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LSIS XBC-DN20S User Manual Download Page 165

Chapter 5 Positioning Instructions   

5 

- 

66

 

 

5.3.8 Velocity to Position Transfer Function Block   

 

•Velocity/Position transfer instruction  (APM_VTP) changes the axis presently in velocity control to 

position control and determines position to the target position. For details, see 3.1.4.   

 

(1) Velocity/Position Transfer (APM

_

VTP) 

 

Form 

Description 

 

 
•This  instruction  provides XGB internal positioning with velocity/position transfer 

reference. 

•At the rising edge of the input condition, the axis designated as the AXIS is 

transferred from velocity operation to position operation.   

•At this time, the present position outputted from the previous velocity control 

operation is initialized to 0 and the system operates in absolute coordinates 
system to the target position.   

 

 

(2) Sample Instruction 

•The sample program below shows the operation of the velocity/position control transfer instruction. 

 

(a) Sample Program 

 

 

(b) Used Devices 
 

Device 

Description 

Data Size 

Exemplary Setting 

Velocity/Position 

Transfer 

Velocity/Position Transfer 
reference signal   

BOOL 

- 

%KX6737 

X-axis in-velocity-control 
signal   

BOOL 

- 

%KX6721 

X-axis error state 

BOOL 

- 

 

Summary of Contents for XBC-DN20S

Page 1: ...fore installing wiring operating servicing or inspecting this equipment Keep this manual within easy reach for quick reference XEC DN20SU XEC DN30SU XEC DN40SU XEC DN60SU XEC DP20SU XEC DP30SU XEC DP40SU XEC DP60SU XEC DN32H XEC DN64H XEC DP32H XEC DP64H XGT Series http eng lsis biz XBM DN16S XBM DN32S XBC DN20S U XBC DN30S U XBC DN40SU XBC DN60SU XBC DP20SU XBC DP30SU XBC DP40SU XBC DP60SU XBC DN...

Page 2: ...f some applicable instruction is violated This symbol indicates the possibility of severe or slight injury and damages in products if some applicable instruction is violated Moreover even classified events under its caution category may develop into serious accidents relying on situations Therefore we strongly advise users to observe all precautions properly just like warnings The marks displayed ...

Page 3: ...be turned off and stopped for system safety However in case CPU error if caused on output device itself such as relay or TR can not be detected the output may be kept on which may cause serious problems Thus you are recommended to install an addition circuit to monitor the output status Never connect the overload than rated to the output module nor allow the output circuit to have a short circuit ...

Page 4: ...aused Before installing the module be sure PLC power is off If not electric shock or damage on the product may be caused Be sure that each module of PLC is correctly secured If the product is installed loosely or incorrectly abnormal operation error or dropping may be caused also unusual contact with cable is may cause abnormal operation due to poor contact If lots of vibration is expected in the ...

Page 5: ...crews of terminals tightly with specified torque when wiring If the screws of terminals get loose short circuit fire or abnormal operation may be caused And if the screws of terminals too tighten it may cause dropping of product short circuit or abnormal operation may be caused due to damage of screw or module Surely use the ground wire of Class 3 for FG terminals which is exclusively used for PLC...

Page 6: ...shock or abnormal operation may occur Prior to installing or disassembling the module let all the external power off including PLC power If not electric shock or abnormal operation may occur Keep any wireless installations or cell phone at least 30cm away from PLC If not abnormal operation may be caused Before use edit function during operate make sure to carefully read and understand the User s M...

Page 7: ...Safety Instruction Safety Instructions for waste disposal Product or battery waste shall be processed as industrial waste The waste may discharge toxic materials or explode itself Caution ...

Page 8: ...1 6 4 1 5 1 V1 1 2008 3 1 Adding type and function according to developing XGB compact type basic unit XBC DxxxH V1 2 2009 8 1 Adding type and function according to developing XGB compact type basic unit XEC DxxxH 1 Adding description on positioning flag 2 Adding description on positioning instruction 3 Adding Positioning program example V1 4 2011 6 1 Adding type and function according to developi...

Page 9: ...ions such as programming printing monitoring and debugging when using XGB IEC language series products 10310000834 XGK XGKB Instructions Programming It is the user s manual for programming to explain how to use instructions that are used PLC system with XGB CPU 10310000510 XGI XGR XEC Instructions Programming It is the user s manual for programming to explain how to use instructions that are used ...

Page 10: ... type I O input signal 1 6 1 4 2 Allocation of standard type S type output signal 1 7 1 4 3 Allocation of high end type H type input signal 1 8 1 4 4 Allocation of high end type H type output signal 1 9 1 5 I O wiring by using Smart Link Board 1 10 1 5 1 Smart link board 1 10 Chapter 2 General Specification 2 1 2 7 2 1 General Specification 2 1 2 2 Power Specification 2 2 2 2 1 Standard type XBM D...

Page 11: ...troke Upper Lower Limits 3 24 3 1 14 Output of positioning completion signal 3 25 3 2 Positioning Parameter 3 26 3 2 1 Positioning parameter setting sequence 3 26 3 2 2 Relationship between positioning parameter and dedicated K area 3 30 3 2 3 Setting basic positioning parameters 3 31 3 2 4 Origin Manual Parameter Setting for Positioning 3 38 3 3 Positioning Operation Data 3 41 3 4 Positioning Sta...

Page 12: ... 2 14 Positioning Speed Override Instruction 5 36 5 2 15 Inching Starting Instruction 5 38 5 2 16 Starting Step Number Change Instruction 5 39 5 2 17 M Code Cancel Instruction 5 40 5 2 18 Current Position Preset Instruction 5 41 5 2 19 Emergency Stop Instruction 5 42 5 2 20 Error Reset Output Inhibition Inhibition Termination 5 43 5 2 21 Parameter Operation Data Save 5 45 5 2 22 Pulse width Modula...

Page 13: ...Function Block 5 93 5 3 23 Pulse width Modulation 5 95 Chapter 6 Positioning Monitoring Package 6 1 6 9 6 1 Introduction to Positioning Monitoring Package 6 1 6 1 1 Introduction of Positioning Monitoring Package 6 1 6 2 Menus and Functions of Positioning Monitoring 6 3 6 2 1 Monitoring and Command 6 3 6 3 Parameter Operation Data Setting Using Monitoring Package 6 8 6 3 1 Changing the Position Par...

Page 14: ... 7 2 14 Speed Position and Parameter Teaching 7 34 Chapter 8 Troubleshooting Procedure 8 1 8 6 8 1 Basic Procedure of Troubleshooting 8 1 8 2 Check by Using the LED 8 2 8 2 1 LED Check 8 2 8 3 Check by Error Code 8 5 8 3 1 How to Check Error Codes 8 5 8 4 Check of Motor Failures 8 6 8 4 1 If the Motor Doesn t Work 8 6 Appendix 1 List of Error Codes APP 1 1 APP 1 7 APP 1 1 List of PLC Error Codes A...

Page 15: ... List APP 2 2 APP 2 2 1 K area of positioning basic parameter APP 2 2 APP 2 2 2 K area of positioning home parameter APP 2 3 APP 2 2 3 Positioning operation data K area APP 2 4 Appendix 3 Motor Wiring Example APP 3 1 APP 3 35 APP 3 1 Stepping Motor Wiring Example APP 3 1 APP 3 2 Servo Motor Wiring Example APP 3 2 Appendix 4 Dimension APP 4 1 APP 4 7 ...

Page 16: ... move an object from the current position to a designated position and this function executes highly precise position control by sending a position pulse string signal to types of servo drive or stepping motor control drive For applications it may be widely used for instance machine tools semiconductor assembling machine grinder small machine center lifter and etc XGB positioning function general ...

Page 17: ...itching control are available e It also provides various home return functions 1 Home return can be chosen among the following three Origin detection after DOG Off When DOG On Origin detection after deceleration Origin detection by DOG 2 temporary position can be set as machine s origin by using floating origin setting function 3 Easy maintenance It saves data such as position data and parameter i...

Page 18: ...per axis operation step no 1 80 Setting method Setting through Embedded parameter of XG5000 permanent auto preservation Setting through dedicated monitoring package permanent preservation by PADT instruction Setting through K area dedicated for positioning permanent preservation by application instruction WRT APM_WRT instruction Positioning monitor Special module monitoring of XG5000 monitoring by...

Page 19: ...Chapter 1 General 1 4 1 3 Operation Sequence of Positioning 1 3 1 Operation Sequence of Positioning Operation sequence is as follows XBM DN S V1 2 or above XBC DN H V2 2 or above XEC DN H V3 0 or above ...

Page 20: ...Chapter 1 General 1 5 1 3 2 Flow of position signal Flow of position signal is as follows XGB Positioning signal flow ...

Page 21: ...2D P025 P02C P024 P02B P023 P02A P022 P029 P021 P028 P020 2 Allocation of external input signal Signal name Input contact point no Detail External lower limit signal LimitL X axis P0000 detected at the falling edge of input contact point Normally closed contact point B contact point Y axis P0002 detected at the falling edge of input contact point External upper limit signal LimitH X axis P0001 det...

Page 22: ...itioning X axis pulse string output contact point Open collector output Low Active and High Active is selectable in parameter setting Y axis P0021 Positioning Y axis pulse string output contact point Open collector output Direction output X axis P0022 Positioning X axis direction output contact point Open collector output Y axis P0023 Positioning Y axis direction output contact point Open collecto...

Page 23: ... signal In case of compact standard high end type external input signal for built in positioning is allocated as follows 1 I O terminal block array Array of XGB transistor output type basic unit is as figure below Input P0 Output P4 based on XBC DN30S based on XBC DN32H ...

Page 24: ...ct point Y axis P000B IX0 0 11 Detected at the falling edge of input contact point DOG signal X axis P000C IX0 0 12 When homing detected at rising edge Normally opened contact point A contact point Y axis P000E IX0 0 14 When homing detected at rising edge ORIGIN signal X axis P000D IX0 0 13 When homing detected at rising edge Y axis P000F IX0 0 15 When homing detected at rising edge Input common X...

Page 25: ...ting Y axis P00021 P00041 QX0 0 1 Positioning Y axis pulse string Open collector output Y axis CW pulse string output Open collector output Direction output CCW output X axis P00022 P00042 QX0 0 2 X axis direction output contact point Open collector output X axis CCW pulse string output Open collector output Y axis P00023 P00043 QX0 0 3 Y axis direction output constant point Open collector output ...

Page 26: ...T40P 40 SLT CT101 XBE 1m For extension module connection 40Pin XBE TN32A SLP T40P 40 SLT CT101 XBE 1m SLP RY4A 40 SLP CT101 XBE 1m For extension module connection 40Pin Exclusive for relay built in SLP type It describes wring of XGB SLP T40P and SLT CT101 XBM For wring of other smart link boards or XGB extension module refer to XGB user manual for hardware 1 SLT T40P terminal array Terminal array ...

Page 27: ... XBM is as follows XBM DN32S SLP T40P SLT CT101 XBM At this time relationship of XGB I O signal and Smart link board terminal number is as follows The following figure describes signal allocation when SLT CT101 XBM is used as connection cable When the user makes the cable make sure that wring is done as figure below ...

Page 28: ... Test specifications of LSIS Electrostatic discharge Voltage 4kV contact discharge IEC61131 2 IEC61000 4 2 Radiating electronic field noise 80 1 000 10V m IEC61131 2 IEC61000 4 3 Fast transient Burst noise Type Power module Digital Analogue Input Output Communication interface IEC61131 2 IEC61000 4 4 Voltage 2kV 1kV 8 Environment Free of corrosive gas and dust 9 Altitude Lower than 2 000m 10 Pollu...

Page 29: ...ification 0 75 2 2 2 2 Compact standard type XB E C DR DN DP S U power specification Item Specification XB E C DR N P 20S U DR N P 30S U XB E C DR DN DP40SU XB E C DR DN DP60SU Input Rated input voltage AC 100 240 V Input voltage range AC85 264V 15 10 Inrush current 50APeak or below Input current 0 5A or below 220V 1A or below 110V Efficiency 65 or above Allowed temporary cutoff 10 or below Output...

Page 30: ...ush current 50APeak or less Input current 0 5A or less 220V 1A or less 110V Efficiency 65 or above Allowed temporary cutoff 10 or less Checking is necessary Output Rated output DC5V 2A 3A DC24V 0 4A 0 6A Output voltage ripple DC5V DC 4 9 5 15V 2 3 DC 4 9 5 1V 2 DC24V DC21 4 26 4 V 2 Voltage status display In case output voltage is normal LED On Cable specification 0 75 2 mm 2 Checking is necessary...

Page 31: ...voltage DC24V DC20 4 28 8V 15 20 ripple rate 5 or less Rated input current about 7 24V About 4 24V Insulation method Photo coupler insulation Input impedance About 3 3 About 5 6 On voltage current DC 19V or above 5 7 or above DC 19V or above 3 4 or above Off voltage current DC 6V or less 1 8 or less DC 6V or less 1 1 or less Response time 0 5 or less When used for positioning Min input width 100 o...

Page 32: ...0 5 or less when used for input for positioning Min input width 200 or above Circuit configuration and terminal array No Contact No Contact TB1 RX TB2 485 TB3 TX TB4 485 TB5 SG TB6 00 TB7 01 TB8 02 TB9 03 TB10 04 TB11 05 TB12 06 TB13 07 TB14 08 TB15 09 TB16 0A TB17 0B TB18 0C TB19 0D TB20 0E TB21 0F TB22 10 TB23 24G TB24 COM For XBC DN20S U there is no actual input point P0000C P0000F If you want ...

Page 33: ...ent DC 6V or less 1 1 or less Response time 0 5 or less when used for input for positioning Min input width 200 or above Circuit configuration and terminal array No Contact No Contact TB1 RX TB2 485 TB3 TX TB4 485 TB5 SG TB6 P00 IX0 0 0 TB7 P01 IX0 0 1 TB8 P02 IX0 0 2 TB9 P03 IX0 0 3 TB10 P04 IX0 0 4 TB11 P05 IX0 0 5 TB12 P06 IX0 0 6 TB13 P07 IX0 0 7 TB14 P08 IX0 0 8 TB15 P09 IX0 0 9 TB16 P0A IX0 ...

Page 34: ...t 0 1A 1 point or below Insulation method Photo coupler insulation Inrush current 1A 10 or below Voltage drop when On DC 0 3V or below Leakage current when Off 0 1 or below Response time 0 1 or below Rated load resistor load Circuit configuration and connector array standard type No Contact No Cont act B10 P20 A10 P28 B09 P21 A09 P29 B08 P22 A08 P2A B07 P23 A07 P2B B06 P24 A06 P2C B05 P25 A05 P2D ...

