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Positioning User Manual

1.5.2

Bias Speed (Address “1-2”)



Bias speed refers to the initial speed of the positioning operation.



Considering that torque of a stepping motor is unstable when its initial speed is almost at 0, the

initial speed (bias speed) has to be set during early operation in order to facilitate motor’s

rotation and to save positioning time.



Bias speed should not be entered over the selected speed limit value.

1.5.3

Speed Limit (Address “3-4”)



Speed Limit means the allowable maximum speed that can be set in the positioning operation.



Positioning operation speed cannot be configured greater than the value set as the Speed Limit.

1.5.4

Acceleration / Deceleration Time (Address “5-8”)



Acceleration Time: a duration required to reach from “0 (Stop)” speed to the max. Speed Limit.



Using bias would be a time consumed to reach from Bias Speed to the Speed Limit.



Deceleration Time: a duration required to reach from the Speed Limit down to “0 (Stop)” speed.



Using bias would be a time consumed to reach to Bias Speed configured in parameter.



The actual Acceleration / Deceleration Time can be calculated by the formula shown below.

T = V x Ta / (Vmax – Vbias)

(V = Target speed change, Ta = Acc/Dec time, Vmax = Speed Limit, Vbias = Bias Speed)

Содержание PLC-S

Страница 1: ...are Upper Lower Limit ADDRESS 9 10 for Upper 11 12 for Lower 11 1 5 6 Position Indication of the Speed Control ADDRESS 13 12 1 5 7 Backlash Compensation ADDRESS 14 12 1 5 8 Use External Upper Lower Limit Input ADDRESS 15 13 1 5 9 Jog Speed Limit ADDRESS 16 17 13 1 5 10 Jog Acceleration Deceleration Time ADDRESS 18 13 1 5 11 Inching Speed ADDRESS 19 13 1 5 12 Origin Point Return Method ADDRESS 21 1...

Страница 2: ...ol Pattern 22 1 7 2 Specify the Target Axis of Interpolation 23 1 7 3 Acceleration Time Deceleration Time Number 23 1 7 4 Control Code 24 1 8 Positioning Instruction 32 1 8 1 PSTRTn n 1 2 32 1 8 2 POSCTRL 33 1 8 3 TEACHn n 1 2 39 1 9 Error Code 41 1 10 CICON Configuration and Use 43 1 10 1 Register the PLC S Positioning Special Program 43 1 10 2 Configure the PLC S Positioning Special Program 44 1...

Страница 3: ...ositioning module positioning control is executed by stepping motor or servo motor The Number of Control Axis The number of control axes for positioning function is equal to the number of motors to be controlled PLC S executes the two axis positioning control and supports linear interpolation 1 Axis Linear Control X axis or Y axis 2 Axis Linear Interpolation Control ...

Страница 4: ...operation is made possible by JOG operation Inching operation and general purpose Manual Pulse Generator MPG OPR Control PLC S provides three OPR control methods DOG Zero OFF DOG Zero ON and near point DOG 1 2 Output Pulse Level The direction of position control is determined by configuring the High Active or Low Active mode in a scan program or special program ...

Страница 5: ...Positioning I O Pin Input signals and internal circuit of PLC S CPU positioning pin are as follows Pin Input Signals X Axis Y Axis X07 Ext Lower Limit B contact X08 Ext Upper Limit B contact X09 N A X0A Ext Lower Limit B contact X0B Ext Upper Limit B contact X0C DOG A contact X0D Zero A contact X0E DOG A contact X0F Zero A contact COM Input Common Input Common ...

Страница 6: ...s Output signals and internal circuit of PLC S CPU positioning pin are as follows Pin Output Signal X Axis Y Axis Y010 Pulse Output Y011 Direction Output Y012 Pulse Output Y013 Direction Output DC24V Output Common COM Output Common b Internal Circuit of Output Signal When controlling only the X Axis Y012 and Y013 can be used as digital input and output pins When controlling only the Y Axis Y010 an...

