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Table of Contents 

 

6 

8.1.4 Operation Test ...................................................................................................................................8 - 8 

8.1.5 Parameter and Operation Data Setting............................................................................................8 - 16 

8.1.6 Positioning Operation .......................................................................................................................8 - 25 

8.1.7 Operation Setting Change while Operating   ....................................................................................8 - 48 

8.1.8 Error .................................................................................................................................................8 - 70 

8.1.9 Program related with the Servo Parameter   ....................................................................................8 - 75 

8.2 Examples of XGI Program  ......................................................................................................................8 - 79 

              8.2.1 General Description .........................................................................................................................8 - 79 

              8.2.2 Current State Read ..........................................................................................................................8 - 79 

8.2.3 Operation Ready ..............................................................................................................................8 - 86 

8.2.4 Operation Test .................................................................................................................................8 - 90 

8.2.5 Parameter and Operation Data Setting............................................................................................8 - 95 

8.2.6 Positioning Operation .....................................................................................................................8 - 102 

8.2.7 Operation Setting Change while Operating   ..................................................................................8 - 122 

8.2.8 Error ...............................................................................................................................................8 - 139 

8.2.9 Program related with Servo Parameter .........................................................................................8 - 143 

 

Chapter 9 Function…………………………………………………...............................................…………9-1 ~ 9-185 

9.1 Home Return ..............................................................................................................................................9 - 1 

9.2 Positioning Control .....................................................................................................................................9 - 6 

              9.2.1 Operation Data for Positioning Control ..............................................................................................9 - 7 

              9.2.2 Operation Mode of Positioning Control ..............................................................................................9 - 8 

9.2.3 Single-axis Position Control .............................................................................................................9 - 23 

9.2.4 Single-axis Speed Control   ..............................................................................................................9 - 25 

9.2.5 Single-axis Feed Control ..................................................................................................................9 - 27 

9.2.6 Linear Interpolation Control with 2 axes   .........................................................................................9 - 28 

9.2.7 Linear Interpolation Control with 3 axes   .........................................................................................9 - 40 

9.2.8 Linear Interpolation Control with

 

multiple axes ................................................................................9 - 49 

9.2.9 Middle point-specified Circular Interpolation ....................................................................................9 - 51 

9.2.10

 

Center point - specified Circular interpolation ................................................................................9 - 57 

9.2.11

 

Circular interpolation control with designated radius .....................................................................9 - 66 

9.2.12 Helical Interpolation Control ...........................................................................................................9 - 74 

9.2.13 Ellipse Interpolation Control   .........................................................................................................9 - 77 

9.2.14 Speed/Position Switching Control ..................................................................................................9 - 81 

9.2.15 Speed/Position Switching Control ..................................................................................................9 - 85 

9.2.16 Position/Speed Switching Control ..................................................................................................9 - 89 

9.2.17 Position/Torque Switching Control .................................................................................................9 - 91 

9.2.18 Start of Positioning   .......................................................................................................................9 - 93 

9.2.19 Positioning Stop ............................................................................................................................ 9 

– 97 

9.2.20 Restart   ........................................................................................................................................9 - 406 

9.2.21 Torque Control ............................................................................................................................ 9 

– 107 

9.2.22 Control by external input signal ................................................................................................... 9 

– 108 

9.3 Manual Operation Control ......................................................................................................................9 - 111 

9.3.1 JOG Operation ...............................................................................................................................9 - 108 

9.3.2 Inching Operation ...........................................................................................................................9 - 115 

9.3.3 Returning to the previous position of manual operation   ...............................................................9 - 116 

Summary of Contents for XBF-PN04B

Page 1: ...Programmable Logic Controller Positioning Module EtherCAT XGB Series XBF PN04B XBF PN08B ...

Page 2: ...serious injury in case of incorrect handling This symbol indicates the user is expected risk of injury or property damage only in case of incorrect handling 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 on the product an...

Page 3: ...t signals are designed to be t urned off and stopped for safety However there are cases when output signals remain active due to device failures in Relay and TR which can t be detected Thus you are recommended to install an addition circuit to monitor the output status for those critical outputs which may cause significant problems Never overload more than rated current of output module nor allow ...

Page 4: ... PLC power is off If not electric shock or damage on the product may be caused Be sure that every module is securely attached after adding a module or an extension connector If the product is installed loosely or incorrectly abnormal operation error or dropping may be caused In addition contact failures under poor cable installation will be causing malfunctions as well Be sure that screws get tigh...

Page 5: ...ns Secure terminal screws tightly applying with specified torque If the screws get loose short circuit fire or abnormal operation may be caused Securing screws too tightly will cause damages to the module or malfunctions short circuit and dropping Be sure to earth to the ground using Class 3 wires for PE terminals which is exclusively used for PLC If the terminals not grounded correctly abnormal o...

Page 6: ...nstalling 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 equipment such as walkie talkie or cell phones at least 30cm away from PLC If not abnormal operation may be caused When making a modification on programs or using run to modify functions under PLC operations read and comprehend all content...

Page 7: ...Safety Instructions 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: ... Chapter7 Command XPM_SSSD is added Chapter7 Command XPM_SSSPD is added Chapter9 Phasing correction control is added Chapter9 User defined position speed display is added Chapter9 Basic Parameter Teaching virtual axis is added Chapter9 Full closed control is added OS Ver information for each CMD is included Appendix 1 Error code 741 776 811 821 is added Appendix 5 Virtual Axis is added 4 2 4 7 4 8...

Page 9: ...310000821 XGK XGB Instructions Programming User s Manual User s manual for programming to explain how to use instructions that are used PLC system with XGK XGB CPU 10310000833 XGB Hardware User s Manual It describes how to use the specification of power input output expansion modules system configuration and built in High speed counter for XGB main unit 10310000926 XGB IEC Hardware User s Manual I...

Page 10: ...rnal device 2 6 Chapter 3 Operation Order and Installation 3 1 3 9 3 1 Operation Order 3 1 3 2 Installation 3 2 3 2 1 Installation Environment 3 2 3 2 2 Notice in Handling 3 2 3 3 Notice in Wiring 3 3 3 3 1 Notice in Wiring 3 3 3 3 2 Connection Example of Servo and Stepping Motor Drive Machine 3 4 3 3 3 Encoder Input DC 5V Voltage Output Wiring Example 3 6 3 3 4 Encoder Input DC 5V Line Driver Out...

Page 11: ...6 94 6 1 Contents of General Command 6 1 6 1 1 Internal Memory Read GET GETP Command 6 1 6 1 2 Internal Memory Write PUT PUTP Command 6 2 6 2 Dedicated Commands 6 3 6 3 Use of Dedicated Command 6 5 6 1 Contents of General Command 6 1 6 1 1 Internal Memory Read GET GETP Command 6 1 6 1 2 Internal Memory Write PUT PUTP Command 6 2 6 2 Dedicated Commands 6 3 6 3 Use of Dedicated Command 6 5 6 3 1 Hom...

Page 12: ...arameter Teaching Command XSEP 6 48 6 3 34 Manual Operation Parameter Teaching Command XSMP 6 52 6 3 35 Common Parameter Teaching Command XSCP 6 55 6 3 36 Operation Data Teaching Command XSMD 6 59 6 3 37 Read Variable Data Command XVRD 6 53 6 3 38 Write Variable Data Command XVWR 6 65 6 3 39 Parameter Operation Data Save Command XWRT 6 66 6 3 40 Emergency Stop Command XEMG 6 67 6 3 41 Error Reset ...

Page 13: ...Teaching XPM_SMP 7 16 7 4 4 Common Parameter Teaching XPM_SCP 7 17 7 4 5 Operation Data Teaching XPM_SMD 7 18 7 4 6 Teaching Array XPM_ATEA 7 20 7 4 7 Read Variable Data XPM_VRD 7 21 7 4 8 Write Variable Data XPM_VWR 7 22 7 4 9 Saving Parameter Operation Data XPM_WRT 7 23 7 5 Start Stop Function Block 7 24 7 5 1 Homing Start XPM_ORG 7 24 7 5 2 Direct Start XPM_DST 7 25 7 5 3 Indirect Start XPM_IST...

Page 14: ...ge XPM_PRS 7 67 7 8 13 Encoder Value Preset APM_EPRE 7 68 7 8 14 Speed Acceleration Deceleration override XPM_SETOVR 7 69 7 9 Error Function Blocks 7 70 7 9 1 Error Reset XPM_RST 7 70 7 9 2 Error History Reset XPM_HRST 7 71 7 10 Other Function Blocks related with the Module 7 72 7 10 1 Floating Origin Setting XPM_FLT 7 72 7 10 2 M Code Release XPM_MOF 7 73 7 10 3 Latch Reset XPM_LCLR 7 74 7 10 4 L...

Page 15: ...ol 9 23 9 2 4 Single axis Speed Control 9 25 9 2 5 Single axis Feed Control 9 27 9 2 6 Linear Interpolation Control with 2 axes 9 28 9 2 7 Linear Interpolation Control with 3 axes 9 40 9 2 8 Linear Interpolation Control with multiple axes 9 49 9 2 9 Middle point specified Circular Interpolation 9 51 9 2 10 Center point specified Circular interpolation 9 57 9 2 11 Circular interpolation control wit...

Page 16: ...71 9 6 3 External Latch 9 161 9 7 Data Modification Function 9 176 9 7 1 Teaching Array 9 176 9 7 2 Parameter Change from Program 9 177 9 7 3 Data Change from Program 9 182 9 7 4 Write Read Variable Data 9 184 9 8 User Defined Position Speed Display Function 9 186 9 8 1 Teaching Array 9 186 9 8 2 Parameter Change from Program 9 186 9 8 3 Data Change from Program 9 187 9 8 4 Write Read Variable Dat...

Page 17: ...n data memory address A2 81 A2 10 CAM data memory address A2 92 A2 11 User CAM data memory address A2 144 Appendix 3 Dimension A3 1 A3 2 A3 1 Dimension of XBF PN04B PN08B A3 1 Appendix 4 Setting Example A4 1 A4 32 A4 1 Setting Example of XBF PN04B PN08B A4 1 Appendix 5 Setting Virtual axis A5 1 A5 3 A5 1 Setting Virtual axis of XBF PN04B PN08B A5 1 Warranty and Environmental policies ...

Page 18: ...tching 2 Speed Position Control Switching 3 Position Torque Control Switching e Cam Control is available It is available to create up to 8 kinds of cam data with various cam profile of XG PM f Various Homing Control Function 1 For Positioning module s Homing you can use Homing method supported by each servo driver 2 Available to set the origin of machine without homing by setting the floating orig...

Page 19: ... tuning function XDL N g Creation of Cam Data h Simulation Function i Providing details about errors and the solution for it j Print Function of various forms k Editing operation data in Excel program is available 9 Applicable XGB CPU version a XBF PN08B XGT CPU Module Type Version XGB XBCU Over V1 10 XGB XECU Over V1 10 b XBF PN04B XGT CPU Module Type Version XGB XBCU Over V1 21 XGB XECU Over V1 ...

Page 20: ...oder 1 Writing sequence Program Working by Servo drive Setting for control Operation parameter Operation data Cam data Servo parameter Test Operation Indirect Start Direct Start Jog Operation etc Monitoring operation of positioning module Servo drive and executing test Command position Servo parameter setting value etc Motor position speed servo parameter etc External signal Connected with positio...

Page 21: ... position and goal position Starting Position Goal Position Forward Positioning Operation Starting Position Goal Position Reverse Positioning Operation Example Starting Position 1000 Goal Position 8000 Value of Forward movement is 7000 7000 8000 1000 1000 Starting Position Goal Position 0 8000 Movement Value 7000 2 Control by Incremental Coordinates a Execute positioning control from starting posi...

Page 22: ...ecute Linear interpolation from starting position to goal position designated by positioning data 2 Positioning control is executed based on origin designated in homing 3 Movement direction is designated by starting position goal position of each axis Starting position Goal position Positioning operation with forward direction Starting position Goal position Positioning operation with reverse dire...

Page 23: ...ve Positive value or Unsigned Positioning operation with forward direction Negative value Positioning operation with reverse direction Y axis Forward direction X axis Forward direction Y1 Y2 X1 X2 X axis movement value Y axis movement value X axis Reverse direction Y axis Reverse direction Linear interpolation end position X2 Y2 Starting position X1 Y1 Movement by Linear interpolation Example Star...

Page 24: ...xes that used in circular interpolation is unlimited Available to use any 2 of axis1 8 a Middle Point Specified Circular interpolation 1 Starts operating at starting position and executes circular interpolation through the designated middle point 2 There will be a c ircular arc whose center point is crossing point of perpendicular bisection between starting position and middle point or middle poin...

Page 25: ...nterpolation Reverse Direction Radius Starting position 2 If the goal position is same as starting position it is available to have an operation like a circle that has distance from starting point to auxiliary point as its radius Reverse Direction Forward Direction Forward Direction Origin Center point of the circle Starting position Goal position Operating by circular interpolation Reverse Direct...

Page 26: ... of circular arc will be different 2 In radius designation form goal position can not be set the same as starting position 3 Control unit degree is not available to be used for circular interpolation control 4 The direction and arc size are determined in Cir int mode 3 Helical Interpolation 1 Moves along the designated trace of circular arc depending on c ircular arc interpolation setting and exec...

Page 27: ...ed speed until Dec stop command 2 Speed control has forward operation and reverse operation a Forward operation Position value 0 b Reverse operation Position value 0 3 In case of speed control M code will be on only when M code mode is With 4 Operating Timing It will not be ON even though stop Time Speed Operation Command In Operation Signal of positioning complete Stop command ...

Page 28: ...as movement value already set 2 Movement direction is decided by movement value 3 Feed control has forward direction operation and reverse direction operation a Forward direction Position value 0 b Reverse direction Position value 0 4 Operation timing is as follows Time Speed Start In operation Position Current position value is 0 when start Time ...

Page 29: ...kV contact discharging IEC 61131 2 IEC 61000 4 2 Radiated electromagnetic field noise 80 1 000 MHz 1 0V m IEC 61131 2 IEC 61000 4 3 Fast transient bust noise Segment Power supply module Digital analog input output communication interface IEC 61131 2 IEC 61000 4 4 Voltage 2kV 1kV 8 Environment Free from corrosive gasses and excessive dust 9 Altitude Up to 2 000 ms 10 Pollution degree Less than equa...

Page 30: ...n MRAM ROM No need of Battery POSITIONING Positioning method Absolute method Incremental method Position address range Absolute Incremental Speed Position Position Speed Switching control 214748364 8 214748364 7 214748364 8 214748364 7 214748364 8 214748364 7 Inch 21474 83648 21474 83647 21474 83648 21474 83647 21474 83648 21474 83647 degree 21474 83648 21474 83647 21474 83648 21474 83647 21474 83...

Page 31: ...t connector External command signal Input point 3Point Input signal A B Z Input specification Same as Input specification of external encoder 5V 24V Connector 9Point connector input terminal of external encoder shared Communication Period 1ms Max transmission distance 100m Communication cable Over CAT 5 STP Shielded Twisted pair cable Error indication Indicated by LED Communication status indicati...

Page 32: ...fications Items Specification Input voltage DC5V 4 5V 5 5V DC24V 19 2V 26 4V Input current 8 11 8mA 11mA Min On guarantee voltage 4 1V 17 0V Max Off guarantee voltage 1 7V 4 5V Remark The positioning module s operation recognizing external command signal is processed by software Therefore after the external command signal is On it is recognized as On signal to be maintained voltage level for at le...

Page 33: ...ror status Communication status indicator LED RUN On communication with servo driver is connected Off communication with servo driver is disconnected Flicker Error occurs during communicating with servo driver TRX status LED ACT On Wiring with servo driver is done Off Wiring with servo driver is not done Flicker communicating with servo driver Connector for encoder wiring Connector to connect with...

Page 34: ...nd signal Encoder A B Z is used as the input signal A B Z Pin arrangement Pin No Signal name Signal direction 1 A 24V Encoder A 24V input input 2 A 5V Encoder A 5V input 3 A COM Encoder A input COM 4 B 24V Encoder B 24V input 5 B 5V Encoder B 5V input 6 B COM Encoder B input COM 7 Z 24V Encoder Z 24V input 8 Z 5V Encoder Z 5V input 9 Z COM Encoder Z input COM 2 6 ...

Page 35: ... 6 B COM Encoder B input COM 7 Z 24V Encoder Z 24V input 8 Z 5V Encoder Z 5V input 9 Z COM Encoder Z input COM Remark2 1 A 24V Encoder A 24V input 2 A 5V Encoder A 5V input 3 A COM Encoder A input COM 4 B 24V Encoder B 24V input 5 B 5V Encoder B 5V input 6 B COM Encoder B input COM 7 Z 24V Encoder Z 24V input 8 Z 5V Encoder Z 5V input 9 Z COM Encoder Z input COM DC5V 5V 0V A B Z DC5V 5V 0V A A B B...

Page 36: ...rvos Write the operation data and parameter of positioning module in the XG PM and download it to the module Set up the servo axis and establish communication between Servo and postioning module Specify the number of axis to be connected Specify the servo type and capacity Install the XG5000 and XG PM on the PC Mount the positioning module on the base Specify positioning method and control unit Tu...

Page 37: ...cessing the screw hole or wiring cares should be taken not to put the wiring remnants to PLC inside Install on the good place to operate Do not install the high voltage machine on the same Panel The distance from duct or surrounding module shall be more than 50mm Ground to the place where surrounding noise environment is good enough 3 2 2 Notices in Handling Here describes the notices in handling ...

Page 38: ...check the polarity before applying the external contact signal to the terminal board 6 In case of wiring the high voltage cable and power cables together the induction noise occurs that may cause the malfunction or failure 7 In case of wiring by the pipe the grounding of pipe is required 8 For the communication cable between the positioning module and the driver user STP CAT 5 or above for connect...

Page 39: ...nection Example of Servo and Stepping Motor Drive Machine 1 This is wiring example connecting XGT servo drive motor to positioning module XBF PN04B PN08B For more information about the installation and wiring please refer to the relevant drive s instructions ...

Page 40: ...tal Input Digital Output DC24V 3 3kΩ INSPD INPOS DI1 DI2 DI3 DI4 DI5 DI6 DO1 DO2 WARN ZSPD 19 ZSPD 20 DO3 BRAKE 1 BRAKE 2 DO4 CN1 CN6 HWBB1 4 3 HWBB1 Digital Input 3 3kΩ DI1 HWBB2 6 5 HWBB2 3 3kΩ DI2 EDM 7 EDM 8 DO1 Digital Output DI7 DI8 DC24V DC24V GND XBF PN04B XBF PN08B OUT DC5V CN4 CN3 ENC1 B ENC1 B ENC1 Z ENC1 Z ENC1 A ENC1 A 5V A B Z 0V Encoder1 3 4 5 6 1 2 Connect next servo drive Ethernet...

Page 41: ...is assigned regardless of the setting of the assignment of the input signal and work PROBE1 PROBE2 input signal Remark 4 Wiring of encoder is an example about 5V voltage output open collector type Remark 5 When connecting more than 2 servo drivers connect first servo driver s IN to the positioning module s OUT and for other servo drivers connect previous servo driver s OUT to next servo driver s I...

Page 42: ...sitioning module and Encoder input part is as follows In case pulse generator is totem pole output and used as voltage output style wiring is equal Remark Before Wiring please consider maximum output distance of pulse generator A phase A phase B phase B phase Z phase Z phase OUTA OUTB OUTZ 5V DC PE 0V 5V Twisted shielded cable XBF PN04B XBF PN08B Pulse generating part ...

Page 43: ...ple connecting NPN of pulse generation encoder or a hand operated pulse generation of open collector output type Remark Before Wiring please consider maximum output distance of pulse generator A phase A phase B phase B phase Z phase Z phase OUTA OUTB OUTZ 5V DC PE 0V 5V Twisted shielded cable XBF PN04B XBF PN08B Pulse generating part ...

Page 44: ...n and encoder input in order to prevent malfunctions due to noise in environments with external line noise Please use external pull up resistance in accordance with the standards of the external load equipment OUTA 24V DC PE 24V 0V Twisted shield cable Pulse generating part A 5V A COM B 5V B COM Z 5V Z COM XBF PN04B XBF PN08B A 24V B 24V Z 24V OUTB OUTZ 470R 2W ...

Page 45: ... Line Driver Output Wiring Example Remark Before Wiring please consider maximum output distance of pulse generator A phase A phase B phase B phase Z phase Z phase OUTA OUTB OUTZ 5V DC PE 0V 5V Twisted shielded cable XBF PN04B XBF PN08B Pulse generating part OUTA OUTB OUTZ ...

Page 46: ...ata saved in the module Sequence program XBF PN08B Internal buffer Module parameter Operation data CAM data Servo parameter Command buffer Status buffer Flash Memory CAM data O S FRAM Operation parameter Operation data Common parameter Absolute position XGT PLC Power On Reset PC XG PM XG5000 XG PM I F Sending data and commands ROM teaching Reading current status Power On Reset Servo parameter Comm...

Page 47: ...s Type bit 0 0 Real axis 1 Virtual axis unit bit 2 3 0 Pulse 1 mm 2 Inch 3 Degree Unit multiplier bit 4 5 0 x 1 1 x 10 2 x 100 3 x 1000 Speed command unit bit 6 0 unit time 1 rpm Encoder select bit 7 0 Incremental Encoder 1 Absolute Encoder Current position display correction bit 8 15 0 255 Remark 1 For Deceleration time in case of stop when it stops by DEC stop DEC time set in command is applied ...

Page 48: ...er rotation Al Pulse per rotation Ap 3 Travel per rotation and unit multiplier a Only in case of using mm inch degree as a positioning command unit you should set travel per rotation and multiplier b Machine s travel per rotation of motor is determined by the structure of machine If the lead of ball screw mm rev is PB and the rate of deceleration is 1 n Transfer amount per rotation AL PB 1 n c Set...

Page 49: ...n speed c Deceleration Time The time required to reach from the speed limit set by parameter to the bias speed 0 stop state It doesn t mean that the time require to reach from the operation speed to the speed 0 5 Encoder Select a It sets up the encoder type If you use absolute position system select 1 absolute encoder b The following describes setting of Encoder Select Item Setting value Contents ...

Page 50: ... current position is within the Current Position Display Correction c The following values can be set as the Current Position Display Correction d The following shows an example of the Current Position Display Correction according to its value when the command location is 0 Current Position Correction 0 pls The motor s actual position value is still displayed as the current position value even aft...

Page 51: ... is applied to the second rate of change of the relevant unit position is set to unit parameter For example unit setting is mm speed command is mm s If set to 1 rpm speed command unit is rpm b If Speed command unit is rpm setting value at Pulse per rotation and travel per rotation is used at the time of internal conversion to unit speed To change the setting of the speed command unit the values of...

Page 52: ...a The user sets the desired magnification as parameters for the position and speed and convert them to user defined position user defined speed values for use b User defined speed magnification are applied to the position and speed as follows User defined speed Unit speed x 10 N integer value omit decimals Unit speed The command speed integer value or current speed read by SRD command N User defin...

Page 53: ...r history XSECLR XPM_SHRST Read the servo drive parameters XSVPRD XPM_SVPRD Write the servo drive parameters XSVPWR XPM_SVPWR Save the servo drive parameters XSVSAVE XPM_SVSAVE Torque control XTRQ XPM_TRQ Read the latch position data XLRD XPM_LRD Latch reset XLCLR XPM_LCLR Set the latch XLSET XPM_LSET Torque synchronous XSTC XPM_STC c The version information shown below that support virtual axis I...

Page 54: ...ation continuous operation Control Word Cam restart bit 0 0 Disable 1 Enable Acceleration Deceleration pattern bit 1 0 Trapezoid operation 1 S Curve operation M Code mode bit 2 3 0 NONE 1 WITH 2 AFTER Software limit detect bit 5 0 Don t detect 1 Detect Interpolation speed selection bit 4 0 main axis speed 1 synthetic speed External command selection bit6 7 0 External VTP 1 External stop 2 External...

Page 55: ...peration by user program fault b External input upper lower limit can be also set besides the software upper lower limit c The range check of software upper lower limit shall be done at the start of operation and during operating d If the software upper lower limit is detected error Software upper limit error 501 Software lower limit error 502 occurs and the pulse output of positioning module shal...

Page 56: ... repeat a It sets whether to enable or disable Infinite running repeat b When you set Infinite running repeat as 1 enable command position and current position refreshes within the range set in Infinite running repeat position periodically c When you don t use Infinite running repeat function set as 0 disable 4 Positioning Completion Time a Positioning completion signal shall be OFF after sustaini...

Page 57: ...ep operation mode is as follows Time Speed Start Busy Positioning completion Set positioning completion output time actual positioning completion output time Set positioning completion output time actual positioning completion output time Dwell time Dwell time Time Speed Start Busy Positioning completion Positioning completion output time Dwell time Dwell time ...

Page 58: ...tool change etc e M code signal occurring during the operation shall be reset by M code Off command Remark If you execute the next step after the positioning is completed and M code signal is ON the next operation step no does not work and the error In case of indirect start E233 will occur Therefore in order to execute the positioning of the next operation step number M code signal should be OFF ...

Page 59: ...urns on the M code signal and outputs M code number with start of positioning Indirect start direct start and simultaneous start Time Speed Indirect start In operation Dwell time Dwell time M code No M code On signal M code OFF command Keep operation End operation m n 0 ...

Page 60: ...vo drive s DI 1 signal is used as external command 7 External command selection a Set which one will be used among External Speed Location Control Shift External Stop Command External Latch Command as external command b If you make the selected external command operated by the external signal enable External command item c It is valid only when LS MECAPIONL 7N servo drive is used The servo drive s...

Page 61: ...pattern in case of continuous operation mode and speed override care should be taken in setting d In case of using S Curve acceleration deceleration it is available to protect the motor from the load effect at the point that the motor starts to move the moving object and stops it 10 S curve rate a In case of selecting S Curve operation as an acceleration deceleration pattern S Curve rate 1 100 sho...

Page 62: ...gnal is OFF and if it goes in In position width from target position it will be ON c In position signal can be used as a trigger when you execute auxiliary work before positioning completion d Because inposition signal operates on the basis of the current position it may signal occurs after arriving at command position Speed Time 100 50 1 100 50 1 S Curve rate Speed Start In position signal In pos...

Page 63: ... case of the followings it turns off In position signal 1 When executing floating origin setting command 2 When executing Current position preset command 3 When turning SERVO off 4 When starting positioning g Setting range Unit Setting range for in position width pulse 0 2147483647 pulse 0 2147483647 X10 4 Inch 0 2147483647 X10 5 Inch degree 0 2147483647 X10 5 degree ...

Page 64: ... dwell time or in position signal c Though target reaches goal position and pos itioning is complete in operation status is kept until positioning completion condition is met If positioning completion condition is met in operation signal will be off and it goes to Positioning completion status d The following is timing diagram for each method 1 Method by dwell time If it reaches goal and stops pos...

Page 65: ...ning signal becomes on after positioning is completed After reaching goal and positioning is completed wait until In position signal becomes on When In position signal becomes on positioning complete signal will be on Speed Start In operation Command in position width Time In position signal Positioning completion Command Speed Current Speed Speed Start In operation Command in position width Time ...

Page 66: ...curs before dwell time is ended b In case that in position signal occurs after dwell time is ended Speed Start In operation Dwell time Time In position signal Positioning completion Command Speed Current speed During dwell Speed Start In operation Dwell time Time In position signal Positioning completion Command Speed Current speed During dwell ...

Page 67: ...al a In case that in position signal occurs before dwell time is ended Speed Start In operation Dwell time Time In position signal Positioning completion Command speed Current speed During dwell Command in position width Speed Start In operation Dwell time Time In position signal Positioning completion Command speed Current speed During dwell Command in position width ...

Page 68: ...pr Type Items Setting value Description Interpolation continuous operation method 0 Pass target position In case of continuous operation from current step to next step it passes target position of current step 1 Pass near position In case of continuous operation from current step to next step it passes near target position of current step For further information please refer to operation mode 4 c ...

Page 69: ...xis linear interpolation continuous operation please refer to 4 2 axis linear interpolation continuous operation arc insertion of 2 axis linear interpolating control of 9 2 6 15 Arc insertion position When Arc insertion was set as insert arc confirms the arc insertion position and resets the start position of circular interpolation Goal position of linear path 1 and goal position Start position of...

Page 70: ...ion value or incremental position value This is the setting of Speed Position switching coordinate Item Setting value Content Speed position switching coordinate 0 INC Executes positioning as far as the set value from position where speed position switching command is executed 1 ABS Considers the set value as absolute position and executes positioning into the set absolute position For further inf...

Page 71: ... please refer to 9 3 1 JOG Operation c JOG high speed operation has operation pattern as acceleration constant speed deceleration section Therefore acceleration section and dec eleration section is controlled by JOG acceleration deceleration time d Jog high speed setting range All controls executed by the positioning module are done w ithin speed limit So Jog high speed can t exceed the speed limi...

Page 72: ...ng speed position control switching position torque control and external operation 0 Switching speed position control Switch control to the position control from the speed controll by the input signal 1 Switching position torque control Switch control to the torque control from the position controll by the input signal 2 External operation Execute operation data of current step number by the input...

Page 73: ...g torque of external position torque control a Set the torque value at the time of switching the torque control in case that function selection of the input signal is set to 2 Switching position torque control b Unit is you can set the torque value of 32768 32767 ...

Page 74: ...ASE A B 1 multiplier 4 PHASE A B 2 multiplier 5 PHASE A B 4 multiplier Encoder 1 Z phase clear bit 3 0 Disable 1 Enable Speed override bit 8 0 designate 1 Speed designate Destination coordinates for positioning speed synchronization bit 10 0 Incremental 1 Absolute Encoder 1 average number bit 11 12 0 Disable 1 5 times 2 10times 3 20times Function selection of external input termanal bit 15 0 A B Z...

Page 75: ...as grow or the phase B input pulse was grow act to count It act to additional work when the Phase B input pulse is Low and t he Phase A input pulse is increased It acts to cutback when the Phase A is Low and the Phase B input pulse is grow Addition Cutback Phase A input pulse High Phase A input pulse Low Phase B input pulse High Cutback count Phase B input pulse Low Addition count 2 PULSE DIR 1 mu...

Page 76: ...utback count 4 PHASE A B 1 multiplier In case of Phase A input pulse in advance of Phase B input pulse Act to add when that Phase A increase pulse In case of Phase B input pulse in advance of Phase A input pulse Act to cutback when that Phase A decrease pulse Phase A input pulse Phase B input pulse Count value 7 8 9 10 9 8 9 10 Addition Cutback Addition Off On On Off Phase A input pulse Phase B in...

Page 77: ...n Phase B at the phase act to add In case that Phase B input faster than Phase A at the phase act to decrease c The main axis set encoder for that acting motor synchronization with manual pulse generator MPG Synchronization rate can take Encoder Motor or Encoder Motor what you want Phase A input pulse Phase B input pulse Count value 7 8 10 11 8 6 Addition Cutback 9 11 12 13 12 10 7 5 Phase A input...

Page 78: ...If the range of encoder minimum and m aximum value does not contain the current position of the encoder when writing common parameter to module error error code 148 occur In this case Range of the minimum and maximum values of the encoder can operate in previously set value If use encoder preset command and set the current position within a range minimum and maximum the parameter of the newly set ...

Page 79: ...sible values are as follows 0 Disable 1 5 times 2 10times 3 20times 6 Selection of external input terminal function a Set whether to use the external input terminal to any function b Possible values are as follows 0 A B Z phase of encoder signal 1 External input signal A B Z c If external input terminal function selection is 1 If an external input signal A the value of the encoder position is main...

Page 80: ...On if the double High state is maintained 2 Control period depending on the number of axes are as follows 1ms 1 2axes 2ms 3 5axes 3ms 6 8axes 3 In modules that recognize the range for external input signal as ON OFF are as follows The input filter 0 Disable The input filter 1 Enable Period Not recognized Recognizable Not recognized Recognizable 1ms Pulse width 1 05ms Pulse width 1 9ms Pulse width ...

Page 81: ...Bit 7 Bit 6 Bit 5 it 4 Bit 3 Bit 2 Bit 1 Bit 0 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Helical interpolation axis 0 1 axis 8 axis Set 0 normal circular interpolation The number of circular interpolation turns 0 65 535 Control Word Coordinate bit 0 0 absolute 1 incremental Control method bit 1 3 0 single axis positioning 1 Speed control reduction 2 single axis Feed control 3 linear ...

Page 82: ... out the positioning control from the current position to the goal position the goal position assigned by positioning data b Control is carried out based on the assigned position of homing origin address c Transfer direction shall be determined by the current position and goal position Start position Goal position forward direction positioning Start position Goal position reverse direction positio...

Page 83: ...ntrol Method a Select the control method single axis position control single axis Speed control single axis Feed control linear interpolation circular interpolation b For further information please refer to 9 2 Positioning control of Chapter 9 Function Remark Set coordinate and c ontrol method in all at the same time in control method item with positioning software package And the software package...

Page 84: ...r to 9 2 2 operation mode of positioning control of Chapter 9 Function Remark Set operation pattern and operation method at the operation method item with XG PM software package These are operation method item Single End Single Keep Single Continuous Repeat End Repeat Continuous Repeat Continuous 6 Goal Position a This is the area to set the transfer amount of position data as position value b The...