Page 35: ...n and terminal array No Contact No Contact TB1 AC power TB2 FG TB3 TB4 P TB5 P20 QX0 0 0 TB6 P21 QX0 0 1 TB7 P22 QX0 0 2 TB8 P23 QX0 0 3 TB9 COM0 TB10 P24 QX0 0 4 TB11 P25 QX0 0 5 TB12 P26 QX0 0 6 TB13 P27 QX0 0 7 TB14 COM1 TB15 P28 QX0 0 8 TB16 P29 QX0 0 9 TB17 P2A QX0 0 10 TB18 P2B QX0 0 11 TB19 COM2 TB20 P2C QX0 0 12 TB21 P2D QX0 0 13 TB22 P2E QX0 0 14 TB23 P2F QX0 0 15 TB24 COM3 TB1 TB24 TB23 ...

Page 36: ...Response time 0 1 or les rated load resistive load Circuit configuration and terminal array No Contact No Contact TB1 AC power TB2 FG TB3 TB4 P TB5 P20 QX0 0 0 TB6 P21 QX0 0 1 TB7 P22 QX0 0 2 TB8 P23 QX0 0 3 TB9 COM0 TB10 P24 QX0 0 4 TB11 P25 QX0 0 5 TB12 P26 QX0 0 6 TB13 P27 QX0 0 7 TB14 COM1 TB15 P28 QX0 0 8 TB16 P29 QX0 0 9 TB17 P2A QX0 0 10 TB18 P2B QX0 0 11 TB19 COM2 TB20 P2C QX0 0 12 TB21 P2...

Page 37: ...n positioning consists of Pulse Direction or CW CCW like figure below At this time output level of Low Active and High Active can be specified by positioning parameter and K area flag dedicated for positioning X axis K4871 KX7793 Y axis K5271 KX8433 Supported at S H type Supported at H type ...

Page 38: ...Ch 5 3 4 Ch 5 3 5 Operation If the rising edge of start command is detected it moves with designated speed to designated position and after dwell time complete signal is on during one scan Speed control Operation pattern DST IST APM_DST APM_IST Ch 5 2 3 Ch 5 2 4 Ch 5 3 4 Ch 5 3 5 Operation If the rising edge of start command is detected it moves with designated speed and stops after deceleration b...

Page 39: ...nterpolation control is executed by start command from current position to target position Concurrent start Operation pattern SST APM_SST Ch 5 2 6 Ch 5 3 7 Operation X axis and Y axis starts concurrently by start command At this time each operation data such as operation speed target position is applied to each axis Sync start Operation pattern SSP SSS APM_SSP APM_SSSB Ch 5 2 10 Ch 5 2 11 Ch 5 3 1...

Page 40: ...d by operation parameter Position override Operation pattern POR APM_ POR Ch 5 2 12 Ch 5 3 13 Operation It changes the target position by position override command Speed override Operation pattern SOR APM_ SOR Ch 5 2 13 CH 5 3 1 4 Operation It changes the speed by speed override command Speed override with position Operation pattern PSO APM_ PSO Ch 5 2 14 Ch 5 3 15 Operation It changes the speed a...

Page 41: ...efer to the Ch 3 3 Step no Coord Pattern Control Method Rep step Address Pulse M Code A D No Speed pls s Dwell 1 ABS END POS SIN 0 8 000 0 1 100 10 Table 3 1 operation data example of absolute coordinates type In table 3 1 since coordinates is ABS control method is POS step no 1 is position control by absolute coordinates It assumes that the current poison is 1000 Since address in step no 1 is 800...

Page 42: ...n table 3 1 since coordinates is INC control method is POS step no 1 is position control by incremental coordinates It assumes that current position is 5000 Since object moves as long as 7000 target stop at 2000 absolute coordinates as shown figure 3 2 At this time increment is 7000 pulse and direction is reverse Figure 3 2 operation example of incremental coordinates type 3 1 3 Speed control Spee...

Page 43: ...well 1 INC END SPD SIN 0 10 10 1 100 10 Table 3 3 operation data example of speed control In table 3 3 since Control is SPD step no 1 is operation data of speed control Since Address is positive number and Speed is 100 target moves forward with 100 pls s speed regardless of current position until stop command DEC stop or EMG stop If object moves flag X axis K4200 KX6720 Y axis K4300 KX6880 is on A...

Page 44: ...s item doesn t affect the operation Since control method also changes by speed position switching control method in the operation data doesn t affect the operation In case of speed position switching object keeps its previous direction 1 Example It assumes that operation data is specified as shown table 3 4 Step no Coord Pattern Contr ol Metho d Rep step Address Pulse M Code A D No Speed pls s Dwe...

Page 45: ...ntrol by switching command VTP instruction In case of position speed switching control items affecting the operation are different according to control method In case position control all items affect the operation but in case of speed some items affect the operation as shown below First object moves by position control If position speed switching control is executed object will move by speed cont...

Page 46: ...ordinates When linear interpolation control is executed object moves based on the origin designated by Home return Direction is determined by start address and target address for each axis start address target address Forward start address target address Reverse a How to set operation data In the linear interpolation control since two axes operates concurrently it needs attention The following is ...

Page 47: ... A D No Speed pls s Dwell Step no X 1 ABS END POS SIN 0 8000 0 0 500 100 Y 1 ABS KEEP POS REP 3 1000 0 0 2000 20 Table 3 6 operation data example of linear interpolation control by absolute coordinates Figure 3 6 linear interpolation operation by absolute coordinates If linear interpolation starts main axis is determined automatically based on moving amount of X and Y axis In table 3 6 since movin...

Page 48: ...f Address In case Address is positive number forward In case Address is negative number backward a Example It assumes that operation data is specified as shown table 3 7 and current position are X 1000 Y 4000 Step no Coord Pattern Control Metho d Rep step Address Pulse M Code A D No Speed pls s Dwell Step no X 1 INC END POS SIN 0 6000 0 0 500 100 Y 1 INC KEEP POS REP 3 2000 0 0 2000 20 Table 3 7 o...

Page 49: ...main axis can specified as END KEEP If it is specified as CONT object moves as it is KEEP Available commands during linear interpolation are DEC STOP EMG STOP During linear interpolation operation position speed switching control speed override position override speed override with position If those are executed during liner interpolation operation it may cause error Operation method operation pat...

Page 50: ...ror code 346 occurs and for subsidiary axis error code 344 When using SST instruction specify the main axis to be different with subsidiary axis If not error code 347 will occur If synch control is executed though pulse is not yielded until main axis goes to designated axis flag indicating whether subsidiary axis moves or not turns on X axis K4200 KX6720 Y axis K4300 KX6880 After executing positio...

Page 51: ...2 3 1 9 Home return Home return is used to fine mechanical origin when starting machine Home return is executed according to home parameter for each axis In home parameter items affecting homing are as follows For setting of each parameter refer to Ch 3 2 Type Items Description Home parameter Home Method Setting home method Home Direction Start direction when homing Home Address Origin address whe...

Page 52: ...ome Return High speed if rising edge of DOG signal occurs it operates with Home Return Low speed and monitors if there is falling edge of DOG signal At this time though Origin signal is inputted while DOG signal is On Origin is not determined c If first origin signal is entered after DOG signal changes from On to Off it stops Remark While DOG signal is On origin is not determined by origin signal ...

Page 53: ...ing with slow speed and if it meets falling edge again it waits to determine the origin at the first origin signal 2 At this status if external low limit input signal B contact point is entered target changes the direction and homing forward with high speed 3 At the moment when target meets rising edge of DOG again and falling edge target changes the direction to backward and repeats step 1 if ori...

Page 54: ...s at home return low speed c Origin is determined and it stops if it meets an external entry origin signal with DOG set On while it operates at home return low speed Remark Origin is determined if origin signal is entered with DOG set On as long as home return speed is operating at low speed from high speed via decelerating section with DOG signal set On That is when home return speed is decelerat...

Page 55: ...le target is homing with high speed if rising edge of DOG occurs target speed decreases and change its direction c When it accelerates after changing direction if rising edge of DOG occurs it homes with low speed d In the homing status with low speed rising edge occurs of DOG third time it stops and determines the origin e When On time of DOG signal is larger decreasing time it changes the directi...

Page 56: ...n is 20 000 and operation data is specified as table below It assumes that position override amount is 15 000 Step no Coord Pattern Contr ol Metho d Rep step Address Pulse M Code A D No Speed pls s Dwell 3 ABS END POS SIN 0 40 000 0 0 500 100 1 If operation step 3 starts target moves to 40 000 by absolute coordinates forward 2 If override is executed at the time current position is 30 000 during o...

Page 57: ...en difference between the current speed used for operation and a new speed newly changed by speed override is excessive it may cause a Step over During speed override if target speed is smaller than bias speed it will be operate by bias speed 3 Speed override with position Positioning speed override instruction changes its speed and keeps operating once it reaches the set position during positioni...

Page 58: ...uction Dec stop Dec stop Error 322 keep running Decelerating No change Emergency stop instruction Immediate stop Error status Error 481 No output Off Stop by external signal External upper limit On Immediate stop Forward immediate stop Error status Error 492 6 No change External lower limit On Immediate stop Backward immediate stop Error status Error 493 6 No change Stop by monitoring package Dec ...

Page 59: ... module stop process is as follows Decelerating stop Immediate stop Remark In case of any immediate stop factor during decelerating stop it processes as follow Immediate stop factors internal emergency stop external input upper lower limit Soft upper lower limits d Interpolation stop It decelerates and stops if it meets a stop instruction during interpolation operation If indirect start instructio...

Page 60: ... determined Acceleration deceleration process is controlled by the duration set in jog acceleration deceleration time among parameter settings of this software package If jog speed is set out of allowable range it generates an error and operation is not available Range High speed jog operation 1 100 000 Unit 1pps Low speed jog operation 1 jog high speed Remark Make sure to follow the cautions Bias...

Page 61: ... 492 while if exceeding lower limit it generates Error 493 Note that positioning operation is not available if it stops out of positioning range If it stops due to external input stroke limit detection move it into the controllable range of positioning by manual operation jog operation inching operation manual pulse generator operation External input stroke upper lower limit error is detected by e...

Page 62: ...e operation repeat operation continuous operation sequential operation linear interpolation operation speed position switching operation with position indicated during constant speed operation and inching operation In case operation pattern is KEEP or CONT positioning completion signal is yielded when operation pattern stops completely The operations in single operation mode are as follows The ope...

Page 63: ... V1 2 high end type can be set more than XG5000 V2 2 and it has the following sequence This manual is described by using XG5000 V2 2 1 Opening parameter setting window Select Parameter Embedded Parameter Positioning and double click to open positioning parameter setting window If project is not displayed press View Project Window to open project window shortcut key ALT 1 Positioning parameter sett...

Page 64: ...nsation amount of tolerance in which a machine is not operated due to wear when rotation direction is changed S W upper lower limits during constant speed operation Set whether to detect or not S W upper lower limits during constant speed operation Use upper lower limits Use or not Origin Manual parameters Home Return method Set home return method Home Return direction Set home return direction Or...

Page 65: ...value Coord Setting Cood of each step ABS INC ABS Pattern Setting operation pattern of each step END KEEP CONT END Control Setting control method of each step POS SPD POS Method Setting operation method of each step SIN REP SIN REP step In case of repeated operation setting the next step no 0 Address Setting target address of each step 0 Pulse M Code In case of using M code number indicated when M...

Page 66: ...connected with PLC Write menu is not activated In case of this select Online Connect to connect with PLC When PLC is RUN mode comment is available to download so only comment is displayed in the Write dialog box At this time change PLC s mode to STOP and retry it If downloading parameter basic parameter I O parameter built in parameter is transmitted The downloaded positioning parameter is applied...

Page 67: ...ase of reading it reads built in parameter area XGB executes the initialization by copying the parameter and operation data saved in the built in parameter area to K area dedicated for positioning 1 In case of restarting after power cut 2 In case of changing PLC operation mode 3 In case of restarting PLC by reset command XGB built in positioning is executed by using data of K area and Flags that i...

Page 68: ...word ACC time 1 0 10 000 unit ms 500 K454 KW454 K494 KW494 word DEC time 1 0 10 000 unit ms 500 K455 KW455 K495 KW495 word ACC time 2 0 10 000 unit ms 1 000 K456 KW456 K496 KW496 word DEC time 2 0 10 000 unit ms 1 000 K457 KW457 K497 KW497 word ACC time 3 0 10 000 unit ms 1 500 K458 KW458 K498 KW498 word DEC time 3 0 10 000 unit ms 1 500 K459 KW459 K499 KW499 word ACC time 4 0 10 000 unit ms 2 000...

Page 69: ...positioning when it is set as 0 no use error code 105 occurs 2 Pulse output level For pulse output level select either of Low Active output or High Active output For Low Active output set as 0 for High Active output set as 1 The following figure shows output pulse type in case of Low Active and High Active output based on X axis in case of Y axis pulse string output P21 direction output P23 3 Puls...

Page 70: ...gh M code is set in operation data M code doesn t occur like the following figure If the user use this function it can prohibit the M code function set per operation step simultaneously b WITH mode In case M code output mode is set as WITH like the following figure it outpus M code on signal and M code number when each step runs M code output timing in case of WITH mode c AFTER mode In case M code...

Page 71: ... 100 000 unit pps Bias speed may be used for 1 Positioning operation by start instruction IST DST SSTetc 2 Home operation JOG operation 3 Main axis of interpolation operation not available for sub axis Operation when setting bias speed The figure above shows operation when setting bias speed The entire operation time may be advantageously reduced if bias speed is highly set but excessive value may...

Page 72: ... time ACC and DEC time is defined as shown below a ACC time a duration required to reach from 0 stop speed to the speed limit set in parameter Using bias would be a time consumed to reach from bias speed set to the speed limit set in parameter b DEC time a duration required to reach from the speed limit set in parameter up to 0 stop speed Using bias would be a time consumed to reach from bias spee...

Page 73: ... unit Pulse S W lower limit address value range 2 147 483 648 2 147 483 647 unit Pulse 9 Backlash Compensation Amount A tolerance that a machine does not operate due to wear when its rotation direction is changed if it is moving with motor axis combined with gear and screw is called backlash Therefore when changing a rotation direction it should output by adding backlash compensation amount to pos...

