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Flow of P Point Control Operation

P point control: Multi - stage acceleration/deceleration



When the flag for initiating P point control (Y_1) is turned ON, acceleration/
deceleration control is carried out repeatedly, in accordance with the specified
data table, and then the operation stops.



Multiple accelerations/decelerations can be specified between starting and
stopping.



Sin curve, Secondary curve, Cycloid curve and Third curve can be selected for S
acceleration/deceleration can also be selected.



The acceleration/deceleration time can be specified separately for each travel
point.

When the 4 - axis type positioning unit is mounted in slot 0

Operation example

When the flag for initiating P point control (Y41) is turned ON, acceleration/
deceleration is carried out repeatedly in accordance with the settings.

When Y41 is set to ON in the program, the motor of the first axis begins
accelerating.

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Summary of Contents for NX-POSI1

Page 1: ...Catalog Number s NX70 POSIx NX POSIx NX70 700 Position User Manual ...

Page 2: ...in this manual Reproduction of the contents of this manual in whole or in part without written permission of RS Automation Co Ltd is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Trademarks not belonging to RS Automation Co Ltd are property of their respective companies WARNING Identifies information about practices or circumstances that c...

Page 3: ...33 Connection of Home Input Near Home Input Signals 34 Connection of Pulse Input 36 Precausions on Wiring 37 4 Confirming the Unit Settings and Design Contents 39 Operation mode setting switch 39 Confirming the Slot Number and I O Number Allocations 43 Increment and Absolute 48 Selection of Acceleration Deceleration Method 50 Internal Absolute Counter 52 5 Power ON and OFF and Booting the System 5...

Page 4: ...123 Checking the Home and Near Home Input Logic 126 Practical Use for a Home Return 127 Home Return 130 10 Pulser MPG Input Operation 133 Sample Program 133 Sequence Flow for Pulser input operation 139 Action of the I O Flag During Pulser Input Operation 143 Types of Manual Pulse Generators That Can be Used 144 11 Deceleration Stop and Forced Stop 145 Sample Program 145 Operations for a Decelerati...

Page 5: ...5 14 Dimensions and Driver Wiring 171 Motor Drive Connection Diagram 171 Wiring for Motor Driver 174 NX700 PLC External Dimensions 179 15 Sample Program 181 Sample Program 181 Glossary 191 ...

Page 6: ...6 ...

Page 7: ...1 minute exception F E connectors F E connectors use shielded wires Insulation resistance Between external connector pins and GND 100M or higher DC 500V exception F E connectors F E connectors use shielded wires Vibration resistance 10 to 55Hz 1 sweep min Amplitude 0 75mm 10 minutes for each X Y or Z axis Shock resistance 98 m s2 or better 4 times for each 3 direction X Y Z Noise resistance 1500 V...

Page 8: ... bits 2 147 483 648 to 2 147 483 647 pulse Speed Instruction Instruction Range Line Drive 1pulse s to 1 Mpulse s Open Collector 1pulse s to 200 Kpulse s unit 1pps Acceleration Deceleration method Linear Acceleration Deceleration S pattern acceleration deceleration Acceleration Deceleration Time 0 to 32 767ms Home Return Home Return speed Speed setting changing return speed and search speed Input C...

Page 9: ...on Deceleration Time setting range 0 to 32 767 ms x 107h 117h 127h 137h 108h 118h 128h 138h Position Instruction value Pt pulse Position Instruction value setting signed 32bit 2 147 483 648to x x x 109h 119h 129h 139h 10Ah 11Ah 12Ah 13Ah Elapsed pulse Pe pulse Elapsed pulse count Absolute signed 32bit 2 147 483 648to 2 417 483 647 Pulse 10Bh 11Bh 12Bh 13Bh 10Ch 11Ch 12Ch 13Ch Number of comparing p...

Page 10: ...onnecte d H10 Linear direction Valid if power is connected Valid if power is connecte d H12 S PATTERN direction Valid if power is connected Valid if power is connecte d H14 Linear direction Valid if power is connected Valid if power is connecte d H16 S PATTERN di i Valid if power is Valid if power is Control Code Acceleration Deceleration method Home Return Direction Zero Point Input logic Near ze...

Page 11: ...00 100 times H600 500 times H700 1000 times Control codes are entered into buffer memory as shown below Since the control method acceleration deceleration method home return method and pulse multiplication factor settings are entered in the same area you have to be careful not to overwrite the area with other functions simultaneously IMPORTANT For detailed explanations on Input logic please refer ...

Page 12: ...ilt in counter s elapsed value Number of Comparing Pulses X9 X19 X9 X19 X29 X39 X A Setting change Checking CEN Checks if settings are changed during P point control Note 3 XA X1A XA X1A X2A X3A X B XB X1B XB X1B X2B X3B X C XC X1C XC X1C X2C X3C X D XD X1D XD X1D X2D X3D X E Setting Error SERR Turned ON if setting error occurs XE X1E XE X1E X2E X3E X F XF X1F XF X1F X2F X3F Y 0 E Point Control St...

Page 13: ...turn and JOG operation and also turned ON when each operation is completed 2 Turned ON when each operation in E POINT control P POINT control JOG operation or Pulse Generator Input is completed Also it is turned ON in Deceleration Stop or Forced Stop Completion Also it is turned OFF when all the operations in E POINT control P POINT control JOG operation Home Return and Pulse Generator Input opera...

Page 14: ...14 ...

Page 15: ...ing can be controlled through the combination of a servo motor and a stepping motor with a driver using the pulse train input method Positioning Control Servo Motor Servo Drive Pulse Train Servo Motor Positioning Unit Encoder Positioning Control Stepping Motor Pulse Train Positioning Unit Stepping Drive Stepping Motor ...

Page 16: ...e are available The unit has 2 types one is the Line driver output type can handle the high speed control and another is the Transistor output type can handle the driver can be connected with only the open collector such as a stepping motor When either can be used we recommend the Line driver output type ...

Page 17: ... deceleration Sin curve Secondary curve Cycloid curve Third curve are available for S acceleration deceleration Unit type Unit type and Product number Products Functions Product No Note Axis 1 Type For Axis 1 control NX POSI1 One 20 pin connector hood 3M is included in the box Axis 2 Type For Axis 2 control NX POSI2 Two 20 pin connector hoods 3M are included in the box Axis 3 Type For Axis 3 contr...