Page 85: ...ing a This is an option for sub axis of driving shaft when should operate at least over 2 axis such as linear interpolation or circular interpolation b Setting each bit from 1 axis to 8 axis Each bit is as follows Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Axis8 Axis7 Axis6 Axis5 Axis 4 Axis 3 Axis 2 Axis 1 c Can choice plural For example If you choice axis 2 axis 4 and axis 8 as sub axis set...

Page 86: ...ne of over the 180 degree circular interpolation or under the 180 degree circular interpolation c This option is ignored in the circular interpolation of midpoint method and central point method d For further information please refer to designating radius circular interpolation of 9 2 11 Remark Positioning software package set as follows at a t ime circular arc method circular interpolating direct...

Page 87: ...8 328 3A8 428 4A8 528 5A8 628 Point operation step 8 2A9 329 3A9 429 4A9 529 5A9 629 Point operation step 9 2AA 32A 3AA 42A 4AA 52A 5AA 62A Point operation step 10 2AB 32B 3AB 42B 4AB 52B 5AB 62B Point operation step 11 2AC 32C 3AC 42C 4AC 52C 5AC 62C Point operation step 12 2AD 32D 3AD 42D 4AD 52D 5AD 62D Point operation step 13 2AE 32E 3AE 42E 4AE 52E 5AE 62E Point operation step 14 2AF 32F 3AF ...

Page 88: ...0 410 490 510 590 610 Teaching data9 lower 291 311 391 411 491 511 591 611 Teaching data9 upper 292 312 392 412 492 512 592 612 Teaching data10 lower 293 313 393 413 493 513 593 613 Teaching data10 upper 294 314 394 414 494 514 594 614 Teaching data11 lower 295 315 395 415 495 515 595 615 Teaching data11 upper 296 316 396 416 496 516 596 616 Teaching data12 lower 297 317 397 417 497 517 597 617 Te...

Page 89: ...5BA 63A Simultaneous start 5 axis step number 2BB 33B 3BB 43B 4BB 53B 5BB 63B Simultaneous start 6 axis step number 2BC 33C 3BC 43C 4BC 53C 5BC 63C Simultaneous start 7 axis step number 2BD 33D 3BD 43D 4BD 53D 5BD 63D Simultaneous start 8 axis step number 2 Setting a The command for Step Data of Simultaneous Start setting is XSWR b For XSST command of XGK Simultaneous Start and XSWR Setting comman...

Page 90: ...F 64F Error information 5 16 2D0 350 3D0 450 4D0 550 5D0 650 Error information 6 17 2D1 351 3D1 451 4D1 551 5D1 651 Error information 7 18 2D2 352 3D2 452 4D2 552 5D2 652 External input signal lower 1 19 2D3 353 3D3 453 4D3 553 5D3 653 External input signal upper 1 20 2D4 354 3D4 454 4D4 554 5D4 654 Servo error information 21 2D5 355 3D5 455 4D5 555 5D5 655 Encoder1 value lower 22 2D6 356 3D6 456 ...

Page 91: ...witch On Close 24 30 Reserved 31 STO Safe Torque Off 2 Current speed If the command speed is driving at a speed of less than 1pulse for each control period the actual current speed can disply more than command speed Ex In case of command speed 200 pls s operation Control period is 2ms and position movement amount per control period is 0 4pulse 200 2 1000 When the movement amount is more than 1puls...

Page 92: ... state 0 No common error 1 common error occured Stop State 0 Stop State not by Stop Command 1 Stop State by Stop Command Bit 6 Bit 7 Now reading writing variable data 0 reading writing variable data completed 1 now reading writing Upper limit detection 0 No Detection 1 Detection Bit 8 Bit 9 Lower limit detection 0 No Detection 1 Detection Emergency Stop State 0 Normal 1 Emergency Stop Bit 10 Bit 1...

Page 93: ...ular Interpolation in Operation 0 Circular Interpolation not in Operation 1 Circular Interpolation in Operation Homing Operating 0 Homing not in Operation 1 Homing in Operation Synchronous Start by Position in Operation 0 Synchronous Start by position not in Operation 1 Synchronous Start by position in Operation Synchronous Start by Speed in Operation 0 Synchronous Start by Speed not in Operation ...

Page 94: ...tatus 0 sub axis 1 main axis 1 8 1axis 8axis 9 Encoder1 10 Encoder2 Not used 0 Bit 6 Bit 8 Bit 7 Bit 12 Bit 15 Bit 14 Not used 0 Now writing to servo driver EEPROM 0 Not writing 1 writing Now writing to module Flash memory 0 Not writing 1 writing Not used 0 Latch completed status 0 Latch not completed 1 Latch completed Bit 13 CAM 1 cycle completed status siganl Become status ON after 1 cycle compl...

Page 95: ...al lower limit signal Off 1 External lower limit signal On Home signal 0 Home signal Off 1 Home signal On DOG signal 0 DOG signal Off 1 DOG signal On External command signal 0 External command signal Off 1 External command signal On Servo On signal 0 Servo Off 1 Servo On Servo alarm signal 0 Servo driver normal 1 Servo driver error occurs In position signal 0 Not In position section 1 In position ...

Page 96: ...higher 6 BE FE 13E 17E 1BE 1FE 23E 27E Current user define position lower 7 BF FF 13F 17F 1BF 1FF 23F 27F Current user define position higher 2 Setting a User define position of the internal memory is read only area Therefore read command GET GETP for XGK CPU is available and the Write command PUT PUTP is not available b Choose if user wants to read the contents of the state information then use G...

Page 97: ...0 1 axis forward direction JOG 5 axis Uxx 02 0 5 axis forward direction JOG Uxx 01 1 1 axis reverse direction JOG Uxx 02 1 5 axis reverse direction JOG Uxx 01 2 1 axis JOG low high speed Uxx 02 2 5 axis JOG low high speed Uxx 01 3 Not used Uxx 02 3 Not used 2 axis Uxx 01 4 2 axis forward direction JOG 6 axis Uxx 02 4 6 axis forward direction JOG Uxx 01 5 2 axis reverse direction JOG Uxx 02 5 6 axi...

Page 98: ...For operation ready signal if positioning module and servo driver are connected through EtherCAT communication applicable bit of the connected axis will be on regardless of the operation mode of the PLC b EtherCAT communication connection is done through the instruction XECON or function block XPM_DCON c When you disconnection the communication between the positioning module and servo driver by us...

Page 99: ...gnals When both signals On it does Forward Jog Signal Forward Jog Signal Reverse Jog Signal Jog Operation Status On Off Forward Jog Operation Off On Reverse Jog Operation Off Off Stop On On Forward Jog Operation b If Jog direction is changed during Jog operation it slows down at first and then operates as the direction it changed c According to value of Jog low high Signals it could operate with l...

Page 100: ...ndition is ON it operates continuously b GETP Command Execute with operation start of execute condition Edge That is when execute condition is ON it operates only one time To operate again execute condition should be off and on again The case is that read current position current speed and step number from axis 4 state information of positioning module which installed in No 0 base No 2 slot to PLC...

Page 101: ...nstalled with special module Constant n2 Leading address of special module internal memory to write a d t Constant S Leading address of device that the data to Write is saved M P K L U N D R n3 Word number of data to write M P K L Constant Example PUT n1 n2 S n3 Operating condition D00000 Teaching data1 lower D00001 h280 Teaching data1 upper Teaching data2 lower Teaching data2 upper Teaching data3...

Page 102: ... Slot command axis main axis rate subordinate axis rate main axis setting goal position XCAM CAM Operation Slot command axis main axis setting CAM block no XCAMO Main axis offset specified CAM operation Slot command axis main axis setting CAM block no main axis offset XPOR Position override Slot command axis position XSOR Speed override Slot command axis speed XPSO Position assigned speed override...

Page 103: ...is XSVOFF Servo Off Slot command axis XSCLR Servo error reset Slot command axis XSECLR Servo error history reset Slot command axis XRSTR Restart Slot command axis XSVPRD Servo parameter read Slot Command axis Index Sub Index data size XSVPWR Servo parameter write Slot command axis Index Sub Index data size data RAM ROM XSVSAVE Servo parameter save Slot command axis saving axis XTRQ Torque control ...

Page 104: ...nput condition is On it keeps operating and it doesn t operate when it s Off 2 Command execution time is as below 1 XWRT 15ms per axis1 2 Commands except XWRT 2ms when using 3 axes 4ms when using 8 axes 3 Don t use XVRD and XVWR command at the same time That is you must execute a command after the other command s operation completes Please note that the command don t execute at the same time in ca...

Page 105: ...error state D00100 0 2 axis in operation D00100 1 2 axis error state D00200 0 3 axis in operation D00200 1 3 axis error state D00300 0 4 axis in operation D00300 1 4 axis error state The example program for command in this Chapter 8 also uses the operation state bit as the program operation condition as the above Remark All dedicated commands except XSRD XPWR XTWR XSWR XLRD are not allowed to use ...

Page 106: ... OP2 Axis PMLK constant D Z R ZR WORD Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a If homing start command is executed it carries out homing operation by the setting homing parameter and if homing is complete by external input signal the origin determination end signal is ON b Please refer to 9 1 Homing Start about detailed explanation of Homing Start c D...

Page 107: ...positioning module OP2 Axis PMLK constant D Z R ZR WORD Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a If the floating origin setting command is executed the current position is changed to the origin address 0 and the origin determination signal bit is ON b Floating origin setting that different from homing origin is set at the current position and can not ...

Page 108: ...nstant D Z R ZR DWOR D Goal speed OP5 Dwell time PMLK constant D Z R ZR WORD Dwell time 0 65535 OP6 M code PMLK constant D Z R ZR WORD M code 0 65535 OP7 Control word PMLK constant D Z R ZR WORD PMLK means P M L and K areas a Details of Control word OP7 for each Bit are as follows 15 12 11 10 9 8 7 5 4 3 2 1 0 Dec Time Acc Time 0 Absolute 1 Increment al 0 Position Control 1 Speed control 2 Feed Co...

Page 109: ...R WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Operation step PMLK constant D Z R ZR WOR D Step No to operate 0 400 PMLK means P M L and K areas a If operation step No is set as 0 in indirect start it will be operated as current step No If other number except 0 is set as the operation step number it operates only for step no set b If operation pattern is set as Continuous or ...

Page 110: ...0 0 axis1 in operation D00000 1 axis1 error state D00003 9 axis1 servo on signal D00003 A axis1 servo error D00100 0 axis2 in operation D00100 1 axis2 error state D00103 9 axis2 servo on signal D00103 A axis2 servo error D00400 0 axis5 in operation D00400 1 axis5 error state D00403 9 axis5 servo on signal D00403 A axis5 servo error D01400 axis1 simultaneous start step D01401 axis2 simultaneous sta...

Page 111: ... 2Bit 1Bit 0Bit Not use Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 That is axis5 axis2 axis1 will be set if set as h0013 But the axis which command simultaneous start is basically included without being set in operating axis c In the example program above axis1 operates step no 1 axis2 operates step no 5 axis5 operates step no 10 d To set steps of axis for simultaneous start use XSWR ...

Page 112: ...t D Z R ZR WOR D The device leading no has simultaneous start step no OP4 Number of step PMLK constant D Z R ZR WOR D The number of step to use PMLK means P M L and K areas a In the example program axis 1 axis 2 axis5 operate no 1 step no 5 step no 10 step respectively c To set steps of axis for simultaneous start use XSWR command or PUT PUTP command to set simultaneous start step no on s imultane...

Page 113: ...s OP3 operation step PMLK constant D Z R ZR WOR D Step no to execute ellipse interpolation OP4 Ellipse ratio PMLK constant D Z R ZR WOR D Ellipse ratio OP5 Operation degree PMLK constant D Z R ZR WOR D Degree for ellipse interpolation PMLK means P M L and K areas a Ellipse interpolation distorts operation data which set as circular arc interpolation by ratio set on ellipse ratio and executes ellip...

Page 114: ... Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a If speed position switching control is executed in the state of speed control operation it shall be switched to position control and positioning operation is executed with the position set in the speed control b For detail description about speed position switching control ref...

Page 115: ...D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Target position PMLK constant D Z R ZR DINT Transfer amount after position control switching PMLK means P M L and K areas a If speed position switching control is executed in the state of speed control operation it shall be switched to position control and positioning operation is executed with the position set in the spee...

Page 116: ...P2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a If position speed switching control is executed during position control operation it is converted to speed control operates at the speed set during position control and stops by executing deceleration stop b For the detail description about position speed switching control r...

Page 117: ...torque 32768 32767 PMLK means P M L and K areas a If position torque switching control is executed during position control operation it is converted to torque control with torque value of OP3 and keeps torque operation until stop by executing deceleration stop b Range of Torque value is 32768 32767 and unit is The allowable range of torque value may vary according to the connected servo drive In g...

Page 118: ...K areas a Deceleration stop carry out the command in deceleration acceleration and equal speed areas b Deceleration time means the time required from deceleration start to stop and it is available to set from 0 2 147 483 647ms But if setting as 0 it stops only by deceleration time set at the beginning of operation c Deceleration time means the time required from the speed limit of basic parameter ...

Page 119: ...sitioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a This ends and stops the operation of step which is in operation currently and then continues to operate the next step b For the details description of skip operation refer to 9 5 3 Skip Operation c D device signal axis1 in Operation etc which used in the ex...

Page 120: ...axis 4axis XBF PN08B 1axis 8axis OP3 Main axis position PMLK constant D Z R ZR DINT Position of sub axis to operate OP4 Operation step PMLK constant D Z R ZR WOR D Sub axis operation step No 0 400 OP5 Main axis PMLK constant D Z R ZR WOR D Main axis 1 10 axis1 axis8 Encoder1 Encoder2 PMLK means P M L and K areas a If the command of synchronous start by position is executed it becomes in operation ...

Page 121: ... sub axis ratio 32768 32767 OP5 Main axis PMLK constant D Z R ZR WOR D Main axis 1 8 axis1 axis8 9 Encoder1 10 Encoder2 PMLK means P M L and K areas a In the example program above if the command of synchronous start by speed is executed axis1 subordinate axis is indicated as in operation but the motor does not operate If operating axis2 set as the main axis axis1 subordinate axis is operated depen...

Page 122: ...t WOR D Slot no installed with positioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Main axis ratio PMLK constant D Z R ZR INT Speed sync main axis ratio 32768 32767 OP4 Sub axis ratio PMLK constant D Z R ZR INT Speed sync sub axis ratio 32768 32767 OP5 Main axis PMLK constant D Z R ZR WOR D Main axis 1 8 axis1 axis8 9 Encoder1 10 En...

Page 123: ...turns the opposite of main axis direction c For example if main axis ratio is 3 sub axis ratio is 2 and target position is 1 000 000 when main axis moves by 3000 sub axis moves 2000 It stops by where position of main axis is at 1 000 000 d For the detail description about speed sync refer to 9 4 1 Speed Synchronous Start Control e D device signal axis1 in Operation etc which used in the example ab...

Page 124: ...is XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Main axis PMLK constant D Z R ZR WOR D Main axis 1 8 axis1 axis8 9 Encoder1 10 Encoder2 OP4 Cam Block PMLK constant D Z R ZR WOR D Cam data block to apply to operation 1 9 PMLK means P M L and K areas a In the example program above if cam operation command is executed axis1 sub axis is indicated as In operation but the motor does not operate actua...

Page 125: ...ion input M00002 axis1 direct start input U02 00 0 axis1 ready U02 00 1 axis2 ready D00000 0 axis1 in operation D00000 1 axis1 error state D00003 9 axis1 servo on signal D00003 A axis1 servo error D00100 0 axis2 in operation D00100 1 axis2 error state D00103 9 axis2 servo on signal D00103 A axis2 servo error Command XCAMO Cam Operation Operand OP1 Slot Constant WORD Slot No installed with position...

Page 126: ...P4 b Maximum number of cam data block is 8 c Cam data is set on positioning package but has to be dow nloaded at positioning module before cam operation d For the detail description about cam operation refer to 9 4 3 Cam Operation XCAM e D device signal axis1 in Operation etc which used in the example above is an assumption that saving the axis state value in D device area with XSRD command f In o...

Page 127: ...is XBF PN08B 1axis 8axis OP3 Position value PMLK constant D Z R ZR DINT Goal position value to change Absolute coordinate PMLK means P M L and K areas a If position override is executed before reaching goal position goal position shall be changed with D02800 for positioning operation If executing positioning position override after passing a pos ition to execute position override it stops at the c...

Page 128: ... constant D Z R ZR DWOR D Goal speed value to change PMLK means P M L and K areas a Speed override value OP3 will be set as or Speed value depending on the value which set on speed override in common parameter b If unit of speed override value is the setting area is from 1 to 65 535 it means 0 01 655 35 c If unit of speed override value is speed value setting area is from 1 to speed limit value Th...

Page 129: ...alue PMLK constant D Z R ZR DWOR D Goal speed value to change PMLK means P M L and K areas a Speed override value OP3 will be set as or Speed value depending on the value which set on speed override in common parameter b If unit of speed override value is the setting area is from 1 to 65 535 it means 0 01 655 35 c If unit of speed override value is speed value setting area is from 1 to speed limit...

Page 130: ... installed with positioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a If continuous operation command is executed the step No is changed from the step in current operation to the next step No and c ontinues positioning operation to the speed of the next step and goal position Connection with the next step is...

Page 131: ...dule OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Position value PMLK constant D Z R ZR DINT Position value to move for inching operation PMLK means P M L and K areas a It carries out the relative coordinate operation by inching operation speed set in manual operation parameter as much as position value OP3 b For the detail description about in...

Page 132: ... ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a If the current position is changed as external axis speed sync operation inching operation Jog operation after completing the positioning it returns to the previous position of manual operation b Return to the position before manual operation command will be ignored if it is not in manual operation c ...

Page 133: ... WORD Slot No installed with positioning module OP2 Axis PMLK constant D Z R ZR WORD Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Step No PMLK constant D Z R ZR WORD step No to change with start step 1 400 PMLK means P M L and K areas a Change the current step into the step value which set on step no OP3 b It is not available to be executed in operation c D device signal axis1 in O...

Page 134: ...N04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Step No PMLK constant D Z R ZR WOR D step No to change into repeat step 0 400 PMLK means P M L and K areas a Change repeat step into the step value which set on step no OP3 b Repeat step No change is available for command execution even during positioning operation c Set the next step after finish operating designated repeat step d The detail description ...

Page 135: ...th positioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a When M code occurs M code signal and M code No are released at the same time M code and M code No are changed to OFF and 0 respectively b It is available to be executed in operation c D device signal axis1 Signal in Operation etc which used in the exam...

Page 136: ...module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Position value PMLK constant D Z R ZR DINT Current position value to change PMLK means P M L and K areas a The command that change the current position value to the designated position OP3 b If current position preset command is executed in the origin unsettled state positioning state signal b...

Page 137: ...omman d XEPRS Encoder preset Operand OP1 Slot Constant WOR D Slot No installed with positioning module OP2 Position value PMLK constant D Z R ZR DINT Current position value to change OP3 Encoder PMLK constant D Z R ZR WOR D PMLK means P M L and K areas Since the encoder input terminal is 1 within positioning module it works regardless of the setting item of OP3 encoder a This is the command that c...

Page 138: ... that change the goal position or goal speed OP5 among the operation data to the number as many as from the designated step OP3 to the number of teaching OP6 In the case of operating RAM teaching according to the teaching method OP3 the changed value is maintained during positioning module is connected to power In the case of operating ROM teaching it is maintained without power connection of posi...

Page 139: ... 39 of axis1 operation data using 5 axis1 teaching data f D device signal axis1 Signal in Operation etc which used in the example above is an assumption that saving the axis state value in D device area with XSRD command ...

Page 140: ...MLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Device PMLK D Z R ZR WOR D Leading device No with teaching array data OP3 Number of data PMLK constant D Z R ZR WOR D Number of data to save PMLK means P M L and K areas a Teaching data must be set in teaching array data setting area before teaching array is executed b Teaching array is not executed only by ex...

Page 141: ... data 9 10 Device 18 Teaching array data 10 11 Device 20 Teaching array data 11 12 Device 22 Teaching array data 12 13 Device 24 Teaching array data 13 14 Device 26 Teaching array data 14 15 Device 28 Teaching array data 15 16 Device 30 Teaching array data 16 e Teaching array data can be s et by using PUT command For this refer to memory address of 5 1 2 Teaching data and 6 1 2 Internal Memory Wri...

Page 142: ... OP4 Parameter item PMLK constant D Z R ZR WORD Parameter item to change 1 17 255 OP5 Setting method PMLK constant D Z R ZR WORD 0 RAM setting 1 ROM setting PMLK means P M L and K areas a This is the command that changes the value of the item OP4 which already set among basic parameter items to setting value OP3 In the case of RAM setting by the setting method OP5 the changed value is maintained d...

Page 143: ...tiplier 0 x 1 1 x 10 2 x 100 3 x 1000 15 Speed command unit 0 Unit Time 1 rpm 16 Encoder select 0 Incremental encoder 1 Absolute encoder 17 Current position display correction 0 255 e For the change value OP3 setting range of each basic parameter item OP4 which already set refer to 4 1 1 Basic Parameter Content f In the example program above it changes the item that saved on D02102 of axis1 basic ...

Page 144: ...9 309 389 409 489 509 589 609 28A 30A 38A 40A 48A 50A 58A 60A Dec time1 28B 30B 38B 40B 48B 50B 58B 60B 28C 30C 38C 40C 48C 50C 58C 60C Dec time2 28D 30D 38D 40D 48D 50D 58D 60D 28E 30E 38E 40E 48E 50E 58E 60E Dec time3 28F 30F 38F 40F 48F 50F 58F 60F 290 310 390 410 490 510 590 610 Dec time4 291 311 391 411 491 511 591 611 292 312 392 412 492 512 592 612 Dec time when EM Stop 293 313 393 413 493 ...

Page 145: ...The following is example chaning all items of basic parameter with one XSBP command If M00000 is on data set up at D00000 D00026 will be saved at teaching data memory and basic parameter entire setup command will be executed ...

Page 146: ...ded t o execute the setup command If a c ouple of commands are executed by one condition it may not work properly Parameter setup command execution time 2ms when using 3 axes 4ms when using 8 axes Example You can change acc time 1 acc time 4 as follows Basic parameter setup commands are executed sequentially from basic parameter no 2 item to basic parameter no 5 item after M00100 is on ...

Page 147: ...ange OP4 Parameter item PMLK constant D Z R ZR WOR D Parameter item to change 1 2 4 19 OP5 Setting Method PMLK constant D Z R ZR WOR D 0 RAM setting 1 ROM setting PMLK means P M L and K areas a This is the command that changes the value of the item OP4 which already set among basic parameter items to setting value OP3 In the case of RAM setting by the setting method OP5 the changed value is mainta...

Page 148: ...continuous operation type 0 pass target pos 1 pass near pos 13 Arc insertion 0 Insert arc 1 Don t insert 14 External command selection 0 external VTP 1 external stop 15 External command 0 disable 1 enable 16 Position specified speed override coordinate 0 Absolute 1 Incremental 17 Infinite running repeat pos mm 1 2147483647 X10 4 Inch 1 2147483647 X10 5 Inch degree 1 2147483647 X10 5 degree pulse 1...

Page 149: ...A 60A 28B 30B 38B 40B 48B 50B 58B 60B Acc Dec pattern 28C 30C 38C 40C 48C 50C 58C 60C M code mode 28D 30D 38D 40D 48D 50D 58D 60D Detect upper lower limit during speed control 28E 30E 38E 40E 48E 50E 58E 60E Positioning complete condition 28F 30F 38F 40F 48F 50F 58F 60F Interpolation continuous operation positioning method 290 310 390 410 490 510 590 610 2 axis linear interpolation continuous oper...

Page 150: ...following is example chaning all items of extended parameter with one XSEP command If M00000 is on data set up at D00000 D00024 will be s aved at teaching data memory and ex tended parameter entire setup command will be executed ...

Page 151: ...e command that changes the value of the item OP4 which already set among manual operation parameter items to setting value OP3 In the case of RAM setting by the setting method OP5 the changed value is maintained during APM module is being connected to power In the case of ROM setting it is maintained without the power connection of APM module b The number of ROM setting operating is unlimited beca...

Page 152: ...ready set refer to 4 3 1 Manual Operation Parameter Content f In the example program above it changes the item that saved on D 02102 of axis1 manual operation parameter to the value that saved on D02100 using RAM setting method In the case of D02102 3 D02100 500 it sets jog acc time as 500ms using RAM setting method ...

Page 153: ...86 406 486 506 586 606 JOG dec time 287 307 387 407 487 507 587 607 288 308 388 408 488 508 588 608 Inching speed 289 309 389 409 489 509 589 609 28A 30A 38A 40A 48A 50A 58A 60A 28B 30B 38B 40B 48B 50B 58B 60B 28C 30C 38C 40C 48C 50C 58C 60C 28D 30D 38D 40D 48D 50D 58D 60D 28E 30E 38E 40E 48E 50E 58E 60E 28F 30F 38F 40F 48F 50F 58F 60F 290 310 390 410 490 510 590 610 291 311 391 411 491 511 591 61...

Page 154: ...g is example chaning all items of manual operation parameter with one XSMP command If M00000 i s on data set up at D00000 D00008 will be s aved at teaching data memory and m anual operation parameter entire setup command will be executed ...

Page 155: ...during power off b Input signal parameters of the positioning module because they are stored in the MRAM the number of executions of the ROM of setting there is no limit c Command to set the parameters of the input signal if the axis is in operation can not be performed d The meaning of each bit of the parameter setting value of the input signal is as follows 15 14 13 12 11 8 7 4 3 0 Logic select ...

Page 156: ...PN08B 1axis 8axis OP3 Torque value PMLK Constant D Z R ZR INT Switching position Torque control torque value to change OP4 Setting method PMLK Constant D Z R ZR WO RD 0 RAM 1 ROM PMLK means P M L and K areas a It is a command to change to the external location torque control switching torque setting OP3 in the parameter of the input signal of the axis In case of setting method OP4 If you have a se...

Page 157: ...value of the item OP4 which already set among common parameter items to setting value OP3 In the case of RAM setting by the setting method OP5 the changed value is maintained during positioning module is being connected to power In the case of ROM setting it is maintained without the power connection of positioning module b The number of ROM setting operating is unlimited because common parameter ...

Page 158: ...501 581 601 Encoder1 pulse input 282 302 382 402 482 502 582 602 Encoder1 max value 283 303 383 403 483 503 583 603 284 304 384 404 484 504 584 604 Encoder1 min value 285 305 385 405 485 505 585 605 286 306 386 406 486 506 586 606 Encoder1 Z phase clear 287 307 387 407 487 507 587 607 Destination coordinates for posistioning speed synchronization 288 308 388 408 488 508 588 608 Encoder 1 average n...

Page 159: ...e following is example chaning all items of common parameter with one XSCP command If M00000 i s on data set up at D00000 D00020 will be s aved at teaching data memory and common parameter entire setup command will be executed ...

Page 160: ...LK constant D Z R Z R WOR D Operation data step No to change 0 400 OP 6 Step method PMLK constant D Z R Z R WOR D 0 RAM setting 1 ROM setting PMLK means P M L and K areas a This is the command that changes the item OP4 of a step which already set on OP5 among operation data items to setting value OP3 In the case of RAM setting by the setting method OP6 the changed value is maintained during positi...

Page 161: ...polation 8 Circular interpolation turns 0 65 535 9 Coordinate 0 absolute 1 incremental 10 Control method 0 Single axis position control 1 Single axis speed control 2 Single axis Feed control 3 Linear interpolation 4 Circular arc interpolation 11 Operation method 0 Single 1 Repeat 12 Operation Pattern 0 End 1 Keep 2 Continuous 13 Circular arc size 0 Circular arc 180 1 Circular arc 180 14 Acc No 0 3...

Page 162: ... 588 608 Sub axis setting 289 309 389 409 489 509 589 609 Helical interpolation axis 28A 30A 38A 40A 48A 50A 58A 60A Circular interpolation turns 28B 30B 38B 40B 48B 50B 58B 60B Coordinate 28C 30C 38C 40C 48C 50C 58C 60C Control type 28D 30D 38D 40D 48D 50D 58D 60D Operation type 28E 30E 38E 40E 48E 50E 58E 60E Operation pattern 28F 30F 38F 40F 48F 50F 58F 60F Arc size 290 310 390 410 490 510 590 ...

Page 163: ...ollowing is example chaning all items of first step of position data with one XSMD command If M00000 is on data set up at D00000 D00008 will be saved at teaching data memory and position data entire setup command will be executed ...

Page 164: ...common area ready flag to save in internal device by GETM after executing command reading variable data D02114 Head address to read internal memory data of module D02116 Block offset D02118 Block size D02119 Number of block D02120 Size of data to read WORD D02122 Size of data to read DWORD D02123 Remaining after changing WORD to DWORD D02200 Head device to save data ...

Page 165: ...s of current block b Max data size Block size X No of block can be read with one command is 128 WORD c Read variable data can be executed in operation d If you execute Read variable data the data read from positioning module will be saved in common area In order to save in device for using in program use GETM command Read address h280 data size read data size DWORD as program example after executi...

Page 166: ...e number of data to write is Block size OP6 In case No of block is more than 2 writes multiple blocks At this time head address of next block is Block offset OP5 apart from head address of current block b Max data size Block seze X No of block that can be written with one command is 128 WORD c Even Write variable data command can be executed even when the axis subject to teaching is being operated...

Page 167: ...cted axis on MRAM b The current parameter operation data of selected axis will be saved on MRAM it is also maintained when the power is off c The number of parameter operation data save command is unlimited d Parameter operation data save command is available to be executed when the axis is operating Execute it when all axes are not in operation e Set the selection axis by setting each bit of axis...

Page 168: ...onstant WOR D Slot No installed with positioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a Execute internal emergency stop command to command axis b Dec time in emergency stop become the time which set on Emergency stop dec time item of each basic parameter c The example program above is the command stop axi...

Page 169: ...positioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Common error PMLK constant D Z R ZR WOR D 0 reset axis error 1 reset common error PMLK means P M L and K areas a This is the command that reset the error occurred on command axis b In case of common error not axis error execute the command while common error item OP3 is 1 c The exa...

Page 170: ...eset Operand OP1 Slot Constant WOR D Slot No installed with positioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a This is the command that reset the error history about command axis b The module in each axis saves 10 Maximum error histories c The example program above is that reset errors occurred on axis1 ...

Page 171: ...F PN08B 1axis 8axis OP3 Point operation No PMLK constant D Z R ZR WOR D Point operation step No 1 20 PMLK means P M L and K areas a This is the command that execute point start of command axis b It is unavailable to be executed when the axis is operating c It is able to set maximum 20 point start step d Step data must be set in point start data area before execute point start For the point start s...

Page 172: ...lot Constant WOR D Slot No installed with positioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Device PMLK D Z R ZR WOR D Leading No of device with POINT Start Step Data OP3 Data No PMLK constant D Z R ZR WOR D Data No to save 1 20 PMLK means P M L and K areas a This is the command that sets step which set on device of point step are...

Page 173: ...p data 13 14 Device 13 POINT start step data 14 15 Device 14 POINT start step data 15 16 Device 15 POINT start step data 16 17 Device 16 POINT start step data 17 18 Device 17 POINT start step data 18 19 Device 18 POINT start step data 19 20 Device 19 POINT start step data 20 e Step data must be set in point start data area before execute point start f For detail description of point start operatio...

Page 174: ... on designated device b The current state will be saved like items below depending on leading no of device Device No Size State Device WORD Operation State Information Up Device 1 WORD Operation State Information Down Device 2 WORD Axis Information Device 3 WORD External Input Output Signal State Device 4 DINT Current Position Device 6 DWORD Current Speed Device 8 WORD Step No Device 9 WORD M Code...

Page 175: ...state of axis with GET command At this time refer to memory address of 5 1 4 State Information and 6 1 1 Internal Memory Reading If use GET command in the example above it is as follows In addition it is able to read the states that you need with GET command ...

Page 176: ...connected to that module through Ethernet cable b If servo drive is connected normally a bit corresponding to the connected axis of U device will be set Axis Signal direction PLC CPU P module Input signal Contents 1 axis Uxx 00 0 1 axis ready 2 axis Uxx 00 1 2 axis ready 3 axis Uxx 00 2 3 axis ready 4 axis Uxx 00 3 4 axis ready 5 axis Uxx 00 4 5 axis ready 6 axis Uxx 00 5 6 axis ready 7 axis Uxx 0...

Page 177: ...ication between the positioning module and the servo driver connected to that module through Ethernet cable b If servo drive is disconnected normally a bi t corresponding to the connected axis of U device will be cleared Axis Signal direction PLC CPU Pos itioning module Input signal Contents 1 axis Uxx 00 0 1 axis ready 2 axis Uxx 00 1 2 axis ready 3 axis Uxx 00 2 3 axis ready 4 axis Uxx 00 3 4 ax...

Page 178: ...onnection Operand OP1 Slot Constant WOR D Slot No installed with positioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a This is the command that turns on t he designated servo driver among servo drivers connected to the positioning module b In order to start the motor Servo On signal should be on c In the abo...

