Emotiontek MCU 2 Axis User Manual

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Page 1

User’s Manual (2 AXES)

Page 2

MOTION CONTROLLER MCU

User Manual

( MCU 2Axes Series )

V1.1

Special Note

z This document is subject to change without prior notice. z Please contact us if you find something missing or incorrect in this document. z You will get a refund or exchange if there is incorrect collating or missing page.

Emotiontek

MMCCUU 22 AAxxiiss CCoonnttrroolllleerr UUsseerr MMaannuuaall

1206 Byuksan Digital Valley 5 Cha, 244, Beotkkot-ro Geumcheon-gu, Seoul

Tel : 82-2-2082-5790 Fax: 82-2-2082-4466 E-mail:emotion@emotiontek.com http://www.emotiontek.com

Page 3

MOTION CONTROLLER MCU

(Make sure to read before use)

Be sure to read this document and all relevant auxiliary documents and get familiar with operational guidelines

regarding installation, operation, maintenance and inspection for a proper use of this controller. Don’t forget to read and familiarize yourself with details on the equipment, safety information and precautions before proceeding to use it.

This Instruction Manual has used marks, [Danger] and [Warning] to indicate safety warning and precautions

depending on the severity.

Danger : If handled improperly, the equipment may cause severe

consequences such as personal injury or even death

Warning: If handled improperly, the equipment may cause serious/slight

personal injury or physical damage.

In addition, the events classified into Attention may lead to critical consequences. Therefore, it is required to take extra care to preserve the instruction manual that comes with the product so that you can read it whenever it is needed and to make sure to have it delivered to end users.

Safety Precautions

Page 4

MOTION CONTROLLER MCU

Design Precautions

Danger

Reference

Page

 Install the safety circuit in this controller so that the equipment can operate in safe

mode when unplanned events such as faulty external power or outage of controller.

 The current for input/ou tput power of this controller is limited.

z If there is an overload caused by an external source a voltage drop

automatically occurs and the entry of I/O does not work while all outputs are turned off. Therefore, it is recommended to design external circuit or apparatus to make the equipment operate in safe mode.

 If there is a faulty output transistor, the output may keep remaining either on or

off. Therefore, when it comes to the output signal which may lead to serious accidents, design an external circuit or apparatus in order to make the equipment operate in safe mode.

 The IMPULSE noise stems from the power and if the level of noise measured on

the power unit does not meet the requirements of this controller or if there is noise excessive enough to distort the input voltage waveform, it is required to install a noise filter or an isolated power transformer on the power input.

 If there is a frequent occurrence of short interruption or the equipment is subject

to an unstable power environment it is necessary to use UPS or AVR to stabilize power supply for the controller.

Warning

Reference

Page

 Make sure to use the product in a general environment described in manual.  Do not use the product in an environment subject to dust, soot, conductive dust,

corrosive gas, flammable gas, high temperature, condensation, rainstorm, vibration and shock.

z Harsh conditions described above may cause a variety of negative side

effects, including electric shock, fire , malfunction, product damage or blazing flame.

 Take extra cautions not to let foreign particles or cable debris slip into the

ventilating window of the product when conducting hole machining or wiring work.

z It may cause fire, breakdown or malfunction.

 Make sure to completely mount connection cable or memory cassette onto the

designated connector.

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MOTION CONTROLLER MCU

z Poor connection may cause malfunction.

 It is required to install a anti-dust filter if the product is used in a dusty

environment.

Clean the filter using a vacuum cleaner once every month.

Wiring Works

Danger

Reference

Page

 Make sure to cut off the external power supply before conducting installation,

wiring work etc.

z Otherwise, electric shock or product damage may be incurred.

 Make sure to put the terminal cover on the product prior to power supply and

operation upon completion of installation and wiring work. .

z Otherwise, electric shock may be incurred.

Warning

Reference

Page

 DC power supply of this controller must be connected to the dedicated terminal

as described in the manual. z If you mistakenly connect AC power supply into the DC input/output

terminal or input power supply, the MC parts and components may be burnt.

z Getting an external power supply for this controller may cause product

damage.

 Make sure to apply type-3 earth grounding on the ground terminal of the

controller using cable longer than 2m . Do not apply the common earthing under strong electric field.

 The input/output signal or telecommunication lines should be installed at

least 100mm away from the high voltage lines or power lines.

Otherwise, incorrect output or malfunction may be incurred.

Page 6

MOTION CONTROLLER MCU

Precautions in startup and maintenance

Danger

Reference

Page

 Do not touch the terminal while power supply is plugged in.

You may get electric shock or cause malfunction.

 Turn the power off before cleaning or tightening the terminal further.

You may get electric shock, otherwise.

 Do not recharge, disassemble, apply heat, put it in fire or perform short-circuit.

It may lead to burst or outbreak of fire.

 Make sure to read the manual carefully before you modify the program while in

operation, perform forceful output, or manipulate the controller using various functions such as RUN or STOP. Incorrect handling of the product may cause product damage or unplanned events.

 Make sure to get your body earthed if you need to open the controller cover and

touch the inside to prevent static from flowing into the controller.

Warning

Reference

Page

 Make sure to turn the power off before you detach or attach the controller

memory. z Detaching it while power supply is connected may cause damage on

controller or memory.

 Do not disassemble or remodel the product.

It may cause breakdown, malfunction, or even fire.

 Contact the nearest customer care center or sales agency for after-sales services.  Make sure to turn the power off before you detach or attach additional connection

cables.

z Otherwise, breakdown or malfunction may be incurred.

Disposal

Warning

Reference

Page

 Treat the product as industrial waste when you throw it away.

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MOTION CONTROLLER MCU

Installation Considerations

①

Place the product at least 100mm away from the wall to ensure easy accessibility for

maintenance and ventilation.

②

Do not install it in the following installation environment.

- Places with the surrounding temperature beyond the range between 0 and 50℃ or

operating panel where high-voltage equipment is installed.

- Places with a strong and direct shock to the main body on a constant basis.

II.

Power Wiring

①

The input power supply is DC24V (allowable range 24V +/ 10%).

②

It is recommended to install a separate captive power supply equipment if the product is installed in an environment with a frequent change in voltage.

③

Anti-noise measures such as filter installation should be taken against power supply with excessive noise.

④

Separate the power supply of the main body from the input/output lines of PLC, and power supply lines from the system.

⑤

The telecommunication input/output lines must be installed separately from the power supply lines.

III. Grounding

①

Apply the dedicated grounding. Conduct type-3 grounding work as illustrated in the picture below with the grounding cable 2㎟ or longer.

②

Place the grounding point near the main body and make the length of grounding cable short.

Con tr ol l er

The3rd T

e Wire

)

Excl usi ve Eart h

The best

Ano the r Dev ic e

Controller

Anot he r Devi ce

Controller

Anot he r Devi ce

Excl usi ve Eart h

Good

Excl us iv e Eart h

Bad

The3rd T

e Wire The3rd T

e Wire

[Figure. Grounding methods]

Installation Guideline

Controll

Others

Type-3 Grounding

Type-3 Grounding Type-3 Grounding

Exclusive Grounding:

Exclusive Grounding: Good

Exclusive Grounding:

Bad

Page 8

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Table of Contents

Chapter 1. About the Product………………………………………………………

Chapter 2. Programming

2.1 Types of MC program commands, variables and contacts usable

………

2.2 MC program command details……………………………………………………………

2.3 MC program variable details…………………………………………………………

7 12 47

Chapter 3. Homing

3.1 Homing

…………………………………………………………………………………………

3.2 Homing parameters…………………………………………………………………………

3.3 Execution of homing ……………………………………………………………………

3.4 Example of a homing………………………………………………………………………

51 51 52 56

Chapter 4. PLC Program

4.1 Types of PLC commands……………………………………………………………………

4.2 Types of application commands related to PLC contacts and motion

4.3 Description of PLC commands…………………………………………………………

4.4 Description of application commands related to PLC contacts………

4.5 Description of PLC motion related application commands………………

57 58 60 69 78

Chapter 5. Parameters

5.1 Types of parameters ………………………………………………………………………

5.2 Description of parameters ……………………………………………………………

103 104

Chapter 6. Connection

6.1 MCU-X………………………………………………………………………………………………

6.2 MCU-A2……………………………………………………………………………………………

6.3 MCU-P2

……………………………………………………………………………………………

6.4 MCU-L………………………………………………………………………………………………

6.5 MCU-E………………………………………………………………………………………………

6.6 Wiring diagram………………………………………………………………………………

6.7 External appearance diagram…………………………………………………………

115 116 119 122 124 126 132

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Table of Contents

Chapter 7. Operation

7.1 MSW-MCU2(for PC) ………………………………………………………………………… 134

Chapter 8. Alarm………………………………………………………………………………

152

Chapter 9. Standard Input/Output Signal

9.1 MC output signal(MC Æ PLC) …………………………………………………………

9.2 MC input signal(PLC Æ MC) …………………………………………………………

9.3

Example of using an MC input/output signal for automatic operation

………

9.4

Example of using an MC input/output signal for manual operation

……………

9.5 Input, output and flag contact memory map……………………………………

9.6 PLC COMMUNICATION INTERFACE

…………………………………………………………

9.7 Driver interface

……………………………………………………………………………

154 156 162 168 175 181 186

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Chapter 1. About the Product

1.1 Overview of the MCU

This can be used for one of the next purposes depending on the slave board combined with the

Main Board.

- for 2 axes servo motor drive by means of analog signal output

- for 2 axes step motor drive by means of pulse signal output

- High-end I/O controller

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Chapter 1. About the Product

1.2 Features of the MCU

- Small size: 108mm * 80mm * 26mm

- Simple and easy to use

- Economical subminiature 2-axis motion controller

- Linear and arc interpolation

- Various operation variables(position, velocity, dwell, L variable)

- PLC function

- PLC, Touch panel communication

1.3 Application fields of the MCU

- For transportation and assembly: FEEDER, LOADER/UNLOADER, CONVAYOR

- Industrial device: Packer, semiconductor equipment, machine, cutter, XY TABLE

- Peripheral: Pallet

1.4 Product type name

MCU -

Motion Control Unit

Base B/D Type X Built-in Main Base,

I/O(2/3)

E Extension base(Ext. Base-I/O)

Function A2 Analog Output P2 Pulse Output

L General input/output(Logic I/O)

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Chapter 1. About the Product

1.5 General specification

Type name

Item

MCU-

XA2 XP2 XL E EL Input power

Input voltage DC 24V(+/- 10%) Current consumption 150mA 180mA 121mA 77mA 105mA

Operator PC(Win98 or later) Serial communication

program

- -

Communica

tion

RS232 Max. 38400Bps RS485 Max. 38400Bps, 64 Nodes

Analog output

Number of channels 2Ch. - - - Output voltage -10V ~ +10V Encoder type Incremental

Differential Line drive, Phase A/B/Z

- - - -

Encoder frequency Max. 2.5 MHz - - - -

Pulse

Output

Number of channels - 2Ch. Output type - Differential

Line Drive

- - -

Output mode - CW/CCW

Pulse/Directi on

- - -

Output frequency - 1~3.75Mpps - - External separate

encoder

Number of input

channels

1Ch. 2Ch.