Page 18: ...ternal output such as servo ON signals Number of output pulses counted by internal high speed counter The number of pulses output is counted as an absolute value by an internal high speed counter which counts them as the elapsed value Counting range 2 147 483 648 to 2 147 483 647 signed 32 bit CW limit Near zero point Input Zero points CCW limit Limit over inputs Zero Point Input Near zero Point I...

Page 19: ... is set up so that these data values may be written to any desired data register 2 Transferring to the shared memory The data stored in the data registers is sent to the positioning unit by means of the F151 or P151 instruction where it waits for further instructions The memory area which receives that transferred data is called the shared memory of the positioning unit This area is used for vario...

Page 20: ...d ON The abovementioned programming example shows this process for Y40 Y40 is the number of the flags that starts up the E point control of the first axis when the unit is installed in slot 0 Separate flags are provided for each of the axes for E point control P point control home return JOG operation JOG positioning operation and other types of control ...

Page 21: ...r the expansion back plane position However it should be installed to the right of the power supply unit and CPU With NX700 PLC you can install as many Positioning Units as you want to Product Product No Current consumption at 5V DC Note Positioning Unit Axis 1 NX POSI1 230mA Positioning Unit Axis 2 NX POSI2 240mA Positioning Unit Axis 3 NX POSI3 400mA Positioning Unit Axis 4 NX POSI4 430mA The NX...

Page 22: ...22 ...

Page 23: ...rts and Specifications Parts and Specifications Parts and Specifications Unit Bottom Axis 1 Positioning NX POSI1 Axis 2 Positioning NX POSI2 Axis 3 Positioning NX POSI3 Axis 4 Positioning NX POSI4 Unit Bottom ...

Page 24: ...ion is normally set to forward rotation travel value increase and Pulse Output method is set to Pulse Sign mode ON when the system is shipped out of factory If you want to set the motor going in the opposite rotation direction to that assigned in the program you have to set the Rotation Direction to OFF For the Pulse Output method you have to use the pulse output method of the motor drive to be co...

Page 25: ... Signal Input 3 Indicates the Input status of Pulse Generator Input signal B Z Indicates the input status of zero point input 2 ON OFF D IndicatesthestatesofNear zeroPoint 2 ON OFF CL Indicates Counter Clear Signal Output Output ON Output OFF ER Indicates that a Wrong Setting Error occurred Setting value error Setting value is correct 1 The pulse output signal display LEDs A and B blink at the out...

Page 26: ... direction Normal Settings Reverse Settings 5 Axis 3 Unit Pulse Output mode Pulse Sign mode CW CCW mode 6 Rotation direction Normal Settings Reverse Settings 7 Axis 4 Unit Pulse Output mode Pulse Sign mode CW CCW mode 8 Rotation direction Normal Settings Reverse Settings Factory setting Unit bottom NX POSI1 Axis 1 Unit NX POSI2 Axis 2 Unit NX POSI3 Axis 3 Unit NX POSI4 Axis 4 Unit All set to ON by...

Page 27: ...tion 20 Pulse output A line drive Output type Line drive output same as AM26C31 10 Pulse output A line drive 19 Pulse output B line drive 9 Pulse output B line drive 18 Pulse output A Open collector Output type Open collector Permissible voltage range 4 76 to 5 25 VDC 8 Pulse output B Open collector Maximum load current 15mA Voltage drop ON Equal to or lower than 0 6V 6 Output DC 5V Output voltage...

Page 28: ...Maximum OFF voltage current 2 0V 0 5mA 25 Zero Point Input 5V DC Input impedance About 1 6K 5V Input Voltage Range 3 5 5 25VDC Minimum ON voltage current 3 0V 6mA 5 Zero Point Input Maximum OFF voltage current 1 0V 0 5mA Input impedance About 220 Minimum Input Pulse Width 100 s 14 Near zero Point Input Input Voltage Range 4 75 26 4VDC Minimum ON voltage current 4 0V 2mA 4 Near zero Point Input Max...

Page 29: ...29 Pulse generator input signals A and B are differential phase inputs If PHASE A leads PHASE B travel value increases IMPORTANT ...

Page 30: ...and output circuit can be taken from the 5V DC out put pins Allowed Voltage Range 21 4 26 4VDC Current Consumption 4 axis Type 90mA or lower 3 axis Type 65mA or lower 2 axis Type 45mA or lower 1 axis Type 25mA or lower Allowed Voltage Range 21 4 26 4VDC Current Consumption 4 axis Type 90mA or lower 3 axis Type 65mA or lower 2 axis Type 45mA or lower 1 axis Type 25mA or lower The current capacity o...

Page 31: ...of the interfaces of motor driver Select and connect one or the other depending on the interface of the motor driver being used Line Driver Output type Transistor Output Type We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables to be used IMPORTANT DC DC ...

Page 32: ...ent capacity of the Output Common Connector 5VDC connector no 6 is 120mA max in total at Output Common 5V A value of 15 mA per signal should be used as a guide If exceeds this resistance should be added IMPORTANT ...

Page 33: ...owing connection of the counter clear input to the servo motor driver An external power supply 5 V DC to 24 V DC must be provided for the connection Always use twisted pair cables for wiring The Current which can be conducted as the deviation counter clear output signal is 10 mA max IMPORTANT ...

Page 34: ...utput or Transistor output of the motor driver or to an external switch and sensor Connection of Home Input When connecting to motor driver Z phase output Connection of Home Input When connecting to an external switch sensor We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables used IMPORTANT ...

Page 35: ...Over Inputs to PLC Install the motor manufacturer s recommended circuits outside Reference Program an Emergency Stop circuit appropriate to your system Please refer to chapter 11 for Overrun DC Input Unit Limit Over Input COM COM 24VDC Table Ball screw Limit Over switch Limit Over switch MOTOR ...

Page 36: ...llector type and Transistor resistance pull up type are available for the output styles The same pulse input terminal is used for Pulser input operation and Feedback pulse count so it is used for either Line Driver Type Transistor Open Collector Type Transistor resistor Pull up Type We recommend using twisted pair cables for connections or twisting the cables used IMPORTANT ...

Page 37: ...on Wiring Connect the wire in less than or the following length between the Transistor output type and the motor driver Output type Wiring length Transistor output 10m Line driver output Deviation counter clear output ...

Page 38: ...38 ...

Page 39: ...setting switch Check if the mode setting switches at the bottom are set according to your system specifications before you install Positioning Unit to motherboard All set to ON by factory setting Operation mode setting switch setting is valid while power is ON ATTENTION ...

