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Chapter 2. MC Programming

2.1 Types of MC program commands, variables and contacts usable

A) MC program commands can be grouped into 8 categories in large.

(1)

Program control related command: Commands for branching, ending, etc. of a program.

(2)

Conditional branching related command: Controls program branching via an input/output
condition and an IF condition comparison sentence.

(3)

Coordinate setting related command: Commands for resetting coordinate.

(4)

Velocity setting related command: Commands for velocity setting.

(5)

Movement related command: Commands for motor movement.

(6)

Input/output contact related command: Controls execution of input, output and auxiliary
contacts and programs.

(7)

Condition comparison related command: Used as a comparison operator for an IF condition
comparison sentence.

(8)

Variable manipulation related command: Used as an operator for a variable manipulation
sentence.

B) The variables usable for MC programs can be grouped into 4 categories in large.

(1)

P variable: Used to designate 2-dimensional position data.

(2)

F variable: Used to designate velocity data.

(3)

D(E) variable: Used to designate dwell data.

(4)

L variable: Used to designate 2-dimensional position, velocity, time, pulse,
manipulation and comparison data as a variable with multi-purpose functions.

C) The input, output and auxiliary contacts used in MC programs can be grouped into 3

categories in large.

(1) X contact: Used to designate an input contact.

(2) Y contact: Used to designate an output contact.
(3) M contact: Used to designate an auxiliary contact.

Table 2.1 List of MC program commands

Division

Command

Function

Type

Example of use

Program

Declaration of a program comment

/* <comment>

/* TEST PROGRAM

LABL

Designation of a program branching point block

LABL <label name>

LABL LB1

GOTO

Program Branching command

GOTO <label name>

GOTO LB1

STOP

Program pause command

STOP

END

Program ending

END

DWL

Program pause

DWL <D variable

number(0~9)>

DWL <L variable>

DWL 0

DWL L0

Conditio

nal

branchin

Branching of a program and proceeding of the

next command according to the result of a

comparing sentence

IF <condition comparing

sentence> <label name>

IF L0 .LE 0 LB1

IN0

Branching of a program if the designated

contact satisfies‘0’, otherwise proceeding of

the next command

IN0 <designated contact>

IN0 X0.0 LB1
IN0 Y0.0 LB1
IN0 M0.0 LB1

IN1

Branching of a program if the designated

contact satisfies‘1’, otherwise proceeding of

the next command

IN1 <designated contact>

IN1 X0.0 LB1
IN1 Y0.0 LB1
IN1 M0.0 LB1

Содержание MCU 2 Axis

Страница 1: ...User s Manual 2 AXES...

Страница 2: ...or incorrect in this document z You will get a refund or exchange if there is incorrect collating or missing page Emotiontek M MC CU U 2 2 A Ax xi is s C Co on nt tr ro ol ll le er r U Us se er r M M...

Страница 3: ...as used marks Danger and Warning to indicate safety warning and precautions depending on the severity Danger If handled improperly the equipment may cause severe consequences such as personal injury o...

Страница 4: ...t meet the requirements of this controller or if there is noise excessive enough to distort the input voltage waveform it is required to install a noise filter or an isolated power transformer on the...

Страница 5: ...e electric shock may be incurred Warning Reference Page DC power supply of this controller must be connected to the dedicated terminal as described in the manual z If you mistakenly connect AC power s...

Страница 6: ...ndling of the product may cause product damage or unplanned events Make sure to get your body earthed if you need to open the controller cover and touch the inside to prevent static from flowing into...

Страница 7: ...ken against power supply with excessive noise Separate the power supply of the main body from the input output lines of PLC and power supply lines from the system The telecommunication input output li...

Страница 8: ...52 56 Chapter 4 PLC Program 4 1 Types of PLC commands 4 2 Types of application commands related to PLC contacts and motion 4 3 Description of PLC commands 4 4 Description of application commands rela...

Страница 9: ...l 9 1 MC output signal MC PLC 9 2 MC input signal PLC MC 9 3 Example of using an MC input output signal for automatic operation 9 4 Example of using an MC input output signal for manual operation 9 5...

Страница 10: ...rview of the MCU This can be used for one of the next purposes depending on the slave board combined with the Main Board for 2 axes servo motor drive by means of analog signal output for 2 axes step m...

Страница 11: ...variable PLC function PLC Touch panel communication 1 3 Application fields of the MCU For transportation and assembly FEEDER LOADER UNLOADER CONVAYOR Industrial device Packer semiconductor equipment...

Страница 12: ...Phase A B Input frequency Max 2 5 MHz Extended I O Cable Length type Max 10m 16Pin Flat Cable Communication speed 1 5M Bps No of maximum extended I O 2EA 64 in 48 out I O In pu t No of contacts 16 22...

Страница 13: ...en connecting this product to a serial port of a PC do not connect it to other pins but 2 RxD 3 TxD 5 GND This can damage the PC or cause a malfunction of the product When using the RS485 communicatio...

Страница 14: ...ed to designate 2 dimensional position velocity time pulse manipulation and comparison data as a variable with multi purpose functions C The input output and auxiliary contacts used in MC programs can...

Страница 15: ...g absolute machine coordinate SET2 position point SET2 L variable L variable SET2 P0 SET2 L0 L1 XSET2 X axis coordinate system setup absolute machine coordinate XSET2 position point XSET2 L variable L...

Страница 16: ...nd point CW target point radius CW P0 P1 CW PL0 PL1 CCW CCW arc interpolation from the current position start point to the target point end point CCW target point radius CCW P0 P1 CCW PL0 PL1 ICW CW a...

Страница 17: ...nce operation sentence operation sentence L0 L1 L2 L0 L0 1 L0 L1 L2 1 L1 2 L2 4 Used for multiplication in a variable manipulation sentence variable variable variable number variable operation sentenc...

Страница 18: ...0 LT L1999 LB1 L0 L0 L1999 MOV PL0 MOV LL0 LL1 VEL LL0 Table 2 3 List of MC program contact functions Division Variable Function Amount Example of use Contact classifica tion X contact XP2 Main unit i...