Input type Incremental Differential Line

drive, Phase A/B

- -- -

Input frequency Max. 2.5 MHz - - -

Extended

I/O

Cable Length/type Max. 10m 16Pin Flat Cable - -

Communication speed 1.5M Bps - -

No. of maximum

extended I/O

2EA(64(in)/48(out)) - -

I/O

No. of

contacts

16 22 14 20 32

Input voltage 12V/24V(Min ON: 10V, Max OFF: 5V)

Input current 5mA/24V Ou tp ut

No. of

contacts

11 13 13 14 24

Output voltage 5V / 12V / 24V Output current Max. 80mA Sink Current

program

No. of possible registrations

10 EA

Maximum capacity 37.5 kBytes

Operation

variable

Position variable (P)

100 EA

Speed variable (F) 10 EA Pause variable (D) 10 EA L variable (L) 2,000 EA

Program for PC MSW-MCU2

1.6 Use environment

Environment Condition

Ambient temperature 0ºC ~ +45ºC(no freezing)

Ambient humidity 85% RH or less(no dew condensation)

Storage temperature -15ºC ~ +65ºC(no freezing)

Storage humidity 90% RH or less(no dew condensation)

Ambient condition Dust and corrosion free(no gas)

Vibration 0.6G or less

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Chapter 1. About the Product

1.7 Caution during installation and use

- When wiring a cable, make sure not to cross to or to be adjacent to noise sources such as AC power cables, motor power cables, etc.

- When installing this product, allow enough ventilation to the vent. Otherwise, this product may be over-heated to cause a malfunction.

- When connecting an extended I/O module(MCU-E/EL), wire a flat cable completely, select an ID number by a dip switch, and then turn on power.

- When connecting this product to a serial port of a PC, do not connect it to other pins but 2(RxD), 3(TxD), 5(GND). This can damage the PC or cause a malfunction of the product.

- When using the RS485 communication, do not connect to other pins but 7(TRxD+), 8(TRxD-), 1(Protocol), 5(GND).

- Use termination resistance(120~220Ω)on both ends of the pin 7(TRxD+) and 8(TRxD-) when using the RS485 communication.

- When connecting a communication cable, do not connect the RS232/485 Port 5(GND) of this product to the external F.G. This product may be electrically shocked seriously.

- When connecting a differential signal line such as an encoder, pulse output, etc., be sure to use a twisted pair of shield wires.

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Chapter 2. MC Programming

2.1 Types of MC program commands, variables and contacts usable

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

(1) Program control related command: Commands for branching, ending, etc. of a program. (2) Conditional branching related command: Controls program branching via an input/output

condition and an IF condition comparison sentence.

(3) Coordinate setting related command: Commands for resetting coordinate. (4) Velocity setting related command: Commands for velocity setting. (5) Movement related command: Commands for motor movement. (6) Input/output contact related command: Controls execution of input, output and auxiliary

contacts and programs.

(7) Condition comparison related command: Used as a comparison operator for an IF condition

comparison sentence.

(8) Variable manipulation related command: Used as an operator for a variable manipulation

sentence.

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

(1) P variable: Used to designate 2-dimensional position data. (2) F variable: Used to designate velocity data. (3) D(E) variable: Used to designate dwell data. (4) L variable: Used to designate 2-dimensional position, velocity, time, pulse,

manipulation and comparison data as a variable with multi-purpose functions.

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

categories in large. (1) X contact: Used to designate an input contact. (2) Y contact: Used to designate an output contact. (3) M contact: Used to designate an auxiliary contact.

Table 2.1 List of MC program commands

Division Command Function Type Example of use

Program

/* Declaration of a program comment /* <comment> /* TEST PROGRAM

LABL Designation of a program branching point block LABL <label name> LABL LB1

GOTO Program Branching command GOTO <label name> GOTO LB1

STOP Program pause command STOP STOP

END Program ending END END

DWL Program pause

DWL <D variable

number(0~9)>

DWL <L variable>

DWL 0

DWL L0

Conditio

nal

branchin

Branching of a program and proceeding of the

next command according to the result of a

comparing sentence

IF <condition comparing

sentence> <label name>

IF L0 .LE 0 LB1

IN0

Branching of a program if the designated

contact satisfies‘0’, otherwise proceeding of

the next command

IN0 <designated contact>

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

IN1

Branching of a program if the designated

contact satisfies‘1’, otherwise proceeding of

the next command

IN1 <designated contact>

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

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Chapter 2. MC Programming

Division Command Function Type Example of use

Input/ou

tput

IN0

Execution of programs waiting until the

designated contact signal becomes‘0’

IN0 <input contact>

IN0 <output contact>

IN0 <auxiliary contact>

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

IN1

Execution of programs waiting until the

designated contact signal becomes‘1’

IN1 <input contact>

IN1 <output contact>

IN1 <auxiliary contact>

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

IIN0

Waiting until the designated input contact signal becomes‘0’(used to check an input

contact at a high speed)

IIN0 <input contact> IIN0 X0.0

IIN1

Waiting until the designated input contact signal becomes‘1’(used to check an input

contact at a high speed)

IIN1 <input contact> IIN1 X0.0

OUT0

Outputting‘0’to the designated contact (turn

OFF the designated contact and then execute the

next command)

OUT0 <output contact>

OUT0 <auxiliary contact>

OUT0 Y0.0 OUT0 M0.0

OUT1

Outputting‘1’to the designated contact (turn ON the designated contact and then execute the

next command)

OUT1 <output contact>

OUT1 <auxiliary contact>

OUT1 Y0.0 OUT1 M0.0

Coordina

setting

SET Coordinate system setting(absolute coordinate)

SET <position point>

SET <L variable> <L

variable>

SET P0

SET L0 L1

XSET

X-axis coordinate system setup(absolute

coordinate)

XSET <position point>

XSET <L variable> <L

variable>

XSET P0

XSET L0 L1

YSET

Y-axis coordinate system setup(absolute

coordinate)

YSET <position point>

YSET <L variable> <L

variable>

YSET P0

YSET L0 L1

SET2

Coordinate system setting(absolute, machine

coordinate)

SET2 <position point>

SET2 <L variable> <L

variable>

SET2 P0

SET2 L0 L1

XSET2

X-axis coordinate system setup(absolute,

machine coordinate)

XSET2 <position point>

XSET2 <L variable> <L

variable>

XSET2 P0

XSET2 L0 L1

YSET2

Y-axis coordinate system setup(absolute,

machine coordinate)

YSET2 <position point>

YSET2 <L variable> <L

variable>

YSET2 P0

YSET2 L0 L1

Velocity

setting

VEL Movement velocity setting command

VEL <F variable number

(0~9)>

VEL <L variable>

VEL 0

VEL L0

XVEL

X-axis movement velocity command (Used for the

X-axis velocity command of the PTP and IPTP

movement command)

XVEL <F variable number

(0~9)>

XVEL <L variable>

XVEL 0

XVEL L0

YVEL

Y-axis movement velocity command (Used for the

Y-axis velocity command of the PTP and IPTP

movement command)

YVEL <F variable number

(0~9)>

YVEL <L variable>

YVEL 0

YVEL L0

A Acceleration time setting command

A <D variable number(0~9)>

A <L variable>

A L0

X-axis acceleration time command (Used for the

X-axis acceleration time command of the PTP and

IPTP movement command)

XA <D variable number(0~9)>

XA <L variable>

XA 0

XA L0

Y-axis acceleration time command (Used for the

Y-axis acceleration time command of the PTP and

IPTP movement command)

YA <D variable number(0~9)>

YA <L variable>

YA 0

YA L0

D Deceleration time setting command

D <D variable number(0~9)>

D <L variable>

D L0

X-axis deceleration time command (Used for the

X-axis deceleration time command of the PTP and

IPTP movement command)

XD <D variable number(0~9)>

XD <L variable>

XD 0

XD L0

Y-axis deceleration time command (Used for the

Y-axis deceleration time command of the PTP and

IPTP movement command)

YD <D variable number(0~9)>

YD <L variable>

YD 0

YD L0

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Chapter 2. MC Programming

Division Command Function Type Example of use

Movement

MOV

Move by interpolation from the current position

to the target point, decelerate and then stop

MOV <position point>

MOV <L variable> <L

variable>

MOV P0

MOV L0 L1

IMOV

Move by interpolation from the current position

to the increment, decelerate and then stop

IMOV <position point>

IMOV <L variable> <L

variable>

IMOV P0

IMOV L0 L1

PTP

Move individually from the current position to

the target point, decelerate and then

stop(individual velocity)

PTP <position point>

PTP <L variable> <L

variable>

PTP P0

PTP L0 L1

IPTP

Move individually from the current position to

the increment, decelerate and then

stop(individual velocity)

IPTP <position point>

IPTP <L variable> <L

variable>

IPTP P0

IPTP L0 L1

XMOV

Move the X-axis only from the current position

to the target point, decelerate and then stop

XMOV <position point>

XMOV <L variable>

XMOV P0 XMOV L0

YMOV

Move the Y-axis only from the current position

to the target point, decelerate and then stop

YMOV <position point>

YMOV <L variable>

YMOV P0 YMOV L0

XIMOV

Move the X-axis only from the current position

to the increment, decelerate and then stop

XIMOV <position point>

XIMOV <L variable>

XIMOV P0 XIMOV L0

YIMOV

Move the Y-axis only from the current position

to the increment, decelerate and then stop

YIMOV <position point>

YIMOV <L variable>

YIMOV P0 YIMOV L0

CW arc interpolation from the current

position(start point) to the target point(end

point)

CW <target point> <radius>

CW P0 P1

CW PL0 PL1

CCW

CCW arc interpolation from the current

position(start point) to the target point(end

point)

CCW <target point> <radius>

CCW P0 P1

CCW PL0 PL1

ICW

CW arc interpolation from the current

position(start point) to the increment(end

point)

ICW <increment> <radius>

ICW P0 P1

ICW PL0 PL1

ICCW

CCW arc interpolation from the current

position(start point) to the increment(end

point)

ICCW <increment> <radius>

ICCW P0 P1

ICCW PL0 PL1

PMOV Palletizing movement PMOV <data> <position>

PMOV L0 P0

PMOV L0 L10

PCLR Palletizing counter clear PCLR <data> PCLR L0

FOS Pre-execution of the next block

FOS <D variable

number(0~9)>

FOS <L variable>

FOS 0

FOS L0

RET Move to the home RET RET

conditio

comparis

.EQ

Used for the comparison of ‘equal to(=)’in an

IF condition comparing sentence

IF <variable> .EQ

IF <variable> .EQ <number>

IF L0 .EQ L1

LB1

IF L0 .EQ 0 LB1

.LE

Used for the comparison of ‘less than or equal

to(<=)’in an IF condition comparing sentence

IF <variable> .LE

IF <variable> .LE <number>

IF L0 .LE L1

LB1

IF L0 .LE 0 LB1

.LT

Used for the comparison of ‘less than(<)’in

an IF condition comparing sentence

IF <variable> .LT

IF <variable> .LT <number>

IF L0 .LT L1

LB1

IF L0 .LT 0 LB1

.GE

Used for the comparison of ‘greater than or

equal to(>=)’in an IF condition comparing

sentence

IF <variable> .GE

IF <variable> .GE <number>

IF L0 .GE L1

LB1

IF L0 .GE 0 LB1

.GT

Used for the comparison of ‘greater

than(>)’in an IF condition comparing sentence

IF <variable> .GT

IF <variable> .GT <number>

IF L0 .GT L1

LB1

IF L0 .GT 0 LB1

Page 17

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Chapter 2. MC Programming

Division Command Function Type Example of use

.NE

Used for the comparison of ‘not equal

to(!=)’in an IF condition comparing sentence

IF <variable> .NE

IF <variable> .NE <number>

IF L0 .NE L1

LB1

IF L0 .NE 0 LB1

Variable manipula

tion

Used for the movement of manipulation results

in a variable manipulation sentence

<variable> = <operation

sentence>

L0 = L1

L0 = 1234

L0 = L0 + 1

Used for addition in a variable manipulation

sentence

<variable> + <operation

sentence>

<operation sentence> +

L0 = L1 + L2

L0 = L0 + 1

L0 = L1 + (L2-

(L1*2) + (L2*4)

Used for subtraction in a variable manipulation

sentence

<variable> - <operation

sentence>

<operation sentence> -

L0 = L1 - L2

L0 = L0 - 1

L0 = L1 - (L2-

(L1*2) - (L2*4)

Used for multiplication in a variable

manipulation sentence

<variable> * <operation

sentence>

<operation sentence> *

L0 = L1 * L2

L0 = L0 * 2

L0 = L1 * (L2-

(L1+2) *

(L2/4))

Used for division in a variable manipulation

sentence

(used to obtain the ‘quotient’ of a division

result)

<variable> / <operation

sentence>

<operation sentence> /

L0 = L1 / L2

L0 = L0 / 100

L0 = L1 / (L2-

(L1*2) / (L2*4)

Used for division in a variable manipulation

sentence

(used to obtain the ‘remainder’ of a division

result)

<variable> % <operation

sentence>

<operation sentence> %

L0 = L1 % L2

L0 = L0 % 100

L0 = L1 % (L2-

(L1*2) % (L2*4)

(, )

Used to adjust the priority of operation in a

variable manipulation sentence(available up to

5 nesting)

(handle the operation sentence in the

parenthesis() first)

(((<operation sentence>))) ((L1+2)*(L2-4))

Page 18

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Chapter 2. MC Programming

Table 2.2 List of MC program variable functions

Division Variable Function Amount Example of use

Data

classifica

tion

P variable

Used to designate

2-dimensional position

data

Input range:

-2,147,483,648 ~ 2,147,483,647

P0 ~ P99 MOV P0, IMOV P1, SET2 P99, ..