Страница 7: ...olute Incremental Position Address Range 2 147 483 648 2 147 483 647 Pulse Speed Range 1 100 000 pps 1 pps unit Acceleration Deceleration Type Trapezoid shaped Acceleration Deceleration Time 0 100 000 mSec Selectable from 4 types of acceleration deceleration patterns Maximum Output Pulse X Axis Position Control Speed Control 100kpps Maximum Output Pulse Y Axis Position Control 5kpps Speed Control ...

Страница 8: ...2 147 483 648 2 147 483 647 DW Low 10 High 11 S W Lower Limit 2 147 483 648 Low 12 High 13 Position address under speed control 0 0 Do not update 1 Update 2 Clear and update W 14 Backlash Compensation 0 0 65 535 Pulse W 15 Ext Upper Lower Limit Signal 0 0 Not Used 1 Wired Used W 16 Jog Speed Limit 20 000 1 100 000 PPS Bias Speed Jog Speed Speed Limit DW Low 17 High 18 Jog Acceleration Dec Time 0 N...

Страница 9: ... input type of a servo or stepping motor driver connected with the positioning module It is also possible to configure and adjust the settings on the other side devices If a non zero value is assigned for this parameter pulse signal output is enabled and the signal type High Active or Low Active can be selected If a zero 0 value is assigned pulse signal output is disabled for the specific axis ...

Страница 10: ... can be set in the positioning operation Positioning operation speed cannot be configured greater than the value set as the Speed Limit 1 5 4 Acceleration Deceleration Time Address 5 8 Acceleration Time a duration required to reach from 0 Stop speed to the max Speed Limit Using bias would be a time consumed to reach from Bias Speed to the Speed Limit Deceleration Time a duration required to reach ...

Страница 11: ...nd software lower limit The Software Upper and Lower Limit does not execute positioning if it operates out of the ranges configured in the parameters Range of software upper limit and lower limit is checked before starting positioning and also during the operation Pulse output stops when an error codes 154 155 is detected Checking for software limit function is disabled when identical values are a...

Страница 12: ...d Backlash occurs during shifting a direction The error that occurs due to backlash when moving the machine via gears can be compensated When the Backlash Compensation amount is configured the pulse equivalent to the compensation amount will be outputted each time the direction changes during positioning Set Value Position Address Operation Function Description 0 Do not update While controlling sp...

Страница 13: ...Jog Acceleration Deceleration Time ADDRESS 18 This parameter configures the period of time for the acceleration and deceleration of Jog operation The time is assigned by selecting one of the pre configured values from the Acceleration and Deceleration Time Address 5 8 Specifies the value from the range of 0 to 3 1 5 11 Inching Speed ADDRESS 19 Inching operation a type of manual operation outputs t...

Страница 14: ...n Point ZERO Detection after turning DOG OFF OPR begins with OPR High Speed in the OPR Direction configured at OPR parameters until DOG signal is turned ON to cause OPR to decelerate with OPR Low Speed When the DOG signal is OFF the first ZERO signal is detected as well as the OPR ends at the same time DOG and ZERO signals can only be entered at external signals They cannot be entered in internal ...

Страница 15: ... when DOG signal is ON OPR begins with OPR High Speed in the OPR Direction configured at OPR parameters until DOG signal is turned ON to cause OPR to decelerate with OPR Low Speed After the deceleration the first ZERO signal is detected as well as the OPR ends at the same time ...

Страница 16: ...eters until DOG signal is detected ON to cause OPR to decelerate stop and drive in the reverse direction with OPR Low Speed When the DOG signal is turned OFF OPR decelerates to a stop and then drives in the reverse direction with OPR Low Speed When the DOG signal is detected again the pulse output stops and OPR gets completed ...