Страница 19: ...e name of a label set by a LABL command and if the name of the designated label is not set then an alarm takes place Example VEL 0 MOV P0 LABL LB0 MOV P1 MOV P2 GOTO LB0 Move to a LABELED sentence fro...

Страница 20: ...Time pause function Pause as much as the DO variable value by a command DWL 0 Reference External encoder pause function Pause by an external encoder Parameter P62 Encoder accumulation dwell during au...

Страница 21: ...entered from an encoder by a DWL 0 command If the accumulated pulse number is greater than DWL 0 value then the next command is executed without pulse pause The number of accumulated pulses is initial...

Страница 22: ...LL1 Reset the 2 dimensional position by using a P2 variable Reset the position by using an L2 and L3 variable X Y axis respectively Reset the position by using a P variable pointed out by a L0 variab...

Страница 23: ...LL0 LL1 Reset the X axis position by using the X axis position value of a P2 variable Reset the X axis position by using a L2 variable Reset the X axis position by using the X axis position value of...

Страница 24: ...SET LL0 LL1 Reset the Y axis position by using the Y axis position value of a P2 variable Reset the Y axis position by using a L3 variable Reset the Y axis position by using the Y axis position value...

Страница 25: ...r offset For the case of using L variable the 1 st L variable means X axis coordinate the 2nd L variable Y axis coordinate Example of use SET2 P2 SET2 L2 L3 SET2 PL0 SET2 LL0 LL1 Reset the 2 dimension...

Страница 26: ...he case of using L variable the 1 st L variable means X axis coordinate The 2nd L variable is simply ignored Example of use XSET2 P2 XSET2 L2 L3 XSET2 PL0 XSET2 LL0 LL1 Reset the X axis position by us...

Страница 27: ...the case of using L variable the 2 nd L variable means the Y axis coordinate The 1st L variable is simply ignored Example of use YSET2 P2 YSET2 L2 L3 YSET2 PL0 YSET2 LL0 LL1 Reset the Y axis position...

Страница 28: ...XMOV YMOV CW CCW ICW ICCW PTP IPTP Parameter Maximum velocity P18 acceleration or deceleration time P23 deceleration time P65 Explanation A movement related command is executed at a velocity of the se...

Страница 29: ...effective until a reset If the VEL is commanded and the XVEL is commanded next then the VEL becomes effective during interpolation movement and the XVEL becomes effective during rapid movement That i...

Страница 30: ...ffective until a reset If the VEL is commanded and the YVEL is commanded next then the VEL becomes effective during interpolation movement and the YVEL becomes effective during rapid movement That is...

Страница 31: ...ion value applied to a movement command is calculated in a time arriving at the maximum velocity If commanding is omitted then the Acceleration or deceleration time set to a parameter P23 Acceleration...

Страница 32: ...ovement PTP IPTP command The once set Acceleration or deceleration time is effective until a reset unless it is reset If the acceleration is commanded by A and the acceleration is commanded by XA next...

Страница 33: ...PTP IPTP command The once set Acceleration or deceleration time is effective until a reset unless it is reset If the acceleration is commanded by A and the acceleration is commanded by YA next then th...

Страница 34: ...applied to a movement command is calculated in a time arriving at 0 from the P18 maximum velocity If commanding is omitted then the deceleration time set to a parameter P23 or P65 is effective The on...

Страница 35: ...applied only to the rapid movement PTP IPTP If the deceleration time is commanded by D and commanded by XD next then the D becomes effective during interpolation movement and the XD becomes effective...

Страница 36: ...ied only to the rapid movement PTP IPTP If the deceleration time is commanded by D and commanded by YD next then the D becomes effective during interpolation movement and the YD becomes effective duri...

Страница 37: ...VEL Parameter Maximum velocity P18 Acceleration or deceleration time P23 deceleration time P65 Explanation Move by interpolation from the current position to the commanded variable value coordinate p...

Страница 38: ...L Parameter Maximum velocity P18 Acceleration or deceleration time P23 deceleration time P65 Explanation Move by interpolation from the current position to the commanded variable value incremented pos...

Страница 39: ...Acceleration or deceleration time P23 deceleration time P65 Explanation Move individually from the current position to the commanded coordinate number position at the commanded individual velocity an...

Страница 40: ...ation time P23 deceleration time P65 Explanation Move individually from the current position to the commanded coordinate number increment at the commanded individual velocity and Acceleration or decel...

Страница 41: ...P0 XMOV L0 XMOV PL0 XMOV LL0 26 YMOV Input type YMOV P variable or YMOV L variable Terminology P variable Set the variable for a position from the Position Table P0 P99 L variable Set the variable for...

Страница 42: ...L variable Terminology P variable Set the variable for a position from the Position Table P0 P99 L variable Set the variable for a position from the L VAR Table L0 L1999 Related variable P VARIABLE L...

Страница 43: ...the X axis value of P variable 2 is regarded as its radius However if the basic parameter P61 I J arc commanding method is enabled then it is regarded as an I J circle center commanding method not a r...

Страница 44: ...he X axis value of P variable 2 is regarded as its radius However if the basic parameter P61 I J arc commanding method is enabled then it is regarded as an I J circle center commanding method not a ra...

Страница 45: ...variable 2 is regarded as a radius The Y value at this time has nothing to do with the command If there is a start point an end point and a radius 2 circles are possible There are 4 arcs going from th...

Страница 46: ...regarded as a method of commanding the circle center with I J not a radius In this case the X axis of the P variable 2 corresponds to I and the Y axis corresponds to J I J are vector components seen f...

Страница 47: ...3 Number of pallet points in the second axis under preparation for execution to be executed next L variable 1 4 1 if all the palletizing has been executed This lies at 0 during PCLR but changes to 1...

Страница 48: ...nts in the first axis Explanation Set the pallet point under preparation for execution of the relevant PMOV to 1 and the palletized L variable to 0 Only the commanding to an L variable is possible Exa...

Страница 49: ...ce of the block currently under execution comes into the scope of the commanded ratio then move to the next block by overlapping 0 means the cancellation of a pre execution mode 100 is set as a mode t...

Страница 50: ...then execute the next block LABL LB1 VEL 0 MOV P0 IN0 M0 0 LB1 MOV P1 36 IN1 Input type IN1 inspection contact label name Terminology Inspection contact Designate a contact to inspect Input contact X0...