Page 74: ... 500 pulse set as backlash compensation amount So target stops at the precise stop position The following table indicates real pulse output and stop position in case of setting backlash Absolute coordinates is used Operation step Backlash setting amount Target address Direction conversion Real output pulse Stop positio 1 500 10 000 X 10 000 10 000 2 30 000 X 20 000 30 000 3 0 30 500 0 Remark Once ...

Page 75: ...Parameter Setting for Positioning Here describes setting range method of origin manual parameter for positioning and special K area for positioning corresponding to each item They are summarized as the table below Item Setting range Initial value Dedicated K area Data size X axis XBM XBC XEC Y axis XBM XBC XEC Home Return method 0 origin detection after DOG off 1 origin detection after deceleratio...

Page 76: ...struction it is divided into high speed and low speed It refers to a speed operating in regular speed section via accelerating section by home return instruction The range of home return high speed is between 1 100 000 unit pps 5 Home Return low speed It refers to a speed operating in regular speed section via decelerating section from home return high speed by home return instruction The range of...

Page 77: ...gh speed is between 1 100 000 unit 1pps 9 JOG low speed Jog low speed operation is operated with patterns of accelerating regular speed and decelerating sections The range of jog low speed is between 1 100 000 unit 1pps Remark When setting JOG high speed it should be Speed limit JOG high speed Bias speed When setting JOG low speed it should be smaller than JOG high speed 10 JOG ACC DEC time It ref...

Page 78: ...tion control 1 speed control Position K5381 KX8609 K8381 KX13409 Bit Method 0 single 1 repeat Single K5380 KX8608 K8380 KX13408 Bit REP 0 30 High end 0 80 0 K539 KW539 K839 KW839 Word Address pulse 2 147 483 648 2 147 483 647 pulse 0 K530 KD265 K830 KD415 Double word M Code 0 65 535 0 K537 KW539 K837 KW837 Word A D No 0 No 1 1 No 1 2 No 3 3 No 4 0 K5386 87 KX8614 15 K8386 87 KX13414 15 Bit Speed 1...

Page 79: ...d of relevant operation step data Coordinates methods selectable are absolute coordinate and Incremental coordinate For more detail refer to 3 1 2 3 Operation pattern END KEEP CONT and operation method SIN REP The user can select one pattern among three operation patterns per step It can configure how to use the positioning operation data Operation pattern can be set as follows according to Contro...

Page 80: ...cture as ladder shape with accelerated constant and decelerated intervals However depending on position and speed settings special shapes besides a ladder can be witnessed as below 1 In case target address is far less than speed it can t pass the acceleration regular speed deceleration section In this case the positioning is complete without regular speed section 2 In case operation speed is same ...

Page 81: ...tep set in the REP Step which is different with END operation single It assumes that operation data is set as follows to describe END Repetition Step No Coord Pattern Contr ol Metho d REP Step Address Pulse M code A D No Speed pls s Dwell 1 ABS END POS SIN 0 10 000 0 1 1 000 100 2 ABS END POS REP 1 20 000 0 1 500 100 3 ABS END POS SIN 0 30 000 0 1 1 000 100 1 By first start command target moves to...

Page 82: ...operating step 1 B The operation mode of the current step is repetition the step designated as Repeat in the current operation step If you use the continued operation pattern you can conduct the pattern operation that sequentially carried out multiple operating steps with only one operation instruction The continued operation can be explained with the operation data in the following table Step No ...

Page 83: ...table Step No Coordina tes Operation pattern Control Operation mode Repeatin g step Target position Pulse M code Acc Dec No Speed pls s Dwell time 1 INC Continuous Position Single 0 10 000 0 1 500 100 2 INC End Position Repeat 1 20 000 0 1 1 000 0 1 Since the operation pattern of step 1 has been set as continued it operates up to the incremental coordinates 10 000 pulse at 500pps by the first oper...

Page 84: ...X6723 axis Y K4303 KX6883 is set and the M code number set in the M code item of the step operation data is output in the M code output device axis X K428 KW428 axis Y K438 KW438 M code can be set differently for the operation steps of the positioning operation data The setting range is 1 65 535 If you don t want to use M code function for the step just set it at 0 If you don t want to use M code ...

Page 85: ...ual to the bias speed set in the basic positioning parameter and lower than or equal to the speed limit 9 Dwell Time The dwell time to be applied to the operation step The dwell time refers to the time needed to maintain the precise stop of the servo motor in controlling the positioning by using the servo motor and also the standby time given before the next positioning operation when one position...

Page 86: ... M code signal 3 K4203 3 K4303 0 M code Off 1 M code On Origin settled 4 K4204 4 K4304 0 origin not decided 1 origin decided No pulse output 5 K4205 5 K4305 0 output available 1 no output Stopped 6 K4206 6 K4306 0 not stopped 1 stopped Upper limit detected 8 K4208 8 K4308 0 undetected 1 detected Lower limit detected 9 K4209 9 K4309 0 undetected 1 detected Emergency stop A K420A A K430A 0 normal 1 ...

Page 87: ...X6890 0 normal 1 abnormally stopped Normal backward rotation KX6731 KX6891 0 normal direction 1 backward direction Operation acceleration KX6732 KX6892 0 not accelerated 1 accelerated Operation constant speed KX6733 KX6893 0 not constant speed 1 constant speed Operation deceleration KX6734 KX6894 0 not decelerated 1 decelerated Operation dwell KX6735 KX6895 0 not during dwell 1 during dwell Operat...

Page 88: ...Double word KW436 Word Shows current operation step Error code KW427 Word KW437 Word Shows error code in case of an error M code No KW428 Word KW438 Word Shows M code number when M code is on 3 4 2 Flag for Positioning Instruction and Command The flag for positioning instruction and command divides as follows You can easily conduct positioning operation without positioning instruction using the fl...

Page 89: ...mode KX7489 KX8129 0 NONE 1 WITH 2 AFTER KX7490 KX8130 Upper lower limit detection of S W allowed during constant speed operation KX7492 KX8132 0 detection not allowed 1 detection allowed Return to origin method KX7648 49 KX8288 89 0 approximate origin origin OFF 1 approximate origin origin On 2 approximate origin Return to origin direction KX7650 KX8290 0 normal direction 1 backward direction Use...

Page 90: ... the starting switch turns On the starting commanding flag K4290 is set and axis X starts and when the starting switch turns Off the starting contact point is reset Note that the set coil is used for axis X starting commanding flag K4290 instead of ordinary coil output For example if a toggle switch is used for the starting switch and if the starting commanding flag K4290 is not set but ordinary c...

Page 91: ...ple of the program that carries out the jog operation in the corresponding direction while the external input normal direction jog switch P0008 or backward direction jog switch P0009 in On Then the operation speed is jog high speed if the jog low high speed external input P000A is On and high low if Off and can be changed during jog operation too As the start and stop of jog operation is done by t...

Page 92: ... limit of software K0464 Double word K0504 Double word Sets lower limit value of software Backlash correction K0466 Word K0506 Word Sets backlash correction value Origin address K0469 Double word K0509 Double word Sets origin address for origin return High speed of origin return K0471 Double word K0511 Double word Sets high speed for origin return Low speed of origin return K0473 Double word K0513...

Page 93: ...D232 Double word KD252 Double word Sets lower limit value of software Backlash correction KW466 Word KW506 Word Sets backlash correction value Origin address KD234 Double word KD254 Double word Sets origin address for origin return High speed of origin return KD235 Double word KD255 Double word Sets high speed for origin return Low speed of origin return KD236 Double word KD256 Double word Sets lo...

Page 94: ...ion speed K0534 K0834 Double word Step 01 dwell time K0536 K0836 Word Step 01 M code number K0537 K0837 Word Step 01 operation method K05380 K08380 Bit Step 01 control method K05381 K08381 Bit Step 01 operation pattern Low K05382 K08382 Bit Step 01 operation pattern High K05383 K08383 Bit Step 01 coordinates K05384 K08384 Bit Step 01 acc dec number Low K05386 K08386 Bit Step 01 acc dec number High...

Page 95: ...ep 01 coordinates KW539 KW839 Word The table above shows the area K for positioning of the operation step 1 You can change the operation data without setting the parameters by changing the value of the corresponding area K If you want to permanently preserve the operation data of the changed area K apply the data of current area K to the built in parameter area by using the applied instruction WRT...

Page 96: ...xis X P0010 IX0 0 16 Contact point randomly selected Axis Y P0011 IX0 0 17 Contact point randomly selected Jog reverse direction switch Axis X P0012 IX0 0 18 Contact point randomly selected Axis Y P0013 IX0 0 19 Contact point randomly selected 3 Making the Program for Operation Check Make the program for checking the operation by using XG5000 For the details and making of the program see 4 2 Makin...

Page 97: ...uble word with XG5000 and whether the current position address has stopped increasing c Check of Reverse Direction Rotation of Jog Turn on the axis X jog reverse direction switch P0012 IX0 0 18 with the normal direction switch of the jog Off Check whether the XGB positioning function is generating jog reverse direction output normally 1 Output LED Check P0020 QX0 0 0 flashes quickly P0022 QX0 0 2 ...

Page 98: ...tion time 4 0 10 000 unit ms 2 000 Word S W upper limit 2 147 483 648 2 147 483 647 pulse 2 147 483 647 Double word S W lower limit 2 147 483 648 2 147 483 647 pulse 2 147 483 648 Double word Backlash correction 0 65 535 pulse 0 Word SW upper and lower limit during constant speed operation 0 not detected 1 detected 0 Bit Use of upper and lower limit 0 not used 1 used 1 Bit 2 Home return Manual Ope...

Page 99: ...Chapter 4 Positioning Check 4 4 3 Example of the Program The following is an example of the program for positioning check a In case of XBM XBC b In case of XEC ...

Page 100: ... 8 STP Stop Slot instruction axis deceleration time 5 2 9 SSP Position synchronization Slot instruction axis step number main axis position main axis setting 5 2 10 SSS Speed synchronization Slot instruction axis synchronization rate delay time 5 2 11 POR Position override Slot instruction axis position 5 2 12 SOR Speed override Slot instruction axis speed 5 2 13 PSO Positioning speed override Slo...

Page 101: ...M_SSP Position synchronization Req Base Slot Axis Step number main axis Main axis position 5 3 11 APM_SSSB Speed synchronization Req Base Slot Axis main axis rate of sub axis delay time 5 3 12 APM_POR Position override Req Base Slot Axis position 5 3 13 APM_SOR Speed override Req Base Slot Axis speed 5 3 14 APM_PSO Positioning speed override Req Base Slot Axis position speed 5 3 15 APM_INC Inching...

Page 102: ...ime dec acc time during origin return operation origin return deceleration time Set deceleration time during origin return operation DWELL time Time it takes to remove remaining pulse of the deviation counter right after origin return is finished In general the origin return divides into two ways one of which is using the DOG and the other is not using it In XGB positioning function the following ...

Page 103: ...lue set in the origin return parameter s Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed This is an error of instruction execution so the error flag axis X K4201 axis Y K4301 of area K for positioning does not turn On 2 Related Device Alarm The parameters and area K devices related to ORG instructions are as ...

Page 104: ...n instructions are described as follows with the examples of the parameters and programs The examples of the ORG instructions are described on the basis of axis X a Parameter Setting Parameter Item Value origin return method 1 DOG origin On origin return direction 1 reverse direction Origin address 0 origin return high speed 50 000 pps origin return low speed 500 pps origin return acceleration tim...

Page 105: ...nal after switch to the origin return low speed the output immediately stops and the origin determining status flag K4204 bit turns On after the dwell time 100ms There may be a delay as long as dwell time 1 scan time until the origin determining status flag K4204 bit turns On after the output stops 4 Then the current address is preset at 0 which is the origin address set in the parameter Remark Th...

Page 106: ...dge of the input condition If the instruction is carried out the current position address becomes 0 and the origin determining bit axis X K4204 axis Y K4304 turns On b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed Remark Floating origin setting presets the current position at 0 and only fixs the origin so y...

Page 107: ...0 axis X floating origin instruction signal K4200 Signal during axis X operation K4201 axis X error c Operation of the Program The FLT instruction is executed when there is the rising edge of M0000 which was used as axis X floating origin instruction signal Not if axis X is operating or in error If the FLT instruction is executed the origin is fixed right away at the current position differently f...

Page 108: ... is for directly ordering the start to XGB built in positioning This instruction carries out direct starting of the axis designated as ax of XGB positioning at the rising edge of input condition If the instruction is executed positioning operation is started by using the target position set in n1 the target speed set in n2 the dwell time set in n3 and the M code number set in n4 instead of the ope...

Page 109: ... error of execution of the instruction so the error of positioning area K flag axis X K4201 axis Y K4301 does not turn On 2 Example of Use of the Instruction Direct starting instruction is described with the example of the following program The example of use of the DST instruction is described on the basis of axis X a Example of the Program b Device Used Device Description Data size Example of se...

Page 110: ...osition will be 100 000 pulse set as double word in D0002 The target speed will be 30 000 pps set as double word in D0002 After positioning is finished the dwell time becomes 100ms set in D0004 and No 123 designated in D0005 will be output as the M code Since the control word of D0006 is H 20 the acceleration deceleration pattern will follow the acceleration time 2 and deceleration time 2 of the b...

Page 111: ... is carried out by the operation data set in the step number of area K designated in n1 If n1 is set at 0 the operation step is executed which is displayed in the step number of current positioning area K axis X K426 axis Y K436 word Various operation patterns such as end continued and incessant operation and single and repeated operation can be made and executed by using the indirect operation in...

Page 112: ...e is the rising edge of M0001 used as the axis X indirect starting instruction signal the IST instruction is executed Not if axis X is operating or in error If the origin is not fixed when the DST is started error code 224 will appear and operation will not occur In such a case turn on M0000 execute the ORG instruction and thereby carry out the origin return and start the DST instruction 1 If the ...

Page 113: ...he starting signal instruction contact point axis X K4290 axis Y K4390 of area K If starting is done by using the starting signal instruction contact point the operation step is fixed at the current operation step number axis X K426 axis Y K436 Therefore if you want to change the operation step when starting by using the starting signal instruction contact point change the operation step by using ...

Page 114: ...The operation pattern that can use straight interpolation operation is limited to End and Continued operation If the main axis is set as Continued and the interpolation operation is started no error is issued in XGB built in positioning but the operation pattern of the main axis is changed into Continued If the auxiliary axis is set as Continued it does not affect the straight interpolation 1 Stra...