F variable Used to designate velocity data F0 ~ F9 VEL 0, VEL 1, VEL 2, ~ VEL 9

D(E)

variable

Used to designate dwell data Used to designate acceleration time data Used to designate deceleration time data

-------------------------

Used as comparison data in a comparing

condition sentence

Used as manipulation data in a variable

manipulation sentence

Used to designate position data indirectly

D0 ~ D9

(E0 ~ E9)

DWL 0, DWL 1, DWL 2, ~ DWL 9

A0, A1, A2, ~ A9 D0, D1, D2, ~ D9

IF E8 .LT E9 LB1

E0=E8-E9

MOV PE0

L variable

Used to designate position data Used to designate velocity data

Used to designate dwell data Used to designate acceleration time data Used to designate deceleration time data

Used as comparison data in a comparing

condition sentence

Used as manipulation data in a variable

manipulation sentence

Used to designate data indirectly

L0~ L1999

MOV L0 L1,IMOV L0 L1,

SET2 L1998 L1999, .. VEL L0, VEL L1, ~ VEL L1999 DWL L0, DWL L1, ~ DWL L1999 A L0, A L1, A L2, ~ A L1999 D L0, D L1, D L2, ~ D L1999

IF L0 .LT L1999 LB1

L0=L0-L1999

MOV PL0, MOV LL0 LL1, VEL LL0, ..

Table 2.3 List of MC program contact functions

Division Variable Function Amount Example of use

Contact

classifica

tion

X contact

XP2 Main unit input contact

XA2 Main unit input contact Extended No.1 unit input contact(MCU-E) Extended No.1 unit input contact(MCU-L) Extended No.2 unit input contact(MCU-E) Extended No.2 unit input contact(MCU-L)

X0.0~X1.5 X0.0~X0.F X2.0~X3.3 X3.4~X3.F X4.0~X5.3 X5.4~X5.F

IIN0 X0.0, ~ IIN0 X0.F IIN1 X0.0, ~ IIN1 X0.F

IN0 X0.0, ~ IN0 X5.F

IN1 X0.0, ~ IN1 X5.F IN0 X0.0 LB1, ~ IN0 X5.F LB16 IN1 X0.0 AA1, ~ IN1 X5.F AA16

Y contact

XP2 Main unit output contact

XA2 Main unit output contact Extended No.1 unit output contact(MCU-E) Extended No.1 unit output contact(MCU-L) Extended No.2 unit output contact(MCU-E) Extended No.2 unit output contact(MCU-L)

Y0.0~Y0.C Y0.0~Y0.A Y1.0~Y1.D Y1.E~Y2.7 Y3.0~Y3.D Y3.E~Y4.7

IN0 Y0.0, ~ IN0 Y4.F

IN1 Y0.0, ~ IN1 Y4.F IN0 Y0.0 LB1, ~ IN0 Y4.F LB16 IN1 Y0.0 AA1, ~ IN1 Y4.F AA16

OUT0 Y0.0, ~ OUT0 Y4.7 OUT1 Y0.0, ~ OUT1 Y4.7

M contact

Internal auxiliary contact

(used for control interlocked with a PLC

program)

M0.0

~M199.F

IN0 M0.0, ~ IN0 M199.F

IN1 M0.0, ~ IN0 M199.F IN0 M0.0 LB1,~IN0 M199.F LB16 IN1 M0.0 AA1,~IN1 M199.F AA16

OUT0 M0.0, ~ OUT0 M199.F OUT1 M0.0, ~ OUT1 M199.F

[Caution] : Do not use an area of M contacts reserved for an MC program contact.

- M50.0 ~ M79.F: MC output (MC  PLC) flag contact area

- M80.0 ~ M99.F: MC input (PLC  MC) flag contact area

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Chapter 2. MC Programming

2.2 MC Program command details

1) LABL

Input type LABL <label name>

Terminology

<Label name>: Set the name of a label. Possible up to 7 digits including English and

number. Related command

GOTO,IF,IN0,IN1

Explanation

Set a block to be branched by GOTO,IF,IN0,IN1.

(Note) The label name shall not be the same as a command or variable name.

Example

LABL LB0

…

GOTO LB0

 Set a label with a name‘LB0’.

2) GOTO

Input type GOTO <label name> Terminology <Label name>: Designate the name of a label to branch. Related command

LABL

Explanation

Command a label to move to a ‘LABELED’ sentence to a set block with an absolute

branch command of program execution.

(Note) Designate the name of a label set by a LABL command, and if the name of the

designated label is not set, then an alarm takes place.

Example

VEL 0

MOV P0

LABL LB0

MOV P1

MOV P2

GOTO LB0

Move to a ‘LABELED’ sentence from a command “GOTO LB0”to“LABL LB0”. Move to a ‘LABELED’ sentence, repeating commands “MOV P1”and “MOV P2”.

3) STOP

Input type STOP

Explanation

Command pause of program execution.

The execution of a program stopped by a STOP command is restarted by a START signal.

The START signal is generated by an MSW-MCU2 program, a PLC contact ‘M80.2’, a PLC

command ‘START’, or an external input“X0.6” by parameter reservation.

Example

VEL 0

MOV P0

STOP

MOV P1

 “MOV P0” is executed and then stopped, and the next command is executed by a START signal.

4) END

Input type END Explanation Command the end of program execution. Example VEL 0

MOV P0

END

MOV P1

 “MOV P0”is executed and then program execution is ended.

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Chapter 2. MC Programming

5) DWL

Input type DWL <number> or DWL <L variable>

Terminology

<Number>: Set a dwell time from the Dwell(E) Table.(0 ~ 9)

<L variable>: Set a dwell time from the L-VAR Table.(L0 ~ L1999) Related variable

D variable, L variable

Explanation

Program execution stops as much as the set dwell time(unit: msec) for the designated

variable.

Example of use

DWL 0

DWL L0

 Operation stops for the set time of a variable ‘ DO ’ in the Dwell(E)

Table, and then continues

 Operation stops for the set time of a variable ‘L0’ in the L-VAR Table

and then continues.

Example

VEL 0

MOV P0

DWL 0

VEL 1

MOV P1

Fig. 2.1 Time pause function

Pause as much as the DO variable value by a command “DWL 0”.

[Reference: External encoder pause function]

Pause by an external encoder Parameter P62: Encoder accumulation dwell during automatic operation

P63: Encoder Dwell [M80.5] during dwell

Explanation

Setting basic parameter P63 stops program execution as many as the number of set

pulses of the designated variable.

 See the Fig.2.2 Pulse pause function.

Setting basic parameter P62 stops program execution as many as the number of set

accumulated pulses of the designated variable.

 See the Fig.2.3 Accumulated pulse pause function.

(Note) The time and the pulse pause function cannot be simultaneously used.

Do not set the parameters P62 and P63 simultaneously.

Velocity

Time

Current position

osition P1 position

Time pause

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Chapter 2. MC Programming

Fig.2.2 Pulse pause function

<Pause until the number of pulses set in a DO variable value is entered from the external

encoder by a “DWL 0” command. Set a parameter P63, and if M80.5 is‘0’, a pulse pause function is used.>

Fig.2.3 Accumulated pulse pause function

<Pause until the number of pulses set in a DO variable value is accumulatively entered from

an encoder by a “DWL 0”command. If the accumulated pulse number is greater than “DWL 0”value, then the next command is executed without pulse pause. The number of accumulated pulses is initialized to ‘0’ when the MC program starts. Set the parameter P62 or the parameter P63, and if M80.5 is‘1’, then use the accumulated pulse dwell function.>

VEL 0 MOV P0 DWL 0 VEL 1 MOV P1

Velocity

Time

Current position

osition P1 position

Pulse pause

VEL 0 MOV P0 DWL 0 VEL 1 MOV P1

Speed

Time

Current position

P0 position P1 position

Accumulated pulse pause

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Chapter 2. MC Programming

6) SET

Input type SET or SET <L variable 1> <L variable 2> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P variable, L variable

Explanation The current position(absolute coordinate) is reset in a coordinate of the set number.

For the case of using L variable, the 1st L variable means X-axis coordinate, the 2nd L

variable Y-axis coordinate. Example of use

SET P2

SET L2 L3

SET PL0

SET LL0 LL1

 Reset the 2-dimensional position by using a P2 variable.  Reset the position by using an L2 and L3 variable.(X,Y-axis

respectively)

 Reset the position by using a P variable pointed out by a L0 variable.

 Reset the position by using a L variable indicated by a L0 variable

and a L variable indicated by a L1 variable.

Example VEL 0

MOV P0

SET P2

VEL 1

MOV P1

 SETTING VALUE OF P0: 50.000, 30.000  SETTING VALUE OF P2: 10.000, 10.000

 SETTING VALUE OF P1: 60.000, 40.000

Fig.2.4 Absolute coordinate reset function

Velocity

Time

Current position (0.000,0.000) P0 position(50.000,30.000) P1 position (60.000, 40.000)

P0 movement amount (50.000, 30.000)

P1 movement amount (50.000, 30.000)

The position values 50.000 and 30.000 are reset to 10.000 and 10.000 by the SET P2.

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Chapter 2. MC Programming

7) XSET

Input type XSET or XSET <L variable1> <L variable2> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P VARIABLE, L VARIABLE

Explanation The current position(absolute coordinate) of the X-axis is reset in a coordinate of the

set number. For the case of using L variable, the 1st L variable means X-axis

coordinate. The 2nd L variable is simply ignored. Example of use

XSET P2

XSET L2 L3

XSET PL0

XSET LL0

LL1

 Reset the X-axis position by using the X-axis position value of a P2

variable.

 Reset the X-axis position by using a L2 variable.  Reset the X-axis position by using the X-axis position value of a P

variable pointed out by a L0 variable.

 Reset the X-axis position by using an L variable pointed out by a L0

variable.

Example VEL 0

MOV P0

XSET P2

VEL 1

MOV P1

 Setting value of P0: 50.000, 30.000  Setting value of P2: 10.000, 10.000

 Setting value of P1: 60.000, 40.000

Fig.2.5 X-axis absolute coordinate reset function

Velocity

Time

Current position (0.000,0.000)

P0 position (50.000, 30.000) P1 position (60.000, 40.000)

P0 movement amount (50.000, 30.000)

P1 movement amount (50.000, 10.000)

The position values 50.000 and 30.000 are reset to 10.000 and 30.000 by the XSET P2.