Страница 51: ...mmand applies to equipment requiring a high speed input function as a function to inspect the inspection contact in a 1ms period Example This is an example of stopping execution until the input contac...

Страница 52: ...form up to 7 multiple operation functions Example L0 L0 L1 L0 L0 L1 L0 L0 L1 L0 L0 L1 L0 L0 L1 Store a value of L1 added to L0 in L0 Store a value of L1 subtracted from L0 in L0 Store a value of L1 mu...

Страница 53: ...10 If L0 equals 10 then it is true LE If the value is less or equal it is true Ex IF L0 LE 10 If L0 is less than or equal to 10 then it is true LT If the value is less then it is true Ex IF L0 LT 10...

Страница 54: ...variable Used to designate dwell data Used to designate acceleration time data Used to designate deceleration time data Used as comparison data for a comparative conditional expression Used as operati...

Страница 55: ...A special function is applied to some variables by parameter setting Related command DWL A D XA YA XD YD macro command Explanation This is called a D or E variable indicating the same area That is D0...

Страница 56: ...nction Example 1 Example of position variable functions L100 10 L101 11 VEL 0 MOV L0 L1 This is a command to move to a position value set at a L0 variable X and L1 variable Y MOV PL100 A command to mo...

Страница 57: ...nch the execution to a LB0 declared label and otherwise execute the next command Example of a comparative macro function using indirect designation L1 100 IF LL1 EQ 1000 LB0 LABL LB0 If a L100 variabl...

Страница 58: ...escribed in Section 3 3 4 Homing velocity 1 2 3 Parameter P20 P21 P22 Homing velocities 1 2 3 are parameters to set a moving velocity during homing return movement Homing velocity 1 sets a velocity un...

Страница 59: ...direction until the homing DOG sensor is turned OFF at the homing return velocity 2 and stop and if phase C is detected from the servo drive during movement at a velocity of homing return velocity 3...

Страница 60: ...il the homing DOG sensor is turned OFF at the homing return velocity 2 and stop and if phase C is detected from the servo drive during movement at a velocity of homing return velocity 3 in the continu...

Страница 61: ...homing return direction at a velocity of homing return velocity 1 then stop move to the same direction until the homing DOG sensor is turned OFF at the homing return velocity 3 stop and set this posit...

Страница 62: ...t to a homing return direction at a velocity of homing return velocity 1 then stop move to the opposite direction until the homing DOG sensor is turned OFF at the homing return velocity 3 stop and set...

Страница 63: ...0 SET M0 1 LOAD M0 0 AND N0T M50 B M50 B ORG ORG mode state bit OUT M80 B M80 B ORG ORG mode commanding bit LOAD M0 0 AND M50 B M50 B ORG ORG mode state bit AND NOT M50 C M50 C ZP1 X axis return comp...

Страница 64: ...n between blocks OUT Output auxiliary Outputting of an operation result contact A OUT NOT Output auxiliary Outputting of an operation result contact B D Output auxiliary Outputting of a differential p...

Страница 65: ...g logic operation contact A PUT Input output auxiliary TIMER COUNTER P variable F variable D E variable L variable Command to output an MC variable P F D E L variable GET Input output auxiliary TIMER...

Страница 66: ...riable F variable L variable X Y axis direction relative position movement ISTEP command rise edge input ISTEP Input output auxiliary TIMER COUNTER P variable L variable F variable L variable X Y axis...

Страница 67: ...D LOAD OR LOAD Use it in starting a logic operation or a block operation See the AND LOAD OR LOAD 2 Sequence and timing chart 2 LOAD NOT 1 Definition Reverse the content of a contact designated by a L...

Страница 68: ...ult The series connection of AND has no limit in the number of nested uses 2 Sequence and timing chart 4 AND NOT 1 Definition Reverse the content of the designated contact do the AND operation of it w...

Страница 69: ...lt The parallel connection of OR has no limit in the number of nested uses 2 Sequence and timing chart 6 OR NOT 1 Definition Reverse the content of the designated contact do the OR operation of it wit...

Страница 70: ...ommand to do the AND connection of two blocks Each block starts with LOAD or LOAD NOT 2 Sequence and timing chart 8 OR LOAD 1 Definition This is a command to do the OR connection of two blocks Each bl...

Страница 71: ...change so the parallel use of the OUT command is possible Output can be designated to output contacts Y and auxiliary contacts M 2 Sequence and timing chart 10 D 1 Definition Detect the change of an...

Страница 72: ...timer is cumulative and turns ON the output when the current value arrives at the set value The range of an output contact is 0 15 T0 0 T0 F Ex For 10 T0 A is an output contact If the input b is turne...

Страница 73: ...OFF the current value of a counter is reset to 0 and the pulse input after completion of counting is ignored 2 Sequence and timing chart 14 SET RST 1 Definition The SET command maintains turning ON th...

Страница 74: ...results are memorized into a Master Control Register MRG by an MCS command The MCS command is cancelled by an MCS NOT command The program between the MCS and the MCS NOT realizes a normal command when...

Страница 75: ...specific area DWORD 32Bits data to the designated area 2 Sequence and timing chart 17 FWR 1 Definition This is a command to eternally store the changed position velocity and dwell variable data into a...

Страница 76: ...the instant when the input contact changes from OFF to ON 2 Sequence and timing chart LOADP X0 0 OUT Y0 0 X0 0 Y0 0 X0 0 Y0 0 P 1 Scan 2 LOADN 1 Definition The LOADN command loads the ON input only fo...

Страница 77: ...OFF to ON 2 Sequence and timing chart LOAD X0 0 ANDP X0 1 OUT Y0 0 X0 0 X0 1 Y0 0 X0 0 X0 1 Y0 0 P 1 Scan 1 Scan 4 ANDN 1 Definition The ANDN command does the AND operation of the ON input only for 1...

Страница 78: ...g chart LOADP X0 0 ORP X0 1 ORP X0 2 OUT Y0 0 X0 0 Y0 0 X0 2 Y0 0 X0 1 X0 2 X0 1 X0 0 P P P 1 Scan 1 Scan 1 Scan 6 ORN 1 Definition The ORN command does the OR operation of the ON input only for 1 sca...