Page 115: ...e fixed as 3 since only axis X and axis Y are available Otherwise error code 253 is issued and it does not operate b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed Since this case if an error of execution of the instruction the error in positioning area K error flag axis X K4201 axis Y K4301 does not turn On...

Page 116: ...tioning operation data That is if the IST instruction is started positioning control is conducted in the Incremental coordinates as set in operation data No 3 step moves up to 7 000 pulse at 100pps stops and when the dwell time of 10ms passes positioning is finished 3 As the ax is set at 0 the straight interpolation instruction for axis X is started For actual zero the main and auxiliary axes of a...

Page 117: ...nstruction is executed axis X and axis Y simultaneously start by using the operation data of the step number set in n1 and n2 respectively XGB built in positioning does not have axis Z so the set value of n3 does not affect the operation Axis setting of n4 sets the axis to carry out simultaneous starting by bit as follows Bit No 15 3 2 1 0 Setting Not used Axis Z XGB not used axis Y axis X Each bi...

Page 118: ...ation speed pls s Dwell time X 1 Rel End position Singl e 0 7 000 0 1 100 10 Y 2 Rel End Position Singl e 0 2 000 0 2 300 10 c Operation of the Program SST instruction is executed it the rising edge of M0001 which was used as the instruction signal of the simultaneous starting is generated 1 If the simultaneous starting instruction SST is executed the two axes are simultaneously started as set in ...

Page 119: ...giving the speed position control switching instruction to XGB built in positioning The axis designated as ax at the rising edge in the input condition is switched from the speed operation to position operation The current position which was output during the previous speed control operation is initialized to 0 and operated to the target position by absolute coordinates method b Error If the value...

Page 120: ...et to 0 and position control is carried out up to the target position Now the target position divides into the following cases according to the direct and indirect starting 1 In case of indirect starting the target position of the operating step becomes the target position after the speed position switching 2 In case of direct starting the target position set as the operand in the DST instruction ...

Page 121: ... control switching instruction to XGB built in positioning The axis designated as ax at the rising edge in the input condition is switched from the position operation to speed operation The current position which was output during the previous speed control operation is not initialized to 0 and only the control method is switched to speed control with the operation continued b Error If the value d...

Page 122: ... the position speed switching instruction signal It the position control is going on currently it is switched into speed control and the current position is not preset but only the control method is switched to speed control When using the position speed switching instruction make sure that the instruction is not executed during the speed operation by using the display flag axis X K4210 axis Y K43...

Page 123: ...at the rising edge of the input condition conducts deceleration stop for the deceleration time set in the corresponding operation step b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed Remark If the deceleration time is set at 0 it stops right away without deceleration in XGB positioning In this case note tha...

Page 124: ...positioning Since the deceleration time is set at 0 if the STP instruction is executed it stops right away without deceleration Note the following in executing the STP instruction If it has been stopped by the deceleration stop instruction because the positioning operation has not been finished to the set target position no positioning completion signal axis X K4202 axis Y K4302 is generated and i...

Page 125: ...nous main axis 2 147 483 648 2 147 483 647 DINT n2 Operation step number of auxiliary axis 0 30 standard 0 80 advanced WORD n3 Setting of the main axis of position synchronous 0 axis X or 1 axis Y WORD Flag Set Flag Description Device number Error If the value of ax gets out of the range F110 a Function This instruction is executing main axis position synchronous starting for the XGB built in posi...

Page 126: ...rror code 347 is issued If you want to cancel the main axis position synchronous instruction after you executed it execute the stop instruction of the auxiliary axis STP b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction The main axis position synchronous starting instructio...

Page 127: ...starts No 1 step which is the operation step set in the fourth operand of the SSP instruction Remark When you use the main axis position synchronous instruction if the axis set as the main axis has already been started as the main axis position synchronous auxiliary axis error code 349 is issued and it is not executed If the following example axis Y becomes the auxiliary axis and axis X becomes th...

Page 128: ...ch is the main axis it is started according to the speed synchronous ratio set in n1 The synchronous ratio settable in n1 is 0 01 100 00 set value 1 10 000 If the set speed ratio gets out of this range error code 356 is issued The delay time of n2 refers to the delay time it takes for speed of the auxiliary axis to reach the current main axis speed In XGB built in positioning when controlling the ...

Page 129: ...us control is synchronized to the speed of the main axis for operation of the auxiliary axis so even if the control method of the auxiliary axis is set as position control starting and stop are alternated by the operation of the main axis with the rotation of the auxiliary axis being in the same direction as the main axis If the M code of the auxiliary axis is On when you execute the speed synchro...

Page 130: ...y axis and because the fifth operand is 0 axis X the main axis is axis X If there is the rising edge of M0002 which is the indirect starting instruction signal of the main axis No 1 step of axis X is indirectly started When the main axis is started axis Y is started at the synchronous ratio speed of 100 00 set in the third operand of SSS instruction and is synchronized to the main axis with the de...

Page 131: ...nstruction is giving the position override instruction to the XGB built in positioning This is changing the target position to the position set in n1 during the operation of the axis designated as ax at the rising edge of the input condition The position override instruction is available in the acceleration and deceleration sections and if the position override is executed during dwell error code ...

Page 132: ...0 Pulse operation continues by changing the target position of the currently operating step into 100 000 Note that the value of the target position of No 1 step set in the positioning parameter is not changed If the position override instruction is executed when the current position has passed 100 000 Pulse it is decelerated and stops If the position override instruction is executed during dwell o...

Page 133: ...ride instruction to XGB built in positioning This is for changing the operation speed into the speed set in n1 during the operation of the axis designated as ax at the rising edge of the input condition The speed override instructions available in the acceleration and constant speed sections and if the speed override is executed during deceleration or dwell error code 377 is issued and the current...

Page 134: ... signal of the speed override instruction during operation operation continues by changing the speed of the currently operating step into 10 000 pps Note that the value of the operation speed of No 1 step set in the positioning parameter is not changed If the speed override instruction is executed during deceleration or dwell error code 377 is issued To prevent this make the program by connecting ...

Page 135: ... Function This instruction is giving the positioning speed override instruction to XGB built in positioning The positioning speed override is executed at the axis designated as ax at the rising edge of the input condition and if the current position reaches the position set in n1 during operation the current operation speed is overridden to the speed set in n2 The positioning speed override instru...

Page 136: ...d as the indirect starting instruction signal positioning axis X is indirectly started with operation step 1 If there is the rising edge of M0001 used as the instruction signal of the positioning speed override instruction during operation operation continues by changing the operation speed to 15 000 pps when the position of the currently operating step reaches 50 000 ...

Page 137: ...g It moves to the position set in n1 at the inching speed set in the positioning parameter with respect to the axis designated as ax at the rising edge of the input condition b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction a Example of the Program b Operation of the Progr...

Page 138: ...at the rising edge of the input condition changes into the step set in n1 If the corresponding axis is operating when the starting step change instruction is executed error code 441 is issue and the instruction is not executed If the set value of n1 gets out of the settable range error code 442 is issued and the instruction is not executed either b Error If the value designated as ax instruction a...

Page 139: ...positioning The M code On signal axis X K4203 axis Y K4303 bit of the axis designated as ax at the rising edge of the input condition and M code number axis X K428 axis Y K438 word are simultaneously cancelled b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed 2 Example of Use of the Instruction a Example of t...

Page 140: ...he input condition is changed to the position set in n1 of the instruction by force If the origin is not fixed the origin fixed status axis X K4202 axis Y K4304 turns On and the origin is fixed If the current position preset instruction is executed and if the axis is currently operating error code 451 is issued and the instruction is not executed b Error If the value designated as ax instruction a...

Page 141: ...put immediately stops the output stop status flag axis X K4205 axis Y K4305 turns On and error code 481 is issued If the emergency stop instruction is executed output is inhibited and the origin gets undecided so in order to resume operation set the origin return or floating origin or preset the current position to decide the origin b Error If the value designated as ax instruction axis is other t...

Page 142: ...of ax gets out of the range F110 a Function This instruction is giving the error reset instruction to XGB built in positioning At the rising edge of the input condition the error code generated in the axis designated as ax is cancelled and if the value set in n1 is 0 only the error code is cancelled with the output inhibition maintained If the value set in n1 is other than 0 the output inhibition ...

Page 143: ...erated due to the emergency stop when there is the rising edge of M0001 used as the error cancel instruction signal only the error code of axis X is cancelled but the output inhibition is not cancelled If there is the rising edge of M0002 used as the error termination output inhibition termination instruction signal the error code of axis X and output inhibition are cancelled together ...

Page 144: ...o the setting of n1 at the rising edge as follows Set value 0 1 2 Area k to be permanently preserved Positioning data High speed counter data PID control function data If n1 has been set at 0 the current operation data of area K of axis X and axis Y for positioning are permanently preserved as the positioning parameter If set at 1 the data of area K of all the channels of the high speed counter ar...

Page 145: ...e permanently preserved as the positioning parameter of XGB built in flash memory Remark If WRT instruction is executed the previously saved positioning parameter is deleted and the parameter is changed to the operation data of the current area K Be careful that if WRT instruction is executed the scan time of the scan where the instruction has been executed because the previous positioning paramet...

Page 146: ... n2 at designated axis in ax During PWM output current address don t change Constant speed bit X axis K0420D Y axis K0430S and Operation bit X axis K04200 Y axis K4300 set On b Error If the value designated as ax instruction axis is other than 0 and 1 the error flag F110 is set and the instruction is not executed Remark If PWM instruction is executed other instruction do not operate And upper lowe...

Page 147: ...ference signal K04201 X axis error state c Operation of the Program While M00000 is On which is used as output reference signal PWM is operated At this time the X axis is in operation or errorstatus the instruction will not be executed If PWM executed designated output cycle 500ms for this picture and designated Off duty rate 30 for this picture ...

Page 148: ...il the next execution If erroneous 0 is outputted STAT UINT Error State Indication This area indicates the number of the error occurred in the start up of the function block The errors occurred during operation are indicated in the K area which outputs error codes Other I O variables excluding the common variables presented in the above table are described below 1 Common Error Codes for Function B...

Page 149: ...KX6884 turns on and the present address is preset to the address setup with the Origin return parameter 2 Related Device List The parameters related with the APM_ORG instruction and the exclusive K area devices are presented in the table below Parameter Exclusive K Area Data Type Title Setting Range X axis Y axis Attribute Origin returning method 0 DOG Origin Off 1 DOG Origin On 2 DOG KX7648 KX828...

Page 150: ...s a Parameter Setting Parameter Title Value Origin returning method 1 DOG HOME On Origin returning direction 1 reverse Origin address 0 Origin return at high speed 50 000 pps Origin return at low speed 500 pps Origin return accelerating time 100 Origin return decelerating time 100 Dwell time 100 b Sample Program c Devices Used Device Description StartHoming Signal for X axis Origin return start up...

Page 151: ...ignal enters after being changed to Origin return at low speed the output is immediately stopped and the Origin determination status flag KX6724 is turned on after the dwell time 100ms set up in the parameter From the interruption of the output to the turning On of the Origin determination status flag KX6724 there may be dwell time 1 scan time of delay 4 Here the present address will be preset to ...

Page 152: ...selected as the axis for the XGB positioning When this instruction is executed the present position address becomes 0 and the Origin determination bit X axis KX6724 Y axis KX6884 becomes On Note For floating Origin setting the present position is preset to 0 and only Origin is determined Therefore following cautions should be taken for this instruction Before executing this instruction check it an...

Page 153: ... X axis in operation signal KX6721 X axis error state c Program Operation When the rising edge of the floating reference instruction which was used as the X axis floating reference instruction signal is generated the APM_FLT instruction is executed However the instruction is not executed if the X axis is in operation or error When the APM_FLT instruction is executed the Origins is determined at th...

Page 154: ...pe Description ADDR DINT Target address position Setting range 2 147 483 648 2 147 483 647 SPEED UDINT Operation velocity Setting range 0 100 000 DWELL DINT Dwell time Setting range 0 50 000 MCODE UINT M Code No Setting range 0 65 635 POS_SPD BOOL Position velocity control selection Setting range 0 1 0 position 1 velocity ABS_INC BOOL Absolute Incremental coordinates selection Setting range 0 1 0 ...

Page 155: ... 5 Positioning Instructions 5 56 2 Sample Instruction Direct start up instruction is explained with the sample program below This exemplary APM_DST instruction is with reference to the X axis a Sample Program ...

Page 156: ... perform reference return with APM_ORG instruction before starting up the APM_DST instruction 1 When the direct start up instruction APM_DST instruction is executed positioning operation is started as set up in the operand as shown below Because the BASE SLOT and AXIS are 0 the built in positioning X axis of the base unit is started The target position is the 100 000 pulse set up in ADDR as DINT T...

Page 157: ...ence to the XGB built in positioning At the rising edge of input condition indirect start up is executed in the axis defined to be the axis of XGB positioning When the instruction is executed positioning is performed using the operation data in the K area according to the step No designated to the STEP If the STEP is 0 the operation step indicated at the step No X axis KW426 Y axis KW436 word in t...

Page 158: ...truction is described with reference to X axis a Sample Program b Used Devices Device Description Data Size Setting Examples Reference Determination X axis reference return instruction signal BOOL Indirect Start X axis indirect start up instruction signal BOOL KX6720 X axis in operation signal BOOL KX6721 X axis error state BOOL STEP Start up step No UINT 3 ...

Page 159: ... by 3 positioning operation is carried out with the data in the No 3 step of the positioning operation data In particular when the APM_IST instruction is stated positioning is carried out as set up in the operation data No 3 step in Incremental coordinates move to 7 000 pulse position at 100 pps velocity and stop and after 10ms of dwell time the positioning is completed 2 Here as the M code was se...

Page 160: ...es not follow the setting of the operation data The operation velocity accelerating and decelerating times and bias velocity are calculated automatically with the formula below to perform the operation The operation patterns available for linear interpolation are termination and continuous operation only If the interpolation operation is started when the main axis is set up to be continuous the XG...

Page 161: ...olation Start Interpolation start reference signal BOOL KX6720 X axis in operation signal BOOL KX6721 X axis error state BOOL LIN_AXIS Axis information USINT 3 STEP Operation step No UINT 10 Axis Step No Coord inate Op Pattern Contr ol Type Op Type Rep Step Target Pos Pulse M Code Accl de c No Op Speed pls s Dwell Time X 10 Rel Term Pos Sing 0 7 000 0 1 100 10 Y 10 Rel Term Pos Sing 0 2 000 0 2 30...

