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Manual(EN)_XGT Positioning module_XGF-PN4B_PN8B_V1p8_20190722
Right choice for ultimate yield
LSIS strives to maximize customers' profit in gratitude of choosing us for your partner.
Programmable Logic Controller
Positioning Module
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.
XGF-PN8A
XGF-PN4B
XGF-PN8B
XGT Series
www.lsis.com
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 with the safe and
proper use the product.
► Instructions are divided into “Warning” and “Caution”, and the meaning of the terms 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 property
damages 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.
► The user’s manual even after read shall be kept available and accessible to
any user of the product.
Warning
Caution
Safety Instruction
Safety Instructions for design process
Please install a protection circuit on the exterior of PLC so that the whole system may
operate safely regardless of failures from external power or PLC. Any abnormal output or
operation from PLC may cause serious problems to safety in whole system.
- Install protection units on the exterior of PLC like an interlock circuit that deals with opposite
operations such as emergency stop, protection circuit, and forward/reverse rotation or install an
interlock circuit that deals with high/low limit under its position controls.
- If any system error (watch-dog timer error, module installation error, etc.) is detected during
CPU operation in PLC, all output signals are designed to be turned off and stopped for safety.
However, there are cases when output signals remain active due to device failures in Relay and
TR which can’t be detected. Thus, you are recommended to install an addition circuit to monitor
the output status for those critical outputs which may cause significant problems.
Never overload more than rated current of output module nor allow to have a short circuit.
Over current for a long period time maycause a fire .
Never let the external power of the output circuit to be on earlier than PLC power, which may
cause accidents from abnormal output oroperation.
Please install interlock circuits in the sequence program for safe operations in the system
when exchange data with PLC or modify operation modes using a computer or other
external equipments Read specific instructions thoroughly when conducting control operations
with PLC.
Warning
Safety Instruction
Safety Instructions for design process
Safety Instructions on installation process
I/O signal or communication line shall be wired at least 100mm away from a high-voltage
cable or power line. Fail to follow this
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 may be caused.
Before install or remove the module, be sure PLC power is off. If not, electric shock or damage
on the product may be caused.
Be sure that every module is securely attached after adding a module or an extension
connector. If the product is installed loosely or incorrectly, abnormal operation, error or dropping
may be caused. In addition, contact failures under poor cable installation will be causing
malfunctions as well.
Be sure that screws get tighten securely under vibrating environments. Fail to do so will put
the product under direct vibrations which will cause electric shock, fire and abnormal operation.
Do not come in contact with conducting parts in each module, which may cause electric
shock, malfunctions or abnormal operation.
Caution
Safety Instruction
Safety Instructions for wiring process
Prior to wiring works, make sure that every power is turned off. If not, electric shock or
damage on the product may be caused.
After wiring process is done, make sure that terminal covers are installed properly before
its use. Fail to install the cover may cause electric shocks.
Warning
Check rated voltages and terminal arrangements in each product prior to its wiring
process. Applying incorrect voltages other than rated voltages and misarrangement among
terminals may cause fire or malfunctions.
Secure terminal screws tightly applying with specified torque. If the screws get loose, short
circuit, fire or abnormal operation may be caused. Securing screws too tightly will cause
damages to the module or malfunctions, short circuit, and dropping.
Be sure to earth to the ground using Class 3 wires for PE terminals which is exclusively
used for PLC. If the terminals not grounded correctly, abnormal operation or electric shock
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.
Make sure that pressed terminals get tighten following the specified torque. External
connector type shall be pressed or soldered using proper equipments.
Caution
Safety Instruction
Safety Instructions for test-operation and maintenance
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.
Don’t let the battery recharged, disassembled, heated, short or soldered. Heat, explosion
or ignition may cause injuries or fire.
Warning
Do not make modifications or disassemble each 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 equipment such as walkie-talkie or cell phones at least 30cm away
from PLC. If not, abnormal operation may be caused.
When making a modification on programs or using run to modify functions under PLC
operations, read and comprehend all contents in the manual fully. Mismanagement will
cause damages to products and accidents.
Avoid any physical impact to the battery and prevent it from dropping as well. Damages
to battery may cause leakage from its fluid. When battery was dropped or exposed under strong
impact, never reuse the battery again. Moreover skilled workers are needed when exchanging
batteries.
