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iR-PU01-P

Error Handling

Function Block Error

4.1

When using a function block and an error occurs, the diagnostic value is output to

the pin in the function block, and ErrorID contains the error code. The following is a

list showing how to handle errors.

State

Description

Error Handling

AXIS_NOT_READY

The axis is not ready for
operation.

After resolving other errors, enable
MC_Power, wait until the Status
turns to True, and then restart.

AXIS_BUFFER_FULL

Positioning Buffer is full.

Please modify the program to avoid
buffering too many positioning
controls, and use MC_Reset to clear
the error.

AXIS_MOTION_ERROR

A motion error occurs.

Please see chapter 4.3 in this
manual.

AXIS_HOMING_ERROR

A homing error occurs.

Please check the homing related
settings and see Chapter 4.3 in this
manual.

AXIS_TRANSITION_ERROR

Incorrect transition of motion
mode.

Please modify the program to avoid
associating Homing with other
motions, and avoid associating
Positioning Buffer with
non-positioning motions. Please
clear the error using MC_Reset.

Warning

4.2

Warnings occur when:

Warn LED is on

Bit 7 in Digital Input Byte0 is 1

Digital Input Byte0

Axis Number

Index

Sub-index

Axis 0

5500h

01h

Axis 1

5600h

01h

Axis 2

5700h

01h

Axis 3

5800h

01h

In positioning control, a warning occurs when:



The specified acceleration/deceleration rate cannot be reached before reaching

the target velocity due to jerk limitation.



In the distance for positioning, acceleration/deceleration takes a long time so
that target velocity cannot be reached.

Содержание iR-PU01-P

Страница 1: ...User Manual iR PU01 P This guide walks through important information about iR PU01 P V1 00...

Страница 2: ...Wiring 7 5 3 Differential Input Wiring 8 5 4 6 Connecting a Coupler 9 iR COP 9 6 1 Slot and Axis 9 6 2 7 Features 10 Feature List 10 7 1 High Speed Pulse Output 10 7 2 High Speed Pulse Input Encoder...

Страница 3: ...5580h 26 8 1 18 DigitalCamSwitch Track Position ValueSource 5581h 27 8 1 19 DigitalCamSwitch MC_CAMSWITCH_REF 5583h 27 8 1 20 Motion Output Setting 558Fh 27 8 1 21 Capture Enable 5590h 28 8 1 22 Capt...

Страница 4: ...Weintek Library 41 10 1 Launch New Project and Add iR PU01 P 41 10 2 Configuring Motion Control Parameters 42 10 3 Declaration and Programming 42 10 4 Axis I O Mapping 43 10 5 Login and Run Trial Ope...

Страница 5: ...iR PU01 P 1 1 Product Overview a Terminal b c Expansion Connector 81mm 3 19 109mm 4 29 27mm 1 06 Top View Side View Side View Bottom View a b c c 27mm 1 06 Front View a iR DQ08 R iR DXXX iR PXXX...

Страница 6: ...AC 2013 Class A EN 61000 6 4 2007 A1 2011 EN 55024 2010 A1 2015 EN 61000 6 2 2005 Digital Input Specification 2 2 Item Sink Input Differential Input Number of Inputs 4 3 A B Z phase Input current 24 V...

Страница 7: ...No warnings ON Warning Unable to reach the specified velocity trajectory I O LED 3 3 IN 0 3 State Description OFF Digital Input OFF ON Digital Input ON OUT 0 3 State Description OFF Digital Output Se...

Страница 8: ...3 in this manual AXIS_HOMING_ERROR A homing error occurs Please check the homing related settings and see Chapter 4 3 in this manual AXIS_TRANSITION_ERROR Incorrect transition of motion mode Please mo...

Страница 9: ...n external signal that is not configured is used 16 6280 Software Limitation The position is going to exceed or already exceeds the software limitation 16 6281 Prohibited Direction Movement in prohibi...

Страница 10: ...ge suppression devices d Keep AC wiring separated from signal wires e Keep high energy and rapidly switching DC power wiring separated from signal wires Wiring for Digital Output Digital output voltag...

Страница 11: ...iR PU01 P 7 Differential Output Wiring 5 3 GN D Source Digital Input Source Digital Output 24VDC...