Page 162: ...w 2 Since the BASE and SLOT are 0 the internal positioning of the base unit performs linear interpolation operation 3 Since the STEP operation step No was set to 10 main and sub axes are automatically selected with the No 10 operation data of the X axis and Y axis In this example since the target position of the X axis is larger X axis becomes the main the Y axis becomes the sub axis 4 Here the ve...

Page 163: ... No Setting range 0 80 Z_STEP UINT Dummy variable a Function This instruction gives simultaneous start up reference to the XGB internal positioning At the rising edge of the input condition the 2 axes of the XGB positioning are started up simultaneously See 3 1 7 for the difference between using simultaneous start up instruction and continuous start up of 2 axes continuously with PLC ladder progra...

Page 164: ...t Pos Pulse M Code Accl de c No Op Speed pls s Dwell Time X 1 Coor Term Pos Sing 0 7 000 0 1 100 10 Y 2 Coor Term Pos Sing 0 2 000 0 2 300 10 f Program Operation At the occurrence of the rising edge of the simultaneous start up used for the simultaneous start up reference signal the APM_SST instruction is executed 1 When the simultaneous start up instruction APM_SST is executed the 2 axes start up...

Page 165: ... input condition the axis designated as the AXIS is transferred from velocity operation to position operation At this time the present position outputted from the previous velocity control operation is initialized to 0 and the system operates in absolute coordinates system to the target position 2 Sample Instruction The sample program below shows the operation of the velocity position control tran...

Page 166: ...ed as follows according to being in the indirect or direct start up 1 If presently in indirect start up the target position of the step in operation becomes the target position after transfer from velocity to position control 2 If presently in direct start up the target position value set up as the operand with the APM_DST instruction becomes the target position after transfer from velocity to pos...

Page 167: ...ted as the AXIS is transferred from position operation to velocity operation At this time the present position obtained from the previous velocity control operation is not initialized to 0 and only the control mode is changed from position to velocity to continue to operate 2 Sample Instruction The sample program below shows the operation of the position velocity control transfer instruction a Sam...

Page 168: ...sition control mode is changed to velocity control mode The present position is not preset and only control mode is changed After changed to velocity control to stop operation used the stop instruction APM_STP When using this position velocity transfer instruction as shown in the sample program above use the position control indicator flag X axis KX6736 Y axis KX6896 to prevent instruction from be...

Page 169: ...ning At the rising edge of the input condition the axis designated to be the AXIS decelerates and stops at the deceleration time set up in the respective operation step Note It the deceleration time setting is 0 the XGB positioning stops immediately without waiting the time for deceleration In this case the motor may make impact sound by shock which requires caution If the DEC_TIME setting is 0 th...

Page 170: ...Chapter 5 Positioning Instructions 5 71 2 Sample Instruction The sample program below show the exemplary operation of the deceleration stop a Sample Program ...

Page 171: ...n time setting is 0 the STP instruction will result in immediate stop without deceleration time For APM_STP instruction execution take care of followings When stopping by deceleration stop instruction positioning operation is not completed until the set up target position Therefore position determination completed signal X axis KX6722 Y axis KX6882 is not created and if M code was set up the M cod...

Page 172: ...Instruction APM_SSP Form Variable Data Type Description STEP UINT Operation step No Setting range 0 80 MST_ AXIS USINT Main axis Setting range 0 1 0 X axis 1 Y axis MST_ ADDR DINT Target position of main axis Setting range 2 147 483 648 2 147 483 647 a Function This instruction executes position synchronization start up to the XGB internal positioning At the rising edge of the input condition sync...

Page 173: ...etermined at the start of the APM_SSP instruction error code 346 or 344 respectively will be outputted to STAT When using this instruction set up the main axis and sub axis with different axis Otherwise error code 347 will be outputted to STAT To cancel the execution of position synchronization instruction after it is given execute the stop instruction APM_STP to the sub axis 2 Sample Instruction ...

Page 174: ... error state BIT c Program Operation At the rising edge of the position synchronization signal used as the position synchronization reference signal APM_SSP instruction is executed At this time since the AXIS is 1 Y axis Y axis is the sub axis and as the MST_AXIS is 0 X axis X axis is the main axis At the rising edge of the indirect start up signal which is the indirect start up reference signal o...

Page 175: ...on synchronization instruction is executed with the Y axis as the sub axis and the X axis as the main axis In this state if a rising edge of the X axis position synchronization signal occur the position synchronization instruction reference is generated with the X axis as the sub axis and the Y axis as the main axis In this case because the Y axis which is used as the main axis has already been st...

Page 176: ... real pulse at this time the in operation state flag X axis KX6720 Y axis KX6880 of the sub axis is ON and when the main axis MST_AXI starts the sub axis starts at the speed synchronization ratio set up in the AXIS The synchronization ratio which can be set up in the SLV_RAT is 0 01 100 00 setting value 1 10 000 If the setting exceeds this range error code 356 is created The DELAY time is the time...

Page 177: ...of the sub axis is set up position control it repeats start and stop according to the operation of the main axis and the direction of rotation of the sub axis is the same as that of the main axis If the M code of the sub axis is ON at the execution of the speed synchronization instruction error code 353 is outputted to STAT 2 Sample Instruction The program below is to show exemplary operation of s...

Page 178: ...1 Y axis Y axis is the sub axis and as the MST_AXIS is 0 X axis X axis is the main axis At the rising edge of the indirect start up signal which is the indirect start up reference signal the No 1 step of the X axis starts indirectly When the main axis starts up Y axis is started up at the synchronization ratio of 100 00 set up in the third operand of the APM_SSSB instruction and synchronized to th...

Page 179: ...ription POR_ ADDR DINT Position Setting range 2 147 483 648 2 147 483 647 a Function This instruction provides position override reference to the XGB internal positioning At the rising edge of the input condition the axis designated as AXIS changes its target position to the position set up in the POR_ADDR during operation Position override instruction is available for the acceleration constant sp...

Page 180: ...curs before the present position reaches 100 000 Pulse during operation the operation continues by changing the target position of the step presently in operation to 100 000 Take care that the target position value of the No 1 step set up with the positioning parameter itself is not changed If position override instruction is executed after the present position has passed 100 000 Pulse deceleratio...

Page 181: ...INT Operating Speed Setting range 1 100 000 a Function This instruction provides speed override reference to the XGB internal positioning At the rising edge of the input condition the axis designated to be AXIS changes its operating speed to the speed set up in SOR_SPD Speed override instruction is available for the acceleration constant speed and deceleration sections of operation patterns If spe...

Page 182: ...rride reference signal used as the reference signal for the speed override instruction occurs during operation the operation continues by changing the operating speed of the present operation step to 10 000 pps Take care that the speed value of the No 1 step set up with the positioning parameter itself is not changed If speed override instruction is executed while the operation state is in deceler...

Page 183: ...47 PSO_SPD UDINT Operating Speed Setting range 1 100 000 a Function This instruction provides positioning speed override reference to the XGB internal positioning At the rising edge of the input condition the axis designate as the AXIS executes positioning speed override When the present position reaches the points set up in the PSO_ADDR during operation present speed is overridden by the speed se...

Page 184: ... reference signal the positioning X axis is started indirectly by operation step No 1 If the rising edge of the PSO start reference signal which is used as the reference signal for the positioning speed override instruction occurs during operation operation continues by changing the speed to 15 000 pps at the moment when the position of the present operation step reaches 50 000 ...

Page 185: ...ation reference to the XGB internal positioning At the rising edge of the input condition the axis designated as AXIS moves by the distance and speed set up by the INCH_VAL and positioning parameter respectively 2 Sample Instruction a Sample Program b Program Operation At the rising edge of the inching start signal used as the reference signal for inching start the positioning X axis moves by 150 ...

Page 186: ...input condition the present step number of the axis designated to be AXIS is changed to the step set up in the STEP If the axis has been in operation when this instruction is given error code 441 is generated and the instruction is not executed If the setting value in the STEP exceeds allowable range error code 442 is generated and the instruction is not executed 2 Sample Instruction a Sample Prog...

Page 187: ...ase reference to the XGB internal positioning At the rising edge of the input condition the M code On signal X axis KX6723 Y axis KX6883 and the M code number X axis KW428 Y axis KW438 of the axis designated as AXIS are cancelled 2 Sample Instruction a Sample Program b Program Operation At the rising edge of the M code release signal used as the reference signal and if M code is generated to the p...

Page 188: ...dition the present position of the axis designated to be AXIS is changed to the position set up at the PRS_ADDR in the instruction line At this time if the Origin has not been defined the Origin determination status X axis KX6724 Y axis KX6884 becomes ON It the axis has been in operation when this instruction is given error code 451 is outputted to STAT and the instruction is not executed 2 Sample...

Page 189: ...are stopped without deceleration process status flag X axis KX6725 Y axis KX6885 is On and error code 481 is outputted to STAT When this instruction has been executed output is cut off and Origin is undetermined To resume operation Origin must be determined by reference return floating reference setting or present position preset function 2 Sample Instruction a Sample Program b Program Operation A...

Page 190: ... release Setting range 0 1 0 output cut off not released 1 output cut off released a Function This instruction provides error reset reference to the XGB internal positioning At the rising edge of the input condition the error code applied to the axis designated as the AXIS is released At this time if the setting value of the INH_OFF is 0 only the error code is released but the output cut off is ma...

Page 191: ... at the rising edge of the error reset signal which is used as the reference signal for error reset the error code of the positioning X axis only is released and the output cut off is not released At the rising edge of the Error_Output Cut off Release signal used as the reference signal both the error code and output cut off of the positioning X axis are released ...

Page 192: ...rea respective of the n1 setting in the flash memory device of the XGB permanently Setting Value 0 1 2 K area to be preserved Positioning Data High Speed Counter Data PID Control Data If WRT_AXIS is set to 0 the present operation data in the exclusive K area of the positioning functions X axis and Y axis are permanently stored as the positioning parameters If it is set to 1 the setting data in the...

Page 193: ...e permanently stored as the parameters in the XGB s flash memory Note Take care that when the APM_WRT instruction is executed the positioning parameters previously stored are replaced with the operation data of the exclusive K area Take care that when APM_WRT instruction is executed the existing positioning parameters in the flash memory are replaced with the operation data in the exclusive K area...

Page 194: ...age 1 20 000 ms DUTY WORD Off duty rate Setting range 1 100 a Fuction This instruction is for PWM output While the input condition is On state XGB postioning outputs pulse train in designated cycle time in FREQ and designated Off duty rate in DUTY at designated axis in AXIS During PWM output current address don t change Constant speed bit X axis K 6733 Y axis KX6893 and Operation bit X axis KX6720...

Page 195: ... designated output cycle 500ms for this picture and designated Off duty rate 30 for this picture Remark If APM_PWM instruction is executed other instruction do not operate And upper lower limit does not work If APM_PWM instruction is executed STP EMG instruction doesn t operate To stop output Off the Start up contact If output cycle is changed when operating APM_PWM it cannot be applied PWM applic...

Page 196: ...ta and permanently save it in PLC after the adjustment This chapter describes how to run the XGB positioning monitoring package XGB positioning monitoring package is available with over XG5000 V1 2 over V2 2 for XBC over V3 0 for XEC and it is carried out in the following sequence This manual has been made by using XG5000 V2 2 1 Opening the Monitoring Package Select Monitoring Æ Special Module Mon...

Page 197: ...hecks and modifies the positioning parameter of each axis Checks and modifies the operation data of axis X Checks and modifies the operation data of axis Y Carried out positioning monitoring Stops positioning monitoring Permanently saves the changed parameter and operation data in PLC WRT function Saves the changed parameter and operation data in XG5000 project For details of each menu refer to 6 ...

Page 198: ... window on the right 1 Positioning Command The commands available in the positioning monitoring package are as follows To execute an command enter the setting of the command and click on the Run button during jog operation Item Description Command Remark Indirect start Direct start with the operation step set in the monitoring window IST APM_IST 5 2 4 5 3 5 Error reset Resets the error code and ou...

Page 199: ...g operation to the set position inching amount at the inching speed set in the positioning parameter INCH APM_INC 5 2 15 5 3 16 Jog Conducts jog operation at the jog speed set in the parameter Reverse high speed Reverse low speed Jog stop Normal low speed Normal high speed Spd position conversion Changes from speed control to position control VTP APM_VTP 5 2 7 5 3 8 Position spd conversion Changes...

Page 200: ... Current position Current position of each axis K422 K432 DINT Current speed Current speed of each axis K424 K434 DINT Step No Currently operating step of each axis K426 K436 WORD Error code Error code in case of an error of the axis K427 K437 WORD M code M code of the currently operating step K428 K438 WORD Busy Whether the axis is operating K4200 K4300 BIT Positioning complete Whether the positi...

Page 201: ... KW426 KW436 WORD Error code Error code in case of an error of the axis KW427 KW437 WORD M code M code of the currently operating step KW428 KW438 WORD Busy Whether the axis is operating KX6720 KX6880 BIT Positioning complete Whether the positioning has been completed for the axis KX6722 KX6882 BIT M code On M code On Off of the currently operating step KX6723 KX6883 BIT Origin fix Whether the ori...

Page 202: ...BIT 3 Positioning External Input Signal Monitoring The external signal monitoring at the bottom of the monitoring window displays the status of the external input contact point which is the fixed input contact point for the axes as follows Item Displays Type Contact No Remark Axis X Axis Y Upper limit signal External upper limit signal status of the axes XBM P00001 P00003 XBC P00009 P0000B XEC IX0...

Page 203: ...splayed as well To change the parameter first of all change the parameter value to change and select Write PLC Then the changed parameter is transferred to PLC the position parameter saved in PLC is changed and the parameter and operation data that have been changed are applied when the next operation step is started Remark If you execute Write PLC the position parameter set in the positioning mon...

Page 204: ...nd select Write PLC Then the changed operation data is transferred to PLC the operation data saved in PLC is changed and the parameter and operation data that have been changed are applied when the next operation step is started Remark If you execute Write PLC the position parameter set in the positioning monitoring package and the operation data of each axis are all transferred to XGB The paramet...

Page 205: ...ection describes the setting of the positioning system and the input and output signals for the program example of XGB positioning If there is no separate description all the example programs addressed in Chapter 7 were made according to the settings of the input and output signals described in this chapter 1 XBM DNxxS system configuration Remark Be sure to set the basic parameter positioning as 1...

Page 206: ...Chapter 7 Program Examples of Positioning 7 2 2 XBC XEC DNxxH system configuration BCD Digital switch Servo motor Servo driver ...