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
Revision History
Version Date Remark Revised position
V 1.0 ’11.4 First Edition -
V1.1 ’11.9 XGF-PN8B module added -
V1.2 ’12.5
| Torque control command added | 6-80, 7-33 |
| Latch Position data Read command added | 6-81, 7-11 |
| Latch Reset command added | 6-82, 7-59 |
| Latch Set command added | 6-83, 7-60 |
| Servo Parameter Read command added User CAM command added |
6-76, 7-68 6-24, 7-40, A2-144 |
| V1.3 | ’15.7 | XGF-PN4B Added XDL-L7N Connection Example added Domain name changed CI changed General specifications changed by reason of changed IEC specifications. |
- 3-4 -- 2-1 - |
| V1.4 | ’16.8 | Chapter6 Command: XSTC is added Chapter6 Command: PHASING is added Chapter6 Command: XSSSD is added Chapter6 Command: XSSSPD is added APPENDIX 1 Error code 741~776 is added Chapter4 External command is updated Chapter6 Command: XVWR is updated Chapter7 (XPM_LRD) Ver. Info is added Chapter7 (XPM_SMD) Ver. Info is added Chapter7 (XPM_RSTR) description is added |
6-3 6-3 6-3 6-3 A-1 4-6 6-4 7-5 7-5 7-5 |
| V1.5 | ’18.8 | Chapter3 L7NH Servo connect information is added Chapter6 Command: XSETOVR is added Chapter6 Command: XCAMA is added Chapter7 Command: XPM_SETOVR is added Chapter7 Command: XPM_CAMA is added Chapter9 Speed Acc./Dec. override is added Chapter9 Absolute positioning CAM operation is added Chapter5 External input signal modified |
3-4 6-95 6-97 7-50 7-52 9-168 9-147 5-5 |
| V1.6~V1.7 | None (Reason: Version management of Network Position Module) |
| Revision History |
| V1.8 | ’19.7 | Chapter5 axis information added Chapter6 Command: XTPROBE is added Chapter6 Command: XABORTT is added Chapter6 Command: XTRQSL is added Chapter6 Command: XGEARIP is added Chapter7 Function Block: XPM_TPROBE is added Chapter7 Function Block: XPM_ABORTT is added Chapter7 Function Block: XTRQSL is added Chapter7 Function Block: XGEARIP is added Chapter9 Command: TouchProbe is added Chapter9 Command: Syn.SpeedDesignatingSync.Position are added Chapter9 Command: Homing method (0x6098) modified APPENDIX 1 Error code 752~756, 791, 792 is add |
5-9 6-102 6-104 6-105 6-106~107 7-56 7-78 7-38 7-53 9-183~185 9-149 9-3~7 App1 |
ⓒ LSIS Co., Ltd 2011 All Rights Reserved.
About User’s Manual
6
About User’s Manual
Congratulations on purchasing PLC of LS Industrial System Co.,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://www.lsis.com/) and download the information as a PDF
file.
Relevant User’s Manuals
Current XGF-PN4B/PN8B manual is written based on the following version. Related OS version list
-
| Product name | OS version |
| XGF-PN8B/PN4B | V1.80 |
| XGK-CPUA/E/H/S/U | V4.60 |
| XGK-CPUHN/SN/UN | V1.30 |
| XGI-CPUA/E/H/S/U | V4.10 |
| XGI-CPUHN/SN/UN | V1.40 |
| XG5000(XG-PM:V2.8) | V4.29 |
| Title | Description | No. of User’s Manual |
| XG5000 IEC User’s Manual |
It describes how to use XG5000 software, which it is applied to the IEC standard language, especially about online functions such as programming, printing, monitoring and debugging by using XGT series products. |
10310000834 |
| XGK/XGB Instructions & Programming User’s Manual |
It is the user’s manual for programming to explain how to use commands that are used PLC system with XGK/XGB CPU. |
10310000833 |
| XGI CPU User’s Manual |
It describes CPU specifications and technical terms for the XGT PLC system using a series of XGI CPU module. |
10310000832 |
| XGR CPU User’s Manual |
It describes CPU specifications and technical terms for the XGT PLC system using a series of XGR CPU module. |
10310000855 |
| Table of Contents |
1
◎ Table of Contents ◎
Chapter 1 Overview…………………………...............................………………...........……………………… 1-1 ~ 1-11
1.1 Characteristics............................................................................................................................................. 1 - 1
1.2 Purpose of Positioning Control .................................................................................................................. 1 - 3
1.3 Function Overview of Positioning Module................................................................................................... 1 - 4
1.3.1 Positioning Control............................................................................................................................ 1 - 4
1.3.2 Interpolation Control.......................................................................................................................... 1 - 5
1.3.3 Speed Control ................................................................................................................................. 1 - 10
1.3.4 FEED Control.................................................................................................................................. 1 - 11
Chapter 2 Specification………………………….............................................……………………………… 2-1 ~ 2-7
2.1 General Specification .................................................................................................................................. 2 - 1
2.2 Performance Specifications......................................................................................................................... 2 - 2
2.2.1 Function Specifications ................................................................................................................... 2 - 2
2.2.2 Encoder Input Specifications ........................................................................................................... 2 - 4
2.3 The Name of Each Part ............................................................................................................................. 2 - 5
2.3.1 The Name of Each Part ................................................................................................................... 2 - 5
2.3.2 Specification of interface with external device.................................................................................. 2 - 6
Chapter 3 Operation Order and Installation……………........................................................……………… 3-1 ~ 3-9
3.1 Operation Order .......................................................................................................................................... 3 - 1
3.2 Installation ................................................................................................................................................... 3 - 2
3.2.1 Installation Environment................................................................................................................... 3 - 2
3.2.2 Notice in Handling ........................................................................................................................... 3 - 2
3.3 Notice in Wiring ........................................................................................................................................ 3 - 3
3.3.1 Notice in Wiring ............................................................................................................................ 3 - 3
3.3.2 Connection Example of Servo and Stepping Motor Drive Machine.................................................. 3 - 4
3.3.3 Encoder Input (DC 5V Voltage Output) Wiring Example ................................................................. 3 - 6
3.3.4 Encoder Input (DC 5V Line Driver Output) Wiring Example ...........................................................3 – 7
3.3.5 Encoder Input (5V Line Driver Output) Wiring Example ...................................................................3 – 9
Chapter 4 Positioning Parameter & Operation Data…………..................................................…………… 4-1 ~ 4-39
4.1 Parameter & Operation Data..................................................................................................................... 4 - 1
4.2 Basic Parameter........................................................................................................................................ 4 - 2
4.2.1 Basic Parameter ............................................................................................................................... 4 - 2
