LSIS XBC-DN20S, XBC-DN60SU, XBC-DN30SU, XBC-DN40SU, XBC-DP20SU User Manual

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Programmable Logic C ontroller

XGB Built-in Positi oni n g

User’s Manual



Read this manual carefully before

installing,

wiring, operating, servicing

or inspecting this equipment.



Keep this manual within easy reach

for quick reference.

XEC-DN20SU XEC-DN30SU XEC-DN40SU XEC-DN60SU

XEC-DP20SU XEC-DP30SU XEC-DP40SU XEC-DP60SU

XEC-DN32H XEC-DN64H

XEC-DP32H XEC-DP64H

XGT Series

http://eng.lsis.biz

XBM-DN16S

XBM-DN32S XBC-DN20S(U) XBC-DN30S(U)

XBC-DN40SU XBC-DN60SU

XBC-DP20SU XBC-DP30SU XBC-DP40SU

XBC-DP60SU XBC-DN32H(/DC) XBC-DN64H(/DC)

Safety Instruction

Before using the product …

For your safety and effective operation, please read the safety instructions thoroughly before using the product.

► Safety Instructions should always be observed in order to prevent accident

or risk by using the product properly and safely.

► Precautious measures can be categorized as “Warning” and “Caution”, and

each of the meanings is as follows.

This symbol indicates the possibility of serious injury or death if some applicable instruction is violated

This symbol indicates the possibility of severe or slight injury, and damages in products if some applicable instruction is violated

Moreover, even classified events under its caution category may develop into serious accidents relying on situations. Therefore we strongly advise users to observe all precautions properly just like warnings.

► The marks displayed on the product and in the user’s manual have the

following meanings.

Be careful! Danger may be expected. Be careful! Electric shock may occur.

After reading this user’s manual, it should be stored in a place that is visible

to product users.

Warning

Caution

Safety Instruction

Safety Instructions when designing

 Please, install protection circuit on the exterior of PLC to protect

the whole control system from any error in external power or PLC

module. Any abnormal output or operation may cause serious problem

in safety of the whole system.

- Install applicable protection unit on the exterior of PLC to protect the system from physical damage such as emergent stop switch, protection circuit, the upper/lowest limit switch, forward/reverse operation interlock circuit, etc.

- If any system error (watch-dog timer error, module installation error, etc.) is detected during CPU operation in PLC, the whole output is designed to be turned off and stopped for system safety. However, in case CPU error if caused on output device itself such as relay or TR can not be detected, the output may be kept on, which may cause serious problems. Thus, you are recommended to install an addition circuit to monitor the output status.

 Never connect the overload than rated to the output module nor

allow the output circuit to have a short circuit, which may cause a fire.

 Never let the external power of the output circuit be designed to

be On earlier than PLC power, which may cause abnormal output or

operation.

 In case of data exchange between computer or other external

equipment and PLC through communication or any operation of PLC (e.g. operation mode change), please install interlock in the sequence program to protect the system from any error. If not, it

may cause abnormal output or operation.

Warning

Safety Instruction

Safety Instructions when designing

 I/O signal or communication line shall be wired at least 100mm

away from a high-voltage cable or power line. If not, it may cause

abnormal output or operation due to noise.

Caution

 Use PLC only in the environment specified in PLC manual or

general standard of data sheet. If not, electric shock, fire, abnormal operation of the product or flames may be caused.

 Before installing the module, be sure PLC power is off. If not,

electric shock or damage on the product may be caused.

 Be sure that each module of PLC is correctly secured. If the

product is installed loosely or incorrectly, abnormal operation, error or dropping may be caused, also

unusual contact with cable is may

cause abnormal operation due to poor contact.

 If lots of vibration is expected in the installation environment,

don’t let PLC directly vibrated. Electric shock, fire or abnormal operation may be caused.

 Don’t let any metallic foreign materials inside the product, which

may cause electric shock, fire or abnormal operation.

Caution

Safety Instruction

Safety Instructions when wiring

 Prior to wiring, be sure that power of PLC and external power is

turned off. If not, electric shock or damage on the product may be

caused.

 Before PLC system is powered on, be sure that all the covers of

the terminal are securely closed. If not, electric shock may be caused

Warning

 Let the wiring installed correctly after checking the voltage rated

of each product and the arrangement of terminals. If not, fire, electric shock or abnormal operation may be caused.

 Secure the screws of terminals tightly with specified torque when

wiring. If the screws of terminals get loose, short circuit, fire or abnormal

operation may be caused. And if the screws of terminals too tighten, it may cause dropping of product, short circuit, or abnormal operation may be caused due to damage of screw or module.

 Surely use the ground wire of Class 3 for FG terminals, which is

exclusively used for PLC. If the terminals not grounded correctly,

abnormal operation may be caused.

 Don’t let any foreign materials such as wiring waste inside the

module while wiring, which may cause fire, damage on the product

or abnormal operation.

 Connector of extension connection is using designated tools pressing

or properly soldering

Caution

Safety Instruction

Safety Instructions for test-operation or repair

 Don’t touch the terminal when powered. Electric shock or abnormal

operation may occur.

 Prior to cleaning or tightening the terminal screws, let all the

external power off including PLC power. If not, electric shock or abnormal operation may occur.

 Please connect the battery accurately and Don’t let the battery

recharged, disassembled, heated, short or soldered. Heat, explosion or ignition may cause injuries or fire.

Warning

 Don’t remove PCB from the module case nor remodel the module.

Fire, electric shock or abnormal operation may occur.

 Prior to installing or disassembling the module, let all the external

power off including PLC power. If not, electric shock or abnormal

operation may occur.

 Keep any wireless installations or cell phone at least 30cm away

from PLC. If not, abnormal operation may be caused.

 Before use edit function during operate, make sure to carefully read and

understand the User’s Manual. If not, it may be caused damage to the product or accident due to disoperation.

 Do not drop and give an impact to battery. It may be caused leak of liquid

of inside battery due to damage the battery. Do not use any battery that had been fell on the floor or had been shocked. Also let skilled worker take in charge of the operation of changing battery.

Caution

Safety Instruction

Safety Instructions for waste disposal



Product or battery waste shall be processed as industrial waste.

The waste may discharge toxic materials or explode itself.

Caution

Revision History

Version Date Remark Page

V 1.0 2008.1

1. Positioning first edition according to XGB user manual separation

2. Adding contents (1) IO wiring method through smart link board (2) Positioning function list (3) How to check the positioning (4) Positioning monitoring package (5) Positioning trouble shooting method

3. Modifying contents (1) IO signal allocation (2) Positioning parameter setting method (3) Positioning instruction contents

(4) Modifying safety precaution for safety

1-8 3-1

3-26

6-1 8-1

1-6 4-1 5-1

V1.1 2008.3 1. Adding type and function according to developing XGB

compact type basic unit (XBC-DxxxH)

V1.2 2009.8 1. Adding type and function according to developing XGB

compact type basic unit (XEC-DxxxH) (1) Adding description on positioning flag (2) Adding description on positioning instruction

(3) Adding Positioning program example

V1.4 2011.6 1. Adding type and function according to developing XGB

compact type basic unit (XBC-DxxxS(U))

V1.5 2013.7 1. Adding Motor Wiring Examples(XGT-Servo:XDL-S)

2. Adding Modules(XB(E)C-DPxxSU)

3. Adding PWM instruction

APP3-6, 7

1-9,10

2-2,3

5-47,95

※ The number of User’s manual is indicated right part of the back cover.

About User’s Manual

Thank you for purchasing PLC of LSIS.,Ltd. Before use, make sure to carefully read and understand the User’s Manual about the functions, performances, installation and programming of the product you purchased in order for correct use and importantly, let the end user and maintenance administrator to be provided with the User’s Manual. The User’s Manual describes the product. If necessary, you may refer to the following description and order accordingly. In addition, you may connect our website(http://eng.lsis.biz/) and download the information as a PDF file. Relevant User’s Manuals

Title

Description

No. of User’s

Manual

XG5000 user’s

manual

(for XGK/XGB)

It describes how to use XG5000 software about online functions such as programming, printing, monitoring and debugging when using XGB series products.

10310000512

XG5000 user’s

manual

(for XGI/XGR/XEC)

It describes how to use XG5000 software about online functions such as programming, printing, monitoring and debugging when using XGB (IEC language) series products

10310000834

XGK/XGKB Instructions & Programming

It is the user’s manual for programming to explain how to use instructions that are used PLC system with XGB CPU.

10310000510

XGI/XGR/XEC

Instructions & Programming

It is the user’s manual for programming to explain how to use instructions that are used in XGB (IEC language) CPU

10310000833

XGB hardware

It describes power, IO, extension specification and system configuration, built-in high speed counter of XGB main unit.

10310000693

XGB hardware (IEC)

It describes power, IO, extension specification and system configuration, built-in high speed counter of XGB (IEC) main unit.

10310000983

XGB Analog

user’s manual

It describes how to use the analog input, analog output, temperature input module, system configuration and built-in PID control for XGB basic unit.

10310000920

XGB Cnet I/F

It is the user’s manual about XGB Cnet I/F that describes built-in communication function and external Cnet I/F module of XGB basic unit

10310000816

XGB FEnet I/F

It describes how to use XGB FEnet I/F module.

10310000873

◎

Contents

◎

Chapter 1 General

...............................................

1-1~1-11

1.1 General .......................................................................................................................... 1-1

1.1.1 Purpose of position function ................................................................................... 1-1

1.1.2 Features ................................................................................................................ 1-2

1.2 Performance specifications ............................................................................................ 1-3

1.2.1 Performance specifications of XGB built-in positioning ......................................... 1-3

1.3 Operation Sequence of Positioning ................................................................................ 1-4

1.3.1 Operation Sequence of Positioning ........................................................................ 1-4

1.3.2 Flow of position signal ............................................................................................ 1-5

1.4 IO Signal Allocation ........................................................................................................ 1-6

1.4.1 Allocation of standard type (S type) I/O(input) signal .............................................. 1-6

1.4.2 Allocation of standard type (S type) output signal ................................................... 1-7

1.4.3 Allocation of high-end type (H type) input signal ..................................................... 1-8

1.4.4 Allocation of high-end type (H type) output signal................................................... 1-9

1.5 I/O wiring by using Smart Link Board ........................................................................... 1-10

1.5.1 Smart link board ............................................................................................... 1-10

Chapter 2 General Specification

.....................................

2-1~2-7

2.1 General Specification ................................................................................................... 2-1

2.2 Power Specification ........................................................................................................ 2-2

2.2.1 Standard type(XBM-DN□□S) power specification ................................................... 2-2

2.2.2 High-end type (XBC-DN□□H) power specification .................................................. 2-2

2.3 I/O specification.............................................................................................................. 2-3

2.3.1 Input Specification .................................................................................................. 2-3

2.3.2 Output specification ............................................................................................... 2-5

2.3.3 Output pulse level ................................................................................................ 2-7

Chapter 3 Before Positioning ....................................................................... 3-1~3-58

3.1 Positioning Function ....................................................................................................... 3-1

3.1.1 Positioning function list ........................................................................................... 3-1

3.1.2 Position control ..................................................................................................... 3-4

3.1.3 Speed control ......................................................................................................... 3-5

3.1.4 Speed/position switching control ............................................................................ 3-7

3.1.5 Position/speed switching control ............................................................................ 3-8

3.1.6 Linear interpolation control ..................................................................................... 3-9

3.1.7 Simultaneous start control .................................................................................... 3-12

3.1.8 Synchronized control ........................................................................................... 3-13

3.1.9 Homing ................................................................................................................ 3-14

3.1.10 Position and speed override ............................................................................... 3-19

3.1.11 Positioning stop signal ........................................................................................ 3-21

3.1.12 Manual operation ............................................................................................... 3-23

3.1.13 Stroke Upper/Lower Limits .............................................................................. 3-24

3.1.14 Output of positioning completion signal .............................................................. 3-25

3.2 Positioning Parameter .................................................................................................. 3-26

3.2.1 Positioning parameter setting sequence .............................................................. 3-26

3.2.2 Relationship between positioning parameter and dedicated K area ..................... 3-30

3.2.3 Setting basic positioning parameters .................................................................... 3-31

3.2.4 Origin/Manual Parameter Setting for Positioning .................................................. 3-38

3.3 Positioning Operation Data........................................................................................... 3-41

3.4 Positioning Status Monitoring and Area K for Input and Output .................................... 3-49

3.4.1 Status Monitoring and Flag for Positioning ........................................................... 3-49

3.4.2 Flag for Positioning Instruction and Command ..................................................... 3-51

Chapter 4 Positioning Check .......................................................................... 4-1~4-4

4.1 The Sequence of Positioning Check ............................................................................... 4-1

4.2 Making of Operation Check Program ........................................................................... 4-3

Chapter 5 Positioning Instructions .............................................................. 5-1~5-92

5.1 Positioning Instruction Alarm .......................................................................................... 5-1

5.2 Details of Positioning Instructions ................................................................................... 5-3

5.2.1 Origin Return Instructions ...................................................................................... 5-3

5.2.2 Fixed Origin Setting Instruction .............................................................................. 5-7

5.2.3 Direct Starting Instruction ....................................................................................... 5-9

5.2.4 Indirect Starting Instruction ................................................................................. 5-12

5.2.5 Straight Interpolation Starting Instruction .............................................................. 5-15

5.2.6 Simultaneous Starting Instruction ......................................................................... 5-18

5.2.7 Speed Position Switching Instruction ................................................................ 5-20

5.2.8 Position Speed Switching Instruction.................................................................... 5-22

5.2.9 Deceleration Stop Instruction ............................................................................ 5-24

5.2.10 Position synchronous Instruction ........................................................................ 5-26

5.2.11 Speed Synchronous Instruction .......................................................................... 5-29

5.2.12 Position Override Instruction .............................................................................. 5-32

5.2.13 Speed Override Instruction ................................................................................. 5-34

5.2.14 Positioning Speed Override Instruction .............................................................. 5-36

5.2.15 Inching Starting Instruction ................................................................................. 5-38

5.2.16 Starting Step Number Change Instruction .......................................................... 5-39

5.2.17 M Code Cancel Instruction ............................................................................... 5-40

5.2.18 Current Position Preset Instruction ..................................................................... 5-41

5.2.19 Emergency Stop Instruction ............................................................................... 5-42

5.2.20 Error Reset, Output Inhibition, Inhibition Termination .......................................... 5-43

5.2.21 Parameter/Operation Data Save ........................................................................ 5-45

5.2.22 Pulse width Modulation ...................................................................................... 5-47

5.3 Positioning Function Blocks (for XEC) .......................................................................... 5-49

5.3.1 General for Function Block ................................................................................... 5-49

5.3.2 Function Block for Return to Origin ...................................................................... 5-50

5.3.3 Function Block for Floating Origin Setting ............................................................ 5-53

5.3.4 Direct Start-up Function Block .............................................................................. 5-55

5.3.5 Indirect Start-up Function Block ........................................................................... 5-58

5.3.6 Linear Interpolation Start-up Function Block ......................................................... 5-61

5.3.7 Simultaneous Start-up Function Block ................................................................ 5-64

5.3.8 Velocity to Position Transfer Function Block ......................................................... 5-66

5.3.9 Position Velocity Transfer Function Block ............................................................. 5-68

5.3.10 Deceleration Stop Function Block ...................................................................... 5-70

5.3.11 Position Synchronization Function Block ............................................................ 5-73

5.3.12 Speed Synchronization Function Block .............................................................. 5-77

5.3.13 Position Override Function Block ....................................................................... 5-80

5.3.14 Speed Override Function Block .......................................................................... 5-82

5.3.15 Positioning Speed Override Function Block ........................................................ 5-84

5.3.16 Inching Start Function Block ............................................................................... 5-86

5.3.17 Start Step Number Change Function Block ........................................................ 5-87

5.3.18 M Code Release Function Block ........................................................................ 5-88

5.3.19 Present Position Preset Function Block ............................................................. 5-89

5.3.20 Emergency Stop Function Block ........................................................................ 5-90

5.3.21 Error Reset, Output Cut-off R elease Function Block .......................................... 5-91

5.3.22 Parameter/Operation Data Write Function Block ................................................ 5-93

5.3.23 Pulse width Modulation ...................................................................................... 5-95

Chapter 6 Positioning Monitoring Package ................................................... 6-1~6-9

6.1 Introduction to Positioning Monitoring Package .............................................................. 6-1

6.1.1 Introduction of Positioning Monitoring Package ...................................................... 6-1

6.2 Menus and Functions of Positioning Monitoring ............................................................. 6-3

6.2.1 Monitoring and Command ...................................................................................... 6-3

6.3 Parameter/Operation Data Setting Using Monitoring Package ....................................... 6-8

6.3.1 Changing the Position Parameter .......................................................................... 6-8

6.3.2 Change of Position Operation Data ........................................................................ 6-9

Chapter 7 Program Examples of Positioning .............................................. 7-1~7-38

7.1 System Composition and Setting of Input and Output .................................................... 7-1

7.2 Program Examples ......................................................................................................... 7-3

7.2.1 Floating Origin Setting/Single Operation .............................................................. 7-3

7.2.2 Straight Interpolation Operation ............................................................................ 7-5

7.2.3 Deceleration Stop ................................................................................................. 7-8

7.2.4 Setting of Operation Step/Single Operation ........................................................ 7-10

7.2.5 Setting of Operation Step/Speed Control ............................................................ 7-12

7.2.6 Simultaneous Start ............................................................................................. 7-15

7.2.7 Position Synchronous Start ................................................................................ 7-17

7.2.8 Speed Synchronous Start ................................................................................... 7-20

7.2.9 Emergency Stop ................................................................................................. 7-23

7.2.10 Jog Operation ............................................................................................... 7-25

7.2.11 Speed Override ................................................................................................ 7-27

7.2.12 Position Override .............................................................................................. 7-29

7.2.13 Speed override with Position ............................................................................ 7-32

7.2.14 Speed, Position, and Parameter Teaching ........................................................ 7-34

Chapter 8 Troubleshooting Procedure .......................................................... 8-1~8-6

8.1 Basic Procedure of Troubleshooting ............................................................................... 8-1

8.2 Check by Using the LED ................................................................................................ 8-2

8.2.1 LED Check ........................................................................................................... 8-2

8.3 Check by Error Code ...................................................................................................... 8-5

8.3.1 How to Check Error Codes ................................................................................... 8-5

8.4 Check of Motor Failures ................................................................................................. 8-6

8.4.1 If the Motor Doesn’t Work ..................................................................................... 8-6

Appendix 1 List of Error Codes ...................................................... APP.1-1~APP.1-7

APP.1.1 List of PLC Error Codes .................................................................................. APP.1-1

APP.1.2 List of Positioning Error Codes ....................................................................... APP.1-2

Appendix 2 Positioning Instruction and K area List ................... APP.2-1~APP.2-43

APP 2.1 Positioning instruction list ............................................................................... APP.2-1

APP 2.2 Positioning Dedicated K area List ................................................................... APP.2-2

APP 2.2.1 K area of positioning basic parameter................................................. APP.2-2

APP 2.2.2 K area of positioning home parameter ................................................ APP.2-3

APP 2.2.3 Positioning operation data K area ....................................................... APP.2-4

Appendix 3 Motor Wiring Example............................................... APP.3-1~APP.3-35

APP.3.1 Stepping Motor Wiring Example ...................................................................... APP.3-1

APP.3.2 Servo Motor Wiring Example .......................................................................... APP.3-2

Appendix 4 Dimension................................................................................ AP P.4-1~APP.4-7

Chapter 1 General

1- 1

Chapter 1 General

XGB series transistor output type contains 2 positioning axes. This manual describes the specifications and usage of positioning.

