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Segment no.1 speed

Segment no.2 speed

Segment no.3 speed

Segment no.4 speed

Segment no.1 speed

Segment no.2

changed speed

Segment no.2 speed

Segment

no.3 speed

Segment no.4 speed

Segment no.1

pulse

Segment no.2

pulse

Segment

no.3 pulse

Segment no.4

pulse

Segment no.2

pulse

Segment

no.3 pulse

Segment no.4

pulse

Segment

no.1 pulse

The speed changed

The speed did not

change

◆

the motor running diagram in incremental position mode

Starting point

5000

15000

21000

46000

Segment no.1

positive pulse

Segment no.2 positive pulse

Segment no.3 negative pulse

Segment no.4 positive pulse

41000

End position

Incremental position mode

Present pulse/

position

the present position is 5000, in the incremental position mode, the first segment sends 10000

pulses, the motor will go to the position of 15000 pulses; the second segment sends 26000 pulses,

the motor will go to the position of 41000 pulses; the third segment sends -20000 pulses, the

motor will reverse go to the position of 21000 pulses; the fourth segment sends 25000 pulses, the

motor will go to the position of 46000 pulses.

◆

the program in incremental position mode:

Содержание X-NET fieldbus

Страница 1: ...X NET fieldbus User manual Wuxi XINJE Electric Co Ltd Data No PD06 20151009 3 2...

Страница 2: ...l vocabulary 29 2 1 2 Fieldbus wiring 29 2 1 3 PLC software 30 2 2 INSTRUCTIONS 30 2 2 1 Incremental position motion MOTO 30 2 2 2 Absolute position motion MOTOA 35 2 2 3 Multi speed running MOTOS 38...

Страница 3: ...485 RS232 OC USB_PHY TBN belongs to industry fieldbus It is token structure any node in the network has access rights token any node who got the token can send message to other node It doesn t have ma...

Страница 4: ...0bit 3Mbit The communication speed and medium are related to the local environment As the TBN_RS485 using electrical signal to transfer data there are some requirements for the communication distance...

Страница 5: ...D RS485 BD Normally X NET needs to connect terminal A and B the shielded layer connects to FG If there is requirements for anti interference such as motion control fieldbus it needs to connect termina...

Страница 6: ...developing of optical fiber TBN_OC supports 600bit 3Mbit baud rate As the RS485 device driving ability and conversion speed of photoelectric module the node quantity in the TBN network must be less t...

Страница 7: ...cted PLC device type is PLC If the communication between PLC and PC is error there will show below error Please restart the software and configure again Click ok to back to main window Then click conf...

Страница 8: ...e set it to 1 StationID each PLC station number in the network The two PLC station number is 1 and 2 Net type TBN PLC communicate with PLC TBN or HDN PLC communicate with HMI HDN PLC communicate with...

Страница 9: ...read success window Click ok to back to the main window Cut off the PLC power and power on again to make the setting effective Then click config single device route It shows the Form_RouteTb1 window C...

Страница 10: ...on instruction X NET instructions include bit read and write register read and write The communication instruction operand explanation 1 Target net ID all the devices construct the communication netwo...

Страница 11: ...tage the access object numbers are 3 6 Local object address the local coil or register address For example PLC register D0 value transfers to frequency inverter address H2103 So the local object addre...

Страница 12: ...l coil value to target coil Write bit BIT_WRITE Execution conditoin Edge trigger Suitable model XD3 XDM XD5 Hardware V3 2 and up Software V3 2 and up 2 Operand Operand Function Type S1 Target net ID 1...

Страница 13: ...3 Y0 Y7 in ID1 network 1 2 3 Read register REG_READ 1 Instruction explanation Read the target register to local register Read register REG_READ Execution conditoin Edge trigger Suitable model XD3 XDM...

Страница 14: ...K128 D1 Function read the station no 2 register D0 D9 to local address D0 D9 in ID1 network 1 2 4 Write register REG_WRITE 1 Instruction explanation Write the local register to target register Write r...

Страница 15: ...1 S2 S3 S4 S5 K128 S6 Function write the local register D0 D9 to station no 5 D0 D9 in ID2 network 1 3 Communication address The X NET address of PLC soft components XD3 soft component address Type Na...

Страница 16: ...Y10277 module 3 64 4224 4287 1080 10BF Y10300 Y10377 module 4 64 4288 4351 10C0 10FF Y10400 Y10477 module 5 64 4352 4415 1100 113F Y10500 Y10577 module 6 64 4416 4479 1140 117F Y10600 Y10677 module 7...

Страница 17: ...200 10299 27D8 283B ID10300 ID10399 module 4 100 10300 10399 283C 289F ID10400 ID10499 module 5 100 10400 10499 28A0 2903 ID10500 ID10599 module 6 100 10500 10599 2904 2967 ID10600 ID10699 module 7 10...