Page 40: ...t from the pulse output B pin CW CCW output method With this method pulse output signals for forward rotation and pulse output signals for reverse rotation are output in response to the direction in which the motor is rotating CW CCW clockwise counter clockwise When the rotation direction switch is set to ON forward rotation CW clockwise pulse signals are output from the pulse output A pin and rev...

Page 41: ...41 Relationship between Switch Setting and Rotation Direction Pulse Sign mode rotation direction switch ON Pulse Sign mode rotation direction switch OFF s ...

Page 42: ...ation direction switch ON CW CCW mode rotation direction switch OFF The direction of rotation varies depending on the wiring the motor driver settings the position command value in the program and other factors IMPORTANT ...

Page 43: ... Y The positioning unit has 16 input points and 16 output points per axis for a total of 32 Consequently a 4 axis type has 128 points input 64 output 64 and a 2 axis type has 64 points input 32 output 32 The configuration of the occupied I O area is as shown below If installed on slot 0 We do not use X1O to X1F and Y3O to X3F but these I O areas are available for Axis 1 Unit ...

Page 44: ...I1 NX POSI2 I O flag number NX POSI3 NX POSI4 1st axis 2nd axis 1st axis 2nd axis 3rd axis 4th axis X_0 Pulse output busy BUSY ON during pulse output 1 X0 X10 X0 X10 X20 X30 X_1 Pulse output done EDP Goes ON when pulse output ends 2 X1 X11 X1 X11 X21 X31 X_2 Acceleration zone ACC ON during acceleration zone X2 X12 X2 X12 X22 X32 X_3 Constant speed zone CON ON during constant speed zone X3 X13 X3 X...

Page 45: ...d ON in the user program JOG reverse rotation is initiated Y24 Y34 Y44 Y54 Y64 Y74 Y_5 Forced stop EMR When turned ON in the user program operations currently running are interrupted and forcibly terminated Y25 Y35 Y45 Y55 Y65 Y75 Y_6 Deceleration stop DCL When turned ON in the user program operations currently running are interrupted and decelerate to a stop Y26 Y36 Y46 Y56 Y66 Y76 Y_7 Pulser inp...

Page 46: ...00 Hardware Manual section I O Allocation The occupied I O areas for all of the units mounted between the CPU and the positioning unit should be confirmed The serial numbers are allocated as I O areas for the positioning unit The following is an example of a 4 axis type positioning unit being mounted after the 3rd I O unit The following is an example of a 2 axis type positioning unit being mounted...

Page 47: ...nit Confirming Slot No When mounted on the CPU backplane Slots are numbered in sequential order with the slot to the right of the CPU being No 0 When mounted on an expansion backplane The slot number of the slot to the right of the power supply unit on the expansion backplane should be counted as 16 ...

Page 48: ...ng and decelerating control E point control Chapter 7 Automatic accelerating and decelerating control P point control Increment relative value control The position command value is normally specified as the relative position from the current position using a number of pulses increment Example Travels from the current position to a position 5 000 pulses away 5000 pulses is set as the position comma...

Page 49: ...ion from the home position using a number of pulses Absolute Example If the unit is 15 000 pulses away from the home position it travels 5 000 pulses 20000 pulses is set as the position command value and travel is carried out 18000 pulses is set as the next position command value and travel is carried out ...

Page 50: ...eleration and deceleration the acceleration from the starting speed to the target speed are carried out in a straight line acceleration and deceleration take place at a constant percentage S acceleration deceleration is carried out along an S shaped curve When acceleration or deceleration is first begun the speed is relatively slow and gradually increases When the acceleration or deceleration has ...

Page 51: ...ith E point control The method of control varies depending on the control code When the code is H0 increment method linear acceleration deceleration When the code is H1 absolute method linear acceleration deceleration When the code is H2 increment method S acceleration deceleration Sin curve When the code is H3 absolute method S acceleration deceleration Sin curve ...

Page 52: ...s teaching during JOG operation Using the comparison relay output function external output can be obtained in response to the count value through the user program How the internal absolute counter operates When the power supply is turned OFF the counter value is set to zero 0 When the table returns to the home position by a home return the counter value automatically becomes zero 0 The counter val...

Page 53: ...he shared memory of the unit mounted in the slot specified by S1 are read from the address specified by S2 and are stored in the area of the CPU specified by D Specified addresses Data elapsed values are stored as 32 bit data Program example Reads the elapsed value into the optional data register Address of shared memory hexadecimal Description 1st axis 2nd axis 3rd axis 4th axis 10Ah 11Ah 12Ah 13...

Page 54: ...s specified by D of the shared memory of the unit mounted in the slot specified by S1 at the beginning of the memory area Specified addresses Data elapsed values are stored as 32 bit data Program example Writes the data 0 zero into the elapsed value area Address of shared memory hexadecimal Description 1st axis 2nd axis 3rd axis 4th axis 10Ah 11Ah 12Ah 13Ah Elapsed value count absolute value Signe...

Page 55: ...ample of a safety circuit Installation of the Over limit switch Safety circuit based on Positioning unit Install Over limit switches as shown above Safety circuit based on external circuit Install the safety circuit recommended by the manufacturer of the motor being used ...

Page 56: ...tion of Over limit switch based on an external circuit has been installed securely 3 Checking the installation of the safety circuit based on the Positioning unit Check to make sure the connection of the Positioning unit with Over limit switches Check to make sure that Over limit switches have been properly installed 4 Checking the procedure settings for turning ON the power supplies Make sure set...

Page 57: ...n the power to the PLC is turned ON internal data in the shared memory will be cleared set to zero Check to see whether the start flag for the various operations of the positioning unit are OFF If they are ON a set value error will occur for the positioning unit unless the data settings for the shared memory have been entered IMPORTANT ...

Page 58: ...Turning ON the Power Procedure 1 Turn ON the power supplies for input and output devices connected to the PLC including the power supply for the line driver output or open collector output 2 Turn ON the power supply for the PLC 3 Turn ON the power supply for the motor driver Do not turn ON OFF PLC power supply when motor drive power is ON The motor may operate because 1 pulse is out from the posit...

Page 59: ...wer supply for the line driver output or open collector output Precautions when rebooting the system The flags of the operation memory are initialized simply by initializing the CPU but the flags of the shared memory for the positioning unit are retained If the positioning unit is operated with data still in the shared memory operation may be carried out based on any set values which have been ret...

Page 60: ... example Checking should be carried out in the four general stages described below Checking the External Safety Circuit Check the safety circuit recommended by the motor manufacturer to confirm the power supply cutoff of the motor driver etc by using the limit over input of an external circuit ...