1.1.1 Purpose of position function

The purpose of position f unction is to exactly m ove an object from the current pos ition to a desi gnated position and this func tion executes highly precise positio n control by sending a position pulse string signal to types of s ervo drive or stepping motor c ontrol drive. For applications, it ma y be widely used; for instance, machine tools, semiconductor assem bling machine, grinder, small m achine center, lifter and etc.

< XGB positioni ng functi on gene ral >

< Positioning system inner block diagram >

1.1 General

Chapter 1 General

1- 2

1.1.2 Features

Positioning function features the followings.

(1) Max. two axis, 100kpps positioning

- XGB PLC can execute positioning of up to 2 axes with up to 100kpps.

(2) Diversity of positioning function

- XGB PLC contains various functions necessary for position system such as position control at any temporary position or constant speed operation.

(a) Operation data cont aining pos iti on addres s, op erat ion method and operatio n patter n m ay be set

up to 80 steps per axis (based on “H” type). It executes pos ition func tion by usin g this oper ation data.

(b) Linear control is available by using each operation data

- T he control can also perform single p osition control by one operation data and contin uous position control by several operation data

(c) linear interpolation control is available. (d) According to operation data and c ontrol t ypes des ignat ed b y param eters, position control, s peed

control, position/speed switching control and position/speed switching control are available

(e) It also provides various home return functions.

1) Home return can be chosen among the following three.

▪ Origin detection after DOG Off ▪ When DOG On, Origin detection after deceleration ▪ Origin detection by DOG

2) temporary position can be set as machine’s origin by using floating origin setting function.

(3) Easy maintenance

- It saves data such as position data and parameter into flash memory of main unit permanently.

- The modified data during positioning can be preserved in the flash memory by application instruction (WRT/APM_WRT instruction).

(4) XG5000 can perform self-diagnosis, monitor and test.

(a) Diagnosing of I/O signal line. (b) It can test all functions of built-in positioning or check the current operation status without

program through special module monitoring

K4201, ,%KX6721 Ch1: K4301, %KX6881) and error code (Ch0: K427, %KW427 Ch1: K437, %KW437) easily.

XGB positioning system Reference

•For parameter s ettin g, refer to Ch3. 2 and for operation data set ting, re fer to Ch3.3 .

•For instruction of positioning, refer to Ch5.

•For I/O signal, refer to Ch1.4.

Chapter 1 General

1- 3

1.2.1 Performance specif ic at io n s of XGB built-in positioning

The performance specifications of positioning function are as follows. Here standard type indicates XBM-DN□□S/ XBC-DN

□□

S(U) and high end type indicate XBC(XEC)-DN□□H.

Each type is ind i cated a s ‘S’ type and ‘H’ type.

Type

Item

XGB Basic Unit (Transistor output )

Standard type (“S” type) High-end type (“H” type)

No. of control axis

2 axes

Interpolation

2 axes linear interpolation

Pulse output method

Open collector (DC 24V)

Pulse output type Pulse + Direction

Pulse + Direction

CW/CCW output

Control type

Position control, speed control, speed/position switching, position/speed switching

Control unit Pulse

Position data

30 data areas per axis (operation step no. 1 ∼ 30) * XBC-DN□□S(U) supports 80 data areas per axis

80 data areas per axis (operation step no. 1 ~ 80)

Setting method

Setting through Embedded parameter of XG5000 

permanent

auto-preservation

Setting through dedicated monitoring package  perman

ent

preservation by PADT instruction

Setting through K area dedicated for positioning  permanent preservation b y applicat io n instr uc tion

(WRT/APM_WRT instruction)

Positioning monitor Special module monitoring of XG5000 / monitoring by K area

Back-up

Parameter, operation data  Flash memory K area RAM (super capacitor back up for S type/ battery back up for H type) (Saving them in the flash memory is available by applicatio n

instruction(WRT/APM_WRT))

Position

Position method

Absolute method / Incremental method

Position address

range

-2,147,483,648 ∼ 2,147,483,647(Pulse)

Speed range

1 ∼ 100,000pps(1pps unit)

Acc/dec processing Trapezoid-shaped Acc/dec time

1 ∼ 10,000 ㎳ (selectable from 4 types of acc/dec patterns)

Max. output pulse 100 kpps

Max. connection distance

2 m

< Performance specifications >

1.2 Performance specifications

Chapter 1 General

1- 4

1.3 Operation Sequence of Positioning

1.3.1 Operation Sequence of Positioning

Operation sequence i s as follow s.

XBM-DN**S: V1.2 or above

XBC-DN**H: V2.2 or above XEC-DN**H: V3.0 or above

Chapter 1 General

1- 5

1.3.2 Flow of position signal

Flow of position signal is as follows.

< XGB Positioning signa l flow >

Chapter 1 General

1- 6

1.4 I/O Signal Allocation

1.4.1 Allocation of I/O signal for standard type (S type)

In case of S type, external I/O signal for built-in function is allocated as follows.

(1) Pin array of I/O connector

Pin array of I/O connector of XGB standard type transisto r type basi c unit is as foll ows.

COMCOM

P00FP007

P00EP006

P00DP005

P00CP004

P00BP003

P00AP002

P009P001

P008P000

COMCOM

P00FP007

P00EP006

P00DP005

P00CP004

P00BP003

P00AP002

P009P001

P008P000

COM

12/24V

COM

12/24V

P02FP027

P02EP026

P02DP025

P02CP024

P02BP023

P02AP022

P029P021

P028P020

COM

12/24V

COM

12/24V

P02FP027

P02EP026

P02DP025

P02CP024

P02BP023

P02AP022

P029P021

P028P020

(2) Allocation of external input signal

Signal name

Input contact point no.

Detail -

External lower limit signal (LimitL)

X axis P0000

detected at the falling edge of input contact point.

Normally closed contact point (B contact point)

Y axis P0002

detected at the falling edge of input contact

point.

External upper limit signal (LimitH)

X axis P0001

detected at the falling edge of input contact point.

Y axis P0003

detected at the falling edge of input contact

point.

DOG signal

X axis P0004 When homing, detected at the rising edg e

Normally open contact point (A contact point)

Y axis P0006 When homing, det ected at the ri sing edge

ORIGIN signal

X axis P0005 When homing, det ected at the ri sing edge

Y axis P0007 When homing, det ected at the ri sing edge

Input common X/Y axis COM Input common

Input Output

Chapter 1 General

1- 7

(3) Example of wiring the external input signal

Example of wiring the external input signal is as follows.

< Example of wiring the exter nal inpu t signal >

1.4.2 Allocation of standard type (S type) output signal

(1) Allocation of output signal

When using the positioning function, the output signal is allocated as shown below.

Signal name

Input contact point no.

Detail -

Pulse output

X axis P0020

Positioning X axis pulse string output contact

point

(Open collector output)

Low Active and High Active is selectable in parameter setting.

Y axis P0021

Positioning Y axis pulse string output contact

point

(Open collector output)

Direction output

X axis P0022

Positioning X axis direction output contact

point

(Open collector output)

Y axis P0023

Positioning Y axis direction output contact

point

(Open collector output)

External 24V

X/Y axis

DC12 /24V

For external power (12/2 4V) supply

Output

common

X/Y axis

COM Output common

(2) Example of wiring external input signal

Example of wiring extern al outp ut signal is as follows.

Chapter 1 General

1- 8

1.4.3 Allocation of compact type (S/H type) input signal

In case of compac t standard/high-end t ype, external i nput signal for bui lt-in posit ioning is a llocated as follows

(1) I/O terminal block array

Array of XGB transistor output type basic unit is as figure below.

Input (P0)

Output (P4)

* based on XBC-DN30S

* based on XBC-DN32H

Chapter 1 General

1- 9

(2) Allocation of external input signal

Signal name

Input contact point no.

Operation content Reference

Axis

XBC-DN(P)

□□

S(U)/H

XEC-DN(P)

□□

External lower

limit (LimitL)

X axis P0008 %IX0.0.8

Detected

at the falling edge of input

contact point

Normally closed contact point

(B contact

point)

Y axis P000A %IX0.0.10

Detected at the falling edge of input

contact point.

External upper limit (LimitH)

X axis P0009 %IX0.0.9

Detected at the falling edge of input

contact point

Y axis P000B %IX0.0.11

Detected at the falling edge of input

contact point

DOG signal

X axis P000C %IX0.0.12 When ho ming, det ected at rising edg e

Normally opened contact point

(A contact

point)

Y axis P000E %IX0.0.14 When homing, detected at rising edg e

ORIGIN signal

X axis P000D %IX0.0.13 When homing, detected at rising edg e

Y axis P000F %IX0.0.15 When homing, detected at rising edge

Input common

X/Y axis

COM Input common terminal

(3) Wiring example of external input signal

In case of using positioning function of XGB compact main unit, wiring exam ple of input signal is as follows. (XBC-DN□□S(U)/H is used for example)

< XGB high-end positioning in put sig nal wi ring example >

Chapter 1 General

1- 10

1.4.4 Allocation of compact type (S/H type) output signal

(1) Allocation of output signal

In case of using built-in positioning of XGB compact standard/high-end type main unit, output signal is allocated as follows.

Signal name

Input contact point no.

Operation content

Reference

Pulse + Direction mode

CW/CCW mode

Axis

XBCDN□□H

XBCDN(P)

□□

S(U)

XEC-

DN(P)

□□

S(U)/H

Pulse output (CW output)

X axis

P00020 P00040 %QX0.0.0

Positioning X axis pulse string (Open collector

output)

X axis CW pulse string output (Open collector

output)

Low Active a nd

High Active is selectable in

parameter setting

Y axis

P00021 P00041 %QX0.0.1

Positioning Y axis

pulse string (Open collector

output)

Y axis CW pulse

string output (Open collector

output)

Direction output (CCW output)

X axis

P00022 P00042 %QX0.0.2

X axis direction output contact point (Open collector

output)

X axis CCW pulse string output (Open collector output)

Y axis

P00023 P00043 %QX0.0.3

Y axis direction output constant point (Open collector

output)

Y axis CCW pulse string output (Open collector output)

External 24V

X/Y axis

Terminal for external power (12/24V) to implement the transistor

Input common

X/Y axis

COM0 Output common terminal

* Standard type (XBC-DN(P)□□S(U)) supports only “pulse + direction mode”.

(2) Wiring example of external input signal

In case of using positioning fun ction of XGB high -end basic unit, wi ring e xa mple is as follows.

Chapter 1 General

1- 11

1.5 I/O wiring by using Smart Link Board

1.5.1 Smart link board

When using positioning f unction, easy wiring is available b y connecting the I/O connec tor with smart link board. The available smart link and I/O cable are as follows.

XGB

Smart link

Connection cable

Classification Model Model

The no.

of pin

Model Length Content

Main unit

XBM-

DN32S

SLPT40P

SLTCT101XBM

For main unit connection (20Pin + 20Pin)

XBM-

DN16S

Extension module

XBEDC32A

SLPT40P

SLTCT101-

XBE

For extension module connection (40Pin)

XBETN32A

SLPT40P

SLTCT101-

XBE

SLPRY4A

SLPCT101XBE

For extension module connection (40Pin) Exclusive for relay built-in

SLP type

It describes wring of XGB, SLP-T40P and SLT-CT101-XBM. For wring of other smart link boards or XGB extension module, refer to XGB user manual for hardware.

(1) SLT-T40P terminal array

Terminal array of SLP-T40P is as follows.

Item Specification

Rated voltage AC/DC 125[V] Rated current Max. 1[A]

Withstanding

voltage

600V 1min

Insulation

resistor

100 ㏁ (DC500V)

Cable

specification

1.25[㎟] or below

Terminal/screw M3 X 8L

Torque

6.2 ㎏ f.㎝ or

above

Terminal

material

PBT, UL94V-0

Weight 186g

Chapter 1 General

1- 12

(2) Wiring of SLT-T40P and XGB main unit

Wiring of XGB main unit through SLP-T40P and SLT-CT101-XBM is as follows

XBM-DN32S

SLP-T40P

SLT-CT101-XBM

At this time, relationship of XGB I/O signal and Smart link board terminal number is as follows. The following figure describes signal allocation when SLT-CT101-XBM is used as connection cable. When the user makes the cable, make sure that wring is done as figure below.

Chapter 2 General Specification

2-1

Chapter 2 General Specification

2.1 General Specification

General specification is as follows.

No. Item Specifications

standards

Operating

temperature

0 ~ 55 °C

Storage

temperature

−25 ~ +70 °C

Operating

humidity

5 ~ 95%RH, no condensation

4 Storage humidity 5 ~ 95%RH, no condensation

Vibration immunity

If intermittent vibration exists -

Frequency Acceleration Amplitude Times

IEC61131-2

10 ≤ f < 57Hz − 0.075mm

10 times to X, Y and Z

directions,

each

57 ≤ f ≤ 150Hz 9.8m/s2 −

If continuous vibration exists

Frequency Acceleration Amplitude 10 ≤ f < 57Hz − 0.035mm 57 ≤ f ≤ 150Hz 4.9m/s2 −

6 Shocks

• M ax. impact acceleration : 147 m/s

• Time allowed : 11ms

• Pulse waveform : half sine wave (3 times to X, Y and Z directions, each)

IEC61131-2

7 Noise immunity

Rectangular

impulse noise

AC: ±1,500 V

DC: ± 900 V

Test specifications

of LSIS

Electrostatic

discharge

Voltage : 4kV (contact discharge)

IEC61131-2

IEC61000-4-2

Radiating

electronic field

noise

80 ~ 1,000 ㎒, 10V/m

IEC61131-2,

IEC61000-4-3

Fast transient /

Burst noise

Type

Power

module

Digital/Analogue Input/Output,

Communication interface

IEC61131-2

IEC61000-4-4

Voltage 2kV 1kV 8 Environment Free of corrosive gas and dust 9 Altitude Lower than 2,000m

10 Pollution degree 2 and lower 11 Cooling method Natural air cooling type

Note

1) IEC(International Electro technical Commission) : International private group facilitating international cooperation of electric/electronic standardization, issuing international standards and operating the compliance evaluation systems.

2) Pollution degree

: As an index representing the pollution degree

of an environment to determine the insulation of a device,

pollution degree 2 generally means the status generating non-conductive contamination. H

owever, it also

contains the status generating temporarily conduction due to condensation.

Chapter 2 General Specification

2-2

2.2 Power Specification

Power specification of XGB series main unit is as follows.

2.2.1 Standard type(XBM-DN□□S) power specification

Item Specification

Input

Rated input voltage

DC24V

Input voltage range DC20.4~28.8V(-15%, +20%)

Inrush current

70A

Peak

or below

Input current

Max. 1A (Typ. 550㎃)

Efficiency

60% or above

Allowed temporary

cutoff

1 ㎳ or below

Output

Output voltage

DC5V (±2%)

Output current

Max 1.5 A

Voltage status display

When power is normal, PWR LED On

Cable specification

0.75 ~ 2 ㎟

2.2.2 Compact standard type (XB(E)C-DR/DN/DP□□S(U)) power specification

Item

Specification

XB(E)C-

DR(N)(P)20S(U)

/DR(N)(P)30S(U)

XB(E)C-

DR/DN/DP40SU

XB(E)C-

DR/DN/DP60SU

Input

Rated input voltage AC 100 ~ 240 V Input voltage range

AC85~264V(-15%, +10%)

Inrush current 50APeak or below

Input current

0.5A or below (220V), 1A or below (110V)

Efficiency

65% or above

Allowed temporary

cutoff

10 ㎳ or below

Output

voltage

DC5V

1.5A

2.5A

DC24V

0.3A

0.5A

Output voltage

ripple

DC5V

DC 4.9 ~ 5.1V (±2%)

DC 4.9 ~ 5.15V (-2%, +3%)

DC24V

DC21.4~26.4 V(±2%)

Voltage status display When power is normal, PWR LED On

Cable specification 0.75 ~ 2 mm2

* For protection of power supply, use power supplier which has maximum 4A fuse.