Страница 79: ...that of the D command 2 Sequence and timing chart LOAD X0 0 OUTP Y0 0 D Y0 0 P X0 0 Y0 0 X0 0 Y0 0 1 scan 8 OUTN 1 Definition This detects changes in an input contact and makes an output for 1 scan t...

Страница 80: ...to LOAD the result of an operation by a comparison equal of the DINT 32Bits data Sequence and timing chart LOAD M31 123456 OUT Y0 0 Y0 0 LOAD Y0 0 M31 123456 IN1 IN2 M32 M31 123456 123455 123457 Examp...

Страница 81: ...to LOAD the result of an operation by a comparison less of the DINT 32Bits data 2 Sequence and timing chart LOAD M31 123456 OUT Y0 0 Y0 0 LOAD Y0 0 M31 123456 IN1 IN2 M32 M31 123456 123455 123457 3 Ex...

Страница 82: ...o LOAD the result of an operation by a comparison greater of the DINT 32Bits data 2 Sequence and timing chart LOAD M31 123456 OUT Y0 0 Y0 0 LOAD Y0 0 M31 123456 IN1 IN2 M32 M31 123456 123455 123457 3...

Страница 83: ...M1 0 M13 M12 PUT M10 P0 IN OUT M0 0 M1 0 M14 F0 IN OUT M0 0 M11 M10 10000 P0_X 10000 PUT 20000 M1 1 P P M1 1 F0 5000 P0_Y 20000 M15 M14 5000 PUT P0 M10 Store the DINT 32Bits value of M11 M10 into the...

Страница 84: ...1 M0 0 M1 0 F0 GET M10 P0 IN OUT M0 0 M1 0 M14 F0 IN OUT M0 0 P0_X 30000 M11 M10 30000 GET 1000 M1 1 P P M1 1 M13 M12 40000 P0_Y 40000 M15 M14 1000 GET P0 M10 Store the X axis position data value of P...

Страница 85: ...ng direction of a parameter and outputs the completion of execution after completing a homing return by starting a command via a rise edge input Generally the homing return execution completion output...

Страница 86: ...pletion of execution after completing a homing return by starting a command via a rise edge input Generally the homing return execution completion output ORIGIN FIN is used for the execution of other...

Страница 87: ...pletion of execution after completing an homing return by starting a command via a rise edge input Generally the homing return execution completion output ORIGIN FIN is used for the execution of other...

Страница 88: ...turn execution completion output ORIGIN FIN of an ORG command The command is started by a rising edge input 2 Sequence and timing chart LOAD X0 0 ORG OUT Y0 0 LOAD X0 1 ORGRST OUT Y0 1 X0 0 ORG REQ OU...

Страница 89: ...is direction manual feed JOG application command executes manual feed in the direction and outputs a state during execution of manual feed by a start command 2 Sequence and timing chart LOAD X0 0 JOGX...

Страница 90: ...is direction manual feed JOG application command executes manual feed in the direction and outputs a state during execution of manual feed by a start command 2 Sequence and timing chart LOAD X0 0 JOGX...

Страница 91: ...is direction manual feed JOG application command executes manual feed in the direction and outputs a state during execution of manual feed by a start command 2 Sequence and timing chart LOAD X0 0 JOGY...

Страница 92: ...is direction manual feed JOG application command executes manual feed in the direction and outputs a state during execution of manual feed by a start command 2 Sequence and timing chart LOAD X0 0 JOGY...

Страница 93: ...execution as soon as beginning automatic operation execution of an MC program by being started by a rising edge input The automatic operation execution start completion output is reset when a program...

Страница 94: ...completion of execution after completing automatic operation execution stop of an MC program by being started by a rising edge input The automatic operation execution stop completion output is reset w...

Страница 95: ...of execution after completing an automatic operation execution reset and alarm reset function of an MC program by being started by a rising edge input All other PLC motion application commands cannot...

Страница 96: ...tomatic operation by being started by a rising edge input A value for the program number input can be designated by using a number M area D E variable and L variable The MC program number cannot be ch...

Страница 97: ...e or L variable When using an L variable as an absolute position designation value the designated address is used as an X axis position value and the next address is used as a Y axis position value Th...

Страница 98: ...ated by using an F variable or L variable When using an L variable as an absolute position designation value the designated address is used as an X axis position value and the next address is used as...

Страница 99: ...ue can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the execution of a ST...

Страница 100: ...solute position value can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing th...

Страница 101: ...designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the execution of a STEPY appli...

Страница 102: ...solute position value can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing th...

Страница 103: ...e or L variable When using an L variable as a relative position designation value the designated address is used as an X axis position value and the next address is used as a Y axis position value The...

Страница 104: ...gnated by using an F variable or L variable When using an L variable as a relative position designation value the designated address is used as an X axis position value and the next address is used as...

Страница 105: ...ignated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the execution of a ISTEPX applicat...

Страница 106: ...ive position value can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the e...

Страница 107: ...ignated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the execution of a ISTEPY applicat...

Страница 108: ...tive position value can be designated by using a P variable or L variable A movement velocity value can be designated by using an F variable or L variable The output is turned ON after completing the...

Страница 109: ...to an MPG mode with a MPG mode selecting application command 2 Sequence and timing chart LOAD X0 0 MPG OUT Y0 0 X0 0 MPG REQ OUT X0 0 Y0 0 Y0 0 Example of use MPG MODE CHANGE LOAD M0 0 MPG OUT M1 0 MP...

Страница 110: ...Pulses per revolution Note 1 25 Distance per revolution Note 1 26 P gain 27 Motor rotation direction Note 1 28 Following error 29 Coordinate reset range Note 1 30 Servo Ready Check delay time ms Note...

Страница 111: ...the controller works abnormally P02 Types of pulse outputs Range CW CCW Pulse Direction Unit POWER Definition This is a parameter valid for MCU XP2 CW CCW The direction is directed by separate pulse t...

Страница 112: ...he model name of the extended I O controller Note Even though the extended I O controller is physically connected if this value is not set then communication with the extension I O controller is not e...