Page 61: ...cuit of the positioning unit check to see if the Over limit input is being properly taken into the positioning unit 2 If necessary input a program to start the JOG operation Then operate the Over limit input forcibly to check whether the motor will stop 3 Using the JOG operation check to see if the Over limit switch is functioning properly ...

Page 62: ...nd the data set in the program Please refer to Chapter 6 and Chapter 7 for detailed information on Automatic Acceleration Deceleration Control Please refer to Chapter 4 for detailed information on the DIP switch underneath the unit 2 Check to see if the specified number of pulses produces the travel distance indicated by the design Points to check The travel distance is determined by the ball scre...

Page 63: ...ned by the control codes of the program 3 Using repeated JOG operation and home return operation check to make sure the table stops properly at the home position with no offset Points to check There may be times when near home input the home input position and the return speed cause offset from the home position 4 If the table does not stop precisely at the home position either change the position...

Page 64: ...64 ...

Page 65: ...am Increment Relative Value Control Plus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction It is assumed the mode setting switch at the bottom of positioning unit is set to set side ...

Page 66: ...stored as the absolute value in the counter in the positioning unit Shared memory settings Control parameter setting content Set values in sample program example Range of acceptable settings Control code H0 Increment method Linear acceleration deceleration H0 Increment Linear acceleration deceleration H2 Increment S pattern acceleration deceleration Startup speed pps K500 K0 to K1 000 000 Target s...

Page 67: ...speed the target speed the acceleration deceleration time or the position command value exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position ...

Page 68: ...the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction It is assumed the mode setting switch at the bottom of positioning unit is set to set side Pulse output diagram ...

Page 69: ...tored as the absolute value in the counter in the positioning unit Shared memory settings Program Control parameter setting content Set values in sample program example Range of acceptable settings Control code H0 Increment method Linear acceleration deceleration H0 Increment Linear acceleration deceleration H2 Increment S pattern acceleration deceleration Startup speed pps K500 K0 to K1 000 000 T...

Page 70: ...ns If the values for the startup speed the target speed the acceleration deceleration specified a set value error will occur and operation cannot be initiated The number of the startup flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit ...

Page 71: ...lute method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction It is assumed the mode setting switch at the bottom of positioning unit is set to set side Pulse output diagram ...

Page 72: ...stored as the absolute value in the counter in the positioning unit Shared memory settings Program Control parameter setting content Set values in sample program example Range of acceptable settings Control code H1 Absolute method Linear acceleration deceleration H0 Absolute Linear acceleration deceleration H2 Absolutet S pattern acceleration deceleration Startup speed pps K500 K0 to K1 000 000 Ta...

Page 73: ...e startup speed the target speed the acceleration deceleration time or the position command value exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot...

Page 74: ...n is carried out in accordance with the settings and the table travels and stops When Y40 is set to ON in the program the motor of the first axis begins accelerating X0 is a Pulse output busy flag BUSY that indicates that the operation is in progress and X1 is a Pulse output done flag EDP that indicates that the operation is done The EDP flag remains ON until a request for another operation is rec...

Page 75: ... Step 2 Executing the operations Operation begins when the flag Y40 for E point control is turned ON The control code determines whether S acceleration deceleration or linear acceleration deceleration is used Acceleration is carried out from the startup speed to the target speed and then the speed slows to the startup speed This amount of travel is determined by the position command value ...

Page 76: ...s completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop 3 This is reset when the power supply is turned OFF This flag is shared among E point control P point control JOG operation and home return except for a pulser input enabled operation Pulse output done flag X_1 1 This goes ON when the pulse output is complet...

Page 77: ...am Increment Relative Value Control Plus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction It is assumed the mode setting switch at the bottom of positioning unit is set to set side ...

Page 78: ...e as left H0 Increment Linear acceleration deceleration H2 Increment S pattern acceleration deceleration Startup speed pps K500 The same as left The same as left K0 to K1 000 000 Target speed pps K5000 K20000 K500 K1 to K1 000 000 The target speed for the first speed should be set to a value larger than the startup speed Acceleration deceler ation time ms K100 K100 K500 K0 to K32 767 Position comm...

Page 79: ...79 Program ...

Page 80: ... the ncrement method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction It is assumed the mode setting switch at the bottom of positioning unit is set to set side Pulse output diagram ...

Page 81: ...H2 Increment S pattern acceleration deceleration Startup speed pps K500 The same as left The same as left K0 to K4 000 000 Target speed pps K5000 K20000 K500 K1 to K4 000 000 The target speed for the first speed should be set to a value larger than the startup speed Acceleration deceler ation time ms K100 K100 K500 K0 to K32 767 Position command value pulse K 5000 K 15000 K 6000 K 2 147 483 648 to...

Page 82: ...82 Program ...

Page 83: ...lute method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction It is assumed the mode setting switch at the bottom of positioning unit is set to set side Pulse output diagram ...

Page 84: ...eft H1 Absolute Linear acceleration deceleration H3 Absolute S pattern acceleration deceleration Startup speed pps K500 The same as left The same as left K0 to K1 000 000 Target speed pps K5000 K20000 K500 K1 to K1 000 000 The target speed for the first speed should be set to a value larger than the startup speed Acceleration deceler ation time ms K100 K100 K500 K0 to K32 767 Position command valu...

Page 85: ...ween starting and stopping Sin curve Secondary curve Cycloid curve and Third curve can be selected for S acceleration deceleration can also be selected The acceleration deceleration time can be specified separately for each travel point When the 4 axis type positioning unit is mounted in slot 0 Operation example When the flag for initiating P point control Y41 is turned ON acceleration deceleratio...

Page 86: ...ust be written to the specified addresses in the shared memory in the order in which operations are to be executed In the illustration below the operations and processing of the P point control consists of sections I to III are explained Section I Operation is determined by these five types of data Control code Startup speed Target speed Acceleration deceleration time Position command value Sectio...

Page 87: ...d memory in advance Step 2 Executing the operation of Section I Operation begins when the flag Y41 for P point control start is turned ON At this point XA goes ON When XA goes ON the data for the operation of section II is transferred to the shared memory XA goes OFF after the data has been transferred Shared memory F151 ...

Page 88: ...on of section III is transferred to the shared memory XA goes OFF after the data has been transferred Step 4 Executing the operation of Section III When the operation of section II is completed operation shifts to section III Step 5 Completing the operation of Section III Because no data for the next operation is specified during the operation of section III operation automatically stops ...