Chapter 2 General Specification

2-3

2.2.3 Compact high-end type (XB(E)C-DR/DN/DP□□H) power specification

Item

Specification

XBC/DR32H /DN32H

XEC-

DR32H

/DN32H

/DP32H

XBC-

DR64H

/DN64H

XEC-

DR64H

/DN64H

/DP64H

Input

Rated input

voltage

AC 100 ~ 240 V

Input voltage

range

AC85~264V(-15%, +10%)

Inrush current

50A

Peak or less

Input current

0.5A or less (220V), 1A or less (110V)

Efficiency

65% or above

Allowed

temporary cutoff

10 ㎳ or less (Checking is necessary)

Output

Rated output

DC5V

DC24V

0.4A

0.6A

Output voltage ripple

DC5V DC 4.9 ~ 5.15V (-2%, +3%)

DC 4.9 ~ 5.1V (±2%)

DC24V

DC21.4~26.4 V(±2%)

Voltage status display

In case output voltage is normal, LED On

Cable specification 0.75 ~ 2 mm

(Checking is necessary)

* For protection of power supply, use power supplier which has maximum 4A fuse.

Chapter 2 General Specification

2-4

2.3 I/O Specification

It describes I/O specification when P0000~P000F is used for built-in positioning. For using P0000~P000F as general I/O, refer to XGB user manual for hardware

2.3.1 Input Specification

(1) Standard type input contact point specification

Contac

t point

no.

X axis P0000 P0001 P0004 P0005

Ref.

Y axis P0002 P0003 P0006 P0007

Signal name

External

lower limit

External upper

limit

DOG HOME

Rated input

voltage

DC24V (DC20.4~28.8V (-15/20%, ripple rate 5% or less))

Rated input

current

about 7 ㎃/24V About 4 ㎃/24V

Insulation

method

Photo coupler insulation

Input impedance

About 3.3 ㏀ About 5.6 ㏀

voltage/current

DC 19V or above/5.7 ㎃ or

above

DC 19V or above /3.4 ㎃ or above

Off

voltage/current

DC 6V or less/1.8 ㎃ or less DC 6V or less/1.1 ㎃ or less

Response time 0.5 ㎳ or less (When used for positioning)

Min. input width

100 ㎲ or above

Circuit

configuration and

connector array

Contact

point

Contact

point

B10

A10

B10 P00 A10 P08 B09 P01 A09 P09 B08 P02 A08 P0A B07 P03 A07 P0B B06 P04 A06 P0C B05 P05 A05 P0D B04 P06 A04 P0E B03 P07 A03 P0F B02

COM

A02

COM

B01 A01

Chapter 2 General Specification

2-5

(2) Compact standard type input contact point specification

Contact

point

no.

X axis P0008 P0009 P000C P000D

Ref.

Y axis P000A P000B P000E P000F

Signal name

External

lower limit

External upper

limit

DOG HOME

Rated input

voltage

DC24V (DC20.4~28.8V (-15/20%, ripple rate 5% or less))

Rated input

current

About 4 ㎃/24V

Insulation method Photo coupler insulation

Input impedance

About 5.6 ㏀

On voltage/current DC 19V or above /3.4 ㎃ or above Off voltage/current

DC 6V or less/1.1 ㎃ or less

Response time

0.5 ㎳ or less (when used for input for positioning)

Min. input width

200 ㎲ or above

Circuit configuration

and terminal array

No. Contact No. Contact

TB1 RX

TB2 485+

TB3 TX

TB4 485-

TB5 SG

TB6 00

TB7 01

TB8 02

TB9 03

TB10 04

TB11 05

TB12 06

TB13 07

TB14 08

TB15 09

TB16 0A

TB17 0B

TB18 0C

TB19 0D

TB20 0E

TB21 0F

TB22 10

TB23 24G

TB24

COM

For XBC-DN20S(U), there is no actual input point P0000C ~ P0000F . If you want to use them , turn on b y user program.

TB1

TB24

TB23

TB22

TB21

TB20

TB19

TB18

TB17

TB16

TB15

TB14

TB13

TB12

TB11

TB10

TB9

TB8

TB7

TB6

TB5

TB4

TB3

TB2

TB1

TB24

TB23

TB22

TB21

TB20

TB19

TB18

TB17

TB16

TB15

TB14

TB13

TB12

TB11

TB10

TB9

TB8

TB7

TB6

TB5

TB4

TB3

TB2

Inner

circuit

TB6

Photo coupler

TB24

TB23

Chapter 2 General Specification

2-6

(3) Compact high end type input contact point specification

Contact

point

no.

X axis

P0008

%IX0.0.8

P0009

%IX0.0.9

P000C

%IX0.0.12

P000D

%IX0.0.13

Ref.

Y axis

P000A

%IX0.0.10

P000B

%IX0.0.11

P000E

%IX0.0.14

P000F

%IX0.0.15

Signal name

External

lower limit

External upper

limit

DOG HOME

Rated input

voltage

DC24V (DC20.4~28.8V (-15/20%, ripple rate 5% or less))

Rated input

current

About 4 ㎃/24V

Insulation

method

Photo coupler insulation

Input impedance

About 5.6 ㏀

voltage/current

DC 19V or above /3.4 ㎃ or above

Off

voltage/current

DC 6V or less/1.1 ㎃ or less

Response time 0.5 ㎳ or less (when used for input for positioning)

Min. input width 200 ㎲ or above

Circuit

configuration and

terminal array

No.

Contact

No.

Contact

TB1 RX

TB2 485+

TB3 TX

TB4 485-

TB5 SG

TB6

P00

IX0.0.0

TB7

P01

IX0.0.1

TB8

P02

IX0.0.2

TB9

P03

IX0.0.3

TB10

P04

IX0.0.4

TB11

P05

IX0.0.5

TB12

P06

IX0.0.6

TB13

P07

IX0.0.7

TB14

P08

IX0.0.8

TB15

P09

IX0.0.9

TB16

P0A

IX0.0.10

TB17

P0B

IX0.0.11

TB18

P0C

IX0.0.12

TB19

P0D

IX0.0.13

TB20

P0E

IX0.0.14

TB21

P0F

IX0.0.15

TB22 COM

TB23 24G

TB24 24V

TB1

TB24

TB23

TB22

TB21

TB20

TB19

TB18

TB17

TB16

TB15

TB14

TB13

TB12

TB11

TB10

TB9

TB8

TB7

TB6

TB5

TB4

TB3

TB2

TB1

TB24

TB23

TB22

TB21

TB20

TB19

TB18

TB17

TB16

TB15

TB14

TB13

TB12

TB11

TB10

TB9

TB8

TB7

TB6

TB5

TB4

TB3

TB2

Chapter 2 General Specification

2-7

2.3.2 Output specification

(1) Standard type output contact point specification

Conta

ct no.

X axis P0020 P0022

Ref.

Y axis P0021 P0023

Signal name Pulse string output Direction output

Rated load

voltage

DC5~24V (DC4.75~26.4V)

Max. load

current

0.1A/1 point or below

Insulation

method

Photo-coupler insulation

Inrush current

1A/10 ㎳ or below

Voltage drop

when On

DC 0.3V or below

Leakage current when Off

0.1 ㎃ or below

Response time

0.1 ㎳ or below (Rated load, resistor load)

Circuit

configuration

and connector

array

(standard type)

No. Contact No.

Cont

act

B10 P20 A10 P28 B09 P21 A09 P29 B08 P22 A08 P2A B07 P23 A07 P2B

B06 P24 A06 P2C B05 P25 A05 P2D B04 P26 A04 P2E

B03 P27 A03 P2F B02

12/24V

A02

B01 A01

B10

A10

Chapter 2 General Specification

2-8

(2) Compact standard type output contact point specification

Conta

ct no.

X axis P00040 P00042

Ref.

Y axis P00041 P00043

Signal name Pulse string output / CW output Direction output / CCW output

Rated load

voltage

DC5~24V (DC4.75~26.4V)

Maximum load

current

0.1A/1or less

Insulation

method

Photo coupler insulation

Inrush current 1A/10 ㎳ or less

Voltage drop

when On

DC 0.3V or less

Leakage current when Off

0.1 ㎃ or less

Response time

0.1 ㎳ or less (rated load, resistive loa d)

Circuit

configuration and

terminal array

No.

Contact

No.

Contact

TB1

power

TB2 FG

TB3

TB4 P

TB5

P20

QX0.0.0

TB6

P21

QX0.0.1

TB7

P22

QX0.0.2

TB8

P23

QX0.0.3

TB9 COM0

TB10

P24

QX0.0.4

TB11

P25

QX0.0.5

TB12

P26

QX0.0.6

TB13

P27

QX0.0.7

TB14 COM1

TB15

P28

QX0.0.8

TB16

P29

QX0.0.9

TB17

P2A

QX0.0.10

TB18

P2B

QX0.0.11

TB19 COM2

TB20

P2C

QX0.0.12

TB21

P2D

QX0.0.13

TB22

P2E

QX0.0.14

TB23

P2F

QX0.0.15

TB24 COM3

TB1

TB24

TB23

TB22

TB21

TB20

TB19

TB18

TB17

TB16

TB15

TB14

TB13

TB12

TB11

TB10

TB9

TB8

TB7

TB6

TB5

TB4

TB3

TB2

TB1

TB24

TB23

TB22

TB21

TB20

TB19

TB18

TB17

TB16

TB15

TB14

TB13

TB12

TB11

TB10

TB9

TB8

TB7

TB6

TB5

TB4

TB3

TB2

Internal circuit

TB04

TB06

TB08

TB12

TB11

Chapter 2 General Specification

2-9

(3) Compact high-end type output contact point specification

Cont

act

no.

X axis

P00020

%QX0.0.0

P00022

%QX0.0.2

Ref.

Y axis

P00021

%QX0.0.1

P00023

%QX0.0.3

Signal name Pulse string output / CW output Direction output / CCW output

Rated load

voltage

DC5~24V (DC4.75~26.4V)

Maximum load

current

0.1A/1or less

Insulation

method

Photo coupler insulation

Inrush current

1A/10 ㎳ or less

Voltage drop

when On

DC 0.3V or less

Leakage current when Off

0.1 ㎃ or less

Response time

0.1 ㎳ or les (rated load, resistive load)

Circuit

configuration and

terminal array

No. Contact No. Contact

TB1

power

TB2 FG

TB3

TB4 P

TB5

P20

QX0.0.0

TB6

P21

QX0.0.1

TB7

P22

QX0.0.2

TB8

P23

QX0.0.3

TB9 COM0

TB10

P24

QX0.0.4

TB11

P25

QX0.0.5

TB12

P26

QX0.0.6

TB13

P27

QX0.0.7

TB14 COM1

TB15

P28

QX0.0.8

TB16

P29

QX0.0.9

TB17

P2A

QX0.0.10

TB18

P2B

QX0.0.11

TB19 COM2

TB20

P2C

QX0.0.12

TB21

P2D

QX0.0.13

TB22

P2E

QX0.0.14

TB23 P2F

QX0.0.15

TB24 COM3

TB1

TB24

TB23

TB22

TB21

TB20

TB19

TB18

TB17

TB16

TB15

TB14

TB13

TB12

TB11

TB10

TB9

TB8

TB7

TB6

TB5

TB4

TB3

TB2

TB1

TB24

TB23

TB22

TB21

TB20

TB19

TB18

TB17

TB16

TB15

TB14

TB13

TB12

TB11

TB10

TB9

TB8

TB7

TB6

TB5

TB4

TB3

TB2

Chapter 2 General Specification

2-10

2.3.3

Output pulse level

Output pulse of XGB built-in positioning consists of Pulse + Direction or CW+CCW like figure below. At this time, output level of Low Active and High Active can be specified by positioning parameter and K area flag dedicated for positioning (X axis: K4871, %KX7793, Y axis: K5271, %KX8433).

Supported at S, H type

Supported at H type

Chapter 3 Before positioning

3- 1

Chapter 3 Before Positioning

It describes the function of position control, operation parameter setting, operation data setting, K area for positioning, servo driver setting and programming.

3.1 Positioning Function

3.1.1 Positioning function list

Positioning function of XGB built-in positioning is as follows. For more detail, refer to ch.5.2.

Positioning

function

Operation description Instruction Ref.

Position

control

Operation

pattern

DST IST APM_DST APM_IST

Ch.5.2.3 Ch.5.2.4 Ch.5.3.4 Ch.5.3.5

Operation

If the rising edge of start command is detected, it moves with designated speed to designated position and after dwell time, complete signal is on during one scan.

Speed control

Operation

pattern

DST IST APM_DST APM_IST

Ch.5.2.3 Ch.5.2.4 Ch.5.3.4 Ch.5.3.5

Operation

If the rising edge of start command is detected, it moves with designated speed and stops after deceleration by stop command. At this time, complete signal will not be not on.

speed/position

switching

control

Operation

pattern

VTP APM_VTP

Ch.5.2.7 Ch.5.3.8

Operation

Speed control is executed by start command and it is switched to position control by switching signal and it moves to designated position.

Switching

signal

Chapter 3 Before positioning

3- 2

Positioning

function

Operation description

Instruction

Ref.

Position/speed

switching

control

Operation

pattern

PTV APM_PTV

Ch.5.2.8 Ch.5.3.9

Operation

Position control is executed by start command and it is switched to speed control by switching signal and stops after deceleration by stop command .

Linear

interpolation

control

Operation

pattern

LIN APM_LIN

Ch.5.2.5 Ch.5.3.6

Operation

2 axes linear interpolation control is executed by start command from current position to target position.

Concurrent

start

Operation

pattern

SST APM_SST

Ch.5.2.6 Ch.5.3.7

Operation

X axis and Y axis starts concurrently by start command. At this time, each operation data such as operation speed, target position is applied to each axis.

Sync start

Operation

pattern

SSP SSS APM_SSP APM_SSSB

Ch.5.2.10 Ch.5.2.11 Ch.5.3.11 Ch.5.3.12

Operation

If sync start is executed by command, subsidiary axis is synchronized with main axis’ position or speed. At this time, setting of subsidiary axis is ignored and operates according to the operating status of main axis

Chapter 3 Before positioning

3- 3

Positioning

function

Operation description

Instru

ction

Ref.

Home return

Operation

pattern

ORG

APM_ ORG

Ch.5.2.1

Ch.5.3.2

Operation

It goes to home direction and detects the mechanical origin At this time, home method can be specified by operation parameter.

Position override

Operation

pattern

POR

APM_ POR

Ch.5.2.12 Ch.5.3.13

Operation It changes the target position by position override command.

Speed override

Operation

pattern

SOR

APM_ SOR

Ch.5.2.13 CH.5.3.1 4

Operation It changes the speed by speed override command.

Speed override

with position

Operation

pattern

PSO

APM_ PSO

Ch.5.2.14 Ch.5.3.15

Operation

It changes the speed at the designated position by speed override with position command.

Chapter 3 Before positioning

3- 4

3.1.2 Position control

Position control is to move the designated axis from start address (present position) up to target address (movement). There are two position control methods, absolute and incremental.

(1) Control by absolute coordinates (Absolute coordinates)

Object moves from start address to target address. Position control is performed, based on the address designated in Home Return (home address). Direction is determined by start address and target address.

• Start address < target address: forward positioning

• Start address > target address: reverse positioning

(a) example

• It assumes that operation data is specified as shown table 3-1. (For how to set operation

parameter, refer to the Ch.3.3)

Step

no.

Coord. Pattern Control Method

Rep step

Address

[Pulse]

Code

A/D No.

Speed

[pls/s]

Dwell [㎳]

1 ABS END POS SIN 0 8,000 0 1 100 10

• In table 3-1, since coordinates is ‘ABS’, control method is ‘POS’, step no. 1 is position control

by absolute coordinates.

• It assumes that the current poison is 1000. Since address in step no.1 is 8000, object moves

to 8000 as shown figure and increment is 8000-1000=7000. Object moves forward because target address is larger than start address.

Remark

• Every position/speed control is available as long as the origin is determined preliminarily.

• If it is executed while origin is not determined, error code 234 occurs and it doesn’t move.

- In case error occurs, refer to App.1.2 and remove the cause of error.

• Complete signal is on during one scan.

Chapter 3 Before positioning

3- 5

(2) Control by incremental coordinates

Object moves from current position as far as the address set in operation data. At this time, target address is based on start address. Direction is determined by sign (+,-).

• In case Address is positive number: forward positioning (Direction increasing address)

• In case Address is negative number: reverse positioning (Direction decreasing address)

(a) Example

• It assumes that operation data is specified as shown table 3-2. (For how to set operation

parameter, refer to the Ch.3.3)

Step

no.

Coord. Pattern Control Method

Rep step

Address

[Pulse] M Code

A/D No.

Speed

[pls/s]

Dwell [㎳]

1 INC END POS SIN 0 -7,000 0 1 100 10

• In table 3-1, since coordinates is ‘INC’, control method is ‘POS’, step no. 1 is position control

by incremental coordinates.

