NSD Varlimit VS-212DN User Manual Download Page 71

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7-3

7.1 Explanation of positioning functions

7.1.1 Unidirectional positioning

A unidirectional format is used for VS-212DN positioning.

To execute positioning from the opposite direction, the target stop position must be overshoot first, with

positioning then occurring from the prescribed direction after making a U-turn. The unidirectional

positioning format reduces positioning errors caused by gear backlash, etc.

(1) The VS-212DN automatically determines if a position overshoot is necessary based on whether the

current position value is larger or smaller than the target stop position value, and on the FWD

(forward) or RVS (reverse) positioning direction (designated by parameter setting).

(2) The overshoot amount is determined by a parameter setting. If the overshoot amount is

designated as ‘0’, bidirectional positioning (no overshoot) will occur.

Summary of Contents for Varlimit VS-212DN

Page 1: ...U S E R S MAN U AL V S 2 1 2 DN NSP Z2004 7...

Page 2: ......

Page 3: ...tored for long periods Do not hold the cable or shaft of ABSOCODER sensor during transport otherwise it will cause injury or controller malfunction CAUTION 3 Transport Thank you very much for purchasi...

Page 4: ...panese document ZEF003800201 NSP Z2004 2 1 Feb 2008 3rd Edition Japanese document ZEF003800201 NSP Z2004 3 8 Jan 2014 4th Edition Japanese document ZEF003800202 NSP Z2004 4 18 Nov 2014 5th Edition Jap...

Page 5: ...erface 3 3 3 3 1 OUT Data Format Consumed Connection 3 3 3 3 2 IN Data Format Produced Connection 3 4 3 3 3 Error Codes 3 5 3 4 Signal Explanations 3 5 3 4 1 Command Bit 3 5 3 4 2 Status Bits 3 6 3 5...

Page 6: ...2 Limit Switch Output Disabled Setting Writing 3 21 3 5 23 Program No Setting Writing 3 21 4 Function List 4 1 4 1 Current Position Detection Function 4 2 4 2 Positioning Function 4 3 4 3 Limit Switch...

Page 7: ...lue setting 6 9 6 5 4 Speed gate time and speed sampling time 6 12 6 6 Sequence Program Sample 6 13 6 6 1 Initial Settings 6 13 6 6 2 Parameter Settings 6 15 6 6 3 Program for current position monitor...

Page 8: ...mer settings 7 20 7 6 Sequence Program Sample 7 21 7 6 1 Initial settings and parameter settings 7 21 7 6 2 Program for positioning function 7 21 7 6 3 Program for JOG operation 7 23 8 Limit Switch Ou...

Page 9: ...gram Nos 1 8 8 21 9 TROUBLESHOOTING 9 1 9 1 Error Code List 9 1 10 DIMENSIONS 10 1 10 1 VS 212DN 10 1 10 2 External setting unit VS T62 and cable VS C1S62 2 10 2 10 3 External setting unit VS T62B and...

Page 10: ...used in place of mechanical cam switches proximity switches and limit switches etc This sensor can be used for automatic control of conveyance systems press machines and assembly machines etc where po...

Page 11: ...ue change in position per specified time is stored in the buffer memory for data communication with the PLC CPU as sensor binary or as r min 7 Unidirectional positioning format Regardless of the exist...

Page 12: ...to determine whether the discrepancy is within a permissible limit The In position zone setting is a value to determine in position If the positional discrepancy in within the In position zone the In...

Page 13: ...mm Scale length L Actual detection distance Minimum setting unit Or L 320 0 01 32000 Important Absolute detection of the current position is possible only within the detection range If this range is...

Page 14: ...sensor binary value minimum current position value Example With position detection executed by a 32 turn MRE sensor with a scale length of 32000 minimum current position value of 1000 the scaling bin...

Page 15: ...bsolute detection Number of position detection axes 2 axes Number of divisions 4096 divisions 32 turns to 409 6 divisions 320 turns Limit switch output function Number of programs 9 Program No 0 Data...

Page 16: ...n for 16 points Common terminal A1 A2 External cable connection format Connector connection 24 pins connector FCN 361J024 AU FCN 360C024 B Fujitsu Compatible wire size 0 3 mm I O Pin No Signal Name Us...