Page 179: ...sconnection Operand OP1 Slot Constant WORD Slot No installed with positioning module OP2 Axis PMLK constant D Z R ZR WORD Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a This is the command that turns off the designated servo driver among servo drivers connected to the positioning module b In order to start the motor Servo On signal should be on c In the abo...

Page 180: ...xis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a This is the command that clears servo driver alarm occurred at the specific axis among servo drivers connected to the positioning module b If you reset the servo driver alarm without removing reason it may not be cleared So before resetting the servo driver alarm remove the reason why alarm occurs c In the above example...

Page 181: ... Slot No installed with positioning module OP2 Axis PMLK constant D Z R ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a This is the command that clears servo driver alarm history occurred at the specific axis among servo drivers connected to the positioning module b Servo driver is saving up to 10 servo alarm history c You can see alarm history of t...

Page 182: ...PN04B 1axis 4axis XBF PN08B 1axis 8axis PMLK means P M L and K areas a This is the command that makes the servo restart with position data set up at previous operation after it stops with DEC stop b You can t execute this command while axis is in operation c If you start the axis with commands other than Restart after it stops with DEC stop Restart will not be executed d In example above it gives ...

Page 183: ... ZR WOR D Command axis XBF PN04B 1axis 4axis XBF PN08B 1axis 8axis OP3 Index PMLK constant D Z R ZR WOR D Servo parameter Index 0x1000 0x9FFF OP4 Sub Index PMLK constant D Z R ZR WOR D Servo parameter Subindex 0x00 0xFF OP5 Data size PMLK constant D Z R ZR WOR D Servo parameter Length Byte unit 1 4 PMLK means P M L and K areas a This is the command that reads parameters CoE object of the servo dri...

Page 184: ...Setting value Contents 0x1000 0x1FFF Communication Profile Area 0x2000 0x5FFF Manufacturer Specific Profile Area 0x6000 0x9FFF Standardized Device Profile Area e OP4 can be set as follows Setting value Contents 0x0 0xFF Servo parameter Object Sub index ...

Page 185: ...h SubIndex low 7 4axis servo parameter data value 8 5axis servo parameter Index high SubIndex low 9 5axis servo parameter data value 10 6axis servo parameter Index high SubIndex low 11 6axis servo parameter data value 12 7axis servo parameter Index high SubIndex low 13 7axis servo parameter data value 14 8axis servo parameter Index high SubIndex low 15 8axis servo parameter data value h In the abo...

Page 186: ...data target value of objects to be changed among servo parameters OP7 Write method PMLK constant D Z R ZR WOR D Write method 0 RAM teaching 1 ROM teaching PMLK means P M L and K areas a This is the command that changes parameters CoE object of the servo driver connected to positioning module b It changes the object specified by OP3 OP4 and OP5 among servo parameter to OP6 c You can t execute this ...

Page 187: ...parameters PMLK means P M L and K areas a This is the command that saves parameter of the servo driver connected to the positioning module at the EEPROM in the servo driver b OP2 command axis is different with the axis to save the servo driver So in order to save the servo parameter you have to set bit of corresponding axis at OP3 c It saves servo parameter of the axis set in OP3 d You can t execu...

Page 188: ...and that executes torque control to positioning module Torque control executes if torque value and torque gradient are set and a command is issued b Set torque value to OP3 Torque values work in rated torque 1 1 of rated torque For example set 200 if the user wants to control torque in 200 of torque The allowable range of torque value may vary according to the connected servo drive In general targ...

Page 189: ... latch command b Read latch data of an axis designated to OP2 of the positioning module designated to OP1 the positioning module s slot number and save the device designated to OP3 c The following values are saved on the device area designated to OP3 Device No Size Description Device WORD Number of latch position data Device 1 WORD Device 2 DINT Latch position data 1 Device 4 DINT Latch position d...

Page 190: ... number c The following items are reset according to the Reset Latch items designated to OP3 0 Reset the state when latch is completed 1 Reset latch position data and the state when latch is completed Values high than 1 are processed equally with 1 d If latch position data are read through the Read Latch Position Data command XLRD after 1 is set to OP3 and the Reset Latch command is executed all o...

Page 191: ...le disable the positioning module s external latch function or to set latch mode b Enable Disable the latch function of an axis designated to OP2 of the positioning module designated to OP1 the positioning module s slot number or set latch mode c Actions according to the Enable Disable Latch item designated to OP3 are as following 0 latch prohibition 1 latch permission Values high than 1 are proce...

Page 192: ...is torque ratio OP5 Main axis speed ratio PMLK constant D Z R ZR WOR D Main axis speed ratio Unused OP6 Sub axis speed ratio PMLK constant D Z R ZR WOR D Sub axis speed ratio Unused OP7 Set main axis PMLK constant D Z R ZR WOR D Set main axis 1 8 1axis 8axis PMLK means P M L and K areas a This command is used to execute the torque synchronous of positioning module at relevant axis b Execute torque...

Page 193: ...ng speed The relative speed compared to the main axis speed OP5 Accelerati on time PMLK consta nt D Z R ZR DWORD Acceleration time 0 2 147 483 647 ms OP6 Decelerati on time PMLK consta nt D Z R ZR DWORD Deceleration time 0 2 147 483 647 ms OP7 main axis PMLK consta nt D Z R ZR WORD Command axis XGF PN4B 1 4 axis1 axis4 XGF PN8A PN8B 1 8 axis1 axis8 PMLK means P M L and K areas a This command is us...

Page 194: ...description about speed sync refer to 9 4 5 Phasing correction Control g Version information which can execute 32bit speed sync Command is as follows Item Product Module O S XG5000 CPU O S XGK XGK CPUUx XGI XGI CPUUN XGR XGF PN4B V1 1 V4 06 V4 53 V1 03 V4 01 V1 10 V2 6 XGF PN8B V1 5 6 97 ...

Page 195: ...sub axis ratio 2147483648 2147483647 OP5 Main axis PMLK constant D Z R ZR WORD XGF PN4B Main axis 1 4 axis1 axis4 9 Encoder1 10 Encoder2 XGF PN8B Main axis 1 8 axis1 axis8 9 Encoder1 10 Encoder2 PMLK means P M L and K areas a This is the command that orders 32bit speed sync to positioning module Main and sub axis ratio can be set as range of 32bit integer values b In the example program above if t...

Page 196: ...speed sync refer to 9 4 1 Speed Synchronous Start Control f D device signal axis1 Servo ON etc which used in the example above is an assumption that saving the axis state value in D device area with XSRD command g Version information which can execute 32bit speed sync Command is as follows Item Product Module O S XG5000 CPU O S XGK XGK CPUUx XGI XGI CPUUN XGR XGF PN4B V1 1 V4 06 V4 53 V1 03 V4 01 ...

Page 197: ... Axis PMLK constant D Z R ZR WORD Command axis XGF PN4B 1 4 axis1 axis4 XGF PN8A PN8B 1 8 axis1 axis8 OP3 Main axis ratio PMLK constant D Z R ZR DINT Speed sync main axis ratio 2147483648 2147483647 OP4 Subordinate axis ratio PMLK constant D Z R ZR DINT Speed sync sub axis ratio 2147483648 2147483647 OP5 Main axis PMLK 상 수 D Z R ZR WORD XGF PN4B Main axis 1 4 axis1 axis8 9 Encoder1 10 Encoder2 XGF...

Page 198: ...or operation Command XSETOVR Acceleration deceleration speed override Operand OP1 Slot Constant WORD Slot No installed with positioning module OP2 Axis PMLK Constant D Z R ZR WORD XBF PN04B 1 4 axis 1 axis 4 XBF PN08B 1 8 axis 1 axis 8 OP3 Speed PMLK Constant D Z R ZR DINT Override ratio for speed or Command speed OP4 Acceleration PMLK Constant D Z R ZR UDINT Override ratio for acceleration time o...

Page 199: ...eans ratio for acceleration time override ratio and configurable setting area is 65 535 65 535 It means actually 655 35 655 35 If 1 speed set is configured it means acceleration time and configurable setting area is 0 4 294 967 295 c In case OP5 if 0 set is configured in common parameters it means ratio for deceleration time override ratio and configurable setting area is 65 535 65 535 It means ac...

Page 200: ...ror state D00103 9 Axis2 servo on D00103 A Axis2 servo error state Command XCAM CAM operating Operand OP1 Slot Constant WORD Slot No installed with positioning module OP2 Axis PMLK Constant D Z R ZR WORD XBF PN04B 1 4 axis 1 axis 4 XBF PN08B 1 8 axis 1 axis 8 OP3 Main axis PMLK Constant D Z R ZR WORD Main axis XBF PN4B 1 4 axis 1 axis 4 XBF PN8B 1 8 axis 1 axis 8 9 Encoder 1 OP4 CAM block PMLK Con...

Page 201: ...xis offset OP6 and the vertical axis offset OP7 b If the main axis is operated by the CAM operation start movement amount OP5 operation will start at the sub axis position corresponding to the main axis position according to the data value of the CAM data block set in the CAM block OP4 c CAM data blocks can be set up to 9 d The CAM data can be set in the positioning package and it must be download...

Page 202: ...ed sync ratio sub axis ratio main axis ratio is positive integer sub axis operation turns main axis direction if not positive integer it turns the opposite of main axis direction d For example if main axis ratio is 100 000 sub axis ratio is 123 456 and target position is 1 000 000 when main axis moves by 100 000 sub axis moves 123 456 It stops by where position of main axis is at 1 000 000 e For t...

Page 203: ... error number Error code of STAT of Positioning Function Block is as follows STAT Description Detailed description 0 Normal In case function block is executed normally DONE 1 and STAT 0 1 Base number setting error Base number is out of range Setting range according to CPU is as follows Setting range 0 3 Slot number setting error Slot number is out of range 2 3 4 Empty slot error There is no module...

Page 204: ...8 2 147 483 647 x 10 5 degree Speed pulse sec 1 2 147 483 647 pulse sec mm min 1 2 147 483 647 X10 2 min inch min 1 2 147 483 647 X10 3 Inch min degree min 1 2 147 483 647 X10 3 degree min 3 For the data types which usually used on function block are as follows No Initial Data Types Size Bit Range 1 BOOL Boolean 1 0 1 2 SINT Short Integer 8 128 127 3 USINT Unsigned Short Integer 8 0 255 4 INT Inte...

Page 205: ... XPM_SNS Start step No change Edge 22 XPM_SRS Repeat step No change Edge 23 XPM_MOF M code release Edge 24 XPM_PRS Current position preset Edge 25 XPM_EPRE Encoder value preset Edge 26 XPM_ATEA Teaching array Edge 27 XPM_SBP Basic parameter teaching Edge 28 XPM_SEP Extended parameter teaching Edge 29 XPM_SMP Manual operation parameter teaching Edge 30 XPM_SIP Input signal parameter teaching Edge 3...

Page 206: ...it speed synchronization Edge 67 XPM_SSSPD 32 bit Position specified speed position switching control Edge 68 XPM_SETOVR Speed Acceleration Deceleration override Edge 69 XPM_CAMA Absolute positioning CAM Operation Edge Remark 1 Dedicated commands of positioning module are executed in rising edge Therefore it operates when the input condition is On If you want it to operate again the input conditio...

Page 207: ... one should be executed for one function block execution axis within a scan If using it as presented in the following example program the function block does not work properly If executing a different function block If executing a same function block Same block can be executed on a different axis except for XPM_VRD XPM_VWR command ...

Page 208: ...play the current speed TRQ Display the current torque STEP Display step no of the current operation data MCD Display the current M code value 1 Read the axis state of current operation designated in the axis of designated positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 The operation information is saved in parameter set on output of function bloc...

Page 209: ...in operation ST1 State 1 ST2 State 2 ST3 State 3 ST4 State 4 ST5 State 5 ST6 State 6 ST7 State 7 1 Give Bit Information of Current operation reading command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 The bit information about the state of current operation is saved in parameter set on ST1 ST7 3 You can s...

Page 210: ...d control 5 In homing operation 2 In linear interpolation 6 In position synchronous start operation 3 7 In speed synchronous start operation ST4 0 In jog operation 4 In returning to position before manual operation 1 5 In CAM control operation 2 In inching operation 6 In Feed control operation 3 7 In ellipse interpolation operation ST5 0 Main axis information XBF PN04B 1 4 XBF PN08B 1 8 9 Encoder1...

Page 211: ...ncoder no 0 Encoder 1 1 Encoder 2 Output DONE Maintain 1 after first operating STAT Output the error no in operation ENC_VAL Current value of encoder 1 Give Encoder Reading command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 The current encoder value is displayed on ENC_VAL 3 Set the encoder you want to r...

Page 212: ...first operating STAT Output the error no in operation SV_ERR Servo error information 1 It reads servo error information corresponding to the designated axis of positioning module designated by BASE Base number of positioning module and SLOT Slot number of positioning module 2 The current servo error information is saved in the variable designated by SV_ERR 3 You can set axis to command in AXIS and...

Page 213: ... Latch position data 1 10 1 This command is used to read data count and latch position data saved and latched by the positioning module s external latch command 2 Save the position data count read and latched the latch data of the axis designated as the positioning module s AXIS Command axis designated as BASE Base number of the positioning module and SLOT Slot number of the positioning module to ...

Page 214: ...Teaching command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 Parameter value modified by basic parameter teaching command and setting RAM ROM to 0 is valid within power connection If you want to keep the parameter without power connection execute basic parameter teaching command with setting RAM ROM as 1 ...

Page 215: ...Acc Time 1 1 2 147 483 647 ms 3 Acc Time 2 4 Acc Time 3 5 Acc Time 4 6 Dec Time 1 1 2 147 483 647 ms 7 Dec Time 2 8 Dec Time 3 9 Dec Time 4 10 Emergency stop Dec Time 1 2 147 483 647 ms 11 Pulse rotation 1 200 000 000 12 Transfer rotation 13 Unit 0 Pulse 1 mm 2 Inch 3 Degree 14 Unit mutiplier 0 x 1 1 x 10 2 x 100 3 x 1000 15 Unit for speed command 0 unit time 1 rpm 16 Encoder selection 0 Increment...

Page 216: ...signated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 Parameter value modified by extended parameter teaching command and setting RAM ROM to 0 is valid within power connection If you want to keep the parameter without power connection execute extended parameter teaching command with setting RAM ROM as 1 or save the modified para...

Page 217: ...mode 0 None 1 With 2 After 10 ion Upper Lower limit detect 0 Not detect 1 Detect 11 Condition for positioning completion 0 Dwell time 1 In position 2 Dwell time AND In position 3 Dwell time OR In position 12 Interpolation continuous operation type 0 Pass target position 1 pass near position 13 2 axes linear interpolation continuous operation circular arc insertion 0 Don t insert 1 Insert arc 14 Ex...

Page 218: ...M to 0 is valid within power connection If you want to keep the parameter without power connection execute manual operation parameter teaching command with setting RAM ROM as 1 or save the modified parameter value on MRAM with XPM_WRT Parameter Operation Data Saving command after manual operation parameter teaching 3 You can set axis to command in AXIS and the following value is available If you s...

Page 219: ... XPM_WRT Parameter Operation Data Saving command after input signal parameter teaching 3 You can set axis to command in AXIS and the following value is available If you set other values error code 6 appears XBF PN04B 1 4 XBF PN08B 1 8 4 Input signal parameter teaching command is unavailable to be executed when the axis is operating 5 The meaning of each bit of the parameter setting value of the in...

Page 220: ...ignated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 Parameter value modified by Switching torque of external position torque control teaching and setting RAM ROM to 0 is valid within power connection If you want to keep the parameter without power connection execute Switching torque of external position torque control teaching ...

Page 221: ...tting values are as follows Setting Value Items Setting values 1 Speed override 0 designation 1 speed designation 2 Mode for encoder1 pulse input 0 CW CCW 1 multiplication 1 PULSE DIR 1 multiplication 2 PULSE DIR 2 multiplication 3 PHASE A B 1 multiplication 4 PHASE A B 2 multiplication 5 PHASE A B 4 multiplication 3 Maximum value of encoder1 2147483648 2147283647 4 Minimum value of encoder1 5 Enc...

Page 222: ...h BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 Parameter value modified by operation data teaching command and setting RAM ROM to 0 is valid within power connection If you want to keep the parameter without power connection execute operation data teaching command with setting RAM ROM as 1 or save the modified parameter value on MRAM with XPM_WRT Parameter Operation D...

Page 223: ...o 0 65 535 6 Sub axis setting Bit unit setting Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 axis8 axis7 axis6 axis5 axis4 axis3 axis2 axis1 7 Helical interpolation axis 0 axis1 axis8 0 General circular interpolation 8 Circular interpolation turns 0 65 535 9 Coordinate 0 absolute 1 incremental 10 Control method 0 single axis position control 1 single axis speed control 2 single axis Feed control...

Page 224: ...n data of specified operation step 3 This command is for modifying maximum 16 goal positions speed value at once with teaching array function block 4 You can set axis to command in AXIS and the following value is available If you set other values error code 6 appears XBF PN04B 1 4 XBF PN08B 1 8 5 Even Write variable data command can be executed even when the axis subject to teaching is being opera...

Page 225: ...eads the positioning module internal memory from the position set by S_ADDR by WORD unit and save them in the device set by VAR The number of data to read is the number set by Size In case CNT is larger than 2 it reads multiple data blocks and save them in the device set by VAR in order At this time head address of next block is Offset apart from head address of current block 4 Max data size SIZE ...

Page 226: ...are saved from internal memory position set by T_ADDR and the number of data is the number set by Size In case the number of block CNT is larger than 2 multiple blocks are made At this time head address of next block is Offset apart from head address of current block 4 Max data size SIZE x CNT you can write with one command is 128 WORD 5 Write Variable Data command can t be executed in operation 6...

Page 227: ...tain the data without the power connection 4 For setting WRT_AXIS set each Bit 15 8 Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit Not Used Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 If you want to select axis3 axis5 and axis6 just set to 16 34 5 In case of modifying the CAM data with XPM_VWR instruction when you execute XPM_WRT the modified data will be saved in FLASH Form of Function B...

Page 228: ...ng command to APM module 2 This is the command to find the origin of machine by Direction Correction Speed Address and Dwell set on parameter of each axis for homing according to the homing access 3 Give Homing command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 4 You can set axis to command in AXIS and the...

Page 229: ...TIME_SEL is out of setting range Error11 will occur on STAT Form of Function Block Description Input REQ Request for execution of function block BASE Set the base no with module SLOT Set the slot no with module AXIS Axis to command XBF PN04B 1 4 XBF PN08B 1 8 ADDR Goal position address setting 2147483648 2147483647 SPEED Goal speed setting DWELL Dwell time setting 0 65535 ms M code M code value se...

Page 230: ...designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This is for operating by setting operation step no of axis which set as an operation data 3 You can set axis to command in AXIS and the following value is available If you set other values error code 6 appears XBF PN04B 1 4 XBF PN08B 1 8 4 If the value set on STEP is out of...

Page 231: ...g module 2 This is the command that execute ellipse interpolation to the designated step as much as the angle set on DEG in the ratio of it which set on RATIO 3 Ellipse interpolation is that distort operation data of the step already set at the rate already set on RATIO to execute ellipse interpolation Therefore the step of operation data set on STEP has to be set in accordance with circular inter...

Page 232: ...to start A6_STEP step no of axis6 to start A7_STEP step no of axis7 to start A8_STEP step no of axis8 to start Output DONE Maintain 1 after first operation STAT Output the error no in operation 1 Give Simultaneous Start command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This is for starting more than 2 a...

Page 233: ...ation STAT Output the error no in operation 1 Give Point start command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 You can set axis to command in AXIS and the following value is available If you set other values error code 6 appears XBF PN04B 1 4 XBF PN08B 1 8 3 This is for when operating PTP Point to Poi...

Page 234: ...he stop command by operation data it will stop operating and continue to operate by start command 3 If Decelerating Stop is executed in speed position synchronization or CAM operation speed position synchronization or CAM operation will stop depending on the state of the current operation control 4 Decelerating Stop may be executed in not only acc dec area but also steady speed area 5 Deceleration...

Page 235: ...after first operating STAT Output the error no in operation 1 Give Emergency Stop command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for immediate stop The axis to execute this command will stop 3 Dec time of emergent stop is the time set on Dec time of Emergent stop of basic parameter 4 ...

Page 236: ... module 2 This command is used when restarting the axis which stops by EMG stop command If this command is executed the axis operates again with previous operating information 3 If you start the axis with commands other than Restart after it stops with DEC stop Restart will not be executed 4 You can set axis to command in AXIS and the following value is available If you set other values error code...

Page 237: ...re set and a command is issued 3 Set torque value to TRQ_VAL Torque values work in rated torque 1 1 of rated torque For example set 200 if the user wants to control torque in 200 of torque The allowable range of torque value may vary according to the connected servo drive In general target torque value is limited to the maximum torque setting 4 Set time to take in reaching the target torque to TIM...

Page 238: ...d to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for checking operation of system wiring and address for teaching It may be used in High Low speed 3 The operating condition of JOG operation function block is Level type That is when the condition of input parameter REQ is ON pulse is outputted...

Page 239: ...tain 1 after first operating STAT Output the error no in operation 1 Give Inching Operation command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is a kind of manual operation for process a minute movement as an operation of fixed amount 3 Speed of inching operation is set on manual operation p...

Page 240: ... first operating STAT Output the error no in operation 1 Give Returning to position before manual operation command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 When the position is changed by manual operation this command may move the axis to previous manual operation position 3 You can set axis to comman...

Page 241: ...648 2 147 483 647 Output DONE Maintain 1 after first operating STAT Output the error no in operation 1 Give Synchronization Start command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 Operate operation step set by command axis after main axis comes to the position of synchronization 3 You can set axis to co...

Page 242: ...of Positioning module 2 This command is for operating at the operation speed ratio between main axis and subordinate axis 3 There is no rule about size of the speed ratio between main sub axis If the speed ratio of main axis is bigger than sub s the main axis will move faster than sub axis If the speed ratio of sub axis is bigger than main s the sub axis moves faster than main 4 You can set axis t...

Page 243: ... no of Positioning module 2 This command is for operating at the operation speed ratio between main axis and subordinate axis It stops operating when the position of sub axis come to the position set on POS 3 There is no rule about size of the speed ratio between main sub axis If the speed ratio of main axis is bigger than sub s the main axis will move faster than sub If the speed ratio of sub axi...

Page 244: ...ion sub axis is indicated that it is in operation but it does not work actually When main axis starts the motor starts working according to the data value of CAM data block which already set on CAM block CAM_BLK 4 You can set axis to command in AXIS and the following value is available If you set other values error code 6 appears XBF PN04B 1 4 XBF PN08B 1 8 5 Set main axis of CAM operation at MST_...

Page 245: ... block 3 When executing CAM operation sub axis is indicated that it is in operation but it does not work actually If main axis starts and moves as far as transfer amount set in the MST OFFSET the motor starts working according to the data value of CAM data block which already set on CAM block CAM_BLK 4 You can set axis to command in AXIS and the following value is available If you set other values...

Page 246: ...vo drive connected to positioning module 2 Give Main Axis Offset specified CAM Operation command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 3 The axis to perform command execute torque synchronous by axis MST_AXIS as main axis 4 The axis to perform command execute torque synchronous by torque ratio MST_TRQ...

Page 247: ... to the reference position of the main axis of the axis specified as AXIS of the positioning module 2 Phase correction is executed with values set in VELOCITY ACC_TIME DEC_TIME as much as the amount of phase correction set in PHAS VAL with respect to the main axis set in MST_AXIS of the axis specified as AXIS of the positioning module designated as BASE base number of the positioning module and SL...

Page 248: ...is ratio can be set in 32 bit integer range 3 There are no rules on the size between the speed ratio of the main axis and that of the sub axis That is if the speed ratio of the main axis is greater than that of the sub axis the main axis is faster than the sub axis and if the speed ratio of the sub axis is greater than that of the main axis the sub axis is faster than the main axis 4 In AXIS axes ...

Page 249: ...xecution of XPM_SSSPD when the position to which the sub axis is moved becomes the one specified in POS the speed synchronization ends and stops 3 There are no rules on the size between the speed ratio of the main axis and that of the sub axis That is if the speed ratio of the main axis is greater than that of the sub axis the main axis is faster than the sub axis and if the speed ratio of the sub...

Page 250: ...ated module of BASE Base number of positioning module and SLOT Slot number of positioning module 2 Operate the CAM by using the CAM main axis CAM data block CAM operating start position main axis offset sub axis offset of the axis 3 Operating absolute CAM command and if the axis set as the main axis starts it executes the operation to reach synchronous position until it moves by the distance set i...

Page 251: ...t value is set Error 11 occurs XBF PN04B 1 4 axis 1 axis 4 XBF PN08B 1 8 axis 1 axis 8 9 Encoder 6 Set the CAM block number to be executed at CAM_BLK and the following values can be set If a value except the set value is set Error 11 occurs 1 9 Block 1 9 7 The cam data can be created in the positioning package and you can set up to 8 blocks Block 1 to block 8 8 To use the absolute positioning CAM ...

Page 252: ...ition Override command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for changing the goal position in operation 3 If execute position override after pass the position to execute position override it will stop at the current position and turn back to the position set on POR_ADDR 4 Set the go...

Page 253: ...ase no of Positioning module and SLOT Slot no of Positioning module 2 This command is for changing the operating speed in operation 3 It may be set to or Speed value unit time according to Speed Override value of common parameter 4 If unit of Speed override is setting range is from 1 to 65 535 It means 0 01 655 35 5 If unit of speed override is speed value the setting range is from 1 to speed limi...

Page 254: ...osition Assigned Speed Override command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for changing operating speed in operation after command axis arrive at definite position 3 The speed value set on PSO_SPD will be Designation or Speed value Designation depending on the value set on Speed O...

Page 255: ...the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 When the designated axis is in positioning control operation if it receives position speed control switching command positioning control operation will be changed into speed control operation and continues to operate until stop command 3 Once the command is execute...

Page 256: ...peration 1 Give Speed Position Switching Control command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 When the designated axis receives speed position control switching command in speed control operation speed control will be changed to position control and keep operating by the position value at the begin...

Page 257: ...ting STAT Output the error no in operation 1 Give Position specified Speed Position Switching Control command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 When the designated axis receives speed position control switching command in speed control operation speed control will be changed to position control ...

Page 258: ...axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 When the designated axis receives position torque switching control command in position control operation position control will be changed to torque control and keep moving until stop command 3 The range of Torque value is 32768 32767 and unit is The allowable range of torque value may vary ...

Page 259: ...g STAT Output the error no in operation 1 Give Skip Operation command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for operating the next step That is stop operating of the current step and then start operating the next step 3 Skip a step at once 4 You can set axis to command in AXIS and th...

Page 260: ...axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for command axis to continue to operate the next step without stop 3 If this command is executed the current step no would be changed to the next step no and continue to execute positioning operation at the next step speed to the goal position 4 Continuous Operation command o...

Page 261: ...r first operating STAT Output the error no in operation 1 Give Start Step no Change command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for changing the operation step of command axis 3 You can set axis to command in AXIS and the following value is available If you set other values error c...

Page 262: ...n operation 1 Give Repeat Step no Change command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for designating the starting step no of repeat operation and operating from the designated operation step 3 You can set axis to command in AXIS and the following value is available If you set other...

Page 263: ... 647 Output DONE Maintain 1 after first operating STAT Output the error no in operation 1 Give Basic Parameter Setting command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for changing the current position to random position If it is executed in the state of non origin the origin signal wou...

Page 264: ...7483648 2147483647 Output DONE Maintain 1 after first operating STAT Output the error no in operation 1 Give Encoder Preset command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for changing the current value of encoder to the value set on EPRE_VAL 3 Set the encoder to preset on ENC 4 You ca...

Page 265: ...ning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is used when the command axis is in operation and you want to change operation speed acceleration deceleration direction 3 VEL_FACTOR ACC_FACTOR DEC_FACTOR is configurable in speed override of common parameters it can be set or speed unit time 4 If the unit of the speed override is set the spe...

Page 266: ... 64 8 Operation direction is configurable only for 1 Forward 2 Reverse 3 Current 9 You can set axis to command in AXIS and the following value is available If you set other values error code 6 appears XBF PN04B 1 4 XBF PN08B 1 8 ...

Page 267: ...ting STAT Output the error no in operation 1 Give Error Reset command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 You can set axis to command in AXIS and the following value is available If you set other values error code 6 appears XBF PN04B 1 4 XBF PN08B 1 8 3 This is for resetting the errors 4 Select th...

Page 268: ...ntain 1 after first operating STAT Output the error no in operation 1 Give Error History Reset command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 You can set axis to command in AXIS and the following value is available If you set other values error code 6 appears XBF PN04B 1 4 XBF PN08B 1 8 3 If errors a...

Page 269: ...1 4 XBF PN08B 1 8 Output DONE Maintain 1 after first operating STAT Output the error no in operation 1 Give Floating Origin command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This command is for setting the current position as the origin by compulsion The address value saved on homing address will be the...

Page 270: ...t the error no in operation 1 Give M code Release command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 In the case that M code of parameter of each axis is set as With of After you may turn the M code off with this command That is M code signal will be OFF M code no will be 0 3 You can set axis to command ...

Page 271: ...s completed 1 Reset latch position data and the state when latch is completed Values high than 1 are processed equally with 1 4 If latch position data are read through the Read Latch Position Data XPM_LRD command after 1 is set to SEL and the Reset Latch command is executed all of data become 0 5 You can set axis to command in AXIS and the following value is available If you set other values error...

Page 272: ...ng module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 3 Actions according to the Enable Disable Latch item designated to ENABLE are as following 0 latch prohibition 1 latch permission Values high than 1 are processed equally with 1 4 Actions according to the latch mode item designated to MODE are as following 0 Single trigger The current position latch is availab...

Page 273: ...n Connect command to the positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 If servo driver is connected normally the bit corresponding to the connected axis among automatic registration variables will be set Automatic registration variable Contents 1 axis _00yy_A1_RDY 1 axis ready 2 axis _00yy_A2_RDY 2 axis ready 3 axis _00yy_A3_RDY 3 axis ready 4 ...

Page 274: ...nnect command to the positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 If servo driver is disconnected normally the bit corresponding to the connected axis among automatic registration variables will be cleared Automatic registration variable Contents 1 axis _00yy_A1_RDY 1 axis ready 2 axis _00yy_A2_RDY 2 axis ready 3 axis _00yy_A3_RDY 3 axis ready...

Page 275: ...ut the error no in operation 1 Give Servo Ont command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 Give Servo On Command to the servo corresponding to the selected axis among the servos connected to the module 3 In order to operate a motor Servo On signal have to be on 4 You can set axis to command in AXIS...

Page 276: ...after first operating STAT Output the error no in operation 1 Give Servo On command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 Give Servo Off Command to the servo corresponding to the selected axis among the servos connected to the module 3 You can set axis to command in AXIS and the following value is a...

Page 277: ... Base no of Positioning module and SLOT Slot no of Positioning module 2 Give the command that clears servo driver alarm occurred at the specific axis among servo drivers connected to the positioning module 3 If you reset the servo driver alarm without removing reason it may not be cleared So before resetting the servo driver alarm remove the reason why alarm occurs 4 You can set axis to command in...

Page 278: ...1 Give Servo Error Reset command to the axis designated as the axis of positioning module with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 Give the command that clears servo driver alarm history occurred at the specific axis among servo drivers connected to the positioning module 3 Servo drive can save up to 10 servo alarm history 4 You can set axis to command in AX...

Page 279: ... in operation SV_IN Servo input signal information 1 Give Servo External Input Information Read command to the axis of positioning module designated with BASE Base no of Positioning module and SLOT Slot no of Positioning module 2 This is command reading input signal state of the servo driver corresponding to the selected axis among servos connected to the module 3 Input signal state is outputted a...

Page 280: ... module and SLOT Slot no of Positioning module 3 Save in DATA to read value of LENGTH size at the servo parameter object designated with INDEX SUBINDEX at the axis designated with BASE Base no of Positioning module and SLOT Slot no of Positioning module 4 You can set axis to command in AXIS and the following value is available If you set other values error code 6 appears XBF PN04B 1 4 XBF PN08B 1 ...

Page 281: ...ver with Servo parameter write command set up 1 at RAM ROM and execute the command or set up 0 at RAM ROM and execute the command and later save them at servo driver EEPROM with XPM_SVSAVE command 4 Save DATA of LENGTH size at the servo parameter object designated with INDEX SUBINDEX at the axis designated with BASE Base no of Positioning module and SLOT Slot no of Positioning module 5 You can set...

Page 282: ...at the EEPROM of the servo driver 2 Give Servo Parameter Save command to the axis of positioning module designated with BASE Base no of Positioning module and SLOT Slot no of Positioning module 3 This is the function block that save the selected servo parameter of servo drive among connected servo drive to EEPROM of internal servo drive 4 Set up the axis to give a command at AXIS and you can set a...

Page 283: ...MK Programming 8 1 1 General description Here we supposed the positioning module installed at the slot no 3 of the 0 base In the real usage you need to change its value according to your actual set up 8 1 2 Current State Read 1 Using XSRD command a Module ready b Axis ready c Position of the module d Command axis e Head address to save current status ...

Page 284: ...led at the slot no 3 d Axis of operation Positioning module operate as 4 axis In this example number 1 through 4 means axis 1 through axis 4 e Address of first device where those conditions of current axis are saved This D00000 tells the address of first device which already register from the configuration of sequence program For example in this program above the condition of axis 1 will be saved ...