Page 207: ...tion after the floating origin setting by using the XGB positioning function is as follows 1 XBM XBC a Devices Used Device Description P0040 Axis X error reset output inhibition cancel switch P0041 Axis X axis X floating origin switch P0047 Start switch of axis X K4200 Signal during axis X operation K4201 Error signal of axis X K4290 Axis X start 2 XEC ...

Page 208: ...tern Operatio n pattern Operatio n type Repeat step Target position pulse M code Acc Dec No Operation speed pls s Dwell time 1 Abso lute Position control End Single 0 10 000 0 1 1000 100 2 Abso lute Position control End Single 0 20 000 0 1 1500 100 3 Abso lute Position control End Single 0 30 000 0 1 2000 100 4 Operation Sequence P0041 IX0 1 1 floating origin switch On set as the floating origin a...

Page 209: ... the floating origin is set is as follows 1 XBM XBC a Devices Used Device Description P0008 Axis X error reset output inhibition cancel switch P0009 floating origin switch P000F Straight interpolation start switch K4200 Signal during operation of axis X K4201 Signal of axis X error K4300 Signal during operation of axis Y K4301 Signal of axis Y error ...

Page 210: ...Chapter 7 Program Examples of Positioning 7 6 2 XEC ...

Page 211: ... axis Y error 3 Operation Data Setting Axis Step No coordinat es Control pattern Operation pattern Operation type Repeat step Target position pulse M code Acc Dec No Operation speed pls s Dwell time X 1 Absolute Position control End Single 0 10 000 0 1 1000 100 Y 1 Absolute Position control End Single 0 5 000 0 1 1000 100 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floa...

Page 212: ...on stop during operation is as follows 1 XBM XBC a Devices Used Device Description P0008 Axis X error reset output inhibition cancel switch P0009 axis X floating origin switch P000A axis X deceleration stop switch P000F axis X start switch K4200 Signal during axis X operation K4201 Error signal of axis X ...

Page 213: ...ces Used Device Description IX0 1 0 Axis X error reset output inhibition cancel switch IX0 1 1 axis X floating origin switch IX0 1 2 axis X deceleration stop switch IX0 1 7 axis X start switch KX6720 Signal during axis X operation KX6721 Error signal of axis X ...

Page 214: ... start of axis X is started P000A IX0 1 2 deceleration stop switch On Since the deceleration time is not 0 when the deceleration stop instruction is given it does deceleration stop for the deceleration time 100ms of the currently operating step 7 2 4 Setting of Operation Step Single Operation The example program of conducting the single operation by setting the operation step is as follows 1 XBM X...

Page 215: ...Chapter 7 Program Examples of Positioning 7 11 2 XEC ...

Page 216: ... 1 500 100 3 Abs olute Position control End Single 0 30 000 0 1 2 000 100 10 Abs olute Position control End Single 0 50 000 0 1 1 000 100 11 Abs olute Position control End Single 0 60 000 0 1 1 500 100 12 Abs olute Position control End Single 0 70 000 0 1 2 000 100 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position BCD SNS_STEP switch in...

Page 217: ...e Description P0008 Error reset output inhibition cancel switch P0009 floating origin switch P000C Operation step changing switch P000F axis X start switch P000A Deceleration stop switch of axis X K4200 Signal during axis X operation K4201 Error signal of axis X 2 XEC ...

Page 218: ...ngle 0 20 000 0 1 1 500 100 3 Abs olute Position control End Single 0 30 000 0 1 2 000 100 10 Abs olute Speed control End Single 0 50 000 0 1 1 000 100 11 Abs olute Position control End Single 0 60 000 0 1 1 500 100 12 Abs olute Position control End Single 0 70 000 0 1 2 000 100 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position BCD SNS_...

Page 219: ...follows 1 XBM XBC a Devices Used Device Description P0008 axes X and Y error reset output inhibition cancel switch P0009 axes X and Y floating origin switch P000E simultaneous start switch of axes X and Y K4200 Signal during axis X operation K4201 Error signal of axis X K4300 Signal during axis Y operation K4301 Axis Y error signal ...

Page 220: ...Chapter 7 Program Examples of Positioning 7 16 2 XEC ...

Page 221: ... Step No coordinat es Control pattern Operation pattern Operation type Repeat step Target position pulse M code Acc Dec No Operation speed pls s Dwell time X 1 Absolu te Position control End Single 0 10 000 0 1 1000 100 Y 2 Absolu te Position control End Single 0 20 000 0 1 2000 100 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position P000...

Page 222: ...Y error reset output inhibition cancel switch P0009 axes X and Y floating origin switch P000D Axis X position synchronous switch P000F Indirect start switch f axis Y K4200 Signal during axis X operation K4201 Error signal of axis X K4300 Signal during axis Y operation K4301 Axis Y error signal 2 XEC ...

Page 223: ...itch f axis Y KX6720 Signal during axis X operation KX6721 Error signal of axis X KX6880 Signal during axis Y operation KX6881 Axis Y error signal 3 Operation Data Setting Axis Step No coordinat es Control pattern Operation pattern Operation type Repeat step Target position pulse M code Acc Dec No Operation speed pls s Dwell time X 1 Absolu te Position control End Single 0 10 000 0 1 1000 100 Y 1 ...

Page 224: ...00 axis X is synchronized to this starting step 1 7 2 8 Speed Synchronous Start The program example of speed synchronous start is as follows 1 XBM XBC a Devices Used Device Description P0008 axes X and Y error reset output inhibition cancel switch P0009 Floating origin switch of axes X and Y P000A axis X deceleration stop switch P000B deceleration stop switch of axis X P000C axis X speed synchrono...

Page 225: ...Chapter 7 Program Examples of Positioning 7 21 2 XEC ...

Page 226: ...IX0 1 1 Floating origin switch of axes X and Y IX0 1 2 axis X deceleration stop switch IX0 1 3 deceleration stop switch of axis X IX0 1 4 axis X speed synchronous start switch IX0 1 7 indirect start switch of axis Y KX6720 Signal during axis X operation KX6721 Error signal of axis X KX6880 Signal during axis Y operation KX6881 Axis Y error signal ...

Page 227: ... switch On set as the floating origin at the current position P000C IX0 1 4 synchronous start switch On axis X starts speed synchronous start with axis Y being the main axis P000F IX0 1 7 Axis Y start switch On axis Y starts step 1 operation Axis X is synchronized to the speed of 50 00 of axis Y and started 7 2 9 Emergency Stop The program example of emergency stop during operation is as follows 1...

Page 228: ...7 24 2 XEC a Devices Used Device Description IX0 1 0 Error reset output inhibition cancel switch in case of emergency stop IX0 1 1 axis X home return switch IX0 1 7 emergency stop switch during home return KX6720 Signal during axis X operation ...

Page 229: ...ect start switch On axis X indirectly starts step 1 and starts speed control P000B IX0 1 7 emergency stop switch On axis X does emergency stop without deceleration and the output is inhibited 7 2 10 Jog Operation The program example of jog operation is as follows 1 XBM XBC a Devices Used Device Description P0008 Axis X error reset output inhibition cancel switch P0009 axis X floating origin switch...

Page 230: ...rror reset output inhibition cancel switch IX0 1 1 axis X floating origin switch IX0 1 5 axis X jog normal direction start switch IX0 1 6 axis X jog reverse direction start switch IX0 1 7 Switch for low high speed selection of axis X jog KX6880 Signal during axis X operation KX6881 Error signal of axis X ...

Page 231: ...000E IX0 1 6 jog reverse direction switch On axis X starts reverse direction jog operation P000E IX0 1 6 jog reverse direction switch Off axis X does jog stop 7 2 11 Speed Override The program example of speed override during operation is as follows 1 XBM XBC a Devices Used Device Description P0008 Axis X error reset output inhibition cancel switch P0009 axis X floating origin switch P000A axis X ...

Page 232: ...Chapter 7 Program Examples of Positioning 7 28 2 XEC ...

Page 233: ...inat es Control pattern Operation pattern Operation type Repeat step Target position pulse M code Acc Dec No Operation speed pls s Dwell time 1 Absolut e Position control End Single 0 100000 0 1 5000 100 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position P000A IX0 1 2 indirect start switch On axis X indirectly starts step 1 P000C IX0 1 4...

Page 234: ...tion P0008 Axis X error reset output inhibition cancel switch P0009 axis X floating origin switch P000A axis X indirect start switch P000C axis X position override switch K4200 Signal during axis X operation K4201 Error signal of axis X K420D axis X constant speed signal 2 XEC ...

Page 235: ...ignal 3 Operation Data Setting Step No coordinat es Control pattern Operation pattern Operation type Repeat step Target position pulse M code Acc Dec No Operation speed pls s Dwell time 1 Absolut e Position control End Single 0 100000 0 1 5000 100 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position P000A IX0 1 2 indirect start switch On a...

Page 236: ...peration is as follows 1 XBM XBC a Devices Used Device Description P0008 Axis X error reset output inhibition cancel switch P0009 axis X floating origin switch P000A axis X indirect start switch P000D axis X positioning speed override switch K4200 Signal during axis X operation K4201 Error signal of axis X K420D axis X constant speed signal ...

Page 237: ...Chapter 7 Program Examples of Positioning 7 33 2 XEC ...

Page 238: ...peration pattern Operation type Repeat step Target position pulse M code Acc Dec No Operation speed pls s Dwell time 1 Absolut e Position control End Single 0 100000 0 1 10000 100 4 Operation Sequence P0009 IX0 1 1 floating origin switch On set as the floating origin at the current position P000A IX0 1 2 indirect start switch On axis X indirectly starts step 1 P000D IX0 1 5 positioning speed overr...

Page 239: ...er teaching switch K4200 Signal during axis X operation K4201 Error signal of axis X K534 K535 axis X step 1 operation speed D0100 D0101 axis X speed change data 3000 K530 K531 axis X step 1 target position D0100 D0101 axis X speed change data 5000 K452 K453 axis X speed limit K454 axis X deceleration time K455 axis X acceleration time D0100 D0101 axis X speed limit setting data 10000 D0102 axis X...

Page 240: ...Chapter 7 Program Examples of Positioning 7 36 ...

Page 241: ...sition AxisX_Step01_Position axis X speed change data 5000 KD266 axis X speed limit KW454 axis X acceleration time KW455 axis X deceleration time AxisX_Speed_limit axis X speed limit setting data 10000 AxisX_acceleration_time1 axis X acceleration time 1 setting data 50 AxisX_deceleration_time1 axis X deceleration time 1 setting data 50 3 Operation Data Setting Step No coordinates Control pattern O...

Page 242: ...is completed the target position of step 1 changes to 5 000 P000A IX0 1 2 indirect start switch On axis X indirectly starts step 1 again speed 3 000 pps target position changes to 5 000 Pulse and operates acceleration deceleration time 100 P000F IX0 1 7 parameter teaching switch On after positioning is completed positioning basic parameter is changed P000A IX0 1 2 indirect start switch On axis X i...

Page 243: ...ith your naked eye Operation of the machine in motion not in motion Power supply whether the rated voltage is normally supplied to XGB PLC Condition of the input and output devices Distribution input and output lines communication cables expansion Check the Indicators PWR LED RUN LED STOP LED input and output LED and access the peripheral devices to check the PLC operation and program contents 2 T...

Page 244: ...PWR LED Check Check the PWR LED status and take the following actions LED PLC trouble Actions to take On Rated voltage is normally supplied to XGB The power supply is normal so check whether there is another cause Flashing One of the following might be the cause Rated voltage current set for the XGB is not being supplied Problem with the PLC hardware Problem with external lines Check the voltage a...

Page 245: ...em with operation continuing On The program is being normally run The program is being normally run so check whether there is another problem 4 Positioning Output LED Check If no problem is found as a result of the check of the LED check the LED of the output contact point related to the positioning function and take the following actions a When the pulse output mode is the PLS DIR mode Signal Con...

Page 246: ...here is an error that makes positioning operation impossible Æ Check the positioning error code and remove the cause HIGH Active Direction signals are being output in the normal direction normal b When the pulse output mode is the CW CCW mode Signal CW contact point CCW contact point Error and actions to take CW output Flashing Off CW pulse is being normally output normal Flashing The pulse is bei...

Page 247: ...sing the XGB positioning monitoring package or the positioning error code device of area K in the following procedure 1 Positioning Monitoring Package a Access PLC with XG5000 b Select Monitor Æ Special Module Monitor Æ Positioning Module the following monitoring package is executed Select Start Monitor at the left bottom you can check the error code 2 Positioning Area K a You can check the error ...

Page 248: ...d in this manual refer to the manual of that motor driver 2 Setting of the Motor Driver If there is no problem with the wiring check whether the input pulse of the motor driver is the same as that of the XGB XGB only supports the open collector type Check whether the motor driver you are using can accommodate the type and check the setting of the motor driver 3 Check of the Motor Driver If no prob...

Page 249: ...ok place by using XG5000 Serious 0 1 second Flicker Scan end 34 Data of special comm module during operation are not normally collected Serious 0 1 second Flicker Scan end 38 Number of additionally mounted modules exceeded No more than 7 layer can be added remove the excessively added modules and restart Serious 0 1 second Flicker Every scan 39 PLC CPU operation overload or failure due to noise or...

Page 250: ...exceeding error 1 Jog high speed bias speed 2 Jog high speed max speed 3 Jog high speed 0 4 Jog high speed Jog low speed Stop Re adjust to be max speed jog high speed bias speed 122 Manual operation parameter jog low speed range exceeding error 1 Jog low speed bias speed 2 Jog low speed max speed 3 Jog low speed 0 4 Jog low speed Jog high speed Stop Re adjust to be jog high speed jog low speed 1 1...

Page 251: ...ell time setting range of operation data Stop Set dwell time lower than 50000 155 Exceeding end continuous sequential setting range of operation data Stop Re set operation pattern of operation data as one of 0 end 1 continuous or 2 sequential 201 Home return command is unavailable during operation Stop Check whether command axis was not operating at the time of home return command 202 Home return ...

Page 252: ...ear interpolation command 244 Linear interpolation start is unavailable when main axis of linear interpolation is in Output disabled status Stop Check whether main axis was not in Output disabled status at the time of linear interpolation command 245 Linear interpolation start is unavailable when sub axis of linear interpolation is in Output disabled status Stop Check whether a sub axis was not in...