Page 17: ...nse time ms OFF ON 0 04 when load current is 100 mA ON OFF 0 2 with input voltage of 24V ON OFF 0 2 when load current is 100 mA Common connection Power supply and shared common o Internal Circuit 2 5...

Page 18: ...d Shock resistance 4 9 103 m s2 0 5ms up down forward back 3 times each conforms to JIS C5026 standard Protection rating IP52f conforms to JEM 1030 standard Max cable Length m Standard cable 4P S 100...

Page 19: ...ting in the VS 212DN buffer memory Contact NSD if a file EDS file is required which defines the control data used by the DeviceNet devices 3 1 Control Panel Settings The VS 212DN control panel is equi...

Page 20: ...ablished MS minor error etc Green blinking Online disconnected VS 212DN is not recognized by master unit Green ON Online connected VS 212DN is recognized by master unit Red blinking Minor communicatio...

Page 21: ...bit is disabled 10 Only the data writing request is enabled and the command bit is disabled 11 Both the data writing request and the command bit are enabled 1 Command bit When the command data bit is...

Page 22: ...t overtravel Status1 VS 212DN Operation status 0 fixed Axis 2 error Axis 2 Excessive current position change error Axis 2 Excessive correction amount error Axis 2 Sensor error Axis 2 Lower limit overt...

Page 23: ...e online the forward motor control signal is output when this bit is switched on This bit is ignored during positioning operations 5 Reverse Retract JOG Command 0 1 4bit This is the JOG signal for rev...

Page 24: ...rrection amount specified by the parameter settings VS 212DN operation and outputs are not affected when this bit switches on This bit can be switched off by performing an error reset command 1 6bit 5...

Page 25: ...at Initial value Data range Description Parameter No 0 R Axis 1 Manual mode I O status WORD 1 R Axis 2 Manual mode I O status WORD 2 R Axis 1 Error code USINT 0 99 3 R Axis 2 Error code USINT 0 99 4 W...

Page 26: ...nt position USINT 0 0 0 91 1 0 0 2 0 00 3 0 000 4 0 0000 5 0 00000 16394 IW Scale length UDINT 131072 1000 999999 92 16395 IW Minimum current position value DINT 0 99999 999999 93 16396 IW Current pos...

Page 27: ...nt position USINT 0 0 0 91 1 0 0 2 0 00 3 0 000 4 0 0000 5 0 00000 16458 IW Scale length UDINT 131072 1000 999999 92 16459 IW Minimum current position value DINT 0 99999 999999 93 16460 IW Current pos...

Page 28: ...format USINT 0 0 Speed switching format without learning function 51 1 Speed stepping format without learning function 2 Speed switching format with learning function 3 Speed stepping format with lear...

Page 29: ...format USINT 0 0 Speed switching format without learning function 51 1 Speed stepping format without learning function 2 Speed switching format with learning function 3 Speed stepping format with lear...

Page 30: ...nnel output status during 1 axis offline condition when in RUN mode USINT 0 0 All output OFF 67 1 HOLD 7 Limit switch control for axis 2 I O Address Write Name Data format Initial value Data range Des...

Page 31: ...999999 8212 LW Dog 9 OFF position setting data DINT 0 99999 999999 CH 1 data I O Address Write Name Data format Initial value Data range Description Parameter No 8256 LW Number of multi dogs USINT 0 0...

Page 32: ...6 LW Dog 9 OFF position setting data DINT 0 99999 999999 CH 1 data I O Address Write Name Data format Initial value Data range Description Parameter No 9280 LW Number of multi dogs USINT 0 0 10 9281 L...

Page 33: ...witch output only and 2 current position detection only However only the 0 setting should be selected this is the default setting Operation cannot be guaranteed if any setting other than 0 is selected...

Page 34: ...hin the scale length is detected by the ABSOCODETR sensor and that position value is stored in this area as a sensor binary values The ranges for sensor binary current position values are as follows 0...

Page 35: ...eed gate time The sensor s rotation speed is stored as sensor binary value This means that the change in amount of speed gate time is stored in the absolute value The graph below shows the gate time a...

Page 36: ...by the sequence program but the setting applies only when external input is accepted for the current position preset by buffer memory format Two external inputs are available one for current position...

Page 37: ...only enabled when an online positioning start occurs The default setting of 3 no speed limit is established at power on Speed Limit Speed Stepping Format Speed Switching Format 1 Positioning at low sp...