Страница 113: ...es after the completion of a homing return If it is set to 99999999 the minimum setting value then this function becomes invalid Note If the motor movement command position is less than or equal to th...

Страница 114: ...0 F contact when a homing return of the contact M is executed P17 Homing method Range Method 1 method 2 1 2 Unit RESET Definition Method 1 Detect the homing DOG signal and then complete a homing retur...

Страница 115: ...eceleration is based on the setting value of a parameter P23 acceleration deceleration time and a parameter P67 deceleration time This is used as an initial velocity of automatic operation If there is...

Страница 116: ...ter P18 maximum velocity Acceleration and deceleration slope Maximum velocity acceleration or deceleration time If deceleration is set by a parameter P65 deceleration time then this parameter applies...

Страница 117: ...rotation as seen from the shaft side of a motor by the command 1 Description Set the rotation direction of a motor If the movement direction of a machine is opposite during trial operation then change...

Страница 118: ...it RESET Definition Enable Set the input signal X0 9 X0 A as a Servo Ready signal 0 Disable Set the input signal X0 9 X0 A as an user contact 1 P43 Reset contact input Range Enable Disable 0 1 Unit RE...

Страница 119: ...rc interpolation P62 Encoder accumulation dwell Range Disable Enable Unit RESET Definition Set a pulse accumulation dwell function for the automatic command DWL Disable Set the DWL as a time pause com...

Страница 120: ...n time becomes a deceleration time constant P66 Going further after the homing Range 99999999 99999999 Unit RESET Definition Set an additional movement distance after completing a homing return Descri...

Страница 121: ...during closed loop control at MCU XP2 Description Set the maximum value to be applied by the I action when the position control loop function is executed by a parameter P67 In position Pulse at MCU X...

Страница 122: ...lt in input contacts is wired internally to the 24V input power b The common terminal for built in output contacts is wired internally to the ground of 24V input power Pin arrangement Pin No I O Signa...

Страница 123: ...ut contact Common 0 OUT0 3 13 O OUT0 BRAKE_X Y0 0 Output contact 0 X axis Brake ON OFF output 14 O OUT1 BRAKE_Y Y0 1 Output contact 1 Y axis Brake ON OFF output 15 O OUT2 SVON_X Y0 2 Output contact 2...

Страница 124: ...1 26 P O 5V 5V supply power 27 I PHA Y Y axis encoder phase A 28 I PHA Y Y axis encoder phase A 29 I PHB Y Y axis encoder phase B 30 I PHB Y Y axis encoder phase B 31 I PHC Y Y axis encoder phase C 32...

Страница 125: ...ter Connector 5264 6 MOLEX P Power I Input O Output Pin arrangement Pin No I O Signal name Content 1 P O 5V GND External Encoder 5V Output Power Ground 2 I B External Encoder B Phase 3 I B External En...

Страница 126: ...3 Y AXIS Servo ON OFF output 11 O OUT4 Y0 4 Output contact 4 12 I OUTCOM0 Output contact Common 0 OUT0 OUT4 13 38 P O 24V GND 24V output power Ground 14 I IN0 LIMIT_X X0 0 Input contact 0 X axis Limi...

Страница 127: ...common 24 49Pin Pin arrangement Pin No I O Signal name Content 1 26 P O 5V 5V output power 27 O PPA Y Y axis Pulse CW Pulse 28 O PPA Y Y axis Pulse CW Pulse 29 O PPB Y Y axis Pulse CCW Dir 30 O PPB Y...

Страница 128: ...encoder phase A 5 I XA X axis external encoder phase A 6 P O 5V X axis external encoder 5V output power 7 P O 5V GND Y axis external encoder 5V output power ground 8 I YB Y axis external encoder phase...

Страница 129: ...ngement Pin No I O Signal name Content 1 I INCOM0 Input contact Common 0 IN0 IN5 14 I IN0 Input contact 0 2 I IN1 Input contact 1 15 I IN2 Input contact 2 3 I IN3 Input contact 3 16 I IN4 Input contac...

Страница 130: ...In IN4 4 In IN5 17 In INCOM1 5 In IN6 18 In IN7 6 In IN8 19 In IN9 7 In IN10 20 In IN11 8 Out OUT0 21 Out OUT1 9 Out OUT2 22 Out OUT3 10 Out OUT4 23 Out OUT5 11 Out OUT6 24 Out OUT7 12 Out OUT8 25 Ou...

Страница 131: ...I IN10 Input contact 10 26 I IN11 Input contact 11 8 I IN12 Input contact 12 27 I IN13 Input contact 13 9 I IN14 Input contact 14 28 I IN15 Input contact 15 10 I IN16 Input contact 16 29 I IN17 Input...

Страница 132: ...nputting power Expansion I O 1 1 2 ON 3 4 OFF Expansion I O 2 1 2 OFF 3 4 ON There may be an I O malfunction when setting other ID than above Do not set an ID after inputting power so be careful 3 Exa...

Страница 133: ...CS1 CS2 CS2 RESET RESET CLK CLK Ext I O 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 DC 24V Power 24V GND 24V VCC S G 5V 1 2 3 4 5 1 2 Power O I 7 2 8 1 3 6 1 2 4 5 3 Note 1 Do not use other pins 4 than i...

Страница 134: ...IS IO Axis X Interface Axis Y Interface Note 1 If there is no AG in the servo driver connect AG of this product to SG 2 When using external power do not connect external power to the internal power pi...

Страница 135: ...Power 24V GND 24V VCC S G 5V 1 2 3 4 5 1 2 Power O I 7 2 8 1 3 S G A 5V A B B 5V A A B B S G 6 1 2 4 5 3 S G A 5V A B B 5V A A B B S G 12 7 8 10 11 9 EXT ENC 1 EXT ENC 2 Note 1 Do not use the remaini...

Страница 136: ...129 Chapter 6 Connection Note 1 Select one among 3 types of wiring methods 2 When using external power do not connect external power to the internal power pin 13 38 25 50 of this module...

Страница 137: ...5 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 6 7 8 9 10 11 12 13 14 15 16 17 18 19 OUTPUT1 OUTPUT2 OUTPUT3 OUTPUT4 OUTPUT5 OUTPUT6 OUTPUT7 OUTPUT8 OUTPUT9 OUTPUT10 OUTPUT11 OUTPUT12 OUTPUT13 Output...