Page 285: ...an save the condition of axis d Number of reading data by WORD Using command GET to read condition information can save number of data by WORD hence you only chosen data will be saved e Also you can use the bit information from saved data in the device for as a condition of another operation For example in this program above according to use axis 1 dr iving signal you need t o setup a dat a as D00...

Page 286: ... soon as D00102 6 Latch Completion state is On d Position of the module In order to give a command you have to specify the position of the positioning module to give a command In the example the positioning module is mounted on the slot 3 e Command axis When giving a command to each axis you have to specify an axis to give a command XBF PN04 8 B can supports up to 4 8 axis 1 4 8 in command means 1...

Page 287: ...nection command you can execute servo connection command only when the network cable is actually connected 2 Servo driver disconnection a Condition for servo disconnection Condition to execute Servo disconnection command XDCON b Position of the module c Command axis When giving a command to each axis you have to specify an axis to give a command XBF PN04 8 B can supports up to 4 8 axis 1 4 8 in co...

Page 288: ...the connected axis You can remove the command of the axis not connected according to the system c Position of the positioning module In the example we assume that the module is equipped on Base 0 Slot 3 d Command axis When giving a command to each axis you have to specify an axis to give a command XBF PN04 8 B can supports up to 4 8 axis 1 4 8 in command means 1 axis 4 8 axis e If Servo On command...

Page 289: ...o the connected axis You can remove the command of the axis not connected according to the system c Position of the positioning module In the example we assume that the module is equipped on Base 0 Slot 3 d Command axis When giving a command to each axis you have to specify an axis to give a command XBF PN04 8 B can supports up to 4 8 axis 1 4 8 in command means 1 axis 4 8 axis e If Servo Off comm...

Page 290: ...ate by axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Operating for each axis d Error state for each axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just...

Page 291: ...nd executed when servo driver is Servo On state If you execute floating origin setting command when axis is not Servo On state the error 212 occurs f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of command execution You can set an axis for Floating Origin Setting XBF PN04 8 B can supports for 4 8 axes In the execution of axis from th...

Page 292: ...Chapter 8 Program 8 10 2 Jog Operation a Condition for JOG operation b Axis Ready c Operation state d Operation control type f Servo On signal e Error state g Jog Operation Command ...

Page 293: ...l only work when there is no er ror If you want to operate a system regardless of errors you can just inactivate the function f Servo On signal When applying the example program of 8 1 2 Current State Read this is Servo On signal for each axis When each axis is Servo On state it will be on Since Jog operation command can t be executed when the axis is not servo on it makes command executed when se...

Page 294: ...rating Inching Operation can not be c onfigured while it is running hence configuration will only be configured when it is not running If you execute Inching Operation while it is running the error 401 would be appeared Moves 1 axis as many as D01000 Moves 2 axis as many as D01002 Moves 3 axis as many as D01004 Moves 4 axis as many as D01006 Moves 5 axis as many as D01008 Moves 6 axis as many as D...

Page 295: ...ing operation command can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you execute Inching operation command when axis is not Servo On state the error 403 occurs f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of command execution You can set an axis for Inching Operation...

Page 296: ... is running hence configuration will only be configured when it is not running If you execute Manual Operation while it is running the error 431 would be appeared 1 axis returns to the position before Manual Operation 2 axis returns to the position before Manual Operation 3 axis returns to the position before Manual Operation 4 axis returns to the position before Manual Operation 5 axis returns to...

Page 297: ...d can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you execute Return to the manual operation command when axis is not Servo On state the error 434 occurs f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of command execution You can set an axis for Manual Operation XBF PN0...

Page 298: ...eter as D1706 value with RAM setting Sets encoder1 input mode of common parameter as PULSE DIR X2 with ROM setting Sets acc dec pattern of 6 axis extended parameter as D01716 with ROM setting Sets speed command unit of 7 axis basic parameter as rpm with ROM setting Sets JOG acc Time of 8 axis manual operation parameter as 2000ms with ROM setting a Condition for parameter setting b Axis ready state...

Page 299: ... installed at the slot no 3 of 0 bases f Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can set a value for axis 1 through 4 8 axis g Value of Changing Parameter You can set a value of changing parameter For more information about Parameter Value Changing look for Ch...

Page 300: ...flected after the current step is completed Sets target position of 1 axis operation data no 2 step as 10000 with RAM setting Sets target position of 2 axis operation data no 10 step as 5000 with RAM setting Sets dwell time of 3 axis operation data no 11 step as 100ms with RAM setting Sets coordinate of 4 axis operation data no 12 step as absolute coordinate with RAM setting Sets D01824 item of 5 ...

Page 301: ...the value of Dwell is going to be set as 1000ms Setting Value Items 1 Goal Position 2 Circular interpolation auxiliary position 3 Operating speed 4 Dwell Time 5 M code No 6 Auxiliary axis setting 7 Helical interpolation axis 8 The number of circular interpolation turn 9 Coordinates 10 Control method 11 Operating method 12 Operting pattern 13 Size of Circular arc 14 Acc No 15 Dec No 16 Circular int...

Page 302: ...tion value ROM teaching 5 axis operation data D02242 item D02241 teaching as many as D02243 starting from D02240 step 7 axis position value D02261 teaching as many as D02263 starting from D02260 step 6 axis 15 operation data speed value ROM teaching starting from D02250 step 8 axis 7 operation data D02272 item RAM teaching starting from D02270 step a Condition for multiple teaching b Axis ready st...

Page 303: ...ng Array you need to set a specific value first TWR commands are using for set up those Teaching Array data It has to be done before actual Teaching Array operation Teaching Data will be set up depends on number of first device as below table No Device No Teaching array data 1 Device 0 Teaching array data1 2 Device 2 Teaching array data2 3 Device 4 Teaching array data3 4 Device 6 Teaching array da...

Page 304: ... used For more information about Teaching Array Operation look for reference from Chapter 9 7 1 m This example above can also be operated using command PUT from XTWR as below For more information about each saving Teaching Data look for reference from Chapter 5 1 2 When you are using a command PUT you need to setup a type of data as a WORD not a DINT considered its size a Condition for writing tea...

Page 305: ...ing to exercise from Chapter 8 1 2 Current State Reading it is a signal of State of Emergency Stop for each axis It turns on when it is Emergency Stop Emergency Stop can not be configured while it is running hence configuration will only be configured when it is not running d Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases 1 axis saving curren...

Page 306: ... 1 through 4 8 axis f Saving by axis Configure current data operation setting Choosing axis are configured follow by below table Therefore even if those axis are not operated as it programmed saving axis can be saved in Array The data of operated axis saved in MRAM which make constantly stable whether its power is on or not 15 8 Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit N A 8 axis 7 axis 6 axis ...

Page 307: ...g for each axis It turns on when it is operating Homing command can not be configured while it is running hence configuration will only be configured when it is not running If you execute Homing while it is running the error 201 would be appeared 1 Axis Home Return start 2 Axis Home Return start 3 Axis Home Return start 4 Axis Home Return start 5 Axis Home Return start 6 Axis Home Return start 7 A...

Page 308: ...n each axis is Servo On state it will be on Since Homing command can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you execute Homing command when axis is not Servo On state the error 203 occurs f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of command execution You can s...

Page 309: ...tion D01106 target speed D01206 dwell time 0 M code 123 incremental coordinate acc time 4 dec time 4 position control 6 axis target position D01110 target speed D01210 dwell time 0 M code 0 absolute coordinate acc time 1 dec time 4 position control 7 axis target position D01112 target speed D01212 dwell time 0 M code 0 incremental coordinate acc time 4 dec time 1 speed control 8 axis target positi...

Page 310: ...le installed at the slot no 3 of 0 bases g Axis of command execution You can set an axis for Direct Start XBF PN04 8 B series supports for 4 8 axes In the execution of axis from the configuration of Direct Start you can set a value for axis 1 through 4 8 axis h Goal of Direct Start Decide changing position of Direct Start command In this example above the initialized value is device but you can al...

Page 311: ...an not be configured while it is running hence configuration will only be configured when it is not running If you execute Indirect Start while it is running the error 231 would be appeared 2 axis D01301 step indirect start 1 axis D01300 step indirect start 3 axis D01302 step indirect start 4 axis D01303 step indirect start 5 axis current step indirect start 6 axis no 10 step indirect start 7 axis...

Page 312: ...you execute Indirect start command when axis is not Servo On state the error 235 occurs f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of command execution You can set an axis for Indirect Start XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configuration of Indirect Start you can set a value for axis 1 thro...

Page 313: ...y signal for each axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Drive Ready for each axis This command only works when the condition of Drive Ready is on If a Drive Ready of main axis is not set as ON the error 549 would be appeared and If a Drive Ready of subordinate axis is not set as ON the error 550 would be appeared and 1 axis 2 axis step 1300 50 360 de...

Page 314: ... is to change circular locus into ellipse locus by using ratio of main and subordinate axis j Degree of Ellipse Interpolating Operation Set the degree for Ellipse Interpolating Operation Unit is X10 1 degree For more information reference for Ellipse Interpolation is in the Chapter9 213 5 Simultaneous Start a Condition of Simultaneous Start Condition of Simultaneous Start Command b Axis ready stat...

Page 315: ... is Servo On state If you execute Simultaneous start command when axis is not Servo On state the error 295 occurs f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of command execution You can set an axis for Simultaneous Start XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configuration of Simultaneous Start y...

Page 316: ...1 axis point operation start 2 axis point operation start 3 axis point operation start 4 axis point operation start 5 axis point operation start 6 axis point operation start 7 axis point operation start 8 axis point operation start a Condition for point operation related command h Head device where point operation step number is saved i No of point operation step to save f Position of the module g...

Page 317: ...8 B can supports for 4 8 axes In the execution of axis from the configuration of Point Operation you can set a value for axis 1 through 4 8 axis h Address of first device where those data for Step Numbers of Point Operation are saved To execute a Point Operation you need to set a specific value first XPWR commands are using for set up those Point Operation steps It has to be done before actual Poi...

Page 318: ...b Axis ready status c Position of the module f No of words to write d Point operation step head memory address of command axis e Head device where point operation step is saved 8 axis writing point operation step 7 axis writing point operation step 6 axis writing point operation step 5 axis writing point operation step 4 axis writing point operation step 3 axis writing point operation step 2 axis ...

Page 319: ...hen each axis is Servo On state it will be on Since Speed synchronization command can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you execute this command when it is not Servo On state number 354 error will appears f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of comma...

Page 320: ... the Chapter 9 4 1 8 Position Assign Speed Synchronization a Condition of Position Assign Speed Synchronization Condition of Position Assign Speed Synchronization Command XSSSP a Condition for position assign speed synchronization e Servo On signal b Axis ready state c Operation state d Error state g Command axis f Position of the module k Target position h Main axis ratio i Sub axis ratio j Main ...

Page 321: ... On state number 354 error will appears f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of command execution You can set an axis for Position Assign Speed Synchronization XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configuration of Position Assign Speed Synchronization you can set a value for axis 1 throug...

Page 322: ... is Servo On signal for each axis When each axis is Servo On state it will be on Since Speed synchronization command can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you execute this command when it is not Servo On state number 354 error will appears f Address of Positioning Module In this example Positioning Module installed at the s...

Page 323: ...9 Encoder1 k For more information reference for Synchronous Start by Position is in the Chapter 9 4 2 10 CAM Operation a Condition of CAM Operation Condition of CAM Operation Command XCAM b Axis ready status If communication between positioning module and s ervo drive is done the signal corresponding to each signal will be on a Condition for CAM operation b Axis ready status c Operating status d E...

Page 324: ... servo driver is Servo On state If you execute this command when it is not Servo On state number 354 error will appears f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of command execution You can set an axis for CAM Operation XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configuration of CAM Operation you c...

Page 325: ...ning d Error state for each axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function a Condition for dec stop b Axis ready state c Operation state d Error state e Position ...

Page 326: ...here might be little difference between Deceleration Stop set time and actual stop time The range of deceleration time is 0 2 147 483 674 1 2 147 483 674 means Deceleration Time set as 1ms 2 147483674ms If it set as 0 it will be operated with set deceleration value Also it use to stop Speed Synchronous Operation or CAM Operation while Speed and CAM Operation During this time Deceleration Time is m...

Page 327: ...e execution of axis from the configuration of Emergency Stop you can set a value for axis 1 through 4 8 axis e Emergency Stop is operating by each axis Once Emergency Stop command executes the error 481 would be occurred With the set value for deceleration time it will be decelerated and stop the operation f For more information reference of Emergency Stop is in the Chapter 9 2 18 13 M code Off a ...

Page 328: ...e Reading it is a signal of M Code for each axis It turns on w hen it is operating M c ode Off command can only be v alid once M c ode are generated The condition for execution is operation possible when it is On d Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases e Axis of command execution You can set an axis for M code Off XBF PN04 8 B can su...

Page 329: ...dition to implement the command only in case of the state of servo on shall be set If the Control Torque command is implemented when it is not the state of servo on No 743 error takes place d Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases e Axis of command execution It sets an axis that will implement the Control Torque command Up to 4 8 axis...

Page 330: ...be configured while it is running hence configuration will only be configured when it is not running If you execute Speed Override while it is running the error 371 would be appeared a Condition for speed override b Axis ready state c Operation state d Error state e Position of the module f Command axis g Operation speed to change Changes operation speed of 1 axis into D01600 Changes operation spe...

Page 331: ...nal of or Speed Value depends on setting of category Also when Speed Override set as Speed Value it means Unit Time depends on Speed Command Unit from basic parameters or it means rpm If a changing Operation Speed Value is then the unit would be X10 2 If it is rpm then the unit would be X10 1 rpm h For more information reference of Speed Override is in the Chapter 9 5 5 2 Position Override a Condi...

Page 332: ...f Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function e Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases f Axis of command execution You can set an axis for Position Override XBF PN04 8 B can support...

Page 333: ... not running If you execute Position Assign Speed Override while it is running the error 381 would be appeared b Axis ready state d Error state c Operation state e Position of the module f Command axis a Condition for position assign speed override g Position to change speed h Operation speed value to change Changes speed into D01200 when position of 1 axis is D01100 Changes speed into D01202 when...

Page 334: ...on of Position Assign Speed Override you can set a value for axis 1 through 4 8 axis g Position of Speed Change Execution Setting position of Speed Change Once the actual position located at set position with speed override command running the speed change commands are executed h Value Change for Operation speed Setting Value Change for Operation speed According to Speed Override from common param...

Page 335: ...can not be configured while it is running hence configuration will only be configured when it is not running If you execute Speed Position Switching Control while it is running the error 301 would be appeared a Condition for speed position switching control b Axis ready state c Operation state g Command axis f Position of the module d Error state e In speed control signal 1 axis speed position swi...

Page 336: ...axis It turns on when it is operating Speed Position Switching Control Setting can only be configured while it is running If you execute Speed Position Switching Control while it is not running the error 302 would be appeared f Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases g Axis of command execution You can set an axis for Speed Position Sw...

Page 337: ...ion switching valid only when the relevant axis is running If the control command for position specified switching is carried out when the relevant axis is not running No 301 Error will take place a Condition for position specified speed position switching control e In speed control signal b Axis ready state c Operation state d Error state f Position of the module g Command axis h Target position ...

Page 338: ...ommand for position specified speed position switching control valid only when the relevant axis is in a speed control status If the control command is carried out when the relevant axis is not in a speed control status No 302 Error will take place f Position of a module For the example program above it is assumed that positioning modules are installed on NO 0 Base and No 3 Slot g Axis to make a c...

Page 339: ... while it is running the error 311 would be appeared d Error state for each axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function a Condition for position speed switchin...

Page 340: ...onfiguration of Position Speed Switching Control you can set a value for axis 1 through 4 8 axis h For more information reference of Position Speed Switching Control is in the Chapter 9 2 15 7 Position Torque Switching Control a Condition for position torque switching control b Axis ready state c Operation state d Error state h Torque value g Command axis e In position control signal f Position of...

Page 341: ...here is no error If you want to operate a system regardless of errors you can just inactivate the function e Signal from Position Control by each Axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Position Control state for each axis It turns on when it is operating Position Torque Switching Control Setting can only be configured while it is running If you execut...

Page 342: ...8 1 2 Current State Reading it is a signal of Operating for each axis It turns on when it is operating Operating Data Setting can not be configured while it is running hence configuration will only be configured when it is not running If you execute Skip Operation while it is running the error 331 would be appeared a Condition for skip operation b Axis ready state c Operation state d Error state e...

Page 343: ...ecution of axis from the configuration of Skip Operation you can set a value for axis 1 through 4 8 axis g For more information reference of Skip Operation is in the Chapter 9 5 3 9 Continuous Operation a Condition of Continuous Operation Condition of Continuous Operation Command XNMV Once Continuous Operation is executed current operation step and next operation step would be operated continuousl...

Page 344: ...be appeared d Error state for each axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function e Address of Positioning Module In this example Positioning Module installed at ...

Page 345: ...ns on when it is operating Operating Data Setting can not be configured while it is running hence configuration will only be c onfigured when it is not running If you execute Current Step Change while it is running the error 441 would be appeared a Condition for current step change b Axis ready state c Operation state d Error state e Position of the module f Command axis g Step number to change 1 ...

Page 346: ...t Step Change you can set a value for axis 1 through 4 8 axis g Change Step Number Set change step number by Current Step Change XBF PN04B PN08B support 400 step operation data for each Axis Therefore the range of step number setting of Current Step Change is 1 400 h For more information reference of Current Step Change is in the Chapter 9 5 9 11 Repeat Step No Change a Condition for repeat step c...

Page 347: ...ed Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function d Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases e Axis of command execution You can set an axis for Repeat Step No Change XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configu...

Page 348: ... Position Preset while it is running the error 451 would be appeared d Error state for each axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function a Condition for current...

Page 349: ...er Position Set for Changing Encoder Position d Changing Encoder Set Changing Encoder to execute a preset 0 means Encoder1 e For more information reference of Encoder Preset is in the Chapter 9 5 8 14 Reset Latch a Conditions to Reset Latch Conditions to implement the Reset Latch command XLCLR In case of Axis 1 the Reset Latch command is implemented as soon as M00148 Reset Latch is On after the ax...

Page 350: ...from the configuration of Reset Latch you can set a value for axis 1 through 4 8 axis f Latch Reset item The following items are reset according to the Latch Reset item 0 Reset the state when latch is completed 1 Latch position data Reset and the latch completion state Reset In the example program latch position data and latch completion are reset for Axis 1 and only latch completion is reset for ...

Page 351: ...8 B series supports for 4 8 axes In the execution of axis from the configuration of Set Latch you can set a value for axis 1 through 4 8 axis can be set to Axis to which Command is executed item of the Latch Set command XLSET e Latch Enable Disable item Actions according to the designated Latch Enable Disable item are as following 0 latch disable 1 latch enable In the example program latch is enab...

Page 352: ...eading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function d Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases d Position of the module a Condition for error reset f axis error commo...

Page 353: ...eset Command XECLR Once Error Reset is executed it erases history of generated errors of module XBF PN04B PN08B has ten error histories by each axis It will be saved to MRAM remain still even there is no power b Axis ready status If communication between positioning module and s ervo drive is done the signal corresponding to each signal will be on c Address of Positioning Module In this example Po...

Page 354: ...ion between positioning module and s ervo drive is done the signal corresponding to each signal will be on c Servo error state for each axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Servo error state for each axis It turns on when an servo error occurred Operation will only work when there is servo error If you want to operate a system regardless of errors y...

Page 355: ...Module installed at the slot no 3 of 0 bases e Axis of command execution You can set an axis for Servo Driver Error Reset XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configuration of Servo Driver Error Reset you can set a value for axis 1 through axis 4 8 ...

Page 356: ...alled at the slot no 3 of 0 bases d Axis of command execution You can set an axis for Servo Error History Reset XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configuration of Servo Error History Reset you can set a value for axis 1 through axis 4 8 b Ready state a Condition for servo driver error history reset c Position of the module d Command axis 1 axis servo driver e...

Page 357: ...sition of the module In this example Positioning Module installed at the slot no 1 of 1 bases e Axis of command execution You can set an axis for Parameter Read XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configuration of Parameter Read you can set a value for axis 1 through axis 4 8 f Set servo driver parameter Set index number SubIndex number Size of reading paramete...

Page 358: ...after read data In the example saves data into D03100 i Data size It set up size of data to read from common data area In the example reads 2 DWORD In the example saves in D03100 device to read data of h2610 Inner temperature of servo driver parameter after executed the Servo driver parameter read command It saves the Index SubIndex and dat a value of servo parameter in d03100 and D03102 at after ...

Page 359: ...If communication between positioning module and s ervo drive is done the signal corresponding to each signal will be on c Address of Positioning Module In this example Positioning Module installed at the slot no 3 of 0 bases d Axis of command execution You can set an axis for Servo Parameter Write XBF PN04 8 B can supports for 4 8 axes In the execution of axis from the configuration of Servo Param...

Page 360: ... take several scans according to servo driver model You can check whether writing is complete or not by seeing bit 7 among module axis information refer to manual 5 4 1 state information list 3 Servo Driver Parameter Save XSVSAVE a Condition of Servo Parameter Save Condition of Servo Parameter Save Command XSVSAVE Once Servo Parameter Save is executed it saves parameter of the servo driver at the ...

Page 361: ... e and two servo drivers are installed at axis1 and axis2 In the real usage you need to change its value according to your actual set up 8 2 2 Current State Read 1 Bit Information about Operation state Reading XPM_SRD a Module ready state c Position of the module d Command axis e Position to save bit information f Completion state g Error state b Axis ready state ...

Page 362: ...axes and Axis of command execution 1 4 8 means axis1 axis4 8 e The position for saving bit information Set the device to save bit state value of axis from the module with XPM_SRD This device is available to be used in sequence program as a condition For example the current bit state in the example program above is saved in MB0 MB6 For the detail description about the device saved refer to 7 3 2 Cu...

Page 363: ... 8 Program 8 81 2 Current Operation Information Reading a Module ready state b Axis ready state d Command axis e Position to save operation information c Position of the module f Completion state g Error state ...

Page 364: ... axis1 axis4 8 e The position for saving operation information Set the device to save operation state value of axis from the module with XPM_CRD This device is available to be used in sequence program as a monitoring value For example the current position value of axis1 in the example program above is saved in MD8 For the detail description about the device saved refer to 7 3 1 Operation Informati...

Page 365: ...o error occurred in Positioning Module it is ON meaning that modules are ready to operate b Axis ready If communication between the positioning module and the servo driver is normal corresponding signal will be on In the example program since _ON Always ON positioning module ready UX0 3 15 and axis ready UX0 3 0 UX 3 1 are used if there is no error in the module it reads the current status every s...

Page 366: ... and axis ready UX0 3 0 UX 3 1 are used if there is no error in the module it reads the current status every scan c Address of Positioning Module Before operation you need t o configure its position by numbers In this example Positioning Module is installed at the 3 slot d Axis of operation If you command each axis need to set Axis of command execution XBF PN04 8 B can control max 4 8 axes and Axi...

Page 367: ...d In case of Axis 2 the Read Latch Position Data command of Axis 2 is implemented as soon as MB4 6 Latch Completion state is On d Address of Positioning Module Before operation you need to configure its position by numbers In this example Positioning Module is installed at the 3 slot e Axis of operation If you command each axis need to set Axis of command execution XBF PN04 8 B can control maximum...

Page 368: ...n complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted e Error State This is the area that output error no if there are errors in operation of function block f Axis ready state If connection with servo driver is established corresponding signal will be on In the example we assume that two axes are co...

Page 369: ...f function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted e Error State This is the area that output error no if there are errors in operation of function block f Axis ready state If disconnection with servo driver is complete corresponding signal will be off In the example we assume that two axes are connected to ...

Page 370: ... Module is installed at the 3 slot d Axis of operation If you command each axis need to set Axis of command execution XBF PN04 8 B can control max 4 8 axes Axis of command execution1 4 8 means axis1 axis4 8 e State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted f Error State This i...

Page 371: ...ng Module is installed at the 3 slot d Axis of operation If you command each axis need to set Axis of command execution XBF PN04 8 B can control max 4 8 axes Axis of command execution1 4 8 means axis1 axis4 8 e State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted f Error State This...

Page 372: ...st inactivate the function e Servo On signal When applying the example program of 8 2 2 Current State Read this is Servo On signal for each axis When each axis is Servo On state it will be on Since floating origin setting command can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you execute floating origin setting command when axis is ...

Page 373: ...for each axis It turns on when it is operating Jog Operation configuration can be changed while it is operating e Error state for each axis According to exercise from Chapter 8 2 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inac...

Page 374: ... the speed of Jog operation If Input value is 0 it will execute low speed Jog operation If Input value is 1 it will execute high speed Jog operation Operating speed can be changed in operation k State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted l Error State This is the area tha...

Page 375: ...rvo On state If you execute Inching operation command when axis is not Servo On state the error 403 occurs f Address of Positioning Module In this example Positioning Module is installed at the 3 slot of 0 bases g Axis of command execution You can set an axis for Inching Operation XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Inching Operation you can set a ...

Page 376: ... On signal When applying the example program of 8 2 2 Current State Read this is Servo On signal for each axis When each axis is Servo On state it will be on Since RTP command can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you execute RTP command when axis is not Servo On state the error 434 occurs f Address of Positioning Module In...

Page 377: ...n for parameter setting b Axis ready state c Operating state e Position of the module f Command axis g Parameter value to change h Parameter item to change d Error state i Select RAM ROM e Position of the module f Command axis g Parameter value to change h Parameter item to change i Select RAM ROM ...

Page 378: ...the configuration of Parameter Setting you can set a value for axis1 through axis4 8 g Value of Changing Parameter You can set a value of changing parameter For more information about Parameter Value Changing look for Chapter 6 Command In case of setting I O parameter the value would be parameter value itself h List of Changing Parameter You need to set a list for parameter f changing from set com...

Page 379: ...es are reflected after the current step is completed d Error state for each axis According to exercise from Chapter 8 2 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function e Address of Positioning Module In this...

Page 380: ... Operation method 12 Operation pattern 13 Size of circle 14 Acceleration No 15 Deceleration No 16 Circle interpolation method 17 Circle interpolation direction j ROM RAM Setting This function sets whether you save value of changing parameter to Rom or Ram If you choose Rom the data will be saved regardless of power and if you save in the ram the data will be vanished when powers off This parameter...

Page 381: ... while other steps data are immediately changed d Error state for each According to exercise from Chapter 8 2 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function e Address of Positioning Module In this example P...

Page 382: ...e a Teaching Array you need to set a specific value first TWR commands are using for set up those Teaching Array data It has to be done before actual Teaching Array operation Teaching Data will be set up depends on number of first device as below table Value Device No Teaching Array Data 1 Device 0 Teaching Array Data 1 2 Device 1 Teaching Array Data 2 3 Device 2 Teaching Array Data 3 4 Device 3 T...

Page 383: ...3 slot of 0 bases e Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can set a value for axis1 through axis4 8 f Saving by axis Configure current data operation setting Choosing axis are configured follow by below table Therefore even if those axis are not operated as it p...

Page 384: ...e program of 8 2 2 Current State Read this is Servo On signal for each axis When each axis is Servo On state it will be on Since Home return command can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you execute Home return command when axis is not Servo On state the error 203 occurs f Address of Positioning Module In this example Posit...

Page 385: ...configured when it is not running If you execute Direct Start while it is running the error 221 would be appeared d Error state for each axis According to exercise from Chapter 8 2 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just in...

Page 386: ...put of Positioning Done Signal That means after done i ts operation direct Start will make a Positioning done signal Its unit is ms and type is UINT k Direct Start M code You can set a value of M code which are displaying of Operating Parameter by Direct Start The way of M code outputs are Parameter Expansion M c ode Mode within the None With After It will make an M c ode besides you choose None f...

Page 387: ...n will only be configured when it is not running If you execute Indirect Start while it is running the error 231 would be appeared d Error state for each axis According to exercise from Chapter 8 2 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of error...

Page 388: ...rt Execute MW168 Indirect start step of axis2 by indirect start 4 Ellipse Interpolation a This is the condition for Ellipse Interpolation This is the condition for Ellipse Interpolation Command XPM_ELIN b Axis ready If communication between the positioning module and the servo driver is normal corresponding signal will be on c Operating state by axis According to exercise from Chapter 8 1 2 Curren...

Page 389: ... step number by Ellipse Interpolation The setting of main operating step and subordinate step is the same i Ratio of Ellipse Interpolation Axis Set both ratio values for main and subordinate axis of set operates data from circular interpolation locus It is to change circular locus into ellipse locus by using ratio of main and subordinate axis j Angle of Ellipse Interpolating Operation Set the degr...

Page 390: ...cise from Chapter 8 2 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function e Servo On signal When applying the example program of 8 2 2 Current State Read this is Servo On signal for each axis When each axis is S...

Page 391: ...tputted and maintain 1 until the next operation If error occurred 0 will be outputted j Error State This is the area that output error no if there are errors in operation of function block k The function block used in the example is as follows Axis1_2 Synchronous start Execute no 10 operation step of axis1 and step of MW170 axis2 synchronous start step synchronously 6 Point Operation a This is the...

Page 392: ... Steps Decide how many steps will be operated In this example above 10 Point Operation steps are set in the axis1 Therefore the step no saved in MW171 MW180 will be executed by point operation For the details about point operation refer to 4 Point operation of 9 2 17 Positioning start i Address of first device where those data for Step Numbers of Point Operation are saved To execute a Point Operat...

Page 393: ...tate Read this is Servo On signal for each axis When each axis is Servo On state it will be on Since Speed synchronization command can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you execute Speed synchronization command when axis is not Servo On state the error 354 occurs f Address of Positioning Module In this example Positioning M...

Page 394: ...main axis is operating in speed of 10000 subordinate axis will be operating in speed of 5000 Set value Main Axis 1 Axis1 2 Axis 2 3 Axis 3 4 Axis 4 5 Axis 5 6 Axis 6 7 Axis 7 8 Axis 8 9 Encoder1 k State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted l Error State This is the area t...

Page 395: ...s According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function e Servo On signal When applying the example program of 8 2 2 Current State Read this is Servo On signal for each axis ...

Page 396: ...s to execute a Speed Synchronization j Ratio of Subordinate Axis Set value for Ratio of Subordinate Axis to execute a Speed Synchronization In this example above the ratio of main and subordinate axis is 2 1 Meaning that operational speed ratio of those axes are 2 to 1 So if main axis is operating in speed of 10000 subordinate axis will be operating in speed of 5000 k Goal Position Set goal of Pos...

Page 397: ...operate a system regardless of errors you can just inactivate the function e Servo On signal When applying the example program of 8 2 2 Current State Read this is Servo On signal for each axis When each axis is Servo On state it will be on Since Position synchronization command can t be executed when the axis is not servo on it makes command executed when servo driver is Servo On state If you exec...

Page 398: ...ore main axis will be executed the command when the subordinate axis reaches this set value Set value Main Axis 1 Axis1 2 Axis2 3 Axis3 4 Axis4 5 Axis5 6 Axis6 7 Axis7 8 Axis8 9 Encoder1 k State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted l Error State This is the area that outp...

Page 399: ...be appeared d Error state for each axis According to exercise from Chapter 8 1 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function e Ready signal for each axis According to exercise from Chapter 8 1 2 Current St...

Page 400: ...starts CAM operation after main axis moves as far as the moving amount set at the main axis offset k State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted l Error State This is the area that output error no if there are errors in operation of function block m For more information re...

Page 401: ...et as 1ms 2 147483674ms If it set as 0 it will be operated with set deceleration value Also it use to stop Speed Synchronous Operation or CAM Operation while Speed and CAM Operation If Dec stop command is executed at this time Speed synchronization or CAM Operation is cancelled it stops with Dec time h State of Operation complete If function block is completed without error 1 will be outputted and...

Page 402: ...hange to 0 and signal of M code to Off b Axis ready If communication between the positioning module and the servo driver is normal corresponding signal will be on c M code state for each axis According to exercise from Chapter 8 2 2 Current State Reading it is a signal of M Code for each axis It turns on when it is operating M code Cancellation command can only be valid once M code are generated T...

Page 403: ...mmand only works when this is the condition for Servo is on If the Control Torque command is executed when it is not the state of servo on No 743 error takes place d Address of Positioning Module In this example Positioning Module is installed at the 3 slot of 0 bases e Axis of command execution You can set an axis for M code cancellation XBF PN04 8 B supports for 4 8 axes In the execution of axis...

Page 404: ...function e Address of Positioning Module In this example Positioning Module is installed at the 3 slot of 0 bases f Axis of command execution You can set an axis for Speed override XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can set a value for axis1 through axis 4 8 g Value Change for Speed Operation Set speed value According to Spee...

Page 405: ...If you execute Position Override while it is running the error 361 would be appeared d Error state for each axis According to exercise from Chapter 8 2 2 Current State Reading it is a signal of Error state for each axis It turns on when an error occurred Operation will only work when there is no error If you want to operate a system regardless of errors you can just inactivate the function e Addre...