Page 38: ...2 bit and 3 bit are set to 1 This setting value changes to the parameter value at power ON and when parameter settings are made 1 Setting data is written in a scaling binary format 2 The permissible s...

Page 39: ...ere the limit switch output disabled setting is designated 3 When the power is turned ON the default setting value 0 limit SW output enabled will be designated at all channels 3 5 23 Program No Settin...

Page 40: ...setting If the permissible range is exceeded the error code 24 will occur Excessive correction amount detection function When the current position preset signal input occurs the difference between th...

Page 41: ...in conjunction with a counter unit The above conventional method has several disadvantages the units must be converted when displaying the current position value origin point return is necessary when...

Page 42: ...re designated at the VS 212DN The ABSOCODER sensor then detects the machine s travel amount with the appropriate speed switching or STOP signals being output when the machine s position matches the pr...

Page 43: ...CODER sensor detects the machine s travel amount and ON OFF signal outputs occur when the machine s position matches pre designated positions Although limit switches are widely used for position detec...

Page 44: ...satisfied o RUM mode o There is no error 2 ERROR 1 This LED is lit when an error occurs in the axis 1 3 ERROR 2 This LED is lit when an error occurs in the axis 2 4 5 2 DeviceNet monitor LEDs MS NS T...

Page 45: ...es in accordance with the setting of the monitor display selector switch DISP SEL Regardless of the monitor display selector switch DISP SEL setting an error code will be displayed at area 2 in BCD if...

Page 46: ...ositioning operation Speed switching format Reverse Speed stepping format Reverse low speed 3 High speed output Motor control output for positioning operation 4 Low speed Medium speed output Motor con...

Page 47: ...5 1 5 Operations 5 1 Operating Sequence Flowchart An operation flowchart is shown below...

Page 48: ...g the 2 data changes as operation proceeds Data saved internally in the VS 212DN initial settings parameter data limit switch data can be changed by either of the following 2 methods 1 From an externa...

Page 49: ...ar the above power lines is unavoidable the cable duct should be separated with individual wiring conduits being provided 3 When wiring conduits are used they should be securely grounded 5 3 2 Connect...

Page 50: ...uracy could be compromised To avoid such problems a suitable coupling method is recommended 5 4 2 Precautions when connecting ABSOCODER sensor 1 Connection should be made using the special cable with...

Page 51: ...nt position the ABSOCODER Conventionally this was detected by an incremental format encoder in conjunction with a counter unit As shown below the current position value appropriate for the rotation po...

Page 52: ...6 2 6 1 Pre Operation Setting Sequence...

Page 53: ...Note Current position settings are executed simultaneously for 2 axes To designate settings at each axis individually use the current position preset function Important Writing to initial setting par...

Page 54: ...rent position value increases Setting data Sensor type Rotation direction 0 MRE 32SP062 CW 1 MRE 32SP062 CCW 2 MRE G SP062 CW 3 MRE G SP062 CCW 99 No sensor 6 3 2 Decimal point position setting I O ad...

Page 55: ...s 0 01 mm the scale length would be as follows Actual detection distance 10 mm turn 32 turns 320 mm Scale length L Actual detection distance Minimum setting unit Or L 320 0 01 32000 Important Absolute...

Page 56: ...multaneously for 2 axes To designate settings at each axis individually use the current position preset function o Depending on the minimum unit of current position change resolution there may be case...

Page 57: ...tual position is at the 150 mm point The scaling binary value at the 150 mm position will be as follows 32000 131072 65536 1000 15000 6 4 Parameter Settings When writing the parameters set 1 to the co...

Page 58: ...preset function is executed in the reverse direction 74 16404 16468 Speed gate time USINT 0 0 8ms 75 1 16ms 2 32ms 3 64ms 4 128ms 5 Rotational speed r min 16405 16469 Speed gate sampling time USINT 0...

Page 59: ...t are available for the VS 212DN when using the parameter format or the buffer memory format Each channel operates independently 2 For the parameter format the current position preset data is input to...

Page 60: ...nction will not occur if the current position preset input is already ON when the power is turned ON 9 If both the current position preset 1 and 2 inputs are executed simultaneously the current positi...