Страница 17: ...of the OPR operation The allowable input range goes Bias Speed OPR Low Speed OPR High Speed Speed Limit 1 5 16 Origin Point Return Low Speed ADDRESS 27 28 This parameter configures the speed for the low speed part of the OPR operation The allowable input range goes 0 OPR Low Speed OPR High Speed Speed Limit It is recommended to set the speed as low as possible 1 5 17 Origin Point Return Accelerati...

Страница 18: ...s Flag 0 Run 0 Stop 1 Running 1 Under position control 2 Under speed control 3 Under linear interpolation 4 Under OPR 5 Reserved 0 6 Reserved 0 7 Under acceleration 8 Under constant speed 9 Under deceleration A Under dwell B Positioning Completed C OPR Completed D Direction Forward 0 Backward 1 E Disable Pulse Output F Error occurs 2 Current Pos Address L 2 147 483 648 2 147 483 647 Pulse 3 H 4 Cu...

Страница 19: ...n control 2 Under speed control 3 Under linear interpolation 4 Under OPR 5 Reserved 0 6 Reserved 0 7 Under acceleration 8 Under constant speed 9 Under deceleration A Under dwell B Positioning Completed C OPR Completed D Direction Forward 0 Backward 1 E Disable Pulse Output F Error occurs 12 Current Position Address L 2 147 483 648 2 147 483 647 Pulse 13 H 14 Current Speed L 1 100 000 PPS 15 H 16 C...

Страница 20: ...top Immediate Stop 104 Lower Limit Immediate Stop Immediate Stop Immediate Stop 105 1 6 3 Emergency Stop Request The Emergency Stop Request flag immediately stops the axis in motion without deceleration process The other occasions where the axis is stopped immediately rather than by this flag are as follows Detection of the Upper limit signal Setting of the Software Upper Lower limit signal 1 6 4 ...

Страница 21: ... Forward 1 Backward 1 6 8 Disable Pulse Output When an error occurs during the positioning operation error code gets written in the memory offset 19 At the same time Error and Disable Pulse Output flags are set automatically Pulse does not output while the Disable Pulse Output flag is set To enable the pulse output the source of the error should be removed and the error code has to be cleared by s...

Страница 22: ... series of positioning control and does not go onto the next item on the list When a set value is written on the device used as indirect data in the sequence program the set value of the position data gets modified Offset Item Bit Description Unit 0 Control Pattern 0 00 Single step control 01 Continuous control 1 Interpolation 2 00 Non Interpolation 01 Main Axis Y Linear Interpolation 10 Main Axis...

Страница 23: ...tioning speed reaches 0 to carry out the next position data operation If Dwell Time is designated the acceleration is carried out after the designated time elapses In operation by continuous positioning control the next positioning No is automatically executed Always set operation pattern as Single Step in the last positioning data to terminate the continuous positioning If the operation pattern i...

Страница 24: ...atically It is based on the moving distance The axis which has longer moving distance becomes the main 2 In continuous control an interpolation axis waits until the other partner axis proceeds to the interpolation step In this case there is no limit on the waiting time To escape from the waiting status use the Emergence Stop Request control flag 3 In interpolation operation set values such as spee...

Страница 25: ...83H 131 LEND The last step of loop 84H 132 POS Force to change the current position address New address is stored in target position address a ABS Absolute Coordinate 1 Position control by absolute coordinate is performed based on the address designated in the origin point address Object moves from start address to target address 2 Direction of movement is determined by the sign and pulse output m...

Страница 26: ...ta will be executed Item Setting Value Description Pulse Output Method High Active Select a desired pulse output type Bias Speed PPS 100 Initial speed for the positioning Speed Limit PPS 1 000 Maximum speed for the positioning Acc Dec Time 1 1 000 The time taken for the speed to increase or decrease from 0 to the speed limit Acc Dec Time 2 1 000 Acc Dec Time 3 1 000 Acc Dec Time 4 1 000 Position D...