Страница 18: ...00 0 499 0 1F3 FD FD0 FD6143 141 6144 0 6143 0 17FF SFD SFD0 SFD1999 142 2000 0 1999 0 7CF XDM XD5 soft component address Type Name Soft component address Type code Quantity X NET address decimal X NE...

Страница 19: ...0000 Y10077 module 1 640 4096 4159 1000 103F Y10100 Y10177 module 2 64 4160 4223 1040 107F Y10200 Y10277 module 3 64 4224 4287 1080 10BF Y10300 Y10377 module 4 64 4288 4351 10C0 10FF Y10400 Y10477 mod...

Страница 20: ...000 0 4999 0 1387 SEM SEM0 SEM999 18 1000 0 999 0 3E7 Regi ster word D D0 D69999 128 70000 0 6999 0 1B57 TD TD0 TD4999 129 5000 0 4999 0 1387 CD CD0 CD4999 130 5000 0 4999 0 1387 SD SD0 SD4999 131 500...

Страница 21: ...D10000 QD10099 module 1 100 10000 10099 2710 2773 QD10100 QD10199 module 2 100 10100 10199 2774 27D7 QD10200 QD10299 module 3 100 10200 10299 27D8 283B QD10300 QD10399 module 4 100 10300 10399 283C 28...

Страница 22: ...5999 0 176F Note 1 The input and output is octal please calculate the input and output X NET address as octal 2 make sure there is no cross border access for the target object 1 4 X NET Communication...

Страница 23: ...C device type is PLC Click ok to back to main window Then click config single deivce com port As the PLC expansion XD RS485 BD port is serial port 4 here we choose no 4 for comportNo The protocol is X...

Страница 24: ...we set it to 1 5M TokenCycle time the time of each station in the network cycle once the unit is ms Here we have two PLC so the time set to 10ms Max station number the max device numbers in the netwo...

Страница 25: ...It shows the Form_RouteTb1 window Click read it shows read success Click ok the Form_RouteTb1 window shows the subnet routing...

Страница 26: ...PLC A Step 3 the program REG_WRITE K1 K2 K128 K0 K10 D0 M100 BIT_WRITE K1 K2 K3 K0 K10 M0 REG_READ K1 K2 K128 K0 K10 D10 BIT_READ K1 K2 K3 K0 K10 M10 1 5 Communication register The special registers...

Страница 27: ...ruction execution result 0 correct 100 receive error 101 receive overtime 180 CRC error 181 LRC error 182 station number error 183 send buffer overflow 400 function code error 401 address error 402 le...

Страница 28: ...SD169 Serial port 3 SD170 SD179 Serial port 4 SD180 SD189 Serial port 5 SD190 SD199...

Страница 29: ...zero Incremental position Position offset before executing the relative instruction Encoder feedback Pulse feedback value of encoder counting Axis state Enable state motion state 2 1 2 Fieldbus wiring...

Страница 30: ...ieldbus instructions Instruction Function Soft component Chapter MOTO Incremental position motion MOTO pos spd acc axNs 6 2 1 MOTOA Absolute position motion MOTOA pos spd acc axNs 6 2 2 MOTOS Multi se...

Страница 31: ...ccelerate to speed S1 with acceleration speed S2 incremental move to position S0 then stop S0 incremental position positive value means the motor running forward negative value means the motor running...

Страница 32: ...eleration time As the speed become 0 before reaching the target position the motion complete flag SM2001 20 N 1 will not reset At this time set new speed in SD2032 60 N 1 the motor will run again Afte...

Страница 33: ...position S0 Dec time Acc time S2 Speed S1 Modified speed Modified absolute position 0 0 Not change the target position and speed Change the target position and speed incremental position mode motor r...

Страница 34: ...d registers Servo is enable M0 is ffrom OFF to ON it runs incremental motion instruction MOTO M1 is from OFF to ON send absolute position to the related register M2 is from OFF to ON send the new spee...

Страница 35: ...s D HD TD means TD HTD CD means CD HCD HSCD HSD DM means DM DHM DS means DS DHS M means M HM SM S means S HS T means T HT C means C HC MOTOA HD0 HD100 K50 M0 S1 S2 S3 K1 S0 when M0 is from OFF ON axis...

Страница 36: ...60 N 1 is 1200 axis S3 forward runs to position 1200 and decelerates to stop servo is enable SD2032 60 N 1 changed to 1000 when M0 is from OFF to ON SD2032 60 N 1 changed to S1 When the motor is runn...

Страница 37: ...and position did not change target position and speed changed motor running distance in absolute position mode Start point 2000 10000 Absolute position 10000 Target position Present position pulse nu...