Страница 12: ...iR PU01 P 8 Differential Input Wiring 5 4...

Страница 13: ...s at a time The 4 iR PU01 P modules use iR COP s axes respectively which are Axis 0 3 The iR PU01 P module nearest to iR COP uses Axis 0 and the second uses Axes 1 and so on As shown in the following...

Страница 14: ...r 30 modes 6 Synchronized Motion Gear MPG 7 Digital Cam Switch 8 Capture 9 Configurable I O High Speed Pulse Output 7 2 iR PU01 P can output 2MHz pulses to control the connected servo step motor veloc...

Страница 15: ...iR PU01 P 11 Pulse Direction Pulse only A B Phase...

Страница 16: ...put from the signal output by an encoder or Manual Pulse Generator MPG Input modes include CW CCW Pulse Direction Pulse Only A B phase 1 A B phase 2 A B phase 4 The input mode is configured using Obje...

Страница 17: ...n blocks and the function blocks relating to positioning control include MC_MoveAbsolute and MC_MoveRelative which can perform absolute relative positioning for the specified target position or for th...

Страница 18: ...the speed of the motor The module allows V bias initial speed specification which makes the motor rotate at specified velocity immediately regardless of acceleration deceleration rate Buffered P0 P1...

Страница 19: ...io between the master axis Pulse Input and the slave axis Pulse Output Manual Pulse Generator MPG is one of the applications Digital Cam Switch 7 8 This feature simulates mechanical cam switch using d...

Страница 20: ...l signals should be greater than 1ms Please take the execution cycle and communication cycle into consideration in order to read the capture value before the next capture takes place Configurable I O...

Страница 21: ...bit USINT 0 255 8bit INT 32768 32767 16bit UINT 0 65535 16bit DINT 2147483648 2147483647 32bit UDINT 0 4294967295 32bit Manufacturer Specific Profile Area 5500h 58FFh 8 1 Item Index Range Axis 0 1 st...

Страница 22: ...n 100h Digital Input Filter 01h DI 0 Filter USINT rw 03h 02h DI 1 Filter USINT rw 03h 03h DI 2 Filter USINT rw 03h 04h DI 3 Filter USINT rw 03h 05h DI A Filter USINT rw 02h 06h DI B Filter USINT rw 02...

Страница 23: ...on modulo range DINT rw 0h 5529h n 100h Additional home offset 01h 1st additional home offset DINT rw 0h 02h 2nd additional home offset DINT rw 0h 5530h n 100h Gear Motion Settings 01h Master Axis Dir...

Страница 24: ...Capture Enable Byte 0 USINT rw 0h 5591h n 100h Capture Status 01h Capture Status Byte 0 USINT ro 0h 5592h n 100h Capture Settings 01h Capture Setting Channel 0 UDINT rw 0h 02h Capture Setting Channel...

Страница 25: ...1 DI 0 Value 0 Input state is OFF Value 1 Input state is ON 8 1 2 Pulse Input Method 5501h Sub Index 00h Pulse Input Method Bit7 Bit 5 Reserved Bit 4 0 Axis Encoder 1 External Encoder MPG Bit3 Bit0 Va...

Страница 26: ...sition Signal 03h DI 2 0 Normal DI 1 Force Stop 9 In Position Signal 04h DI 3 0 Normal DI 1 Home Switch 9 In Position Signal 05h DI A 0 Normal DI 06h DI B 0 Normal DI 07h DI Z 0 Normal DI 1 Index 9 In...

Страница 27: ...Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Reserved Z PB PA DO 3 DO 2 DO 1 DO 0 Sub Index 02h Output State Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Z PB PA DO 3 DO 2 DO 1 DO 0 Value 0 Output state is OFF Value 1 O...

Страница 28: ...I 2 DI 1 DI 0 Value 0 non reverse Value 1 reverse 8 1 9 Digital Output Function 5513h Digital Output Functions Sub Index Output Point Description 01h DO 0 0 Normal DO 2 PWM0 02h DO 1 0 Normal DO 2 PWM...

Страница 29: ...05h PA 06h PB 8 1 11 PWM Output Setting 551Ah Sub Index Name Description 01h Output D0 setting D0 D1 period less than 10 100k is counted as 10 PB less than 2 is counted as 2 500k duty cycle0 100 is a...