4.2.2 Basic Parameter Setting.................................................................................................................. 4 - 3
4.3 Expansion Parameter ............................................................................................................................... 4 - 7
4.3.1 Contents of Expansion Parameter .................................................................................................. 4 - 7
4.3.2 Expansion Parameter Setting........................................................................................................... 4 - 8
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2
4.4 Manual Operation Parameter ................................................................................................................. 4 - 24
4.4.1 Manual Operation Parameter ......................................................................................................... 4 - 24
4.4.2 Manual Operation Parameter Setting.............................................................................................4 – 24
4.5 Input Signal Parameter............................................................................................................................. 4 - 25
4.5.1 Input Signal Parameter ................................................................................................................. 4 - 25
4.5.2 Input Signal Parameter Setting....................................................................................................... 4 - 26
4.6 Common Parameter................................................................................................................................. 4 - 27
4.6.1 Common Parameter ...................................................................................................................... 4 - 27
4.6.2 Common Parameter Setting ........................................................................................................... 4 - 28
4.7 Operation Data ......................................................................................................................................... 4 - 31
4.7.1 Operation Data .............................................................................................................................. 4 - 34
4.7.2 Operation Data Setting .................................................................................................................. 4 - 35
Chapter 5 Internal Memory and I/O Signal…………...................................................…………………… 5-1 ~ 5-13
5.1 Internal Memory ........................................................................................................................................ 5 - 1
5.1.1 Step Data during Point Start ........................................................................................................... 5 - 1
5.1.2 Teaching Data ................................................................................................................................. 5 - 2
5.1.3 Step Data of Simultaneous Start....................................................................................................... 5 - 3
5.1.4 State Information............................................................................................................................... 5 - 4
5.2 I/O Signal ............................................................................................................................................... 5 - 11
5.2.1 Contents of I/O Signal..................................................................................................................... 5 - 11
5.2.2 Use of I/O Signal............................................................................................................................. 5 - 12
Chapter 6 Command………………………………………................................................…………………… 6-1 ~ 6-106
6.1 Contents of General Command.................................................................................................................6-1
6.1.1 Internal Memory Read (GET, GETP Command).................................................................................6-1
6.1.2 Internal Memory Write (PUT, PUTP Command)..................................................................................6-2
6.2 Dedicated Commands..................................................................................................................................6-3
6.2.1 Command List......................................................................................................................................6-3
6.2.2 Cautions Of Using Command ..............................................................................................................6-6
6.3 Use of Dedicated Command........................................................................................................................6-8
6.3.1 Homing start (Command : XORG).......................................................................................................6-8
6.3.2 Floating origin setting (Command : XFLT)...........................................................................................6-9
6.3.3 Direct start (Command : XDST) ........................................................................................................ 6-10
6.3.4 Indirect start (Command : XIST) ....................................................................................................... 6-11
6.3.5 Simultaneous Start (Command : XSST) ........................................................................................... 6-12
6.3.6 Simultaneous Start Step Setting (Command : XSWR)..................................................................... 6-14
6.3.7 Ellipse Interpolation (Command : XELIN) ......................................................................................... 6-15
6.3.8 Speed/Position Switching Control (Command : XVTP) .................................................................... 6-16
6.3.9 Position specified Speed/Position Switching Control (Command : XVTPP) .................................... 6-17
6.3.10 Position/Speed Switching Control (Command : XPTV) .................................................................. 6-18
6.3.11 Position/Torque Switching Control (Command : XPTT) ................................................................. 6-19
6.3.12 Deceleration Stop (Command : XSTP)........................................................................................... 6-20
6.3.13 Skip Operation (Command : XSKP)................................................................................................ 6-21
6.3.14 Synchronous Start by Position (Command : XSSP) ....................................................................... 6-22
6.3.15 Speed Sync (Command : XSSS).................................................................................................... 6-23
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3
6.3.16 Position-specified Speed synch (Command: XSSSP).................................................................... 6-24
6.3.17 CAM Operation (Command : XCAM).............................................................................................. 6-26
6.3.18 Main axis offset-designated CAM Operation (Command : XCAMO).............................................. 6-28
6.3.19 Position Override (Command : XPOR) ........................................................................................... 6-30
6.3.20 Speed Override (Command : XSOR).............................................................................................. 6-31
6.3.21 Position-specified Speed Override (Command : XPSO) ................................................................ 6-32
6.3.22 Continuous Operation (Command : XNMV) ................................................................................... 6-33
6.3.23 Inching Operation (Command : XINCH) ......................................................................................... 6-34
6.3.24 Return to the Position before Manual Operation (Command : XRTP)............................................ 6-35