Страница 38: ...ition in the related register M2 is from OFF to ON it sends the new speed in the related register The running flag SM2001 reset after the pulse sending completed related coil reset 2 2 3 Multi speed r...

Страница 39: ...motor is running modify SD2032 60 N 1 can cahnge the speed the motor will change to new speed with acceleration deceleration time The modified speed is effective for the present segment If the speed...

Страница 40: ...t 1 100 S1 4 double words 32 bit integer acceleration time the time accelerate from 0 to the first segment speed the following speed changing is same to this acceleration speed unit ms S1 6 double wor...

Страница 41: ...0 15000 21000 46000 Segment no 1 positive pulse Segment no 2 positive pulse Segment no 3 negative pulse Segment no 4 positive pulse 41000 End position Incremental position mode Present pulse position...

Страница 42: ...HD106 PLC start running when the coil SM2 is ON the pulse numbers speed motion mode segment number acceleration deceleration time will be stored in related registers The servo enabled M0 is from OFF...

Страница 43: ...esent position is 5000 in absolute position mode the first segment sends 5000 pulses the motor goes to the position of 10000 pulses the second segment sends 16000 pulses the motor goes to the position...

Страница 44: ...02 DMOV K50 HD104 DMOV K50 HD106 PLC start running when the coil SM2 is ON the pulse numbers speed motion mode segment number acceleration deceleration time will be stored in related registers The ser...

Страница 45: ...includes D HD TD includes TD HTD CD includes CD HCD HSCD HSD DM includes DM DHM DS includes DS DHS M includes M HM SM S includes S HS T includes T HT C includes C HC MOSTOP HD0 M0 S1 K1 S0 when M0 is...

Страница 46: ...p deceleration distance S is set to positive value 1 If S is less than min deceleration distance Smin calculate from deceleration time SD2036 60 N 1 forward decelerate to stop then reverse run the dis...

Страница 47: ...n condition Rising falling edge Suitable model XDC Hardware Software 2 Operand Operand Function Type S Axis number 16 bit constant 3 Suitable soft component Note D includes D HD TD includes TD HTD CD...

Страница 48: ...C Hardware Software 2 Operand Operand Function Type S0 Synchronous speed times 32 bit floating number S1 Master axis no 16 bit constant S2 Slave axis no 16 bit constant 3 Suitable soft component Note...

Страница 49: ...n use with MOTO MOTOA MOTOS MOSTOP to do synchronous motion Table 1 parameters N 1 10 Address Definition Type Unit Mark SD2038 60 N 1 Synchronous motion speed times 32 bit floating number Motion axis...

Страница 50: ...D10 DMOV K5000 HD12 DMOV K50 HD14 HD10 HD12 HD14 MOTO K1 M0 M1 SM2001 RST M0 RST M1 MOSYN HD0 K1 K4 EMOV K0 5 HD0 The PLC starts running When SM2 is ON the pulse numbers speed acceleration and deceler...

Страница 51: ...DS includes DS DHS M includes M HM SM S includes S HS T includes T HT C includes C HC MOUSYN K1 M0 S when M0 is from OFF to ON release the two axes synchronous running S slave axis number N the range...

Страница 52: ...cludes M HM SM S includes S HS T includes T HT C includes C HC MOWRITE HD100 K1 M0 S1 S0 when M0 is from OFF to ON modify the axis present absolute position SD2008 60 N 1 to S0 S0 the motion axis pres...

Страница 53: ...is value is valid Table 1 state quantity parameters N 1 10 Address Definition Type Unit Mark SD2006 60 N 1 Present displacement quantity 32 bit integer Pulse number The displacement relative to the la...

Страница 54: ...cludes TD HTD CD includes CD HCD HSCD HSD DM includes DM DHM DS includes DS DHS M includes M HM SM S includes S HS T includes T HT C includes C HC MOREAD HD100 K1 M0 S1 S0 when M0 is from OFF to ON MO...

Страница 55: ...ritten in by ladder chart or diagram block programming software 1 Write in by free monitor or HMI the register definition please refer to table 4 1 2 The steps of setting by function block a open the...

Страница 56: ...d click the setting icon to open the setting panel Click write in PLC after setting...

Страница 57: ...5 60 N 1 Max position limit terminal 16 bit integer 0xFF Appoint the X terminal no 0xFF is no terminal negative number represents inverse logic the inverse logic of X0 is 30000 SFD3036 60 N 1 Close si...

Страница 58: ...Motion description the motor returned the origin with speed VH when it touched the falling edge of origin signal the speed become zero it returned origin in reverse direction with creeping speed and s...

