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Motion buffers

Section 1-9

Example of buffered instructions:

BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
DATUM(3)
.......
MOVE(200)
.......

- - - -

---------------------------------
NTYPE IDLE
---------------------------------
MTYPE MOVE(-500)

BUFFER

MOVE -500

BA SIC PROGRA M
.......
MOV E(-500)
.......
MOV E(1000)
.......
DA TUM(3)
.......
MOV E(200)
.......

- - - -
---------------------------------
NTY PE MOV E(1000)
---------------------------------
MTY PE MOV E(-500)

BUFFER

MOV E -500

BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
DATUM(3)
.......
MOVE(200)
.......

              DATUM(3)
---------------------------------
NTYPE   MOVE(1000)
---------------------------------
MTYPE   MOVE(-500)

BUFFER

MOVE -500

2.- A second movement is
loaded while the first one
is not finished.
The new movement waits in the
second buffer.

3.- A third movement can
still be stored in the process buffer.

If the basic program reaches

‘MOVE(200)’ it will wait.

1.- All buffers are empty
and a movement is
loaded. The movement
starts to execute

EXAMPLE:

5.- As the sent
movements are finished,
the buffer empties.

BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
DATUM(3)
.......
MOVE(200)
.......

- - - - - -
---------------------------------
NTYPE MOVE(200)
---------------------------------
MTYPE DATUM(3)

BUFFER

MOVE -500

MOVE 1000

DATUM (3)

BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
DATUM(3)
.......
MOVE(200)
.......

- - - - - -
---------------------------------
NTYPE MOVE(200)
---------------------------------
MTYPE DATUM(3)

BUFFER

MOVE -500

MOVE 1000

DATUM (3)

BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
DAT UM(3)
.......
MOVE(200)
.......

              - - - - - -
---------------------------------
NT YPE   IDLE
---------------------------------
MT YPE   MOVE(200)

BUFFER

MOVE -500

MOVE 1000

DAT UM (3) MOVE 200

BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
DAT UM(3)
.......
MOVE(200)
.......

              - - - - - -
---------------------------------
NT YPE   IDLE
---------------------------------
MT YPE   MOVE(200)

BUFFER

MOVE -500

MOVE 1000

DAT UM (3) MOVE 200

6.- If no new movements
are executed, finally, the
buffer will become empty
and the profile generator
becomes inactive.

4.- The first movement has
finished. The buffer moves

by one position .

The next movement starts to
execute.

BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
DATUM(3)
.......
MOVE(200)
.......

              MOVE(200)
---------------------------------
NTYPE   DATUM(3)
---------------------------------
MTYPE   MOVE(1000)

BUFFER

MOVE -500

MOVE 1000

BASIC PROGRAM
.......
MOVE(-500)
.......
MOVE(1000)
.......
DATUM(3)
.......
MOVE(200)
.......

              MOVE(200)
---------------------------------
NTYPE   DATUM(3)
---------------------------------
MTYPE   MOVE(1000)

BUFFER

MOVE -500

MOVE 1000

Содержание trajexia CJ1W-MCH72

Страница 1: ...I55E EN 03 Motion Control Unit Programmable Controller SYSMAC CJ series CJ1W MCH72 OPERATION MANUAL Cat No I55E EN 01 CJ1W MCH72 Programmable Controller SYSMAC CJ series Motion Control Unit OPERATION...

Страница 2: ...uld possibly result in minor or relatively serious injury damage to the product or faulty operation OMRON product references All OMRON products are capitalized in this manual The first letter of the w...

Страница 3: ...any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained h...

Страница 4: ...rajexia system architecture 16 1 6 Cycle time 17 1 7 Program control and multi tasking 22 1 8 Motion sequence and axes 23 1 9 Motion buffers 31 1 10 Mechanical system 33 1 11 Axis numbers 34 SECTION 2...

Страница 5: ...TABLE OF CONTENTS vi SECTION 6 Troubleshooting 347 6 1 Items to Check First 348 6 2 Error Indicators 349 6 3 Troubleshooting Errors 350 6 4 Miscellaneous 356 Revision history 361...

Страница 6: ...close at hand for reference during operation WARNING It is extremely important that the CJ1W MCH72 and related devices be used for the specified purpose and under the specified conditions especially i...

Страница 7: ...72 flash memory flash memory function Caution Tighten the screws on the terminal block of the Power Supply Unit to the torque specified in this manual Loose screws may result in burning or malfunction...

Страница 8: ...g OFF the power supply may result in malfunction or electric shock Mounting or dismounting Power Supply Units I O Units CPU Units Memory Cassettes or any other Units Assembling the Units Setting DIP s...

Страница 9: ...e completion of wiring to ensure proper heat dissipation Leaving the label attached may result in malfunction Do not apply voltages to the Input Units in excess of the rated input voltage Excess volta...

Страница 10: ...depending on the configuration wiring and other conditions of the equipment or control panel in which the OMRON devices are installed The customer must therefore perform final checks to confirm that...

Страница 11: ...r may cause electromagnetic wave leakage or interference In this case the product may fail to meet EC Directives In order to prevent such interference fill clearances in the control panel with conduct...

Страница 12: ...tures A MECHATROLINK II connection for a MECHATROLINK II network with up to 30 axes The motion cycle time is selectable 0 5 ms 1 ms 2 ms or 4 ms An Encoder Interface connection It supports the main ab...

Страница 13: ...ording to the configuration of the physical axes The available settings are 0 5 ms 1 ms 2 ms or 4 ms 1 2 1 3 Cycle time Is the time needed to execute one complete cycle of operations in the CJ1W MCH72...

Страница 14: ...rity processes and Process 13 and 14 are High priority processes First the process priority High or Low and then the process number from high to low will define to which CPU task the process will be a...

Страница 15: ...nversion is performed through the use of the unit conversion factor which is defined by the UNITS axis parameter The origin point of the coordinate system can be determined using the DEFPOS command Th...

Страница 16: ...deceleration rate are set sufficiently high the movements for axis 0 and axis 1 will be as shown in the figure At start both the axis 0 and axis 1 moves to a coordinate of 50 over the same duration o...

Страница 17: ...ion constant speed and deceleration segments Suppose the distance moved by the MOVE command is 40 m the speed profile is given by the figure The two speed profiles in these figures show the same movem...

Страница 18: ...e and demand speed Both movements can be cancelled by using either the CANCEL or RAPIDSTOP command The CANCEL command cancels the move for one axis and RAPIDSTOP cancels moves on all axes The decelera...

Страница 19: ...from the corresponding parameters of the base axis The MOVE command computes the various components of speed demand per axis A is the time axis B is the speed axis 1 3 2 2 Circular interpolation It m...

Страница 20: ...ntrol Electronic Gearing control allows you to create a direct gearbox link or a linked move between two axes The MC Unit supports the following operations Electronic gearbox Linked CAM Linked move Ad...

Страница 21: ...ed axis This is like connecting two axes through a cam In the figure A is the Master axis 0 position and B is the CAMBOX Axis 1 position 1 3 3 3 Linked move The MOVELINK command provides a way to link...

Страница 22: ...Other operations 1 3 4 1 Cancelling moves In normal operation or in case of emergency it can be necessary to cancel the current movement from the buffers When the CANCEL or RAPIDSTOP commands are giv...

Страница 23: ...he REGIST command The position is captured in hardware and therefore there is no software overhead and no interrupt service routines eliminating the need to deal with the associated timing issues 1 3...

Страница 24: ...CJ1W MCH72 performs actual position control The main input of the controller is the Following Error which is the calculated difference between the demand position and the actual measured position 2 Th...

Страница 25: ...llowing Error E Op Kp E All practical systems use proportional gain For many just using this gain parameter alone is sufficient The proportional gain axis parameter is called P_GAIN Integral gain The...

Страница 26: ...mand position Pd and minimizes the Following Error at high speed Ovff Kvff Pd The parameter can be set to minimise the Following Error at a constant machine speed after other gains have been set The s...

Страница 27: ...actions as follows Reading the Motion buffer Reading the current Measured Position MPOS Calculating the next Demanded Position DPOS Executing the Position loop Sending the Axis reference Error handli...

Страница 28: ...he processes that take place within the cycle time depend on the setting of the SERVO_PERIOD parameter The SERVO_PERIOD parameter is a Trajexia parameter that must be set according to the system confi...

Страница 29: ...tion sequence is executed every 2 0ms Note Only the Sigma III Servo Driver and the Sigma V Servo Driver support the 0 5 ms trans mission cycle CPU task 1 Motion sequence Low priority task 0 1 2 3 CPU...

Страница 30: ...with the most restrictive rules when you set the SERVO_PERIOD parameter An incorrect value of the SERVO_PERIOD parameter results in an incorrect detection of the MECHATROLINK II slaves The most restr...

Страница 31: ...is 0 SERVO_PERIOD 0 5ms The CJ1W MCH72 supports 0 5ms SERVO_PERIOD with 4 axes If Sigma II Servo Drivers were used in this example the SERVO_PERIOD would be 1 0ms since Sigma II servo Drivers do not s...

Страница 32: ...PERIOD with 17 axes Address 49 Axis 0 Axis 8 Axis 1 Axis 9 Axis 2 Axis 10 Axis 3 Axis 11 Axis 4 Axis 12 Axis 5 Axis 13 Axis 6 Axis 14 Axis 7 Axis 15 Address 4A Address 4B Address 4C Address 4D Address...

Страница 33: ...4 time slices called CPU tasks Processes run in the first 3 CPU tasks according to the priority of the process Motion sequence and low priority processes A are executed in the Low Task LT period High...

Страница 34: ...nd axes Motion sequence is the part of the CJ1W MCH72 that controls the axes The actual way that the motion sequence operates depends on the axis type The axis type can be set and read by the paramete...

Страница 35: ...t calculates the demanded position for each axis The calculation is made every motion sequence The profile is generated according to the motion instructions from the BASIC programs 1 8 2 Position loop...

Страница 36: ...tion loop in the Servo Driver CJ1W MCH72 sends position ref erence to the Servo Driver via MECHATROLINK II 41 MECHATROLINK II Speed Position loop in the Trajexia CJ1W MCH72 sends speed refer ence to t...