• It assumes that current position is 5000. Since object moves as long as -7000, target stop at -

2000 (absolute coordinates) as shown figure 3-2. At this time, increment is -7000 pulse and direction is reverse.

< Figure 3-2 operation example of incremental coordinates type>

3.1.3 Speed control

• Speed control means that object moves with steady speed (steady pulse string) until stop command.

• In case of speed control, direction is determined by sign of Address set in operation data.

Forward : Address is positive number Reverse : Address is negative number In the speed control, direction is determined by sign of target address regardless of current position and target position. For example, current position is 100 and target position is 90, though target position is less than current position, since sign is positive, it moves forward.

Chapter 3 Before positioning

3- 6

• In case of speed control, some items as figure below doesn’t affect the operation.

- If Control is specified as SPD, coordinates, pattern, method, M code, dwell time doesn’t affect the

operation.

- So in case of speed control, when object stops by STP command, it stops without dwell time and M code doesn’t operate.

(1) Example

• It assumes that operation data is specified as shown table 3-3

Step

no.

Coord

Pattern

Contr

Method Rep

step

Address

[Pulse] M Code

A/D No.

Speed

[pls/s]

Dwell [㎳]

1 INC END SPD SIN 0 10 10 1 100 10

• In table 3-3, since Control is ‘SPD’, step no. 1 is operation data of speed control.

• Since Address is positive number and Speed is 100, target moves forward with 100 pls/s speed regardless of current position until stop command (DEC. stop or EMG stop).

• If object moves, flag (X axis: K4200, %KX6720, Y axis: K4300, %KX6880) is on. And if DEC. stop command is executed, it stops after deceleration without dwell time and flag turns off immediately.

• At this time, deceleration time conforms to that in operation data, not operand of instruction.

< Figure 3-3 Operation of speed control >

These items don’t affect the operation in case of speed

Chapter 3 Before positioning

3- 7

3.1.4 Speed/position switching control

• It change speed control to position control by switching command (VTP instruction).

• In case of speed/position switching control, items affecting the operation are different according to control method.

- First, object moves by speed control. If speed/position switching control is executed, target will move by position control.

- At this time, position control is executed by absolute coordinates with initializing the current position as 0. So coordinates item doesn’t affect the operation.

- Since control method also changes by speed/position switching, control method in the operation data doesn’t affect the operation.

- In case of speed/position switching, object keeps its previous direction.

(1) Example

• It assumes that operation data is specified as shown table 3-4.

Step

no.

Coord

Pattern

Contr

Method Rep

step

Address

[Pulse] M Code

A/D No.

Speed

[pls/s]

Dwell [㎳]

1 INC END SPD SIN 0 1000 11 1 500 100

< Figure 3-4 Operation of speed/position switching control >

These items don’t affect the operation in case of speed

These items don’t affect the operation when changed into position

switching

occurrence flag

Chapter 3 Before positioning

3- 8

• If step no. 1 in table 3-4 starts, object moves forward by speed control because Control is SPD

and Address is positive number.

• If speed/position switching command (VTP instruction) is executed during speed control, current

position will be initialized as 0 and object moves by position control until 1000.

• If object reaches target position, complete flag and M code occurrence flag will be on after dwell

time. At this time, M code number 11 is displayed as set in operation data.

• Positioning complete flag will be on during one scan and M code occurrence flag keeps on

status, until it is turned off by off command.

Remark

• M code occurrence flag is turned off by MOF instruction.

• Using MOF instruction, M code occurrence flag and M code number will be clear simultaneously.

• Speed/position switching command is executed only when each axis is operating.

If it is executed during stop, it may cause error.

• If position/speed switching command is executed during operation by speed control, the command is ignored. But at this time, error is not occurred.

3.1.5 Position/speed switching control

• It change position control to speed control by switching command (VTP instruction).

• In case of position/speed switching control, items affecting the operation are different according to control method. In case position control, all items affect the operation but in case of speed, some items affect the operation as shown below.

- First, object moves by position control. If position/speed switching control is executed, object will move by speed control. At this time, the current position is not initialized. Only control method changes into speed control and it continues operation

- When control method changes, some items in operation data doesn’t affect the operation.

(1) Example

• It assumes that operation data is specified as shown table 3-5.

Step

no.

Coord

Pattern

Contr

Method Rep

step

Address

[Pulse] M Code

A/D No.

Speed

[pls/s]

Dwell [㎳]

1 INC END POS SIN 0 10000 12 1 500 100

< Table 3-5 operation data example of position/speed switching control >

• If step no. 1 in table 3-5 starts, object moves by position control according to operation data in

table 3-5 because Control is POS.

• If position/speed switching command (VTP instruction) is executed during position control,

object moves by speed control until stop command.

• If object stops by stop command, it will stop without dwell time and positioning complete flag will

not be on.

These items don’t affect the operation in case of position/speed switchin

Chapter 3 Before positioning

3- 9

Remark

• Position/speed switching command is executed only when each axis is operating. If it is executed during stop, it may cause error.

• If speed/position switching command is executed during operation by position control, the

command is ignored and causes error. But at this time, positioning doesn’t stop.

3.1.6 Linear interpolation control

• Object moves by linear interpolation control from start address to target address using two axes, X, Y. There are two method in linear interpolation control, absolute coordinates and incremental coordinates.

(1) Control by absolute coordinates

When linear interpolation control is executed, object moves based on the origin designated by Home return. Direction is determined by start address and target address for each axis.

• start address < target address: Forward

• start address > target address: Reverse

(a) How to set operation data

In the linear interpolation control, since two axes operates concurrently, it needs attention The following is notice when setting the operation data.

1) Determining main axis

- For linear interpolation, first you have to determine the main axis. In the XGB built-in

positioning, main axis is determined automatically. The one which has a large moving amount becomes main axis.

2) Determining control method

- In the linear interpolation operation, control methods of both axes should be specified as

“position”. If not, error will occur and it will not be executed.

Switching signal

Chapter 3 Before positioning

3- 10

3) Setting of operation pattern

- In case of main axis, operation pattern should be specified as ‘END’ or ‘KEEP’. In case it is specified as ‘CONT’, it operates as ‘KEEP’.

- In case of subsidiary, pattern doesn’t affect the operation, it operates according to main axis pattern.

(b) Example

• It assumes that operation data is specified as shown table 3-6 and current position are

X=1000 , Y=4000.

Step

no.

Coord. Pattern Control Method

Rep

step

Address

[Pulse]

Code

A/D No.

Speed

[pls/s]

Dwell [㎳] Step no.

X 1 ABS END POS SIN 0 8000 0 0 500 100

Y 1 ABS KEEP POS REP 3 1000 0 0 2000 20

< Figure 3-6 linear interpolation operation by absolute coordinates >

• If linear interpolation starts, main axis is determined automatically based on moving amount of X

and Y axis. In table 3-6, since moving amount of X axis is larger than Y axis X, X axis becomes main axis.

• So operation pattern, speed, A/D number, dwell time of Y axis is ignored and it is specified automatically according to operation data of X axis.

• Figure 3-7 indicates operation of linear interpolation control.

Chapter 3 Before positioning

3- 11

< Figure 3-7 operation of linear interpolation control >

(2) Control by incremental coordinates

It executes the linear interpolation control based on current position by incremental coordinates. At this time, Address of operation data means how long object moves from current position. Direction is determined sign of Address.

• In case Address is positive number: forward

• In case Address is negative number: backward

(a) Example

• It assumes that operation data is specified as shown table 3-7 and current position are X=1000 , Y=4000.

Step

no.

Coord. Pattern Control

Method Rep

step

Address

[Pulse]

Code

A/D No.

Speed

[pls/s]

Dwell [㎳] Step no.

X 1 INC END POS SIN 0 6000 0 0 500 100

Y 1 INC KEEP POS REP 3 -2000 0 0 2000 20

< Table 3-7 operation data example of linear interpolation control by absolute coordinates >

< Figure 3-8 linear interpolation operation by absolute coordinates >

Chapter 3 Before positioning

3- 12

• If linear interpolation is executed, main axis is determined according to moving amount of X and

Y axis. In table 3-7, since moving amount of X axis is larger than Y, X axis becomes main axis.

• So subsidiary Y axis operation pattern, operation speed, ACC/DEC time, dwell time do not affect the operation and recalculated according to operation data of main axis. For example, if you execute the linear interpolation control with operation data such as table 3-7, subsidiary Y axis starts as END, SINGLE operation and operates with automatically calculated ACC/DEC speed and operation speed, as for Dwell time after stop, 100ms, dwell time of main axis X is applied. not 20ms, setting value.

Remark

• A special attention should be paid that linear interpolation start operates on 2 axes simultaneously.

• Pattern of main axis can specified as ‘END’, ‘KEEP’. If it is specified as ‘CONT’, object moves as it is ‘KEEP’.

• Available commands during linear interpolation are DEC. STOP, EMG. STOP.

• During linear interpolation operation, position/speed switching control, speed override,

position override, speed override with position, If those are executed during liner interpolation operation, it may cause error.

• Operation method, operation pattern, speed limit, dwell time is specified as that of main axis.

• Speed, acceleration/deceleration time, bias speed of subsidiary axis is calculated again

automatically.

• Backlash compensation amount, SW upper/lower limit is specified as it is for each axis.

3.1.7 Concurrent start control

• It starts each step for each axis concurrently by concurrent start control (SST instruction).

• If SST instruction is used, it can remove delay of start caused by scan time delay.

• SST instruction can be executed when two axes stop. If SST instruction is executed again after stop, in case of incremental coordinates, the current position is initialized as 0.

Chapter 3 Before positioning

3- 13

3.1.8 Sync control

•In sync control, position or speed of subsidiary axis is synchronized with that of main axis. There are two types in sync control, speed sync control and position sync control.

(1) Position sync control

• Position sync control means starting the operation step of subsidiary at the time when position of

main axis is same with position set in SSP instruction (Sync control)

• Position sync control can be executed when origin of both axes is determined. When executing the SSP instruction, if origin of main axis is not determined, error code 346 occurs and for subsidiary axis, error code 344.

• When using SST instruction, specify the main axis to be different with subsidiary axis. If not, error

code 347 will occur.

• If synch control is executed, though pulse is not yielded until main axis goes to designated axis, flag indicating whether subsidiary axis moves or not, turns on (X axis: K4200, %KX6720, Y axis: K4300, %KX6880).

• After executing position sync control, if the user wants to cancel the execution of position sync control, execute the STP instruction (stop command).

(2) Speed sync control

• If main axis starts as figure below, subsidiary axis moves with speed of sync speed rate set in the SSS instruction (speed sync command).

Sync position

Start Position sync

Start main axi

Sync speed

Start sync control

Start main axis

Chapter 3 Before positioning

3- 14

• It can be executed when origin of subsidiary axis is not determined.

• Since subsidiary axis moves according to speed of main axis, whether main axis moves by speed control or position control doesn’t matter. At this time, direction of subsidiary axis is same as that of main axis.

• When sync control is executed and main axis stops, though pulse is not outputted, flag indicating whether subsidiary axis moves or not, turns on (X axis: K4200, %KX6720, Y axis: K4300, %KX6880).

• In case of speed synch control, sync speed rate is 0.00% ~ 100.00%. If it is out of range, error code 356 occurs.

• After executing speed sync control, if the user wants to cancel the execution of speed sync control, execute the STP instruction (stop command).

• When executing speed sync control, if M code is on, error code 353 will occur.

• The user can set X axis, Y axis, channel 0~3 of High speed counter as main axis in the speed sync control. For more detail, refer to Ch.5.2.12.

3.1.9 Home return

• Home return is used to fine mechanical origin when starting machine. Home return is executed

according to home parameter for each axis. In home parameter, items affecting homing are as follows. (For setting of each parameter, refer to Ch.3.2)

Type Items Description -

Home

parameter

Home Method Setting home method

Home Direction Start direction when homing

Home Address Origin address when detecting origin

Home High/Low speed High/Low speed when homing

Homing ACC/DEC Time ACC/DEC time when homing

DWELL time

Time required to remove offset pulse of remaining bias counter immediately after

positioning ends

• When origin is determined by homing, though the user inputs homing signal and DOG signal, those are ignored.

(1) Type of Home method

Generally, home method can be divided into one using DOG and another not using DOG. In the XGB

built-in positioning, there are three methods using DOG.

Home method Necessary input signal Reference

Origin detection after DOG off (0: DOG/HOME(OFF))

DOG, Origin

Content of () is displayed in the Home Parameter of XG5000.

Origin detection after DEC. when DOG on (1: DOG/HOME(On))

DOG, Origin

Origin detection by DOG (2: DOG)

DOG

Chapter 3 Before positioning

3- 15

(2) Origin detection after DOG Off

The operations by Home Return instruction using DOG and origin signal are as follows.

(a) If home return command (ORG instruction) is executed, it accelerates toward a preset home

return direction and with Home high speed.

(b) During operating with Home Return High speed, if rising edge of DOG signal occurs, it

operates with Home Return Low speed and monitors if there is falling edge of DOG signal. At this time, though Origin signal is inputted while DOG signal is On, Origin is not determined.

Remark

• While DOG signal is “On”, origin is not determined by origin signal. That is, origin may be

determined as soon as origin signal is inputted after DOG signal changes from “On” to “Off”.

Chapter 3 Before positioning

3- 16

Remark

• In speed-decreasing section, origin is not determined. Though DOG changed from “On” to “Off” and Origin signal is inputted in speed-decreasing section, origin is not determined. Origin is determined at first Origin signal after speed-decreasing section

• It operates as follows if it meets an external lower limit while waiting for origin entry after

DOG signal changes Off->On->Off. (The following figure is example when home direction is backward)

(1) If object starts home return backward by homing command and meets rising edge of

DOG, it changes homing with slow speed and if it meets falling edge again , it waits to determine the origin at the first origin signal.

(2) At this status, if external low limit input signal (B contact point) is entered, target

changes the direction and homing forward with high speed.

(3) At the moment when target meets rising edge of DOG again and falling edge, target

changes the direction to backward and repeats step (1), if origin signal is entered, origin is determined.

※ During homing, if external input upper or lower limit is entered, object changes direction

promptly without deceleration section. When stepping motor is used, this may cause out of operation. So be careful.

• If ‘On’ time of origin input signal is very short, XGB may not recognize the input signal. So

‘On’ time of origin should be larger than 0.2ms.

Chapter 3 Before positioning

3- 17

(3) Origin detection after deceleration with DOG set “On”

Operations by home return instruction using DOG and origin signal are as follows.

(a) If homing command(ORG instruction) is executed, it accelerates toward a set home direction

and operates at home high speed.

(b) At the moment, if an external entry, DOG signal is entered, it decelerates and operates at

home return low speed.

while it operates at home return low speed.

Remark

•Origin is determined if origin signal is entered with DOG set “On” as long as home return speed is operating at low speed from high speed via decelerating section with DOG signal set “On”. That is, when home return speed is decelerating, origin is not determined by origin signal.

• If it meets external upper/lower limit signal prior to origin after DOG signal is changed from

“Off” to “On”, it works backward direction.

Chapter 3 Before positioning

3- 18

(4) Origin detection by DOG

It is used when determining origin by using the only DOG.

(a) If homing command (ORG instruction) is executed, it accelerates to home direction set in

Home Parameter and it homes with high speed.

(The above figure is example when homing direction is forward)

(b) While target is homing with high speed, if rising edge of DOG occurs, target speed

decreases and change its direction.

speed.

(d) In the homing status with low speed, rising edge occurs of DOG third time, it stops and

determines the origin.

(e) When ‘On’ time of DOG signal is larger decreasing time, it changes the direction at the falling

edge of DOG and moves with low speed and stops at the rising edge of DOG and determines the origin.

Chapter 3 Before positioning

3- 19

3.1.10 Position and speed override

• Override means changing target address or speed without stop during positioning.

The XGB positioning provides three type of override, position override, speed override, speed override with position.

(1) Position override

If changing a target position during positioning operation with positioning data, it may be changed by using position override command (POR instruction).

• When using position override, be careful the followings.

(a) That is, if passing a position to change during operation, it decelerates, stops and keeps

positioning operation by the subsequent operation pattern; if not passing a position, it starts

positioning operation as taking a Incremental position as much as override set in the start point

of the step of position override instruction.

(Ex.) It assumes that current location is 20,000 and operation data is specified as table below. (It assumes that position override amount is 15,000)

Step

no.

Coord. Pattern

Contr

Method Rep

step

Address

[Pulse] M Code

A/D No.

Speed

[pls/s]

Dwell

[㎳]

3 ABS END POS SIN 0 40,000 0 0 500 100

1) If operation step 3 starts, target moves to 40,000 by absolute coordinates forward.

2) If override is executed at the time current position is 30,000 during operation, since it doesn’t pass 15,000 based on operation start point 20,000 target position changes 35000 (20,000+15,000).

3) If override is executed at the time current position is 38,000 during operation, since it passes 15,000 based on operation start point 20,000, target speed decreases and stops.

(b) Position override command is available in the ACC., KEEP, DEC. section among operation

pattern. If position override command is executed during dwell, error code 362 occurs.

operation step used at this time.

(d) Position override ranges –2,147,483,648 2,14∼ 7,483,647 Pulse.

Chapter 3 Before positioning

3- 20

(2) Speed override

While positioning by operation data, it is used to change operation speed by speed override command (SOR instruction).