Страница 138: ...PUT19 O U TPU T0 2 3 1 20 21 22 4 5 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 6 7 8 9 10 11 12 13 14 15 16 17 18 19 O U TPU T1 O U TPU T2 O U TPU T3 O U TPU T4 O U TPU T5 O U TPU T6 O U TPU T7 O U...

Страница 139: ...1 6 26 4 0 MCU XP2 124 7 5 136 107 5 3 98 5 6 75 6 68 6 1 6 26 4 0 MCU XL 124 7 5 136 107 5 3 98 5 6 75 6 68 6 1 6 26 4 0 Connector Plug Maker Content POWER CAN BR 500LH 2P Bee Ryong Electronics Co Lt...

Страница 140: ...a1 L l l1 l2 l3 H h h1 t W X MCU E 124 7 5 136 101 5 3 98 5 75 6 68 6 1 6 26 4 0 MCU EL 124 7 5 136 107 5 3 98 5 6 75 6 68 6 1 6 26 4 0 Connector Plug Maker Content POWER BR 500LH 2P Bee Ryong Electro...

Страница 141: ...s don t appear on the menu bar before being connected to an MCU 1 Main status bar Give a reset command to the MCU with a command button This is an information area to show the state of communication s...

Страница 142: ...object a PLC Compile exclusively for a PLC program button a string search button a button to move a cursor to a specific column and a print button whose functions are as follows Can select an object P...

Страница 143: ...an MCU Note When making a new PLC program if there is a PLC program in the MCU then delete the existing PLC program and make a new PLC program 2 Open submenu This is a function to activate the editor...

Страница 144: ...an object PC or MCU to store the program Click this button to store the content of the editor into a selected storage object This is a button used to compile a PLC program stored in an MCU and appears...

Страница 145: ...mode Automatic mode With an automatic operation mode the user can set an MCU operation mode as an automatic mode by selecting the button The user can select an MC program stored in the MCU at an autom...

Страница 146: ...peration Give a command to clear the error in the MCU when the operation of an MCU stops due to an error In addition give a command to completely stop the automatic operation Manual operation mode ope...

Страница 147: ...input method is a method to select a variable to enter and enter the absolute position or machine position being displayed on the teach panel into the position variable The direct input method of a po...

Страница 148: ...into an input box to input a value Entering a setting value in the input box and then pressing the ENTER key sets a D variable value compulsively Pressing the ESCAPE key during an input cancels the in...

Страница 149: ...an handle MC programs registered in the MCU A program explorer window is composed of an MC program list part and a command part The user can see all the MC programs registered in the MCU through the M...

Страница 150: ...order to cancel the name change select the button Then the execution is cancelled and the confirmation part is converted into a command part again button The attributes of an MC program include Normal...

Страница 151: ...elect the Selecting the button in the confirmation part executes program area initialization and converts the confirmation part into a command part again In order to cancel the program area initializa...

Страница 152: ...value in the relevant contact M contact The M contact view area is a function to monitor and forcedly set a memory contact so it is displayed by selecting a tab in the I O explorer The M contact view...

Страница 153: ...Double clicking the integer area DEC of a variable to set shows an input box on the word area for the relevant contact Entering an integer setup value in the input box and pressing the ENTER key sets...

Страница 154: ...ntact through the display part Addition of a contact Select a contact to search through the selection box Selecting the button adds a contact to the display part Deletion of a contact Select a contact...

Страница 155: ...hange the physical object This is used to select a physical object PC or MCU to store or read the entire basic parameters This button is used to read the entire basic parameter from a physical object...

Страница 156: ...ers This button is used to read the entire expansion parameter from a physical object This button is used to store the entire expansion parameters into a physical object This button is used to print t...

Страница 157: ...xternal device communication of an MCU and is composed of communication station number node no line method communication speed Baudrate data bit parity bit stop bit and communication protocol protocol...

Страница 158: ...tional function to the operation of MSW MCU2 and activates the following window Editor This can be selected as a function to identify the indication of a special command on an editor with different co...

Страница 159: ...d program doesn t exist 202 SOFT LIMIT Invasion into a prohibited area of STORED STROKE LIMIT before movement of an axis has been detected 203 No label to jump A label cannot be found when seeking an...

Страница 160: ...r after a AND command in a PLC program 307 There is an error in the application before or after a NOT command in a PLC program 308 There is an error in the application before or after a MCS command in...

Страница 161: ...12 Dh11 Dh10 M65 Dl2F Dl2E Dl2D Dl2C Dl2B Dl2A Dl29 Dl28 Dl27 Dl26 Dl25 Dl24 Dl23 Dl22 Dl21 Dl20 M66 Dh2F Dh2E Dh2D Dh2C Dh2B Dh2A Dh29 Dh28 Dh27 Dh26 Dh25 Dh24 Dh23 Dh22 Dh21 Dh20 M67 M68 M69 1 Prepa...

Страница 162: ...AA2 Y M57 F When an axis related alarm happens the signal in the relevant axis is turned ON This output is valid when the AL M50 3 is ON 14 Motor position machine coordinate output X axis Cl10 Ch1F M5...

Страница 163: ...M95 RlF RlE RlD RlC RlB RlA Rl9 Rl8 Rl7 Rl6 Rl5 Rl4 Rl3 Rl2 Rl1 Rl0 M96 RhF RhE RhD RhC RhB RhA Rh9 Rh8 Rh7 Rh6 Rh5 Rh4 Rh3 Rh2 Rh1 Rh0 M97 JOT Mra 100 10 1 MXY JOVE OVE JOV8 JOV4 JOV2 JOV1 OV8 OV4 O...

Страница 164: ...81 and M83 respectively and the upper 16 bits into the M82 and M84 respectively 8 STEP MODE command velocity input Fl0 Fh7 M85 M86 Enter a velocity to move from the STEP MODE in HEX Enter the lower 16...

Страница 165: ...tion data READ Not recommended function Enter a position data number to read from a data setting signal DT0 M87 9 and Dn0 Dn7 M87 0 M87 7 in HEX 0 99 The position value at the relevant number is outpu...