Страница 37: ...is sent to the Servo Driver Profile generator MEASURED POSITION DEMAND POSITION Profile generator M E CJ1W MCH72 SERVO _ SERVO OFF SERVO OFF Position Loop is deactivated Gains are not used ML II Posi...

Страница 38: ...42 With SERVO ON only the torque loop is closed in the Servo Driver The torque reference in the Servo Driver depends on the FE and the gain With SERVO OFF the torque reference is sent directly via the...

Страница 39: ...coder is read 1 8 4 7 Encoder output ATYPE 45 The position profile is generated and the output from the system is an incremental encoder pulse This is useful to control a motor via pulses or as a posi...

Страница 40: ...ed control position control and torque control i INVERTER _ M E CJ1W MCH72 Position loop Demanded position Measured position Profile generator Following error Speed command DPRAM REFRESH EVERY 5ms ML...

Страница 41: ...n encoder interface controlled on the MECHATROLINK II bus as a servo axis Set the speed with S_REF 49 ON Position Inverter with built in encoder interface controlled on the MECHATROLINK II bus as a se...

Страница 42: ...he instruction is loaded into the process buffer and distributed to the corresponding axis buffer in the next motion sequence If a fourth motion instruction is executed and the three buffers are full...

Страница 43: ...mpties BASIC PROGRAM MOVE 500 MOVE 1000 DATUM 3 MOVE 200 NTYPE MOVE 200 MTYPE DATUM 3 BUFFER MOVE 500 MOVE 1000 DATUM 3 BASIC PROGRAM MOVE 500 MOVE 1000 DATUM 3 MOVE 200 NTYPE MOVE 200 MTYPE DATUM 3 B...

Страница 44: ...an reach the maximum dynamic of the motor driver combination 1 10 2 Rigidity If a machine is more rigid and less elastic you can set higher gains without vibration and you can reach higher dynamic and...

Страница 45: ...coder Interface MECHATROLINK II slaves can have a station address that ranges from 41 hex to 5F hex These station addresses correspond to axis numbers 0 to 29 The first non assigned axis number that i...

Страница 46: ...ndicators The CJ1W MCH72 has 5 status LEDs They indicate the operational mode and the status of the CJ1W MCH72 The status LEDs are given in the table below Label Description A Status LED indicators B...

Страница 47: ...t is in normal operation Flashing during startup Hardware error Flashing during execution Low battery ON Error log access error ERH Red OFF CPU in normal operation ON Communication error with PLC CPU...

Страница 48: ...d coded in user programs a user program becomes invalid when the unit number is changed The table below gives the relation between the unit number and the allocated CIO area words i 2 1 3 Battery The...

Страница 49: ...continue for 4 days If the ambient temperature is 55 C the battery can continue for 2 days 2 1 3 3 Replacing the battery When replacing the battery make sure that the following is adhered to Use the C...

Страница 50: ...on the floor or that is subjected to a shock The battery can leak 2 1 4 I O connector The I O connector is a 28 pin connector used to wire to an external I O All I Os are general purpose I Os Function...

Страница 51: ...nection Pin Connection 1 Input common 2 Input common 3 Registration input 0 4 Registration input 1 5 Input 2 6 Input 3 7 Input 4 8 Input 5 9 Input 6 10 Input 7 11 Input 8 12 Input 9 13 Input 10 14 Inp...

Страница 52: ...2 power supply Input current 8 mA at 24 VDC ON voltage 17 VDC min OFF voltage 5 VDC max Maximum response time 1250 s if the servo period equals 0 5 ms or 1 0 ms 2500 s if the servo period equals 2 0...

Страница 53: ...UL certified applications always use for external power supply a Class 2 power supply Current capacity 100 mA for each output 800 mA in total for the group of 8 outputs Protection Over current Over t...

Страница 54: ...l encoder input Incremental encoder output Stepper output SSI EnDat 1 NC 2 A A Step Clock 3 A A Step Clock 4 B B Dir 5 B B Dir 6 5 V Encoder power supply 7 Z Enable Enable Data 8 Z Enable Enable Data...

Страница 55: ...olution With these 3 signals you can determine the direction the speed and the relative position 2 2 3 1 Encoder input The pulse ratio of the CJ1W MCH72 is 1 every encoder edge i e a pulse edge for ei...

Страница 56: ...deal with timing issues For more information on how to use the registration inputs refer to the REGIST command in section 4 2 200 2 2 3 3 Hardware PSWITCH The MCH72 has one output output 8 that can b...

Страница 57: ...ode format or in binary format and if the resolution is 25 bits or less The number of bits and therefore the number of clock pulses sent to the encoder in each frame is programmable You set this numbe...

Страница 58: ...ontrol loop The connections for SSI are i The table below and the figure give an example of how to connect the Stegmann ATM 60 A encoder to the CJ1W MCH72 i Pin Signal 2 Clock 3 Clock 6 5 V 7 Data 8 D...

Страница 59: ...ure give an example of the connection of the Heidenhain ROC 425 2048 5XS08 C4 encoder to the CJ1W MCH72 i 1 GND Blue 9 0 V Encoder ground 8 Us Red See footnote1 1 Use an external power supply Encoder...

Страница 60: ...this interface The applicable signals are Enable Step Direction The applicable signals when a MOVE operation is performed 6 Clock Yellow 3 Clock 5 GND White green 9 0 V Encoder ground 2 0 V White See...

Страница 61: ...abel on top of the CJ1W MCH72 after the installation and wiring of the unit This makes sure that the unit cannot become overheated The CJ1W MCH72 can be installed in any slot in a CJ series CPU rack o...

Страница 62: ...set the unit number selector switch to the new unit number Note The maximum current consumption of the CJ1W MCH72 is 680 mA Make sure that the total current consumption of all units connected to the...

Страница 63: ...such as a programming console or the CX Programmer software to the PLC The following programming console can be used Model number C2090H PRO27 E Key sheet required CS1W KS001 E Recommended cable requ...

Страница 64: ...included The table below lists the MECHATROLINK II cables i Initial screen Password or Save or clear the CPU Bus Unit System Setup SHIFT WR ITE CHG CH DM 000000 I O TBL 000000 I O TBL WRIT 000000CPU B...

Страница 65: ...nodes within 50 m no repeater unit is required For more nodes or longer distances a repeater unit is required You can use the OMRON FNY REP2000 repeater or the Yaskawa JEPMC REP2000 repeater MECHATROL...

Страница 66: ...humidity 10 to 90 RH Ambient storage humidity 90 max without condensation Atmosphere No corrosive gases Vibration resistance 10 to 57 Hz 0 075 mm amplitude 57 to 100 Hz Acceleration 9 8 m s2 in X Y an...

Страница 67: ...user pro grams 756 1006 KB1 1 The available memory for user programs depends on the size of the Table memory which is minimum 0 KB and maximum 250 KB Data storage capacity RAM memory 1024 KB minus th...

Страница 68: ...Control method Pulse Train output open loop only Encoder position speed feedback Incremental and absolute Absolute encoder standards sup ported SSI 200 kHz EnDat 1 MHz Encoder input maximum edge rate...

Страница 69: ...Specifications Section 2 4 58...

Страница 70: ...s the CJ1W MCH72 to use the inputs and outputs connected to the PLC Also programs in the CJ1W MCH72 and PLC programs can exchange control and status data Because the CJ1W MCH72 can only access the inp...

Страница 71: ...2 can be freely configured This can be done in the PLC program or in the CJ1W MCH72 It is recommended to configure the memory mapping either in the startup program of the PLC or in the startup program...

Страница 72: ...must use the FINS Parameter Area Write command For more information on this FINS command refer to section 3 4 4 3 2 2 Configuration of memory areas in the CJ1W MCH72 To configure the memory areas for...

Страница 73: ...IC programs can be executed 0 Allow BASIC programs to be executed 1 to 0 Stop BASIC programs switches off the axes watchdog stop all movement clear movement buffers and clear the digital outputs 0 to...

Страница 74: ...back of word n bit 3 12 15 N A Always 0 n 2 0 MECHATROLINK II error 0 No MECHATROLINK II error 1 Error on MECHATROLINK II bus 1 Axes error 0 No axes error 1 Axes error See control and status words n 7...

Страница 75: ...xchange 3 3 2 1 Axis Status array The Axis Status array is a special array that exists of 4 fields The table below lists the Axis Status fields and the corresponding PLC data type i n 12 0 13 Process...

Страница 76: ...nse code is a 2 byte hexadecimal code that indicates the results of the command execution The first byte provides the main response code MRES which classifies the results The table below lists the MRE...

Страница 77: ...2 Table memory in 16 bit integer format C2 Table memory in 32 bit IEEE floating point format B0 VR memory in 16 bit integer format F0 VR memory in 32 bit IEEE floating point format start_address 0 sta...

Страница 78: ...d_code 01 02 var_type 82 Table memory in 16 bit integer format C2 Table memory in 32 bit IEEE floating point format B0 VR memory in 16 bit integer format F0 VR memory in 32 bit IEEE floating point for...

Страница 79: ...arameters can have the following values i 02 01 00 00 00 08 command_code area_code start_address byte_count Parameter Values hex command_code 02 01 area_code 0100 0107 for PLC output area 8 areas avai...

Страница 80: ...or AOUT array depending on direction 04 Axis Status array only valid if direction is PLC input tj_start Start address in CJ1W MCH72 memory Validity depends on tj_area total_items Total items words and...

Страница 81: ...e process mode program_name 04 01 00 00 command_code process mode Parameter Values mode 00 Stop 01 Start process 01 0E Process number program_name A string that represents the program name The string...

Страница 82: ...is equal to the return value of the BASIC command ERROR_LINE PROC process error_code is equal to the return value of the BASIC command RUN_ERROR PROC process 04 02 00 command_code process Parameter V...

Страница 83: ...FINS commands Section 3 4 72...

Страница 84: ...nd position movements for the superimposed axis will be added to any moves that are currently being executed B_SPLINE Expands the profile stored in TABLE memory using the B Spline mathematical functio...