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Chapter 2. MC Programming

8) YSET Input

type

YSET or YSET <L variable1> <L variable2>

Terminol ogy

: Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P variable, L variable

Explanat ion

The current position(absolute coordinate) of the Y-axis is reset in a coordinate of the set

number. For the case of using L variable, the 2nd L variable means the Y-axis coordinate.

The 1st L variable is simply ignored.

Example of use

YSET P2

YSET L2

YSET PL0

YSET LL0

LL1

 Reset the Y-axis position by using the Y-axis position value of a

P2 variable.

 Reset the Y-axis position by using a L3 variable.

 Reset the Y-axis position by using the Y-axis position value of a P

variable pointed out by a L0 variable.

 Reset the Y-axis position by using an L variable pointed out by a

L1 variable.

Example VEL 0

MOV P0

YSET P2

VEL 1

MOV P1

 Setting value of P0: 50.000, 30.000  Setting value of P2: 10.000, 10.000

 Setting value of P1: 60.000, 40.000

Fig. 2.6 Y-axis absolute coordinate reset function

Velocity

Time

Current position(0.000,0.000)

P0 position (50.000, 30.000) P1 position (60.000, 40.000)

P0 movement amount (50.000, 30.000)

P1 movement amount (10.000, 30.000)

The position values 50.000 and 30.000 are reset to

50.000 and 10.000 by the YSET P2.

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Chapter 2. MC Programming

9) SET2

Input type SET2 or SET2 <L variable1> <L variable2> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P variable, L variable

Explanation The current position(absolute coordinate) and the motor position(machine coordinate)

are reset to the set variable coordinate.

The action is same as the SET command, and the machine coordinate of motor position,

i.e. the encoder coordinate is reset, too.

Even though automatic operation ends, the coordinate isn’t recovered.

In closed loop control of MCU-XA2 and MCU-XP2, the position of a servo motor shifts

as much as the servo motor offset. For the case of using L variable, the 1st L

variable means X-axis coordinate, the 2nd L variable Y-axis coordinate. Example of use SET2 P2

SET2 L2

SET2 PL0

SET2 LL0

LL1

 Reset the

2-dimensional position by using a P2 variable.

 Reset the position by using a L2 and L3 variable.

 Reset the position by using a P variable pointed out by a L0 variable.  Reset the position by using an L variable indicated by a L0 variable

and a L variable indicated by a L1 variable.

Example VEL 0

MOV P0

SET2 P2

VEL 1

MOV P1

 Setting value of P0: 50.000, 30.000  Setting value of P2: 10.000, 10.000

 Setting value of P1: 60.000, 40.000

Fig. 2.7 Absolute coordinate and machine coordinate reset function

velocity

Time

Current position (0.000, 0.000) P0 position (50.000, 30.000) P1 position (60.000, 40.000)

P0 movement amount (50.000, 30.000)

P1 movement amount

(50.000, 30.000)

The position values 50.000 and 30.000 are reset to

10.000 and 10.000 by the SET2 P2.

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Chapter 2. MC Programming

10) XSET2

Input type XSET2 or XSET2 <L variable1> <L variable2> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P variable, L variable

Explanation The X-axis current position(absolute coordinate) and the motor position(machine

coordinate) are reset to the set variable coordinate.

The action is same as the XSET command, and the machine coordinate of X-axis motor

position, i.e. the encoder coordinate is reset, too.

Even though automatic operation ends, the coordinate isn’t recovered.

In closed loop control of MCU-XA2 and MCU-XP2, the position of a servo motor shifts as

much as the servo motor offset. For the case of using L variable, the 1st L variable

means X-axis coordinate. The 2nd L variable is simply ignored. Example of use

XSET2 P2

XSET2 L2 L3

XSET2 PL0

XSET2 LL0

LL1

 Reset the X-axis position by using the X-axis position value of a P2

variable.

 Reset the X-axis position by using a L2 variable value.  Reset the X-axis position by using the X-axis position value of a P

variable pointed out by a L0 variable.

 Reset the X-axis position by using an L variable value pointed out by a

L0 variable.

Example VEL 0

MOV P0

XSET2 P2

VEL 1

MOV P1

 Setting value of P0: 50.000, 30.000  Setting value of P2: 10.000, 10.000

 Setting value of P1: 60.000, 40.000

Fig. 2.8 X-axis absolute coordinate and machine coordinate reset function

Velocity

Time

Current position(0.000,0.000)

P0 position (50.000, 30.000)

P1 position (60.000, 40.000)

P0 movement amount (50.000, 30.000)

P1 movement amount (50.000, 10.000)

The position values 50.000 and 30.000 are reset to 10.000 and 30.000 by the XSET2 P2.

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Chapter 2. MC Programming

11) YSET2

Input type YSET2 or YSET2 <L variable1> <L variable2> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P variable, L variable

Explanation The Y-axis current position(absolute coordinate) and the motor position(mechanical

coordinate) are reset to the set variable coordinate.

The action is same as the YSET command, and the mechanical coordinate of Y-axis motor

position, i.e. the encoder coordinate is reset, too.

Even though automatic operation ends, the coordinate isn’t recovered.

In closed loop control of MCU-XA2 and MCU-XP2, the position of a servo motor shifts as

much as the servo motor offset. For the case of using L variable, the 2nd L variable

means the Y-axis coordinate. The 1st L variable is simply ignored. Example of use

YSET2 P2

YSET2 L2

YSET2 PL0

YSET2 LL0

LL1

 Reset the Y-axis position by using the Y-axis position value of a P2

variable.

 Reset the Y-axis position by using a L3 variable value.

 Reset the Y-axis position by using the Y-axis position value of a P

variable pointed out by a L0 variable.

 Reset the Y-axis position by using an L variable value pointed out by a

L1 variable.

Example VEL 0

MOV P0

YSET2 P2

VEL 1

MOV P1

 Setting value of P0: 50.000, 30.000  Setting value of P2: 10.000, 10.000

 Setting value of P1: 60.000, 40.000

Fig. 2.9 Y-axis absolute coordinate and machine coordinate reset function

Velocity

Time

Current position (0.000,0.000)

P0 position (50.000, 30.000) P1 position (60.000, 40.000)

P0 movement amount (50.000, 30.000)

P1 movement amount (10.000, 30.000)

The position values 50.000 and 30.000 are reset to 50.000 and 10.000 by the YSET P2.

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Chapter 2. MC Programming

12) VEL

Input type VEL <number> or VEL <L variable> Terminology <Number>: >: Set the number of variable for a velocity from the F Table.(0 ~ 9)

<L variable>: Set the variable for a velocity from the L-VAR Table.(L0 ~ L1999) Related variable

F variable, L variable

Related command

MOV,IMOV,XMOV,YMOV,CW,CCW,ICW,ICCW,PTP,IPTP

Parameter Maximum velocity(P18), acceleration or deceleration time(P23), deceleration time (P65) Explanation A movement related command is executed at a velocity of the set variable.

The once set velocity is effective until a reset. Example of use

VEL 0

VEL L0

 Designate a velocity by using a variable F0.  Designate a velocity by using a variable L0.

Example VEL 0

MOV P0

VEL L0

MOV P1

Fig. 2.10 Velocity reset

Velocity

Time

Current position

P0 position

P1 position

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Chapter 2. MC Programming

13) XVEL

Input type XVEL <number> or XVEL <L variable> Terminology <Number>: Set the number of variable for a velocity from the F Table.(0 ~ 9)

<L variable>: Set the variable for a velocity from the L-VAR Table.(L0 ~ L1999) Related variable

F variable, L variable

Related command

PTP,IPTP

Parameter Maximum velocity(P18), acceleration or deceleration time(P23), deceleration time (P65) Explanation A command(PTP, IPTP) related to the X-axis movement is executed at a velocity of the

set variable.

The once set velocity is effective until a reset.

If the VEL is commanded and the XVEL is commanded next, then the VEL becomes effective

during interpolation movement and the XVEL becomes effective during rapid movement.

That is, the interpolation velocity and the rapid velocity can be designated

separately.

If the XVEL is commanded and the VEL is commanded next, then the XVEL command is

cancelled and the VEL velocity becomes effective.

The XVEL is only possible during rapid movement(PTP,IPTP). Example of use

XVEL 0

XVEL L0

Designate a velocity by using a variable F0. Designate a velocity by using a variable L0.

Example XVEL 0

PTP P0

XVEL L0

PTP P1

Fig. 2.11 X-axis velocity reset

X-axis velocity

Time

Current

osition P0 position

P1 position

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Chapter 2. MC Programming

14) YVEL

Input type YVEL <number> or YVEL <L variable> Terminology <Number>: Set the number of variable for a velocity from the F Table.(0 ~ 9)

<L variable>: Set the variable for a velocity the L-VAR Table.(L0 ~ L1999) Related variable

F variable, L variable

Related command

PTP,IPTP

Parameter Maximum velocity(P18), acceleration or deceleration time(P23), deceleration time (P65) Explanation A command(PTP, IPTP) related to the Y-axis movement is executed at a velocity of the

set variable.

The once set velocity is effective until a reset.

If the VEL is commanded and the YVEL is commanded next, then the VEL becomes effective

during interpolation movement and the YVEL becomes effective during rapid movement.

That is, the interpolation velocity and the rapid velocity can be designated

separately.

If the YVEL is commanded and the VEL is commanded next, then the YVEL command is

cancelled and the VEL velocity becomes effective.

The YVEL is only possible during rapid movement(PTP,IPTP). Example of use

YVEL 0

YVEL L0

 Designate a velocity by using a variable F0.  Designate a velocity by using a variable L0.

Example YVEL 0

PTP P0

YVEL L0

PTP P1

Fig. 2.12 Y-axis velocity reset

Y-axis velocity

Time

Current position

P0 position

P1 position

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Chapter 2. MC Programming

15) A

Input type A <number> or A <L variable> Terminology

<Number>: Set the number of variable for acceleration time.

0 ~ 9(Share the Dwell(E) Table used for a DWL command.)

<L variable>: Set the variable for an acceleration time from the L-VAR Table. (L0 ~ L999)

Related variable

D variable, L variable

Related command

MOV,IMOV,XMOV,YMOV,CW,CCW,ICW,ICCW,PTP,IPTP

Parameter Maximum velocity(P18), acceleration or deceleration time(P23) Explanation The acceleration time changes to a time(msec) set to the commanded variable number D or

L. The acceleration value applied to a movement command is calculated in a time arriving at the maximum velocity. If commanding is omitted, then the Acceleration or deceleration time set to a parameter “P23 Acceleration or deceleration time” is effective.

The once set acceleration time is effective until a reset unless it is reset. Example of use

A L0

 Designate an acceleration time by using a L0 variable.  Designate an acceleration time by using a D0 variable.

Example VEL 0

MOV P0

MOV P1

Fig. 2.13 Acceleration time reset

Initial acceleration slope = Maximum velocity (P18) / Acceleration or deceleration time (P23)

Acceleration slope = Maximum velocity (P18) / D variable value or L variable value

Velocity

Time

Maximum velocity

Current position P0 position P1 position

D0 time

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Chapter 2. MC Programming

16) XA

Input type XA <number> or XA <L variable> Terminology <Number>: Set the number of variable for acceleration time.

0 ~ 9(Share the Dwell(E) Table used for a DWL command.)