Page 61: ...connected and the baud rate DeviceNet The response time as shown below is a reference value under the following conditions 1 PLC scan time 4 ms 2 DeviceNet 500kbs 3 Slave connection init VS 212DN 1 un...

Page 62: ...alue Any from 0 to 4 is selected by speed gate time The sensor s rotation speed is stored as sensor binary value This means that the change in amount of speed gate time is stored in the absolute value...

Page 63: ...Initial Settings The initial setting data must be changed in advance using the DeviceNet Manager If the data is to be changed by the sequence data a separate data change sequence is required o VS 212...

Page 64: ...6 14...

Page 65: ...using the DeviceNet Manager If the data is to be changed by the sequence data a separate data change sequence is required o VS 212DN PLC Ready I 2 0 o Parameter settings writing command I 2 1 o Seque...

Page 66: ...6 16...

Page 67: ...ition monitor display is given below o VS 212DN PLC Ready I 2 0 o Current position value scaling binary storage register B3 1 2 3 o Current position output O 4 0 to 15 o Symbol output O 5 0 o The curr...

Page 68: ...ut and error reset operation which is used when a VS 212DN error detection occurs is given below o Error code output O 4 0 to 15 o Error monitor output O 5 0 o Sensor monitor output O 5 1 o VS 212DN o...

Page 69: ...e machine to the designated the target STOP position The positioning range is the range in which the ABSOCODER sensor can execute absolute position detection The machine travel range must be within th...

Page 70: ...ent changes made in the target stop position setting will not affect the positioning operation already in progress 6 The setting range for the target stop position is according to the scale length and...

Page 71: ...n The unidirectional positioning format reduces positioning errors caused by gear backlash etc 1 The VS 212DN automatically determines if a position overshoot is necessary based on whether the current...

Page 72: ...eed signal being ON during high speed operation and the low speed signal being ON during low speed operation The parameter settings which designate the low speed zone stop zone and In position zone ar...

Page 73: ...ependently Instead they are combined to produce a stepped speed switching output The parameter settings which designate the medium speed zone low speed zone stop zone and In position zone are made in...

Page 74: ...ration output item shown above consists of the following outputs Speed switching format FWD RVS High speed Low speed Speed stepping format FWD Low speed RVS Low speed High speed Medium speed 2 t1 indi...

Page 75: ...ompleted if the current position at that time is within the In position zone of the designated target stop position The In position signal is always the final output which occurs if in position after...

Page 76: ...top zone in the opposite direction from the parameter designated positioning direction b Stop movement at that position c Then re execute positioning toward the target stop position 1 The parameter se...

Page 77: ...Setting the stop zone parameter becomes easier The stop zone parameter was conventionally set based on the predicated value When using the simple learning function the stop zone is automatically corre...

Page 78: ...ust be satisfied before the JOG operation can occur a The operation error status 6 7 7 bit signal must be OFF b Positioning must not be progress The JOG operation occurs when the FWD JOG signal comman...

Page 79: ...G operation 5 A RVS JOG signal input command 0 1 4 bit will be inoperative during FWD JOG command 0 1 3 bit operation and vice verse 6 If both the FWD JOG command 0 1 3 bit and RVS JOG command 0 1 4 b...

Page 80: ...as exceeded during a positioning operation near the minimum current position value point In the above example the stop position of 9850 is overshot by 240 during RVS positioning with the resulting cur...

Page 81: ...ct detection range violations To do this the permissible current position change amount setting should be designated according to the machine being controlled allowing a slight margin in the travel am...

Page 82: ...ue which exists after the current position preset function is executed After being re started positioning occurs in the normal manner 3 When the current position value enters the stop zone as a result...

Page 83: ...the external setting unit VS T62 or VS T62B o By switching the manual mode 1 The motion detection error is activated during the positioning operation when the change in the current position value per...

Page 84: ...7 16 7 2 Positioning Function and Operation Sequence The procedure for executing the VS 212DN s positioning function is as below...

Page 85: ...the buffer memory for data communication with the PLC CPU is loaded to the VS 212DN when the PLC ready signal is turned ON in sequence mode Note Some parameters of the VS 212DN are for the limit switc...

Page 86: ...ction limit value 58 12306 12370 Lower limit value DINT 99999 99999 999999 Designates the direction limit value 59 12307 12371 Start from stop zone USINT 1 0 Disable Designates whether positioning is...