Страница 85: ...one or more axes at the demand speed accelera tion and deceleration to the position specified as increment from the current position MOVEABS Moves one or more axes at the demand speed accelera tion a...

Страница 86: ...d to MECHA TROLINK II bus Data are updated every servo cycle DRIVE_STATUS Contains the current status of the Servo Driver ENCODER Contains a raw copy of the encoder hardware register ENCODER_BITS Sets...

Страница 87: ...n in the last servo period MTYPE Contains the type of move currently being executed NTYPE Contains the type of the move in the Next Move buffer OFFPOS Contains an offset that will be applied to the de...

Страница 88: ...of the analogue speed refer ence output of the Encoder Interface SRAMP Contains the S curve factor T_REF Contains the torque reference value which is applied to the servo motor TRANS_DPOS Contains ax...

Страница 89: ...e other expres sion IS EQUAL TO Checks two expressions to see if they are equal ASSIGNMENT Assigns an expression to a variable IS NOT EQUAL TO Checks two expressions to see if they are different IS GR...

Страница 90: ...SQR Returns the square root of an expression TAN Returns the tangent of an expression XOR Performs an XOR function between corresponding bits of the integer parts of two expressions Name Description N...

Страница 91: ...program segment to be repeated with increasing decreasing variable GOSUB RETURN Jumps to a subroutine at the line just after label The pro gram execution returns to the next instruction after a RETURN...

Страница 92: ...e memory GLOBAL Declares a reference to one of VR variables HALT Stops execution of all programs currently running INITIALISE Sets all axes and parameters to their default values INTEGER_READ Splits a...

Страница 93: ...Description Name Description BATTERY_LOW Returns the current status of the battery condition CHECKSUM Contains the checksum for the programs in RAM CONTROL Contains the type of controller in the syst...

Страница 94: ...s the version number of the controller firmware WDOG The software switch that enables Servo Drivers Name Description Name Description ERROR_LINE Contains the number of the line which caused the last B...

Страница 95: ...ee also N A Type Mathematical function Syntax expression1 expression2 Description The operator subtracts expression2 from expression1 Arguments expression1 Any valid BASIC expression expression2 Any v...

Страница 96: ...is operation uses floating point algorithms and may give small devia tions for integer calculations Arguments expression1 Any valid BASIC expression expression2 Any valid BASIC expression Example resu...

Страница 97: ...rguments expression1 Any valid BASIC expression expression2 Any valid BASIC expression Example IF a 10 THEN GOTO label1 If variable a contains a value not equal to 10 program execution contin ues at l...

Страница 98: ...2 Description The operator returns TRUE if expression1 is less than expression2 otherwise it returns FALSE Arguments expression1 Any valid BASIC expression expression2 Any valid BASIC expression Examp...

Страница 99: ...15 0000 43981 0000 See also HEX PRINT Type Program command Syntax Description marks all that follows it on a line as comment and not program code Comment is not executed when the program is run You c...

Страница 100: ...ABS function returns the absolute value of an expression Arguments expression Any valid BASIC expression Example IF ABS A 100 THEN PRINT A is outside range 100 100 See also N A Type Axis command Synt...

Страница 101: ...tical function Syntax ACOS expression Description The ACOS function returns the arc cosine of the expression The expression value must be between 1 and 1 The result in radians is between 0 and PI Inpu...

Страница 102: ...movement profile The ADDAX command takes the demand position changes from the superimposed axis as specified by the axis argument and adds them to any movement running on the axis to which the comman...

Страница 103: ...mands Section 4 2 92 i Example UNITS AXIS 0 1000 UNITS AXIS 1 20 Superimpose axis 1 on axis 0 ADDAX 1 AXIS 0 MOVE 1 AXIS 0 MOVE 2 AXIS 1 Axis 0 will move 1 1000 2 20 1040 edges MOTOR AXIS 0 ENCODER AX...

Страница 104: ...d connection to flighted belt REPEAT GOSUB getoffset get offset to apply MOVE offset AXIS 1 make correcting move on virtual axis UNTIL IN 2 OFF repeat until stop signal on input 2 RAPIDSTOP ADDAX 1 cl...

Страница 105: ...2 ON REGIST 3 registration input detects a box on the conveyor WAIT UNTIL MARK OR IN 2 OFF IF MARK THEN CONNECT 1 2 AXIS 0 connect axis 0 to the moving belt BASE 3 1 set the drawing motion to axis 3 a...

Страница 106: ...which is fitted with an ultra sonic height sensing device The output of the ultra sonic sensor is in the range 0V to 4V where the output is at 4V when the loop is at its longest Note The analogue inp...

Страница 107: ...re this expression is equivalent to the following VR 0 10 AND 18 The AND is a bit operator and so the binary action is as follows 01010 AND 10010 00010 Therefore VR 0 will contain the value 2 Example...

Страница 108: ...the argument expression can have any value The result is in radians and is between PI 2 and PI 2 Arguments expression Any valid BASIC expression Example PRINT ATAN 1 0 7854 See also N A Type Mathemati...

Страница 109: ...LINK II Inverter 49 The ATYPE parameters are set by the system at start up For axes con trolled by the Servo Drivers connected to the system via MECHATRO LINK II bus the default ATYPE value is 40 MECH...

Страница 110: ...Type Axis parameter Syntax AXIS_ENABLE ON OFF Description The AXIS_ENABLE axis parameter is used to enable or disable partic ular axis independently of others This parameter can be set ON or OFF for...

Страница 111: ...e table below Bit number Description Value Character 0 1 1 Following error warning range 2 w 2 Servo Driver communication error 4 a 3 Servo Driver alarm 8 m 4 in forward limit 16 f 5 In reverse limit...

Страница 112: ...ed into a greater number of points Arguments type Reserved for future expansion Always set this to 1 data_in Location in the TABLE where the source profile is stored number_in Number of points in the...

Страница 113: ...cklash compensation can be seen in the TRANS_DPOS parameter which is equal to DPOS backlash com pensation Arguments on off Either ON or OFF distance The offset distance expressed in user units speed T...

Страница 114: ...the BASE command does not specify all the axes the BASE command will fill in the remaining values automatically Firstly it will fill in any remaining axes above the last declared value then it will f...

Страница 115: ...s required to be executed once in the BASIC program If several com mands are used only the one executed last is effective Arguments N A Example ON BASICERROR GOTO error_routine no_error 1 STOP error_r...

Страница 116: ...are specified in encoder edges The TABLE array is specified with the TABLE command The movement can be defined with any number of points from 3 to the maximum table size available 64000 The CJ1W MCH7...

Страница 117: ...the values for instance to the unit conversion factor set by UNITS parameter distance A factor given in user units that controls the speed of movement through the Table The time taken to execute CAM...

Страница 118: ...PI 360 convert degrees to radians x deg 25 10000 1 COS rad TABLE deg 20 x place value of x in table NEXT deg WHILE IN 2 ON repeat cam motion while input 2 is on CAM 0 18 1 200 WAIT IDLE WEND Note The...

Страница 119: ...edges second and we want the profile to be complete in 0 25 seconds So multiplying the axis speed by the required completion time 10000 x 0 25 gives the distance parameter equals 2500 GOSUB profile_g...

Страница 120: ...n the distance parameter must range from 10000 to 80000 distance speed x time The return trip can be completed in 0 5 seconds and so the distance value of 5000 is fixed for the return movement The Mul...

Страница 121: ...versing the TABLE backwards as well as forwards depending on the Master axis direction The link_option argument can be used to specify different options to start the command and to specify a continuou...

Страница 122: ...ious move The REMAIN axis parameter holds the remainder of the distance on the link axis Example Subroutine to generate a SIN shape speed profile Uses p is loop counter num_p is number of points store...

Страница 123: ...XIS 1 WAIT IDLE The arguments of the CAMBOX command are 0 is the start of the profile shape in the TABLE 30 is the end of the profile shape in the TABLE 800 scales the TABLE values Each CAMBOX motion...

Страница 124: ...97 3497 TABLE 1010 3164 2914 2830 2831 2997 3164 3596 3830 3996 3996 TABLE 1020 3830 3497 3330 3164 3164 3164 3330 3467 3467 3164 TABLE 1030 2831 1998 1166 666 333 0 BASE 3 MOVEABS 130 WAIT IDLE start...

Страница 125: ...to note that the control block is modified during the CAMBOX operation It must therefore be re initialised prior to each use PATTERN BLOCK The start and end of this are pointed to by 2 of the CONTROL...

Страница 126: ...ed with a negative direction link the first control block will produce one repeat less than expected This is because the CAMBOX loads a zero link position which immedi ately goes negative on the next...

Страница 127: ...ABLE 200 160 1 160 160 0 1000 300 Set up running control block TABLE 300 1000 1 1000 4999 0 1 1 Run whole lot with single CAMBOX Third parameter is pointer to first control block CAMBOX 100 150 200 50...

Страница 128: ...the MTYPE buffer CANCEL works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Note CANCEL cancels only the presently executing move If further moves are b...

Страница 129: ...is cancelled axis 1 stops instantly BASE 0 SPEED 10000 FORWARD CONNECT 0 5 0 AXIS 1 WA 1000 CANCEL WAIT UNTIL VP_SPEED 7500 CANCEL AXIS 1 See also AXIS MTYPE NTYPE PMOVE RAPIDSTOP Type System paramet...

Страница 130: ...e command is run to 0 When you use it in a program it resets all local variables defined to 0 Arguments N A Example VR 0 22 VR 20 44 3158 VR 300 12 PRINT VR 0 VR 20 VR 300 22 0000 44 3158 12 0000 CLEA...

Страница 131: ...s expected The value is in user units Arguments N A Example CLOSE_WIN 10 See also AXIS OPEN_WIN REGIST UNITS Type Axis parameter Syntax CLUTCH_RATE Description The CLUTCH_RATE axis parameter defines t...

Страница 132: ...axis To change the driving axis the CONNECT command needs to be cancelled first CONNECT with different driving axis will be ignored The CONNECT command can be cancelled with a CANCEL or RAPIDSTOP comm...