Страница 30: ...nal home offset Use Axis0 s MC_Homing to set Offset 02h 2nd additional home offset 8 1 16 Gear Motion Setting 5530h Sub Index Name Description 01h Master Direction Limit bit 0 Master Direction Limit O...

Страница 31: ...ription 6n 01h Switch n TrackNumber 0 5 Track D0 Track PB 6n 02h Switch n FirstOnPosition Lower boundary where the switch is ON 6n 03h Switch n LastOnPosition Upper boundary where the switch is ON 6n...

Страница 32: ...22 Capture Status 5591h Sub Index Name Description 01h Capture Status Byte 0 bit31 bit6 Reserved bit5 Channel 5 0 no value 1 got value bit4 Channel 4 bit3 Channel 3 bit2 Channel 2 bit1 Channel 1 bit0...

Страница 33: ...1 1 st addl pos 2 act positiob 3 2 nd addl pos 4 timer unit 250ns 8 1 24 Capture Status 5598h Sub Index Name Description 01h Capture Value 0 Capture Value 02h Capture Value 1 03h Capture Value 2 04h C...

Страница 34: ...Position demand value DINT ro 0h 6063h n 800h 00h Position actual internal value DINT ro 0h 6064h n 800h 00h Position actual value DINT ro 0h 606Bh n 800h 00h Velocity demand value DINT ro 0h 606Ch n...

Страница 35: ...sition encoder resolution encoder increments 01h 1st additional position encoder resolution encoder increments UDINT rw 0 02h 2nd additional position encoder resolution encoder increments UDINT rw 0 6...

Страница 36: ...axis 2 MC_Power Starts or stops the system 3 MC_Home Performs homing 4 MC_MoveVelocity Performs velocity control 5 MC_MoveAbsolute Performs positioning for the specified absolute target position 6 MC_...

Страница 37: ...andard provides a way to have standard application libraries that are reusable for multiple hardware platforms which reduces costs during development maintenance and training The states of axes and st...

Страница 38: ...rorstop Status in the red frame in the following figure is the initial state Declare AXIS_REF_LITE MC_Status can be found under AXIS_REF_LITE after login Execution of Function Blocks 9 4 Execute and E...

Страница 39: ...mandAbort Another operation instruction interrupts the commended condition Error An error occurred during the execution of function block Triggering Execute variable during the execution is ineffectiv...

Страница 40: ...acceleration rate and deceleration rate can be changed when the axis is operating An axis that is operating and is in Continuous Motion state can only be stopped using MC_Stop or MC_Halt IO_Ctrl Trig...

Страница 41: ...ation rate the value cannot be 0 After executing this function block the axis enters Discrete Motion state and returns to Standstill state after positioning is completed Direction Specify the directio...

Страница 42: ...positioning is completed BufferMode Continuously executes the next instruction after the ongoing motion is completed IO_Ctrl Trigger execution using digital input and then output digital signal after...

Страница 43: ...into Errorstop state due to error The axis enters Disabled state when MC_Power is FALSE and the axis enters Standstill state when MC_Power is TRUE If the axis stays in Errorstop state after triggering...

Страница 44: ...t 4 to 1 external encoder to use MPG Bit 0 3 Please see chapter 8 1 2 in this manual The following parameters are used when executing MC_Gear ContinuousUpdate When it is TRUE velocity can be updated c...

Страница 45: ...the input method used by the motor and configure iR PU01 P in accordance Please also take wiring into consideration The following steps explain how to start iR PU01 P module Install and Add Weintek Li...

Страница 46: ...6 00 4 AB phase 8 Velocity Max Motor Speed 16 6080 16 00 2000000 32 Max Acceleration 16 60C5 16 00 1000000 32 Max Deceleration 16 60C6 16 00 1000000 32 Max Profile Velocity 16 607F 16 00 200000 32 Qui...

Страница 47: ...ntrol system MC_MoveVelocity Performs velocity control MC_Stop Decelerates until stop Axis I O Mapping 10 5 Mapping of input variables can be found in Axis000 Mapping_I and mapping of output variables...

Страница 48: ...d in the preceding steps are completed you can now log in and run trial operation of function blocks Press xPEnable_Power xServe_ON button to execute MC_Power function block to start iR PU01 P Press x...

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