Page 89: ...wer supply is turned OFF Set value change confirmation flag X_A 1 This goes ON with the next scan after P point control has been initiated 2 It remains ON until the next F151 or P151 shared memory write instruction is executed and the new parameters are written to the shared memory and then goes OFF after the parameters have been written to the unit 3 This is reset when the power supply is turned ...

Page 90: ...pply is turned OFF This flag is shared among E point control P point control JOG operation and home return except a pulser input enabled operation Pulse output done flag X_1 1 This goes ON when the pulse output is completed and is maintained until the next E point control P point control JOG operation home return or pulser input enabled status is initiated 2 This is reset when the power supply is ...

Page 91: ...hen P point control or E point control is initiated It goes ON at the point when the next data can be written Conditions for turning the flag from ON to OFF This flag goes OFF when pulse output is completed after P point control or E point control is initiated It goes OFF when the shared memory write instruction F151 is executed and any type of data is written to the shared memory of the positioni...

Page 92: ...ed and is running the flag XA changes resulting in affecting the P point control program operation Because an interlock is in effect the E point control program cannot be booted if the P point control program has already been booted This prevents E point control from affecting P point control ...

Page 93: ...he direction in which the elapsed value increases as the motor rotates is set as the plus direction Pulses are output as long as the startup flag is ON in the manual mode It is assumed the mode setting switch at the bottom of the positioning unit is set to set side There are two flags for startup one for forward rotation and another for reverse rotation ...

Page 94: ...ation deceleration H0 Increment Linear acceleration deceleration H2 Increment S pattern acceleration deceleration Startup speed pps K500 K0 to K1 000 000 Target speed pps K10000 K1 to K1 000 000 Set a value larger than the startup speed Acceleration deceleration time ms K100 K0 to K32 767 IMPORTANT If the limit error occurs set H0 as the limit input valid logic can be changed ...

Page 95: ...can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit Refer to Chapter 1 If forward and reverse rotations are started at the same timin...

Page 96: ...tor rotates is set as the plus direction It is assumed the mode setting switch at the bottom of the positioning unit is set to set side Pulses are output as long as the startup flag is ON in the manual mode There are two flags for start one for forward rotation and one for reverse rotation In the example shown below the selector switch is used to switch between high speed and low speed operation ...

Page 97: ...settings High speed settings Control code H0 Linear acceleration deceleration H0 Increment Linear acceleration deceleration H2 Increment S pattern acceleration deceleration Startup speed pps K500 K0 to K1 000 000 Target speed pps K5000 K10000 K1 to K1 000 000 Specify a value larger than the startup speed Acceleration deceler ation time ms K100 K0 to K32 767 ...

Page 98: ... time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position Refer to Chapter 1 The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit Refer to Chapter 1 If f...

Page 99: ...nitiated based on the settings When the flag is turned OFF deceleration takes place based on the settings and the operation stops When Y43 is turned ON in the program above the motor for the first axis begins to turn in the forward direction and accelerates to the target speed When Y43 is turned OFF the motor decelerates and stops Reverse rotation can be carried out in the same way with Y44 being ...

Page 100: ...ned by the following four types of data Control code Startup speed Target speed Acceleration deceleration time Operation steps Step 1 Preparatory stage The data for operation is transferred to the shared memory ahead of time Step 2 Executing the operations Forward The start flag Y43 for forward rotation is turned ON Shared memory F151 ...

Page 101: ...ion deceleration or linear acceleration deceleration is used When the start flag is turned ON acceleration takes places from the startup speed to the target speed for the acceleration deceleration time When the flag is turned OFF deceleration takes place until the startup speed is reached and operation then stops ...

Page 102: ... Specifying a speed change during JOG operation To change the speed during JOG operation the program should be set up so that only the Target speed parameter in the shared memory is overwritten after JOG operation has begun Pulse output diagram ...

Page 103: ...deceleration time for a sample program 1 Time until the low speed specification for JOG operation The acceleration deceleration time specified by the program serves as the acceleration deceleration time just as it is Acceleration deceleration time 50ms Acceleration rate 90 pps ms 2 Time from the JOG speed of the low speed specification to the JOG speed of the high speed specification Acceleration ...

Page 104: ...ration Deceleration settings When you change Jog speed during JOG operation set it to Linear Acceleration Deceleration When you set it to S Acceleration Deceleration JOG operation continues with the initial speed ...

Page 105: ...mple Program Example of teaching operation following JOG operation The current position can be determined by reading the counter value stored in the shared memory of the unit after JOG operation has taken place The value read at this time is the data for the absolute value ...

Page 106: ...106 Pulse output diagram ...

Page 107: ...107 Sample Program ...

Page 108: ... for forward and reverse rotation go ON at exactly the same timing forward rotation takes precedence Pulse output busy flag X_0 1 This goes ON with the next scan after JOG operation has been initiated and goes OFF when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop 3 This is reset when ...

Page 109: ...e power supply is turned OFF This flag is shared among E point control P point control JOG operation JOG positioning operation and pulser input enabled operation Cautions for changing speed during JOG operation When you change target speed only in linear acceleration deceleration during a JOG operation do not change target speed in a JOG point ON OFF speed reduction operation If you change the tar...

Page 110: ...110 ...

Page 111: ...e minus direction The direction in which the elapsed value increases as the motor rotates is set as the plus direction It is assumed the mode setting switch at the bottom of the positioning unit is set to set side The home input is connected to the Z phase output of the motor driver or to an external switch or a sensor ...

Page 112: ...elapsed value Home input logic Input valid when the power is ON Near home input logic Input valid when the power is ON The specified values vary depending on the method of acceleration deceleration the home return direction the home input logic and the near home input logic Refer to the below Startup speed pps K500 K0 to K1 000 000 Target speed pps K10000 K1 to K1 000 000 Set a value larger than t...

Page 113: ...time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated Set the startup speed to 1pps or more The number of the start flag varies depending on the number of axes the unit has and the installation position Refer to Chapter 1 The specified slot number and shared memory address vary depending on the slot position and axis number of the pos...

Page 114: ...ome Return direction Zero Point Input logic Near zero Point logic Accelerati on Decelerati on method Home Return direction Zero Point Input logic Near zero Point logic H0 Linear direction No power connected Power connected H20 Linear direction No power connected No power connected H2 S PATTERN direction No power connected Power connected H22 S PATTERN direction No power connected No power connecte...

Page 115: ... ON Near home input logic Input valid when the power is ON The specified values vary depending on the method of acceleration deceleration the home return direction the home input logic and the near home input logic Refer to the below Startup speed pps K500 K0 to K1 000 000 Target speed pps K10000 K1 to K1 000 000 Set a value larger than the startup speed Acceleration deceleration time ms K100 K0 t...