Страница 166: ...100 22 Movement velocity override signal in during manual operation JOVE M97 9 JOV1 JOV8 M97 4 M97 7 JOT M97 F If the input signal JOVE is closed 1 and JOT is opened 0 then the manual feed velocity i...

Страница 167: ...per pulse 1 0 1 Move to a designated distance at L96 per pulse 1 1 0 Move to a designated distance at L97 per pulse 1 1 1 Move to a designated distance at L98 per pulse If the X axis gain of basic par...

Страница 168: ...bsolute coordinate of the relevant axis changes to a setting value of the Position table P99 28 MPG interpolation feed in Mra M97 E If the input signal of Mra M97 E is closed 1 then the XY can be simu...

Страница 169: ...50 8 AUTO automatic mode state bit OUT M80 8 M80 8 AUTO automatic mode command bit LOAD M0 0 AND M50 8 M50 8 AUTO automatic mode state bit OUT M80 2 M80 2 ST automatic operation start signal LOAD M50...

Страница 170: ...The program number is inputted through X1 0 to X1 7 LOADP X0 9 SET M0 0 LOAD M0 0 MCS LOAD X1 0 OUT M87 0 M87 0 Dn0 1st command bit of the program number LOAD X1 1 OUT M87 1 M87 1 Dn1 2nd command bit...

Страница 171: ...nd bit LOAD M57 9 M57 9 DE Data input END state bit RST M0 0 The above functions can be replaced by a PLC motion related application command as follows LOAD X0 9 MOV X1 M1 LOAD X0 9 OUT NOT M1 8 OUT N...

Страница 172: ...130 1 1 1 1 0 140 1 1 1 1 1 150 0 X X X X 100 This is an input to select an automatic velocity override function of input contact X1 8 and if the X1 9 X1 C is used as an input to designate the veloci...

Страница 173: ...e input contact X0 B is 1 When the EMERGENCY STOP is entered the axis under movement stops immediately and all commands except for a mode command are cancelled LOAD X0 B OUT M80 0 M80 0 ESP EMERGENCY...

Страница 174: ...n is selected you can control the Servo On output contact Y0 2 Y0 3 Turn OFF the servo when X0 4 is 1 LOAD X0 4 OUT M94 C M94 C SOF1 1st axis Servo Off commanding bit OUT M94 D M94 D SOF2 2nd axis Ser...

Страница 175: ...nding bit LOAD X0 5 AND M50 9 M50 9 JOG JOG mode state bit OUT M80 C M80 C A1 X axis manual feed direction commanding bit LOAD X0 6 AND M50 9 M50 9 JOG JOG mode state bit OUT M80 D M80 D A1 X axis man...

Страница 176: ...M97 5 JOV1 M97 4 Percentage 1 0 0 0 0 0 0 1 0 0 0 0 1 10 1 0 0 0 1 0 20 1 0 0 0 1 1 30 1 0 0 1 0 0 40 1 0 0 1 0 1 50 1 0 0 1 1 0 60 1 0 0 1 1 1 70 1 0 1 0 0 0 80 1 0 1 0 0 1 90 1 0 1 0 1 0 100 1 0 1...

Страница 177: ...1 1 0 L66 L86 1 1 0 1 1 1 L67 L87 1 1 1 0 0 0 L68 L88 1 1 1 0 0 1 L69 L89 1 1 1 0 1 0 L70 L90 1 1 1 0 1 1 L71 L91 1 1 1 1 0 0 L72 L92 1 1 1 1 0 1 L73 L93 1 1 1 1 1 0 L74 L94 1 1 1 1 1 1 L75 L95 0 0 X...

Страница 178: ...0 D A1 X axis manual feed direction commanding bit LOAD M0 1 AND M50 B M50 B ORG ORG mode state bit AND NOT M50 D M50 D ZP2 Y axis return completion state bit OUT M80 F M80 F A2 Y axis manual feed dir...

Страница 179: ...signal becomes 1 then the Y axis is selected and if it becomes 0 then the X axis is selected LOAD X0 5 AND NOT M50 F M50 F MPG MPG mode state bit OUT M80 6 M80 6 MPG MPG mode command bit LOAD X0 6 OU...

Страница 180: ...to the M83 and M84 of Y axis incremental distance LOADP X1 1 GET L102 M81 A command to set the L102 value to the M81 and M82 of X axis incremental distance GET L103 M83 A command to set the L103 value...

Страница 181: ...de commanding bit LOADP M0 5 GET L110 M81 A command to set the L110 value into the M81 and M82 of X axis target position GET L111 M83 A command to set the L111 value into the M83 and M84 of Y axis tar...

Страница 182: ...ut contact area of the extended No 1 unit MCU E Y2 F Y2 0 x x x x x x x x Output contact area of the extended No 1 unit MCU L Y3 F Y3 0 Output contact area of the extended No 2 unit MCU E Y4 F Y4 0 x...

Страница 183: ...Contact name General contact X4 0 X5 3 Input contact area of the MCU E module X5 4 X5 F Input contact area of the MCU L module 2 Output contact area Y0 0 Y4 F Output contact area of the main unit Y0 0...

Страница 184: ...ct area M0 0 M199 F Auxiliary memory contact area M0 0 M49 F M100 0 M199 F Used as a general memory contact 5 Timer contact area T0 0 T0 F Contact area of timer TMR 0 TMR 15 6 Counter contact area C0...

Страница 185: ...xtended No 1 unit MCU E Y2 F Y2 0 x x x x x x x x Output contact area of the extended No 1 unit MCU L Y3 F Y3 0 Output contact area of the extended No 2 unit MCU E Y4 F Y4 0 x x x x x x x x Output con...

Страница 186: ...module Input contact area of the extended No 2 unit X4 0 X4 F Contact name General contact X4 0 X5 3 Input contact area of the MCU E module X5 4 X5 F Input contact area of the MCU L module 2 Output c...

Страница 187: ...M0 0 M49 F M100 0 M 199 F Auxiliary memory contact area M0 0 M49 F M100 0 M199 F Used as a general memory contact 5 Timer contact area T0 0 T0 F Contact area of timer TMR 0 TMR 15 6 Counter contact a...