<L variable>: Set the variable for an acceleration time from the L-VAR Table.(L0 ~ L999) Related variable

D variable, L variable

Related command PTP,IPTP Parameter Maximum velocity(P18), acceleration or deceleration time(P23) Explanation The X-axis acceleration time changes to a time(msec) set to the commanded variable number D or

The acceleration value applied to a movement command is calculated in a time arriving at the

“P18 maximum velocity”.

If commanding is omitted, then the Acceleration or deceleration time set to a parameter “P23

Acceleration or deceleration time” is effective.

The acceleration time set by XA is applied only to the rapid movement(PTP, IPTP) command.

The once set Acceleration or deceleration time is effective until a reset unless it is reset.

If the acceleration is commanded by A and the acceleration is commanded by XA next, then the A

becomes effective during interpolation feed and the XA becomes effective during rapid movement.

That is, the acceleration of interpolation and rapid movement can be separately designated.

If the rapid movement acceleration is designated by XA and the acceleration is designated by A

next, then the XA command is cancelled and designated as the acceleration of A. Example of use XA L0

XA 0

 Designate an acceleration time by using a L0 variable.  Designate an acceleration time by using a D0 variable.

Example VEL 0

PTP P0

XA 0

PTP P1

Fig. 2.14 X-axis acceleration time reset

Initial acceleration slope = Maximum velocity (P18) / Acceleration or deceleration time (P23) Acceleration slope = Maximum velocity (P18) / D variable value or L variable value

X-axis velocity

Time

Maximum velocity

Current position

P0 position P1 position

D0 time

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Chapter 2. MC Programming

17) YA

Input type YA <number> or YA <L variable> Terminology <Number>: Set the number of variable for acceleration time.

0 ~ 9(Share the Dwell(E) Table used for a DWL command.)

<L variable>: Set the variable for an acceleration time from the L-VAR Table.(L0 ~ L999) Related variable

D variable, L variable

Related command PTP,IPTP Parameter Maximum feed velocity(P18), acceleration or deceleration time(P23) Explanation The Y-axis acceleration time changes to a time(msec) set to the commanded variable number D or

The acceleration value applied to a movement command is calculated in a time arriving at the

“P18 maximum velocity”.

If commanding is omitted, then the acceleration time set to a parameter “P23 Acceleration or

deceleration time” is effective.

The acceleration time set by YA is applied only to the rapid movement(PTP, IPTP) command.

The once set Acceleration or deceleration time is effective until a reset unless it is reset.

If the acceleration is commanded by A and the acceleration is commanded by YA next, then the A

becomes effective during interpolation movement and the YA becomes effective during rapid

movement. That is, the acceleration of interpolation and rapid movement can be separately

designated.

If the rapid movement acceleration is designated by YA and the acceleration is designated by A

next, then the YA command is cancelled and designated as the acceleration of A. Example of use YA L0

YA 0

 Designate an acceleration time by using a L0 variable.  Designate an acceleration time by using a D0 variable.

Example VEL 0

PTP P0

YA 0

PTP P1

Fig. 2.15 Y-axis acceleration time reset

Initial acceleration slope = Maximum velocity (P18) / Acceleration or deceleration time (P23) Acceleration slope = Maximum velocity (P18) / D variable value or L variable value

Y-axis velocity

Time

Maximum velocity

Current position

P0 position

P1 position

D0 time

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Chapter 2. MC Programming

18) D

Input type D <number> or D <L variable> Terminology <Number>: Set the number of variable for acceleration time.

0 ~ 9(Share the Dwell(E) Table used for a DWL command.)

<L variable>: Set the variable for an acceleration time from the L-VAR Table.(L0 ~ L1999) Related variable

D variable, L variable

Related command

MOV,IMOV,XMOV,YMOV,CW,CCW,ICW,ICCW,PTP,IPTP

Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation The deceleration time changes to a time(msec) set to the commanded variable number D or L.

The deceleration value applied to a movement command is calculated in a time arriving at 0 from

the “P18 maximum velocity”.

If commanding is omitted, then the deceleration time set to a parameter P23 or P65 is effective.

The once set deceleration time is effective until a reset unless it is reset. Example of use

D L0

 Designate an deceleration time by using a L0 variable.  Designate an deceleration time by using a D0 variable.

Example VEL 0

MOV P0

MOV P1

Fig. 2.16 Deceleration time reset

Initial deceleration slope = Maximum velocity(P18) / Acceleration or deceleration time(P23) Or, initial deceleration slope = Maximum velocity(P18)/Deceleration time(P65) Deceleration slope = Maximum velocity(P18) / D variable value or L variable value.

Velocity

Time

Maximum velocity

Current position

P0 position

P1 position

D0 time

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19) XD

Input type XD <number> or XD <L variable> Terminology <Number>: Set the number of variable for deceleration time.

0 ~ 9(Share the Dwell(E) Table used for a DWL command.)

<L variable>: Set the variable for an deceleration time from the L-VAR Table.(L0 ~ L1999) Related variable

D variable, L variable

Related command

PTP,IPTP

Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation The X-axis deceleration time changes to a time(msec) set to the commanded variable number D or L.

The deceleration time applied to a movement command is calculated in a time arriving at 0 from the

“P18 maximum velocity”.

If commanding is omitted, then the deceleration time set to a parameter P23 or P65 is effective to

the X-axis.

The once set deceleration time is effective until a reset unless it is reset.

This is applied only to the rapid movement(PTP, IPTP).

If the deceleration time is commanded by D and commanded by XD next, then the D becomes effective

during interpolation movement and the XD becomes effective during rapid movement. That is, the

deceleration time of interpolation and rapid movement can be separately designated.

If the rapid movement deceleration is designated by XD and the deceleration is designated by D next,

then the deceleration time by the XD command is cancelled and designated as the deceleration time of

D. Example of use

XD L0

XD 0

 Designate an deceleration time by using a L0 variable.  Designate an deceleration time by using a D0 variable.

Example VEL 0

PTP P0

XD 0

PTP P1

Fig. 2.17 X-axis deceleration time reset

X-axis velocity

Time

Maximum velocity

Current position P0 position P1 position

D0 time

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20) YD

Input type YD <number> or YD <L variable> Terminology <Number>: Set the number of variable for deceleration time.

0 ~ 9(Share the Dwell(E) Table used for a DWL command.)

<L variable>: Set the variable for an deceleration time from the L-VAR Table.(L0 ~ L1999) Related variable

D variable, L variable

Related command

PTP,IPTP

Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation The Y-axis deceleration time changes to a time(msec) set to the commanded variable number D or L.

The deceleration time applied to a movement command is calculated in a time arriving at 0 from the

“P18 maximum velocity”.

If commanding is omitted, then the deceleration time set to a parameter P23 or P65 is effective to

the Y-axis.

The once set deceleration time is effective until a reset unless it is reset.

This is applied only to the rapid movement(PTP, IPTP).

If the deceleration time is commanded by D and commanded by YD next, then the D becomes effective

during interpolation movement and the YD becomes effective during rapid movement. That is, the

deceleration time of interpolation and rapid movement command can be separately designated.

If the rapid movement deceleration is designated by YD and the deceleration is designated by D next,

then the deceleration time by the YD command is cancelled and designated as the deceleration time of

D. Example of use

YD L0

YD 0

 Designate an deceleration time by using a L0 variable.  Designate an deceleration time by using a D0 variable.

Example VEL 0

PTP P0

YD 0

PTP P1

Fig. 2.18 Y-axis deceleration time reset

Y-axis velocity

Time

Maximum velocity

Current position P0 position P1 position

D0 time

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21) MOV

Input type MOV or MOV <L variable1> <L variable2> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P variable, L variable

Related command

A,D,VEL

Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation Move by interpolation from the current position to the commanded variable value coordinate

position at the commanded velocity and Acceleration or deceleration time. Example of use

MOV P0

MOV L0 L1

MOV PL0

MOV LL0 LL1 Example VEL 0

MOV P0

VEL 1

MOV P1

 Setting value of P0:46.000, 15.000

 Setting value of P1:18.000, 22.000

Fig. 2.19 Absolute position interpolation movement function

P1(end point)

Start point

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22) IMOV

Input type IMOV or IMOV <L variable1> <L variable2> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P variable, L variable

Related command

A,D,VEL

Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation Move by interpolation from the current position to the commanded variable value incremented

position at the commanded velocity and Acceleration or deceleration time. Example of use

IMOV P0

IMOV L0 L1

IMOV PL0

IMOV LL0 LL1 Example VEL 0

IMOV P0

VEL 1

IMOV P1

 Setting value of P0: 46.000, 15.000

 Setting value of P1: -28.000, 7.000

Fig.2.20 Incremental position interpolation movement function

Start point

P1(end point)

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23) PTP

Input type PTP or PTP <L variable1> <L variable2> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999)

Related variable

P variable, L variable

Related command

A,D,VEL,XA,YA,XVEL,YVEL

Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation Move individually from the current position to the commanded coordinate number position at the

commanded individual velocity and Acceleration or deceleration time. The movement path is usually

composed of 2 straight lines because each axis moves without interpolation. Example of use

PTP P0

PTP L0 L1

PTP PL0

PTP LL0 LL1 Example VEL 0

PTP P0

VEL 1

PTP P1

 Setting value of P0: 20.000, 10.000

 Setting value of P1: 30.000, 28.000

Fig. 2.21 Absolute position individual movement function

Start point

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24) IPTP

Input type IPTP or IPTP <L variable1> <L variable2> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related

variable

P variable, L variable

Related command

A,D,VEL,XA,YA,XVEL,YVEL

commanded individual velocity and Acceleration or deceleration time. The movement path is usually

composed of 2 straight lines because each axis moves without interpolation. Example of

use

IPTP P0

IPTP L0 L1

IPTP PL0

IPTP LL0 LL1 Example VEL 0

IPTP P0

VEL 1

IPTP P1

 SETTING VALUE OF P0: 20.000, 10.000

 SETTING VALUE OF P1: 10.000, 18.000

Fig.2.22 Incremental individual movement function

시점

20.000

10.000

18.000

(0.000, 0.000)

10.000

Start point

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25) XMOV

Input type XMOV or XMOV <L variable> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P variable, L variable

Related command A,D,VEL Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation Move the X-axis only by interpolation from the current position to the commanded coordinate

position at the commanded individual velocity and Acceleration or deceleration time. When it was

commanded by a P variable, the Y coordinate is ignored. Example of use XMOV P0

XMOV L0

XMOV PL0

XMOV LL0

26) YMOV

Input type YMOV or YMOV <L variable> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related variable

P VARIABLE, L VARIABLE

Related command A,D,VEL Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation Move the Y-axis only by interpolation from the current position to the commanded coordinate

position at the commanded individual velocity and Acceleration or deceleration time. When it was

commanded by a P variable, the X coordinate is ignored. Example of use YMOV P0

YMOV L0

YMOV PL0

YMOV LL0

Fig. 2.23 Movement function by axes

VEL 0 XMOV PO->PO setting value: 5,000, ???? VEL 1 YMOV P1-> P1 setting value: ????, 20,000 VEL 2 XMOV P2-> P2 setting value: 30,000, ????

Start point (0.000, 0.000)

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27) XIMOV

Input type XIMOV or XIMOV <L variable> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999)

Related variable

P variable, L variable

Related command

A,D,VEL

Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation Move the X-axis only by interpolation from the current position to the commanded incremented at the

commanded individual velocity and Acceleration or deceleration time. When it was commanded by a P

variable, the Y coordinate is ignored. Example of use

XIMOV P0

XIMOV L0

XIMOV PL0

XIMOV LL0

28) YIMOV

Input type YMOV or YMOV <L variable> Terminology : Set the variable for a position from the Position Table.(P0 ~ P99)

<L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Related

variable

P VARIABLE, L VARIABLE

Related command

A,D,VEL

Parameter Maximum velocity(P18), Acceleration or deceleration time(P23), deceleration time (P65) Explanation Move the Y-axis only by interpolation from the current position to the commanded incremented at the

commanded individual velocity and Acceleration or deceleration time. When it was commanded by a P

variable, the X coordinate is ignored. Example of use

YIMOV P0

YIMOV L0

YIMOV PL0

YIMOV LL0

Fig.2.24 Movement function by axes

XVEL 0 XIMOV P0  P0 설정치:5. 000 , ???? YVEL 1 YIMOV P1  P1설 정치: ????, 20. 000 XVEL 2

XIMOV P2  P2설정치:30.000, ????