• Speed override command is available during acceleration, constant speed operation section and executing speed override instruction in deceleration section during operation or dwell section may cause Error 377 but the operation continues.

• Speed override setting ranges 1~100,000pps (setting unit: 1pps).

Remark

• Note that if a sudden difference between the current speed used for operation and a new speed newly changed by speed override is excessive, it may cause a Step-over.

• During speed override, if target speed is smaller than bias speed. it will be operate by bias

speed.

(3) Speed override with position

Positioning speed override instruction changes its speed and keeps operating once it reaches the set position during positioning operation by using speed override with position (PSO instruction).

• Positioning speed override instruction is available only in acceleration and regular speed

sections among operation patterns while the available operation modes are end operation, continuous operation and sequential operation.

Chapter 3 Before positioning

3- 21

3.1.11 Positioning stop signal

(1) Stop instruction and stop factors

• Stop instructions and factors are summarized as follows and divided into individual stop and

concurrent stop.

Individual axis stop instructions or the stop factors affect the only axis (axes) of which stop instruction

is “On” or stop factor exists. However, interpolation control operation axis stops if an axis is with stop instruction or stop factor during linear/circular interpolation.

Operation status

Stop factor

Positioning

Home *2 Jog operation

Axis operation

status after stop

instruction *3

M code ”On”

Signal status

Stop by

parameter

setting

Excess of soft

upper limit

Immediate

stop

Not

detected

Immediate

stop

Error status

(Error 501)

No change

Excess of soft

lower limit

Immediate

stop

Not

detected

Immediate

stop

Error status

(Error 502)

No change

Stop by

sequence

program

Dec. stop

instruction

Dec. stop Dec. stop

Error 322

(keep running)

Decelerating No change

Emergency stop

instruction

Immediate stop

Error status

(Error 481)

No output

Off

Stop by

external signal

External upper

limit “On”

Immediate stop

Forward

immediate

stop

Error status

(Error 492)

No change

External lower

limit “On”

Immediate stop

Backward

immediate

stop

Error status

(Error 493)*6

No change

Stop by

monitoring

package

Dec. stop

instruction

Immediate

stop

Immediate

stop

Error 322

(keep running)

Stopping No change

Remark

*1: Positioning refers to position control, speed control, position/speed switching control and

speed/position switching position by positioning data.

*2: If Home Return is complete, DOG and Home Signal, which are external input signals, do not affect

positioning control.

*3: If axial operation is ‘no output’ after being stopped, run a instruction to cancel ‘No Output’. Then,

No output is cancelled and error number is reset.

*4: Soft upper/lower limits by parameters are unavailable in speed control operation mode.

*5: Sequence program refers to XGB program method.

*6: Error 495 may occur depending on a rotation direction.

Chapter 3 Before positioning

3- 22

(2) Stop Process and Priority

(a) Stop Process

• Since positioning operation is not complete if it stops due to deceleration stop instruction, After Mode among M code modes is not “On” because it does not generate positioning completion signal.

• After then, if indirect start instruction (step number = current step number) is generated, Absolute method operation operates as much as the remaining distance of the current operation step yet output while Incremental method operation operates as much as the target distance.

(b) Process of emergency stop and external input upper/lower limits

• If emergency stop instruction or external input upper/lower limits are input during positioning

control, it stops positioning control and turns ‘No output’, generating an error.

The priority of positioning module stop process is as follows.

Decelerating stop < Immediate stop

Remark

• In case of any immediate stop factor during decelerating stop, it processes as follow.

• Immediate stop factors: ①internal emergency stop, ②external input upper/lower limit, ③ Soft upper/lower limits

(d) Interpolation stop

• It decelerates and stops if it meets a stop instruction during interpolation operation.

• If indirect start instruction is executed in the current step when re-starting after decelerating stop,

it resumes operating the positioning operation data to the target position. At the moment, it operates differently depending on absolute coordinate and Incremental coordinate.

(e) Emergency stop

• It immediately stops if meeting emergency stop while performing start-related instructions

(indirect start, direct start, concurrent start, synchronic start, linear interpolation start, Home

Return start, jog start and inching start).

• Internal emergency stop generates Error 481.

• Since it is subject to no output and un-defined origin once emergency stop is executed, it may run

Chapter 3 Before positioning

3- 23

positioning operation after executing origin determination (Home Return, floating origin and the

current position preset) in case it is operated with absolute coordinate or in determined origin.

3.1.12 Manual operation

In general, manual operations refer to jog operation, inching operation which don’t use operation data.

(1) Jog operation

• Jog operation means positioning by jog operation stat contact point or positioning monitoring

package.

Classification Jog forward start Jog backward start

Jog high speed/low

speed

X axis

XBM/XBC K4291 K4292 K4293

XEC %KX6865 %KX6866 %KX6867

Y axis

XBM/XBC K4391 K4392 K4393

XEC %KX7025 %KX7026 %KX7027

• It is operated by jog speed set in positioning parameter.

• It can be executed when origin is not determined.

• Acceleration/deceleration process is controlled by the duration set in jog acceleration/deceleration time among parameter settings of this software package.

• If jog speed is set out of allowable range, it generates an error and operation is not available

Range

High speed jog

operation

1 ∼ 100,000

(Unit: 1pps)

Low speed jog

operation

1 ∼ jog high speed

Remark

• Make sure to follow the cautions

Bias speed ≤ Jog high speed ≤ Speed limit

(2) Inching operation

• As one of manual operations, it outputs as much as pulse set at the speed for origin/manual parameter inching speed.

• While operation by jog instruction may not exactly move to the start/end points, inching instruction

may easily reach to a target point as much as desirable distance. Therefore, it is probable to move close to an operation position by jog instruction and then move to an exact target position by inching operation instruction.

• The available range is between –2,147,483,648 ∼ 2,147,483,647 Pulse.

Chapter 3 Before positioning

3- 24

3.1.13 Stroke Upper/Lower Limits

Positioning is subject to external input stroke limit (external input upper limit, external input lower limit) and software stroke limit (software upper limit, software lower limit).

(1)

External input stroke upper/lower limits

• External input stroke limit is an external input connector of positioning; external input upper

limit/external input lower limit.

• It is used to immediately stop a positioning module before reaching to stroke limit/stroke end by setting up stroke limits of positioning module inside stroke limit/stroke end of drives. At the moment, if exceeding upper limit, it generates Error 492 while if exceeding lower limit, it generates Error 493.

• Note that positioning operation is not available if it stops out of positioning range.

If it stops due to external input stroke limit detection, move it into the controllable range of

positioning by manual operation (jog operation, inching operation, manual pulse generator operation).

• External input stroke upper/lower limit error is detected by edge during positioning, so manual operation is available although it exceeds stroke range.

(2) Stroke upper/lower limits

• Stroke upper/lower limit function does not execute positioning operation if it is operated out of ranges

of stroke upper/lower limits, which are set in positioning parameters.

• When it starts operation or is in operation, stroke upper/lower limits are checked.

Remark

• Software stroke upper/lower limits are not detected unless origin is determined.

Chapter 3 Before positioning

3- 25

3.1.14 Output of positioning completion signal

•

Regarding positioning completion output time, the completion signal(X axis: 4202, %KX6722, Y

axis: K4302, %KX6882) is on and it turns off after ‘on’ is maintained as much as 1 scan time after positioning is completed during single operation, repeat operation, continuous operation, sequential operation, linear interpolation operation, speed/position switching operation (with position indicated during constant speed operation) and inching operation.

• In case operation pattern is KEEP or CONT, positioning completion signal is yielded when operation pattern stops completely.

• The operations in single operation mode are as follows.

• The operations in continuous mode are as follows.

• The operations in sequential operation mode are as follows.

Chapter 3 Before positioning

3- 26

3.2 Positioning Parameter

It describes positioning parameter and operation data setting.

3.2.1 Positioning parameter setting sequence

• Positioning parameter can be set more than V1.2 (high end type can be set more than XG5000

V2.2) and it has the following sequence. (This manual is described by using XG5000 V2.2.)

(1) Opening parameter setting window

• Select [Parameter] -> [Embedded Parameter] -> [Positioning] and double-click to open

positioning parameter setting window. (If project is not displayed, press [View] -> [Project Window] to open project window [shortcut key:

ALT + 1])

< Positioning parameter setting window >

Chapter 3 Before positioning

3- 27

(2) Setting parameter

• Positioning parameter setting window is classified into basic parameter and Home parameter.

• Each item can be set independently.

• For detail setting of basic parameter, refer to 3.2.3.

• For detail setting of Home parameter, refer to 3.2.4.

Type Item Description

Basic parameters

Positioning Set whether to use positioning function.

Pulse output level Set pulse output mode (Low/High Active).

Bias speed Set the initial start speed for early operation.

Speed limit Set the max speed settable in positioning operation.

ACC/DEC No.1 Time setting of ACC/DEC section No.1

ACC/DEC No.2 Time setting of ACC/DEC section No.2

ACC/DEC No.3 Time setting of ACC/DEC section No.3

ACC/DEC No.4 Time setting of ACC/DEC section No.4

S/W upper limit Set upper limit within a machine’s operation range

S/W lower limit Set lower limit within a machine’s operation range

Backlash compensation

amount

Set compensation amount of tolerance in which a machine is not operated due

to wear when rotation direction is changed.

S/W upper/lower limits

during constant speed

operation

Set whether to detect or not S/W upper/lower limits during constant speed

operation

Use upper/lower limits Use or not

Origin/Manual

parameters

Home Return method Set home return method

Home Return direction Set home return direction

Origin address Set origin address

Origin compensation amount Set origin compensation amount

Home Return high speed Set high speed for home return

Home Return low speed Set low speed for home return

Home Return accelerating

time

Set accelerating time for home return

Home Return decelerating

time

Set decelerating time for home return

Dwell time

Set a time required to remove remaining bias counter immediately after

positioning ends

Jog high speed Set high speed for jog operation

Jog low speed Set low speed for jog operation

Jog accelerating time Set accelerating time for jog operation

Jog decelerating time Set decelerating time for jog operation

Inching speed Set speed for inching operation

< Positioning parameter setting item >

Chapter 3 Before positioning

3- 28

(3) Operation data setting

• If the user select ‘X Axis Data’ or ‘Y Axis Data’ tap on the positioning parameter setting window,

the user can set operation data of 30 steps as show below.

• Standard type can set up to 30 steps, high-end type can set up to 80 steps.

< Position operation data setting window >

•Items of operation data is as table below.

•For detail of operation data, refer to 3.3.

Item Description Initial value

Coord.

Setting Cood. of each step (ABS/INC)

ABS

Pattern

Setting operation pattern of each step (END/KEEP/CONT)

END

Control

Setting control method of each step (POS/SPD)

POS

Method

Setting operation method of each step (SIN/REP)

SIN

REP step

In case of repeated operation, setting the next step no.

Address

Setting target address of each step

0[Pulse]

M Code

In case of using M code, number indicated when M code occurred (In case of setting as 0, M code function is not used)

A/D No.

Setting A/D no. of each step

No.1

Speed

Operation speed of each step

0[pps]

Dwell

After ending step, time necessary to remove remaining pulse of offset counter

0[㎳]

Chapter 3 Before positioning

3- 29

(4) Writing to PLC

•After setting of positioning parameter and operation data per each axis, download them to PLC

•Selecting [Online] -> [Write], ‘Write’ dialog box is displayed. In order to download parameter, select ‘Parameter’ and click ‘OK’.

Remark

• If XG5000 is not connected with PLC, ‘Write’ menu is not activated. In case of this, select [Online] -> [Connect] to connect with PLC.

• When PLC is RUN mode, comment is available to download so only comment is displayed

in the ‘Write’ dialog box. At this time, change PLC’s mode to STOP and retry it.

• If downloading parameter, basic parameter, I/O parameter, built-in parameter is transmitted.

• The downloaded positioning parameter is applied when turning on the power or changing

operation mode. For more detail, refer to 3.2.2.

Chapter 3 Before positioning

3- 30

3.2.2 Relationship between positioning parameter and dedicated K area

XGB built-in positioning function executes the positioning control by using parameter and K area

dedicated for positioning. Here describes relationship between positioning parameter and K area.

Internal memory configuration related with XGB built-in positioning is as follows.

< Relationship between positioning parameter and K area >

•XGB has a built-in parameter area to save operation data and parameter written in the XG5000 and a dedicated K area for use of real positioning operation.

•If writing the embedded positioning parameter and operation data, the downloaded data is saved in

the built-in parameter area permanently. And in case of reading, it reads built-in parameter area.

•XGB executes the initialization by copying the parameter and operation data saved in the built-in

parameter area to K area dedicated for positioning.

(1) In case of restarting after power cut (2) In case of changing PLC operation mode (3) In case of restarting PLC by reset command

•XGB built-in positioning is executed by using data of K area and Flags that indicate the current

operation status and monitoring data are displayed in the K area. So the user can change operation data easily by changing the K area data

•In order to preserve the current K area data, K area data should be applied to built-in parameter

area by using application command (WRT command)

•For detail list of K area, refer to A2.2.

Remark

•After changing K area and not using WRT instruction, if restarting after power cut or changing PLC operation mode, K area is initialized.

•For more detail of WRT instruction, refer to 5.2.21.

Chapter 3 Before positioning

3- 31

3.2.3 Setting basic positioning parameters

It describes the range of setting basic parameters and special K area for positioning.

Item Range Initial value

K area for positioning

Data size

X-axis Y-axis

XBM/XBC XBM/XBC

XEC XEC

Positioning 0: No use, 1 : use 0

K4870

%KX7792

K5270

%KX8432

Bit

Pulse output level

0 : Low Active, 1 : High Active

K4871

%KX7793

K5271

%KX8433

Bit

Pulse output mode

0 : CW/CCW 1 : PLS/DIR

K4873

%KX7795

K5273

%KX8435

Bit

M code output mode

0 : NONE, 1 : WITH 2 : AFTER

K4681-2

%KX7489-90

K5081-2

%KX8129-30

Bit

Bias speed 1 100,000[pulse/ sec]∼

K450

%KD225

K490

%KD245

Double

word

Speed limit 1 100,000[pulse/ sec]∼

100,000

K452

%KD226

K492

%KD246

Double

word

ACC time 1 0 ~ 10,000[unit: ms] 500

K454

%KW454

K494

%KW494

word

DEC time 1

0 ~ 10,000[unit: ms] 500

K455

%KW455

K495

%KW495

word

ACC time 2

0 ~ 10,000[unit: ms] 1,000

K456

%KW456

K496

%KW496

word

DEC time 2

0 ~ 10,000[unit: ms] 1,000

K457

%KW457

K497

%KW497

word

ACC time 3 0 ~ 10,000[unit: ms] 1,500

K458

%KW458

K498

%KW498

word

DEC time 3

0 ~ 10,000[unit: ms] 1,500

K459

%KW459

K499

%KW499

word

ACC time 4

0 ~ 10,000[unit: ms] 2,000

K460

%KW460

K500

%KW500

word

DEC time 4

0 ~ 10,000[unit: ms] 2,000

K461

%KW461

K501

%KW501

word

S/W upper limit

-2,147,483,648 ∼ 2,147,483,647 [pulse]

2,147,483,647

K462

%KD231

K502

%KD251

Double

word

S/W lower limit

-2,147,483,648 ∼ 2,147,483,647 [pulse]

-2,147,483,648

K464

%KD232

K504

%KD252

Double

word Backlash Compensation

0 65,535[pulse]∼ 0

K466

%KW466

K506

%KW506

word

S/W Limit Detect 0 : No detect1 : detect 0

K4684

%KX7492

K5084

%KX8132

Bit

Upper/lower limits

0: no use, 1: use 1

K4872

%KX7794

K5272

%KX8434

Bit

Chapter 3 Before positioning

3- 32

(1) Positioning

•Determine whether to use positioning.

• If not using positioning function, set it ‘0: no use’ while for use, it should be set to ‘1: use’.

• If setting it as ‘1:use’, though it doesn’t execute the instruction related with positioning, it is controlled by positioning.

So in this case, though the user turns on this contact point by other application instruction, only

output image data of XG5000 monitoring window is on and real output contact point doesn’t turn on.

Remark

• Make sure to set it ‘1: use’ to use positioning. If using the instruction related with positioning when it is set as ‘0: no use”, error code 105 occurs.

(2) Pulse output level

•For pulse output level, select either of ‘Low Active output’ or ‘High Active output’.

•For Low Active output, set as 0, for High Active output, set as 1.

•The following figure shows output pulse type in case of Low Active and High Active output based on X axis. (in case of Y axis, pulse string output: P21, direction output: P23)

(3) Pulse output mode (For only high end type)

•XGB built-in positioning can select output mode as one between PLS/DIR mode and CW/CCW mode.

•If you use CW/CCW mode, select 0. If you use PLS/DIR mode, select 1.

•About output pulse shape according to each pulse output mode, refer to ch.2.2.3.

(4) M code output mode (For only high end type)

•In case of using M code function, you can set output timing of M code.

Chapter 3 Before positioning

3- 33

•M code output mode set in the parameter is applied to all operation step of each axis.

•The user can select one M code output mode among three modes, NONE, WITH, AFTER. According to each setting value, timing of M code output signal is as follows.

(a) NONE mode

•In case M code output mode is selected as NONE, though M code is set in operation data, M

code doesn’t occur like the following figure.

•If the user use this function, it can prohibit the M code function set per operation step,

simultaneously.

(b) WITH mode

• In case M code output mode is set as WITH, like the following figure, it outpus M code on signal

and M code number when each step runs.