Страница 188: ...rea PLC MC M99 F M99 0 M100 F M100 0 M1600 M3199 C24 M001600 M003199 UC24 MW100 MW199 MK MW100 MW199 GM CIO 0900 00 CIO 0999 15 Auxiliary contact area M199 F M199 0 T0 F T0 0 TC0000 TC0015 C24 TC00000...

Страница 189: ...500 C24 word D000501 D000500 UC24 word DW501 DW500 MK MW801 MW800 GM CIO 3400 CIO 3401 Velocity data area F0 F9 32Bits data type F1 D0503 D0502 C24 word D000503 D000502 UC24 word DW503 DW502 MK MW803...

Страница 190: ...PLC communication module setting and touch connection When connecting a TOUCH panel for example select No 1 TOP PMU of M2I company No 4 GP for Proface company and one among No 1 and 4 for other compan...

Страница 191: ...XA2 MCU XP2 Protocol type of a PLC communication parameter No 1 Protocol type of a PLC communication parameter No 4 MCU RS232C TOUCH GP GP Unit 2 RXD 1 PTC 3 TXD 4 6 7 5 SG 8 9 2 SD 1 FG 3 RD 4 RS 6...

Страница 192: ...sition and connection of MCU XA2 MCU XP2 MCU XA2 XP2 1 2 3 4 5 6 7 8 9 RS232C RX RS232C TX SG TRX SRD A TRX SRD B RDA RDB SDA SDB SG RS485 Interface PLC Touch MCU MA2 MP2 1 2 3 4 5 6 7 8 9 PROTOCOL RS...

Страница 193: ...1 O U T 3 S E R V O O N _ Y O U T C O M 1 2 4 V G N D 2 4 V G N D A A B B C C A C M D 2 4 V IN C O M 1 2 4 V IN 6 S T A R T IN 7 S T O P IN 2 L IM IT S W IT C H _ Y IN 3 L IM IT S W IT C H _ Y IN 5 O...

Страница 194: ...2 1 1 5 7 6 5 1 1 8 3 9 4 0 2 5 4 9 2 5 2 4 V P A O P A O P B O P B O P Z O P Z O S P D IN G N D R D Y S V O N E N E S T O P C C W L IM C W L IM G N D 2 4 A A B B C C A C M D A G N D G N D 2 4 V IN C...

Страница 195: ...C H _ X IN 8 R E S E T IN 9 S E R V O R E A D Y _ X A G N D 19 P LB 47 N O T 48 P O T O U T 3 S E R V O O N _Y O U T C O M 1 24 V G N D 24 V G N D A A B B C C A C M D 24 V IN C O M 1 24V IN 6 S T A R...

Страница 196: ...T S W IT C H _ X IN 1 L IM IT S W IT C H _ X IN 4 O R IG IN S W IT C H _ X IN 8 R E S E T IN 9 S E R V O R E A D Y _ X A G N D O U T 3 S E R V O O N _ Y O U T C O M 1 2 4 V G N D 2 4 V G N D A A B B C...

Страница 197: ...1 3 4 5 EB EA EC V REF SALM SALM EB EA EC VREF SG 24VIN SV O N P OT N OT O UT3 SERVO O N _Y OUTCOM 1 24V GND 24V GND A A B B C C ACM D 24V INCOM 1 24V IN6 START IN7 STOP IN2 LIM IT SW ITCH_Y IN3 LIM I...

Страница 198: ...IN 8 R E S E T A G N D 4 2 4 3 2 9 S R D Y IN 9 S E R V O R E A D Y _ X 3 0 S R D Y 4 4 P O T N O T O U T 3 S E R V O O N _ Y O U T C O M 1 2 4 V G N D 2 4 V G N D A A B B C C A C M D 2 4 V IN C O M...

Страница 199: ...SER VO R EADY_X C W PU LSE C W PU LSE 22 23 PPA PPA C C W D IR CC W D IR PPB PPB 28 47 48 ALM N O T P O T 27 ALM INC O M 1 24V IN 6 STAR T IN7 STO P IN2 LIM IT SW ITC H_Y IN3 LIM IT SW ITC H_Y IN 5 O...

Страница 200: ...SERVO ON_X OUTCOM0 24V GND PF PF PR PR 23 40 41 RDY RDY IN9 SERVO READY_X 50 24VIN CW PULSE CW PULSE CCW DIR CCW DIR INCOM1 24V IN6 START IN7 STOP IN2 LIMIT SWITCH_Y IN3 LIMIT SWITCH_Y IN5 ORIGIN SWIT...

Страница 201: ...B5 A20 A3 A2 B15 PG N G ALM C O M SO N SG PP N P EM G C W PU LSE C W PU LSE C C W D IR C C W D IR IN C O M 1 24V IN 6 STAR T IN 7 STO P IN2 LIM IT SW ITC H _Y IN3 LIM IT SW ITC H_Y IN 5 O R IG IN SW I...

Страница 202: ...TCOM0 24V GND PLUS PULS SIGN SIGN 23 45 SALM IN9 SERVO READY_X 1 24VIN 11 13 4 5 P OT N OT CW PULSE CW PULSE CCW DIR CCW DIR INCOM1 24V IN6 START IN7 STOP IN2 LIMIT SWITCH_Y IN3 LIMIT SWITCH_Y IN5 ORI...

Страница 203: ...8 RESET 42 43 29 S RDY IN9 SERVO READY_X 30 S RDY 23 P OT N OT 7 8 11 12 PULS PULS SIGN SIGN OUT3 SERVO ON_Y OUTCOM 1 24V GND CW Pulse 2 CW Pulse 2 CCW Dir 2 CCW Dir 2 INCOM1 24V IN6 START IN7 STOP IN...

Страница 204: ...40 15 ESTO P CW LIM CCW LIM 49 24VIN CW PULSE CW PULSE 11 10 PPFIN PFIN CCW DIR CCW DIR PPRIN PRIN INCO M 1 24V IN6 START IN7 STO P IN2 LIM IT SW ITCH_Y IN3 LIM IT SW ITCH_Y IN5 O RIG IN SW ITCH_Y IN8...

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