Page 406: ...According to exercise from Chapter 8 2 2 Current State Reading it is a signal of Operating for each axis It turns on when it is operating Operating Data Setting can not be configured while it is running hence configuration will only be configured when it is not running If you execute Position Assign Speed Override while it is running the error 381 would be appeared d Error state for each axis Acco...

Page 407: ...follows Axis1 Positioning Speed Override When the current position of axis1 become the same position as the position saved in MD100 the speed value will be changed to the speed saved in MD92 Axis2 Positioning Speed Override When the current position of axis1 become 50000 the speed will be changed to 100000 l For more information reference of Position Assign Speed Override is in the Chapter 9 5 6 4...

Page 408: ...s In the execution of axis from the configuration of Parameter Setting you can set a value for axis1 through axis4 8 h State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted i Error State This is the area that output error no if there are errors in operation of function block j For m...

Page 409: ...cified speed position switching control valid only when the relevant axis is in a speed control status If the control command is carried out when the relevant axis is not in a speed control status No 302 Error will take place f Position of a module For the example program above it is assumed that positioning modules are installed on NO 0 Base and No 3 Slot g Axis to make a command Decide an axis t...

Page 410: ...se from Chapter 8 2 2 Current State Reading it is a signal of Position Control state for each axis It turns on when it is operating Position Speed Switching Control Setting can only be configured while it is running If you execute Position Speed Switching Control while it is not running the error 317 would be appeared f Address of Positioning Module In this example Positioning Module is installed ...

Page 411: ...eading it is a signal of Position Control state for each axis It turns on when it is operating Position Torque Switching Control Setting can only be configured while it is running If you execute Position Torque Switching Control while it is not running the error would be appeared according to control type f Address of Positioning Module In this example Positioning Module is installed at the 3 slot...

Page 412: ... function e Address of Positioning Module In this example Positioning Module is installed at the 3 slot of 0 bases f Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B series supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can set a value for axis1 through axis4 8 g State of Operation complete If function block is complet...

Page 413: ... State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted h Error State This is the area that output error no if there are errors in operation of function block i For more information reference of Continuous Operation is in the Chapter 9 5 2 10 Current Step Change Start Step Number Cha...

Page 414: ...a for each Axis Therefore the range of step number setting of Current Step Change is 1 400 h State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted i Error State This is the area that output error no if there are errors in operation of function block j For more information reference ...

Page 415: ...is 1 400 In the example Axis1 and axis2 are changed to step no 11 and step no saved in MW203 g State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted h Error State This is the area that output error no if there are errors in operation of function block i For more information referenc...

Page 416: ... function e Address of Positioning Module In this example Positioning Module is installed at the 3 slot of 0 bases f Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can set a value for axis1 through axis4 8 g Change Current Position Set change current position by Current ...

Page 417: ...r axis1 through axis4 8 d Changing Encoder Set Changing Encoder to execute a preset 0 means Encoder1 e Changing Encoder Position Set for Changing Encoder Position In the example the encoder1 position is changed to 2000 f State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted g Error ...

Page 418: ...example program of 8 2 2 Read the Current Sate It is on when latch is completed once external latch command signal of the relevant axis is inputted In case of Axis 2 the Reset latch item is executed as soon as MB4 6 Latch Completion state is On To read latch data every time when latch is completed upon the input of the axis s external latch command signal program to set latch completion as a c ond...

Page 419: ...tate e Latch Enable Disable f Latch mode a This is the condition for Reset Latch This is the condition for Set Latch Command XPM_LSET The Set Latch command is executed on Axis 1 and 2 as soon as MX1050 Set Latch is On after the axis is connected to the network and it is executed on Axis 3 as soon as MX1051 3 Axis Latch Disable is On b Axis ready If communication between the positioning module and ...

Page 420: ...vailable at every touch probe 1 s ignal after latch is permitted In the example program Axis 1 is set in the single trigger mode while Axis 2 is set in the continuous trigger mode when implementing the Set Latch command g State of Operation complete If function block is completed without error 1 will be outputted and maintain 1 until the next operation If error occurred 0 will be outputted h Error...

Page 421: ...itioning Module is installed at the 3 slot of 0 bases e Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can set a value for axis1 through axis4 8 f Error setting of Error Common by axis Depending on the errors if it is set by 0 erase the errors in operation of each axis i...

Page 422: ...ule In this example Positioning Module is installed at the 3 slot of 0 bases d Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can set a value for axis1 through axis 4 8 e State of Operation complete If function block is completed without error 1 will be outputted and mai...

Page 423: ...en there is no error If you want to operate a system regardless of errors you can just inactivate the function d Address of Positioning Module In this example Positioning Module is installed at the 3 slot of 0 bases e Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can se...

Page 424: ... this example Positioning Module is installed at the 3 slot of 0 bases d Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can set a value for axis1 through axis 4 8 e State of Operation complete If function block is completed without error 1 will be outputted and maintain ...

Page 425: ...en servo parameter R W processing is off d Address of Positioning Module In this example Positioning Module is installed at the 3 slot of 0 bases e Axis of command execution You can set an ax is for Servo Driver Parameter Read XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Servo Driver Parameter Read you can set a value for axis1 through axis 4 8 f Set servo ...

Page 426: ...l corresponding signal will be on c Address of Positioning Module In this example Positioning Module is installed at the 3 slot of 0 bases d Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B supports for 4 8 axes In the execution of axis from the configuration of Parameter Setting you can set a value for axis1 through axis 4 8 b Axis ready state a Condition for Servo...

Page 427: ...is the condition for Servo Parameter Save Command XPM_SVSAVE Once Servo Parameter Save command is executed it saves all parameter values of the servo driver at the internal EEPROM b Address of Positioning Module In this example Positioning Module is installed at the 3 slot of 0 bases c Axis of command execution You can set an axis for Parameter Setting XBF PN04 8 B supports for 4 8 axes In the exe...

Page 428: ...driver EtherCAT CoE supported servo driver XGT Servo XDA N CN1 Input GND24 HOME VTP DOG E STOP CCW LIMIT CW LIMIT 26 7 20 8 21 22 9 CN2 Coupling CW Limit HOME DOG CCW Limit Servo motor Ball screw Table 24V 25 U V W PE Encoder For home return select Home return method EtherCAT CoE supported driver refer to manual according to user system Actual operation in motion control module after home return i...

Page 429: ...T pls 0x6098 Homing method SINT 0x6099 Homing speeds 0 Number of item USINT 1 Speed during search for switch UDINT pls s 2 Speed during search for zero UDINT pls s 0x607D Software position limit 0 Number of item USINT 1 Minimum position limit DINT pls 2 Maximum position limit DINT pls 0x609A Homing acceleration UDINT pls s 2 ...

Page 430: ...that the first index pulse encounters while driving in the CW direction becomes the Home position and it drives at zero search speed 7 Middle figure If the POT switch is OFF and the Home switch is ON then the drive operates at switch search speed and the initial direction of rotation is CW If the Home switch is turned off at this time it transfers to zero search speed After the Home switch is turn...

Page 431: ...n the CCW direction becomes the Home position 11 Lower figure If the NOT switch is OFF then the drive operates at switch search speed and rotates CW If the NOT switch is turned on at this time it changes the direction and continues to drive CCW at switch search speed If the Home switch is then changed from ON to OFF then it transfers to zero search speed and the position that the first index pulse...

Page 432: ... on or off becomes the Home position Home switch Negative limit switch NOT 28 28 28 33 34 The position that the first index pulse encounters while driving in a CCW CW direction becomes the Home position 33 Index pulse 34 33 35 The starting point of the homing operation becomes the Home position Comment Speed during search for switch 0x6099 01 Speed during search for zero 0x6099 02 ...

Page 433: ... sub axis in accordance with the data of command axis main axis to target position with the trajectory of arc The axis set as helical interpolation axis executes linear interpolation until target position Ellipse Interpolation Executes positioning control by using 2 axes controlling sub axis in accordance with the data of command axis main axis to target position with the trajectory of ellipse hav...

Page 434: ...tion time Deceleration No is selected among Deceleration No 1 2 3 and 4 of basic parameters M Code Sets the M Code when using the code number for auxiliary operation of positioning control Dwell Time Sets the time needed for servo driver to complete the positioning after positioning the object Sub Axis Setting Sets the sub axis for interpolation control Circular Interpolation Sets the auxiliary da...

Page 435: ...specified by Repeat Step Continuous Х Errors Single axis FEED Control Single End Ends after the completion of the current step Feed control Keep Keeps operating the next step after the completion of the current step Feed control Continuous Х Errors Repeat End Ends after the completion of the current step Feed control and changes the Current step number into Repeat Step Keep Keeps operating the Rep...

Page 436: ...oning is completed after the dwell time b This is used as last operation data of Keep operation mode Continuous operation mode After executing the operation data set as END it stops c Operation direction is determined by target position d Generally operation action is trapezoid type operation that has acceleration constant deceleration section according to the operation speed and target position b...

Page 437: ...ctions 9 10 2 Abnormal Operation Patterns D w S p e T i O N S t a c o m I n o p e I n A t c o n s p e I n I n P o s c o m O N O N O N O N D S p T O N S t c o I n o p I n A t c o s p I n I n P o c o O N O O T h e A c ...

Page 438: ...solute Single axis Position Control Single End 15000 500 1 1 0 0 3 Absolute Single axis Position Control Single End 25000 1000 1 1 0 0 4 Absolute Single axis Position Control Single End 30000 500 1 1 0 0 Operation Pattern Speed Time ON Start command In operation ON ON ON ON ON ON ON Operation step no 1 Operation step no 2 Operation step no 1 Operation step no 2 Operation mode Single End Operation ...

Page 439: ...ration mode e Operation direction will be determined by position value f Repeat operation step no change command is available to execute during operation Example 1 Executes Start command after setting the step no of Indirect Start as 0 Execute Start command total four times Setting of XG PM Step NO Control Method Operation Method Target Position pls Operation Speed pls s Accel NO Decel NO M Code D...

Page 440: ...2 Absolute Single axis Position Control Repeat End 15000 500 1 1 0 0 3 Absolute Single axis Position Control Single End 25000 1000 1 1 0 0 4 Absolute Single axis Position Control Repeat End 30000 500 1 1 0 0 Operation Pattern If it keeps operating by start command it will operates operation step no 3 and 4 repeatedly Speed Time ON Start command In operation ON ON ON Operation step no 1 Operation S...

Page 441: ...p and Repeat it will execute the operation step specified by Repeat Step No e Operation direction will be determined by target position Example Executes start command Indirect Start command after setting the step no of Indirect Start as 0 Execute start command total four times Setting of XG PM Step NO Control Method Operation Method Target Position pls Operation Speed pls s Accel NO Decel NO M Cod...

Page 442: ... When operation pattern of the operation step No 400 is Continuous and Repeat it will execute the operation step specified by Repeat Step No 6 Operation direction will be determined by target position 7 If you want to operate the next step before the operation step that is active currently reaches the target position it is available with Next Move continuous operation XNMV command 8 You can execut...

Page 443: ...eed available for the next step by using current operation step data and target position of the next step previously and uses that as the speed of the end point of the current step When target position moving amount of the next operation step is small it makes the step speed as 0 by reducing the permissible entry speed available for the next step 3 The positioning module calculate the speed of the...

Page 444: ...f next step at the near position not exceeding the target position set on the operation data 1 Continuous Operation Passing Target Position Pass Target Position Continuous Operation means that in case of Continuous operation from current step to next step the object passes the target position set on the operation data In general when executing interpolation control passing the target position ther...

Page 445: ...tion Continuous Operation Speed Time Operation step no 1 Operation step no 2 Operating speed Set speed No discontinuous speed Speed Time Operation step no 1 Operation step no 2 Operating speed Set speed Discontinuous speed Pass Near Position Continuous Operation Passing near position In the picture above during general Continuous Operation speed discontinuity occurs because of the remaining of mov...

Page 446: ...d Operation Method Target Position pls Operation Speed pls s Accel NO Decel NO M Code Dwell Time 1 Absolute Single axis Position Control Single Continuous 10000 1000 1 1 0 0 2 Absolute Single axis Position Control Single End 3000 700 1 1 0 0 Operation Pattern Speed Time ON Start command In operation Operation mode Single Continuous Operation step no 1 ON Operation mode Single End Operation step no...

Page 447: ...Continuous Operation step no 2 1000 500 Step 1 operates by the start command and then because target position of next step is same as that of current step moving amount becomes 0 It decelerates and stops And then it operates step 3 Step NO Control Method Operation Method Target Position pls Operation Speed pls s Accel NO Decel NO M Code Dwell Time 1 Absolute Single axis Position Control Single Con...

Page 448: ...rent step And then positioning is complete Setting of XG PM Step NO Control Method Operation Method Target Position pls Operation Speed pls s Accel NO Decel NO M Code Dwell Time 1 Absolute Single axis Position Control Single Continuous 10000 1000 1 1 0 0 2 Absolute Single axis Feed Control Single Continuous 20000 1000 1 1 0 0 3 Absolute Single axis Position Control Single End 30000 1000 1 1 0 0 Op...

Page 449: ...s dramatically it may damage the machine In this case use the operation method of Keep and do not use Continuous not to give the impact to the machine Position of sub axis Position of main axis Operation step no 1 Operation step no 2 Speed Time Operation step no 1 Operation step no 2 Start command Main in operation ON ON Speed Time Operation step no 1 Operation step no 2 Sub in operation ON Action...

Page 450: ...rmined by start position and target position Start position target position forward direction positioning Start position target position reverse direction positioning Example Executes Absolute coordinate single axis position control with the following setting Start position 1000 Target position 8000 The moving amount to forward direction is 7000 7000 8000 1000 1000 Starting position Target positio...

Page 451: ...urrent position decreases Starting position Reverse Forward Amount of movement is Amount of movement is Example Executes Absolute coordinate single axis position control with the following setting Start position 5000 Target position 7000 It goes to reverse direction and stops at the 2000 2000 Target position Starting position 0 5000 Position control to reverse direction Amount of movement 7000 Set...

Page 452: ...on when position value is negative number b In case of using speed control the following items of operation data do not affect Coordinate Operation method Dwell time Absolute single axis speed control and Incremental single axis speed control execute same operation c Accelerating operation of speed control operates based on acceleration number on operation data decelerating operation operates base...

Page 453: ...it check during speed control it varies according to the setting of the Software limit detect 4 Setting of XG PM Step NO Control Method Operation Method Target Position pls Operation Speed pls s Accel NO Decel NO M Code Dwell Time 1 Absolute Single axis Speed Control Single End 100 1000 1 1 0 0 Item Setting Value Contents Soft Upper Lower Limit detect during speed control 0 Don t Detect During Spe...

Page 454: ...affect Coordinate Absolute single axis speed control and Incremental single axis speed control execute same operation 2 Operation Timing Dwell time 100ms Speed Time ON Start command In operation Positioning complete ON ON 1000 ON Dwell time 100ms Position Time 500 The current position value is 0 when positioning starts 1000 700 ON In dwell 3 Restrictions a Set the operation pattern of Feed control...

Page 455: ...ng operation in reverse Y Forward X Forward Y1 Y2 X1 X2 Moving amount of X axis Moving amount of Y axis X Reverse Y Reverse Goal position X2 Y2 Starting positon X1 Y1 Action by linear interpolation c Restrictions Linear interpolation with 2 axes may not be executed in the case below Sub axis setting Error error code 253 Sub axis setting of operation data of the main axis is Axis undecided Sub axis...

Page 456: ...celeration no 1 no 4 M code 0 When you need to execute auxiliary work based on the interpolation operation set the M code Dwell time 500 Set dwell time ms needed to output the positioning completion signal Sub axis setting Axis2 Set an axis to be used as sub axis among settable axis in operating data of main axis 1 It does not need to be set Whatever value is set it does not affect the linear inte...

Page 457: ... 3000 No 1 No 1 0 100 Axis2 Operation data of sub axis 2 axis Step no Control method Operation method Target position pls Operating speed pls s Acc no Dec no M code Dwell time Sub axis setting 1 Absolute Single axis position control Single End 1000 0 No 1 No 1 0 0 Axis undecided Operating pattern 0 Goal position Position of Sub axis Position of main axis Starting position 1000 5000 10000 Moving am...

Page 458: ... The sign is negative Positioning operation in reverse Y Forward X Forward Y1 Y2 X1 X2 Moving amount of X Moving amount of Y X Reverse Y Reverse Ending position of linear interpolation X2 Y2 Starting position X1 Y1 Action by linear interpolation c Restrictions Linear interpolation with 2 axes may not be executed in the case below Sub axis setting error error code 253 Sub axis setting value of oper...

Page 459: ...r deceleration no 1 no 4 M code 0 When you need to execute auxiliary work based on the interpolation operation set the M code Dwell time 500 Set dwell time ms needed to output the positioning completion signal Sub axis setting Axis2 Set an axis to be used as sub axis among settable axis in operating data of main axis 1 It does not need to be set Whatever value is set it does not affect linear inte...

Page 460: ...peration data of sub axis axis2 Step no Control method Operation method Target position pls Operation speed pls s Acc no Dec no M code Dwell time Sub axis setting 1 Incremental Single axis position control Single End 3000 0 No 1 No 1 0 0 Axis undecided Operating pattern Moving amount 3000 Moving amount 9000 0 Ending position of linear interpolation Position of Sub aixs Position of main axis Starti...

Page 461: ...d in 2 axes linear interpolation when main axis speed is selected Position of Y Position of X Y1 Y2 X1 X2 Moving amount of X Sx Moving amount of Y Sy Action by linear interpolation Goal position X2 Y2 Speed of Sub axis Vy Vx Speed of main axis Starting position X1 Y1 F Speed of interpolation Main of amount Moving Sub of amount Moving main of Speed sub of Speed x y x y S S V V 2 2 speed ing Interpo...

Page 462: ...dsetinp Operations F ingspeed Interpolat 2 2 y x S S S mount ingmovinga Interpolat int S mount ingmovinga Interpolat S vingamount Mainaxismo F speed erpolating V eed Mainaxissp x x S mount ingmovinga Interpolat S vingamount Mainaxismo F ingspeed Interpolat V ed Subaxisspe y y Example Starting position 2000 1000 Target position 6000 4000 Synthetic speed 400 pls s Main axis speed and sub axis speed ...

Page 463: ...of XG PM Operating data of Main axis Step no Control method Operation method Target position pls Operation speed pls s Acc no Dec no M code Dwell time Sub axis setting 1 Absolute Linear interpolation Single Continuous 5000 1000 No 1 No 1 0 100 Axis2 2 Absolute Linear interpolation Single End 5000 1000 No 1 No 1 0 100 Axis2 Operating data of Sub axis Step no Control method Operating method Target p...

Page 464: ...ear trajectory 1 and the target position starting position of linear trajectory 1 The position where circular arc will be inserted can be set in Arc insertion position of extended parameter Setting items Setting value Description Arc insertion position 0 2147483647 Set the position where circular arc will be inserted This value means the incremental distance from the target position of linear traj...

Page 465: ...c no M code Dwell time Sub axis setting 1 Absolute Linear interpolation single continuous 0 3000 No 1 No 1 0 0 Axis2 2 Absolute Linear interpolation single continuous 5000 3000 No 1 No 1 0 0 Axis2 3 Absolute Linear interpolation single end 5000 3000 No 1 No 1 0 100 Axis2 Operating data of Sub axis Step no Control method Operating method Target position pls Operating speed pls s Acc no Dec no M cod...

Page 466: ...smaller than line length of step no 2 5000 and no 3 3000 so it recalculates the starting position target position of linear trajectory no 1 and the target position Starting position of linear trajectory no 2 of circular interpolation It continues to execute linear interpolation to the recalculated target position of operation step no 2 3000 1000 and then executes circular interpolation to recalcul...

Page 467: ...et position Starting position Target position Positioning operation in forward Starting position Target position Positioning operation in reverse Y1 Y2 Reverse Reverse Z1 Z2 Forward axis3 Moving amount of axis3 Moving amount of axis1 Starting position X1 Y1 Z1 Reverse Moving amount of axis2 Target position X2 Y2 Z2 Action by linear interpolation of axis1 2 3 Forward axis2 Forward axis1 X1 X2 c Res...

Page 468: ...ation no 1 no 4 Dec no No 2 Set dec no for deceleration no 1 no 4 M code 0 When you need to execute auxiliary work based on the interpolation operation set the M code Dwell time 500 Set dwell time ms needed to output the positioning completion signal Sub axis setting Axis2 Axis3 Set axes to be used as sub axis among settable axis in operating data of main axis 1 It does not need to be set Whatever...

Page 469: ...ol method Operating method Target position pls Operating speed pls s Acc no Dec no M code Dwell time Sub axis setting 1 Absolute single axis position control Single End 6000 0 No 1 No 1 0 0 Axis undecided Operating data of sub axis2 axis3 Step no Control method Operating method Target position pls Operating speed pls s Acc no Dec no M code Dwell time Sub axis setting 1 Absolute single axis positio...

Page 470: ...Y2 Reverse Reverse Z1 Z2 Forward axis3 Moving amount of axis3 Moving amount of axis1 Starting position X1 Y1 Z1 Reverse Moving amount of axis2 Action by linear interpolation of axis1 2 3 Forward axis2 Forward axis1 X1 X2 c Restrictions Linear interpolation with 2 axes can not be executed in the case below Sub axis setting error error code 253 Sub axis setting value of operating data of main axis i...

Page 471: ...axis and sub axis Operating speed pls s 1000 Interpolation speed is determined by main axis speed Acc no No 1 Set acc no for acceleration no 1 no 4 Dec no No 2 Set dec no for deceleration no 1 no 4 M code 0 When you need to execute auxiliary work based on the interpolation operation set the M code Dwell time 500 Set dwell time ms needed to output the positioning completion signal Sub axis setting ...

Page 472: ...is2 Step no Control method Operating method Target position pls Operating speed pls s Acc no Dec no M code Dwell time Sub axis setting 1 Incremental SNG POS Single End 5000 0 No 1 No 1 0 0 Axis undecided Operating data of sub axis2 axis3 Step no Control method Operating method Target position pls Operating speed pls s Acc no Dec no M code Dwell time Sub axis setting 1 Incremental SNG POS Single En...

Page 473: ...nterpolation speed Y X Y1 X1 X2 Moving amount of X Sx Moving amount of Y Sy Action by linear interpolation Target position X2 Y2 Z2 Vx Starting position X1 Y1 Z1 F Vy Vz Y2 Moving amount of Z Sz Z Z1 Z2 Main of amount Moving Sub of amount Moving main of Speed sub of Speed x y x y S S V V main of amount Moving sub of amount Moving main of Speed sub of Speed x z x z S S V V 2 2 2 speed ing Interpola...

Page 474: ...S amount axismoving Main F ingspeed Interpolat V eed Mainaxissp x x 1 speed 1 S mount ingmovinga Interpolat S nt movingamou axis Sub F ingspeed Interpolat V axis Sub y y 2 speed 2 S mount ingmovinga Interpolat S nt movingamou axis Sub F ingspeed Interpolat V axis Sub z z Example Starting position 2000 1000 1000 Target position 6000 5000 6000 Synthetic speed 400 pls s Main axis speed and sub axis s...

Page 475: ... To prevent errors reduce the main axis speed so that sub axis speed doesn t exceed the Speed Limit 2 The speed when the moving distance of main axis is 0 and interpolation speed selection is main axis speed When the moving distance of main axis is 0 the operating speed of main axis operating data becomes actual interpolation speed In case of linear interpolation with more than 3 axes the speed of...

Page 476: ...rse 2 Linear interpolation control with incremental coordinate Incremental Linear Interpolation a Executes multiple axes linear interpolation from starting position to the target position Positioning control is carried out on basis of the current stop position b Moving direction depends on the sign of the target position Moving amount The sign is positive or nothing Positioning operation in forwar...

Page 477: ...lat 1 1 S mount ingmovinga Interpolat S nt movingamou axis main F ingspeed Interpolat V axisspeed Main 1 1 2 2 S mount ingmovinga Interpolat S nt movingamou axis Sub F ingspeed Interpolat V speed axis Sub 2 speed 2 3 3 S mount ingmovinga Interpolat S nt movingamou axis Sub F ingspeed Interpolat V axis Sub 7 speed 7 8 8 S mount ingmovinga Interpolat S nt movingamou axis Sub F ingspeed Interpolat V ...

Page 478: ...d automatically depending on the target position and auxiliary point of circular interpolation d Condition In the middle point specified circular interpolation you can t draw the circle whose starting position is same as end position If you want to draw the circle above use the center point specified circular interpolation You cannot execute the middle point specified circular interpolation in the...

Page 479: ...et the target position for positioning on the main sub axes Operation speed pls s 1000 Circular interpolation uses the method of designating composition speed Set the composition speed at the main axis Acceleration No No 1 Set Acc No for acceleration no 1 no 4 Deceleration No No 2 Set Dec No for deceleration no 1 no 4 M code 0 When you need to execute auxiliary work based on the interpolation oper...

Page 480: ...s 2 In case of Start position 0 0 Target position 10000 6000 and Auxiliary point 2000 6000 operation is as follows Example of setting in the XG PM Main axis axis1 operation data Step No Control Method Operation method Target position pls Operation Speed pls s Acc No Dec No M code Dwell time Sub axis setting Circular interpolation Auxiliary point Circular interpolati on mode Circular interpolation ...

Page 481: ...d circular interpolation you can t draw the circle whose starting position is same as end position If you want to draw the circle above use the center point specified circular interpolation You cannot execute the middle point specified circular interpolation in the following cases Sub axis setting error Error code 279 Sub axis setting value of operating data of main axis is Axis undecided Sub axis...

Page 482: ...used as sub axis among settable axis in operating data of main axis Circular interpolation Auxiliary point 5000 5000 Set the middle point position by incremental amount from current position Circular interpolation mode Middle point In case of middle point specified circular interpolation select middle point on the main axis Circular interpolation turns 0 When user want to draw circle of over 360 d...

Page 483: ...No M code Dwell time Sub axis setting Circular interpolation Auxiliary point Circular interpolation mode Circular interpolation turns Helical interpolation 1 Incremental Circular interpolation Single End 8000 1000 No 1 No 1 0 100 Axis 2 5000 Middle point 0 Do not use Sub axis axis 2 Operation data Step No Control Method Operation method Target position pls Operation Speed pls s Acc No Dec No M cod...

Page 484: ...f 2 axes User can select 2 axes among 1 8 axis randomly 1 Center point specified Circular interpolation Absolute Coordinate Absolute Circular interpolation a Operates circular interpolation from start position to target position along the trace of circle whose radius is distance from center point to start position Circular interpolation auxiliary point indicates the center point of the circle b Mo...

Page 485: ...d to network In case degree is set as control unit of main axis or sub axis Error code 282 Main axis 283 Sub axis In case center point set on auxiliary point is same as starting position or target position Error code 284 In case calculated radius of circular exceeds 2147483647pls Error code 286 Remark Be careful during starting circular interpolation because 2 axes act at a time 1 Available auxili...

Page 486: ...Sub axis setting Axis 2 Set an axis to be used as sub axis among settable axis in operating data of main axis Circular interpolation Auxiliary point 5000 5000 Set the position of the center point Circular interpolation mode Center point CW Select Center point CW on the main axis Circular interpolation turns 0 When user want to draw circle of over 360 degree set the number of turns of circular arc ...

Page 487: ...rcular interpolation mode Circular interpolation turns Helical interpolation 1 Absolute Circular interpolation Single End 0 1000 No 1 No 1 0 100 Axis 2 1000 Center point CW 0 Do not use Sub axis axis 2 operation data Step No Control Method Operation method Target positio n pls Operation Speed pls s Acc No Dec No M code Dwell time Sub axis setting Circular interpolation Auxiliary point Circular Int...

Page 488: ...tion that it is drawing circle whose radius is distance from starting position to center point Centerpoint of circle Target position Acting by circular interpolation Radius Start position Forward of main axis Reverse of sub axis Forward of sub axis Reverse of main axis Target position Acting by circular interpolation Radius Forward of main axis Reverse of sub axis Forward of sub axis Reverse of ma...

Page 489: ...e of sub axis as incremental too Operation method Single End 1 Set operation method for circular interpolation Target position pls 10000 0 Set the target position by incremental amount from current position Operation speed pls s 1000 Circular interpolation uses the method of composition speed Set the composition speed at the main axis Acceleration No No 1 Set Acc No for acceleration no 1 no 4 Dece...

Page 490: ...sition pls Operation Speed pls s Acc No Dec No M code Dwell time Sub axis setting Circular interpolation Auxiliary point Circular Interpolation mode Circular interpolation turns Helical Interpolation 1 Incremental Circular interpolation Single Keep 2000 1000 No 1 No 1 0 100 Axis 2 1000 Center point CW 0 Do not use 1 Incremental Circular interpolation Single End 2000 1000 No 1 No 1 0 100 Axis 2 100...

Page 491: ...dius Ending point radius the closer to target position the object gets the faster speed is Sometimes it exceeds Speed limit of parameter When operating circular interpolation in case starting point radius is shorter than ending point radius XBF PN04B PN08B lowers speed not to exceed Speed limit With that method even if it gets closer to target position it can t exceed the Speed limit Forward of su...

Page 492: ...ition 600 500 Direction of rotations CW operation is as follows Example of setting XG PM Main axis axis 1 operation data Step No Control Method Operation method Target position pls Operation Speed pls s Acc No Dec No M code Dwell time Sub axis setting Circular interpolation Auxiliary point Circular Interpolation mode Circular interpolation turns Helical interpolation 1 Absolute circular interpolat...

Page 493: ... mode and size setting of circular arc Circular arc 180 Circular arc 180 Circular interpolation mode Description Radius CW Arc 180 Executes circular interpolation in clockwise and the arc is smaller than 180 Radius CW Arc 180 Executes circular interpolation in clockwise and the arc is bigger than 180 Radius CCW Arc 180 Executes circular interpolation in counterclockwise and the arc is smaller than...

Page 494: ... error code 285 Radius value of circular interpolation of main axis operating data is smaller than half of the length from starting position to target position When Radius R x 0 8 Error error code 270 When R x 0 8 Radius R Executes circular interpolation after reset the radius to R In other words executes circular interpolation by setting the center of the line from starting position to goal posit...

Page 495: ...on main axis and set moving direction of arc and size of arc Circular interpolation urns Set the no of turns of arc for making a circle bigger than 360 Helical Don t use When using circular interpolation set it to Don t 1 It means that it need not be set Whatever value it is it dose not affect circular interpolation Remark 1 Radius specified circular interpolation is executed on the basis of the i...

Page 496: ...ion turns Helical interpolation 1 Absolute Circular interpolation Single End 9000 1000 No 1 No 1 0 100 Axis2 5000 Radius CW Arc 180 0 Not use Sub axis Axis2 Operating data Step No Control method Operation Method Target position pls Operation speed pls s Acc No Dec No M Code Dwell Time Sub axis Setting Auxiliary Point Circular interpolation mode Circular interpolation turns Helical interpolation 1 ...

Page 497: ...s bigger than 180 in CW direction Radius CCW Arc 180 Executes circular interpolation with center point whose arc is smaller than 180 in CCW direction Radius CCW Arc 180 Executes circular interpolation with center point whose arc is bigger than 180 in CCW direction Center point Degree of arc 180 Degree of arc 180 CW Arc 180 Circular interpolation action Staring position Radius Radius CW Arc 180 Cir...

Page 498: ...same as main axis no Sub axis setting of main axis operating data is axis no that is not connected to the network Control unit of main or sub axis is set as degree error code 282 main 283 sub Starting position and target position are same error code 285 Radius value of circular interpolation of main axis operating data is smaller than half of the length from starting position to target position Wh...

Page 499: ... When using Radius specified circular interpolation select Radius Circular interpolation Turns Set the no of turns of arc for making a circle bigger than 360 Helical interpolation Don t When using circular interpolation set it to Don t use 1 It means that it need not be set Whatever value it is it dose not affect circular interpolation Remark 1 Radius specified circular interpolation is executed o...

Page 500: ...ental Circular interpolation Single End 8000 1000 No 1 No 1 0 100 Axis2 5000 Radius CCW Arc 180 0 Not use Sub axis Axis2 Operating data Step No Control method Operation Method Target position pls Operation speed pls s Acc No Dec No M Code Dwell Time Sub axis Setting Auxiliary Point Circular interpolation mode Circular interpolation turns Helical interpolation 1 Incremental single axis position con...

Page 501: ...em Helical interpolation the helical interpolation will be executed b The direction of circular arc depends on the target position and the mode of circular interpolation the direction of helical axis depends on the coordinates setting and the target position In case of Absolute Circular interpolation Starting position Target position Positioning operation in forward direction Starting position Tar...

Page 502: ...osition control when executing helical interpolation circular interpolation must be set Operation method Single End 1 1 Set operation method for helical interpolation Target position pls 10000 0 10000 Set the goal position on main sub helical axis for executing positioning Operation speed pls s 1000 Helical interpolation uses composition speed of circular interpolation part Acc no No 1 Set Acc No ...

Page 503: ...g speed pls s Acc no Dec no M code Dwell time Sub axis setting Circular interpolation auxiliary point Circular interpolation mode Circular interpolation turns Helical interpolation 1 Absolute circular interpolation Single End 400 1000 No 1 No 1 0 100 Axis2 800 Center point CCW 0 Axis3 Operation data of sub axis axis2 Step no Control method Operating method Target position pls Operating speed pls s...