6.3.25 Start Step No. Change (Command : XSNS)................................................................................... 6-36
6.3.26 Repeat Step No. Change (Command : XSRS)............................................................................... 6-37
6.3.27 M code Release (Command : XMOF) ............................................................................................ 6-38
6.3.28 Current Position Preset (Command : XPRS).................................................................................. 6-39
6.3.29 Encoder Preset (Command : XEPRS)............................................................................................ 6-40
6.3.30 Teaching Array (Command : XTEAA)............................................................................................. 6-41
6.3.31 Set Teaching Array Data (Command: XTWR)................................................................................ 6-42
6.3.32 Set Basic Parameter (Command : XSBP) ...................................................................................... 6-44
6.3.33 Set Extended Parameter (Command : XSEP)................................................................................ 6-49
6.3.34 Set Parameter Of Manual Operation (Command :XSMP).............................................................. 6-53
6.3.35 Set Common Parameter (Command : XSCP) ................................................................................ 6-55
6.3.36 Set Operation Data (Command: XSMD)......................................................................................... 6-58
6.3.37 Read Variable Data (Command: XVRD) ........................................................................................ 6-62
6.3.38 Write Variable Data (Command: XVWR)........................................................................................ 6-64
6.3.39 Save Parameter/Operation Data (Command : XWRT)................................................................... 6-65
6.3.40 Emergency Stop (Command : XEMG)............................................................................................ 6-66
6.3.41 Reset Error (Command : XCLR)..................................................................................................... 6-67
6.3.42 Reset Error History (Command : XECLR) ...................................................................................... 6-68
6.3.43 Point Start (Command : XPST)....................................................................................................... 6-69
6.3.44 Set Step Data of POINT Start (Command: XPWR)........................................................................ 6-70
6.3.45 Read Operation State (Command: XSRD) ..................................................................................... 6-72
6.3.46 Connect servo (Command: XECON).............................................................................................. 6-73
6.3.47 Disconnect Servo (Command: XDCON)......................................................................................... 6-74
6.3.48 Servo On (Command: XSVON) ...................................................................................................... 6-75
6.3.49 Servo Off (Command: XSVOFF) .................................................................................................... 6-76
6.3.50 Reset Servo Error (Command: XSCLR) ......................................................................................... 6-77
6.3.51 Reset History Of Servo Error (Command: XSECLR)...................................................................... 6-78
6.3.52 Restart (Command: XRSTR) .......................................................................................................... 6-79
6.3.53 Read Servo Parameter (Command: XSVPRD) .............................................................................. 6-80
6.3.54 Write Servo Parameter (Command: XSVPWR).............................................................................. 6-83
6.3.55 Save Servo Parameter To EEPROM (Command: XSVSAVE)....................................................... 6-84
6.3.56 Control Torque (Command: XTRQ)................................................................................................ 6-85
6.3.57 Read Latch position data (Command: XLRD) ................................................................................ 6-86
6.3.58 Reset Latch (Command: XLCLR) ................................................................................................... 6-87
6.3.59 Set Latch (Command: XLSET) ....................................................................................................... 6-88
6.3.60 Torque synchronous (Command: XSTC) ....................................................................................... 6-89
6.3.61 Phasing Correction (Command: XPHASING)................................................................................. 6-90
6.3.62 32bit Speed Sync (Command : XSSSD) ........................................................................................ 6-92
6.3.63 32bit Position-specified Speed synch (Command: XSSSPD) ........................................................ 6-94
6.3.64 Speed/Acceleration/Deceleration override (Command : XSETOVR)............................................. 6-96
6.3.65 Absolute positioning CAM operation (Command : XCAMA)........................................................... 6-98
| Table of Contents |
4
6.3.66 Touch Probe(Command: XTPROBE) ........................................................................................... 6-100
6.3.67 Abort Trigger (Command: XABORTT).......................................................................................... 6-102
6.3.68 Torque Control Mode Speed Limits (Command: XTRQSL) ......................................................... 6-103
6.3.69 Synchronous speed designating synchronous position (Command: XGEARIP) ......................... 6-104
Chapter 7 Function Block……………………………….................................................…………………… 7-1 ~ 7-87
7.1 Common Issues of Function Block ..............................................................................................................7-1
7.2 Function Block of Positioning Module ..........................................................................................................7-3
7.3 Function Block related to Module Information Read....................................................................................7-7
7.3.1 Operation Information Read (XPM_CRD) ...........................................................................................7-7
7.3.2 Operation State Read (XPM_SRD) .....................................................................................................7-8
7.3.3 Encoder Value Read (XPM_ENCRD)............................................................................................... 7-10
7.3.4 Servo Error Information Read (XPM_SVERD) ................................................................................. 7-11
7.3.5 Latch Position Data Read (XPM_LRD)............................................................................................. 7-12
7.4 Parameter/Operation Data Teaching Function Block ............................................................................... 7-13
7.4.1 Basic Parameter Teaching (XPM_SBP) ........................................................................................... 7-13
7.4.2 Extended Parameter Teaching (XPM_SEP)..................................................................................... 7-15
7.4.3 Manual Operation Parameter Teaching (XPM_SMP)....................................................................... 7-17
7.4.4 Common Parameter Teaching (XPM_SCP) ..................................................................................... 7-18
7.4.5 Operation Data Teaching (XPM_SMD)............................................................................................. 7-19
7.4.6 Teaching Array (XPM_ATEA) ........................................................................................................... 7-21