Page 87: ...when the speed switching positioning format is used The low speed zone setting designates the distance prior to the target position over which low speed positioning is to occur The stop zone setting...

Page 88: ...r 2 The motion misdirection non detection timer setting designates the period from the point when the positioning or JOG operation is started until the point when the motion direction error detection...

Page 89: ...e the positioning target position and to start the positioning function Conditions The following signal assignments are used to control the VS 212DN o VS 212DN s PLC Ready I 2 0 o Target position chan...

Page 90: ...7 22...

Page 91: ...7 23 7 6 3 Program for JOG operation The following signal assignments are used to control the vS 212DN o VS 212DN s PLC Ready I 2 0 o Forward JOG command I 2 2 o Reverse JOG command I 2 3...

Page 92: ...re the ABSOCODER sensor s detection occurs 1 Up to 16 channels channel Nos 0 15 can be used for limit switch output 2 Up to 9 programs program Nos 0 8 containing each channel s ON OFF data settings ca...

Page 93: ...units will become impossible and the external output of ON and OFF signals as designated will also be impossible In such cases the width of the ON and OFF signal zones must be increased The following...

Page 94: ...8 3 8 1 Pre Operation Setting Sequence This section explains the setting sequence for the limit switch function...

Page 95: ...n to the buffer memory for data communication with the PLC CPU is loaded to the VS 212DN when the PLC ready signal is turned ON in sequence mode Note Some parameters of the VS 212DN are for the positi...

Page 96: ...annel setting enter 0 as the setting value for Protected switch parameter No 65 2 This setting is effective only when the VS T62 or VS T62B is connected 8 4 2 Offline output status setting TEST INIT P...

Page 97: ...OFF position data for each dog 2 The number of multi dogs setting is written as a binary value The ON OFF position data is written as a scaling binary value Error 31 will be activated if dog positions...

Page 98: ...beginning from the lowest and proceeding to the highest error 31 will be activated 3 The number of multi dogs setting range is as follows If a setting of 0 is designated the dog ON OFF position data a...

Page 99: ...to the internal memory operation A above when the following occurs o When program No 0 is selected while online o When offline online switching occurs with program No 0 selected Data which has been e...

Page 100: ...g is completed when the operation status status 1 7 bit has turned ON 8 5 4 Reading program Nos 1 8 Reading program Nos 1 8 is explained below Reading the limit switch output data from program Nos 1 8...

Page 101: ...on The following example shows a program used to start the limit switch output function at one of the 3 registered programs 1 3 when the program settings have been designated in advance at the VS 212D...

Page 102: ...8 11...

Page 103: ...ch output function by the desired setting data which is stored at the PLC CPU s file resister and writing that data to the program No 0 area Conditions The following signal assignments are used to con...

Page 104: ...8 13...

Page 105: ...8 14...

Page 106: ...8 15...

Page 107: ...osition CH 3 Dog9 OFF position CH 4 Nunber of multi dogs CH 4 Dog0 ON position CH 4 Dog0 OFF position CH 4 Dog1 ON position CH 4 Dog1 OFF position CH 4 Dog2 ON position B10 90 CH 4 Dog2 OFF position C...

Page 108: ...ple of the program to write the desired setting data to the program No 0 area and then transmit that data to the VS 212DN s program No 1 Conditions The following signal assignments are used to control...

Page 109: ...8 18...

Page 110: ...8 19...

Page 111: ...8 20...

Page 112: ...provides an example of the program to read the setting data from the VS 212DN s program No 1 area to the PLC CPU file register Conditions The following signal assignments are used to control the VS 21...

Page 113: ...8 22...

Page 114: ...8 23...

Page 115: ...8 24...

Page 116: ...inary Hold current position area sensor binary FWD stop zone area after learning RVS stop zone area after learning Sequence mode answerback area Detection errors 20 VS 212DN detected an upper limit ov...

Page 117: ...fuse 26 Fuses built into the VS 212DN are blown Always The VS 212DN needs repairs Return it to your nearest service representative VS 212DN detected a DeviceNet CPU error codition Always Turn power OF...

Page 118: ...ting error 64 VS 212DN detected a program No 4 setting error 65 VS 212DN detected a program No 5 setting error 66 VS 212DN detected a program No 6 setting error 67 VS 212DN detected a program No 7 set...

