E T IN 9 S E R V O R E A D Y _ X A G N D O U T 3 S E R V O O N _ Y O U T C O M 1 2 4 V G N D 2 4 V G N D A A B B C...

Page 197: ...1 3 4 5 EB EA EC V REF SALM SALM EB EA EC VREF SG 24VIN SV O N P OT N OT O UT3 SERVO O N _Y OUTCOM 1 24V GND 24V GND A A B B C C ACM D 24V INCOM 1 24V IN6 START IN7 STOP IN2 LIM IT SW ITCH_Y IN3 LIM I...

Page 198: ...IN 8 R E S E T A G N D 4 2 4 3 2 9 S R D Y IN 9 S E R V O R E A D Y _ X 3 0 S R D Y 4 4 P O T N O T O U T 3 S E R V O O N _ Y O U T C O M 1 2 4 V G N D 2 4 V G N D A A B B C C A C M D 2 4 V IN C O M...

Page 199: ...SER VO R EADY_X C W PU LSE C W PU LSE 22 23 PPA PPA C C W D IR CC W D IR PPB PPB 28 47 48 ALM N O T P O T 27 ALM INC O M 1 24V IN 6 STAR T IN7 STO P IN2 LIM IT SW ITC H_Y IN3 LIM IT SW ITC H_Y IN 5 O...

Page 200: ...SERVO ON_X OUTCOM0 24V GND PF PF PR PR 23 40 41 RDY RDY IN9 SERVO READY_X 50 24VIN CW PULSE CW PULSE CCW DIR CCW DIR INCOM1 24V IN6 START IN7 STOP IN2 LIMIT SWITCH_Y IN3 LIMIT SWITCH_Y IN5 ORIGIN SWIT...

Page 201: ...B5 A20 A3 A2 B15 PG N G ALM C O M SO N SG PP N P EM G C W PU LSE C W PU LSE C C W D IR C C W D IR IN C O M 1 24V IN 6 STAR T IN 7 STO P IN2 LIM IT SW ITC H _Y IN3 LIM IT SW ITC H_Y IN 5 O R IG IN SW I...

Page 202: ...TCOM0 24V GND PLUS PULS SIGN SIGN 23 45 SALM IN9 SERVO READY_X 1 24VIN 11 13 4 5 P OT N OT CW PULSE CW PULSE CCW DIR CCW DIR INCOM1 24V IN6 START IN7 STOP IN2 LIMIT SWITCH_Y IN3 LIMIT SWITCH_Y IN5 ORI...

Page 203: ...8 RESET 42 43 29 S RDY IN9 SERVO READY_X 30 S RDY 23 P OT N OT 7 8 11 12 PULS PULS SIGN SIGN OUT3 SERVO ON_Y OUTCOM 1 24V GND CW Pulse 2 CW Pulse 2 CCW Dir 2 CCW Dir 2 INCOM1 24V IN6 START IN7 STOP IN...

Page 204: ...40 15 ESTO P CW LIM CCW LIM 49 24VIN CW PULSE CW PULSE 11 10 PPFIN PFIN CCW DIR CCW DIR PPRIN PRIN INCO M 1 24V IN6 START IN7 STO P IN2 LIM IT SW ITCH_Y IN3 LIM IT SW ITCH_Y IN5 O RIG IN SW ITCH_Y IN8...

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