Страница 133: ...onnected to axis 1 BASE 0 SERVO ON CONNECT 0 25 1 Example A machine has an automatic feed on axis 1 that must move at a set ratio to axis 0 This ratio is selected using inputs 0 2 to select a particul...

Страница 134: ...DSTOP Type System command Syntax CONSTANT name value Description Declares the name as a constant for use both within the program con taining the CONSTANT definition and all other programs in the Traje...

Страница 135: ...ked 1000 is added to the value so a locked CJ1W MCH72 will return 1264 Arguments N A Example No example See also N A Type Program command Syntax COPY program_name new_program_name Description The COPY...

Страница 136: ...s N A Example BASE 2 CREEP 10 SPEED 500 DATUM 4 CREEP AXIS 1 10 SPEED AXIS 1 500 DATUM 4 AXIS 1 See also AXIS DATUM UNITS Type Axis parameter Syntax D_GAIN Description The D_GAIN axis parameter contai...

Страница 137: ...Description This parameter works in conjunction with D_ZONE_MAX to clamp the S_REF output to zero when the demand movement is complete and the magnitude of the Following Error is less than the D_ZONE...

Страница 138: ...unless AXIS is used to specify a temporary base axis Note The origin input set with the DATUM_IN parameter is active low i e the origin switch is set when the input is OFF The feedhold reverse jog for...

Страница 139: ...um switch is reached The axis then moves forward at creep speed until the datum switch is reset The demand position is then reset to 0 and the meas ured position corrected so as to maintain the Follow...

Страница 140: ...DATUM 0 reset axis status errors SERVO ON turn the servo back on WDOG ON turn on the watchdog OP 9 ON sound siren that line will restart WA 1000 OP 9 OFF FORWARD restart motion RETURN Example The posi...

Страница 141: ...using DATUM 4 which moves in reverse to find the switch SERVO ON WDOG ON REV_IN 1 temporarily turn off the limit switch function DATUM_IN 5 sets input 5 for registration SPEED 5000 set speed for quick...

Страница 142: ...e Axis parameter Syntax DATUM_IN DAT_IN Description The DATUM_IN axis parameter contains the input number to be used as the datum switch input for the DATUM command The valid input range is given by 0...

Страница 143: ...to 0 DEFPOS can be used at any time As an alternative also the OFFPOS axis parameter can be used This parameter can be used to perform a relative adjustment of the current position DEFPOS works on th...

Страница 144: ...axes At the end of the DATUM DATUM 4 AXIS 3 procedure the positions are 0 0 WAIT IDLE AXIS 1 WAIT IDLE AXIS 3 BASE 1 3 set up the BASE array DEFPOS 10 35 define positions of the axes to be 10 and 35 E...

Страница 145: ...delete the currently selected program using SELECT The program name can also be specified without quotes DEL ALL will delete all programs DEL can also be used to delete the Table DEL TABLE The name T...

Страница 146: ...l all have their AXIS_ENABLE set OFF and SERVO set OFF Multiple groups can be made although an axis cannot belong to more than one group All groupings can be cleared using DISABLE_GROUP 1 Note For use...

Страница 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...

Страница 148: ...WARD AXIS 0 FORWARD AXIS 1 WHILE TRUE IF AXIS_ENABLE AXIS 0 0 THEN PRINT motion error axis 0 reset_0_flag 1 ENDIF IF AXIS_ENABLE AXIS 1 0 THEN PRINT motion error axis 1 reset_1_flag 1 ENDIF IF reset_0...

Страница 149: ...ing into sub routine group_enable Clear group errors and enable axes DATUM 0 clear any motion errors WA 10 FOR axis_no 0 TO 2 AXIS_ENABLE AXIS axis_no ON enable axes SERVO AXIS axis_no ON start positi...

Страница 150: ...nal parameter to set which alarm to read 0 means the last alarm default 1 means the penultimate alarm etc alarm_number ranges from 0 to 9 Example IF NOT DRIVE_ALARM 10 AXIS 2 THEN PRINT Failed to read...

Страница 151: ...other ATYPE Units over nominal Torque 14 Monitor selected with Pn813 0 Useful to monitor servo monitors Unxxx 15 Monitor selected with Pn813 1 Useful to monitor servo monitors Unxxx When applied to a...

Страница 152: ...TP Emergency stop switch 11 Reserved Reserved Not used SI2 General input 2 12 IO12 IO12 Not used PCL General input 12 Sigma II and Sigma V Torque limit input in positive direction GN 13 IO13 IO13 Not...

Страница 153: ...the VR memory location specified by the VR parameter If the command cannot be executed the value 0 is returned The com mand is executed on the driver for the base axis set with BASE It can be changed...

Страница 154: ...E_RESET Description The DRIVE_RESET command resets the Servo Driver connected via the MECHATROLINK II bus The command is executed on the driver for the base axis set by BASE The base axis can be chang...

Страница 155: ...d table below Note Only bits relevant to Flexible axis are listed Bit Description Flexible Axis 0 MARK 1 MARKB 2 REG 0 selected current value 3 REG 1 selected current value 5 REG 0 current value 6 REG...

Страница 156: ...the axis so its execution is slow and the time variable Do not use this command together with other commands that require quick execution Note Executing a DRIVE_WRITE will temporarily disable the Ser...

Страница 157: ...s command is implemented for a Command Line Terminal Arguments line_number The number of the line at which to start editing Example No example See also SELECT Type Axis parameter read only Syntax ENCO...

Страница 158: ...s it is essential to set this parameter for the axis before setting the ATYPE Arguments N A Example ENCODER_BITS 25 256 12 ATYPE 47 In this example a 25 bit EnDat encoder is used that has 12 bits for...

Страница 159: ...is and the use of this command may reduce the ability of the Motion Controller to accurately achieve all positions Note ENCODER_RATIO does not replace UNITS Only use ENCODER_RATIO where absolutely nec...

Страница 160: ...R 100 ENCODER_READ A10D AXIS 7 This command will read the number of encoder bits and put that value in VR 100 memory location See also AXIS ENCODER ENCODER_BITS Type Axis parameter read only Syntax EN...

Страница 161: ...ully write an encoder parameter with this command the ENCODER_CONTROL parameter must be set to 1 encoder parameter read write mode Arguments address Specifies the EnDat MRS field to write to value Any...

Страница 162: ...the axes matches the ERRORMASK setting In this case the enable switch WDOG will be turned off the MOTION_ERROR parameter will have value different than 0 and the ERROR_AXIS parameter will contain the...

Страница 163: ...ill be turned off the MOTION_ERROR parameter will have value different than 0 and the ERROR_AXIS parameter will contain the number of the first axis to have the error Check the AXISVALUES parameter fo...

Страница 164: ...t is used for the fast jog The fast jog input controls the jog speed between two speeds If the fast jog input is set the speed as given by the SPEED axis parameter will be used for jogging If the inpu...

Страница 165: ...s to put the controller into MOTION_ERROR This value is only set when the FE exceeds the FE_LIMIT and the SERVO parameter has been set to OFF FE_LATCH is reset to 0 when the SERVO parameter of the axi...

Страница 166: ...that if FE_LIMIT is exceeded for one servo period only it will be ignored The default value for FE_LIMIT_MODE is 0 Arguments N A Example No example See also N A Type Axis parameter Syntax FE_RANGE De...

Страница 167: ...ore bit 7 of the AXISSTATUS parameter is set When the input turns reset again any move in progress when the input was set will return to the programmed speed Note This feature only works on speed cont...

Страница 168: ...um W342 E1 Sections 3 and 5 Trajexia has built in FINS client capabilities so it can initiate the FINS communications with FINS slave devices using FINS_COMMS Only FINS 0101 Read Memory and FINS 0102...

Страница 169: ...ion is another Trajexia system length The number of items to be transferred The range will depend upon the FINS frame length and the capabilities of the client and remote servers The range for a Traje...

Страница 170: ...status of the given flag bit is returned With two parameters specified the given flag is set to the value of the second parameter The FLAG command is provided to aid compatibility with earlier contro...

Страница 171: ...iable data in the flash memory After the data has been stored at each power up the TABLE data will be restored to the values held in flash memory The command will write either the entire TABLE array o...

Страница 172: ...ld result in Index range error executing FLASHVR 1 would write already defined values of TABLE memory in range 0 999 into the flash memory but also all other TABLE memory slots in range 1000 63999 wil...

Страница 173: ...The FOR NEXT loop allows the program segment between the FOR and the NEXT statement to be repeated a number of times On entering this loop the variable is initialized to the value of start and the bl...

Страница 174: ...mands are both within the outer FOR TO STEP NEXT loop See also REPEAT UNTIL WHILE WEND Type Axis command Syntax FORWARD FO Description The FORWARD command moves an axis continuously forward at the spe...

Страница 175: ...p FORWARD wait for stop signal WAIT UNTIL IN 12 ON CANCEL WAIT IDLE Example Move an axis forward until it hits the end limit switch then move it in the reverse direction for 25 cm BASE 3 FWD_IN 7 limi...

Страница 176: ...axis REP_OPTION 1 SERVO ON FORWARD starts line shaft BASE 0 CONNECT 1 4 Connects base 0 to virtual axis in reverse WHILE IN 2 ON BASE 1 Links axis 1 to the shaft in reverse direction MOVELINK 4000 200...

Страница 177: ...you need to do this A machine system can be specified with several different frames The currently active frame is specified with the FRAME System parameter The default FRAME is 0 which corresponds to...

Страница 178: ...o 31 Values 0 to 15 repre sent physically present inputs of CJ1W MCH72 I O connector and are common for all axes Values 16 to 31 are mapped directly to driver inputs that are present on the CN1 connec...

Страница 179: ...a Studio Note Channel 0 is reserved for the connection to Trajexia Studio and or the command line interface Please be aware that this channel may give problems for this function Arguments n The specif...

Страница 180: ...command In programs that use the defined GLOBAL name has the same mean ing as VR vr_number Do not use the syntax VR name A maximum of 128 GLOBALs can be declared Arguments name Any user defined name...

Страница 181: ...t 15 characters are significant Alternatively line numbers may be used as labels Example loop PRINT Measured position MPOS CHR 13 WA 1000 GOTO loop See also GOSUB RETURN Type System command Syntax HAL...