Page 504: ...ata Setting value Description Ratio of ellipse 0 65535 Set the ratio of horizontal axis and vertical axis 1 0 01 Size Degree of ellipse 0 65535 Set the ellipse s moving degree 1 0 1 b Moving direction of ellipse is decided by the direction set by circular interpolation mode of operation data Center point CW Executes ellipse interpolation in clockwise Center point CCW Executes ellipse interpolation...

Page 505: ...no that is not connected to the network An axis of helical interpolation is set Control unit of main or sub axis is set as degree error code 551 main 552 sub The center point designated as auxiliary point is the same as starting position or goal position error code 553 The radius of circular arc exceeds 2147483647pls error code 554 The operating method is continuous or Keep error code 556 If user ...

Page 506: ...need to execute auxiliary work based on the interpolation operation set the M code Dwell time 500 Set dwell time ms needed to output the positioning completion signal Sub axis setting Axis2 Set an axis to be used as sub axis among settable axis in operating data of main axis Auxiliary point 5000 5000 Set the center point of ellipse Circular interpolation Center point CW Center point must be set wh...

Page 507: ...n data of Sub axis axis2 Step no Control method Operating method Target position pls Operating speed pls s Acc No Dec No M code Dwell Time Setting Sub axis circular interpolation auxiliary point Circular interpolation mode Circular interpolation turns Helical interpolation 1 Incremental single axis position control Single End 0 0 No 1 No 1 0 0 None 200 Middle point 0 Don t use Operating pattern Ma...

Page 508: ...ed position control switching In case there is external command input it is used as External speed position control switching signal 1 External stop command In case there is external command input it is used as External stop command signal External command 0 Disable External command signal is ignored and it does not affect operation 1 Enable In case there is external command input it operates acco...

Page 509: ...ount Dwell Time Speed Time Speed set ON ON ON Positioning complete ON Internal speed position switching command ON 2 Speed Position switching coordinate 1 absolute Start command In operation External speed position switching signal Position Time Target position ON ON ON Positioning complete ON Inner speed position switching command ON Acc section Speed control Position control Dwell time Speed Set...

Page 510: ...ethod Absolute single axis speed control When executing speed position switching control set single axis speed control Operating method Single End When executing speed position switching control set End or Keep Target position pls 10000 Set the position value to be used for positioning after speed position switching command Operating speed pls s 1000 Set the operating speed of speed position switc...

Page 511: ... and gets to the target position Start command Position Time Switching position ON Switching command ON Speed Setting speed Start position Time Target position Speed control Position control 2 When infinite running repeat 0 enable It keeps its direction and goes to the target position within infinite running position Start command Position Time Switching position ON Switching command ON Seed Setti...

Page 512: ...or incremental coordinate value Item Setting value Description Speed position switching coordinate 0 incremental The object moves as far as the set value from the position where command is executed 1 absolute It considers the set value as the absolute coordinate value and the object moves to the set absolute position c In speed position switching control the value of coordinate specified when star...

Page 513: ...ttern of speed control has to be set as End or Keep If that is set as Continuous error error code 236 arises and speed control can not be executed b If the value of target position is 0 position specified speed position switching command can not be executed In this case it continues to operate with speed control c In case infinite running repeat 1 Enable and speed position switching coordinate 1 A...

Page 514: ...e of position specified speed position switching command the target position set here is ignored and the target value set as the operand of the position specified speed position switching command is used for positioning Operating speed pls s 1000 Set the operating speed of speed position switching control Acc no No1 Set acc no used in acceleration no 1 4 Dec no No 2 Set dec no used in deceleration...

Page 515: ... and gets to the target position Start command Position Time Switching position ON Switching command ON Speed Setting speed Start position Time Target position Speed control Position control 2 When infinite running repeat 0 enable It keeps its direction and goes to the target position within infinite running position Start command Position Time Switching position ON Switching command ON Seed Setti...

Page 516: ...l with Position Speed Switching command b Direction of movement depends on the sign of value and coordinates Absolute Single axis position control Starting position Target position Positioning in forward direction Starting position Target position Positioning in reverse direction Incremental Single axis position control The value of target position has positive sign Positioning in forward directio...

Page 517: ...d control 4 Setting example of operation data Items Setting value Description Control method Absolute Single axis speed control When executing position speed switching control set single axis speed control Operating method Single End Set operating method for position control Target position pls 10000 Set the value of target position for position control Operating speed pls s 1000 Set the operating...

Page 518: ...perating data as single axis position control and change position control to torque control with Position Torque Switching command b Direction of movement depends on the sign of torque value auxiliary data of position torque switching command When torque value is positive value Positioning in forward direction When torque value is negative value Positioning in reverse direction 2 Operating timing ...

Page 519: ...single axis position control Operating method Single End Set operating method for position control Target position pls 10000 Set the value of target position for position control Operating speed pls s 1000 Set the operating speed of position torque switching control Acc no No 1 Set acc no used in acceleration no 1 4 Dec no No 2 Set dec no used in deceleration no 1 4 M code 0 Set when you need to e...

Page 520: ...rk based on the operation 0 65535 Acceleration time No Set acceleration number for acceleration No 1 No 4 Deceleration time No Set reduction number for deceleration No 1 No 4 Coordinate Set coordinate of target position absolute incremental Control method Set type of control 0 Position control 1 Speed control 2 Feed control 3 Shortest distance control Remark Direct start only can be used when it i...

Page 521: ...work among setting axes When there is linear interpolation or circular interpolation among position data of setting axes the axis same as simultaneous setting axis is included in sub axis of corresponding position data Example Executes Simultaneous start of axis 1 axis 2 and axis 3 with the follow settings Current position of axis 1 0 Operation step 1 Current position of axis 2 0 Operation step 3 ...

Page 522: ...ration stop command Axis 3 ON ON ON 1000 Operating Axis 2 ON Operating Axis 3 ON Signal of finishing positioning axis 2 Signal of finishing positioning axis 3 500 300 Operation step No of Axis 1 1 Operation step No of Axis 2 3 Operation step No of Axis 3 10 Only its axis decelerate and stop Operation step No of Axis 1 2 800 ON ON Dwell time 100ms ...

Page 523: ...0 Current position of Axis 1 0 Example of setting XG PM Step No Control method Operation method Target position pls Operation speed pls s Acc No Dec No M code Dwell time 1 Absolute single axis position control Single End 1000 1000 1 1 0 20 2 Absolute single axis position control Single End 3000 2000 1 1 0 20 10 Absolute single axis position control Single Keep 6000 3000 1 1 0 20 11 Absolute single...

Page 524: ...ignal External upper limit On Emg stop Forward operation Emg stop Emg stop 6 Error Error492 No change External lower limit On Emg stop Reverse operation Emg stop Emg stop Error Error493 No change External emergency stop On Emg Stop Error Error491 Output inhibited Off External stop On 7 Dec stop Dec stop Error322 Keeps operating Dec stop Stop status On No change XG PM Software Deceleration stop com...

Page 525: ...External deceleration stop signal In case of input signal of external emergency stop deceleration stop to be On it will be decelerated and stopped by set deceleration time in current positioning operation Have to set item of select external emergency stop deceleration stop of expansion parameter for using input signal of external emergency stop deceleration stop as external deceleration stop comma...

Page 526: ...mand ON ON ON Complep Deceleration stop as setted time Internal deceleration stop command External stop command Speed limit Setting speed Time Deceleration of current operation If the deceleration distance is longer than distance to target position when input deceleration stop command during positioning control operation it will be stopped at the target position Target position Deceration stop com...

Page 527: ...occurred External emergency stop signal In case of inputting signal of external emergency stop deceleration stop to be On it will be decelerated stopped and error will be occurred as set time in deceleration time when it is suddenly stopped of basic parameter Have to set select external emergency stop deceleration stop of expansion parameter for using signal of inputting external emergency stop de...

Page 528: ...01 e Motion timing Time Speed Start command Operating Internal or External emergency stop ON ON ON Signal of complete positioning Setting speed Decelerate and stop as deceleration time when sudden stop M code ON With mode ON ...

Page 529: ... and in case of external input stroke low limit error error 493 will occur Setting related parameter basic parameter Item Setting value Content When sudden stop deceleration time 0 2147483647 ms Set deceleration time for using when detect hardware high low limit signal Deceleration time express needed time for deceleration as bias speed at speed limit when suddenly stop c Motion timing Time Seed S...

Page 530: ...ow limit range will occur error 502 Setting related parameter expansion parameter Item Setting value Contents Software high limit 2147483648 2147483647 Set position of software high limit Software low limit 2147483648 2147483647 Set position of software low limit c Condition Software high low limit not to be checked in the following case In case of setting Software high low limits as maximum 21474...

Page 531: ...n time bigger than deceleration stop time it will be decelerated and stopped as set deceleration stop time Remark Process is as follows when factor of sudden stop is occurred during deceleration stop Positioning speed S t o p p o s i t i o n b y deceleration stop factor Deceleration stop command ON ON Emergency stop command Deceleration stop factor generation Sudden stop factor generation Software...

Page 532: ...erpolation e Operation pattern Time Composition speed Starting command Be operating main axis Internal deceleration stop command ON ON ON Setting speed Deceleration stop as setted deceleration time Forward of main axis Forward of the axis of ordinates Decelerate and stop as the trace of the wheels of circular Starting point Target point Be operating the axis of ordinates ON 8 Restart after Positio...

Page 533: ...tart operation to the target position by using the Restart command and the previous operating conditions from the position stopped However the restart is valid when the previous command is Direct start and Indirect start The figure below describes the operation of the restart The figure below describes the difference between restart and re run the previous operation command in case of stopping aft...

Page 534: ...e value is limited to maximum torque setting c The direction is determined according to setting of torque value is the auxiliary data of the torque command When torque value is positive value Positioning in forward direction When torque value is negative value Positioning in reverse direction 10 Motion timing Dec stop command Gradient ms Torque control Torque Time Target Torque ON Torque contorl c...

Page 535: ... 32767 d In Logic selection of input signal you can shoose the logic of the input signal A B Z is input to the module from the outside In case it is selected to B contact if no current flows through the input signal terminal the module recognizes to On if the current flows the module is recognized Off 13 Types of control a Control switching of speed position Switch control to the position control ...

Page 536: ...ition value set initial value 0 if the maximum minimum value contains a 0 minimum value if not included after checking encoder maximum minimum value 3 State of the external input signal of state information displays Off when external input terminal function selection is changed to 0 Encoder signal A B Z phase 14 Status information State of the external input signal A B Z which can be confirmed by ...

Page 537: ...e signal On DOG signal 0 DOG signal Off 1 DOG signal On External command signal 0 External command signal Off 1 External command signal On Servo On signal 0 Servo Off 1 Servo On Servo alarm signal 0 Servo driver normal 1 Servo driver error occurs In position signal 0 Not In position section 1 In position section Communication error 0 EtherCAT Comm normal 1 EtherCAT Comm error 1 0 External input si...

Page 538: ...f origin b Acceleration Deceleration process and Jog speed The acceleration deceleration processing is controlled based on the setting time of Jog acceleration deceleration time from XG PM manual operation parameter setting Set the Jog speed on Jog high low speed of XG PM manual operation parameter setting If Jog speed is set out of the setting range error will occur and the operation does not wor...

Page 539: ...d Jog low high speed Signal ON Remark Notices for setting Jog speed are as follows 조그 Jog Low Speed Jog High Speed Speed Limit Time Speed Jog High Speed Jog Low Speed Speed Limit 3 Restrictions You can not execute Jog operation in the case as follows a Value of Jog High Speed exceeds the speed limit of basic parameter Error code 121 b Value of Jog Low Speed exceeds the value of Jog high speed Erro...

Page 540: ...1 6 Axis2 Jog Low High Speed UXX 01 7 Axis3 UXX 01 8 Axis3 Forward Jog UXX 01 9 Axis3 Reverse Jog UXX 01 A Axis3 Jog Low High Speed UXX 01 B Axis4 UXX 01 C Axis4 Forward Jog UXX 01 D Axis4 Reverse Jog UXX 01 E Axis4 Jog Low High Speed UXX 01 F Axis5 UXX 02 0 Axis5 Forward Jog UXX 02 1 Axis5 Reverse Jog UXX 02 2 Axis5 Jog Low High Speed UXX 02 3 Axis6 UXX 02 4 Axis6 Forward Jog UXX 02 5 Axis6 Rever...

Page 541: ... Jog Signal Uxx 01 0 In Operation Positioning complete signal ON ON Jog High Speed Change to Jog High Speed Jog Low Speed Jog High Low Speed Signal Uxx 01 2 ON Reverse Jog Signal Uxx 01 1 ON Jog Low Speed Jog High Speed Change to Jog Low Speed Forward Jog operation Reverse Jog Operation Stop but not turn ON Remark Dec stop command will not be executed in Jog Operation Jog operation will stop if tu...

Page 542: ... is POSITIVE Positioning operation in forward direction The amount is NEGATIVE Positioning operation in reverse direction e Acc Dec process and Inching speed Use Jog acc dec Time of manual operation as acc dec time of Inching operation Set Jog acc dec time on Jog acc dec time of manual operation parameter setting of XG PM Set Inching speed on Inching speed of manual operation parameter setting If ...

Page 543: ...ition of manual operation Forward direction Starting position The previous position of manual operation Reverse direction b Acc Dec process and the speed of return Acc Dec time of returning is the same as homing acc dec time of homing parameter Set acc dec time on homing acc dec time of homing parameter of XG PM If returning speed is set out of the setting range error will occur and the operation ...

Page 544: ...w Speed ON Positioning complete position A Jog stop position B Position Returning to the previous position of manual operation Time Jog Operation Returning If value of the current position is A after positioning control operation and the positioning value changed by Jog operation is B execute positioning to A when executing the returning to the previous position of manual operation ...

Page 545: ...in the state of speed sync operation before release of speed sync command d Auxiliary data of speed sync command The auxiliary data used in speed sync command is as follows Item Setting value Description Main Axis 1 axis1 8 axis8 9 Encoder1 Set the main axis of speed sync Ratio of Main axis 32768 32767 Set the ratio of main axis at speed sync ratio Ratio of Sub axis 32768 32767 Set the ratio of su...

Page 546: ... If speed sync is executed in being On of M code signal error code 353 arises Make M code off with M code release command XMOF before use b In the case that the axis set as main axis is not the axis can be set or the case that the setting of main axis is the same as the setting of command axis error code 355 arises Set the main axis among the axis available to be set c If the speed of main axis ex...

Page 547: ...peration method Goal Position pls Operating speed pls s Acc no Dec no M code Dwell Time 1 Incremental Reduction position control Single End 10000 2000 No 1 No 1 0 0 Operating pattern Time Speed Main axis Start command Main axis in operation Main axis positioning complete signal ON ON 2000 Sub axis Speed sync command ON Sub axis In operation ON Ratio of main axis 2 Sub axis stop command ON Stop but...

Page 548: ...en the input pulse of phase A is ahead of B s The position value decreases when the input pulse of phase B is ahead of A s 2 5 or above B Phase A Phase The operating direction of sub axis depends on MainAxis of Ratio SubAxis of Ratio sync speed of Ratio If it is positive operating direction will be forward direction of encoder If it is negative operating direction will be reverse direction of enco...

Page 549: ...encoder is forward the operating direction of sub axis is reverse When the direction of encoder is reverse the operating direction of sub axis is forward Operating pattern Time Speed 2000 Speed sync for axis2 ON Axis2 in operation ON Stop command for axis2 ON Stop but not turn On Positioning complete signal of axis2 1000 Ratio of main axis Ratio of sub axis 1 2 Encoder phase A Input Encoder phase ...

Page 550: ... axis become the goal position it stops speed sync and stay there For the details refer to Speed sync control e Auxiliary data of positioning speed sync command The auxiliary data used in speed sync is as follows Items Setting value Description Main axis 1 axis1 4 axis4 9 Encoder Set main axis Ratio of main axis 32768 32767 Set ratio of main axis Ratio of sub axis 32768 32767 Set ratio of sub axis...

Page 551: ...position synchronous start e In case of cancellation after executing the SSP command at the subordinate axis if you execute the stop command the SSP command shall be released f The auxiliary data of position sync command The auxiliary data used in position sync is as follows Items Setting Value Description Position of position sync 2147483648 2147483647 Set the position of main axis in position sy...

Page 552: ...n axis ON Dwell Time Time Position for position sync Position Position of sub axis 3 Restrictions Position sync control can be executed in the case below a If position sync command is executed in M code signal is On error code 343 arises Use it after making M code Off with M code release command XMOF b If the current main axis is not the axis can be set on the current module or main axis and comma...

Page 553: ... control Single End 2000 1000 No 1 No 1 0 0 Sub axis axis2 Operation data Step no Control method Operation Goal position pls Operating speed pls s Acc no Dec no M code Dwell time 10 Incremental single axis position control Single End 2000 2000 No 2 No 2 0 0 Operating pattern Time Speed Start command for axis1 Axis1 in operation Axis1 positioning complete signal ON ON 2000 1000 Position sync comman...

Page 554: ...n axis reaches this position the sub axis starts CAM operation Encoder can not be used as main axis You may set different CAM block no for each axis In addition it is possible to execute CAM operation with the same CAM block In order to use user CAM operation you have to set up CAM block number as 9 e You can make sub axis start the CAM operation at the specified position of main axis by setting t...

Page 555: ...ting Range Remarks Unit of main axis pulse mm inch degree Unit of sub axis pulse mm inch Degree may not be used 2 Transfer distance per 1 rotation Set the transfer distance per 1 rotation of main sub axis The unit of transfer distance is according to 1 If the unit is mm or inch this value is the maximum last position of main sub axis Transfer distance per 1 rotation is depending on unit Setting ra...

Page 556: ...01 2000 00000 inch The maximum last position of main sub axis degree 360 00000 Fixation No need to set The maximum last position of main sub axis 3 No of pulse per 1rotation Set the no of pulse per 1rotation of main sub axis If the unit is pulse the value is the maximum last position of main sub axis ...

Page 557: ...starting position of sub axis to ending position according to the position of main axis in 1 rotation When CAM data is created in repeat the ending position of the last step of sub axis user last set must be set as 0 CAM data Position Ending position of Sub axis Position of main axis Position in 1rotation of main axis Position of sub axis Ending position of main axis Time Time Time 0 1 rotation of...

Page 558: ...ding position according to the position in 1rotation of main axis CAM data Position Last position of sub axis Position of main axis Position in 1rotation of main axis Position of sub axis Ending position of main axis Time Time 0 1rotation of main axis Time Movement amount of sub axis 1 Cycle 1 Cycle 1 Cycle ...

Page 559: ... CAM data is so you may execute much smoother CAM operation However if point unit is small no of CAM data exceeds 2048 so there is a chance that user can not create CAM data CAM data Position of sub axis Ending position of sub axis 0 1rotation of main axis Point unit Position of main axis Remark When set CAM block data after point unit setting Ending position of main axis must be set as positive m...

Page 560: ...ntrol method is Repeat Two way mode the ending position of sub axis in the last section must be 0 If control method is Increase Feed mode the ending position of sub axis in the last section generally has to be set as much as the transfer distance per 1rotation set on main sub axis parameter 5 CAM curve Set CAM specific curve to create data ranging from starting position of sub axis to ending posit...

Page 561: ... 00947 0 98712 No Dwell Modified Trapezoid 1 00000 1 71788 4 19885 2 09942 One Dwell Modified Trapezoid 1 00000 1 91589 4 43866 55 77788 Modified Trapezoid 1 00000 1 99975 4 88812 0 30562 Asymmetrical Modified Trapezoid 1 00000 1 99982 6 11015 0 47620 One Dwell Cycloidal 1 00000 1 75953 5 52756 0 17345 Cycloidal 1 00000 1 99985 6 28273 0 19715 Asymmetrical Cycloidal 1 00000 1 99989 7 85304 0 30783...

Page 562: ... CAM operation is 1000 the current position is 1073 and point unit is 10 the step no of CAM data is as follows t Point Uni Axis Main of 1rotation per Positio Current no Step Data Cam d Calculate update position of sub axis with CAM data step If main axis is forward direction calculate the position of sub axis with the position corresponding to the part of positive number of CAM data step no and th...

Page 563: ...otation for main axis Time Time 1 cycle Start command for main axis Main axis in operation Positioning completion signal for main axis ON ON CAM command for sub axis ON Sub axis in operation ON Stop command for sub axis ON Stop but not On Positioning completion signal for sub axis ON 1 cycle Time Travel per rotation for sub axis Starting position Target position 0 0 ...

Page 564: ...rting position for main axis Target position 0 0 Offset for main axis Main axis position for CAM start Starting position for sub axis 5 Restrictions CAM operation command may not be executed in the cases below a If execute CAM operation command in being On of M code error code 702 arises Make M code OFF with M code release XMOF command before use b If the current main axis is not the axis can be s...

Page 565: ...eration stop of deceleration stop command XSTP set to 2 147 483 467 when you execute the deceleration stop command during CAM operation it will stop when the cam cycle was currently in operation is finished 2 Program example a XGK Installed slot of positioning module 0 base 2 slot Axis of CAM operation 2 axis time of deceleration stop 2 147 483 647 It is created assuming that saving the state info...

Page 566: ...xis Main axis in operation Positioning completion signal for main axis ON ON Cam command for main axis ON Sub axis in operation ON Stop command for sub axis Set deceleration time 2 147 483 647 ON Stop but not ON Positioning completion signal for sub axis ON 1 Cycle Time Travel per rotation of serve axis Starting position for main axis Target position 0 0 Starting point for sub axis ...

Page 567: ...is 7Axis 8Axis 2C2 342 3C2 442 4C2 542 5C2 642 Axis information Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Information of main axis Axis status 0 Sub axis 1 Main axis 1 8 1Axis 8Axis 9 Encoder1 Unused 0 Bit 6 Bit 8 Bit 7 Bit 13 Bit 15 Bit 14 Unused 0 In writing EEPROM of servo drive 0 Not in writing 1 In writing In writing flash memory of module 0 Not in writing 1 In writing Unused 0 Completion status of...

Page 568: ...ON CAM command for main axis ON Sub axis in operation ON Flag of cam cycle ON Positioning completion signal for sub axis ON 1 Cycle Time Travel per rotation for sub axis Starting position for main axis Target position 0 0 Offset for main axis Main axis position for CAM start Starting position for sub axis ON Completion time of positioning Remark The time maintaining that cam cycle flag turn on wil...

Page 569: ...the cam operation axis is stopped by EMG stop it doesn t have any cam restart operation be performed if cam operation command is executed again when it is changed to the homing start floating origin setting preset of current position status of undetermined origin d CAM restart doesn t work in case that CAM operation is executed after sub axis is stopped by deceleration stop e If the main axis is e...

Page 570: ... Cycle Start command for main axis Main axis in operation ON ON CAM command for sub axis ON Sub axis in operation ON EMG Stop command for sub axis ON Time Starting position for main axis Target position 0 0 Starting position for sub axis ON ON Cam restart Position for sub axis 1 Cycle Time 0 Starting Position for sub axis Remark If you don t operate CAM restart it works as follows ...

Page 571: ... with straight line CAM point data is set up at sub axis and as type of main axis position sub axis position CAM data point can be saved at the specified memory address of each axis by using XVWR command For memory address to save CAM data point of each axis refer to appendix 2 11 User CAM data memory address Remark You can change the user cam data by write command of variable data XVWR XPM_VWR du...

Page 572: ...ation or deceleration patterns of main axis f In case main axis is encoder when execute the phase correction control it is executed by using speed limit and the acceleration or deceleration patterns of sub axis g When command is re executed with operating phase correction the phase correction is executed as much as correcting size at that point In other words phase correction amount is additional ...

Page 573: ...e following is considered as an error it can t execute the phase correction control a When phase correction command is executed with non synchronous control Speed synchronization CAM of sub axis error code 771 is generated b When the phase correction amount of phase correction is set as out the range of pulse unit expression 2 147 483 648 2 147 483 647 error code 771 is generated c When the veloci...

Page 574: ...operation Main axis offset 2147483648 2147483647 Sets the position of the main axis where the longitudinal axis starts cam operation at an offset value at the main axis position Longitudinal axis offset 2147483648 2147483647 Sets the position of the main axis where the longitudinal axis starts cam operation at an offset value at the longitudinal axis position a The encoder can be used as the main ...

Page 575: ...axes that are currently connected to the network c If the calculated speed of longitudinal axis at the service axis position of the cam operation data exceeds the speed limit due to the high speed of the main axis Error code 708 Make sure to lower the operation speed of the main axis so that the longitudinal axis does not exceed the speed limit If the longitudinal axis exceeds the speed limit an e...

Page 576: ...Floating origin setting just executes forced origin decision from the current position to origin completion position So user need to take notice as follows 1 When error arose clear the cause of error and reset 2 set floating origin again 3 change the operation step no to operate with start step no change command and then execute 2 Operation timing ON Psotion Origin Floating Origin setting command ...

Page 577: ...ation ON Operation mode Singular End Step no 2 Operation mode Singular Continuous Step no 1 Time Speed ON ON A Position P2 Position P1 Position P2 Position P1 Position P1 P2 Position P1 Position P1 P2 Continuous operation command Operation mode Singular End Step no 2 Operation mode Singular End Step no 2 Operation mode Singular Continuous Step no 1 Operation mode Singular Continuous Step no 1 Oper...

Page 578: ...c operation error code 397 h The current operation step no is the last step 400 of operation data error code 399 i The current axis in operation is executed by direct start command error code 400 Example Execute continuous operation on axis1 operating by absolute shortcut position control Current position of Axis1 0 Setting example in XG PM Operation data of axis1 Step no Control method Operation ...

Page 579: ...did not execute skip operation Therefore current position positioned by skip operation is P2 A area and B area both are same size When skip operation is executed on relative coordinates the movement amount between current position and goal position is the real goal position Therefore the goal position is different from the one without continuous operation The position positioned by skip operation ...

Page 580: ...polation error code 338 Skip operation in circular interpolation operation must be executed on main axis Example Execute skip operation command on axis1 operating by absolute and shortcut position control Current position of axis1 0 Setting example in XG PM Operation data of axis1 Step no Control method Operation method Goal position pls Operating speed pls s Acc no Dec no M code Dwell time 1 Abso...

Page 581: ...he moment of commanding position override is bigger than the position it stopped at the positioning direction would be forward If it is smaller the direction would be reverse d This command may be executed several times in operation 2 Operation timing Position ON Speed Start In operation ON Setting Speed Position override command ON Positioning complete ON Override position2 Current position Goal ...

Page 582: ...vious operation is being kept a Execute position override in dwell error code 362 b Current operation is not positioning control shortcut positioning Inching operation error code 363 c Execute position override on the axis operating linear interpolation error code 364 d Execute position override on the axis operating circular interpolation error code 365 e Execute position override on the sub axis...

Page 583: ...sition ON Speed Start command In operation ON Operation mode Singular End Operation step no 2 Operation mode Singular continuous Operation step no 1 2000 1000 ON Positioning complete ON Previous operation pattern of position override Operate the next step at override position 1000 5000 0 Position override 2000 Override position 2000 Goal position Override position Remark If operation pattern is co...

Page 584: ...tting or speed setting on Speed override of common parameter d Related parameter setting common parameter Items Setting value Description Speed override 0 setting Set the speed override setting value by 1 speed setting Set the speed override setting value with exact number e Auxiliary data of speed override command setting Items Setting value Description Speed 1 65535 1 0 01 Set the speed override...

Page 585: ...ea error code 377 f In the case that acc dec pattern of extended parameter is S curve operation error code 378 Example Execute speed override 50 100 200 150 on axis1 operating by absolute shortcut position control Current position of axis1 0 Speed override of common parameter Set Speed limit of basic parameter 3000 pls s Setting example of XG PM Operation data of axis1 Step no Control method Opera...

Page 586: ...or a relative position f Related parameter setting Common parameter Items Setting value Description Speed override 0 Set Set the value of speed override by 1 Set speed Set the value of speed override with exact number Extended parameter Items Setting value Description Coordinates of positioning speed override 0 Absolute Speed override is executed in the designated absolute position 1 Incremental S...

Page 587: ...de speed of linear interpolation for each axis need to be below speed limit c Execute positioning speed override on the sub axis of linear interpolation error code 384 In linear interpolation positioning speed override must be executed on main axis d Execute speed override on the sub axis of circular interpolation error code 385 In circular interpolation positioning speed override must be executed...

Page 588: ...tended parameter Absolute Setting example in XG PM Operation data of axis1 Step no Control method Operation method Goal position pls Operation speed pls s Acc no Dec no M code Dwell time 1 Absolute single axis position control Singular End 5000 2000 No 1 No 1 0 0 Operation pattern Position ON Speed Start command In operation ON 2000 ON Positioning complete ON Override speed 4000 5000 0 2000 Positi...

Page 589: ...ming command c The current position preset command may not be executed in operation d Auxiliary data setting of current position preset command Items Setting value Description Position 2147483648 2147483647 Set the position to change 2 Operation timing ON Current position preset command ON Origin deciding signal Position Time Current position Preset position Origin If the position to preset is 0 O...

Page 590: ...red d Auxiliary data setting of encoder preset command Items Setting value Description Position 2147483648 2147483647 Set the encoder position to change on selected encoder Types 0 Encoder1 Select encoder to change 2 Operation timing ON Encoder preset command Encoder Position Time Current position Position to preset Min value of encoder Max value of encoder 0 Encoder A phase input Encoder B phase ...

Page 591: ...be only executed in stop motion or error arises c Auxiliary data setting of start step no change command Items Setting value Description Step 1 400 Set the step no to change 2 Operation timing Time ON Speed Start command IST Step 0 In operation ON Start step no change command ON Positioning complete ON Operation step no 1 ON Operation step no n 1 2 n n 1 n 1 Step no n Current step no ON ON 3 Restr...

Page 592: ...mand can be executed during positioning operation c Auxiliary data setting of repeat operation step no change command Items Setting value Description Step 1 400 Set the repeat operation step no to change 2 Operation timing Time ON Speed Start command IST step 0 In operation ON Repeat operation step no change command ON Positioning complete ON Operation step no 10 ON Operation step no 1 10 1 1 1 10...

Page 593: ...sition control Singular Go on 1000 1000 No 1 No 1 0 0 2 Absolute single axis position control Singular continuous 2000 2000 No 1 No 1 0 0 3 Absolute single axis position control Singular continuous 4000 3000 No 1 No 1 0 0 4 Absolute single axis position control Repeat Continuous 2000 3000 No 1 No 1 0 0 5 Absolute single axis position control Singular End 5000 2000 No 1 No 1 0 0 Operation pattern T...

Page 594: ...etting Infinite Running Repeat parameter as 1 Enable if current position is out of the range of Infinite Running Repeat it will be changed into the value within the range of Infinite Running Repeat automatically Ex1 In case current position is 32100 infinite running repeat position is 10000 When setting Infinite Running Repeat parameter as 1 Enable current position will be 2100 Ex2 In case current...

Page 595: ...an t execute single axis continuous operation and interpolation control 2 Operation Diagram Remark You can t change Infinite Running Repeat setting during operation If you enable Infinite Running Repeat setting during stop state in case current position is larger than Infinite Running Repeat position current position will be changed to the value within Infinite Running Repeat position 3 Restrictio...

Page 596: ...pulse target position 10000 pulse Setting example of XG PM Step No Control type Operation type Target position pls Operation speed pls s Acc No Dec No M code Dwell time 1 Absolute single axis position control Single End 10000 1000 No 1 No 1 0 100 Operation pattern Transfer amount 8000 Dwell time 100ms Speed Time O N Start command In operation In dwell ON 1000 O N Position 0 2000 10000 Infinite Run...

Page 597: ...et position 15000 pulse Setting example of XG PM Step No Control type Operation type Target position pls Operation speed pls s Acc No Dec No M code Dwell time 1 Absolute single axis position control Single End 15000 1000 No 1 No 1 0 100 Operation pattern Transfer amount 8000 Dwell time 100ms Speed Time O N Start command In operation In dwell ON 1000 O N Position 0 2000 10000 Infinite Running Repea...

Page 598: ... control 15 12 11 10 9 8 7 5 4 3 2 1 0 Dec Time Acc Time 0 absolute coordinate 3 shortest distance control Operation pattern Transfer amount 135 0 Speed Time ON Start command In operation 1000 ON Position 0 270 0 Time 45 270 45 0 2 Direct start control word setting Absolute 0 Position control 15 12 11 10 9 8 7 5 4 3 2 1 0 Dec Time Acc Time 0 absolute coordinate 0 Position control Operation pattern...

Page 599: ...ecutions are possible during an operation c You can set the speed override value as designate or designate speed in the speed override of the common parameter d Setting Related Parameters Common Parameter Category Setting values Description Speed override 0 Designate Designates the setting value of speed override as a of the set speed 1 Designate speed Designates the setting value of speed overrid...

Page 600: ... the linear interpolation is operating the speed override command must be executed on the main axis d If the speed override command is executed on the longitudinal axis of circular interpolation Error code 374 If the circular interpolation is operating the speed override command must be executed on the main axis e If the speed override command is executed on the longitudinal axis of synchronized i...

Page 601: ...d d If it is stopped by hardware high low limit detection move it into the controllable area with Jog operation in reverse direction of detected signal e Hardware high low limit is shown as follows Moving Direction Start Start Upper Lower Servo Drive Stopper Switch of lower limit Moving Direction Control available range of positioning module Stopper Emg Stop when upper detection Emg Stop when lowe...