< M code output timing in case of WITH mode >

• In case M code output mode is set as AFTER, like the following figure, if each operation of step

is completed, it outputs M code On signal and M code number.

Chapter 3 Before positioning

3- 34

< M code output timing in case of AFTER mode >

(5) Bias speed

• Considering that torque of stepping motor is unstable when its speed is almost equal to 0, the initial

speed is set during early operation in order to facilitate motor’s rotation and is used to save positioning time. The speed set in the case is called ‘bias speed’.

• In case of XGB built-in positioning, setting range of bias speed is 0 ~ 100,000 (unit:pps).

• Bias speed may be used for (1) Positioning operation by start instruction (IST,DST,SSTetc.) (2) Home operation, JOG operation (3) Main axis of interpolation operation(not available for sub axis)

< Operation when setting bias speed >

• The figure above shows operation when setting bias speed.

The entire operation time may be advantageously reduced if bias speed is highly set, but excessive value may cause impact sound at the start/end time and unreasonable operation on a machine.

• Bias speed should be set within the following range.

(a) Bias speed ≤ Positioning speed (b) Bias speed ≤ Home Return low speed ≤ Home Return high speed

Chapter 3 Before positioning

3- 35

Æ (If home return speed is set lower than bias speed, it generates Error 133; if operation

speed is set lower than bias speed during positioning, it generates Error 153; if JOG high speed is set lower than bias speed, it generates Error 121.)

(6) Speed limit

• It refers to the allowable max speed of positioning operation.

• In Pulse unit, the range is between 1 ∼ 1,000,000(unit: pps).

• During position operation, operation speed, home return speed and jog operation speed are

affected by speed limit, and if they are set higher than speed limit, it detects error.

(1) If home return speed is higher than speed limit : Error 133

(2) If positioning speed is higher than speed limit : Error 152

(3) If jog operation speed is higher than speed limit : Error 121

(7) ACC/DEC time

• It is applied to sequential operation instruction, speed override, positioning speed override during positioning operation as well as start/end time of positioning operation. At this time, ACC and DEC time is defined as shown below.

(a) ACC time: a duration required to reach from “0(stop)” speed to the speed limit set in parameter.

Using bias would be a time consumed to reach from bias speed set to the speed limit set in parameter.

(b) DEC time: a duration required to reach from the speed limit set in parameter up to “0”(stop)

speed. Using bias would be a time consumed to reach from bias speed set to the speed

limit set in parameter.

• The range is between 0 ∼ 10,000 (unit: 1 ㎳) per axis.

• ACC/DEC time is set with 4 types and it can be set differently according to each operation data.

(8) S/W Upper/Lower Limit

• A range of a machine’s move is called ‘stroke limit’, and it sets the upper/lower limits of stroke into software upper limit and software lower limit and does not execute positioning if it operates out of ranges set in the above.

Therefore, it is used to prevent against out-of-range of upper/lower limits resulting from incorrect positioning address or malfunction by program error and it needs installing emergency stop limit switch close to a machine’s stroke limit.

•Except S/W upper limit and lower limit, install limit switch for emergency stop near stroke limit of machine.

Chapter 3 Before positioning

3- 36

• Range of S/W upper limit and lower limit is checked when starting positioning and operating.

• If an error is detected by setting software upper/lower limits(software upper limit error: 501,

software lower limit error: 502), pulse output of positioning module is prohibited. Therefore, to resume operation after an error is detected, it is prerequisite to cancel ‘No output’. (No output status is displayed at K4205(%KX6725), for X axis and K4305(%KX6885) for Y axis.

• It can be set according to each axis and range is as follows.

- S/W upper limit address value range: -2,147,483,648 2,147,483,647∼ (unit: Pulse)

- S/W lower limit address value range: -2,147,483,648 2,147,483,647∼ (unit: Pulse)

(9) Backlash Compensation Amount

• A tolerance that a machine does not operate due to wear when its rotation direction is changed if it

is moving with motor axis combined with gear and screw is called ‘backlash’.

• Therefore, when changing a rotation direction, it should output by adding backlash compensation

amount to positioning amount.

• The range is between 0 ∼ 65,535(unit: Pulse) per axis.

• It is available for positioning operation, inching operation and jog operation

• Backlash compensation outputs backlash compensation amount first and then, address of positioning operation, inching operation and jog operation move to the target positions. (At this time, output as many as backlash amount is not added to the current position address.)

Chapter 3 Before positioning

3- 37

• The above figure describes difference of backlash setting or no backlash setting. In case of not setting backlash compensation amount, it moves as many as 100,000 pulse forward and changes the direction and moves backward as many as 100,000 pulse. It may cause error by backlash. For example, it assumes that backlash is 500 pulse, in case of not setting backlash, final stop location is 500. To compensate this, setting backlash compensation as 500, when changing the direction, 100,500 pulse is yielded adding 500 pulse set as backlash compensation amount. So target stops at the precise stop position.

• The following table indicates real pulse output and stop position in case of setting backlash. (Absolute coordinates is used.)

Operation

step

Backlash setting

amount

Target

address

Direction

conversion

Real output

pulse

Stop

positio

500

10,000 X 10,000 10,000

2 30,000 X 20,000 30,000

3 0 ○ -30,500 0

Remark

• Once backlash compensation amount is set or changed, home return should be executed otherwise there can be error at the current position by backlash compensation amount.

(10) S/W upper/lower limits during constant speed operation

• It is used to stop pulse output by S/W upper/lower limit detection during constant speed operation by speed control.

Chapter 3 Before positioning

3- 38

•

In the case, S/W upper/lower limit detection is available as long as origin is set and the position

mark during constant speed operation is “Mark”

(11) Use of Upper/Lower Limits

• To use upper/lower limits during operation, it should be set as “Use”.

• Upper/Lower limit input contact point is fixed as the table below and it can be used as normally

closed contact point (B contact point).

•

If ‘No use’ is set, it does not detect upper/lower limits and is available with general input contact.

Signal name

Input contact point number

Operation content Reference

Standard High end

External low limit signal (LimitL)

X axis P0000 P0008

Detects the X axis external lower limit at the rising edge of input contact point

Acts as normally closed contact point (B contact point)

Y axis P0002 P000A

Detects the Y axis external lower limit at the rising edge of input contact point.

External upper limit signal (LimitH)

X axis P0001 P0009

Detects the X axis external upper limit at the rising edge of input contact point.

Y axis P0003 P0008

Detects the Y axis external upper limit at the rising edge of input contact point.

3.2.4 Origin/Manual Parameter Setting for Positioning

Here describes setting range, method of origin/manual parameter for positioning, and special K area for positioning corresponding to each item. They are summarized as the table below.

Item Setting range

Initial value

Dedicated

K area

Data size

X axis

XBM/XBC

XEC

Y axis

XBM/XBC

XEC

Home Return

method

0 : origin detection after DOG off 1 : origin detection after deceleration when DOG is On 2 : origin detection by DOG

K4780-81

%KX7648-49

K5180-81

%KX8288-89

2 Bit

Home Return

direction

0 : forward, 1 : backward 1

K4782

%KX7650

K5182

%KX8290

Bit

Origin address -2,147,483,648 2,147,483,647[pulse]∼ 0

K469

%KD234

K509

%KD254

Double word

Home Return high

speed

1 100,000[pulse/∼ s]

5,000

K471

%KD235

K511

%KD255

Double word

Home Return low

speed

1 100,000[pulse/∼ s] 500

K473

%KD236

K513

%KD256

Double word

Home Return ACC

time

0 ~ 10,000[unit: ms] 1,000

K475

%KW475

K515

%KW515

Word

Home Return DEC

time

0 ~ 10,000[unit: ms] 1,000

K476

%KW476

K516

%KW516

Word

Dwell time 0 ~ 50,000[unit: ms] 0

K477

%KW477

K517

%KW517

Word

Jog high speed 1 100,000[pulse/∼ s]

5,000

K479

%KD239

K519

%KD259

Double word

Jog low speed 1 100,000[pulse/∼ s] 1,000

K481

%KD240

K521

%KD260

Double word

Jog ACC time 0 ~ 10,000[unit: ms] 1,000

K483

%KW483

K523

%KW523

Word

Jog DEC time 0 ~ 10,000[unit :ms] 1,000

K484

%KW484

K524

%KW524

Word

Inching speed 1 65,535[pulse/∼ s] 100

K485

%KW485

K525

%KW525

Word

Chapter 3 Before positioning

3- 39

(1) Home Return method

• There are three home return methods as follows. a) DOG/Origin(Off) :

-If origin signal is inputted, it detects the origin signal after DOG changes On -> Off.

b) DOG/Origin(On) : When DOG is on, it detects the origin after deceleration

-If DOG signal is on and origin signal is inputted after deceleration, it detects the origin.

c) DOG :

-It detects the origin by using DOG signal.

• For more detail of home return method, refer to 3.1.9.

(2) Home Return direction

• Home Return direction is divided into CW(forward) and CCW(backward) depending on pulse output

direction.

Setting

value

Home Return

direction

Pulse output operation of XGB positioning module

0 Forward Executing forward home return.

1 Backward Executing backward home return.

(3) Origin address

• It is used to change the current address to a value set in home return address when home return is completed by home return instruction.

• setting range: -2,147,483,648 2,147,483,647∼ (unit: Pulse)

(4) Home Return high speed

• As a speed when it returns home by home return instruction, it is divided into high speed and low

speed.

• It refers to a speed operating in regular speed section via accelerating section by home return instruction.

•

The range of home return high speed is between 1 100,000(unit: pps)∼

(5) Home Return low speed

• It refers to a speed operating in regular speed section via decelerating section from home return high speed by home return instruction.

• The range of home return low speed is between 1 ∼ 100,000(unit: pps)

Remark

• When setting home return speed, it should be “speed limit ≥ home return high speed ≥ home return low speed”.

• It is recommended to set home return low speed as low as possible when setting home return speed. Origin signal detection may be inaccurate if low speed is set too fast.

(6) Home Return ACC/DEC time

• When it returns home by home return instruction, it returns home at the speed of home return high

speed and home return low speed by ACC/DEC time.

• The range of home return ACC/DEC time is between 0 ∼ 10,000(unit: 1 ㎳).

(7) Dwell

time

• It sets Dwell time applied to Home Return

• Dwell time is necessary to maintain precise stop of servo motor when positioning by using a servo motor.

• The actual duration necessary to remove remaining pulse of bias counter after positioning ends is called ‘dwell time’.

Chapter 3 Before positioning

3- 40

•

The range of home return dwell time is between 0 ∼ 50,000 (unit: 1 ㎳)

(8) JOG high speed

• Jog speed is about jog operation, one of manual operations and is divided into jog low speed

operation and jog high speed operation.

• Jog high speed operation is operated by patterns with accelerating, regular speed and decelerating

sections. Therefore, job is controlled by ACC/DEC instruction in accelerating section and decelerating section.

• The range of jog high speed is between 1 ∼ 100,000(unit: 1pps)

(9) JOG low speed

• Jog low speed operation is operated with patterns of accelerating, regular speed and decelerating sections.

• The range of jog low speed is between 1 ∼ 100,000 (unit: 1pps)

Remark

• When setting JOG high speed, it should be “Speed limit ≥ JOG high speed ≥ Bias speed”.

• When setting JOG low speed, it should be smaller than JOG high speed.

(10) JOG ACC/DEC time

• It refers to JOG ACC/DEC time during jog high/low speed operation.

•

The range of JOG ACC/DEC time is between 0 ∼ 10,000 (unit: 1 ㎳)

(11) Inching speed

• The inching operation speed is set.

• The range of inching speed is between 1 ∼ 65,535 (unit: 1pps)

• For detail of inching operation, refer to 3.1.12.

Chapter 3 Before positioning

3- 41

3.3 Positioning Operation Data

It describes operation data for XGB positioning. If the user select ‘X axis data’ or ‘Y axis data’ tap in the positioning parameter setting window, the following figure is displayed. Each axis can have 30~80 (standard type: 30 steps, compact stand/high-end type: 80steps) steps of operation data.

Each of item can have a following data.

Step Item Range

Initial

values

Device area

Remarks

X-axis Y-axis

Coord. 0 : ABS, 1 : Incremental ABS

K5384

%KX8612

K8384

%KX13412

Bit

Pattern

0 : end, 1 : continuous, 2 : sequential

End

K5382~3

%KX8610-11

K8382~3

%KX13410-11

Bit

Control

0 : position control, 1 : speed control

Position

K5381

%KX8609

K8381

%KX13409

Bit

Method 0: single, 1 : repeat Single

K5380

%KX8608

K8380

%KX13408

Bit

REP 0~30(High end 0~80) 0

K539

%KW539

K839

%KW839

Word

Address(pulse)

-2,147,483,648 ∼ 2,147,483,647 [pulse]

K530

%KD265

K830

%KD415

Double

word

M Code 0 ~ 65,535 0

K537

%KW539

K837

%KW837

Word

A/D No. 0 : No.1, 1 : No.1, 2 : No.3 3 : No.4 0

K5386-87

%KX8614-15

K8386-87

%KX13414-15

Bit

Speed 1 ∼ 100,000[pulse/sec]

K534

%KD267

K834

%KD417

Double

word

Dwell time 0 ~ 50,000[unit: ㎳] 0

K536

%KW536

K836

%KW836

Word

2 Same item with No.1 step

K540~549

%KW540~549

K840~849

%KW840~849

3~30 Same item with No.1 step

K550~829

%KW550~829

K850~1129

%KW850~1129

Same item with No.1 step

K2340~2349

%KW2340~2349

K2840~2849

%KW2840~2849

Only for

high end

type

32~80 Same item with No.1 step

K2350~2839

%KW2350~2839

K2850~3339

%KW2850~3339

Chapter 3 Before positioning

3- 42

(1) Step number

• The range of positioning data serial number is between 1 ~ 30. (compact standard/high-end type is 1~80)

• When executing indirect start, simultaneous start, linear interpolation operation, position synchronization and etc., if you designates the step number of data to operate, it operates according to positioning dedicated K area where operation data is saved.

• If step number is set as 0, operation step indicated at the current step number (X axis: K426(%KW426), Y axis: K436(%KW436)) of positioning monitor flag is operated.

Remark

• The user can use variable of dedicated K area per each step easily by using Register U Device. For detail of monitor registration of positioning, refer to XG5000 user manual.

(2) Coordinates

• Here sets the coordinates method of relevant operation step data.

• Coordinates methods selectable are absolute coordinate and Incremental coordinate.

• For more detail, refer to 3.1.2.

(3) Operation pattern (END/KEEP/CONT) and operation method (SIN/REP)

• The user can select one pattern among three operation patterns per step. It can configure how to use the positioning operation data.

• Operation pattern can be set as follows according to Control and Method on the operation data.

Control Method Pattern Reference

POS

SIN

END

KEEP

CONT Linear interpolation is not available

REP

END

KEEP

CONT Linear interpolation is not available

SPD

SIN

END Linear interpolation is not available

KEEP Linear interpolation is not available

CONT Not available

REP

END Linear interpolation is not available

KEEP Linear interpolation is not available

CONT Not available

• In case Method is set as SIN, the next operation step become ‘current operation step + 1’. And in case Method is set as REP, the next operation step become the step set in REP Step.

Chapter 3 Before positioning

3- 43

(a) END (SIN)

• It refers to execute the positioning to target address by using the data of operation step and complete the positioning after dwell time.

• Generally with END operation, position operation is executed according to pre-arranged speed and

position like above picture as ladder shape with accelerated, constant, and decelerated intervals. However depending on position and speed settings, special shapes besides a ladder can be witnessed as below.

1) In case target address is far less than speed, it can’t pass the acceleration - regular speed – deceleration section. In this case, the positioning is complete without regular speed section.

2) In case operation speed is same with bias speed, target moves with regular speed (bias speed) and it stops without deceleration section.

Chapter 3 Before positioning

3- 44

• It assumes that operation data is as follows to describe END/SIN operation.

Step

no.

Coord

Pattern

Contr

Method REP

Step

Address

[Pulse] M code

A/D

No.

Speed

[pls/s]

Dwell [㎳]

1 ABS END POS SIN 0 10,000 0 1 1,000 100 2 ABS END POS SIN 0 20,000 0 1 500 100 3 ABS END POS SIN 0 30,000 0 1 1,000 100

• In the above table, operation pattern is set as END, target moves once by once start command

and since Method is set as SIN, the next step becomes ‘current operation step + 1’.

• To operate the next step, one more start command is necessary.

(b) END operation (Repetition)

• In case END operation (repetition), operation of currently started operation is same with END

operation (single).

But, The next step becomes the step set in the REP Step, which is different with END operation

(single).

• It assumes that operation data is set as follows to describe END/Repetition.

Step

No.

Coord

Pattern

Contr

Method REP

Step

Address

[Pulse] M code

A/D

No.

Speed

[pls/s]

Dwell [㎳]

1 ABS END POS SIN 0 10,000 0 1 1,000 100 2 ABS END POS REP 1 20,000 0 1 500 100 3 ABS END POS SIN 0 30,000 0 1 1,000 100

1) By first start command, target moves to 10,000 pulse with 1,000pps speed and stops. At this time, since Method is SIN, the next operation step becomes the no.2 step, current operation step +1.

2) By second start command, target moves to 20,000 with 500pps and stops. At this time,

Method is REP, the next operation step becomes no.1 step set in REP Step, not no.3 step.

3) If third start command is inputted, target moves to 10,000 ABS coordinates with 1,000 pps.