7.4.7 Read Variable Data (XPM_VRD)...................................................................................................... 7-22
7.4.8 Write Variable Data (XPM_VWR) ..................................................................................................... 7-23
7.4.9 Saving Parameter/Operation Data (XPM_WRT) .............................................................................. 7-24
7.5 Start/Stop Function Block.......................................................................................................................... 7-25
7.5.1 Homing Start (XPM_ORG)................................................................................................................ 7-25
7.5.2 Direct Start (XPM_DST).................................................................................................................... 7-26
7.5.3 Indirect Start (XPM_IST)................................................................................................................... 7-27
7.5.4 Ellipse Interpolation (XPM_ELIN) ..................................................................................................... 7-28
7.5.5 Simultaneous Start (XPM_SST) ....................................................................................................... 7-29
7.5.6 Point Start (XPM_PST)..................................................................................................................... 7-30
7.5.7 Deceleration Stop (XPM_STP) ......................................................................................................... 7-31
7.5.8 Emergency Stop (XPM_EMG) .......................................................................................................... 7-32
7.5.9 Restart (XPM_RSTR) ....................................................................................................................... 7-33
7.5.10 Torque Control (XPM_TRQ) ........................................................................................................... 7-34
7.5.11 Control Speed Limit Torque (XPM_TRQSL)................................................................................... 7-35
7.6 Manual Operation Function Block............................................................................................................. 7-36
7.6.1 JOG Operation (XPM_JOG) ............................................................................................................. 7-36
7.6.2 Inching Operation (XPM_INC) .......................................................................................................... 7-37
7.6.3 Returning to Position before Manual Operation (XPM_RTP) ........................................................... 7-38
7.7 Synchronization Start Function Blocks ..................................................................................................... 7-39
7.7.1 Position Synchronization (XPM_SSP) .............................................................................................. 7-39
7.7.2 Speed Synchronization (XPM_SSS)................................................................................................. 7-40
7.7.3 Position Assigned Speed Synchronization (XPM_SSSP) ................................................................ 7-41
7.7.4 CAM Operation (XPM_CAM) ............................................................................................................ 7-42
7.7.5 Main Axis Offset-specified CAM Operation (XPM_CAMO) .............................................................. 7-43
7.7.6 Torque synchronous (XPM_XSTC) .................................................................................................. 7-44
7.7.7 Phase Correction (XPM_PHASING)................................................................................................. 7-45
7.7.8 32Bit Rate Synchronization (XPM_SSSD) ....................................................................................... 7-46
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5
7.7.9 32Bit Positioning Speed Synchronization (XPM_SSSPD) ............................................................... 7-47
7.7.10 Absolute positioning CAM operation (XPM_CAMA)....................................................................... 7-48
7.7.11 Synchronous speed designating synchronous position (XPM_GEARIP)....................................... 7-50
7.8 Modification Function Block ...................................................................................................................... 7-51
7.8.1 Position Override (XPM_POR) ......................................................................................................... 7-51
7.8.2 Speed Override (XPM_SOR)............................................................................................................ 7-52
7.8.3 Position Assigned Speed Override (XPM_PSO) .............................................................................. 7-53
7.8.4 Position/Speed Switching Control (XPM_PTV) ................................................................................ 7-54
7.8.5 Speed/Position Switching Control (XPM_VTP) ................................................................................ 7-55
7.8.6 Position-specified Speed/Position Switching Control (XPM_VTPP)................................................. 7-56
7.8.7 Position/Torque Switching Control (XPM_PTT)................................................................................ 7-57
7.8.8 Skip Operation (XPM_SKP).............................................................................................................. 7-58
7.8.9 Continuous Operation (XPM_NMV).................................................................................................. 7-59
7.8.10 Start Step Number Change (XPM_SNS)........................................................................................ 7-60
7.8.11 Repeat Step No. Change (XPM_SRS) ........................................................................................... 7-61
7.8.12 Current Position Change (XPM_PRS)............................................................................................ 7-62
7.8.13 Encoder Value Preset (XPM_EPRE).............................................................................................. 7-63
7.8.14 Speed Acceleration/Deceleration override(XPM_SETOVR) .......................................................... 7-64
7.9 Error Function blocks ................................................................................................................................ 7-66
7.9.1 Error Reset (XPM_RST) ................................................................................................................... 7-66
7.9.2 Error History Reset (XPM_HRST) .................................................................................................... 7-67
7.10 Other Function Blocks related with the Module ...................................................................................... 7-68
7.10.1 Floating Origin Setting (XPM_FLT)................................................................................................. 7-68
7.10.2 M code Release (XPM_MOF)......................................................................................................... 7-69
7.10.3 Latch Reset (XPM_LCLR) .............................................................................................................. 7-70
7.10.4 Latch set (XPM_LSET) ................................................................................................................... 7-71
7.10.5 Touch Probe (XPM_TPROBE) ....................................................................................................... 7-72
7.10.6 Trigger Abortion (XPM_ABORTT) .................................................................................................. 7-74
7.11 Other Function Blocks related with the Servo Driver .............................................................................. 7-75
7.11.1 Servo Communication Connect (XPM_ECON) .............................................................................. 7-75