Page 253: ...and 304 Speed position switching command is unavailable without target position Stop Check whether operation had a move amount at the time of speed position switching command 311 Position speed switching command is unavailable while not operating Stop Check whether an axis did not stop at the time of position speed switching command 312 Position speed switching command is unavailable On a sub axis...

Page 254: ...tion Check whether an axis was not operating by position control at the time of position override command 364 Position override command is unavailable for an axis of linear interpolation operation Operation Check whether an axis was not in linear interpolation operation at the time of position override command 366 Position override command is unavailable for a synchronic operation sub axis Operati...

Page 255: ...er the step number of start step number change command or repeat operation start step number designation command is equal to or higher than 1 and lower and 30 80 for high end or within the range 451 Present position preset command is unavailable during operation Operation Check whether an axis was not operating at the time of present position present command 452 Sub position data may not be set ex...

Page 256: ... change Slot command axis STP Stop Slot command axis DEC time SSP Position synchronization Slot command axis step no main axis position main axis setting SSS Speed synchronization Slot command axis synchronization rate delay time POR Position override Slot command axis position SOR Speed override Slot command axis speed PSO Speed override with position Slot command axis position speed INCH Inching...

Page 257: ...M XBC K454 K494 Word XEC KW454 KW494 DEC No 1 0 10 000 unit ms 500 XBM XBC K455 K495 Word XEC KW455 KW495 ACC No 2 0 10 000 unit ms 1 000 XBM XBC K456 K496 Word XEC KW456 KW496 DEC No 2 0 10 000 unit ms 1 000 XBM XBC K457 K497 Word XEC KW457 KW497 ACC No 3 0 10 000 unit ms 1 500 XBM XBC K458 K498 Word XEC KW458 KW498 DEC No 3 0 10 000 unit ms 1 500 XBM XBC K459 K499 Word XEC KW459 KW499 ACC No 4 0...

Page 258: ...C KD235 KD255 Home Low Speed 1 100 000 pulse s 500 XBM XBC K473 K513 Double word XEC KD236 KD256 Homing ACC Time 0 10 000 unit ms 1 000 XBM XBC K475 K515 Word XEC KW475 KW515 Homing DEC Time 0 10 000 unit ms 1 000 XBM XBC K476 K516 Word XEC KW476 KW516 DWELL Time 0 50 000 unit ms 0 XBM XBC K477 K517 Word XEC KW477 KW517 JOG High Speed 1 100 000 pulse s 5 000 XBM XBC K479 K519 Double word XEC KD239...

Page 259: ... 0 K5486 87 K8486 87 Bit KX8774 75 KX13574 75 Speed 1 100 000 pulse s 0 K544 K844 Double word KD272 KD422 Dwell 0 50 000 unit 0 K546 K846 Word KW546 KW846 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 2 Coord 0 ABS 1 INC ABS K5484 K8484 Bit KX8772 KX13572 Pattern 0 END 1 KEEP 2 CONT END K5482 83 K8482 83 Bit KX8770 71 KX13570 71 Control 0 POS 1 SPD POS K5481 K8481 ...

Page 260: ... KX8934 35 KX13734 35 Speed 1 100 000 pulse s 0 K554 K854 Double word KD277 KD427 Dwell 0 50 000 unit 0 K556 K856 Word KW556 KW856 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 4 Coord 0 ABS 1 INC ABS K5684 K8684 Bit KX9092 KX13892 Pattern 0 END 1 KEEP 2 CONT END K5682 83 K8682 83 Bit KX9090 91 KX13890 91 Control 0 POS 1 SPD POS K5681 K8681 Bit KX9089 KX13889 Metho...

Page 261: ... KX9254 55 KX14054 55 Speed 1 100 000 pulse s 0 K574 K874 Double word KD287 KD437 Dwell 0 50 000 unit 0 K576 K876 Word KW576 KW876 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 6 Coord 0 ABS 1 INC ABS K5884 K8884 Bit KX9412 KX14212 Pattern 0 END 1 KEEP 2 CONT END K5882 83 K8882 83 Bit KX9410 11 KX14210 11 Control 0 POS 1 SPD POS K5881 K8881 Bit KX9409 KX14209 Metho...

Page 262: ... KX9574 75 KX14374 75 Speed 1 100 000 pulse s 0 K594 K894 Double word KD297 KD447 Dwell 0 50 000 unit 0 K596 K896 Word KW596 KW896 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 8 Coord 0 ABS 1 INC ABS K6084 K9084 Bit KX9732 KX14532 Pattern 0 END 1 KEEP 2 CONT END K6082 83 K9082 83 Bit KX9730 31 KX14530 31 Control 0 POS 1 SPD POS K6081 K9081 Bit KX9729 KX14529 Metho...

Page 263: ...9894 95 KX14694 95 Speed 1 100 000 pulse s 0 K614 K914 Double word KD307 KD457 Dwell 0 50 000 unit 0 K616 K916 Word KW616 KW916 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 10 Coord 0 ABS 1 INC ABS K6284 K9284 Bit KX10052 KX14852 Pattern 0 END 1 KEEP 2 CONT END K6282 83 K9282 83 Bit KX10050 51 KX14850 51 Control 0 POS 1 SPD POS K6281 K9281 Bit KX10049 KX14849 Meth...

Page 264: ...KX10214 15 KX15014 15 Speed 1 100 000 pulse s 0 K634 K934 Double word KD317 KD467 Dwell 0 50 000 unit 0 K636 K936 Word KW636 KW936 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 12 Coord 0 ABS 1 INC ABS K6484 K9484 Bit KX10372 KX15172 Pattern 0 END 1 KEEP 2 CONT END K6482 83 K9482 83 Bit KX10370 71 KX15170 71 Control 0 POS 1 SPD POS K6481 K9481 Bit KX10369 KX15169 M...

Page 265: ...KX10534 35 KX15334 35 Speed 1 100 000 pulse s 0 K654 K954 Double word KD327 KD477 Dwell 0 50 000 unit 0 K656 K956 Word KW656 KW956 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 14 Coord 0 ABS 1 INC ABS K6684 K9684 Bit KX10692 KX15492 Pattern 0 END 1 KEEP 2 CONT END K6682 83 K9682 83 Bit KX10690 91 KX15490 91 Control 0 POS 1 SPD POS K6681 K9681 Bit KX10689 KX15489 M...

Page 266: ...KX10854 55 KX15654 55 Speed 1 100 000 pulse s 0 K674 K974 Double word KD337 KD487 Dwell 0 50 000 unit 0 K676 K976 Word KW676 KW976 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 16 Coord 0 ABS 1 INC ABS K6884 K9884 Bit KX11012 KX15812 Pattern 0 END 1 KEEP 2 CONT END K6882 83 K9882 83 Bit KX11010 11 KX15810 11 Control 0 POS 1 SPD POS K6881 K9881 Bit KX11009 KX15809 M...

Page 267: ...4 75 KX15974 75 Speed 1 100 000 pulse s 0 K694 K994 Double word KD347 KD497 Dwell 0 50 000 unit 0 K696 K996 Word KW696 KW996 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 18 Coord 0 ABS 1 INC ABS K7084 K10084 Bit KX11332 KX16132 Pattern 0 END 1 KEEP 2 CONT END K7082 83 K10082 83 Bit KX11330 31 KX16130 31 Control 0 POS 1 SPD POS K7081 K10081 Bit KX11329 KX16129 Meth...

Page 268: ...1494 95 KX16294 95 Speed 1 100 000 pulse s 0 K714 K1014 Double word KD357 KD507 Dwell 0 50 000 unit 0 K716 K1016 Word KW716 KW1016 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 20 Coord 0 ABS 1 INC ABS K7284 K10284 Bit KX11652 KX16452 Pattern 0 END 1 KEEP 2 CONT END K7282 83 K10282 83 Bit KX11650 51 KX16450 51 Control 0 POS 1 SPD POS K7281 K10281 Bit KX11649 KX1644...

Page 269: ...1814 15 KX16614 15 Speed 1 100 000 pulse s 0 K734 K1034 Double word KD367 KD517 Dwell 0 50 000 unit 0 K736 K1036 Word KW736 KW1036 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 22 Coord 0 ABS 1 INC ABS K7484 K10484 Bit KX11972 KX16772 Pattern 0 END 1 KEEP 2 CONT END K7482 83 K10482 83 Bit KX11970 71 KX16770 71 Control 0 POS 1 SPD POS K7481 K10481 Bit KX11969 KX1676...

Page 270: ...2134 35 KX16934 35 Speed 1 100 000 pulse s 0 K754 K1054 Double word KD377 KD527 Dwell 0 50 000 unit 0 K756 K1056 Word KW756 KW1056 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 24 Coord 0 ABS 1 INC ABS K7684 K10684 Bit KX12292 KX17092 Pattern 0 END 1 KEEP 2 CONT END K7682 83 K10682 83 Bit KX12290 91 KX17090 91 Control 0 POS 1 SPD POS K7681 K10681 Bit KX12289 KX1708...

Page 271: ...2454 55 KX17254 55 Speed 1 100 000 pulse s 0 K774 K1074 Double word KD387 KD537 Dwell 0 50 000 unit 0 K776 K1076 Word KW776 KW1076 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 26 Coord 0 ABS 1 INC ABS K7884 K10884 Bit KX12612 KX17412 Pattern 0 END 1 KEEP 2 CONT END K7882 83 K10882 83 Bit KX12610 11 KX17410 11 Control 0 POS 1 SPD POS K7881 K10881 Bit KX12609 KX1740...

Page 272: ...2774 75 KX17574 75 Speed 1 100 000 pulse s 0 K794 K1094 Double word KD397 KD547 Dwell 0 50 000 unit 0 K796 K1096 Word KW796 KW1096 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 28 Coord 0 ABS 1 INC ABS K8084 K11084 Bit KX12932 KX17732 Pattern 0 END 1 KEEP 2 CONT END K8082 83 K11082 83 Bit KX12930 31 KX17730 31 Control 0 POS 1 SPD POS K8081 K11081 Bit KX12929 KX1772...

Page 273: ...3094 95 KX17894 95 Speed 1 100 000 pulse s 0 K814 K1114 Double word KD407 KD557 Dwell 0 50 000 unit 0 K816 K1116 Word KW816 KW1116 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 30 Coord 0 ABS 1 INC ABS K8284 K11284 Bit KX13252 KX18052 Pattern 0 END 1 KEEP 2 CONT END K8282 83 K11282 83 Bit KX13250 51 KX18050 51 Control 0 POS 1 SPD POS K8281 K11281 Bit KX13249 KX1804...

Page 274: ...K23486 87 K28486 87 Bit KX37574 75 KX45574 75 Speed 1 100 000 pulse s 0 K2344 K2844 Double word KD1172 KD1422 Dwell 0 50 000 unit 0 K2346 K2846 Word KW2346 KW2846 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 32 Coord 0 ABS 1 INC ABS K23584 K28584 Bit KX37732 KX45732 Pattern 0 END 1 KEEP 2 CONT END K23582 83 K28582 83 Bit KX37730 31 KX45730 31 Control 0 POS 1 SPD P...

Page 275: ...95 KX45894 95 Speed 1 100 000 pulse s 0 K2364 K2864 Double word KD1182 KD1432 Dwell 0 50 000 unit 0 K2366 K2866 Word KW2366 KW2866 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 34 Coord 0 ABS 1 INC ABS K23784 K28784 Bit KX38052 KX46052 Pattern 0 END 1 KEEP 2 CONT END K23782 83 K28782 83 Bit KX38050 51 KX46050 51 Control 0 POS 1 SPD POS K23781 K28781 Bit KX38049 KX4...

Page 276: ...15 KX46214 15 Speed 1 100 000 pulse s 0 K2384 K2884 Double word KD1192 KD1442 Dwell 0 50 000 unit 0 K2386 K2886 Word KW2386 KW2886 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 36 Coord 0 ABS 1 INC ABS K23984 K28984 Bit KX38372 KX46372 Pattern 0 END 1 KEEP 2 CONT END K23982 83 K28982 83 Bit KX38370 71 KX46370 71 Control 0 POS 1 SPD POS K23981 K28981 Bit KX38369 KX4...

Page 277: ...35 KX46534 35 Speed 1 100 000 pulse s 0 K2404 K2904 Double word KD1202 KD1452 Dwell 0 50 000 unit 0 K2406 K2906 Word KW2406 KW2906 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 38 Coord 0 ABS 1 INC ABS K24184 K29184 Bit KX38692 KX46692 Pattern 0 END 1 KEEP 2 CONT END K24182 83 K29182 83 Bit KX38690 91 KX46690 91 Control 0 POS 1 SPD POS K24181 K29181 Bit KX38689 KX4...

Page 278: ...55 KX46854 55 Speed 1 100 000 pulse s 0 K2424 K2924 Double word KD1212 KD1462 Dwell 0 50 000 unit 0 K2426 K2926 Word KW2426 KW2926 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 40 Coord 0 ABS 1 INC ABS K24384 K29384 Bit KX39012 KX47012 Pattern 0 END 1 KEEP 2 CONT END K24382 83 K29382 83 Bit KX39010 11 KX47010 11 Control 0 POS 1 SPD POS K24381 K29381 Bit KX39009 KX4...

Page 279: ...75 KX47174 75 Speed 1 100 000 pulse s 0 K2444 K2944 Double word KD1222 KD1472 Dwell 0 50 000 unit 0 K2446 K2946 Word KW2446 KW2946 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 42 Coord 0 ABS 1 INC ABS K24584 K29584 Bit KX39332 KX47332 Pattern 0 END 1 KEEP 2 CONT END K24582 83 K29582 83 Bit KX39330 31 KX47330 31 Control 0 POS 1 SPD POS K24581 K29581 Bit KX39329 KX4...

Page 280: ...95 KX47494 95 Speed 1 100 000 pulse s 0 K2464 K2964 Double word KD1232 KD1482 Dwell 0 50 000 unit 0 K2466 K2966 Word KW2466 KW2966 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 44 Coord 0 ABS 1 INC ABS K24784 K29784 Bit KX39652 KX47652 Pattern 0 END 1 KEEP 2 CONT END K24782 83 K29782 83 Bit KX39650 51 KX47650 51 Control 0 POS 1 SPD POS K24781 K29781 Bit KX39649 KX4...

Page 281: ...15 KX47814 15 Speed 1 100 000 pulse s 0 K2484 K2984 Double word KD1242 KD1492 Dwell 0 50 000 unit 0 K2486 K2986 Word KW2486 KW2986 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 46 Coord 0 ABS 1 INC ABS K24984 K29984 Bit KX39972 KX47972 Pattern 0 END 1 KEEP 2 CONT END K24982 83 K29982 83 Bit KX39970 71 KX47970 71 Control 0 POS 1 SPD POS K24981 K29981 Bit KX39969 KX4...