Страница 182: ...FO and going through the sequence of positions in it if the same sequence has to be executed again FIFO must be cleared before executing HW_PSWITCH command with the same parameters Arguments mode 0 di...

Страница 183: ...ains have no affect on stepper output axis ATYPE 46 Arguments N A Example No example See also D_GAIN OV_GAIN P_GAIN VFF_GAIN Type Mathematical function Syntax IEEE_IN byte0 byte1 byte2 byte3 Descripti...

Страница 184: ...d of a subsequent ELSEIF substructure is TRUE the commands of this substructure are executed If all conditions are FALSE the commands following ELSE will be executed or the program will resume at the...

Страница 185: ...er Arguments input_number The number of the input for which to return a value The range for this parameter is 0 255 final_ input_number The number of the last input for which to return a value The ran...

Страница 186: ...5 Similarly to round for a negative value subtract 0 5 to the value before applying INT Arguments expression Any valid BASIC expression Example PRINT INT 1 79 1 0000 See also N A Type System command...

Страница 187: ...hardware Inverter into the stepper pulse output circuit This can be necessary for connecting to some step per drivers The electronic logic inside the Trajexia stepper pulse gener ator assumes that th...

Страница 188: ...N3 3 N4 9 Inverter F7 G7 V1000 B1 01 3 B1 02 3 Make sure that the Inverter firmware supports the MECHATROLINK II board The command returns 1 if successfully executed and 0 if failed The command sent...

Страница 189: ...ion number of the Inverter alarm_number The number of the alarm See the Inverter manual operation_signals A bitwise value to control the operation signals See the table below mode The mode to set the...

Страница 190: ...2 3 Make you sure that the Inverter firmware supports the MECHATRO LINK II board The command returns 1 if successfully executed and 0 if failed The result if any is returned in the selected VR Argumen...

Страница 191: ...meter 2 Writes the speed reference 3 Writes the torque reference To use an Inverter via MECHATROLINK II you should put the command and the reference via communication option Inverter MV V7 N3 3 N4 9 I...

Страница 192: ...an be controlled with the FAST_JOG input Arguments N A Example No example See also AXIS AXIS FAST_JOG FWD_JOG REV_JOG UNITS Type System parameter read only Syntax LAST_AXIS Description The LAST_AXIS p...

Страница 193: ...quotes If the program name is omitted the current selected program will be listed Note This command is implemented for an offline Command Line Ter minal Within Trajexia Studio users can use the termi...

Страница 194: ...by personnel unaware of the security code The lock code number is stored in the flash EPROM The UNLOCK command allows the locked state to be unlocked The code number can be any integer and is held in...

Страница 195: ...EGIST REG_POS Type Axis parameter read only Syntax MARKB Description The MARKB is set to FALSE when the REGIST command has been executed and is set to TRUE when the primary registration event occurs O...

Страница 196: ...INK 0 5 station VR Reads and clears missed message count A Non Axis MECHATRO LINK II slave does not report automatically a network problem so use this command to poll the Inverter for checking that th...

Страница 197: ...E 3 The axis group does not change for multi axis moves When merging multi axis moves only the base axis MERGE axis parameter needs to be set Note If the moves are short a high deceleration rate must...

Страница 198: ...switch which determines whether the arc is interpolated in a clockwise or anti clockwise direction The parameter is set to 0 or 1 See MOVECIRC distance3 The distance to move on the third axis in the B...

Страница 199: ...the product The UNITS for axis 3 are set such that the axis is cali brated in degrees REP_DIST AXIS 3 360 REP_OPTION AXIS 3 ON all 3 axes must be homed before starting MERGE ON MOVEABS 360 AXIS 3 poi...

Страница 200: ...WAIT IDLE MOVE 90 AXIS 2 rotate the knife after stopping at corner WAIT IDLE AXIS 2 MOVE 0 50 MHELICAL 6 0 3 0 1 180 1 MOVE 0 50 WAIT IDLE pause again to rotate the knife MOVE 90 AXIS 2 WAIT IDLE AXI...

Страница 201: ...ins a bit pattern showing all axes which have the motion error The ERROR_AXIS parameter will contain the number of the first axis to have the error Due to technical limitations MOTION_ERROR can return...

Страница 202: ...ase axis Argument distance_1 is applied to the base axis distance_2 is applied to the next axis etc By changing the axis between individual MOVE commands uninterpo lated unsynchronised multi axis moti...

Страница 203: ...0 DECEL 352000 SERVO ON WDOG ON MOVE 10 AXIS 5 start moves MOVE 10 AXIS 4 MOVE 10 AXIS 3 WAIT IDLE AXIS 5 wait for moves to finish WAIT IDLE AXIS 4 WAIT IDLE AXIS 3 Example An X Y plotter can write te...

Страница 204: ...gin MOVEABS works on the default basis axis group set with BASE unless AXIS is used to specify a temporary base axis Argument distance_1 is applied to the base axis distance_2 is applied to the next a...

Страница 205: ..._2 3000 WHILE IN run_switch ON IF IN 6 ON THEN switch 6 selects position 2 MOVEABS position_2 WAIT IDLE ELSEIF IN 7 ON THEN switch 7 selects position 1 MOVEABS position_1 WAIT IDLE ELSE MOVEABS home W...

Страница 206: ...iption The MOVECIRC command interpolates 2 orthogonal axes in a circular arc at the tool point The path of the movement is determined by the 5 arguments which are incremental from the current position...

Страница 207: ...olated in a clockwise or counterclockwise direction Value 0 or 1 If the two axes involved in the movement form a right hand axis set direction to 0 to produce positive motion about the third possibly...

Страница 208: ...mputes the radius and the total angle of rota tion from the centre and end point If the end point is not on the calcu lated path the move simply ends at the computed end and not the specified end poin...

Страница 209: ...hemicals into test tubes The nozzle can move up and down and also along its rail The most efficient motion for the nozzle is to move in an arc between the test tubes BASE 0 1 MOVEABS 0 5 move to posit...

Страница 210: ...ation and link_deceleration parameters The con stant speed link distance is derived from the total link distance and these two parameters The three phases can be divided into separate MOVELINK command...

Страница 211: ...eater than parameter 2 they are both reduced in proportion until their sum equals parameter 2 link axis The axis to link to link_option See the table below link_option Description 1 Link starts when r...

Страница 212: ...oke WEND In this program the controller waits for the roll to feed out 150 m in the first line After this distance the shear accelerates to match the speed of the paper moves at the same speed and the...

Страница 213: ...0 0 6 1 all decel The movements of each phase can be added to give the total move ment MOVELINK 1 1 6 0 6 0 6 1 Same as 3 moves above But in the example above the acceleration phase is kept separate...

Страница 214: ...1 TO 10 MOVELINK 50 25 0 0 1 MOVELINK 50 25 0 0 1 NEXT layer WAIT IDLE OP motor OFF See also AXIS UNITS REP_OPTION Type Axis command Syntax MOVEMODIFY position MM position Description The MOVEMODIFY...

Страница 215: ...set position where mark was seen to 0 WAIT UNTIL OFFPOS 0 wait for OFFPOS to take effect MOVEMODIFY 250 change move to stop at 250mm Example A paper feed system slips To counteract this a proximity se...

Страница 216: ...ts_per_rev1 WHILE IN 2 ON MOVEMODIFY VR bearing AXIS 0 adjust bearing to match VR0 MOVEMODIFY VR elevation AXIS 1 adjust elevation to match VR1 WA 250 WEND RAPIDSTOP stop movement WAIT IDLE AXIS 0 MOV...

Страница 217: ...rameter MSPEED represents a snapshot of the speed and significant fluctua tions which can occur particularly at low speeds It can be worthwhile to average several readings if a stable value is require...

Страница 218: ...l from the servo loop An offset of 327 will represent an offset of 0 1 volts It is suggested that as offset of 65 to 70 of the value required to make the stage move in an open loop situation is used A...

Страница 219: ...NOT 1 6 0000 See also N A Type Axis parameter read only Syntax NTYPE Description The NTYPE parameter contains the type of the move in the next move buffer Once the current move has finished the move p...

Страница 220: ...full speed The value set in OFFPOS will be reset to 0 by the system as the offset is loaded Note The offset is applied on the next servo period Other commands may be executed prior to the next servo p...

Страница 221: ...Type Constant read only Syntax ON Description The ON constant returns the numerical value 1 Arguments N A Example OP lever ON The above line sets the output named lever to ON See also N A Type Progra...

Страница 222: ...has three different forms depending on the number of arguments Command OP output_number value sets a single output channel The range of output_number depends on the number of additional digital I O co...

Страница 223: ...above programming can also be written as follows OP OP OR FF00 Example val 8 The value to set mask OP AND NOT 15 256 Get current status and mask OP mask OR val 256 Set val to OP 8 to OP 11 This routin...

Страница 224: ...d for the operation Therefore this expression is equiv alent to the following result 10 OR 18 The OR is a bit operator and so the binary action taking place is 01010 OR 10010 11010 Therefore result wi...

Страница 225: ...anged only when the SERVO is off Arguments N A Example No example See also D_GAIN I_GAIN P_GAIN VFF_GAIN Type Axis parameter Syntax P_GAIN Description The P_GAIN parameter contains the proportional ga...

Страница 226: ...xchange Possible values in hexadecimal are 01 CIO 03 DM 04 WR 05 HR 08 14 EM bank 0 C plc_start The start address in PLC memory Note The validity depends on plc_area tj_area The CJ1W MCH72 memory area...

Страница 227: ...ime since the last PLC cyclic service Example No example See also PLC_EXCHANGE Type Task parameter read only Syntax PMOVE Description The PMOVE parameter contains the status of the task buffers The pa...

Страница 228: ...e in an open loop situation is used Arguments N A Example No example See also N A Type System parameter Syntax POWER_UP Description This parameter is used to determine whether or not programs should b...

Страница 229: ...e printed The numbers are right aligned in the field with any unused leading characters being filled with spaces If the number is too long then the field will be filled with asterisks to signify that...