P1 P2

시점

20.000

5.000

(0.000, 0.000)

30.000

35.000

5.000

20.000

VEL 0 XIMOV PO->PO setting value: 5,000, ???? YVEL 1 YIMOV P1-> P1 setting value: ????, 20,000 XVEL 2 XIMOV P2-> P2 setting value: 30,000, ????

Start point (0.000, 0.000)

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Chapter 2. MC Programming

29) CW, CCW

Input type

CW , CCW

Terminology : Set the variable for a position from the Position Table.(P0 ~ P99) Related

variable

P variable, L variable

Related command

A,D,VEL

Parameter Maximum velocity(P18), acceleration or deceleration time(P23), deceleration time(P65), I, J arc

commanding method(P61) Explanation Move by arc interpolation from the current position to the commanded coordinate position at the

commanded velocity and Acceleration or deceleration time.

If the“

basic parameter P61 I, J arc commanding method” is disabled, then the X-axis value of <P

variable 2> is regarded as its radius.

However, if the “

basic parameter P61 I, J arc commanding method” is enabled, then it is

regarded as an I, J circle center commanding method, not a radius. In this case, the X-axis of the

second P variable corresponds to I, and the Y-axis corresponds to J.

I, J are vector components seen from the arc start point to the center, and are always commanded as

increments. Example of use

CW P0 P1

CCW P0 P1

CW PL0 PL1

CCW PL0 PL1 Example VEL 0

MOV P0

VEL 1

CW P1 P2

 P0: Arc interpolation start point(0.000, 0.000)

 P1: Arc interpolation end point, P2: Arc center command

*If

basic parameter P61 is disabled- P1:20.000, 20.000 P2:20.000, ?????

*If

basic parameter P61 is enabled- P1:20.000, 20.000 P2:20.000, 0.000

Fig.2.25 Absolute position arc interpolation function

20.000

R= 20.000

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30) ICW, ICCW

Input type ICW , ICCW Terminology : Set the variable for a position from the Position Table.(P0 ~ P99) Related variable

P variable, L variable

Related command

A,D,VEL

Parameter Maximum velocity(P18), acceleration or deceleration time(P23), deceleration time(P65), I, J arc

commanding method(P61) Explanation Move by arc interpolation from the current position to the commanded incremented position at the

commanded velocity and Acceleration or deceleration time.

If the“

basic parameter P61 I, J arc commanding method” is disabled, then the X-axis value of <P

variable 2> is regarded as its radius.

However, if the “

basic parameter P61 I, J arc commanding method” is enabled, then it is

regarded as an I, J circle center commanding method, not a radius. In this case, the X-axis of the

second P variable corresponds to I, and the Y-axis corresponds to J.

I, J are vector components seen from the arc start point to the center, and are always commanded as

increments. Example of use

ICW P0 P1

ICCW P0 P1

ICW PL0 PL1

ICCW PL0 PL1 Example VEL 0

MOV P0

VEL 1

ICCW P1 P2

 P0: Arc interpolation start point(0.000, 0.000)

 P1: Arc interpolation end point, P2: Arc center command

*If

basic parameter P61 is disabled- P1:20.000, 20.000 P2:20.000, ?????

*If

basic parameter P61 is enabled- P1:20.000, 20.000 P2:0.000, 20.000

Fig.2.26 Increment position arc interpolation function

20.000

R= 20.000

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Chapter 2. MC Programming

Arc interpolation commanding method

a) Commanding with a radius

CW <End point[P variable 1]> <radius[P variable 2]> CCW <End point[P variable 1]> <radius[P variable 2]>

The start point is the current position, so the end point and the radius are commanded in the above type, and only the P variable can be commanded. The P variable can be indirectly designated as a L variable.

Disable the“

basic parameter P61 I, J arc commanding method”. The X-axis value of the P

variable 2 is regarded as a radius. The Y value at this time has nothing to do with the command.

If there is a start point, an end point and a radius, 2 circles are possible. There are 4 arcs going from the start point to the end point like Fig.2.27. If a direction is given here, then they reduces to 2 arcs such as a 180 or more degree arc and a 180 or less degree arc going from the start point to the end point. The radius is commanded as a negative number when commanding a 180 or more degree arc, and as a positive number when commanding a 180 or less arc.

Fig.2.27 Arc interpolation command by R

R= 5 0

R= -5 0

시점

종점

CCW

CW(R=-50)

CCW(R=50)

CW(R=50)

CCW(R=-50)

Start point

End point

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Chapter 2. MC Programming

b) Commanding with I,J command

CW <End point[P variable 1]> <arc center[P variable 2]> CCW <End point[P variable 1]> <arc center[P variable 2]>

The start point is the current position, so the end point and the circle center are commanded in the above type, and only the P variable can be commanded. The P variable can be indirectly designated as a L variable. The center of the arc is directly commanded.

Enable the“

basic parameter P61 I, J arc commanding method”. It is regarded as a method

of commanding the circle center with I, J, not a radius. In this case, the X-axis of the P variable 2 corresponds to I and the Y-axis corresponds to J. I, J are vector components seen from the start point to the center of a circle and are always commanded as increments.

Make a right triangle like Fig.2.28, and designate its bottom as I, its height as J, and its oblique side as a radius. When designating it as I, J, if the distance between the start point and the circle center doesn’t coincide with the distance between the end point and the circle center, then an alarm occurs.

Fig.2.28 I,J arc commanding function

시점

종점

원호 중심

ccw

End point

Circle center

Start point

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Chapter 2. MC Programming

31) PMOV

Input type PMOV <L variable1> <L variable2> Terminology <L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999) Explanation Palletizing is automatically performed based on the pallet point of each axis set to the commanded

3-point pallet(rectangle).

<L variable 1> Designating an L variable automatically designates the next address of the designated L variable. 4 L variables are designated in addition to the designated L variable. For example, if ’L0’ is designated, then L1, L2, L3, L4 are designated. <L variable 1> +0: Number of pallet points in the first axis  Determine how many divisions the distance between the first position and the second position will be divided into. <L variable 1> +1: Number of pallet points in the second axis  Determine how many divisions the distance between the second position and the third position will be divided into. <L variable 1> +2: Number of pallet points in the first axis under preparation for execution(to be executed next) <L variable 1> +3: Number of pallet points in the second axis under preparation for execution(to be executed next) <L variable 1> +4: ‘1’ if all the palletizing has been executed  This lies at ‘0’ during PCLR, but changes to 1 if all the palletizing have finished. <L variable 2> Designating an L variable automatically designates the next address of the designated L variable. 5 L variables are designated in addition to the designated L variable. For example, if ’L5’ is designated, then L6, L7, L8, L9, L10 are designated. <L variable 2> +0: X-axis coordinate at the first position <L variable 2> +1: Y-axis coordinate at the first position <L variable 2> +2: X-axis coordinate at the second position <L variable 2> +3: Y-axis coordinate at the second position <L variable 2> +4: X-axis coordinate at the third position <L variable 2> +5: Y-axis coordinate at the third position The sequence of pallet operation differs depending on the direction(X-axis or Y-axis) of the second position and the third position.

PMOV L0 L5 L0: 5 L1: 3 L2: 1 L3: 1 L4: 0 L5: 0 L6: 0 L7: 100 L8: 0 L9: 0 L10: 50

PMOV L0 L5 L0: 3 L1: 5 L2: 1 L3: 1 L4: 0 L5: 0 L6: 0 L7: 0 L8: 50 L9: 100 L10: 0

36912

(L5, L6 )

(L7, L8 )

(L9, L10)

(L5, L6) (L7, L8)

(L9, L10)

11 12 13 14

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Chapter 2. MC Programming

32) PCLR

Input type PCLR <Number of pallet points in the first axis> Explanation Set the pallet point under preparation for execution of the relevant PMOV to ‘1’, and

the palletized L variable to ‘0’. Only the commanding to an L variable is possible.

Example PCLR L0

LABL AA IF L4 .EQ 1 BB PMOV L0 L5 MOV P10 GOTO AA LABL BB END

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Chapter 2. MC Programming

33) FOS

Input type FOS <number> or FOS <L variable> Terminology <Number>: Set the ratio to execute the next block to %(0~100) from the D variable.

0 ~ 9(Share the Dwell(E) Table used for a DWL command.)

<L variable>: Set the ratio to execute the next block from the L-VAR Table.(L0 ~ L1999) Related variable

D variable, L variable

Related command

MOV,IMOV,XMOV,YMOV (꺾어지는 부분에 대한 설명이 필요할 듯)

Explanation If the remaining distance of the block currently under execution comes into the scope

of the commanded ratio, then move to the next block by overlapping.

-‘0’ means the cancellation of a pre-execution mode.

-‘100’ is set as a mode to omit Acceleration or deceleration between blocks.

Note) This is a command applied to the MCU-XA2(MCU analogue type) only. Example

VEL 0

MOV P0

FOS 0

MOV P1

MOV P2

MOV P3

FOS 1

MOV P0

END

DWELL(E) Table 0 = ‘10’

DWELL(E) Table 1 = ‘0’

Fig.2.29 Block overlapping feed

90%

34) RET

Input type RET Explanation Move to the home(‘0.000, 0.000’), a fixed position on the machine.

Example

VEL 0

MOV P0

RET

IMOV P1

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35) IN0

Input type IN0 <inspection contact> {label name} Terminology <Inspection contact>: Designate a contact to inspect.

Input contact: X0.0 ~ X5.F

Output contact: Y0.0 ~ Y4.F

Auxiliary contact: M00.0 ~ M199.F

{Label name}: Designate the name of a label to branch. Related command

LABL

Explanation If the {label name} is not designated, then the program execution stops while waiting

until the designated <inspection contact> becomes ‘0’.

When the {label name} is designated, if the <inspection contact> is satisfied (‘0’),

branch it to the relevant label, and the <inspection contact> is not satisfied(‘1’),

proceed to the next block. Example 1 This is an example of a function to stop execution until an input contact(X0.0)

becomes‘0’.

LABL LB1

VEL 0

MOV P0

IN0 X0.0

MOV P1

 If the input port X0.0 is‘0’, then execute the next block, and if it is‘1’, then wait

Example 2 If the auxiliary contact(M0.0) is‘0’, then branch to it, and if it is‘1’, then

execute the next block.

LABL LB1

VEL 0

MOV P0

IN0 M0.0 LB1

MOV P1

36) IN1

Input type IN1 <inspection contact> {label name} Terminology <Inspection contact>: Designate a contact to inspect.

Input contact: X0.0 ~ X5.F

Output contact: Y0.0 ~ Y4.F

Auxiliary contact: M00.0 ~ M199.F

{Label name}: Designate the name of a label to branch. Related command

LABL

Explanation If the {label name} is not designated, then the program execution stops while waiting

until the designated <inspection contact> becomes ‘1’.

When the {label name} is designated, if the <inspection contact> is satisfied (‘1’),

branch it to the relevant label, and the <inspection contact> is not satisfied(‘0’),

proceed to the next block. Example 1 This is an example of a function to stop execution until an input contact(X0.0)

becomes‘1’.