7.11.2 Servo Communication Disconnect (XPM_DCON).......................................................................... 7-76
7.11.3 Servo On (XPM_SVON) ................................................................................................................. 7-77
7.11.4 Servo Off (XPM_SVOFF)................................................................................................................ 7-78
7.11.5 Servo Error Reset (XPM_SRST) .................................................................................................... 7-79
7.11.6 Servo Error History Reset (XPM_SHRST) ..................................................................................... 7-80
7.11.7 Servo External Input Information Read (XPM_SVIRD) .................................................................. 7-81
7.11.8 Servo Parameter Read (XPM_SVPRD).......................................................................................... 7-82
7.11.9 Servo Parameter Write (XPM_SVPWR)......................................................................................... 7-83
7.11.10 Servo Parameter Save (XPM_SVSAVE)...................................................................................... 7-84
| Table of Contents |
6
Chapter 8 Program…………………………………………………......................................………………… 8-1 ~ 8-145
8.1 Examples of XGK Program....................................................................................................................... 8 - 1
8.1.1 General Description .......................................................................................................................... 8 - 1
8.1.2 Current State Read ........................................................................................................................... 8 - 1
8.1.3 Operation Ready............................................................................................................................... 8 - 5
8.1.4 Operation Test.................................................................................................................................. 8 - 8
8.1.5 Parameter and Operation Data Setting .......................................................................................... 8 - 16
8.1.6 Positioning Operation ..................................................................................................................... 8 - 25
8.1.7 Operation Setting Change while Operating .................................................................................. 8 - 48
8.1.8 Error................................................................................................................................................ 8 - 70
8.1.9 Program related with the Servo Parameter .................................................................................. 8 - 75
8.2 Examples of XGI Program ..................................................................................................................... 8 - 79
8.2.1 General Description ........................................................................................................................ 8 - 79
8.2.2 Current State Read ......................................................................................................................... 8 - 79
8.2.3 Operation Ready............................................................................................................................. 8 - 86
8.2.4 Operation Test................................................................................................................................ 8 - 90
8.2.5 Parameter and Operation Data Setting .......................................................................................... 8 - 95
8.2.6 Positioning Operation ................................................................................................................... 8 - 102
8.2.7 Operation Setting Change while Operating ................................................................................ 8 - 122
8.2.8 Error.............................................................................................................................................. 8 - 139
8.2.9 Program related with Servo Parameter ........................................................................................ 8 - 143
Chapter 9 Function…………………………………………………...............................................…………9-1 ~ 9-194
9.1 Home Return............................................................................................................................................. 9 - 1
9.2 Positioning Control .................................................................................................................................... 9 - 6
9.2.1 Operation Data for Positioning Control ............................................................................................. 9 - 7
9.2.2 Operation Mode of Positioning Control............................................................................................. 9 - 8
9.2.3 Single-axis Position Control............................................................................................................ 9 - 23
9.2.4 Single-axis Speed Control ............................................................................................................ 9 - 25
9.2.5 Single-axis Feed Control ................................................................................................................ 9 - 27
9.2.6 Linear Interpolation Control with 2 axes ....................................................................................... 9 - 28
9.2.7 Linear Interpolation Control with 3 axes ....................................................................................... 9 - 40
9.2.8 Linear Interpolation Control with multiple axes .............................................................................. 9 - 49
9.2.9 Middle point-specified Circular Interpolation .................................................................................. 9 - 51
9.2.10 Center point - specified Circular interpolation .............................................................................. 9 - 57
9.2.11 Circular interpolation control with designated radius.................................................................... 9 - 66
9.2.12 Helical Interpolation Control ......................................................................................................... 9 - 74
9.2.13 Ellipse Interpolation Control ........................................................................................................ 9 - 77
9.2.14 Speed/Position Switching Control ................................................................................................ 9 - 81
9.2.15 Speed/Position Switching Control ................................................................................................ 9 - 85
9.2.16 Position/Speed Switching Control ................................................................................................ 9 - 89
9.2.17 Position/Torque Switching Control ............................................................................................... 9 - 91
9.2.18 Start of Positioning ...................................................................................................................... 9 - 93
9.2.19 Positioning Stop............................................................................................................................9 – 97
9.2.20 Restart ...................................................................................................................................... 9 - 106
| Table of Contents |
7
9.2.21 Torque Control............................................................................................................................9 – 107
9.2.22 Control by external input signal ..................................................................................................9 – 108
9.3 Manual Operation Control..................................................................................................................... 9 - 111