Page 116: ...on time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated Set the startup speed to 1pps or more The number of the startup flag varies depending on the number of axes the unit has and the installation position Refer to Chapter 1 The specified slot number and shared memory address vary depending on the slot position and axis number of th...

Page 117: ...Point logic H4 Linear direction No power connected Power connected H24 Linear direction No power connected No power connected H6 S PATTERN direction No power connected Power connected H26 S PATTERN direction No power connected No power connected H14 Linear direction Power connected Power connected H34 Linear direction Power connected No power connected H16 S PATTERN direction Power connected Power...

Page 118: ...ell the movement stops When Y42 is turned ON in the program above the motor for the first axis begins to accelerate and continues accelerating until the target speed is reached If there is near home input at that point the motor decelerates to the startup speed After deceleration has been completed the motor stops if home input exists Data required for settings The following data must be written t...

Page 119: ...Executing the operations The startup flag Y42 is turned ON The control code determines whether S acceleration deceleration or linear acceleration deceleration is used When the startup flag is turned ON acceleration takes places for the acceleration deceleration time it takes to reach the target speed and the table moves NX700 ...

Page 120: ...120 Step 3 Near home input If there is near home input the speed slows to the startup speed Step 4 Home input After decelerating to the startup speed value the movement unit stops if there is home input ...

Page 121: ... not viewed as home input signals Deceleration continues without stopping until the startup speed is reached and then the motor continues to rotate at the startup speed until a Z phase signal is input IMPORTANT When Home return is completed the elapsed value stored in the shared memory is cleared and the deviation counter clear output signal is output for about 1ms at the same time IMPORTANT When ...

Page 122: ...Deceleration continues without stop ping until the startup speed is reached and then the motor continues to rotate at the startup speed until a home input signal is input IMPORTANT When Home return is completed the elapsed value stored in the shared memory is cleared and the deviation counter clear output signal is output for about 1ms at the same time IMPORTANT When the home return is started at ...

Page 123: ...123 Action of the I O Flag Before and After a Home Return Operation Return Operation ...

Page 124: ...o not affect operation Confirmation of the input logic is necessary Refer to page 10 17 Deviation counter clear output 3 This goes ON for approximately 1 ms or 10ms after the home return has been completed This is used in systems in which a servomotor is used This is not used for a stepping motor Pulse output busy flag X_0 1 This goes ON with the next scan after home return has been initiated and ...

Page 125: ... to OFF when E point control P point control JOG operation JOG positioning operation or pulser input operation is completed 3 If this is OFF before a home return is started it remains OFF and does not change 4 This flag is reset when the power supply is turned OFF This flag is common to E point control P point control JOG operation and pulser input operation ...

Page 126: ...input switch contact is the a contact If the input sensor goes ON when the home or near home position is detected When Input Valid When Power is not Supplied is Specified In cases like that below when power is not being supplied to the input circuit of the unit the Power not supplied control code for the program is selected from the control code table Refer to Chapter 1 When to specify Input valid...

Page 127: ...exists when power is supplied Near home input logic Input exists when power is not supplied Operation When Home return is started the motor rotates in the direction of home return The motor rotates at the startup speed At this time the near home input is already ON due to the Input logic setting The motor stops when the home input is made Example Home return is executed at the startup speed When t...

Page 128: ...Home Input and Home Environment available for this The system in which the near home input switch is once turned ON and then OFF when the home return is started Example of usage method Connection Near home input and home input are connected to the near home input switch Input logic setting Set the control code of the shared memory for the following Home input logic Input Valid when power is not su...

Page 129: ...c and the motor stops Reference Key Points Practical application of input logic Reverse the logic of the near home input and the home input When the switch is ON the near home input is to be ON When the switch is OFF the home input is to be ON One switch is to be connected with the home input and the near home input The near home input should be ON for the time more than the deceleration time The ...

Page 130: ...n in the figure below When Near zero Point Input is in Home Return direction Slow down at Near zero Point and stop at zero point input position When Near zero Point Input is not in Home Return direction 1 Starts home return in the direction defined in the program and moves to Limit Over Input position 2 When Limit Over is detected movement direction is reversed and near zero point input becomes ON...

Page 131: ...131 3 If Near zero point inputs are detected operation direction is reversed and motor stops at zero point Sample Program ...

Page 132: ...132 ...

Page 133: ...e 1 multiple setting The rotation direction of the motor in which the elapsed value increases is set as the plus direction and pulse sign is set as the pulse outpt mode It is assumed the mode setting switch at the bottom of the positioning unit is set to set side The normal setting system ...

Page 134: ... in sample program example Range of acceptable settings Control code H0 Multiplication ratio x1 multiple H0 x 1multiple H100 x 2 multiple H200 x 5 multiple H300 x 10 multiple H400 x 50 multiple H500 x 100 multiple H600 x 500 multiple H700 x 1000 multiple Target speed pps K1000 K1 to K1 000 000 ...

Page 135: ...ted The number of the startup flag varies depending on the number of axes the pulser input unit has and the installation position Refer to Chapter 1 The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit Refer to Chapter 1 The target speed should be specified as an appropriately large value to match the multiplication ratio I...

Page 136: ... direction of the motor in which the elapsed value increases is set as the plus direction and pulse sign is set as the pulse output mode It is assumed the mode setting switch at the bottom of the positioning unit is set to set side The normal setting system Pulse output diagram ...

Page 137: ...ple program example Range of acceptable settings Control code H0 Multiplication ratio x5 multiple H0 x 1multiple H100 x 2 multiple H200 x 5 multiple H300 x 10 multiple H400 x 50 multiple H500 x 100 multiple H600 x 500 multiple H700 x 1000 multiple Target speed pps K5000 K1 to K1 000 000 ...

Page 138: ...cepted The number of the startup flag varies depending on the number of axes the unit has and the installation position Refer to Chapter 1 The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit Refer to Chapter 1 The target speed should be specified as an appropriately large value to match the multiplication ratio If the mult...

Page 139: ...r input enabled flag PEN is ON The user can select the number of pulses to be sent to the motor driver in relation to one pulser signal pulse by setting the control code in the shared memory When the 4 axis type positioning unit is mounted in slot 0 Operation example When the flag which enables pulser input operation is turned ON the motor rotates at the specified speed in conjunction with the pul...

Page 140: ...motor rotates also The pulse output busy flag X0 remains OFF and its status does not change The pulse output done flag X1 goes OFF when Y47 goes ON Data necessary for settings The following data must be written to the specified addresses of the shared memory Operation is determined by the following two types of data Control code Target speed ...