Страница 27: ... Backward Positioning Pulse Output Method Low Active Mode When the movement direction is plus Backward Positioning When the movement direction is minus Forward Positioning For instance If the start address is 1000 and the target address is 5000 the PLC S moves forward and stops at 6000 as opposed to ABS which stops at 5000 The overall movement amount is 6000 1000 5 000 4 Positioning Special Module...

Страница 28: ...the movement direction is minus Forward Positioning For instance If the start address is 1000 and the target address is 5000 the current coordinate 1 000 is cleared to zero 0 and then PLC S moves forward and stops at 5 000 according to the target address as opposed to ABS which stops at 5000 and INC which stops at 6000 3 Positioning Special Module PLC S Configuration A The X Axis parameter setting...

Страница 29: ...ddress is cleared updated or fixed during speed control 4 Speed control has forward and backward maneuvers Forward When the FSC code is configured in the positioning control data Backward When the RSC code is configured in the positioning control data For instance After the control code is configured as FSC in the X Axis position data and the operation speed is configured as 1000 the speed control...

Страница 30: ... Program setting is the same as the ABS configuration e NOP No operation is performed Position Data No Control Pattern Interpolation Acceleration Time Deceleration Time Control Code Dwell Time Operation Speed Target Address 1 Single Step Non Interpolation No 1 No 1 FSC 0 1 000 0 ...

Страница 31: ...tion address to a new address The new address has to be designated in the target address field For instance Configure the control code as POS and specify the target address as 4000 When this command is executed the current coordinate will be set as 4000 Position Data No Control Pattern Interpolation Acceleration Time Deceleration Time Control Code Dwell Time Operation Speed Target Address 1 Contin...

Страница 32: ...Type in the desired positioning data number to be executed 1 30 Positioning data number 9001 OPR 9002 High speed OPR c n3 Result flag Device memory in which an error code if it exists and result flag are to be written It must be a word device For example M0100 Upper Byte Error code Lower Byte Command processing status Bit 0 Processing the command Bit 1 The command is processed completely Bit 2 Com...

Страница 33: ...control parameter are stored When the Command Code is 1 2 3 and 6 n2 Axis 1 2 n2 1 Command Code 1 2 3 6 n2 2 Control Data Lower word n2 3 Control Data Upper word When the Command Code is 7 n2 Axis 1 2 n2 1 Command Code 7 n2 2 Parameter Offset n2 3 Setting Data Word When the Command Code is 8 n2 Axis 1 2 n2 1 Command Code 8 n2 2 Parameter Offset n2 3 Setting Data Lower word n2 4 Setting Data Upper ...

Страница 34: ... changes the position control parameter in the sequence program Parameter changed by this function does not carry out the validity check such as setting range Therefore pay an attention not to write an incorrect value All the parameter changes will be lost when switching to STOP mode 8 Change parameter DWORD 10 Indirect position data Position data block of 8 word size must be written in the parame...

Страница 35: ...ng FSC or RSC commands the current speed is changed to 1 000 PPS Error Code occurs when executing a command to change operation speed during the JOG operation MOV 1 Change current coordinates MOV 2 Change operation speed MOV 3 Inching operation MOV 6 Change target address Position Data No Control Pattern Interpolation Acceleration Time Deceleration Time Control Code Dwell Time Operation Speed Targ...

Страница 36: ...S and the amount of movement is configured as 300 PPS d Change Target Address When executing the position control to the target address 5 000 configured by ABS INC and FEED position data it changes the target address 8 000 configured in the POSCTRL Position Data No Control Pattern Interpolation Acceleration Time Deceleration Time Control Code Dwell Time Operation Speed Target Address 1 Single Step...

Страница 37: ... changing the DWORD When changing the Software Upper Lower Limit DWORD f Indirect Operation The position data such as the table below can be configured by indirect operation ABS via scan program The scan program shown below represents the position data specified in the table below Offset 0 2 4 5 6 Item Control Pattern Interpolation Acceleration Time Deceleration Time Control Code Dwell Time Operat...