Страница 230: ...proc ess to be read or written If omitted the current task will be assumed Arguments task_number The number of the task to access Example WAIT UNTIL PMOVE PROC 3 0 See also N A Type Task parameter Syn...

Страница 231: ...d turns off the output when a second position is reached The positions are specified as the measured absolute positions There are 16 position switches each of which can be assigned to any axis Each sw...

Страница 232: ...unit conversion factor to allow the positions to be set in convenient units First the unit conversion factor must be calcu lated and set Each pulse on an encoder gives four edges for the CJ1W MCH72 t...

Страница 233: ...es RAPIDSTOP cancels only the presently executing moves If further moves are buffered in the next move buffers NTYPE or the task buffers they will then be loaded During the deceleration of the current...

Страница 234: ...el a MOVE on the main axis and a FORWARD on the second axis When the axes have stopped a MOVEABS is applied to re position the main axis BASE 0 REGIST 3 FORWARD AXIS 1 MOVE 100000 apply a long move WA...

Страница 235: ...0 RAPIDSTOP WAIT IDLE AXIS 1 wait for axis 1 to decel CONNECT 1 1 re connect axis 0 REVERSE AXIS 1 WAIT UNTIL VPSPEED SPEED WA 1000 RAPIDSTOP WAIT IDLE AXIS 1 See also CANCEL MTYPE NTYPE Type System c...

Страница 236: ...e CJ1W MCH72 They cannot be written Their return value is always 0 Note READ_OP checks the state of the output logic READ_OP can return the value 1 even if no actual output is present Arguments output...

Страница 237: ...nd close length 200 OPEN_WIN 10 CLOSE_WIN length 10 GOSUB Initial Loop TICKS 0 Set millisecond counter to 0 IF MARK THEN offset REG_POS This next line makes offset ve if at end of sheet IF ABS offset...

Страница 238: ...puts EXT1 EXT2 or EXT3 on a Servo Driver Unlike Flexible axis axes only one registration position can be captured When a registration event has occurred the MARK axis parameter is set to ON and the po...

Страница 239: ...ameter specifies the registration input and event for use and the signal edge the registration event occurs The mode parameter also specifies the use of the windowing function and filter ing The mode...

Страница 240: ...Set this bit to use filtering function Example A disc used in a laser printing process requires registration to the Z marker before it can start to print The example code locates to the Z marker and...

Страница 241: ...tch of belt flights REP_OPTION ON OPEN_WIN 30 sets window open position CLOSE_WIN 90 sets window close position REGIST 4 256 R input registration with windowing FORWARD start the belt box_seen 0 REPEA...

Страница 242: ...tected reg 6 select registration mode 6 rising edge R rising edge Z REGIST reg FORWARD WHILE IN 2 OFF IF MARKB THEN on a Z mark mpos is reset to zero OFFPOS REG_POSB REGIST reg ELSEIF MARK THEN on R i...

Страница 243: ...moved by MOVELINK or CAMBOX REMAIN is expressed in encoder counts If a master or a slave axis is moved by a motion command that is not MOVELINK or CAMBOX REMAIN is expressed in user units set by UNIT...

Страница 244: ...measured position MPOS are corrected REP_DIST is defined in user units The exact range is controlled by REP_OPTION The REP_DIST can have any non 0 positive value When the measured position has reached...

Страница 245: ...er If REP_OPTION bit 0 is off the range of the demanded and measured posi tions will be between REP_DIST and REP_DIST If REP_OPTION bit 0 is on the range of the demanded and measured posi tions will b...

Страница 246: ...ruct can be nested indefinitely Arguments commands Any valid set of BASIC commands condition Any valid BASIC logical expression Example A conveyor is to index 100mm at a speed of 1000mm s wait for 0 5...

Страница 247: ...se motion on that axis will be stopped Bit 5 of the AXISSTATUS axis parameter will also be set Note This input is active low Arguments N A Example No example See also AXIS AXISSTATUS FWD_IN Type Axis...

Страница 248: ...EVERSE WAIT UNTIL IN 0 ON Wait for stop signal CANCEL Example Run an axis in reverse When it reaches a certain position slow down DEFPOS 0 set starting position to zero REVERSE WAIT UNTIL MPOS 129 45...

Страница 249: ...0 ELSE SPEED AIN 0 100 sets speed to a scale of AIN ENDIF WEND CANCEL See also AXIS CANCEL FORWARD RAPIDSTOP Type Axis parameter Syntax RS_LIMIT RSLIMIT Description The RS_LIMIT parameter contains the...

Страница 250: ...st available task RUN can be included in a program to run another pro gram Note Execution continues until one of the following occurs There are no more lines to execute HALT is typed at the command li...

Страница 251: ...cial pro gram 13 THEN expected in IF ELSEIF 14 Error erasing Flash 15 Start of expression expected 16 expected 17 expected 18 Command line broken by ESC 19 Parameter out of range 20 No process availab...

Страница 252: ...ready locked 75 Program not running on this process 76 Program not running 77 Program not paused on this process 78 Program not paused 79 Command not allowed when running Trajexia Studio 80 Directory...

Страница 253: ...ice error CRC error 122 Device error Error writing to device 123 Device error Invalid response from device 124 Firmware error Cannot refer ence data outside current block 125 Disk error Invalid MBR 12...

Страница 254: ...ask_number The number of the task on which to execute the program Range 1 14 Example RUNTYPE progname 1 3 This line sets the program progname to run automatically at start up on task 3 Example RUNTYPE...

Страница 255: ...p to 4 parameters every sample period The storing of data will start as soon as the TRIGGER command has been executed The sample period can be any multiple of the servo period The param eters are stor...

Страница 256: ...PE ON 10 0 1000 MPOS AXIS 1 DPOS AXIS 1 This example programs the SCOPE function to store the MPOS param eter for axis 1 and the DPOS parameter for axis 1 every 10 servo cycles The MPOS parameter will...

Страница 257: ...d is implemented for a Command Line Terminal Trajexia Studio automatically selects programs when you click on their entry in the list in the control panel Arguments N A Example SELECT PROGRAM PROGRAM...

Страница 258: ...etting The parameter is defined in microseconds The CJ1W MCH72 can be set in either 0 5 1 0 2 0 or 4 0 ms servo cycle See the table below The controller must be reset before the new servo period will...

Страница 259: ...The SIN function returns the sine of the expression Input values are in radians and may have any value The result value will be in the range from 1 to 1 Arguments expression Any valid BASIC expression...

Страница 260: ...F is the default setting at power on If SPEED_SIGN ON the voltage range of the analogue speed refer ence output is 0V 10V The OUT1 signal of the Encoder Interface for the corresponding axis is used as...

Страница 261: ...tepper axis Every servo period the number of steps is passed through the STEP_RATIO function before it goes to the step pulse output Pulse Count Out numerator denominator MPOS STEP_RATIO affects both...

Страница 262: ...ped If STEPLINE is executed without program name in a program this program will be stepped If the program is specified then all occurrences of this program will be stepped A new task will be started w...

Страница 263: ...lized The bits in the SYSTEM_ERROR parameter are given in the table below Bit Description 0 BASIC error 1 Battery low error 2 17 Reserved for future use 18 MECHATROLINK II device lost error Any device...

Страница 264: ...if the highest TABLE loca tion previously written to the TABLE is location 1000 The total TABLE size is indicated by the TSIZE parameter Note that this value is one more than the highest defined elem...

Страница 265: ...ne format supported at the moment and that is comma delimited text Note TABLEVALUES is provided mainly for Trajexia Studio to allow for fast access to banks of TABLE values Arguments address Number of...

Страница 266: ...meter for a certain task Without PROC the current task will be assumed Arguments N A Example delay TICKS 3000 OP 9 ON test IF TICKS 0 THEN OP 9 OFF ELSE GOTO test ENDIF See also N A Type System parame...

Страница 267: ...nd downloaded into the controller It is essen tial to contact OMRON if you want to install frame transformations Arguments N A Example No example See also FRAME Type System command Syntax TRIGGER Desc...

Страница 268: ...The trace mode can be stopped by issuing a STOP or HALT com mand Arguments N A Example TRON MOVE 0 10 MOVE 10 0 TRON MOVE 0 10 MOVE 10 0 See also SELECT TROFF Type Constant read only Syntax TRUE Desc...

Страница 269: ...a user unit Axis parameters like speed acceleration deceleration and the Axis commands are specified in these user units Note The UNITS parameter can be any non zero value but it is recom mended to de...

Страница 270: ...ON the encoder circuit is configured for the usual quadrature input Make sure that the encoder inputs do not exceed 5 volts Arguments N A Example VERIFY AXIS 3 ON See also N A Type System parameter r...

Страница 271: ...sed as an element or as an array of elements The CJ1W MCH72 has in total 1024 VR variables The VR variables can be used for several purposes in BASIC program ming The VR variables are globally shared...

Страница 272: ...and mark array OP 15 OFF VR VR 0 1 RETURN The variables are backed up by a battery so the program here could be designed to store the state of the machine when the power is off It would of course be...

Страница 273: ...ssarily mean that the axis will be stationary in a servo motor system Arguments N A Example MOVE 1000 WAIT IDLE PRINT Move Done The print statement is printed at the end of the movement Example MOVE 1...

Страница 274: ...at end MOVE 800 MOVE 500 WAIT LOADED OP 8 ON MOVE 400 WAIT LOADED OP 8 OFF See also AXIS WAIT IDLE Type System command Syntax WAIT UNTIL condition Description The WAIT UNTIL command repeatedly evalua...

Страница 275: ...ng In this case the software switch WDOG will be turned off the MOTION_ERROR parameter will have value different than 0 and the ERROR_AXIS parameter will contain the number of the first axis to have t...

Страница 276: ...f the integer parts of two valid BASIC expressions The logical XOR function between two bits is defined as in the table below Bit 1 Bit 2 Result 0 0 0 0 1 1 1 0 1 1 1 0 Arguments expression1 Any valid...

Страница 277: ...All BASIC commands Section 4 2 266...

Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...

Страница 279: ...execute a program at startup when the device is switched on it executes the program You can set the startup priority for a program in Trajexia Studio with the Priority property in the Properties windo...