Page 141: ...ode for input from the pulser Forward rotation The pulser rotates in the forward direction Reverse rotation The pulser rotates in the reverse direction Forward rotation is the direction in which the elapsed value increases and reverse rotation is the direction in which the elapsed value decreases The direction in which the pulser rotates and that in which the motor rotates vary depending on how th...

Page 142: ...rom the pulser does not equal to the value counted by the counter When the input signal from the pulser is ignored If the specified multiplication is high and the target speed is low the next pulser input command may be received before the specified pulse output has been completed making it impossible to obtain output of the input number of pulses If this happens the target speed should be changed...

Page 143: ...lag X_0 The ON OFF status of the pulse output busy flag does not change even if the pulser input enabled lag Y_7 goes ON Pulse output done flag X_1 1 This goes from ON to OFF if E point control P point control JOG operation JOG positioning operation or pulser input operation is completed before pulser input operation 2 This goes from OFF to ON when the pulser input enabled flag Y_7 goes OFF 3 This...

Page 144: ...s per cycle type four pulses are output per click and operation may not be accurate in some cases A line driver output type is recommended A transistor open collector output type or transistor output type with pull up resistance may be used Manual Pulse generator for Reference Manufacturer Types Notes TOKYO SOKUTEIKIZAI in Japan RE45BA2D5F RE45BA2D5C NEMICON in Japan UFO 0025 2D ...

Page 145: ...145 11 Deceleration Stop and Forced Stop Sample Program In progress Stopping Emergency Stopping Overrun ...

Page 146: ...xes that the unit has and the position in which it is mounted If a deceleration stop or forced stop is triggered the start flag for the various operations must be turned OFF before operation can be restarted This content is common to E point control P point control home return JOG operation and pulser input operation ...

Page 147: ...147 Pulse output diagram Deceleration stop operation In progress stop ...

Page 148: ...148 Forced stop operation Emergency stop Overrun ...

Page 149: ...turn JOG operation For pulser input operation pulse output stops When a deceleration stop has been executed deceleration is carried out based on the acceleration rate determined by the data specified in the shared memory area at that point and continues until the startup speed is reached Following that operation stops If the deceleration stop flag goes ON during deceleration or acceleration decele...

Page 150: ... Forced Stop If the forced stop flag goes ON during operation pulse output stops immediately This operation is common to E point control P point control home return JOG operation and pulser input operation ...

Page 151: ...when the power supply is turned OFF Forced stop flag Y_5 1 When the forced stop flag goes ON the operation in progress is interrupted immediately and pulse output stops 2 This flag is reset when the power supply is turned OFF Pulse output busy flag X_0 1 When the deceleration stop flag goes ON this flag goes OFF when pulse output is completed 2 When the forced stop flag goes ON this flag goes OFF ...

Page 152: ... a trigger signal for operation after positioning has been completed the program should be set up so that operation does not proceed to the next step following a deceleration stop or a forced stop Restarting After a Stop When a deceleration stop or forced stop is triggered the start flags for all operations must be turned OFF before operation can be restarted This operation is common to E point co...

Page 153: ...s As a result when the power supply is turned ON again the default operation data should be written to the shared memory before the various start flags are turned ON When the power supply is turned OFF the various set values in the shared memory are set to 0 All of the control codes also return to the default values If the start flags are turned ON without writing the data to the memory a set valu...

Page 154: ... the input logic causing the unit to operate in unexpected ways Reference The following program should be written to the unit so that after the power supply is turned ON the elapsed value data prior to the power supply being turned OFF will be read Example Before the power supply is turned OFF the elapsed values of DT100 and DT101 are read and when the power supply is turned ON the contents of DT1...

Page 155: ...m RUN to PROG mode during E point control operation Reference Deceleration Stop and Forced Stop Chapter 11 At the point at which the CPU switches from the RUN to the PROG mode deceleration and stopping begin The acceleration rate used for deceleration at that point is that determined by the data stored in the shared memory when the switch is made from the RUN to the PROG mode The CPU mode should n...

Page 156: ...ion even if the flag for that operation goes ON Example Once the E point control start flag has gone ON and E point control has begun it is not possible to switch to P point control a home return JOG operation or pulser operation even if those flags are turned ON while E point control is still in operation Reference If the flag for a deceleration stop or forced stop goes ON the five basic operatio...

Page 157: ...ro This produces pulse output at the target speed with an acceleration deceleration time of 0 zero Setting the startup speed equal to the target speed results in a set value error and the positioning unit will not start Cautions when you set position command value to 1 pulse When you set Position Command value displacement value to 1 pulse at E point control and P point control you have to set sta...

Page 158: ...158 ...

Page 159: ...e initiated During P point control operation or JOG operation If a set value error occurs during P point control operation or during JOG operation the positioning unit interrupts any operation currently in progress and enters the deceleration stop status Reference When a set value error occurs or a limit error occurs the error clear flag should be turned OFF ON and then OFF again Operation cannot ...

Page 160: ...eration currently in progress and enters the deceleration stop status Reference Operation is continued however if Operation has been specified in the system register settings for operation when an error of some kind occurs Deceleration stop operation Reference Chapter 11 ...

Page 161: ...the Positioning Unit Itself The positioning unit itself has a function which warns the user of an error if any of the parameters for the Startup speed Target speed and Acceleration deceleration time settings are not appropriate ...

Page 162: ...gative number 0 Out of range E point control startup speed Error Error No applicable condition target speed Error Error Error Acceleration deceleration time Error Error P point control startup speed Error Error target speed Error Error Error Error Error Error Acceleration deceleration time Error Error Error Error Home return startup speed Error Error Error No applicable condition target speed Erro...

Page 163: ...gative value 4 If parameters have been set from an external source and if operation is being carried out internally in the PLC check to make sure the values match those specified by the design Procedure 2 Modify the value out of the range in the program Procedure 3 Reset an error by either of the followings 1 Specify in the program so that the error clear flag ECLR goes OFF ON and then OFF 2 By th...

Page 164: ...Y_F for the forced output 3 Make the target contact once ON and then OFF 4 Cancel the forced status Each operation starting point is valid after errors are released If you clear the Error Clear Signal with the program you can clear errors even when another axis is being used in operation IMPORTANT The number of relay to be used varies depending on the allocations IMPORTANT Without fail execute for...