4) Like this, no.1 step and no.2 step are repeated whenever start command is executed so no.3 step is not operated.

Chapter 3 Before positioning

3- 45

Remark

•If the operation mode is set as single, set the operating step number in the IST at 0, then the step specified in the current step number (axis X: K426(%KW426), axis Y: K436 (%KW436)) in area K for positioning.

•If the operation mode is set as Repeat and the Repeat step is set at 0, the step stops operating and the next step changes into 0. In this case, the operating step gets out of the range of 1~30 (1~80 for the compact standard/high-end type) and error code 512 comes out, so be careful of the repeating step setting when you set at the repeating operation.

•Continued operation refers to the operation which carried out positioning to the target position by using the data of the corresponding operating step by the operation instruction and continues the next operating steps without any additional operation instructions with the positioning not completed after the dwell time.

•The next operating steps differ according to the current operating mode of the steps.

A) The operation mode of the current step is single: current operating step + 1 B) The operation mode of the current step is repetition: the step designated as Repeat in the current operation step

•If you use the continued operation pattern, you can conduct the pattern operation that sequentially

carried out multiple operating steps with only one operation instruction.

•The continued operation can be explained with the operation data in the following table.

Step No.

Coordina

tes

Operation

pattern

Control

Operation

mode

Repeatin

g step

Target position

[Pulse]

code

Acc./Dec.

No.

Speed

[pls/s]

Dwell time

[㎳]

1 Absolute Keep Position Single 0 10,000 0 0 1,000 100

2 Absolute Keep Position Single 0 20,000 0 0 500 100

3 Absolute End Position Single 0 30,000 0 1 1,000 0

4 Absolute End Position Repeat 1 40,000 0 1 500 0

1) Steps 1 and 2 are continued in the operation pattern and single in the operation mode, so they operate at 1,000pps to the pulse of absolute coordinates 10,000 and then operates step 2, the next step, without waiting for the next operation instruction when the dwell time passes. If the dwell time passes after step 2, step 3 is operated.

2) Step 3, of which the operation pattern is end, operates up to absolute coordinates 30,000, and then stops right away because the dwell time is 0, and the positioning completion bit turns on for a scan.

Chapter 3 Before positioning

3- 46

3) Since the operation mode of step 3 is single, the next step is No. 4.

4) Step 4 has been set as end/repeat 1, it operates up to absolute coordinates 40,000 when step 4 operates by the second operation instruction, and stops without dwell time, and the next step points at step 1 which has been designated as the Repeat step.

5) The operation pattern can be illustrated as follows.

(d) Incessant Operation

• Incessant operation refers to the operation that continues the steps set as continued operation by

the operation instruction.

• The continued operation can be explained with the operation data in the following table.

Step No.

Coordina

tes

Operation

pattern

Control

Operation

mode

Repeatin

g step

Target position

[Pulse]

code

Acc./Dec.

No.

Speed

[pls/s]

Dwell time

[㎳]

1 INC Continuous Position Single 0 10,000 0 1 500 100

2 INC End Position Repeat 1 20,000 0 1 1,000 0

1) Since the operation pattern of step 1 has been set as continued, it operates up to the incremental coordinates 10,000 pulse at 500pps by the first operation instruction, and changes the operation speed to 1,000pps without deceleration or stop and continues to operate step 2.

2) Because the operation pattern of step 2 is end, it moves to incremental coordinates 20,000 and the positioning ends after the dwell time.

Remark

• If the direction changes during the continued operation, error code 511 comes out and the operation stops. If the direction has to change, change “Continuous” into “End” or “Keep”.

Chapter 3 Before positioning

3- 47

(4) Repeat Step

• Sets the step to repeat when the operation mode is set as Repeat.

• The setting range is 1~30 (1~80 for the compact standard/high-end type).

(5) Target Position

• Sets the movement of the operation of the step.

• The setting range is -2,147,483,648 ∼ 2,147,483,647 (unit: Pulse).

• The target position set in operation data setting can be freely changed in the program by changing the value of area K for positioning.

• For the address of area K for positioning of each step number, see 2.2.

(6) M Code

• M code is for checking the current operation step or carrying out the auxiliary work such as tool change, clamp, and drill rotation.

• In general, the output of M code divides into the ‘With’ mode, when M code is output with the step operating, and the ‘After’ mode when M code is output after the step operation is completed. For XGB built-in positioning, the standard type has only the After mode, and the advanced type has all modes.

• For example, if M code output mode is set as the After mode, the positioning of the step is completed and at the same time, the M code On signal (axis X: K4203(%KX6723), axis Y: K4303 (%KX6883)) is set and the M code number set in the M code item of the step operation data is output in the M code output device (axis X: K428(%KW428), axis Y: K438(%KW438)).

• M code can be set differently for the operation steps of the positioning operation data. The setting range is 1 ~ 65,535. If you don’t want to use M code function for the step, just set it at 0. If you don’t want to use M code function for any step, set the M code output mode parameter as NONE.

• If there is the M code signal, you can reset it by using the M code Off instruction (MOF).

• If there is the M code signal, the operation differs depending on the current operation pattern. (a) End: Stops with M code coming out. For operation of the next operation step, the M code should

be reset and the operation instruction should be executed.

(b) Continued: Enters the Stand-by status for operation of the next step with M code coming out.

For operation of the next operation step, if the M code is reset, the next operation step is operated without additional operation instructions.

this case, M code Off instruction can be carried out even during operation.

• For example, the output timing of M code signals in case of After Mode can be illustrated as follows.

Chapter 3 Before positioning

3- 48

Remark

• With M code signal On, if you execute the next operation step number, error code 233 will

come out and the operation will not happen. Therefore, for positioning of the next operation step number with M code signal “On,” you must reset M code signal as M code Off instruction (MOF).

(7) Acceleration/Deceleration Numbers

• Sets the Acc./Dec. numbers to be used in the step during the acceleration/deceleration time set in the basic positioning parameter.

• The setting range is 1~4.

• For details about the acceleration/deceleration time, see 3.2.3.

(8) Operation Speed

• Set the target speed at which to operate in the step.

• The setting range is 1 ~ 100,000 pulse (unit:1pps).

• The operation speed should be set higher than or equal to the bias speed set in the basic

positioning parameter, and lower than or equal to the speed limit.

(9) Dwell Time

• The dwell time to be applied to the operation step.

• The dwell time refers to the time needed to maintain the precise stop of the servo motor in controlling the positioning by using the servo motor, and also the standby time given before the next positioning operation when one positioning operation is finished.

• Especially when the servo motor is used, it might not reach the target position or stay excessive

even though the output of the positioning function has been stopped, so the dwell time is the data that set the standby time until the stable rest.

• The operation status of the axis of the XGB positioning function during the dwell time maintains

“Operation,” and if the dwell time passes, the operation status signaling bit (axis X: K4200(%KX6720), axis Y: K4300(%KX6880)) turns Off and the positioning completion signal turns On.

Chapter 3 Before positioning

3- 49

3.4 Positioning Status Monitoring and Area K for Input and Output

The XGB built-in positioning function controls positioning by using area K for positioning and the

parameters. This Chapter describes area K for positioning.

For the relations between the XGB built-in positioning parameters and area K, see 3.2.2. XGB built-in positioning area K divides into the bit flag, word, and double word flag. The flag in turn divides into the status monitoring flag area (for read only) and the flag for instruction and command (for read and write).

3.4.1 Status Monitoring and Flag for Positioning

This chapter describes the XGB built-in status monitoring flag for positioning (for read only). The status monitoring flag divides into bit, word, and double word.

(1) Bit Area Flag

(a) XBM/XBC bit area flag

Variables

Device Area

Status

Axis X Axis Y

Word Bit Address Word Bit Address

In operation

K420

0 K4200

K430

0 K4300 0: stop, 1: operation Error 1 K4201 1 K4301 0: no error, 1: error Positioning completed

2 K4202 2 K4302 0: not completed, 1: completed

M code signal 3 K4203 3 K4303 0:M code Off, 1:M code On

Origin settled 4 K4204 4 K4304

0: origin not decided, 1: origin decided

No pulse output 5 K4205 5 K4305 0: output available, 1: no output

Stopped 6 K4206 6 K4306

0: not stopped

1: stopped Upper limit detected 8 K4208 8 K4308 0: undetected, 1: detected Lower limit detected 9 K4209 9 K4309 0: undetected, 1: detected

Emergency stop A K420A A K430A

0: normal, 1: abnormally

stopped Normal/backward rotation

B K420B B K430B

0: normal direction, 1:

backward direction Operation (acceleration)

C K420C C K430C

0: not accelerated, 1:

accelerated Operation (constant speed)

D K420D D K430D

0: not constant speed, 1:

constant speed Operation (deceleration)

E K420E E K430E

0: not decelerated, 1:

decelerated

Operation (dwell) F K420F F K430F

0: not during dwell, 1: during

dwell Operation (positioning)

K421

0 K4210

K431

0 K4310

0: position not controlled

1: position controlled Operation (speed control)

1 K4211 1 K4311

0: speed not controlled

1: speed controlled Operation control (straight interpolation)

2 K4212 2 K4312

0: interpolation not controlled

1: interpolation controlled

Return to origin 5 K4215 5 K4315

0: not returning to origin

1: returning to origin Position synchronization

6 K4216 6 K4316

0: position not synchronized

1: position synchronized

Chapter 3 Before positioning

3- 50

Speed synchronization

7 K4217 7 K4317

0: speed not synchronized

1: speed synchronized

Jog low speed 8 K4218 8 K4318

0: jog not at low speed

1: jog at low speed

Jog high speed 9 K4219 9 K4319

0: jog not at high speed

1: jog at high speed

Inching operation A K421A A K431A

0:not during inching operation

1: during inching operation

(a) XEC bit area flag

Variables

Device area

Status

Axis X Axis Y

Address Address

In operation %KX6720 %KX6880 0: stop, 1: operation Error %KX6721 %KX6881 0: no error, 1: error Positioning completed

%KX6722 %KX6882 0: not completed, 1: completed

M code signal %KX6723 %KX6883 0:M code Off, 1:M code On Origin settled %KX6724 %KX6884 0: origin not decided, 1: origin decided No pulse output %KX6725 %KX6885 0: output available, 1: no output

Stopped %KX6726 %KX6886

0: not stopped

1: stopped Upper limit detected %KX6728 %KX6888 0: undetected, 1: detected Lower limit detected %KX6729 %KX6889 0: undetected, 1: detected Emergency stop %KX6730 %KX6890 0: normal, 1: abnormally stopped Normal/backward rotation

%KX6731 %KX6891

0: normal direction, 1: backward

direction Operation (acceleration)

%KX6732 %KX6892 0: not accelerated, 1: accelerated

Operation (constant speed)

%KX6733 %KX6893

0: not constant speed, 1: constant

speed Operation (deceleration)

%KX6734 %KX6894 0: not decelerated, 1: decelerated

Operation (dwell) %KX6735 %KX6895 0: not during dwell, 1: during dwell Operation (positioning)

%KX6736 %KX6896

0: position not controlled

1: position controlled Operation (speed control)

%KX6737 %KX6897

0: speed not controlled

1: speed controlled Operation control (straight interpolation)

%KX6738 %KX6898

0: interpolation not controlled

1: interpolation controlled

Return to origin %KX6741 %KX6901

0: not returning to origin

1: returning to origin Position synchronization

%KX6742 %KX6902

0: position not synchronized

1: position synchronized Speed synchronization

%KX6743 %KX6903

0: speed not synchronized

1: speed synchronized

Jog low speed %KX6744 %KX6904

0: jog not at low speed

1: jog at low speed

Jog high speed %KX6745 %KX6905

0: jog not at high speed

1: jog at high speed

Inching operation %KX6746 %KX6906

0:not during inching operation

1: during inching operation

Chapter 3 Before positioning

3- 51

(2) Status Monitoring Data Area (a) XBM/XBC status monitoring area

Variables

Device Area

Status

Axis X Axis X

Address Properties Address Properties

Current position K422

Double word

K432

Double word Shows current position

Current speed K424

Double word

K434

Double word Shows current speed

Step No. K426

Double word

K436

Word Shows current operation step

Error code K427

Word

K437

Word Shows error code in case of an error

M code No. K428

Word

K438

Word

Shows M code number when M code is on

(b) XBM/XBC status monitoring area

Variables

Device Area

Status

Axis X Axis Y

Address Properties Address Properties

Current position %KD211

Double word

%KD216

Double word

Shows current position

Current speed %KD212

Double word

%KD217

Double word

Shows current speed

Step No. %KW426

Double word

%KW436

Word Shows current operation step

Error code %KW427

Word

%KW437

Word Shows error code in case of an error

M code No. %KW428

Word

%KW438

Word

Shows M code number when M code is on

3.4.2 Flag for Positioning Instruction and Command

The flag for positioning instruction and command divides as follows. You can easily conduct positioning operation without positioning instruction using the flag. If you change the flag for instruction of area K, the scan ends and applies in the next scan.

(1) Bit Area Flag (a) XBM/XBC bit area flag

Variables

Device Area

Status Axis X Axis Y

Word Bit Address Word Bit Address

Start signal

K429

0 K4290

K439

0 K4390 Indirect start at rising edge

Normal direction jog 1 K4291 1 K4391

0: stop jog,

1: normal direction jog operation Backward direction jog

2 K4292 2 K4392

0: stop jog,,

1: normal direction jog operation

Jog high/low speed 3 K4293 3 K4393

0: jog low speed, 1: jog high

speed

M code output mode K468

1 K4681

K508

1 K5081

0: NONE, 1: WITH, 2: AFTER

2 K4682 2 K5082

Chapter 3 Before positioning

3- 52

Upper/lower limit detection of S/W allowed during constant speed operation

4 K4684 4 K5084

0: detection not allowed,

1: detection allowed

Return-to-origin method

K478

0,1 K4780~1

K518

1 K5180~1

0: approximate

origin/origin(OFF)

1: approximate origin/origin (On)

2: approximate origin Return-to-origin direction

2 K4782 2 K5182

0: normal direction, 1: backward

direction

Use for positioning

K487

0 K4870

K527

0 K5270 0: use, 1: no use

Pulse output level 1 K4871 1 K5271 0: low Active,1: high Active

Use of upper/lower limit

2 K4872 2 K5272 0: no use, 1: use

Pulse output mode 3 K4873 3 K5273 0: CW/CCW, 1: PLS/DIR

(b) XEC bit area flag

Variables

Device area

Status Axis X Axis Y

Address Addreess

Start signal %KX6864 %KX7024 Indirect start at rising edge

Normal direction jog %KX6865 %KX7025

0: stop jog,

1: normal direction jog operation Backward direction jog

%KX6866 %KX7026

0: stop jog,,

1: normal direction jog operation

Jog high/low speed %KX6867 %KX7027 0: jog low speed, 1: jog high speed

M code output mode

%KX7489 %KX8129

0: NONE, 1: WITH, 2: AFTER

%KX7490 %KX8130 Upper/lower limit detection of S/W allowed during constant speed operation

%KX7492 %KX8132

0: detection not allowed, 1: detection allowed

Return-to-origin method

%KX7648-49 %KX8288-89

0: approximate origin/origin(OFF) 1: approximate origin/origin (On)

2: approximate origin Return-to-origin direction

%KX7650 %KX8290

0: normal direction, 1: backward

direction

Use for positioning %KX7792 %KX8432 0: use, 1: no use

Pulse output level %KX7793 %KX8433 0: low Active,1: high Active

Use of upper/lower limit

%KX7794 %KX8434 0: no use, 1: use

Pulse output mode %KX7795 %KX8435 0: CW/CCW, 1: PLS/DIR

1) The starting signals conducts positioning operation according to the current operation step number (axis X: K426(%KW426), axis Y: K436(%KW436)) without setting the step number unlike indirect or direct starting.

2) Since the current operation step area is for read only, if you want to change the operation step number, you need to use the starting step number change instruction (SNS, APM_SNS).

3) The following program is an example of the program that indirectly starts with the operation data displayed in the current step number (K426) on axis X by setting the starting signal whenever

Chapter 3 Before positioning

3- 53

the external input starting switch (P000F) turns On.

Device Description Device Description

P000F(%IX0.0.15)

Axis X starting external

switch

K4201(%KX6721) Axis X error

K4200(%KX6720)

Axis X signal during

operation

K4290(%KX6864)

Axis X starting instruction

flag

• The program above is an example of the program that indirectly starts with the operation data of

the current step number (K426 word) on axis X by setting the starting signal whenever the external input starting switch (P000F) turns On.

• When the starting switch turns On, the starting commanding flag (K4290) is set and axis X starts, and when the starting switch turns Off, the starting contact point is reset.

• Note that the set coil is used for axis X starting commanding flag (K4290) instead of ordinary coil output. For example, if a toggle switch is used for the starting switch, and if the starting commanding flag (K4290) is not set but ordinary coil output is used, there might be the problem that it is automatically restarted by the bit Off during operation when positioning is completed. To avoid this, use a push button switch for the external input switch, and use a set coil and reset coil according to the On/Off of the input switch for the starting commanding flag.

Chapter 3 Before positioning

3- 54

(b) Jog Operation

1) The following program is an example of the program that carries out the jog operation of axis X

by turning on/off the flag for commanding the normal/backward direction jog according to the

external input signal.