Страница 280: ...STOP ELSE IF VR 0 3 THEN PRINT Incorrect slave count for unit 0 STOP ENDIF ENDIF IF NOT MECHATROLINK 0 4 0 0 THEN PRINT Error getting address for unit 0 station 0 STOP ELSE IF VR 0 65 THEN PRINT Incor...

Страница 281: ...n setting is related to the mechanical system to which the motor is attached There are three main concepts Inertia ratio Rigidity Resonant frequency These concepts are described in section 1 10 This s...

Страница 282: ...r and reads the position feedback BASE 0 ATYPE 44 Servo axis encoder mode SERVO 1 WDOG 1 DEFPOS 0 loop MOVE 81920 WAIT IDLE WA 100 DEFPOS 0 GOTO loop DECEL 1000000 Deceleration setting MOVEMENT 81920...

Страница 283: ...values for the example are i Motion Parameter values P_Gain 131072 VFF_GAIN 0 Fn001 4 Note The colours and scale of the oscilloscope for speed mode are as follows Red MSPEED Measured Axis speed Units...

Страница 284: ...The value for rigidity is increased The error magnitude remains the same but the ripple the speed stability and overshoot are better The parameter values for the example are i Motion Parameter values...

Страница 285: ...ction 5 1 274 Example 3 The parameter P_GAIN is increased further The Following Error decreases proportionally The parameter values for the example are i Motion Parameter values P_Gain 200000 VFF_GAIN...

Страница 286: ...alue of the parameter P_GAIN two times the value in example 1 The Following Error is half but there is vibration due to the excessive gains The parameter values for the example are i Motion Parameter...

Страница 287: ...value in example 1 The value of VFF_GAIN is increased The Following Error is reduced without a reduction to the stability The Following Error is not proportional to the speed The parameter values for...

Страница 288: ...on The Following Error approaches zero during constant speed The negative effect of this set of values is the overshoot and undershoot when the acceleration changes this can be reduced but not elimina...

Страница 289: ...le 7 The value of the rigidity is increased from 6 to 8 The overshoot undershoot is smaller but the motor has more vibration The parameter values for the example are i Motion Parameter values P_Gain 1...

Страница 290: ...starts vibrating for the VFF_GAIN there is an optimum value the one in test 6 values higher than this value has an error proportional to the speed acceleration but with different sign The required cor...

Страница 291: ...gain at the same time using just proportional position gain The results are similar to the MECHATROLINK II Speed mode with the advantages The tuning is more simple only the rigidity Fn001 and if neces...

Страница 292: ...r values for the example are i Note The colours and scale of the oscilloscope for position mode are as follows Red MSPEED Measured Axis speed Units is 50 units ms division Blue DRIVE_MONITOR set as Fo...

Страница 293: ...How to s Section 5 1 282 Example 2 The Following Error reduces as the rigidity increases The parameter values for the example are i Motion Parameter values Fn001 6 Pn109 0...

Страница 294: ...ion 5 1 283 Example 3 With high gain the motor starts to vibrate but the profile is more stable that in MECHATROLINK II Speed mode The parameter values for the example are i Motion Parameter values Fn...

Страница 295: ...84 Example 4 The effect of the Feedforward gain is that the Following Error is reduced and the effect is proportional to the acceleration The parameter values for the example are i Motion Parameter va...

Страница 296: ...tions is also expressed in encoder counts When writing programs in BASIC to achieve movements or a sequence of movements a user can prefer to work with user defined units such as millimeter centimeter...

Страница 297: ...oder is used setting parameter Pn205 Multiturn limit is also necessary Parameter Pn202 is the electronic gear ratio denominator G1 Parameter Pn203 is the electronic gear ratio numerator G2 The servo m...

Страница 298: ...servo motor with 13 bit incremental encoder is used The gear ratio of the gearbox is 1 10 The desired user units are degree of angle This system can be described with the following equations The combi...

Страница 299: ...0 to and excluding 1 and it has a multiturn counter You can set the multiturn behaviour of the absolute encoder with the parameter Pn205 of the Sigma II Servo Driver This parameter adjusts the maximu...

Страница 300: ...setting is explained in the following example 5 1 3 4 Example 2 The mechanical system consists of simple rotary table shown in the figure A servo motor with 16 bit absolute encoder is used The gear ra...

Страница 301: ...ssible to reset the multiturn counter but it is not possible to reset the position within one turn the fraction from 0 to and excluding 1 To adjust zero offset use the parameter Pn808 For more details...

Страница 302: ...to avoid the use of which cannot be expressed as a fractional number In toothed pulleys the number of teeth and mm per tooth is commonly used The calculation of the multiturn limit setting is The smal...

Страница 303: ...tal repeat distance for the full turn of the moving part is 3600 tenths of an angle degree With the same procedure as in example 1 we have Therefore One solution is Because the greatest common divisor...

Страница 304: ...tance must be the distance between two stations 50mm With the same procedure as in example 1 we have Therefore if we use the mechanical system to set the electronic gear ratio we have One possible sol...

Страница 305: ...s a system with a fixed limited axis It is enough to set this value large enough to have the overflow of the counter out of the effective position Also because of the axis is finite it is not importan...

Страница 306: ...can physically access them on the 28 pin screwless connector on the front side of the CJ1W MCH72 These inputs are active ON when a 24 VDC signal is applied to them When you read them they return thei...

Страница 307: ...d Encoder B phase signal 21 PC PC Not used PC Encoder Z phase signal 22 EXT1 EXT1 EXT1 EXT1 First external latch signal 23 EXT2 EXT2 Not used EXT2 Second external latch signal 24 EXT3 EXT3 Not used EX...

Страница 308: ...I1 7 SI1 B 42 SI2 8 SI2 C 43 SI3 9 SI3 D 44 SI4 10 SI4 E 45 SI5 11 SI5 F 46 SI6 12 SI6 EXT1 active low Pn511 1 EXT2 active low Pn511 2 EXT3 active low Pn511 3 0 3 Always OFF 4 44 SI4 10 SI4 5 45 SI5 1...

Страница 309: ...hese inputs in the program is to assign them to the axis parameters DATUM_IN FHOLD_IN FWD_IN and REV_IN The inputs of the axis Servo Driver are used depending on the axis of which the parameters are s...

Страница 310: ...same number However the command INVERT_IN 22 inverts the status of input 22 read by the controller It affects not only the unique software input 22 which is accessible with the IN command but all axis...

Страница 311: ...be executed one time during the machine commissioning In practice there are several different origin search sequences They are different in these areas The means used to detect limit positions of the...

Страница 312: ...in programming Those parameters have influence to the origin search especially if an absolute encoder is used For more information on setting these parameters see section 5 1 2 5 1 5 1 Absolute switc...

Страница 313: ...ogram example that does this origin search sequence is given below Absolute origin switch IN0 Left limit switch IN1 Right limit switch IN2 BASE 0 DATUM_IN 0 FWD_IN 2 REV_IN 1 SERVO ON WDOG ON DATUM 4...

Страница 314: ...possible scenarios for origin search against limit switches depending on the position of the moving part on power on are shown in the figure The program example that does this origin search sequence i...

Страница 315: ...the mechanics during the origin search process The example for this homing procedure is shown in the figure The program example that does this origin search sequence is given below BASE 0 DRIVE_CONTRO...

Страница 316: ...orms a static origin search by directly forcing an actual position It does not perform any physical move DATUM 0 5 1 5 6 Static origin search forcing a position from an absolute encoder This origin se...

Страница 317: ...stration differs for different axes depending on their connection to the system If an axis is connected via the MECHATROLINK II bus the registration is done in the Servo Driver hardware If an axis is...

Страница 318: ...ut only one can be activated at a time The physical input is associated to logical latch EXT1 EXT2 and EXT3 but the corresponding locations on the CN1 connector are fixed so no settings of Servo param...

Страница 319: ...d 4 2 153 REG_POS holds the captured axis position Only if the MARK flag signals that the position was captured successfully you can regard the REG_POS value as valid For the second registration input...

Страница 320: ...ss than the OPEN_WIN axis parameter or greater than the CLOSE_WIN parameter Exclusive windowing allows the registration to occur only outside the specified window of axis positions With this windowing...

Страница 321: ...delays there is an uncertainty in the edges of the window when marks may be detected near the edges This is more notable for axes connected to the system via the MECHATROLINK II bus due to bus delays...

Страница 322: ...can be filled with the product After that the process starts again feeding the new bag The feeder can work in two modes without registration mark and with registration mark Working without the regist...

Страница 323: ...er the registration mark Therefore the same distance in respect to the registration mark is always guaranteed The motion profile and its modification due to the registration mark are shown in The BASI...

Страница 324: ...master axis starts when the registration event occurs on link master axis The corresponding program sequence is REGIST 2 AXIS master MOVELINK dst lnk_dst lnk_acc lnk_dec master 1 AXIS slave For more i...

Страница 325: ...tracing is not synchronized with the movement that is analyzed Also with manual triggering the tracing range is limited to 200 samples per channel 5 1 7 2 Using the oscilloscope The alternative trigg...

Страница 326: ...e CAM table is Initial CAM values VR end_pos 15 current_end_pos VR end_pos FOR i 0 TO 999 TABLE i VR end_pos 1 COS 2 PI i 999 2 NEXT i loop IF VR end_pos current_end_pos THEN Recalculate the CAM Table...

Страница 327: ...sample 2seconds SCOPE ON 2 1000 4999 MPOS AXIS 0 DPOS DRIVE_MONITOR MSPEED FORWARD AXIS 0 Move the master axis forward TRIGGER Start tracing and storing of parameters WHILE NOT MOTION_ERROR Cambox tha...

Страница 328: ...can be clearly explained and solved using the captured data and the oscilloscope The parameter end_pos which defines the values in the CAM table depends on external conditions of the system Therefore...

Страница 329: ...e data is already captured in the Table memory and we can start using the oscilloscope to see the status of the desired parameters at the moment the error occurred The measured position of the master...

Страница 330: ...during the execution of the CAMBOX command The solution is simple A change of the end_pos parameter during CAMBOX execution must be prevented To do this either modify the programs in Trajexia or in s...