Страница 59: ...s short limit origin Motion description the motor returned origin with VH speed it touched the rising edge of origin signal and the speed become 0 and returned origin in reverse direction with creepin...

Страница 60: ...h speed VH it touched close signal and the speed become VL and continued returning origin it touched rising edge of origin signal and the speed become 0 and returned origin in reverse direction with c...

Страница 61: ...nd the Z phase signal Return origin in reverse direction there is close signal limit origin Creeping speed Close point VL Motion description the motor returned origin with VH speed it touched close si...

Страница 62: ...in signal and the speed become 0 then it returned origin in reverse direction with creeping speed it searched servo Z phase signal when it touched falling edge of origin signal it stop moving after fo...

Страница 63: ...g edge of origin signal it stop moving when it found the Z phase signal Note the motor will stop immediately if it touches the min limit when it is returning origin in reverse direction At this time i...

Страница 64: ...o set on the signal in 100ms the motion axis will accelerate to jog speed and constant speed run Continuous jogging Set the target position to the larger number in the range of target limit value thro...

Страница 65: ...UT SM2012 RST SM2012 RST M3 SET M3 SM2012 T1 K100 K1 SET SM2012 T1 RST T1 TMR M2 M2 M3 Forward jogging Reverse jogging GROUP GROUPE GROUP GROUPE Note Set the motor step length SD2040 to 1500 jogging f...

Страница 66: ...it integer Pulse number 0 SD2042 60 N 1 Jogging speed 32 bit integer Pulse number second 0 SM2011 60 N 1 Forward jogging The system will reset automatically after enable SM2012 60 N 1 Reverse jogging...

Страница 67: ...decelerate time forward jogging reverse jogging can be set on the axis 1 control panel 4 click the setting icon to open the setting panel The jogging step length speed step length initial value speed...

Страница 68: ...LC and be consistent to the state of connecting the servo system 3 5 Protection PLC will enter online download mode when communication is error or servo enable is off the servo system will urgent stop...

Страница 69: ...rol with trajectory planning 1 interpolation position mode SFD3002 60 N 1 Encoder ppr 32 bit integer 10000 The feedback counting value of encoder rotating one circle It can modify the encoder ppr thro...

Страница 70: ...n time 32 bit integer ms 10 PLC can calculate the deceleration slope and the time decelerating from max speed to 0 according to the acceleration deceleration time If the time decelerating from max spe...

Страница 71: ...h origin in reverse direction with creeping speed 1 search the close point with returning speed VH then search the origin point with returning speed VL decelerate after found the origin then search th...

Страница 72: ...rget position feedback pulse number SD2010 60 N 1 Present speed 32 bit integer Pulse number second Calculate the speed according to the feedback value SD2012 60 N 1 Instantaneous speed measurement Pul...

Страница 73: ...ion setting pulse numbers 64 bit integer Encoder count The encoder count value of relative and absolute zero position HSD104 20 N 1 Target position feedback pulse numbers 64 bit integer Encoder count...

Страница 74: ...tion After enable when the servo is not connected to the system simulation run cannot switch when running 5 Error message The following table shows the error details and solutions Address Definition V...

Страница 75: ...servo manual Please clear the alarm flag bit and code by manual after alarm is disarmed 20011 Servo communicatio n error Urgent stop and shut off the enable switch the PLC status to online downloading...

Страница 76: ...tion Bound instruction execution invalid Execute the MOSYN instruction when the bound axis motion flag SM2001 20 N is OFF and servo enable flag SM2000 20 N is ON 20032 Present axis motion mode setting...

Страница 77: ...to get this software Generally user can find it in the XD software installation package 2 install the software according to the guide Use XINJEConfig Please connect PLC with PC through USB cable befo...

Страница 78: ...en click confirm If it shows the following error please restart the software and do it again until it connected the device successfully 4 Click ok to return the main window click config Singledevice C...

Страница 79: ...umber of all the devices must be consistant in the same network The network number can be set to any value Station ID the PLC station no Net type Please select OMMS when the PLC communicates with serv...

Страница 80: ...nge the default value to suitable value for parameter P0 01 P0 03 P7 00 P7 01 P7 02 10 axis to 20 axis change the default value to suitable value for parameter P0 01 P0 03 P7 00 P7 01 P7 02 P7 05 P7 0...

Страница 81: ...on data will send in the middle period of the time 2 Monitor It can monitor the communication status between servo motor and PLC through the following servo parameters Parameter Contents U0 61 Communi...

Страница 82: ...72 0510 85134136 0510 85111290 www xinje com WUXI XINJE ELECTRIC CO LTD 4th Floor Building 7 Originality Industry park Liyuan Development Zone Wuxi City Jiangsu Province 214072 Tel 510 85134136 Fax 51...

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