Page 602: ... detected error arises High limit error 501 Low limit error 502 e User may set the position value of high low limit on extended parameter Related parameter setting Extended parameter Items Setting value Description Soft High Limit 2147483648 2147483647 Set the position of soft high limit Soft Low Limit 2147483648 2147483647 Set the position of soft low limit f When an object stops because of detec...

Page 603: ...rating in reverse direction 3 After EMG Stop by detection of software upper limit if position value exceeds position max value 2147483647 and becomes position value when executing JOG reverse operation software lower limit error occurs In this case set the software upper lower limit as max min value so software limit is not detected and move the object within control area with JOG reverse operatio...

Page 604: ...o wait but execute continuous operation to the next step f User may turn M code signal off and set M code no to 0 with M code release command M code release command can be used even during operation g M code mode is set from M code output item of extended parameter 0 NONE 1 WITH 2 AFTER Related parameter setting Extended parameter Items Setting value Description M code mode 0 None Not to output M ...

Page 605: ... positioning control Singular continuous 1000 2000 No 1 No 1 100 100 2 Absolute single axis positioning control Singular continuous 3000 2000 No 1 No 1 200 100 3 Absolute single axis positioning control Singular continuous 5000 2000 No 1 No 1 300 100 Operation pattern Time ON Speed Start command In operation ON Positioning complete 0 M code no output ON M code ON ON 300 M code release 100 0 200 0 ...

Page 606: ... position data of latch and save new latch data That is 10 data of latch position data of current is maintained d If the signal of touch probe 1 is on to latch is completed Bit 8 Complete latch is on among axis information of status information The status bit of Complete latch is on until reset by command of latch reset XLCLR XPM_LCLR Item Setting value Contents Item of latch reset 0 Status reset ...

Page 607: ...sition data 9 Device 20 DINT The latch position data 10 f Motion timing single trigger mode Position Time ON Status of latch completion Speed 3000 Time Signal of touch probe1 Reading address of latch data The number of latch position data 2 Latch position data 1 3000 Latch position data 2 10500 Latch position data 10 10500 Start command Command of latch reset Reset latch completion ON Command of l...

Page 608: ...e number of latch position data 4 Latch position data 1 3000 Latch position data2 5500 Latch position data 10 10500 Start Command Command of latch reset Reset latch completion ON Command of latch setting Enable latch 1 4 ON 2 3 5500 8000 Latch position data3 8000 Latch position data4 10500 In continuous trigger mode every touch probe 1 signal can do latch after being latch enable ...

Page 609: ...changed is position teaching the value of operating speed being changed is speed teaching e The axis in operation may be the subject of position teaching or speed teaching f If user changes the value of goal position or operating speed frequently this command is very useful for it g Auxiliary data setting of teaching array command Items Setting value Description Step 0 400 Set the step no for teac...

Page 610: ...ng are available depending on the saving position RAM teaching When users execute teaching to operation data and operate positioning module in power connection it can be used by changing the value of the speed and position But the speed value and position value are not saved in non power connection ROM teaching When users execute teaching to operation data and operate positioning module in power c...

Page 611: ... 1 7 Dec time 2 8 Dec time 3 9 Dec time 4 10 Emergent Dec time 11 Demultiply ouput pulse rotation 1 200000000 12 Transferring distance rotation Depend on Unit 13 Unit 0 pulse 1 mm 2 inch 3 degree 14 Double precision of unit 0 x1 1 x10 2 x100 3 x1000 15 Speed unit 0 unit time 1 rpm 16 Encoder selection 0 incremental encoder 1 abolute encoder 17 Current position display correction 0 255 18 User defi...

Page 612: ...or positioning complete 0 Dwell time 1 In position signal 2 Dwell time AND In position signal 3 Dwell time OR In position signal 12 Positioning method of interpolation continuous operation 0 Pass the goal position 1 Pass near position 13 2 axes linear interpolation continuous operation arc insertion 0 Don t insert arc 1 I nsert arc 14 External command selection 0 External speed position control sw...

Page 613: ...ta 5 Input signal parameter teaching a It changes the settings value of the input signal parameters of the positioning module to teaching data b The meaning of each bit of setting value of input signal parameter teaching command 15 14 13 12 11 8 7 4 3 0 Logic select ion of input signal Z Logic select ion of input signal B Logic select ion of input signal A Function sel ection of inp ut signal Z Fu...

Page 614: ...ultiplying 2 PULSE DIR 2 multiplying 3 PHASE A B 1 multiplying 4 PHASE A B 2 multiplying 5 PHASE A B 4 multiplying 3 Max value of encoder1 2147483648 2147483647 4 Min value of encoder1 5 Encoder1 Z phase clear 0 Disable 1 Enable 10 Destination coordinates for posistioning speed synchronization 0 incremental 1 absolute 11 Encoder 1 average number 0 None 1 5 2 10 3 20 13 Function selection of extern...

Page 615: ...e changed those changes are reflected after the current step is completed c RAM teaching and ROM teaching are available depending on the saving position RAM teaching When executing teaching to operation data of positioning module and operating positioning module in power connection user may change speed value or position value but the speed value and position value are not saved in non power conne...

Page 616: ...nterpolation turn 0 65535 9 Coordinate 0 Absolute 1 Incremental 10 Control method 0 Single axis position control 1 Single axis speed control 2 Single axis Feed control 3 Linear interpolation control 4 Circular interpolation control 11 Operating method 0 Single 1 Repeat 12 Operating pattern 0 End 1 Keep 2 Continuous 13 Size of circular arc 0 Circular arc 180 1 Circular arc 180 14 Acc no 0 3 15 Dec ...

Page 617: ...d Data Block offset 0 73769 Sets offset between blocks of Read Data Block size 1 128 Sets size of block No of block 1 128 Sets No of Read Block f Restriction In the following case error occurs and can t execute Read Variable Data command Data setting error Error code 711 Read data size Block size x No of block is 0 or higher than 128 WORD Read data address Read address block offset x No of block 1...

Page 618: ...tion Data device Sets device where data to write to module is saved Write address 0 73769 Sets head address of positioning module internal memory Block offset 0 73769 Sets offset between blocks of Write data Block size 1 128 Sets size of block No of block 1 128 Sets No of Write block g Restriction In the following case error occurs and can t execute Read Variable Data command Data range setting er...

Page 619: ...efined position Unit position x 10 N integer value omit decimals Unit position The command position integer value or current position read by SRD command N User defined position display magnification of the basic parameter 0 7 If N 0 user defined position and unit position values are the same Unit mm unit position 1000000 user defined position display magnification 4 Items Setting value Descriptio...

Page 620: ...Upper 2 BA FA 13A 17A 1BA 1FA 23A 27A User defined current speed Lower 3 BB FB 13B 17B 1BB 1FB 23B 27B User defined current speed Upper 4 BC FC 13C 17C 1BC 1FC 23C 27C User defined command position Lower 5 BD FD 13D 17D 1BD 1FD 23D 27D User defined command position Upper 6 BE FE 13E 17E 1BE 1FE 23E 27E User defined command speed Lower 7 BF FF 13F 17F 1BF 1FF 23F 27F User defined command speed Uppe...

Page 621: ...derive and perform a function to control the position of the actual mechanism using the external encoder 9 9 2 Full Closed wiring and specifications 1 Wire connection with the main circuit of servo drive and peripherals for Full Closed control Note Be sure to use independent SMPS for power supply of Full Closed control option board The combined use of the external brake SMPS can cause a malfunctio...

Page 622: ...Effective Resolution 1mm Setting resolution 0 1mm Option board settings Measuring range 90 170mm Barcode band Reference weight 400g Dimensions 120 90 43 mm Operating temperature 0 40 BPS37SM100 30 40 BPS37SM100H with optics heating Operating humidity below 90 No condensation Storage temperature 20 60 Note For other relevant information please check the manufacturer s website http www leuze com 9 1...

Page 623: ...5 Unused PIN6 SSI Clock SSI Clock line PIN7 Serv Bridge to PIN15 For initial setup RS232 PIN8 VIN Input power 12 24VDC PIN9 SSI Clock SSI Clock line PIN10 SWOUT1 Switching output 1 PIN11 RXD Serv RXD For initial setup RS232 PIN12 TXD Serv TXD For initial setup RS232 PIN13 Unused PIN14 Unused PIN15 GND Input power GND BPS327 Wiring Diagram 9 190 ...

Page 624: ...S37 included Current consumption Max 0 5A BPS37 included Input Signal BPS37 SSI BPS37 private Output Signal RS232 RS232 Modbus Hayijen private Output communication speed 38400bps 38400bps fix Setup configuration PC For setup RS232 BPS37 For initial setup Dimensions 90 100 20 mm Operating temperature 0 50 Operating humidity 20 80 Storage temperature below 90 No condensation 9 191 ...

Page 625: ...Chapter 9 Functions c Full Closed control option board wiring Power supply and BPS37 input part Modbus RS232 and servo drive connection 9 192 ...

Page 626: ...Chapter 9 Functions BPS37 setup RS232 and PC connection BPS37 option board LED 9 193 ...

Page 627: ...ram for BPS37 settings Download the program from the website of Leuze electronc and install it http www leuze com download log download 08_en html Download file BPSConfigV011600 exe April 20 2012 b To set up BPS37 PC option board BPS37 and related cables are needed and they should be configured as shown in the figure 9 194 ...

Page 628: ...Chapter 9 Functions c Execute BPS37 set up program and enter the setting values as follows 9 195 ...

Page 629: ...ttings are completed the values are stored in EEPROM of BPS37 Device Transmit Parameter Press Enter Read and check EEPROM of BP537 to determine whether the settings are normally stored Device Load Parameter Press Enter a Set the RS232 Modbus communication speed of BPS37 option board as shown in the figure Switch number Setup value fix Communication speed 1 ON 38400bps 2 OFF 3 ON 4 OFF 9 196 ...

Page 630: ...ble P04 02 Full Closed Polarity Internal encoder characteristics Unit Setting range 0 1 Manufactured default 0 Position control User can set the incremental direction of Full Closed control external detector barcode input with respect to the encoder incremental direction inside the motor 0 External detector barcode input incremental direction is the same as the internal encoder direction 1 Externa...

Page 631: ... 999999 Manufactured default 1 Position control Set the number of pulses of the internal encoder of the servo motor per detector resolution 0 1mm for Full Closed control Convert input values with the diameter of the final drive wheel and the deceleration ratio of the decelerator P04 05 Full Closed ErrPLS Deviation range Units 0 1 rev Setting range 1 2000 Manufactured default 10 Position control 9 ...

Page 632: ...of machine leads to large position deviation an alarm Barcode Follow Error AL 36 is detected by the value set in the Full Closed deviation range P04 5 Causes for Barcode Follow Error AL 36 detection 1 Decelerator setting error P04 03 P04 04 2 Mechanical constraint 3 Excessive slip of drive unit 9 199 ...

Page 633: ... S Curve rate of Extended Parameter to be more than 1 and less than 100 3 Error Information of Manual Operation Parameter Error Code Error Description Solutions 121 Jog high speed value of Manual operation parameter exceeds the range Set Jog high speed of Manual operation parameter to be greater than or equal to bias speed of Basic Parameter and less than or equal to max speed of Basic Parameter 1...

Page 634: ...Error Information of Data Writing Error Code Error Description Solutions 171 Parameter writing command cannot be done because of start command execution while XG PM is sending common parameter Once current operation is done eliminate error with error reset command and then execute writing command again Do not execute start operation while parameter sending 172 Parameter writing command cannot be d...

Page 635: ...25 Not possible to carry out Direct Start command in the state of Servo OFF Carry out Direct Start command after making Servo ON status with Servo On command 226 Shortest distance control can t be executed in Incremental coordinate Set the coordinate as Absolute 227 In Infinite Running Repeat mode target position of shortest distance control is invalid In Infinite Running Repeat mode target positi...

Page 636: ...ain axis and subordinate axis is set wrong in Linear interpolation the case that the subordinate axis is not assigned the case that only one axis is assigned or the case that no axis is assigned Set the more than one axis among axes connected to the network except main axis for sub axis setting in main axis operation data 254 Not possible to carry out the linear interpolation operation because the...

Page 637: ...led Make the main axis as Home decided status with Home Return command and Floating origin setting command and then execute the circular interpolation 278 Not possible to carry positioning operation of absolute coordinate in the state that subordinate axis of circular interpolation is origin unsettled Make the sub axis as Home decided status with Home Return command and Floating origin setting com...

Page 638: ...ignal is OFF when the command is executed 296 In case that Synchronous Start command axis setting is wrong Check if only one ax is of Synchronous Start command is assigned The axis assignment address means 0 bit X axis 1 bit Y axis 2 bit Z axis and each bit is set as 1 for axis assignment 297 An error occurred from axis of synchronous start operating Execute synchronous start after eliminate an er...

Page 639: ...ge The range of deceleration time is between 0 and 2147483647 Execute deceleration command after resetting the value from its range 331 Not possible to carry out Skip command not in the state of in operation Execute the Skip command when command axis is in operation 332 Not possible to carry out Skip command for subordinate axis of Linear interpolation operation Give the Skip command to linear int...

Page 640: ...eck if the M Code signal of the axis is ON when Synchronous Start by Speed command is executed Available to make M C ode OFF by XMOF command 354 Not possible to carry out Synchronous Start by Speed command in the state that Servo Ready is OFF Check if Driver Ready signal of the axis is OFF when Synchronous Start by speed command is executed 355 There is error in setting main axis subordinate axis ...

Page 641: ...382 Not possible to carry out Random position speed override command not in positioning operation Check if the axis is in speed control operation when Random position speed override command is executed 383 Exceeds the speed override value range of Random position speed override command Speed value of Random position speed override command should be less than or equal to max speed set in Basic Para...

Page 642: ...heck if Driver Ready signal of the axis is OFF when Jog Start command is executed 431 Not possible to carry out Return to the Position before Manual Operation in the state of in operation Check if the axis is in operation when Return to the position before manual operation command is executed 434 Not possible to carry out Return to the Position before Manual Operation in the state that Drive Ready...

Page 643: ... parameter operation data Write CAM data with Write Project command in the XG PM 481 Error of internal emergency stop Eliminate reason of emergency stop and execute XCLR command to delete the error 492 Hard Upper Error Be out of limited external upper signal range by using counter direct jog command Then execute XCLR command to delete the error 493 Hard Lower Error Be out of limited external lower...

Page 644: ...ion 548 Ellipse interpolation cannot be operated with middle point setting and radius setting Ellipse interpolation only can operate in center point setting Execute Ellipse interpolation after changing operating data Ellipse interpolation mode for center point setting 549 Cannot be operated when Drive Ready of Ellipse interpolation main axis is OFF Execute Ellipse interpolation command after Drive...

Page 645: ...urrent axis whether it is occurred during the operation of current axis 572 Operation cannot be executed because of error from sub coordinate axis of main axis by interpolated axis Check the error from subordinate axis of main axis by current axis whether it is occurred during the operation of interpolated axis 582 In infinite running repeat mode In case of shortest distance positioning control ta...

Page 646: ... in the state of M Code ON Execute CAM command after set M Code OFF from commanding axis with MOF 703 Not possible to carry out CAM command in the state that servo is OFF Execute CAM command when Servo On signal is ON 704 Error of setting main subordinate axis from CAM command Set main axis for CAM command as other axis besides its command axis from connecting axis Set parameters are 1axis through...

Page 647: ...hestate that servo is OFF Execute synchronous torque command when Servo On signal is ON 741 Not possible to execute torque control command in the state of in operation except torque control in operation Execute torque control command when main axis is not operating 742 Not possible to carry out torque control command in the state of M Code ON Execute torque control command after set M Code OFF fro...

Page 648: ...ocessed by the module 821 This command cannot be used on a virtual axis Axis command cannot execute the command to the virtual axis 8 Error information related with communication Error Code Error Description Solutions 5001 There is no servo connected to the current network Check whether power of the servo connected to the network is on or whether communication cable between the module and f irst s...

Page 649: ...nable to switch operation mode of the servo driver to Home return mode Check if servo driver is normal 5025 Unable to switch operation mode of the servo driver to Torque control mode Check if servo driver is normal 5026 Unable to compete Servo on because it is impossible to change the servo driver to Switched on status Check the status of the servo driver In particular status Servo on command can ...

Page 650: ...abnormal FPGA so can t run the module in normal operation If this situation repeatedly occurred after reset the power please request the A S to us 13 Module H W is abnormal FLASH and B ackup RAM so can t run the module in normal operation If this situation repeatedly occurred after reset the power please request the A S to us A1 18 ...

Page 651: ...5 1A9 493 1ED Dec time 4 High 18 12 86 56 154 9A 222 DE 290 122 358 166 426 1AA 494 1EE Dec time for EMG stop Low 19 13 87 57 155 9B 223 DF 291 123 359 167 427 1AB 495 1EF Dec time for EMG stop High 20 14 88 58 156 9C 224 E0 292 124 360 168 428 1AC 496 1F0 Pulse per rotation Low 21 15 89 59 157 9D 225 E1 293 125 361 169 429 1AD 497 1F1 Pulse per rotation High 22 16 90 5A 158 9E 226 E2 294 126 362 ...

Page 652: ...7 459 1CB 527 20F 52 34 120 78 188 BC 256 100 324 144 392 188 460 1CC 528 210 53 35 121 79 189 BD 257 101 325 145 393 189 461 1CD 529 211 54 36 122 7A 190 BE 258 102 326 146 394 18A 462 1CE 530 212 55 37 123 7B 191 BF 259 103 327 147 395 18B 463 1CF 531 213 56 38 124 7C 192 C0 260 104 328 148 396 18C 464 1D0 532 214 57 39 125 7D 193 C1 261 105 329 149 397 18D 465 1D1 533 215 58 3A 126 7E 194 C2 26...

Page 653: ... code mode bit 2 3 0 None 1 With 2 After Interpolation speed selection bit 4 0 main axis speed 1 synthetic speed Soft limit detect bit 5 0 Don t detect 1 Detect External command selection bit 6 0 External speed position control switching 1 External stop command External command bit 7 0 Disable 1 Enable Position complete condition bit 10 11 0 Dwell time 1 In position 2 Dwell time AND In position 3 ...

Page 654: ... bit 0 2 0 CW CCW x1 1 PULSE DIR x1 2 PULSE DIR x2 3 PHASE A B x1 4 PHASE A B x2 5 PHASE A B x3 Encoder1 Z phase clear bit 3 0 Disable 1 Enable Encoder2 pulse input bit 4 6 0 CW CCW x1 1 PULSE DIR x1 2 PULSE DIR x2 3 PHASE A B x1 4 PHASE A B x2 5 PHASE A B x3 Encoder2 Z phase clear bit 7 0 Disable 1 Enable Speed override mode bit 8 0 Specify 1 Specify speed ...

Page 655: ...2 733 16 734 735 736 737 738 739 740 741 742 743 744 745 17 746 747 748 749 750 751 752 753 754 755 756 757 18 758 759 760 761 762 763 764 765 766 767 768 769 19 770 771 772 773 774 775 776 777 778 779 780 781 20 782 783 784 785 786 787 788 789 790 791 792 793 21 794 795 796 797 798 799 800 801 802 803 804 805 22 806 807 808 809 810 811 812 813 814 815 816 817 23 818 819 820 821 822 823 824 825 82...

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Page 657: ...4 1735 1736 1737 1738 1739 1740 1741 100 1742 1743 1744 1745 1746 1747 1748 1749 1750 1751 1752 1753 101 1754 1755 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765 102 1766 1767 1768 1769 1770 1771 1772 1773 1774 1775 1776 1777 103 1778 1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789 104 1790 1791 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801 105 1802 1803 1804 1805 1806 1807 1808 1809...

Page 658: ...2243 2244 2245 142 2246 2247 2248 2249 2250 2251 2252 2253 2254 2255 2256 2257 143 2258 2259 2260 2261 2262 2263 2264 2265 2266 2267 2268 2269 144 2270 2271 2272 2273 2274 2275 2276 2277 2278 2279 2280 2281 145 2282 2283 2284 2285 2286 2287 2288 2289 2290 2291 2292 2293 146 2294 2295 2296 2297 2298 2299 2300 2301 2302 2303 2304 2305 147 2306 2307 2308 2309 2310 2311 2312 2313 2314 2315 2316 2317 1...

Page 659: ...2 2753 2754 2755 2756 2757 2758 2759 2760 2761 185 2762 2763 2764 2765 2766 2767 2768 2769 2770 2771 2772 2773 186 2774 2775 2776 2777 2778 2779 2780 2781 2782 2783 2784 2785 187 2786 2787 2788 2789 2790 2791 2792 2793 2794 2795 2796 2797 188 2798 2799 2800 2801 2802 2803 2804 2805 2806 2807 2808 2809 189 2810 2811 2812 2813 2814 2815 2816 2817 2818 2819 2820 2821 190 2822 2823 2824 2825 2826 2827...

Page 660: ...3263 3264 3265 227 3266 3267 3268 3269 3270 3271 3272 3273 3274 3275 3276 3277 228 3278 3279 3280 3281 3282 3283 3284 3285 3286 3287 3288 3289 229 3290 3291 3292 3293 3294 3295 3296 3297 3298 3299 3300 3301 230 3302 3303 3304 3305 3306 3307 3308 3309 3310 3311 3312 3313 231 3314 3315 3316 3317 3318 3319 3320 3321 3322 3323 3324 3325 232 3326 3327 3328 3329 3330 3331 3332 3333 3334 3335 3336 3337 2...

Page 661: ...2 3773 3774 3775 3776 3777 3778 3779 3780 3781 270 3782 3783 3784 3785 3786 3787 3788 3789 3790 3791 3792 3793 271 3794 3795 3796 3797 3798 3799 3800 3801 3802 3803 3804 3805 272 3806 3807 3808 3809 3810 3811 3812 3813 3814 3815 3816 3817 273 3818 3819 3820 3821 3822 3823 3824 3825 3826 3827 3828 3829 274 3830 3831 3832 3833 3834 3835 3836 3837 3838 3839 3840 3841 275 3842 3843 3844 3845 3846 3847...

Page 662: ...4283 4284 4285 312 4286 4287 4288 4289 4290 4291 4292 4293 4294 4295 4296 4297 313 4298 4299 4300 4301 4302 4303 4304 4305 4306 4307 4308 4309 314 4310 4311 4312 4313 4314 4315 4316 4317 4318 4319 4320 4321 315 4322 4323 4324 4325 4326 4327 4328 4329 4330 4331 4332 4333 316 4334 4335 4336 4337 4338 4339 4340 4341 4342 4343 4344 4345 317 4346 4347 4348 4349 4350 4351 4352 4353 4354 4355 4356 4357 3...

Page 663: ...2 4793 4794 4795 4796 4797 4798 4799 4800 4801 355 4802 4803 4804 4805 4806 4807 4808 4809 4810 4811 4812 4813 356 4814 4815 4816 4817 4818 4819 4820 4821 4822 4823 4824 4825 357 4826 4827 4828 4829 4830 4831 4832 4833 4834 4835 4836 4837 358 4838 4839 4840 4841 4842 4843 4844 4845 4846 4847 4848 4849 359 4850 4851 4852 4853 4854 4855 4856 4857 4858 4859 4860 4861 360 4862 4863 4864 4865 4866 4867...

Page 664: ...8 5189 5190 5191 5192 5193 5194 5195 5196 5197 388 5198 5199 5200 5201 5202 5203 5204 5205 5206 5207 5208 5209 389 5210 5211 5212 5213 5214 5215 5216 5217 5218 5219 5220 5221 390 5222 5223 5224 5225 5226 5227 5228 5229 5230 5231 5232 5233 391 5234 5235 5236 5237 5238 5239 5240 5241 5242 5243 5244 5245 392 5246 5247 5248 5249 5250 5251 5252 5253 5254 5255 5256 5257 393 5258 5259 5260 5261 5262 5263...

Page 665: ...0 5541 5542 5543 5544 5545 17 5546 5547 5548 5549 5550 5551 5552 5553 5554 5555 5556 5557 18 5558 5559 5560 5561 5562 5563 5564 5565 5566 5567 5568 5569 19 5570 5571 5572 5573 5574 5575 5576 5577 5578 5579 5580 5581 20 5582 5583 5584 5585 5586 5587 5588 5589 5590 5591 5592 5593 21 5594 5595 5596 5597 5598 5599 5600 5601 5602 5603 5604 5605 22 5606 5607 5608 5609 5610 5611 5612 5613 5614 5615 5616 ...

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Page 670: ...21 215 7922 7923 7924 7925 7926 7927 7928 7929 7930 7931 7932 7933 216 7934 7935 7936 7937 7938 7939 7940 7941 7942 7943 7944 7945 217 7946 7947 7948 7949 7950 7951 7952 7953 7954 7955 7956 7957 218 7958 7959 7960 7961 7962 7963 7964 7965 7966 7967 7968 7969 219 7970 7971 7972 7973 7974 7975 7976 7977 7978 7979 7980 7981 220 7982 7983 7984 7985 7986 7987 7988 7989 7990 7991 7992 7993 221 7994 7995...

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Page 673: ...9343 9344 9345 9346 9347 9348 9349 334 9350 9351 9352 9353 9354 9355 9356 9357 9358 9359 9360 9361 335 9362 9363 9364 9365 9366 9367 9368 9369 9370 9371 9372 9373 336 9374 9375 9376 9377 9378 9379 9380 9381 9382 9383 9384 9385 337 9386 9387 9388 9389 9390 9391 9392 9393 9394 9395 9396 9397 338 9398 9399 9400 9401 9402 9403 9404 9405 9406 9407 9408 9409 339 9410 9411 9412 9413 9414 9415 9416 9417 9...

Page 674: ...9826 9827 9828 9829 374 9830 9831 9832 9833 9834 9835 9836 9837 9838 9839 9840 9841 375 9842 9843 9844 9845 9846 9847 9848 9849 9850 9851 9852 9853 376 9854 9855 9856 9857 9858 9859 9860 9861 9862 9863 9864 9865 377 9866 9867 9868 9869 9870 9871 9872 9873 9874 9875 9876 9877 378 9878 9879 9880 9881 9882 9883 9884 9885 9886 9887 9888 9889 379 9890 9891 9892 9893 9894 9895 9896 9897 9898 9899 9900 9...

Page 675: ...trol word Low High Low High Low High 396 10094 10095 10096 10097 10098 10099 10100 10101 10102 10103 10104 10105 397 10106 10107 10108 10109 10110 10111 10112 10113 10114 10115 10116 10117 398 10118 10119 10120 10121 10122 10123 10124 10125 10126 10127 10128 10129 399 10130 10131 10132 10133 10134 10135 10136 10137 10138 10139 10140 10141 400 10142 10143 10144 10145 10146 10147 10148 10149 10150 1...

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Page 735: ...75 36242 36243 36244 36245 36246 36247 36248 36249 36250 36251 36252 36253 176 36254 36255 36256 36257 36258 36259 36260 36261 36262 36263 36264 36265 177 36266 36267 36268 36269 36270 36271 36272 36273 36274 36275 36276 36277 178 36278 36279 36280 36281 36282 36283 36284 36285 36286 36287 36288 36289 179 36290 36291 36292 36293 36294 36295 36296 36297 36298 36299 36300 36301 180 36302 36303 36304...

Page 736: ... 36716 36717 36718 36719 36720 36721 215 36722 36723 36724 36725 36726 36727 36728 36729 36730 36731 36732 36733 216 36734 36735 36736 36737 36738 36739 36740 36741 36742 36743 36744 36745 217 36746 36747 36748 36749 36750 36751 36752 36753 36754 36755 36756 36757 218 36758 36759 36760 36761 36762 36763 36764 36765 36766 36767 36768 36769 219 36770 36771 36772 36773 36774 36775 36776 36777 36778 3...

Page 737: ...54 37190 37191 37192 37193 37194 37195 37196 37197 37198 37199 37200 37201 255 37202 37203 37204 37205 37206 37207 37208 37209 37210 37211 37212 37213 256 37214 37215 37216 37217 37218 37219 37220 37221 37222 37223 37224 37225 257 37226 37227 37228 37229 37230 37231 37232 37233 37234 37235 37236 37237 258 37238 37239 37240 37241 37242 37243 37244 37245 37246 37247 37248 37249 259 37250 37251 37252...

Page 738: ... 37664 37665 37666 37667 37668 37669 294 37670 37671 37672 37673 37674 37675 37676 37677 37678 37679 37680 37681 295 37682 37683 37684 37685 37686 37687 37688 37689 37690 37691 37692 37693 296 37694 37695 37696 37697 37698 37699 37700 37701 37702 37703 37704 37705 297 37706 37707 37708 37709 37710 37711 37712 37713 37714 37715 37716 37717 298 37718 37719 37720 37721 37722 37723 37724 37725 37726 3...

Page 739: ...33 38138 38139 38140 38141 38142 38143 38144 38145 38146 38147 38148 38149 334 38150 38151 38152 38153 38154 38155 38156 38157 38158 38159 38160 38161 335 38162 38163 38164 38165 38166 38167 38168 38169 38170 38171 38172 38173 336 38174 38175 38176 38177 38178 38179 38180 38181 38182 38183 38184 38185 337 38186 38187 38188 38189 38190 38191 38192 38193 38194 38195 38196 38197 338 38198 38199 38200...

Page 740: ... 38612 38613 38614 38615 38616 38617 373 38618 38619 38620 38621 38622 38623 38624 38625 38626 38627 38628 38629 374 38630 38631 38632 38633 38634 38635 38636 38637 38638 38639 38640 38641 375 38642 38643 38644 38645 38646 38647 38648 38649 38650 38651 38652 38653 376 38654 38655 38656 38657 38658 38659 38660 38661 38662 38663 38664 38665 377 38666 38667 38668 38669 38670 38671 38672 38673 38674 3...

Page 741: ... 38923 38924 38925 38926 38927 38928 38929 399 38930 38931 38932 38933 38934 38935 38936 38937 38938 38939 38940 38941 400 38942 38943 38944 38945 38946 38947 38948 38949 38950 38951 38952 38953 1 Control word Bit position Contents Coordinate bit 0 0 ABS 1 INC Control method bit 1 3 0 single axis position control 1 single axis speed control 2 single axis FEED control 3 Linear interpolation 4 Circu...

Page 742: ...ock data 2 Main axis end pos 38970 43200 47430 51660 55890 60120 64350 68580 Sub axis end pos 38972 43202 47432 51662 55892 60122 64352 68582 CAM Curve 38974 43204 47434 51664 55894 60124 64354 68584 CAM block data 3 Main axis end pos 38976 43206 47436 51666 55896 60126 64356 68586 Sub axis end pos 38978 43208 47438 51668 55898 60128 64358 68588 CAM Curve 38980 43210 47440 51670 55900 60130 64360 ...

Page 743: ...6 43256 47486 51716 55946 60176 64406 68636 CAM Curve 39028 43258 47488 51718 55948 60178 64408 68638 CAM block data 12 Main axis end pos 39030 43260 47490 51720 55950 60180 64410 68640 Sub axis end pos 39032 43262 47492 51722 55952 60182 64412 68642 CAM Curve 39034 43264 47494 51724 55954 60184 64414 68644 CAM block data 13 Main axis end pos 39036 43266 47496 51726 55956 60186 64416 68646 Sub axi...

Page 744: ... 43318 47548 51778 56008 60238 64468 68698 CAM Data 1 REAL 39090 43320 47550 51780 56010 60240 64470 68700 CAM Data 2 REAL 39092 43322 47552 51782 56012 60242 64472 68702 CAM Data 3 REAL 39094 43324 47554 51784 56014 60244 64474 68704 CAM Data 4 REAL 39096 43326 47556 51786 56016 60246 64476 68706 CAM Data 5 REAL 39098 43328 47558 51788 56018 60248 64478 68708 CAM Data 6 REAL 39100 43330 47560 517...

Page 745: ...39166 43396 47626 51856 56086 60316 64546 68776 CAM Data 40 REAL 39168 43398 47628 51858 56088 60318 64548 68778 CAM Data 41 REAL 39170 43400 47630 51860 56090 60320 64550 68780 CAM Data 42 REAL 39172 43402 47632 51862 56092 60322 64552 68782 CAM Data 43 REAL 39174 43404 47634 51864 56094 60324 64554 68784 CAM Data 44 REAL 39176 43406 47636 51866 56096 60326 64556 68786 CAM Data 45 REAL 39178 4340...

Page 746: ... 64628 68858 CAM Data 81 REAL 39250 43480 47710 51940 56170 60400 64630 68860 CAM Data 82 REAL 39252 43482 47712 51942 56172 60402 64632 68862 CAM Data 83 REAL 39254 43484 47714 51944 56174 60404 64634 68864 CAM Data 84 REAL 39256 43486 47716 51946 56176 60406 64636 68866 CAM Data 85 REAL 39258 43488 47718 51948 56178 60408 64638 68868 CAM Data 86 REAL 39260 43490 47720 51950 56180 60410 64640 688...