Страница 331: ...late and can be modified if required A SHELL program needs to ensure the next operations the declaration of constants and global variables the correct initialization of the system by checking if the c...

Страница 332: ...ajexia studio This SHELL program is an example that OMRON provide as recommended This program should be modified for the particular user application Reserved symbol area for SHELL program handling Do...

Страница 333: ...r initialization Omron Auto Generated Globals GLOBAL length 0 GLOBAL lot_n 1 GLOBAL product_type 2 GLOBAL machine_speed 3 GLOBAL status_word 900 SHELL GLOBAL action 902 SHELL GLOBAL sys_error 908 SHEL...

Страница 334: ...ed once GOSUB system_detection This subroutine stops all possible running programs and movements Stop all potential programs movements GOSUB stop_all status_word 1 The main loop of the program handles...

Страница 335: ...eports and reset warnings in servodrive GOSUB warning_seq GOTO loop sequence Define here your signals to STOP START RESET This example uses the following signals Rising edge of bit 0 of VR signal_stat...

Страница 336: ...ponse notify communication alarm IF AXISSTATUS AND 4 0 THEN VR servo_alarm i 2 E6 ELSEIF NOT DRIVE_ALARM servo_alarm i 2 THEN VR servo_alarm i 2 E6 ELSEIF VR servo_alarm i 2 0 THEN VR servo_alarm i 2...

Страница 337: ...INK axes reset sequence FOR i 0 TO max_axis BASE i IF ATYPE 40 AND ATYPE 42 THEN Reset sequence for MECHATROLINK communication error IF AXISSTATUS AND 4 0 THEN PRINT Resetting ML alarm GOSUB system_de...

Страница 338: ...er system error needs initialisation of the system EX ENDIF RETURN warning_seq IF READ_BIT 15 diag01 THEN Clear servodrive warning if any IF res_bit 1 THEN FOR i 0 TO max_axis BASE i IF ATYPE 40 AND A...

Страница 339: ...nitialise Mechatrolink MECHATROLINK 0 0 Device count IF NOT MECHATROLINK 0 3 system01 THEN PRINT Error getting device count for ML04 unit 0 SET_BIT 0 diag01 ELSEIF VR system01 2 THEN PRINT Incorrect d...

Страница 340: ...210 45 FFFFFF 4 TABLE 8 515 800 FFF0FF 2 TABLE 12 1 MECHATROLINK 0 20 43 SJDE 02ANA OY REGIST 1 VR system01 0 i 0 res 0 WHILE TABLE i 1 IF NOT DRIVE_READ TABLE i TABLE i 3 system01 THEN SET_BIT 0 diag...

Страница 341: ...i TABLE i 3 system01 THEN SET_BIT 0 diag02 ELSE IF TABLE i 2 FFFFFF THEN IF VR system01 TABLE i 1 THEN IF NOT DRIVE_WRITE TABLE i TABLE i 3 TABLE i 1 1 THEN SET_BIT 1 diag02 ELSE res 1 ENDIF ENDIF EL...

Страница 342: ...LIMIT 20000000 0000 RS_LIMIT 20000000 0000 FASTDEC 0 0000 FHSPEED 1000 0000 OUTLIMIT 1 0000 FE_RANGE 0 0000 DAC 0 0000 BASE 1 Axis Name Flex01 ATYPE 44 Axis Type Flexible_Servo UNITS 1024 0000 REP_DIS...

Страница 343: ...00 SERVO 0 FWD_IN 16 0000 REV_IN 17 0000 DATUM_IN 1 0000 FHOLD_IN 1 0000 FS_LIMIT 20000000 0000 RS_LIMIT 20000000 0000 FASTDEC 0 0000 FHSPEED 1000 0000 OUTLIMIT 1 0000 FE_RANGE 0 0000 BASE 3 Axis Name...

Страница 344: ...IS PROGRAM ACCORDING TO YOUR APPLICATION BASE x restart 0 inertia_ratio set_load_inertia_ratio EXAMPLE 1 SGMAH 01AAA61D OY motor data enc_resolution 2 13 13 bit encoder max_speed 5000 5000 rpm max spe...

Страница 345: ...is setting is a good starting point P_GAIN INT 214748 3648 max_speed enc_resolution This is the optimum value Set if needed VFF_GAIN INT 60000 1073741824 enc_resolution max_speed Initial gains For MEC...

Страница 346: ...n the figure is typical for this point to point movement with linear acceleration Note the following During linear acceleration the graph of the position is parabolic because the speed is a derivative...

Страница 347: ...all is the angular acceleration and J the inertia of the system 5 2 5 Position with product detection A ballscrew moves forward at a creep speed until it reaches a product a microswitch IN 2 turns on...

Страница 348: ...WAIT IDLE GOTO start 5 2 6 Position on a grid A square palette has sides 1m long It is divided into a 5 x 5 grid and each of the positions on the grid contains a box which must be filled using the sa...

Страница 349: ...00 WAIT IDLE OP nozzle ON GOSUB square_rel OP nozzle OFF NEXT y NEXT x GOTO start square_rel MOVE 0 100 MOVE 100 0 MOVE 0 100 MOVE 100 0 WAIT IDLE WA 1000 RETURN t t y x speed y speed Square_rel x X 0...

Страница 350: ...eds the film a set distance for films of a flat colour With mark Forward feeds the film to a printed mark on the film The program in this section shows the typical code for a bag feeder machine 5 2 7...

Страница 351: ...ON WDOG ON Main program loop Define current position as zero DEFPOS 0 Wait for rising edge in Digital Input start_signal WAIT UNTIL IN start_signal 0 WAIT UNTIL IN start_signal 1 Move bag length MOVE...

Страница 352: ...inished WAIT IDLE GOTO loop 5 2 8 CAM table inside a program It shows how to create a CAM table inside a program and use the CAMBOX motion command The profile used is the COS square one This is a quit...

Страница 353: ...2000 SPEED 200 FORWARD BASE 1 loop CAMBOX in_tbl end_tbl 1 lnk_dst master opt start WAIT IDLE GOTO loop filltable The shape of the CAM is stored in TABLE 0 to TABLE 360 npoints 360 in_tbl 0 end_tbl in...

Страница 354: ...r Master ZERO POSITION Initial situation material to cut and shear both in the zero position Just after synchronization cut operation is done on the fly during synchronization Cut_length MOVELINK 0 cu...

Страница 355: ...ine_axis ON SERVO AXIS flying_axis ON SERVO AXIS shear_axis ON WDOG ON FIRST CYCLE Make a first material cut MOVEABS end_pos AXIS shear_axis WAIT UNTIL MTYPE AXIS shear_axis 2 WAIT IDLE AXIS shear_axi...

Страница 356: ...ength in the product to cut cut_length distance_to_accelerate 2 It is necessary to divide distance_to_accelerate when we use the MOVELINK command because when we synchronize the master moves twice the...

Страница 357: ...sing a virtual axis onto the movement of the labeller The difference between the expected position and the actual position is measured with a photocell This is the correction factor Every time a corre...

Страница 358: ...hooting This section provides tables to refer to when a particular problem occurs The tables provide a general description of the nature of various potential problems the probable cause items to check...

Страница 359: ...into the equipment Is the ambient temperature in a range shown in the unit specification Is there excessive moisture from humidity water usage etc Wiring Are signal lines and power lines placed in se...

Страница 360: ...imeout error OFF OFF OFF OFF OFF Communicationerror between the unit and the PLC OFF OFF ON OFF OFF Other CPU error OFF OFF ON OFF OFF Unit No setting error OFF OFF ON OFF OFF I O table configuration...

Страница 361: ...stalled not servicing watchdog timer Turn off the PLC system and then turn it back on If the error persist replace the PLC CPU unit Problem Solution The communication on the backplane of the PLC syste...

Страница 362: ...ation in the PLC CPU Define and set your PLC configuration and then create I O table configuration that match actual configuration and download it in the PLC CPU using CX Programmer software Problem S...

Страница 363: ...motion is stopped If necessary a user can take additional actions in BASIC programs when this error happen The occurrence of this error can be checked for by reading bit 2 of the value returned by the...

Страница 364: ...and Problem Solution Cable failure on the MECHATROLINK II bus Check MECHATROLINK II cables between stations connected to the unit for interruptions and irregularities short circuit between communicati...

Страница 365: ...f the software will automatically highlight locations of possible compile errors and provide all necessary debugging information while compiling the program Problem Solution Not all physically present...

Страница 366: ...in the future Axis error due to an error in the servo drive Using ERROR_AXIS and MOTION_ERROR system parameters determine axis or axes which caused motion error see section 4 2 96 for more informatio...

Страница 367: ...system but the WDOG cannot be set ON The command WDOG ON is accepted but no changes Check the Enable Watchdog bit of the unit status area in the allocated CIO memory of the PLC see section 3 3 1 for m...

Страница 368: ...Status data 62 Definition CPU task 3 Cycle time 2 Motion sequence 2 Process 3 Program 3 Servo period 2 Description Motion buffers 16 E Encoder connector 39 Wiring 43 Encoder output 28 EnDat 28 Example...

Страница 369: ...ntrol 27 MECHATROLINK II connector 39 Modifier Slot 80 Motion buffers 16 31 Motion control 4 Continuous path 7 Electronic gearing 9 Point to point 4 Motion sequence 2 16 MTYPE 31 Multi tasking example...

Страница 370: ...s 55 Encoder connector 43 Encoder interface 57 I O connector 41 MECHATROLINK II 56 System 56 Unit 55 Speed control 27 Speed mode example 271 Speed reference 28 29 EnDat 28 SSI 28 SSI 28 Startup exampl...

Страница 371: ...360 Index...

Страница 372: ...Revised content 01 August 2008 First version 02 February 2009 Specified additional command bits and status bits in the Data Exchange section specified additional bits in the PLC_STATUS command Added t...

Страница 373: ...362...

Страница 374: ...5E EN 03 Note Specifications subject to change without notice Authorized Distributor Printed in Europe Cat No I55E EN 01 CJ1W MCH72 Programmable Controller SYSMAC CJ series Motion Control Unit OPERATI...

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