Page 282: ...35 KX48134 35 Speed 1 100 000 pulse s 0 K2504 K3004 Double word KD1252 KD1502 Dwell 0 50 000 unit 0 K2506 K3006 Word KW2506 KW3006 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 48 Coord 0 ABS 1 INC ABS K25184 K30184 Bit KX40292 KX48292 Pattern 0 END 1 KEEP 2 CONT END K25182 83 K30182 83 Bit KX40290 91 KX48290 91 Control 0 POS 1 SPD POS K25181 K30181 Bit KX40289 KX4...

Page 283: ...55 KX48454 55 Speed 1 100 000 pulse s 0 K2524 K3024 Double word KD1262 KD1512 Dwell 0 50 000 unit 0 K2526 K3026 Word KW2526 KW3026 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 50 Coord 0 ABS 1 INC ABS K25384 K30384 Bit KX40612 KX48612 Pattern 0 END 1 KEEP 2 CONT END K25382 83 K30382 83 Bit KX40610 11 KX48610 11 Control 0 POS 1 SPD POS K25381 K30381 Bit KX40609 KX4...

Page 284: ...75 KX48774 75 Speed 1 100 000 pulse s 0 K2544 K3044 Double word KD1272 KD1522 Dwell 0 50 000 unit 0 K2546 K3046 Word KW2546 KW3046 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 52 Coord 0 ABS 1 INC ABS K25584 K30584 Bit KX40932 KX48932 Pattern 0 END 1 KEEP 2 CONT END K25582 83 K30582 83 Bit KX40930 31 KX48930 31 Control 0 POS 1 SPD POS K25581 K30581 Bit KX40929 KX4...

Page 285: ...95 KX49094 95 Speed 1 100 000 pulse s 0 K2564 K3064 Double word KD1282 KD1532 Dwell 0 50 000 unit 0 K2566 K3066 Word KW2566 KW3066 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 54 Coord 0 ABS 1 INC ABS K25784 K30784 Bit KX41252 KX49252 Pattern 0 END 1 KEEP 2 CONT END K25782 83 K30782 83 Bit KX41250 51 KX49250 51 Control 0 POS 1 SPD POS K25781 K30781 Bit KX41249 KX4...

Page 286: ...15 KX49414 15 Speed 1 100 000 pulse s 0 K2584 K3084 Double word KD1292 KD1542 Dwell 0 50 000 unit 0 K2586 K3086 Word KW2586 KW3086 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 56 Coord 0 ABS 1 INC ABS K25984 K30984 Bit KX41572 KX49572 Pattern 0 END 1 KEEP 2 CONT END K25982 83 K30982 83 Bit KX41570 71 KX49570 71 Control 0 POS 1 SPD POS K25981 K30981 Bit KX41569 KX4...

Page 287: ...35 KX49734 35 Speed 1 100 000 pulse s 0 K2604 K3104 Double word KD1302 KD1552 Dwell 0 50 000 unit 0 K2606 K3106 Word KW2606 KW3106 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 58 Coord 0 ABS 1 INC ABS K26184 K31184 Bit KX41892 KX49892 Pattern 0 END 1 KEEP 2 CONT END K26182 83 K31182 83 Bit KX41890 91 KX49890 91 Control 0 POS 1 SPD POS K26181 K31181 Bit KX41889 KX4...

Page 288: ...55 KX50054 55 Speed 1 100 000 pulse s 0 K2624 K3124 Double word KD1312 KD1562 Dwell 0 50 000 unit 0 K2626 K3126 Word KW2626 KW3126 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 60 Coord 0 ABS 1 INC ABS K26384 K31384 Bit KX42212 KX50212 Pattern 0 END 1 KEEP 2 CONT END K26382 83 K31382 83 Bit KX42210 11 KX50210 11 Control 0 POS 1 SPD POS K26381 K31381 Bit KX42209 KX5...

Page 289: ...75 KX50374 75 Speed 1 100 000 pulse s 0 K2644 K3144 Double word KD1322 KD1572 Dwell 0 50 000 unit 0 K2646 K3146 Word KW2646 KW3146 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 62 Coord 0 ABS 1 INC ABS K26584 K31584 Bit KX42532 KX50532 Pattern 0 END 1 KEEP 2 CONT END K26582 83 K31582 83 Bit KX42530 31 KX50530 31 Control 0 POS 1 SPD POS K26581 K31581 Bit KX42529 KX5...

Page 290: ...95 KX50694 95 Speed 1 100 000 pulse s 0 K2664 K3164 Double word KD1332 KD1582 Dwell 0 50 000 unit 0 K2666 K3166 Word KW2666 KW3166 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 64 Coord 0 ABS 1 INC ABS K26784 K31784 Bit KX42852 KX50852 Pattern 0 END 1 KEEP 2 CONT END K26782 83 K31782 83 Bit KX42850 51 KX50850 51 Control 0 POS 1 SPD POS K26781 K31781 Bit KX42849 KX5...

Page 291: ...15 KX51014 15 Speed 1 100 000 pulse s 0 K2684 K3184 Double word KD1342 KD1592 Dwell 0 50 000 unit 0 K2686 K3186 Word KW2686 KW3186 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 66 Coord 0 ABS 1 INC ABS K26984 K31984 Bit KX43172 KX51172 Pattern 0 END 1 KEEP 2 CONT END K26982 83 K31982 83 Bit KX43170 71 KX51170 71 Control 0 POS 1 SPD POS K26981 K31981 Bit KX43169 KX5...

Page 292: ...35 KX51334 35 Speed 1 100 000 pulse s 0 K2704 K3204 Double word KD1352 KD1602 Dwell 0 50 000 unit 0 K2706 K3206 Word KW2706 KW3206 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 68 Coord 0 ABS 1 INC ABS K27184 K32184 Bit KX43492 KX51492 Pattern 0 END 1 KEEP 2 CONT END K27182 83 K32182 83 Bit KX43490 91 KX51490 91 Control 0 POS 1 SPD POS K27181 K32181 Bit KX43489 KX5...

Page 293: ...55 KX51654 55 Speed 1 100 000 pulse s 0 K2724 K3224 Double word KD1362 KD1612 Dwell 0 50 000 unit 0 K2726 K3226 Word KW2726 KW3226 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 70 Coord 0 ABS 1 INC ABS K27384 K32384 Bit KX43812 KX51812 Pattern 0 END 1 KEEP 2 CONT END K27382 83 K32382 83 Bit KX43810 11 KX51810 11 Control 0 POS 1 SPD POS K27381 K32381 Bit KX43809 KX5...

Page 294: ...75 KX51974 75 Speed 1 100 000 pulse s 0 K2744 K3244 Double word KD1372 KD1622 Dwell 0 50 000 unit 0 K2746 K3246 Word KW2746 KW3246 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 72 Coord 0 ABS 1 INC ABS K27584 K32584 Bit KX44132 KX52132 Pattern 0 END 1 KEEP 2 CONT END K27582 83 K32582 83 Bit KX44130 31 KX52130 31 Control 0 POS 1 SPD POS K27581 K32581 Bit KX44129 KX5...

Page 295: ...95 KX52294 95 Speed 1 100 000 pulse s 0 K2764 K3264 Double word KD1382 KD1632 Dwell 0 50 000 unit 0 K2766 K3266 Word KW2766 KW3266 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 74 Coord 0 ABS 1 INC ABS K27784 K32784 Bit KX44452 KX52452 Pattern 0 END 1 KEEP 2 CONT END K27782 83 K32782 83 Bit KX44450 51 KX52450 51 Control 0 POS 1 SPD POS K27781 K32781 Bit KX44449 KX5...

Page 296: ...15 KX52614 15 Speed 1 100 000 pulse s 0 K2784 K3284 Double word KD1392 KD1642 Dwell 0 50 000 unit 0 K2786 K3286 Word KW2786 KW3286 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 76 Coord 0 ABS 1 INC ABS K27984 K32984 Bit KX44772 KX52772 Pattern 0 END 1 KEEP 2 CONT END K27982 83 K32982 83 Bit KX44770 71 KX52770 71 Control 0 POS 1 SPD POS K27981 K32981 Bit KX44769 KX5...

Page 297: ...35 KX52934 35 Speed 1 100 000 pulse s 0 K2804 K3304 Double word KD1402 KD1652 Dwell 0 50 000 unit 0 K2806 K3306 Word KW2806 KW3306 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 78 Coord 0 ABS 1 INC ABS K28184 K33184 Bit KX45092 KX53092 Pattern 0 END 1 KEEP 2 CONT END K28182 83 K33182 83 Bit KX45090 91 KX53090 91 Control 0 POS 1 SPD POS K28181 K33181 Bit KX45089 KX5...

Page 298: ...55 KX53254 55 Speed 1 100 000 pulse s 0 K2824 K3324 Double word KD1412 KD1662 Dwell 0 50 000 unit 0 K2826 K3326 Word KW2826 KW3326 Step Item Setting range Initial value Dedicated K area Data size X axis Y axis 80 Coord 0 ABS 1 INC ABS K28384 K33384 Bit KX45412 KX53412 Pattern 0 END 1 KEEP 2 CONT END K28382 83 K33382 83 Bit KX45410 11 KX53410 11 Control 0 POS 1 SPD POS K28381 K33381 Bit KX45409 KX5...

Page 299: ...e with fixed contact it may be used for general input if they are not used Emergency stop is available by the command EMG Note4 In case of XGB standard type since only pulse direction mode is available change input mode of stepping motor driver to 1 phase input mode Note 5 The above figure is example of XGB standard type For high end type Origin DOG upper lower limit input contact point is differe...

Page 300: ...with standard type Less than Max 2m External Emg stop Servo On Reset Proportional control Torque limit Operation limit Reverse operation limit 3 3 Error Zero speed detection In torque limit RA1 RA2 RA3 Analog torque limit 10V Max limit Power supply 3 phase 200VAC NF RD SD GND GND RS CS DR ER L1 L2 L3 L11 L21 CTE2 D P CN1A PP 3 SG 10 NP 2 OPC 11 COM 9 EMG 15 SOn 5 RES 14 PC 8 TL 9 LSP 16 LSN 17 SG ...

Page 301: ...r suitable for a driver 1 5K 1 2W in series Note4 Since the positioning pulse of XGB forward reverse rotates by the rotation direction as in the below figure make sure to change the input mode of a servo motor driver into 1 phase input mode prior to use PFIN PPFIN PRIN PPRIN PZO PZO RDY INPOS 10 11 12 9 5 30 21 22 0 SPEED BRAKE ALARM A_CODE0 A_CODE1 47 48 20 45 19 A_CODE2 44 GND24 GND24 CCWLIM 24 ...

Page 302: ...t signals are with fixed contact it may be used for general input if they are not used Emergency stop is available by the command EMG Note3 The above wiring is applied when P07 01 27 positioning mode Note4 Since only pulse direction mode is available for XGB standard type make sure to change the input mode of a servo motor driver into pulse direction mode prior to use Note5 In the above wiring Axi...

Page 303: ...sed for general input if they are not used Emergency stop is available by the command EMG Note3 The above wiring is applied when P07 01 27 positioning mode Note4 Since pulse direction mode and CW CCW mode are available for XGB high end type make sure to change the input mode of a servo motor driver according to output mode of positioning module Note5 In the above wiring Axis X of XGB high end type...

Page 304: ... In case of XBM DN S This picture is based on 1 axis For more information about 2 axis wiring refer to pin information Note1 Input Signal DI1 DIA Output Signal DO1 DO5 is assigned initial signal from factory shipment Note2 Not assigned Signal Allocation can be changed by setting servo parameter ...

Page 305: ...s picture is based on 1 axis For more information about 2 axis wiring refer to pin information Note1 Input Signal DI1 DIA Output Signal DO1 DO5 is assigned initial signal from factory shipment Note2 Not assigned Signal Allocation can be changed by setting servo parameter ...

Page 306: ...Appendix 4 Dimension App 4 １ Appendix 4 Dimension Unit mm 1 Standard main unit XBM DN16S 32S P00 07 P20 27 RUN PWR ERR XBM DN16S RUN RS 232C XBM DR16S RUN PWR ERR XBM DR16S RS 232C RUN P00 07 P20 27 ...

Page 307: ...Appendix 4 Dimension App 4 ２ 2 Standard main unit S U type XB E C DR20 30S U XB E C DN20 30SU XB E C DP20 30SU XBC DR DN DP40SU 161 x 90 x 64 XBC DR DN DP60SU 210 x 90 x 64 ...

Page 308: ...Appendix 4 Dimension App 4 ３ 3 High end type main unit XBC DN32H XEC DN32H XEC DP32H XBC DR32H XEC DR32H ...

Page 309: ...Appendix 4 Dimension App 4 ４ XBC DN64H XEC DN64H XEC DP64H XBC DR64H XEC DR64H ...

Page 310: ...Appendix 4 Dimension App 4 ５ 4 Extended I O module XBE DC32A XBE TR32A 01 02 03 04 05 06 07 19 20 08 09 10 11 12 13 14 15 16 17 18 A B XBE RY16A ...

Page 311: ...Appendix 4 Dimension App 4 ６ XBE DC08A XBE DC16A XBE TN08A XBE TN16A XBE DR16A XBE RY08A ...

Page 312: ...Appendix 4 Dimension App 4 ７ 5 Communication module XBL C41 21A XBL EMTA ...

Page 313: ...Appendix 4 Dimension App 4 ８ 5 Special module XBF AD04A XBF DV04A ...

Page 314: ...ing to the reasons unexpected at the level of the contemporary science and technology when delivered 6 Not attributable to the company for instance natural disasters or fire 3 Since the above warranty is limited to PLC unit only make sure to use the product considering the safety for system configuration or applications Environmental Policy LSIS Co Ltd supports and observes the environmental polic...

Page 315: ...8326 6287 e mail chenxs lsis com cn LS Industrial Systems Chengdu Office _ Chengdu China Address 12FL Guodong Buiding No 52 Jindun Road Chengdu 610041 P R China Tel 86 28 8612 9151 9226 Fax 86 28 8612 9236 e mail comysb lsis biz LS Industrial Systems Qingdao Office _ Qingdao China Address YinHe Bldg 402 Room No 2P Shandong Road Qingdao City Shandong province 266071 P R China Tel 86 532 8501 6068 F...

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