Page 747: ...332 43562 47792 52022 56252 60482 64712 68942 CAM Data 123 REAL 39334 43564 47794 52024 56254 60484 64714 68944 CAM Data 124 REAL 39336 43566 47796 52026 56256 60486 64716 68946 CAM Data 125 REAL 39338 43568 47798 52028 56258 60488 64718 68948 CAM Data 126 REAL 39340 43570 47800 52030 56260 60490 64720 68950 CAM Data 127 REAL 39342 43572 47802 52032 56262 60492 64722 68952 CAM Data 128 REAL 39344 ...

Page 748: ... 64794 69024 CAM Data 164 REAL 39416 43646 47876 52106 56336 60566 64796 69026 CAM Data 165 REAL 39418 43648 47878 52108 56338 60568 64798 69028 CAM Data 166 REAL 39420 43650 47880 52110 56340 60570 64800 69030 CAM Data 167 REAL 39422 43652 47882 52112 56342 60572 64802 69032 CAM Data 168 REAL 39424 43654 47884 52114 56344 60574 64804 69034 CAM Data 169 REAL 39426 43656 47886 52116 56346 60576 648...

Page 749: ...498 43728 47958 52188 56418 60648 64878 69108 CAM Data 206 REAL 39500 43730 47960 52190 56420 60650 64880 69110 CAM Data 207 REAL 39502 43732 47962 52192 56422 60652 64882 69112 CAM Data 208 REAL 39504 43734 47964 52194 56424 60654 64884 69114 CAM Data 209 REAL 39506 43736 47966 52196 56426 60656 64886 69116 CAM Data 210 REAL 39508 43738 47968 52198 56428 60658 64888 69118 CAM Data 211 REAL 39510 ...

Page 750: ... 64960 69190 CAM Data 247 REAL 39582 43812 48042 52272 56502 60732 64962 69192 CAM Data 248 REAL 39584 43814 48044 52274 56504 60734 64964 69194 CAM Data 249 REAL 39586 43816 48046 52276 56506 60736 64966 69196 CAM Data 250 REAL 39588 43818 48048 52278 56508 60738 64968 69198 CAM Data 251 REAL 39590 43820 48050 52280 56510 60740 64970 69200 CAM Data 252 REAL 39592 43822 48052 52282 56512 60742 649...

Page 751: ...664 43894 48124 52354 56584 60814 65044 69274 CAM Data 289 REAL 39666 43896 48126 52356 56586 60816 65046 69276 CAM Data 290 REAL 39668 43898 48128 52358 56588 60818 65048 69278 CAM Data 291 REAL 39670 43900 48130 52360 56590 60820 65050 69280 CAM Data 292 REAL 39672 43902 48132 52362 56592 60822 65052 69282 CAM Data 293 REAL 39674 43904 48134 52364 56594 60824 65054 69284 CAM Data 294 REAL 39676 ...

Page 752: ... 65126 69356 CAM Data 330 REAL 39748 43978 48208 52438 56668 60898 65128 69358 CAM Data 331 REAL 39750 43980 48210 52440 56670 60900 65130 69360 CAM Data 332 REAL 39752 43982 48212 52442 56672 60902 65132 69362 CAM Data 333 REAL 39754 43984 48214 52444 56674 60904 65134 69364 CAM Data 334 REAL 39756 43986 48216 52446 56676 60906 65136 69366 CAM Data 335 REAL 39758 43988 48218 52448 56678 60908 651...

Page 753: ...830 44060 48290 52520 56750 60980 65210 69440 CAM Data 372 REAL 39832 44062 48292 52522 56752 60982 65212 69442 CAM Data 373 REAL 39834 44064 48294 52524 56754 60984 65214 69444 CAM Data 374 REAL 39836 44066 48296 52526 56756 60986 65216 69446 CAM Data 375 REAL 39838 44068 48298 52528 56758 60988 65218 69448 CAM Data 376 REAL 39840 44070 48300 52530 56760 60990 65220 69450 CAM Data 377 REAL 39842 ...

Page 754: ... 65292 69522 CAM Data 413 REAL 39914 44144 48374 52604 56834 61064 65294 69524 CAM Data 414 REAL 39916 44146 48376 52606 56836 61066 65296 69526 CAM Data 415 REAL 39918 44148 48378 52608 56838 61068 65298 69528 CAM Data 416 REAL 39920 44150 48380 52610 56840 61070 65300 69530 CAM Data 417 REAL 39922 44152 48382 52612 56842 61072 65302 69532 CAM Data 418 REAL 39924 44154 48384 52614 56844 61074 653...

Page 755: ...996 44226 48456 52686 56916 61146 65376 69606 CAM Data 455 REAL 39998 44228 48458 52688 56918 61148 65378 69608 CAM Data 456 REAL 40000 44230 48460 52690 56920 61150 65380 69610 CAM Data 457 REAL 40002 44232 48462 52692 56922 61152 65382 69612 CAM Data 458 REAL 40004 44234 48464 52694 56924 61154 65384 69614 CAM Data 459 REAL 40006 44236 48466 52696 56926 61156 65386 69616 CAM Data 460 REAL 40008 ...

Page 756: ... 65458 69688 CAM Data 496 REAL 40080 44310 48540 52770 57000 61230 65460 69690 CAM Data 497 REAL 40082 44312 48542 52772 57002 61232 65462 69692 CAM Data 498 REAL 40084 44314 48544 52774 57004 61234 65464 69694 CAM Data 499 REAL 40086 44316 48546 52776 57006 61236 65466 69696 CAM Data 500 REAL 40088 44318 48548 52778 57008 61238 65468 69698 CAM Data 501 REAL 40090 44320 48550 52780 57010 61240 654...

Page 757: ...162 44392 48622 52852 57082 61312 65542 69772 CAM Data 538 REAL 40164 44394 48624 52854 57084 61314 65544 69774 CAM Data 539 REAL 40166 44396 48626 52856 57086 61316 65546 69776 CAM Data 540 REAL 40168 44398 48628 52858 57088 61318 65548 69778 CAM Data 541 REAL 40170 44400 48630 52860 57090 61320 65550 69780 CAM Data 542 REAL 40172 44402 48632 52862 57092 61322 65552 69782 CAM Data 543 REAL 40174 ...

Page 758: ... 65624 69854 CAM Data 579 REAL 40246 44476 48706 52936 57166 61396 65626 69856 CAM Data 580 REAL 40248 44478 48708 52938 57168 61398 65628 69858 CAM Data 581 REAL 40250 44480 48710 52940 57170 61400 65630 69860 CAM Data 582 REAL 40252 44482 48712 52942 57172 61402 65632 69862 CAM Data 583 REAL 40254 44484 48714 52944 57174 61404 65634 69864 CAM Data 584 REAL 40256 44486 48716 52946 57176 61406 656...

Page 759: ...328 44558 48788 53018 57248 61478 65708 69938 CAM Data 621 REAL 40330 44560 48790 53020 57250 61480 65710 69940 CAM Data 622 REAL 40332 44562 48792 53022 57252 61482 65712 69942 CAM Data 623 REAL 40334 44564 48794 53024 57254 61484 65714 69944 CAM Data 624 REAL 40336 44566 48796 53026 57256 61486 65716 69946 CAM Data 625 REAL 40338 44568 48798 53028 57258 61488 65718 69948 CAM Data 626 REAL 40340 ...

Page 760: ... 65790 70020 CAM Data 662 REAL 40412 44642 48872 53102 57332 61562 65792 70022 CAM Data 663 REAL 40414 44644 48874 53104 57334 61564 65794 70024 CAM Data 664 REAL 40416 44646 48876 53106 57336 61566 65796 70026 CAM Data 665 REAL 40418 44648 48878 53108 57338 61568 65798 70028 CAM Data 666 REAL 40420 44650 48880 53110 57340 61570 65800 70030 CAM Data 667 REAL 40422 44652 48882 53112 57342 61572 658...

Page 761: ...494 44724 48954 53184 57414 61644 65874 70104 CAM Data 704 REAL 40496 44726 48956 53186 57416 61646 65876 70106 CAM Data 705 REAL 40498 44728 48958 53188 57418 61648 65878 70108 CAM Data 706 REAL 40500 44730 48960 53190 57420 61650 65880 70110 CAM Data 707 REAL 40502 44732 48962 53192 57422 61652 65882 70112 CAM Data 708 REAL 40504 44734 48964 53194 57424 61654 65884 70114 CAM Data 709 REAL 40506 ...

Page 762: ... 65956 70186 CAM Data 745 REAL 40578 44808 49038 53268 57498 61728 65958 70188 CAM Data 746 REAL 40580 44810 49040 53270 57500 61730 65960 70190 CAM Data 747 REAL 40582 44812 49042 53272 57502 61732 65962 70192 CAM Data 748 REAL 40584 44814 49044 53274 57504 61734 65964 70194 CAM Data 749 REAL 40586 44816 49046 53276 57506 61736 65966 70196 CAM Data 750 REAL 40588 44818 49048 53278 57508 61738 659...

Page 763: ...660 44890 49120 53350 57580 61810 66040 70270 CAM Data 787 REAL 40662 44892 49122 53352 57582 61812 66042 70272 CAM Data 788 REAL 40664 44894 49124 53354 57584 61814 66044 70274 CAM Data 789 REAL 40666 44896 49126 53356 57586 61816 66046 70276 CAM Data 790 REAL 40668 44898 49128 53358 57588 61818 66048 70278 CAM Data 791 REAL 40670 44900 49130 53360 57590 61820 66050 70280 CAM Data 792 REAL 40672 ...

Page 764: ... 66122 70352 CAM Data 828 REAL 40744 44974 49204 53434 57664 61894 66124 70354 CAM Data 829 REAL 40746 44976 49206 53436 57666 61896 66126 70356 CAM Data 830 REAL 40748 44978 49208 53438 57668 61898 66128 70358 CAM Data 831 REAL 40750 44980 49210 53440 57670 61900 66130 70360 CAM Data 832 REAL 40752 44982 49212 53442 57672 61902 66132 70362 CAM Data 833 REAL 40754 44984 49214 53444 57674 61904 661...

Page 765: ...826 45056 49286 53516 57746 61976 66206 70436 CAM Data 870 REAL 40828 45058 49288 53518 57748 61978 66208 70438 CAM Data 871 REAL 40830 45060 49290 53520 57750 61980 66210 70440 CAM Data 872 REAL 40832 45062 49292 53522 57752 61982 66212 70442 CAM Data 873 REAL 40834 45064 49294 53524 57754 61984 66214 70444 CAM Data 874 REAL 40836 45066 49296 53526 57756 61986 66216 70446 CAM Data 875 REAL 40838 ...

Page 766: ... 66288 70518 CAM Data 911 REAL 40910 45140 49370 53600 57830 62060 66290 70520 CAM Data 912 REAL 40912 45142 49372 53602 57832 62062 66292 70522 CAM Data 913 REAL 40914 45144 49374 53604 57834 62064 66294 70524 CAM Data 914 REAL 40916 45146 49376 53606 57836 62066 66296 70526 CAM Data 915 REAL 40918 45148 49378 53608 57838 62068 66298 70528 CAM Data 916 REAL 40920 45150 49380 53610 57840 62070 663...

Page 767: ...992 45222 49452 53682 57912 62142 66372 70602 CAM Data 953 REAL 40994 45224 49454 53684 57914 62144 66374 70604 CAM Data 954 REAL 40996 45226 49456 53686 57916 62146 66376 70606 CAM Data 955 REAL 40998 45228 49458 53688 57918 62148 66378 70608 CAM Data 956 REAL 41000 45230 49460 53690 57920 62150 66380 70610 CAM Data 957 REAL 41002 45232 49462 53692 57922 62152 66382 70612 CAM Data 958 REAL 41004 ...

Page 768: ...0684 CAM Data 994 REAL 41076 45306 49536 53766 57996 62226 66456 70686 CAM Data 995 REAL 41078 45308 49538 53768 57998 62228 66458 70688 CAM Data 996 REAL 41080 45310 49540 53770 58000 62230 66460 70690 CAM Data 997 REAL 41082 45312 49542 53772 58002 62232 66462 70692 CAM Data 998 REAL 41084 45314 49544 53774 58004 62234 66464 70694 CAM Data 999 REAL 41086 45316 49546 53776 58006 62236 66466 70696...

Page 769: ...8 45388 49618 53848 58078 62308 66538 70768 CAM Data 1036 REAL 41160 45390 49620 53850 58080 62310 66540 70770 CAM Data 1037 REAL 41162 45392 49622 53852 58082 62312 66542 70772 CAM Data 1038 REAL 41164 45394 49624 53854 58084 62314 66544 70774 CAM Data 1039 REAL 41166 45396 49626 53856 58086 62316 66546 70776 CAM Data 1040 REAL 41168 45398 49628 53858 58088 62318 66548 70778 CAM Data 1041 REAL 41...

Page 770: ...6620 70850 CAM Data 1077 REAL 41242 45472 49702 53932 58162 62392 66622 70852 CAM Data 1078 REAL 41244 45474 49704 53934 58164 62394 66624 70854 CAM Data 1079 REAL 41246 45476 49706 53936 58166 62396 66626 70856 CAM Data 1080 REAL 41248 45478 49708 53938 58168 62398 66628 70858 CAM Data 1081 REAL 41250 45480 49710 53940 58170 62400 66630 70860 CAM Data 1082 REAL 41252 45482 49712 53942 58172 62402...

Page 771: ...4 45554 49784 54014 58244 62474 66704 70934 CAM Data 1119 REAL 41326 45556 49786 54016 58246 62476 66706 70936 CAM Data 1120 REAL 41328 45558 49788 54018 58248 62478 66708 70938 CAM Data 1121 REAL 41330 45560 49790 54020 58250 62480 66710 70940 CAM Data 1122 REAL 41332 45562 49792 54022 58252 62482 66712 70942 CAM Data 1123 REAL 41334 45564 49794 54024 58254 62484 66714 70944 CAM Data 1124 REAL 41...

Page 772: ...6786 71016 CAM Data 1160 REAL 41408 45638 49868 54098 58328 62558 66788 71018 CAM Data 1161 REAL 41410 45640 49870 54100 58330 62560 66790 71020 CAM Data 1162 REAL 41412 45642 49872 54102 58332 62562 66792 71022 CAM Data 1163 REAL 41414 45644 49874 54104 58334 62564 66794 71024 CAM Data 1164 REAL 41416 45646 49876 54106 58336 62566 66796 71026 CAM Data 1165 REAL 41418 45648 49878 54108 58338 62568...

Page 773: ...0 45720 49950 54180 58410 62640 66870 71100 CAM Data 1202 REAL 41492 45722 49952 54182 58412 62642 66872 71102 CAM Data 1203 REAL 41494 45724 49954 54184 58414 62644 66874 71104 CAM Data 1204 REAL 41496 45726 49956 54186 58416 62646 66876 71106 CAM Data 1205 REAL 41498 45728 49958 54188 58418 62648 66878 71108 CAM Data 1206 REAL 41500 45730 49960 54190 58420 62650 66880 71110 CAM Data 1207 REAL 41...

Page 774: ...6952 71182 CAM Data 1243 REAL 41574 45804 50034 54264 58494 62724 66954 71184 CAM Data 1244 REAL 41576 45806 50036 54266 58496 62726 66956 71186 CAM Data 1245 REAL 41578 45808 50038 54268 58498 62728 66958 71188 CAM Data 1246 REAL 41580 45810 50040 54270 58500 62730 66960 71190 CAM Data 1247 REAL 41582 45812 50042 54272 58502 62732 66962 71192 CAM Data 1248 REAL 41584 45814 50044 54274 58504 62734...

Page 775: ...6 45886 50116 54346 58576 62806 67036 71266 CAM Data 1285 REAL 41658 45888 50118 54348 58578 62808 67038 71268 CAM Data 1286 REAL 41660 45890 50120 54350 58580 62810 67040 71270 CAM Data 1287 REAL 41662 45892 50122 54352 58582 62812 67042 71272 CAM Data 1288 REAL 41664 45894 50124 54354 58584 62814 67044 71274 CAM Data 1289 REAL 41666 45896 50126 54356 58586 62816 67046 71276 CAM Data 1290 REAL 41...

Page 776: ...7118 71348 CAM Data 1326 REAL 41740 45970 50200 54430 58660 62890 67120 71350 CAM Data 1327 REAL 41742 45972 50202 54432 58662 62892 67122 71352 CAM Data 1328 REAL 41744 45974 50204 54434 58664 62894 67124 71354 CAM Data 1329 REAL 41746 45976 50206 54436 58666 62896 67126 71356 CAM Data 1330 REAL 41748 45978 50208 54438 58668 62898 67128 71358 CAM Data 1331 REAL 41750 45980 50210 54440 58670 62900...

Page 777: ...2 46052 50282 54512 58742 62972 67202 71432 CAM Data 1368 REAL 41824 46054 50284 54514 58744 62974 67204 71434 CAM Data 1369 REAL 41826 46056 50286 54516 58746 62976 67206 71436 CAM Data 1370 REAL 41828 46058 50288 54518 58748 62978 67208 71438 CAM Data 1371 REAL 41830 46060 50290 54520 58750 62980 67210 71440 CAM Data 1372 REAL 41832 46062 50292 54522 58752 62982 67212 71442 CAM Data 1373 REAL 41...

Page 778: ...7284 71514 CAM Data 1409 REAL 41906 46136 50366 54596 58826 63056 67286 71516 CAM Data 1410 REAL 41908 46138 50368 54598 58828 63058 67288 71518 CAM Data 1411 REAL 41910 46140 50370 54600 58830 63060 67290 71520 CAM Data 1412 REAL 41912 46142 50372 54602 58832 63062 67292 71522 CAM Data 1413 REAL 41914 46144 50374 54604 58834 63064 67294 71524 CAM Data 1414 REAL 41916 46146 50376 54606 58836 63066...

Page 779: ...8 46218 50448 54678 58908 63138 67368 71598 CAM Data 1451 REAL 41990 46220 50450 54680 58910 63140 67370 71600 CAM Data 1452 REAL 41992 46222 50452 54682 58912 63142 67372 71602 CAM Data 1453 REAL 41994 46224 50454 54684 58914 63144 67374 71604 CAM Data 1454 REAL 41996 46226 50456 54686 58916 63146 67376 71606 CAM Data 1455 REAL 41998 46228 50458 54688 58918 63148 67378 71608 CAM Data 1456 REAL 42...

Page 780: ...7450 71680 CAM Data 1492 REAL 42072 46302 50532 54762 58992 63222 67452 71682 CAM Data 1493 REAL 42074 46304 50534 54764 58994 63224 67454 71684 CAM Data 1494 REAL 42076 46306 50536 54766 58996 63226 67456 71686 CAM Data 1495 REAL 42078 46308 50538 54768 58998 63228 67458 71688 CAM Data 1496 REAL 42080 46310 50540 54770 59000 63230 67460 71690 CAM Data 1497 REAL 42082 46312 50542 54772 59002 63232...

Page 781: ...4 46384 50614 54844 59074 63304 67534 71764 CAM Data 1534 REAL 42156 46386 50616 54846 59076 63306 67536 71766 CAM Data 1535 REAL 42158 46388 50618 54848 59078 63308 67538 71768 CAM Data 1536 REAL 42160 46390 50620 54850 59080 63310 67540 71770 CAM Data 1537 REAL 42162 46392 50622 54852 59082 63312 67542 71772 CAM Data 1538 REAL 42164 46394 50624 54854 59084 63314 67544 71774 CAM Data 1539 REAL 42...

Page 782: ...7616 71846 CAM Data 1575 REAL 42238 46468 50698 54928 59158 63388 67618 71848 CAM Data 1576 REAL 42240 46470 50700 54930 59160 63390 67620 71850 CAM Data 1577 REAL 42242 46472 50702 54932 59162 63392 67622 71852 CAM Data 1578 REAL 42244 46474 50704 54934 59164 63394 67624 71854 CAM Data 1579 REAL 42246 46476 50706 54936 59166 63396 67626 71856 CAM Data 1580 REAL 42248 46478 50708 54938 59168 63398...

Page 783: ...0 46550 50780 55010 59240 63470 67700 71930 CAM Data 1617 REAL 42322 46552 50782 55012 59242 63472 67702 71932 CAM Data 1618 REAL 42324 46554 50784 55014 59244 63474 67704 71934 CAM Data 1619 REAL 42326 46556 50786 55016 59246 63476 67706 71936 CAM Data 1620 REAL 42328 46558 50788 55018 59248 63478 67708 71938 CAM Data 1621 REAL 42330 46560 50790 55020 59250 63480 67710 71940 CAM Data 1622 REAL 42...

Page 784: ...7782 72012 CAM Data 1658 REAL 42404 46634 50864 55094 59324 63554 67784 72014 CAM Data 1659 REAL 42406 46636 50866 55096 59326 63556 67786 72016 CAM Data 1660 REAL 42408 46638 50868 55098 59328 63558 67788 72018 CAM Data 1661 REAL 42410 46640 50870 55100 59330 63560 67790 72020 CAM Data 1662 REAL 42412 46642 50872 55102 59332 63562 67792 72022 CAM Data 1663 REAL 42414 46644 50874 55104 59334 63564...

Page 785: ...6 46716 50946 55176 59406 63636 67866 72096 CAM Data 1700 REAL 42488 46718 50948 55178 59408 63638 67868 72098 CAM Data 1701 REAL 42490 46720 50950 55180 59410 63640 67870 72100 CAM Data 1702 REAL 42492 46722 50952 55182 59412 63642 67872 72102 CAM Data 1703 REAL 42494 46724 50954 55184 59414 63644 67874 72104 CAM Data 1704 REAL 42496 46726 50956 55186 59416 63646 67876 72106 CAM Data 1705 REAL 42...

Page 786: ...7948 72178 CAM Data 1741 REAL 42570 46800 51030 55260 59490 63720 67950 72180 CAM Data 1742 REAL 42572 46802 51032 55262 59492 63722 67952 72182 CAM Data 1743 REAL 42574 46804 51034 55264 59494 63724 67954 72184 CAM Data 1744 REAL 42576 46806 51036 55266 59496 63726 67956 72186 CAM Data 1745 REAL 42578 46808 51038 55268 59498 63728 67958 72188 CAM Data 1746 REAL 42580 46810 51040 55270 59500 63730...

Page 787: ...2 46882 51112 55342 59572 63802 68032 72262 CAM Data 1783 REAL 42654 46884 51114 55344 59574 63804 68034 72264 CAM Data 1784 REAL 42656 46886 51116 55346 59576 63806 68036 72266 CAM Data 1785 REAL 42658 46888 51118 55348 59578 63808 68038 72268 CAM Data 1786 REAL 42660 46890 51120 55350 59580 63810 68040 72270 CAM Data 1787 REAL 42662 46892 51122 55352 59582 63812 68042 72272 CAM Data 1788 REAL 42...

Page 788: ...8114 72344 CAM Data 1824 REAL 42736 46966 51196 55426 59656 63886 68116 72346 CAM Data 1825 REAL 42738 46968 51198 55428 59658 63888 68118 72348 CAM Data 1826 REAL 42740 46970 51200 55430 59660 63890 68120 72350 CAM Data 1827 REAL 42742 46972 51202 55432 59662 63892 68122 72352 CAM Data 1828 REAL 42744 46974 51204 55434 59664 63894 68124 72354 CAM Data 1829 REAL 42746 46976 51206 55436 59666 63896...

Page 789: ...8 47048 51278 55508 59738 63968 68198 72428 CAM Data 1866 REAL 42820 47050 51280 55510 59740 63970 68200 72430 CAM Data 1867 REAL 42822 47052 51282 55512 59742 63972 68202 72432 CAM Data 1868 REAL 42824 47054 51284 55514 59744 63974 68204 72434 CAM Data 1869 REAL 42826 47056 51286 55516 59746 63976 68206 72436 CAM Data 1870 REAL 42828 47058 51288 55518 59748 63978 68208 72438 CAM Data 1871 REAL 42...

Page 790: ...8280 72510 CAM Data 1907 REAL 42902 47132 51362 55592 59822 64052 68282 72512 CAM Data 1908 REAL 42904 47134 51364 55594 59824 64054 68284 72514 CAM Data 1909 REAL 42906 47136 51366 55596 59826 64056 68286 72516 CAM Data 1910 REAL 42908 47138 51368 55598 59828 64058 68288 72518 CAM Data 1911 REAL 42910 47140 51370 55600 59830 64060 68290 72520 CAM Data 1912 REAL 42912 47142 51372 55602 59832 64062...

Page 791: ...4 47214 51444 55674 59904 64134 68364 72594 CAM Data 1949 REAL 42986 47216 51446 55676 59906 64136 68366 72596 CAM Data 1950 REAL 42988 47218 51448 55678 59908 64138 68368 72598 CAM Data 1951 REAL 42990 47220 51450 55680 59910 64140 68370 72600 CAM Data 1952 REAL 42992 47222 51452 55682 59912 64142 68372 72602 CAM Data 1953 REAL 42994 47224 51454 55684 59914 64144 68374 72604 CAM Data 1954 REAL 42...

Page 792: ...8446 72676 CAM Data 1990 REAL 43068 47298 51528 55758 59988 64218 68448 72678 CAM Data 1991 REAL 43070 47300 51530 55760 59990 64220 68450 72680 CAM Data 1992 REAL 43072 47302 51532 55762 59992 64222 68452 72682 CAM Data 1993 REAL 43074 47304 51534 55764 59994 64224 68454 72684 CAM Data 1994 REAL 43076 47306 51536 55766 59996 64226 68456 72686 CAM Data 1995 REAL 43078 47308 51538 55768 59998 64228...

Page 793: ...8522 72752 CAM Data 2028 REAL 43144 47374 51604 55834 60064 64294 68524 72754 CAM Data 2029 REAL 43146 47376 51606 55836 60066 64296 68526 72756 CAM Data 2030 REAL 43148 47378 51608 55838 60068 64298 68528 72758 CAM Data 2031 REAL 43150 47380 51610 55840 60070 64300 68530 72760 CAM Data 2032 REAL 43152 47382 51612 55842 60072 64302 68532 72762 CAM Data 2033 REAL 43154 47384 51614 55844 60074 64304...

Page 794: ...9 72828 72950 73072 73194 73316 73438 73560 73682 Sub axis position 9 72830 72952 73074 73196 73318 73440 73562 73684 Main axis position 10 72832 72954 73076 73198 73320 73442 73564 73686 Sub axis position 10 72834 72956 73078 73200 73322 73444 73566 73688 Main axis position 11 72836 72958 73080 73202 73324 73446 73568 73690 Sub axis position 11 72838 72960 73082 73204 73326 73448 73570 73692 Main...

Page 795: ... Sub axis position 24 72890 73012 73134 73256 73378 73500 73622 73744 Main axis position 25 72892 73014 73136 73258 73380 73502 73624 73746 Sub axis position 25 72894 73016 73138 73260 73382 73504 73626 73748 Main axis position 26 72896 73018 73140 73262 73384 73506 73628 73750 Sub axis position 26 72898 73020 73142 73264 73386 73508 73630 73752 Main axis position 27 72900 73022 73144 73266 73388 ...

Page 796: ...Appendix3 Dimension A3 1 Appendix 3 Dimension Appendix 3 1 Dimension of XBF PN04B PN08B ...

Page 797: ...r Connect the positioning module and first servo driver by using Ethernet cable And connect other servo drivers At this time check the I O direction of communication port of the servo driver distinctly The following is wiring diagram when connecting 8 servo drivers and applicable motor type per servo driver capacity Maker Applicable servo driver LS Mecapion L7N BeckhoffAutomation GmbH AX2000 B110 ...

Page 798: ... to servo driver 2 Motor and encoder feedback type Set up the parameter according to actual motor and encoder type 3 Position unit setting When position unit setting is available in servo driver parameter you have to set up them as pulse unit Inc or Counts And set up Encoder resolution per rotation according to encoder bit number There may be no setting item according to servo driver type 4 Instal...

Page 799: ...set up Project name PLC series CPU type Module name Module type Module position to create a new project 8 If you set up as the figure above the project will be created as follows 9 Turn on PLC and servo driver and connect PC with PLC CPU through USB cable ...

Page 800: ...e as follows 13 If the module doesn t become Online and keeps Offline check whether the module is mounted position or type is correct 14 In order to connect with the servo driver set up the actually connected servo driver at the network parameter and write it to the module Before setting up network parameter check whether the module is offline In case of online change it to offline by executing On...

Page 801: ...e A4 5 15 In order to add the servo driver at the network parameter click the right button of the module while cursor is on Network parameter and select Add Slave Servo drive 16 If servo information window appears click button ...

Page 802: ...Appendix 4 Setting Example A4 6 17 In Servo drive selection window select the firstly connected servo driver and click OK ...

Page 803: ...mber of the selected servo driver Connection sequence has nothing to do with axis number This axis number becomes the command axis of the command function block when programming 19 After axis number setting is completed the added servo driver appears in network parameter ...

Page 804: ...e you can use Copy Paste After selecting Copy menu while first servo driver is added click the right button and execute Paste menu while the cursor is on the network parameter If you do as above the same servo driver will be added and its axis number will increase by one ...

Page 805: ...e screen where all servo drivers are added Before connection between positioning module and servo driver is established by Connect to all servo they will be shown with grey color 21 After adding servo drivers execute Online Connect and execute Online Write to write network parameter to the positioning module ...

Page 806: ...Appendix 4 Setting Example A4 10 22 If Write project window appears check Network Parameter and click OK The following is screen from start to completion ...

Page 807: ... all servo and connect the positioning module to the servo drivers 24 If connection is completed servo driver name in network parameter is activated and becomes black color from grey color And in system view window the actually conneted servo driver is activated ...

Page 808: ...odule it will be initialized and servo parameter in XG PM also will be initialized Check the message and click OK 3 The following message appears and if connection is completed normally completion message appears 4 If it is completed normally the currently connected servo driver will be added in network parameter automatically 5 Axis number will be assigned automatically according to connection se...

Page 809: ...to set up operation parameter and servo parameter Select menu Online Read to execute reading 26 The following is the servo parameter of SanyoDenki The servo parameter may differ according to servo driver type For detail refer to the each servo driver manual ...

Page 810: ...ameter Individual Change During Operation that is effective only when power is applied In order to keep the servo driver data after On Off you have to execute Online Save servo parameter to EEPROM As a second method after setting all servo parameters execute Online Write to write all servo parameters once In case of method above Save servo parameter to EEPROM command is executed automatically So y...

Page 811: ...ter servo parameter setting is finished set up parameter and write it to the module by selecting Online Write 29 If you restart the servo driver in step 27 execute Online connect to all servo again to connect the module to the servo driver ...

Page 812: ... axis and executing servo on check servo on status And execute JOG and etc to check whether the motor operates or not 31 If vibration or noise occurs when operating the motor adjust response inertia ratio and etc in servo parameter and send to the servo driver ...

Page 813: ...nect XG PM from PLC CPU If you connect to XG5000 while XG PM is connected in XGK CPU the following dialog box appears and PLC function is limited If you connect XG PM after connecting XG5000 that problem will not occur c Select Online Connection Settings to set up connection setting and select Online Connect to connect to PLC CPU d Change PLC PU mode to STOP ...

Page 814: ...ple A4 18 e Select Online I O information and check the current I O information of PLC f In I O information window check whether XBF PN08B information is shown correctly If you want to see version of the module click Details ...

Page 815: ...o set up I O parameter h Select Edit Register U device to register U device i In the following example XGK CPU and two servos are used Those servos are set as 1 axis and 2 axis It connects by using XECON and reads status information of the connected axis Add other programs as necessary ...

Page 816: ...s not being used is connected to the servo drive Configuration of virtual axis can be set in the default parameters of operating parameters The virtual axis is recommended to set behind the actual axis For example if you are using a servo drive module 6 to XBF PN08B 1 6 axis should be set as real axis and 7 8 must be set as virtual axis Within the number of virtual axis control axis with the excep...

Page 817: ...oject write access to the PLC and communications Setting of the virtual axis has become to be set because the operating parameters 4 Run a network connection to ensure that the connection is normal for the real axis and virtual axis If user set a virtual axis as the real axis the axis error 5031 when a network connection A5 2 ...

Page 818: ...nformation XPM_SVERD Reset servo error XSCLR XPM_SRST Reset servo error history XSECLR XPM_SHRST Read the servo drive parameters XSVPRD XPM_SVPRD Write the servo drive parameters XSVPWR XPM_SVPWR Save the servo drive parameters XSVSAVE XPM_SVSAVE Torque control XTRQ XPM_TRQ Read latch position data XLRD XPM_LRD Reset latch XLCLR XPM_LCLR Latch Set XLSET XPM_LSET Torque synchronous XSTC XPM_STC 6 V...

Page 819: ...elevelofthecontemporaryscienceandtechnologywhendelivered 6 Notattributabletothecompany forinstance natural disastersor 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 LSIndustrialSystemsCo Ltdsupportsandobservestheenvironmental policyasbelow LS Industrial Systems considers ...

Page 820: ...wer 127 LS ro Dongan gu Anyang si Gyeonggi Do 431 848 Korea Tel 82 2 2034 4870 Fax 82 2 2034 4648 E mail cshwang lsis biz Southeast Asia 82 2 2034 4888 cshwang lsis com Charles Hwang Europe 82 2 2034 4676 sukyong lsis com Brian Choi Turkey Israel CIS 82 2 2034 4879 dkimc lsis com Daniel Kim Oceania 82 2 2034 4394 kacho lsis com Kendra Cho North Latin America 82 2 2034 4286 hkchung lsis com Hank Ra...

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