Страница 38: ...me 4 Acc Dec Number 1 5 Decelerate Time 6 Acc Dec Number 1 7 Control Code 8 F ABS 1 2 Dwell Time 10 mSec 3 4 Operation Speed L 1 000 PPS 5 H 6 Target Address L 5 000 Pulse Control Code Decelerate Time Accelerate Time Interpolation Control Pattern Offset 0 1 word F E D C B A 9 8 7 6 5 4 3 2 1 0 Value 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 ABS Absolute Coordinates Positioning Control No 1 No 1 Non Interpol...

Страница 39: ...w 0 Setting Item Position Data Number 1 Setting Data DWORD 2 The detailed format of the setting item and position data numbers are as follows 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Setting Item Position Data Number 1 30 H001 H01E Example H1014 Operation Speed of Position Data No 20 PLC S can use a maximum of 30 position data numbers Type Setting Item Position Data Number WORD F E D C B A 9 8 7 6 5 ...

Страница 40: ...345 Execution Order Offset Instruction Setting Value Setting Contents Type 1 0 d0100 MOV H1012 D0100 H1012 Item Speed Position Data No No 18 H012 18 Setting Item and Position Data Number 2 1 d0101 DMOV 12345 D0101 12345 Speed 12345 Speed can be configured from 1 to 100 000 and can use two word DWORD Setting Data 3 2 d0102 4 TEACH1 H0000 D0100 M0200 Set the start address of the instruction TEACH1 t...

Страница 41: ... This error occurs when the operation speed for positioning control is not entered 519 Interpolation axis in operation This error occurs when the specified interpolation axis is controlling another positioning 521 Wrong interpolation axis This error occurs when the unsupported axis is executed for the interpolation operation 543 Positioning number error When a wrong number other than 1 30 and 9001...

Страница 42: ... No 1 When it is beyond the setting range 0 65535 ms of the Acceleration and Deceleration time No 1 913 Acceleration and Deceleration time No 2 When it is beyond the setting range 0 65535 ms of the Acceleration and Deceleration time No 2 914 Acceleration and Deceleration time No 3 When it is beyond the setting range 0 65535 ms of the Acceleration and Deceleration time No 3 920 Backlash setting err...

Страница 43: ...ter the PLC S Positioning Special Program Go to File New Program Select Positioning for PLC S Only one Positioning for PLC S special program can be configured for a CICON project Enter the Program Name Program ID and Program Free Space Online Edit Buffer Click the OK button ...

Страница 44: ...tioning Special Program Configuration Window is shown below a Start Address You can select M L K D devices for storing the positioning parameters While in Monitor Mode or the monitor screen is displayed you cannot select the Start Address Close the Monitor screen and then select the Start Address ...

Страница 45: ...e power is removed c X Y Axis Position Data You can create and configure 30 position data per axis Each position data occupies the memory size of 8 Word in the following order as shown below This structure is used in the same manner for POSCTRL a positioning dedicated command Dwell Time Operation Speed Position Address can be configured using constant values and devices d Monitor Monitor mode is e...

Страница 46: ...ed to active status When this flag is reset the axis is switched to inactive status Forward Backward JOG JOG operation initiates the Forward Backward JOG signal without an instruction JOG operation is executed according to the set values of JOG Speed Limit and JOG Acc Dec Time JOG operation can be activated without having no origin point determined You cannot click Forward or Backward buttons duri...

Страница 47: ...ror Reset button gets activated The error is displayed on Error Code Please refer to the error code table for details Error Reset stops the Monitor Mode if it was in Monitor Mode e Save It saves the PLC S Positioning Special Program When the program is saved successfully a confirmation message will appear in the Message Window as shown below f Online Modify It downloads the PLC S Positioning Speci...