Page 165: ...g unit and the driver has been correctly connected Solution 4 Check to make sure the settings for the pulse output method CW CCW method or Pulse Sign method are appropriate for the driver For more information about mode switch refer to Chapter 4 If the Motor Does Not Turn or Operate if the LED for pulse output A or B is not lighted Solution Review the program and correct it if necessary Points to ...

Page 166: ...lution 2 Check to make sure the control codes in the shared memory match the specifications for the position command values Point to check The settings for the increment relative value control and the absolute absolute value control are specified through the control codes in the program Increment and Absolute Refer to Chapter 4 Solution 3 If the settings for the position command data have been des...

Page 167: ... unit will not stop even if there is home input Solution 1 Try shifting the position of the near home input switch in the direction of the home return and in the opposite direction Point to check If the home input is connected to the Z phase of the servo motor driver there may be cases in which the near home input position is close to the home input Solution 2 Correct the program and set the home ...

Page 168: ...the near home input display LED D on the positioning unit lights Solution 2 Check to make sure the input valid logic for the near home input switch is normally either ON or OFF Solution 3 Check the specifications of the control codes in the home return program Control code Refer to Chapter 4 Input valid logic Refer to Chapter 9 Point to check If no near home input has been connected the near home ...

Page 169: ...ing ignored Solution 1 Forcibly turn the home input sensor ON and OFF from an external source and check to see if the home input display LED Z on the positioning unit lights Solution 2 Check to make sure the input logic for the home input is normally either ON or OFF Solution 3 Check the specifications of the control codes in the home return program Control code Refer to Chapter 4 Input valid logi...

Page 170: ...170 ...

Page 171: ...Connection Diagram Rockwell Automation Korea CSDJ plus series Line Drive connection For the Drive side CW Start Limit Input and CCW Start Limit Input and Servo Alarm Output connections please refer to the Motor manufacturer s circuit recommendations ...

Page 172: ...utomation Korea CSD3 Series Line Drive Connection For the Drive side CW Start Limit Input and CCW Start Limit Input and Servo Alarm Output connections please refer to the Motor manufacturer s circuit recommendations ...

Page 173: ...Electronics MR J2 A 1 Series Line Drive Connection For the Drive side CW Start Limit Input and CCW Start Limit Input and Servo Alarm Output connections please refer to the Motor manufacturer s circuit recommendations ...

Page 174: ... Industrial Co Ltd MINAS A Series Line drive connection When connecting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used ...

Page 175: ...o Ltd MINAS EX Series Line drive connection When connecting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used ...

Page 176: ... Ltd MINAS X XX Series Line drive connection When connecting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used ...

Page 177: ...o Ltd MINAS X V Series Line drive connection When connecting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used ...

Page 178: ...178 Oriental Motor Co Ltd UPK W Series Open collector output stepping drive connection ...

Page 179: ...179 NX700 PLC External Dimensions 1 System Dimensions mm Motherboard Installation Diagram mm ...

Page 180: ...180 2 CPU I O Analog Unit Dimensions mm 3 Special Unit Dimensions mm ...

Page 181: ... moves to the absolute position 10000 Positioning 1 2 When input X81 is ON the table moves to the absolute position 0 Positioning 2 3 When input X82 is ON a return to the home position begins If the near home input is not in the return direction a Over limit input is detected and the direction is reversed After the near home input ON OFF is detected the return to the home position is begun again ...

Page 182: ... Home return start Y43 Forward JOG Y44 Reverse JOG Y45 Forced stop I O No Description R1 Home return command pulse R2 Home Position Return Command Pulse R3 CCW LIMIT DETECTION R4 JOG Forward Rotation Start R5 JOG Forward Rotation Start Pulse R6 Non near zero Point Detection R7 Home Position Return Retry R8 Home return done pulse R9 Home return completed and stored in memory R10 during positioning ...

Page 183: ...183 Program ...

Page 184: ...in the distance are calculated individually 4 E point control is initiated simultaneously for the X and Y axes the start up speed and target speed are output as the respective proportions and linear interpolation is carried out Because an error occurs if a startup is applied to an axis for which the target speed is 0 pps an internal flag is used and the startup conditions are specified The example...

Page 185: ...ed through operation in the sample program Reference Calculation of the linear movement distance Data Linear component X axis component Y axis component Target position absolute X Y X Y Current position absolute x y x y Movement distance Lx X x Ly Y y startup speed VS target speed Vt Acceleration deceleration time Ac Acx Ac Acy Ac ...

Page 186: ...amount of square of X axis Movement amount of square of Y axis Movement amount of square of X axis movement amount of square of Y axis Linear movement amount Movement amount of X axis Linear movement amount Movement amount of Y axis Linear movement amount ABS DT6 _ DT10 ABS DT8 _ DT12 Square of DT14 Square of DT16 DT18 DT20 DT22 DT14 DT24 DT16 DT24 DT30 DT32 DT34 DT36 DT38 Control code of X axis S...

Page 187: ...187 Program ...

Page 188: ...188 ...

Page 189: ... the positioning unit Acceleration deceleration time Acceleration time the time during which the speed changes from the startup speed to the target speed after the pulse output is issued Deceleration time the time during which the speed changes from the target speed to the startup speed CW CCW Generally these indicate the direction in which the motor is rotating with CW referring to clockwise rota...

Page 190: ... command values See chapter6 1 3 shared memory setttings Increment method relative value control method This is a control method in which the distance from the current position to the target position is specified as a relative position With the FP2 positioning unit this is specified in the user program using the control codes and the position command values See chapter6 1 1 6 1 2 shared memory set...

Page 191: ...n by an input from the external switch Positioning control start input Timing input This is a JOG positioning operation input to transfer a JOG operation to a positioning operation The pulse count settings can be output after the external switch input Over limit input Over limit input This is an input to set a limit the motor movement Over limit input is the maximum limit and Over limit input is t...

Page 192: ...ntered using a control code in the program Deviation counter This is located inside the servo motor driver and counts the difference between command pulses and the feedback from the encoder Command pulses are counted as plus values and feedback pulses are counted as negative values with control being initiated so that the difference between them is zero Deviation counter clear output signal This i...

Page 193: ...phase B phase when A phase preceeds B phase the motor is rotated clockwise count increment and when B phase preceeds A phase the motor is rotated counter clockwise count decrement Direction distinction input method This is a method to count using ON OFF signal specifying the pulse signal and count direction Individual input method This is a method to count using the count increment pulse signal an...

Page 194: ...Publication NX700 UM007A PositionA EN December 2010 ...

Page 195: ......

Page 196: ...Copyright 2010 RS Automation Co Ltd All rights reserved ...

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