LABL LB1

VEL 0

MOV P0

IN1 X0.0

MOV P1

 If the input port X0.0 is‘1’, then execute the next block, and if it is‘0’, then wait.

Example 2 If the auxiliary contact(M0.0) is‘1’, then branch to it, and if it is‘0’, then

execute the next block.

LABL LB1

VEL 0

MOV P0

IN1 M0.0 LB1

MOV P1

If the auxiliary contact(M0.0) is‘0’, branch to

If the auxiliarycontact(M0.0) is‘1’, branch to

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37) IIN0

Input type IIN0 <inspection contact> Terminology <Inspection contact>: Designate a contact to inspect.

Input contact: X0.0 ~ X0.F Explanation Program execution stops while waiting until the designated <inspection contact>

becomes‘0’.

This command applies to equipment requiring a high speed input function as a function

to inspect the <inspection contact> in a 1ms period. Example This is an example of stopping execution until the input contact(X0.0) becomes‘0’.

LABL LB1

VEL 0

MOV P0

IIN0 X0.0

MOV P1

 If the input port X0.0 is‘0’, then execute the next block, and if it is‘1’, then wait.

38) IIN1

Input type IIN1 <Inspection contact> Terminology <Inspection contact>: Designate a contact to inspect.

Input contact: X0.0 ~ X0.F Explanation Program execution stops while waiting until the designated <inspection contact>

becomes‘1’.

This command applies to equipment requiring a high speed input function as a function

to inspect the <inspection contact> in a 1ms period. Example This is an example of stopping execution until the input contact(X0.0) becomes‘1’.

LABL LB1

VEL 0

MOV P0

IIN1 X0.0

MOV P1

 If the input port X0.0 is‘1’, then execute the next block, and if it is‘0’, then wait.

39) OUT0

Input type OUT0 <output contact> Terminology <Output contact>: Designate a contact to output signals.

Output contact: Y0.0 ~ Y4.F

Auxiliary contact: M00.0 ~ M199.F Explanation Output‘0’to the designated output contact. Example This is an example of outputting ‘0’ to the output contact Y0.0.

VEL 0

MOV P0

OUT0 Y0.0

IMOV P1

 Output ‘0’ to the output contact Y0.0.

40) OUT1

Input type OUT1 <output contact> Terminology <Output contact>: Designate a contact to output signals.

Output contact: Y0.0 ~ Y4.F

Auxiliary contact: M00.0 ~ M199.F Explanation Output‘1’to the designated output contact. Example This is an example of outputting ‘1’ to the output contact Y0.0.

VEL 0 MOV P0 OUT1 Y0.0 IMOV P1

 Output ‘1’ to the output contact Y0.0.

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41) Comment Input type /* Explanation If a block in a program starts with‘/*’, then regard it as a comment.

Start with /* by all means, and there shall be no letter before /*.

Example VEL 0

MOV P0 /* SECOND POINT IMOV P1

42) Macro operation function Type +,-,*,/, %, =, (, ) Variable L variable, E variable, constant Explanation Can execute an operation function with a variable during programming.

Using a (,) function can perform up to 7 multiple operation functions.

Example L0 = L0 + L1

L0 = L0 - L1 L0 = L0 * L1 L0 = L0 / L1 L0 = L0 % L1

 Store a value of L1 added to L0 in L0.  Store a value of L1 subtracted from L0 in L0.  Store a value of L1 multiplied to L0 in L0.  Store the quotient of L0 divided by L1 in L0.  Store the remainder of L0 divided by L1 in L0.

L0 = L0 + 1 L0 = L0 - 1 L0 = L0 * 10 L0 = L0 / 10 L0 = L0 % 10

L0 = (L0 + L1) * L2

 Store a value of 1 added to L0 in L0.  Store a value of 1 subtracted from L0 in L0.  Store a value of 10 multiplied to L0 in L0.  Store the quotient of L0 divided by 10 in L0.  Store the remainder of L0 divided by 10 in L0.

 Operation function using (,)

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Chapter 2. MC Programming

43) IF Input type IF <conditional expression> <label name> Terminology <Conditional expression>: This is a conditional expression of IF statement,

which is composed of a variable and a comparison operator. <Label name>: If the conditional expression is true, designate the name of a

label to branch. Related command

LABL

Application variable

L variable, E variable

Explanation If the conditional expression of IF statement is true, then branch to the

declared label, and if it is false, then proceed to the next statement.

Conditional expression used: =, .EQ, .LE, .LT, .GE, .GT

=, .EQ: If the two values are equal, it is true. (Ex: IF L0 = 10 …If L0

equals‘10’, then it is true)

.LE: If the value is less or equal, it is true. (Ex: IF L0 .LE 10 …If L0 is

less than or equal to‘10’, then it is true)

.LT: If the value is less, then it is true. (Ex: IF L0 .LT 10 …If L0 is less

than‘10’, then it is true.)

.GE: If the value is greater or equal, then it is true. (Ex: IF L0 .GE 10

…If L0 is greater than or equal to‘10’, then it is true.)

.GT: If the value is greater, then it is true. (Ex: IF L0 .GT 10 …If L0 is

greater than‘10’, then it is true.) Example

VEL 0

L10 = 0

LABL LB0

L10 = L10 + 1

MOV P1

MOV P2

IF L10 .LE 10 LB0

…

If the value of L10 is less than or equal to ‘10’in the command “IF L10 .LE

10 LB0”, then move to the statement “LABL LB0”. If it is greater than 10,

then proceed to the next command.

Repeat the commands “MOV P1”and“MOV P2”10 times by the transfer of control.

If L10 is less than or equal to ‘10’, then it is true.

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Chapter 2. MC Programming

2.3 MC program variable details

Variables used for a MC program can be largely divided into 4 types.

1) P variable: Used to designate position data.

2) F variable: Used to designate velocity data.

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

4) L variable: Used to designate position, velocity, time and pulse data as a variable having a multi-purpose function.

Table 2.2 List of MC program variable functions

Division Variable Function Area Example of use

Data

classifi

cation

variable

Used to designate 2-dimensional position data Input range:

-2,147,483,648 ~ 2,147,483,647

P0 ~

P99

MOV P0, IMOV P1, SET2 P99, ..

variable

Used to designate velocity data F0 ~ F9

VEL 0, VEL 1, VEL 2, ~ VEL 9

D(E)

variable

Used to designate dwell data Used to designate acceleration time data Used to designate deceleration time data

------------------------Used as comparison data for a comparative conditional expression Used as operation data for a variable operator Used to indirectly designate position data

D0 ~ D9

(E0 ~

E9)

DWL 0, DWL 1, DWL 2, ~ DWL 9 A0, A1, A2, ~ A9 D0, D1, D2, ~ D9

IF E8 .LT E9 LB1 E0=E8-E9 MOV PE0

variable

Used to designate position data Used to designate velocity data Used to designate dwell data Used to designate acceleration time data Used to designate deceleration time data Used as comparison data for a comparative conditional expression Used as operation data for a variable operator Used to indirectly designate data

L0~

L1999

MOV L0 L1, IMOV L1 L2, SET2 L1998 L1999.. VEL L0, VEL L1, ~ VEL L1999 DWL L0, DWL L1, ~ DWL L1999 A L0, A L1, A L2, ~ A L1999 D L0, D L1, D L2, ~ D L1999 IF L0 .LT L1999 LB1 L0=L0-L1999 MOV PL0, MOV LL0 LL1, VEL LL0, ..

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Chapter 2. MC Programming

1) P variable

Type P<0~99> Function Has a value for a 2-dimensional position related command to execute. Related command

SET,SET2,MOV,IMOV,PTP,IPTP,CW,CCW,ICW,ICCW

Explanation You can set 100 position values as a position variable to set the target point and the

distance. Set a value in a um unit.

Example VEL 0

MOV P0 This is a command to move to a value set in a P0 variable.

F variable

Type F<0~9> Function This has a value for the command related to a velocity to execute. Related command

VEL, XVEL, YVEL

Explanation Can set 10 velocity values as a velocity variable to set a velocity. Example VEL 0

MOV P0 This is a command to apply to a movement command at a velocity set in a F0 variable.

D(E) variable

Type D<0~9>, E<0~9> Function D variable: Has a value for a time and external pulse related command to execute.

E variable: A macro(operation, comparison) function is possible.

A special function is applied to some variables by parameter setting. Related command

DWL, A, D, XA, YA, XD, YD, macro command

Explanation This is called a D or E variable, indicating the same area. That is, D0 and E0 are the

same variable.

This is a variable to set the value of time and pulses, so 10 values can be set.

When being used as time, this has a unit of msec.

This is a variable with which operation functions such as addition, subtraction,

multiplication and division are possible, and can be used in combination with an IF

statement. Example 1 DWL 0

MOV P0

This is a command to pause for a time or external pulse by being set as a D0 variable. Example 2 E1 = 100000

E2 = 100

E3 = E1/E2

As an example of use as an operation macro function, substitute‘100000’into the E1

variable, substitute‘100’into the E2 variable, divide E1 by E2, and then store its

quotient in the E3 variable.

As a result, a value of‘1000’is stored in E3. Example 3 IF E1 .EQ 1000 LB0

…

LABL LB0

…

If the value stored in the E1 variable as a comparative macro function is‘1000’, then

branch to the declared label, and otherwise, proceed to the next command.

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Chapter 2. MC Programming

4) L variable

Type L<0~1999> Function Can store a position, velocity, time and pulse value as a variable having a multi-

purpose function.

A macro(operation, comparison) function is possible.

This is used as a function to indirectly designate a variable. Related command

SET,SET2,MOV,IMOV,PTP,IPTP,VEL,DWL, A, D, macro command

Explanation Can set 2000 values as a variable to set a position, velocity, time and pulse value.

In case of a position variable function, the arbitrary portions can be used as a P

variable and its value is stored in a um unit.

Arbitrary portions can be used like an F variable during a velocity variable function,

and the value is stored in a mm/min unit.

In case of a time or pulse variable function, arbitrary portions can be used as a D

variable, and the time value is stored in a msec unit.

This is a variable enabling operation functions such as addition, subtraction,

multiplication and division like an E variable, and can be used in combination with an

IF statement.

This can be used to indirectly designate a variable in a position and macro function. Example 1 Example of position variable functions

L100 = 10

L101 = 11

VEL 0

MOV L0 L1  This is a command to move to a position value set at a L0 variable(X) and

L1 variable(Y).

MOV PL100  A command to move to a position value set to a P10 variable by using a

L100 variable value as indirect designation(if L100 contains ‘10’).

MOV LL100 LL101  This is a command to move to a position value set to a L10

variable(X) and L11 variable(Y) by using the L100 or L101 variable value as an indirect

point(if L100 contains ‘10’ and L101 contains ‘11’). Example 2 Example of velocity variable functions

VEL L0

MOV L1 L2

A command to apply to a feed command at a velocity set in the L0 variable Example 3 Example of time/pulse variable functions

DWL L10

MOV P0

A command to pause during the time and external pulse set to a L10 variable Example 4 Example of operational macro functions

L0 = 1000  Substitute‘1000’into a L0 variable.

L1 = 100  Substitute‘100’into a L1 variable.

L2 = L0 * L1  Multiply L0 by L1, and then store the result‘100000’in L2.

Example of operational macro functions using indirect designation

L0 = 10  Substitute ‘10’into a L0 variable.

LL0 = 100  Sibstitute‘100’ into a L10 variable by using indirect designation.

L2 = L0 * LL0  Multiply L0 by L10 by using indirect designation, and then store the

result ‘1000’ in L2.

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Chapter 2. MC Programming

Example of comparative macro functions

IF L1 .EQ 1000 LB0 … LABL LB0 … If a L1 variable value as a comparative macro function is‘1000’, then branch the execution to a LB0 declared label, and otherwise, execute the next command.