Страница 48: ...t address 13H 19 FSC Speed control Forward 17H 23 RSC Speed control Backward 80H 128 NOP No operation 81H 129 JUMP Forced to change next step No Next step set value is stored in target position address 82H 130 LOOP The first step of loop Loop count is stored in target position address 83H 131 LEND The last step of loop 84H 132 POS Forced to change the current position address New address is stored...

Страница 49: ...xample Using Scan Program This is a positioning example using a san program When you press the button on X00 it is going to perform positioning to 2500 and then to 2500 a Circuit Wiring This is a button to start the positioning operation Connect the DC 24V to A5 Connect the 24V GND to A20 ...

Страница 50: ...figure the PLC S Positioning Special Program as follows Configure the Start Address as D0 Configure the Pulse Output Type as Low Active Configure the Bias Speed at Start PPS as 500 Configure the ACC DEC Time 1 mSec as 500 Configure the JOG Speed High Limit PPS as 1000 ...

Страница 51: ... in Forward JOG to 2500 and then decelerate to stop D0 is a control flag and is composed of 16Bit MOV H0009 D0 Enable operation Forward JOG control D2 displays current position If the value of D2 is 2500 it decelerates to stop and set M00 It takes 1000 msec to decelerate to stop After a delay of 1 second Backward JOG control operates If the value of D2 is 2500 it will decelerate to stop ...

Страница 52: ...ser Manual 52 d Monitor the Operation After running the program it is in initial stage The current position is initialized to zero 0 Turn on X00 to Enable the operation and the Monitor displays the below information ...

Страница 53: ...Positioning User Manual 53 After positioning to 2500 Backward JOG operation moves to 2500 and then it decelerates ...

Страница 54: ...ram more simple and easy to implement a Circuit Wiring The wiring connection is identical to that of the 1 11 1 Example b PLC S Positioning Special Program Configure the X Axis Parameter of PLC S Positioning Special Program as follows Configure the Pulse Output Type as Low Active Configure the Bias Speed at Start PPS as 1000 Configure the ACC DEC Time 1 mSec as 1000 Configure the Software Upper Li...

Страница 55: ... the last one as Single Step Control Please refer to 1 7 4 Control Code c Write a Scan Program When you turn on X00 it is going to perform positioning control from No 1 and No 2 Continuous Control to No 3 Single Step Control configured in the X Axis Position Data d Monitor the Operation How to monitor the operation is identical to that of the 1 11 1 Positioning Example Using Scan Program ...

Страница 56: ...R and presses the button X0E DOG signal three times in order to return to the origin point The X0E button is used for a testing purpose in this example In the industry fields the X0E button is replaced by sensors a Circuit Wiring Connect the OPR button to A1 X00 Connect the DOG1 button to A9 X0E Connect the DC 24V power supply Connect the GND ...

Страница 57: ...rameter of PLC S Positioning Special Program as follows Configure the Start Address as D0 Configure the ACC DEC Time1 mSec as 1000 Configure the OPR setting as follows OPR Method Near Dog OPR Direction Backward OPR High Speed PPS 1000 OPR Low Speed PPS 500 OPR ACC DEC Time Selection No 1 ...

Страница 58: ...00 when the device operates When X00 is turned on OPR Origin Position Return will be executed If you press the DOG button connected to A9 A0E three times the current position will be 0 d Monitor the Operation An example of the OPR operation using DOG is as follows In the initial stage the current position is initialized to 2500 Pulse ...

Страница 59: ...lays it is controlling OPR As it is configured in the Positioning Special Program the direction of OPR is Backward When X0E is turned on once The direction of OPR is modified from Backward to Forward The Current Speed is 500 PPS according to the set value of OPR Low Speed in the program ...

Страница 60: ...n twice The direction of OPR is modified from Forward to Backward When X0E is turned on three times Complete OPR Control is ON and the current position becomes 0 Pulse according to the set value of Origin Position in the Positioning Special Program ...

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