Device Description Device Description

P0008(%IX0.0.8)

External input of

normal direction jog

K4201(%KX6721) Flag displaying axis X error

P0009(%IX0.0.9)

External input of

backward direction jog

K4291(%KX6865)

Flag commanding normal

direction jog of axis X

P000A(%IX0.0.10)

External input of jog

low speed/high speed

K4292(%KX6866)

Flag commanding

backward direction jog of

axis X

K4200(%KX6720)

Signal of axis X during

operation

K4293(%KX6867)

Flag commanding jog

low/high speed of axis X

• The program above is an example of the program that carries out the jog operation in the corresponding direction while the external input normal direction jog switch (P0008) or backward direction jog switch (P0009) in On.

• Then the operation speed is jog high speed if the jog low/high speed external input (P000A) is On, and high low if Off, and can be changed during jog operation, too.

• As the start and stop of jog operation is done by the level of the input signals, if the input signal (P0008, P0009) is On, it operates, and if Off, it carries out jog stop.

• If both jog normal direction operation and backward direction operation are On, there is no error code in XGB built-in positioning, but it stops if it is currently in operation.

Remark

• If you do jog operation by adding the signal (K4200(%KX6720), K4300(%KX6880)) during operation as the normally closed contact point (contact point B) for the jog operation input condition, it alternates starting and stopping according to the On/Off of the signal during operation.

Chapter 3 Before positioning

3- 55

(2) Data Area for Positioning Setting

(a) In case of XBM/XBC

Variables

Device Area

Status

Axis X Axis Y

Address Properties Address Properties

Bias speed K0450 Double word K0490 Double word Sets bias speed.

Speed limit K0452 Double word K0492 Double word Sets maximum speed limit.

Acceleration time 1 K0454 Word K0494 Word Sets acceleration time 1.

Deceleration time 1 K0455 Word K0495 Word Sets deceleration time 1.

Acceleration time 2 K0456 Word K0496 Word Sets acceleration time 2.

Deceleration time 2 K0457 Word K0497 Word Sets deceleration time 2.

Acceleration time 3 K0458 Word K0498 Word Sets acceleration time 3.

Deceleration time 3 K0459 Word K0499 Word Sets deceleration time 3.

Acceleration time 4 K0460 Word K0500 Word Sets acceleration time 4.

Deceleration time 4 K0461 Word K0501 Word Sets deceleration time 1

Upper limit of

software

K0462 Double word K0502 Double word

Sets upper limit value of

software.

Lower limit of

software

K0464 Double word K0504 Double word

Sets lower limit value of

software.

Backlash correction K0466 Word K0506 Word

Sets backlash correction

value.

Origin address K0469 Double word K0509 Double word

Sets origin address for origin

return.

High speed of origin

return

K0471 Double word K0511 Double word

Sets high speed for origin

return.

Low speed of origin

return

K0473 Double word K0513 Double word

Sets low speed for origin

return.

cceleration time for

origin return

K0475 Word K0515 Word

Sets acceleration time for

origin return

Deceleration time for

origin return

K0476 Word K0516 Word

Sets deceleration time for

origin return

Dwell time for origin

return

K0477 Word K0517 Word

Sets dwell time for origin

return

Jog high speed K0479 Double word K0519 Double word

Sets high speed for jog

operation.

Jog low speed K0481 Double word K0521 Double word

Sets low speed for jog

operation

Jog acceleration time K0483 Word K0523 Word

Sets acceleration time for jog

operation

Jog deceleration time K0484 Word K0524 Word

Sets deceleration time for jog

operation

Inching speed K0485 Word K0525 Word

Sets operation speed for

inching operation.

Chapter 3 Before positioning

3- 56

(b) In case of XEC

Variables

Device area

Status

Axis X Axis Y

Address Properties Address Properties

Bias speed %KD225 Double word %KD245 Double word Sets bias speed.

Speed limit %KD226 Double word %KD246 Double word Sets maximum speed limit.

Acceleration time 1 %KW454 Word %KW494

Word

Sets acceleration time 1.

Deceleration time 1 %KW455

Word

%KW495

Word

Sets deceleration time 1.

Acceleration time 2 %KW456

Word

%KW496

Word

Sets acceleration time 2.

Deceleration time 2 %KW457

Word

%KW497

Word

Sets deceleration time 2.

Acceleration time 3 %KW458

Word

%KW498

Word

Sets acceleration time 3.

Deceleration time 3 %KW459

Word

%KW499

Word

Sets deceleration time 3.

Acceleration time 4 %KW460

Word

%KW500

Word

Sets acceleration time 4.

Deceleration time 4 %KW461

Word

%KW501

Word

Sets deceleration time 1

Upper limit of

software

%KD231 Double word %KD251 Double word

Sets upper limit value of

software.

Lower limit of

software

%KD232 Double word %KD252 Double word

Sets lower limit value of

software.

Backlash correction %KW466 Word %KW506 Word

Sets backlash correction

value.

Origin address %KD234

Double word

%KD254

Double word

Sets origin address for origin

return.

High speed of origin

return

%KD235

Double word

%KD255

Double word

Sets high speed for origin

return.

Low speed of origin

return

%KD236

Double word

%KD256

Double word

Sets low speed for origin return.

cceleration time for

origin return

%KW475

Word

%KW515

Word

Sets acceleration time for origin

return

Deceleration time for

origin return

%KW476

Word

%KW516

Word

Sets deceleration time for origin

return

Dwell time for origin

return

%KW477

Word

%KW517

Word

Sets dwell time for origin return

Jog high speed %KD239

Double word

%KD259

Double word

Sets high speed for jog

operation.

Jog low speed %KD240

Double word

%KD260

Double word

Sets low speed for jog

operation

Jog acceleration time %KW483 Word %KW523 Word

Sets acceleration time for jog

operation

Jog deceleration time %KW484 Word %KW524 Word

Sets deceleration time for jog

operation

Inching speed %KW485 Word %KW525 Word

Sets operation speed for

inching operation.

Chapter 3 Before positioning

3- 57

(3) Status Monitoring and Commanding Flag by Operation Step

(a) In case of XBM/XBC (Step 01)

Variables

Device area

Status

Axis X Axis Y

properties

Address Address

Step 01 target position K0530 K0830

Double

word

Step 01 operation speed K0534 K0834

Double

word

Step 01 dwell time K0536 K0836 Word

Step 01 M code number K0537 K0837 Word

Step 01 operation method K05380 K08380 Bit

Step 01 control method K05381 K08381 Bit

Step 01 operation pattern

(Low)

K05382 K08382

Bit

Step 01 operation pattern

(High)

K05383 K08383

Bit

Step 01 coordinates K05384 K08384 Bit

Step 01 acc./dec. number

(Low)

K05386 K08386

Bit

Step 01 acc./dec. number

(High)

K05387 K08387

Bit

Step 01 coordinates K0539 K0839 Word

Chapter 3 Before positioning

3- 58

(b) In case of XBM/XBC (Step 01)

Variables

Device area

Status

Axis X Axis Y

properties

Address Address

Step 01 target position

%KD265 %KD415

Double

word

Step 01 operation speed

%KD267 %KD417

Double

word

Step 01 dwell time

%KW536 %KW836

Word

Step 01 M code number

%KW537 %KW837

Word

Step 01 operation method

%KX8608 %KX13408

Bit

Step 01 control method

%KX8609 %KX13409

Bit

Step 01 operation pattern

(Low)

%KX8610 %KX13410

Bit

Step 01 operation pattern

(High)

%KX8611 %KX13411

Bit

Step 01 coordinates

%KX8612 %KX13412

Bit

Step 01 acc./dec. number

(Low)

%KX8614 %KX13414

Bit

Step 01 acc./dec. number

(High)

%KX8615 %KX13415

Bit

Step 01 coordinates

%KW539 %KW839

Word

• The table above shows the area K for positioning of the operation step #1. You can change the operation data without setting the parameters by changing the value of the corresponding area K.

• If you want to permanently preserve the operation data of the changed area K, apply the data of current area K to the built-in parameter area by using the applied instruction (WRT instruction, APM_WRT instruction).

Remark

• Note that area K for positioning is initialized if you cut the power and re-supply power or if you change the operation mode without executing the WRT instruction after changing the value of area K.

• The variable of area K for each step can be used more conveniently by using the variable registration function of XG5000. For the positioning monitor registration, see the manual of XG5000.

Chapter 4 Positioning Check

4- 1

Chapter 4 Positioning Check

This Chapter describes how to test the operat ion test to check whether the positioning function is well performed

before the XGB positioning function is used.

4.1 The Sequence of Positioning Check

This is for checking whether the XGB positioning operation is normally performed by carrying out normal and reverse direction jog operation. The sequence is as follows.

(1) Power Off

• Distribution is needed to check the XGB positioning operation. Before distribution, turn off XGB.

• Be sure to check whether the PWR LED of XGB is off before moving on to the next step.

(2) Input Signal Distribution

• Distribute the input signals needed to check the operation as follows.

• Do not connect the output signal line to the motor driver. If there is a problem with the PLC hardware, connecting to the motor driver might lead to malfunction or damage to the equipment.

Input Signal

Contact Point

Type

Contact Point No.

Remark

XBC XEC

Jog normal direction

switch

Contact point normally open (A)

Axis X P0010 %IX0.0.16

Contact point

randomly selected

Axis Y P0011 %IX0.0.17

Contact point

randomly selected

Jog reverse direction

switch

Axis X P0012 %IX0.0.18

Contact point

randomly selected

Axis Y P0013 %IX0.0.19

Contact point

randomly selected

(3) Making the Program for Operation Check

• Make the program for checking the operation by using XG5000. For the details and making of the program, see ‘4.2 Making of the

Program for Operation Check.’

(4) Power Supply and Program Writing

• If you have finished making the program, supply power to XGB PLC, and use XGB as the parameter

and the program.

(5) Input Contact Point Operation Check

• Before switching the operation mode of the PLC to RUN, check the normal operation of the input

contact point as follows.

Input Signal

Contact No.

Operation Check

XBC XEC

Jog normal

direction

Axis X P0010 %IX0.0.16

• Check whether the LED of the contact point turns on while the switch is ON and the value of the contact point changes into 1 in the device monitor of XG5000.

Axis Y P0011 %IX0.0.17

Jog reverse

direction

Axis X P0012 %IX0.0.18 Axis Y P0013 %IX0.0.19

• If the device doesn’t work as described in the table above, there might be a problem with the LED or

the input hardware, so contact the customer center.

Chapter 4 Positioning Check

4- 2

(6) Operation Check through Jog Operation

• Check the operation of XGB positioning doing jog operation in the following sequence.

• This manual describes the axis X operation check when the pulse output mode is PLS/DIR mode

and the pulse output level is set as Low Active. Check the operation of axis Y. in the same manner. (a) Check of Normal Direction Rotation of Jog

• Turn on the normal direction switch(P0010) of axis X, with the reverse direction switch of the jog set at Off.

• Check whether the XGB positioning function normally generates jog normal direction output.

1) Check of the output LED

- P0020 (%QX0.0.0) : flashes quickly

- P0022 (%QX0.0.2) : stays ON

2) Check of area K

- Check whether the current position address is increasing by checking the current

position address area (axis X: K422 double word) with XG5000.

(b) Check of Normal Direction Stop of Jog

• Turn Off the jog normal direction switch (P0010, %IX0.0.16) during jog normal direction

operation, and check whether the output LED (P0020, %QX0.0.0, P0022, %QX0.0.2) is Off, the current position address area (axis X: K422, %KD211 double word) with XG5000, and whether the current position address has stopped increasing.

• Turn on the axis X jog reverse direction switch (P0012, %IX0.0.18)), with the normal direction switch of the jog Off.

• Check whether the XGB positioning function is generating jog reverse direction output normally.

1) Output LED Check

- P0020(%QX0.0.0) : flashes quickly

- P0022(%QX0.0.2) : stays OFF

2) Check of area K

- Check whether the current position address is decreasing by checking the current

position address area (axis X: K422, %KD211 double word) with XG5000

(d) Check of Reverse Direction Stop of Jog

• Turn Off the jog reverse direction switch (P0012, %IX0.0.18) during jog reverse direction

(e) For compact standard type, there is not actual output P00040/P00044 and they are indicated by

LED.

(7) Finish of Positioning Check

• When you have finished checking whether the jog normal and reverse operation is normally operating through the process above, end the check, make the positioning operation program to be actually used and conduct the positioning operation.

Chapter 4 Positioning Check

4- 3

4.2 Making of Operation Check Program

The program for operation check used in this manual should be made as follows. The positioning parameters should be set as follows.

For setting the positioning parameters, see 3.2.

(1) Positioning Basic Parameters

Items Range Set Values Data Size

Positioning 0 : not used, 1 : used 0 Bit Pulse output level 0 : Low Active, 1 : High Active 0 Bit Pulse output mode 0 : CW/CC, 1 : PLS/DIR 1 Bit M code output mode 0 : NONE, 1 : WIT H, 2 : AFTER 0 2 Bit Bias speed

1 ∼ 100,000[pulse/sec.]

1 Double word

Speed limit

1 ∼ 100,000[pulse/sec.]

100,000 Double word Acceleration time 1 0 ~ 10,000[unit: ms] 500 Word Deceleration time 1

0 ~ 10,000[unit: ms] 500 Word

Acceleration time 2

0 ~ 10,000[unit: ms] 1,000 Word

Deceleration time 2

0 ~ 10,000[unit: ms] 1,000 Word Acceleration time 3 0 ~ 10,000[unit: ms] 1,500 Word Deceleration time 3

0 ~ 10,000[unit: ms] 1,500 Word Acceleration time 4

0 ~ 10,000[unit: ms] 2,000 Word Deceleration time 4

0 ~ 10,000[unit: ms] 2,000 Word S/W upper limit

-2,147,483,648 ∼ 2,147,483,647 [pulse]

2,147,483,647 Double word

S/W lower limit

-2,147,483,648 ∼ 2,147,483,647 [pulse]

-2,147,483,648 Double word

Backlash correction

0 ∼ 65,535[pulse]

0 Word

SW upper and lower limit during constant speed operation

0 : not detected, 1 : detected 0 Bit

Use of upper and lower limit

0 : not used, 1 : used 1 Bit

(2) Home return/Manual Operation Parameter

Items Range Initial Values Data Size

Home return method 0 ~2 0 Bit

Home return direction 0 : normal direction, 1 : reverse direction 1 Bit

Origin address

-2,147,483,648∼2,147,483,647[pulse]

0 Double word

Home return high speed

1 ∼ 100,000[pulse/sec.]

5,000 Double word

Home return low speed

1 ∼ 100,000[pulse/sec.]

500 Double word

Home return acceleration

time

0 ~ 10,000[unit: ms] 1,000 Word

Home return deceleration

time

0 ~ 10,000[unit: ms] 1,000 Word

Dwell time 0 ~ 50,000[u nit: ms] 0 Word

JOG high speed

1 ∼ 100,000[pulse/sec.]

5,000 Double word

JOG low speed

1 ∼ 100,000[pulse/sec.]

1,000 Double word JOG acceleration time 0 ~ 10,000[unit: ms] 1,000 Word JOG deceleration time 0 ~ 10,000[unit: ms] 1,000 Word

Inching speed

1 ∼ 65,535[pulse/sec.]

100 Word

Chapter 4 Positioning Check

4- 4

(3) Example of the Program

The following is an example of the program for positioning check.

(a) In case of XBM, XBC

(b) In case of XEC

Chapter 5 Positioning Instructions

5 - 1

Chapter 5 Positioning Instructions

This chapter describes the definitions, functions, use of the positioning instructions used in XGB

positioning functions and the program examples.

5.1 Positioning Instruction Alarm

The positioning instructions used for XGB positioning are as follows.

(1) In case of XBC/XBM

Instructi

ons

Description Conditions Remark

ORG

Start return to the origin

Slot, instruction axis

5.2.1

FLT

Set floating origin

Slot, instruction axis

5.2.2

DST

Direct starting

Slot, instruction axis, position, speed, dwell time,

M code, control word

5.2.3

IST

Indirect starting

Slot, instruction axis, step number

5.2.4

LIN

Linear interpolation starting

Slot, instruction axis, step number, axis information

5.2.5

SST

Simultaneous starting

Slot, instruction axis, axis X step, axis Y step,

axis Z step, axis information

5.2.6

VTP

Speed/position switching

Slot, instruction axis

5.2.7

PTV

Position/speed switching

Slot, instruction axis

5.2.8

STP

Stop

Slot, instruction axis, deceleration time

5.2.9

SSP

Position synchronization

Slot, ins truction axis, step number, main axis position,

main axis setting

5.2.10

SSS

Speed synchronization

Slot, instruction axis, synchronization rate, delay time

5.2.11

POR

Position override

Slot, instruction axis, position

5.2.12

SOR

Speed override

Slot, instruction axis, speed

5.2.13

PSO

Positioning speed override

Slot, instruction axis, position, speed

5.2.14

INCH

Inching starting

Slot, instruction axis, inching amount

5.2.15

SNS

Change starting step number

Slot, instruction axis, step number

5.2.16

MOF

Cancel M code

Slot, instruction axis

5.2.17

PRS

Preset current position

Slot, instruction axis, position

5.2.18

EMG

Emergency stop

Slot, instruction axis

5.2.19

CLR

Reset error, cancel output inhibition

Slot, instruction axis, inhibit/allow pulse output

5.2.20

WRT

Save parameter/operation data

Slot, instruction axis, select the storage area

5.2.21

PWM

Pulse width modulation

Slot, instruction axis, output cycle, off duty rate

5.2.22

Remark

• XGB positionin g instruct ions are acti vated at the ris ing edg e. That is, when t he e xecution co ntact p oint

is On, it carried out the instruction only once.

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