Example of a comparative macro function using indirect designation L1 = 100 IF LL1 .EQ 1000 LB0 … LABL LB0 … If a L100 variable value as a comparative macro function using indirect designation is‘1000’, then branch the execution into a LB0 declared label, and otherwise, execute the next command.

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Chapter 3. Homing

3.1 Homing

A home is a fixed position in a machine, and must be recognized to a controller by execution of its return after application of power. After completion of homing return, the home becomes ‘0,0’, on which all the coordinates of movement command thereafter are based. The velocity and method of executing a homing return are performed by parameters.

3.2 Homing parameters

1) Homing signal (Parameter P15)

Set the type of homing DOG sensors(A contact, B contact) for a homing return. For equipment without homing return, set it to ‘Disable’. In this case, the parameters described below have no meaning.

2) Homing direction (Parameter P16)

Set a homing direction. If the homing DOG sensor is located in the negative direction, then set to ‘MINUS’, and if it is located in the positive direction, then set to ‘PLUS’.

3) Homing method (Parameter P17)

Set a homing method. Details of homing methods are described in Section 3.3.

4) Homing velocity 1,2,3 (Parameter P20, P21, P22)

Homing velocities 1,2,3 are parameters to set a moving velocity during homing return movement. Homing velocity 1 sets a velocity until detecting a homing DOG sensor. Homing velocity 2 sets a velocity until being out of the homing DOG sensor and a velocity of additional movement after a homing return. Homing velocity 3 sets a velocity until a signal for completion of a homing return is detected.

Details are described in Section 3.3.

5) Limit switch homing return function (Parameter P64)

Set this when replacing a limit sensor in the homing return direction with a homing DOG sensor. Even though this parameter is set to ‘Enable’, set the type of a limit sensor used for a parameter P15(homing signal) in the same way. And you can use the X0.4, X0.5(HOMING SWITCH) as a user contact.

6) Going further after a homing return (Parameter P66)

This is a function to complete an action of homing return described in Section 3.3, move a distance set in this parameter at a velocity of “homing return velocity 2”, decelerate, stop, and then reset the position as its home.

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Chapter 3. Homing

3.3 Execution of homing return

1) Method 1 (MCU-XA2 (velocity type of servo driver))

Setting a parameter P17(homing method) as a ‘method 1’ executes a homing return as follows. If a homing DOG sensor is turned ON during movement to a homing return direction at a velocity of homing return velocity 1, then decelerate, stop, move to the same direction until the homing DOG sensor is turned OFF at the homing return velocity 2, and stop, and if ‘phase C’ is detected from the servo drive during movement at a velocity of homing return velocity 3 in the same direction, then stop and set this position as the home. If the homing return has finished, the ZP1[M50.C] and ZP2[M50.D] signals are outputted as ‘1’.

Homingvelocity1(basic

arameter P20

)

Homing velocity 2(basic parameter P21)

Homing velocity 3 (basic parameter P22)

Homing sensor OFF Homing sensor ON

Homing(encoder phase C detected)

velocity

Axis

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Chapter 3. Homing

2) Method 2 (MCU-XA2 (velocity type of servo driver)) Setting a parameter P17(homing method) as a ‘method 2’ executes a homing return as follows. If a homing DOG sensor is turned ON during movement to a homing return direction at a velocity of homing return velocity 1, then decelerate, stop, move to the opposite direction until the homing DOG sensor is turned OFF at the homing return velocity 2, and stop, and if ‘phase C’ is detected from the servo drive during movement at a velocity of homing return velocity 3 in the continuing opposite direction, then stop and set this position as the home. If the homing return has finished, the ZP1[M50.C] and ZP2[M50.D] signals are outputted as ‘1’.

Homing velocity 1(basic parameter P20)

Velocity

Homing velocity 2(basic parameter P21)

Homing velocity 3(basic parameter P22)

Homing(encoder phase C detected)

Homingsensor ON&OFF

Axis

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Chapter 3. Homing

3) Method 1 (MCU-XP2 (position type of servo driver, stepping motor driver)) Setting a parameter P17(homing method) as a ‘method 1’ executes a homing return as follows. If a homing DOG sensor is turned ON during movement to a homing return direction at a velocity of homing return velocity 1, then stop, move to the same direction until the homing DOG sensor is turned OFF at the homing return velocity 3, stop, and set this position as the home. If the homing return has finished, the ZP1[M50.C] and ZP2[M50.D] signals are outputted as ‘1’.

Velocity

Homing velocity 1(basic parameter P20)

Homing velocity 3(basic parameter P22)

Homing sensor OFF

(Homing)

Homing sensor ON

Axis

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Chapter 3. Homing

4) Method 2 (MCU-XP2 (position type of servo driver, stepping motor driver)) Setting a parameter P17(homing method) as a ‘method 2’ executes a homing return as follows. If a homing DOG sensor is turned ON during movement to a homing return direction at a velocity of homing return velocity 1, then stop, move to the opposite direction until the homing DOG sensor is turned OFF at the homing return velocity 3, stop, and set this position as the home. If the homing return has finished, the ZP1[M50.C], ZP2[M50.D] signals are outputted as‘1’.

Homing sensor ON&OFF

(Homing)

Homing velocity 1(basic parameter P20)

Homing velocity 3(basic parameter P22)

Velocity

Axis

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Chapter 3. Homing

3.4 Example of a homing return

1) Example of a homing return using a PLC exclusive command

Execute a homing return when the X0.7 signal is turned ON.

LOADP X0.7 Æ When X0.7 changes from‘0’to‘1’ ORG Æ This is an exclusive command to execute a homing return.

2) Example of a homing return using an M contact (not-recommended function)

Execute a homing return when the X0.7 signal is turned ON. The homing return direction is negative.

LOADP X0.7 SET M0.0 SET M0.1

LOAD M0.0 AND N0T M50.B Æ M50.B[ORG] ORG mode state bit OUT M80.B Æ M80.B[ORG] ORG mode commanding bit

LOAD M0.0 AND M50.B Æ M50.B[ORG] ORG mode state bit AND NOT M50.C Æ M50.C[ZP1] X-axis return completion state bit OUT M80.D Æ M80.D[A1-] X-axis manual feed – direction commanding bit

LOAD M0.1 AND M50.B Æ M50.B[ORG] ORG mode state bit AND NOT M50.D Æ M50.D[ZP2] Y-axis return completion state bit OUT M80.F Æ M80.F[A2-] Y-axis manual feed – direction commanding bit LOAD M50.C Æ M50.C[ZP1] X-axis return completion state bit OR M80.1 Æ 80.1[ERS] RESET commanding bit RST M0.0

LOAD 50.D Æ M50.D[ZP2] Y-axis return completion state bit OR M80.1 Æ 80.1[ERS] RESET commanding bit RST M0.1

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Chapter 4. PLC Program

4.1 Types of PLC basic commands

Table 4.1 List of PLC commands

Command Object contact Use

LOAD Input, output, auxiliary, TIMER, COUNTER Starting of a logic operation(contact A)

LOAD NOT Input, output, auxiliary, TIMER, COUNTER Starting of a logic operation(contact B)

AND Input, output, auxiliary, TIMER, COUNTER Series connection(contact A)

AND NOT Input, output, auxiliary, TIMER, COUNTER Series connection(contact B)

OR Input, output, auxiliary, TIMER, COUNTER Parallel connection(contact A)

OR NOT Input, output, auxiliary, TIMER, COUNTER Parallel connection(contact B)

AND LOAD Series connection between blocks

OR LOAD Parallel connection between blocks

OUT Output, auxiliary Outputting of an operation result(contact A)

OUT NOT Output, auxiliary Outputting of an operation result(contact B)

D Output, auxiliary

Outputting of a differential pulse when the input is ON

D NOT Output, auxiliary

Outputting of a differential pulse when the input is OFF

TMR TIMER Timer action

CTR COUNTER Counter action

SET Output, auxiliary Bit unit Self-Holding(ON)

RST Output, auxiliary Bit unit Self-Holding(OFF)

MCS Common Interlock Set

MCS NOT Common Interlock Reset

MOV Output, auxiliary Word data movement command

DMOV Output, auxiliary DWord(32Bits) data movement command

FWR

Command to eternally store the position, velocity, dwell, L data

END End of a PLC program

Note) PLC program capacity: A PLC program can be prepared up to about 1,000 steps. Note) If a step of the PLC program starts with‘/*’, then it is regarded as a comment.

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Chapter 4. PLC Program

4.2 Types of application commands related to PLC contacts and motion

Table 4.2 List of application commands related to PLC contacts

Command Object contact Use

LOADP Input, output, auxiliary, TIMER, COUNTER

Starting of a logic operation at a rising edge(contact A)

LOADN Input, output, auxiliary, TIMER, COUNTER

Starting of a logic operation at a falling edge(contact B)

ANDP Input, output, auxiliary, TIMER, COUNTER

Logic serial connection by a rising edge(contact A)

ANDN Input, output, auxiliary, TIMER, COUNTER

Logic serial connection by a falling edge(contact B)

ORP Input, output, auxiliary, TIMER, COUNTER

Logic parallel connection by a rising edge(contact A)

ORN Input, output, auxiliary, TIMER, COUNTER

Logic parallel connection by a falling edge(contact B)

OUTP Output, auxiliary

Outputting of a scan pulse when the logic operation result rises

OUTN Output, auxiliary

Outputting of a scan pulse when the logic operation result falls

LOAD=

Input, output, auxiliary, L variable, integer

Command to start a 32bit integer comparing(=) logic operation(contact A)

LOAD>

Input, output, auxiliary, L variable, integer

Command to start a 32bit integer comparing(>) logic operation(contact A)

LOAD<

Input, output, auxiliary, L variable, integer

Command to start a 32bit integer comparing(<) logic operation(contact A)

PUT

Input, output, auxiliary, TIMER, COUNTER + P variable, F variable, D(E) variable, L variable

Command to output an MC variable(P,F,D(E), L variable)

GET

Input, output, auxiliary, TIMER, COUNTER + P variable, F variable, D(E) variable, L variable

Command to input an MC variable(P,F,D(E), L variable)

Table 4.3 List of PLC motion related application commands

Command Object contact Use

ORG Input, output, auxiliary, TIMER, COUNTER

X/Y axis homing return execution command (rise edge input)

ORGX Input, output, auxiliary, TIMER, COUNTER

X axis homing return execution command (rise edge input)

ORGY Input, output, auxiliary, TIMER, COUNTER

Y axis homing return execution command (rise edge input)

ORGRST

ORG, ORGX, ORGY

command outputting

(ORG FIN)

Homing return completion reset command(rise edge input)

JOGX+ Input, output, auxiliary, TIMER, COUNTER X axis +direction manual feed(JOG) command

JOGX- Input, output, auxiliary, TIMER, COUNTER X axis -direction manual feed(JOG) command

JOGY+ Input, output, auxiliary, TIMER, COUNTER Y axis +direction manual feed(JOG) command

JOGY- Input, output, auxiliary, TIMER, COUNTER Y axis -direction manual feed(JOG) command

START Input, output, auxiliary, TIMER, COUNTER

MC program execution(AUTO START) command (rise edge input)

STOP Input, output, auxiliary, TIMER, COUNTER

MC program execution pause(AUTO STOP) command (rise edge input)

RESET Input, output, auxiliary, TIMER, COUNTER

MC program execution stop or alarm cancellation(RESET) command(rise edge input and level input)

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Chapter 4. PLC Program

Command Object contact Use

CHPROG

Input, output, auxiliary, TIMER, COUNTER + number, M area, L variable, D(E) variable

Automatic operation MC program number change command (rise edge input)

STEP or STEP+