Page 119: ...61 Motion non detection timer 162 Motion misdirection non detection timer area 163 Positioning end detection timer area 164 JOG low speed timer area 165 No of protected channels area 166 Offline chann...

Page 120: ...of the following errors during TEST mode positioning However the operation error output will remain OFF a Excessive correction amount detected error code 23 b Excessive current position change detecte...

Page 121: ...10 1 10 DIMENSIONS 10 1 VS 212DN Units mm...

Page 122: ...10 2 10 2 External setting unit VS T62 and cable VS C1S62 2 External setting unit VS T62 Units mm Cable for external setting unit VS C1S62 2 Units mm...

Page 123: ...10 3 10 3 External setting unit VS T62B and cable VS C62B 2 External setting unit VS T62B Units mm Cable for external setting unit VS C62B 2 Units mm...

Page 124: ...10 4 10 4 ABSOCODER sensor Units mm...

Page 125: ...10 5 Units mm...

Page 126: ...10 6 10 5 Extension Cable 1 4P S 0102 L 4P RBT 0102 L Units mm...

Page 127: ...Frequency Magnetic Field 11 3 Low Voltage Directive The low voltage directive is out of the range because VS 212DN is activated by 24VDC power supply 11 4 Restrictions 1 Install the zippertubing arou...

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Page 135: ...0x70 Sequence mode selection Get Set BYTE 4 64 01 0x71 Sequence mode answerback GET BYTE 5 64 01 0x72 Axis 1 function 50 Get Set USINT 1 0 2 6 64 01 0x73 Axis 2 function 50 Get Set USINT 1 0 2 7 Clas...

Page 136: ...ault Value Value Range Device Net I O Address Dec Class Ins 66 02 0x64 Number of multi dogs Get Set USINT 0 0 10 8256 66 02 0x65 Dog No 0 ON position setting data Get Set DINT 0 99999 999999 8257 66 0...

Page 137: ...Dec Class Ins 66 12 0x64 Number of multi dogs Get Set USINT 0 0 10 9280 66 12 0x65 Dog No 0 ON position setting data Get Set DINT 0 99999 999999 9281 66 12 0x66 Dog No 0 OFF position setting data Get...

Page 138: ...ata Get Set BYTE 0 12292 67 01 0x77 Axis 1 medium speed zone Get Set UDINT 10000 0 999999 12293 67 01 0x78 Axis 1 low speed zone Get Set UDINT 1000 0 999999 12294 67 01 0x79 Axis 1 forward stop zone G...

Page 139: ...data Get Set BYTE 0 12356 67 02 0x77 Axis 2 medium speed zone Get Set UDINT 10000 0 999999 12357 67 02 0x78 Axis 2 low speed zone Get Set UDINT 1000 0 999999 12358 67 02 0x79 Axis 2 forward stop zone...

Page 140: ...rent position preset input disable setting Get Set BYTE 0 16391 68 01 0x70 Sensor type and rotational direction 90 Get Set USINT 0 0 99 16392 68 01 0x71 Decimal point position 91 Get Set USINT 0 0 5 1...

Page 141: ...ent position preset input disable setting Get Set BYTE 0 16455 68 02 0x70 Sensor type and rotational direction 90 Get Set USINT 0 0 99 16456 68 02 0x71 Decimal point position 91 Get Set USINT 0 0 5 16...

Page 142: ...et STRUC T 1 127 1 255 1 001 5 Status Get UINT 6 Serial Number Get UDINT 1 4294967295 7 Product Name Get Short String VS 212DN Instance Service 0x0E Get Attribute Single 0x05 Reset Table 2 2 DeviceNet...

Page 143: ...tion inhibit time Get UINT 0 Instance Service 0x05 Reset 0x0E Get Attribute Single 0x10 Set Attribute Single Table 2 4 Connection Object 2 Class ID 0x05 Instance ID 0x02 I O Messaging Connection Name...

Page 144: ...KU NAGOYA JAPAN 460 8302 Distributor NSD Trading Corporation 3 31 23 OSU NAKA KU NAGOYA JAPAN 460 8302 Phone 81 52 261 2352 Facsimile 81 52 252 0522 URL www nsdcorp com E mail foreign nsdcorp com Copy...

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