9.3.1 JOG Operation.............................................................................................................................. 9 - 108
9.3.2 Inching Operation ......................................................................................................................... 9 - 115
9.3.3 Returning to the previous position of manual operation ............................................................. 9 - 116
9.4 Synchronous Control............................................................................................................................. 9 - 118
9.4.1 Speed Synchronous Control ....................................................................................................... 9 - 118
9.4.2 Position synchronous control ...................................................................................................... 9 - 124
9.4.3 CAM Operation ............................................................................................................................. 9 - 127
9.4.4 User CAM Operation ....................................................................................................................9 – 138
9.4.5 Phase correction control...............................................................................................................9 – 140
9.4.6 Absolute positioning CAM operation ............................................................................................9 – 142
9.4.7 Operation of the synchronous speed designating synchronous position.....................................9 – 149
9.5 Modification Function of Control .......................................................................................................... 9 - 144
9.5.1 Floating Origin Setting .................................................................................................................. 9 - 144
9.5.2 Continuous Operation................................................................................................................... 9 - 146
9.5.3 Skip Operation .............................................................................................................................. 9 - 148
9.5.4 Position Override .......................................................................................................................... 9 - 150
9.5.5 Speed Override............................................................................................................................. 9 - 153
9.5.6 Positioning Speed Override ........................................................................................................ 9 - 155
9.5.7 Current Position Preset ............................................................................................................... 9 - 158
9.5.8 Encoder Preset ............................................................................................................................. 9 - 159
9.5.9 Start Step Number Change .......................................................................................................... 9 - 160
9.5.10 Repeat Operation Step Number Change ................................................................................... 9 - 161
9.5.11 Infinite Running Repeat Function...............................................................................................9 – 163
9.5.12 Speed Acceleration/Deceleration override.................................................................................9 – 165
9.6 Auxiliary functions of Control ............................................................................................................... 9 - 176
9.6.1 High/Low Limit .............................................................................................................................. 9 - 176
9.6.2 M Code .........................................................................................................................................9 – 179
9.6.3 External Latch...............................................................................................................................9 – 181
9.6.4 Touch Probe .................................................................................................................................9 – 184
9.7 Data Modification Function .................................................................................................................. 9 - 176
9.7.1 Teaching Array ............................................................................................................................ 9 - 176
9.7.2 Parameter Change from Program ................................................................................................ 9 - 177
9.7.3 Data Change from Program ......................................................................................................... 9 - 182
9.7.4 Write/Read Variable Data............................................................................................................. 9 - 184
9.8 User Defined Position / Speed Display Function ................................................................................ 9 - 186
9.8.1 Teaching Array ............................................................................................................................ 9 - 186
9.8.2 Parameter Change from Program ................................................................................................ 9 - 186
9.8.3 Data Change from Program ......................................................................................................... 9 - 187
9.8.4 Write/Read Variable Data............................................................................................................. 9 - 187
9.9 Full-Closed Control .............................................................................................................................. 9 - 188
9.9.1 Full-Closed Control ..................................................................................................................... 9 - 188
9.9.2 Full-Closed Wiring and Specifications .......................................................................................... 9 - 188
9.9.3 How to use Full-Closed control..................................................................................................... 9 - 193
| Table of Contents |
8
Appendix 1 Positioning Error Information & Solutions ……………................................................…….………A1-1~18
Appendix 2 Module Internal Memory Address of “Read/Write Variable Data” command ...............................A2-1~19
Appendix 3 Dimension ……………………………………………………………………......................................A3-1~3
Appendix 4 Setting Example ……………………………………………………………...................................... .A4-1~32
Warranty and Environmental policies
Chapter 1 Overview
| 1-1 |
Chapter 1 Overview
This user’s manual describes the standard of positioning module, installation method, the method to use each
positioning function, programming and the wiring with external equipment.
1.1 Characteristics
The characteristics of positioning module are as follows.
(1) The positioning module is available for XGT Series.
(2) Various positioning control function
It has various functions needed for positioning system such as position control, speed control etc.
(a) The operation data including positioning address and operation method, operation pattern is available to set
up to 400 for each axis.
With this operation data, positioning for each axis is carried out
(b) Various sing-axis operations are available.
1) Position Control
2) Speed Control
3) Feed Control
4) Multi-axis Simultaneous Start
5) Point Operation
(c) Various Multi-axis Operations are available.
1) Circular arc Interpolation (up to 4 groups, 2 axes per one group)
2) Linear Interpolation (up to 8 axes)
3) Helical Interpolation
4) Ellipse Interpolation
(d) Switching Control in operation is available.
1) Position/Speed Control Switching
2) Speed/Position Control Switching
3) Speed/Torque Control Switching
(e) Cam Control is available.
It is available to create up to 8 kinds of cam data with various cam profile of XG-PM.
(f) Various Homing Control Function.
1) 10 methods are available for XGF-PN8A’s Homing (Set up at the servo parameter)
a) upper limit +Z phase (CW)
b) lower limit +Z phase (CCW)
c) DOG +Z phase (CW)
d) DOG +Z phase (CCW)
e) upper limit+ DOG +Z phase(CW)
f) lower limit+ DOG +Z phase (CCW)
g) Z phase (CW)
h) Z phase (CCW)
i) DOG (CW)
j) DOG (CCW)
2) For XGF-PN8B’s Homing, you can use Homing method supported by each servo driver.
3) Available to set the origin of machine without homing by setting the floating origin
(g) For the Acceleration/Deceleration method, it is available to select trapezoid or S-type.
(3) High speed start process
Due to the realization of high speed start process, the start time reduced to 0.8ms~2.4 ㎳(XGF-PN8A),
1ms~3ms (XGF-PN4B/XGF-PN8B). In addition, there is no delay time between axes in Simultaneous start
and interpolation start.
Chapter 1 Overview
| 1-2 |
(4) Connection with the servo driver through EtherCAT*1
(a) Able to connect with up to 8 servo driver through EtherCAT
(b) Wiring between positioning module and servo driver, between servo drivers is done with Ethernet Cable. So
wiring is simple.
(c) You can easily check and set up the servo driver information and parameter at the positioning module
(d) Max. connection distance is 100m.
(5) Able to realize the absolute position system
You can realize the absolute position system just by connecting to the servo driver using the absolute position
encoder and in case of ON/OFF, it can know the current position of the motor without homing.
(6) Easy maintenance
Various data such as operation data, operation parameter are saved on FRAM(Ferroelectric Random Access
Memory) in positioning module. Therefore, data will be saved without delay time and there is no limit in writing
count.
(7) The number of positioning module can be used in one base is not limited
(But, they have to be used within the capacity of power module.)
(8) Self-diagnosis, monitoring and test are available with strong software package, XG-PM.
(a) Monitoring Function (Module & Servo driver)
(b) Trace Function
(c) Trend Function
(d) Reading and Saving Module Parameter/Operation Data
(e) Reading and Saving Servo Parameter
(f) Servo tuning function (XGF-PN8A)
(g) Creation of Cam Data
(h) Simulation Function
(i) Providing details about errors and the solution for it
(j) Print Function of various forms
(k) Editing operation data in Excel program is available
Chapter 1 Overview
| 1-3 |
1.2 Signal Flow of Positioning Module
The flow of PLC system using the positioning module is as follows.
| PLC CPU Positioning module XGF-PN8A XGF-PN4B XGF-PN8B Servo Drive Motor Working Encoder 2 Encoder 1 tion, er setting Motor position, servo paramet External signal Connected with through EtherCA |
| XG5000 |
| XG-PM Command posi Servo paramet value, etc |
Writing
sequence Program
Working by Servo drive
Setting for control
- Operation parameter
- Operation data
- Cam data
- Servo parameter
Test Operation
- Indirect Start
- Direct Start
- Jog Operation, etc
Monitoring operation
of positioning module
& Servo drive and
executing test
speed,
, etc
positioning module
Chapter 1 Overview
| 1-4 |
1.3 Function overview of Positioning module
Describe Representative functions of positioning module (Coordinate & Linear Interpolation, Circular Interpolation
& Stop) briefly.
1.3.1 Position Control
Execute positioning control for the designated axis from starting position(current position) to goal position(the
position to move to).
(1) Control by Absolute coordinates
(a) Execute positioning control from starting position to goal position designated in positioning data
(b) Positioning control is executed based on origin designated in homing
(c) Moving direction is decided by starting position and goal position.
■Starting Position < Goal Position : Forward Positioning Operation
■Starting Position > Goal Position : Reverse Positioning Operation
[ Example ]
■Starting Position : 1000
■Goal Position : 8000
Value of Forward movement is 7000 (7000=8000-1000)
1000
Starting Position Goal Position
0 8000
| Movement Value 7000 |
(2) Control by Incremental Coordinates
(a) Execute positioning control from starting position as much as goal movement value.
The difference from absolute coordinates control is that the goal position is movement value, not position
value.
(b) Moving direction depends on sign of movement value.
■Positive value (+ or 0) : Positioning operation with forward direction
■Negative value (-) : Positioning operation with reverse direction
Starting Position
Reverse Forward
Negative value Positive value
Chapter 1 Overview
| 1-5 |
[ Example ]
■ Starting Position : 5000
■ Goal Position : -7000
In this condition, it moves reversely and stops at -2000.
-2000
Goal Position Starting Positon
0 5000
Reverse positioning control(movement value -7000)
1.3.2 Interpolation Control
(1) Linear Interpolation Control
Execute Linear interpolation control with designated axis at start position (Current position).
Combination of interpolation axis is unlimited and it is available to execute max. 4 axis Linear interpolation
control.
(a) Linear interpolation by absolute coordinates
1) Execute Linear interpolation from starting position to goal position designated by positioning data.
2) Positioning control is executed based on origin designated in homing.
3) Movement direction is designated by starting position & goal position of each axis.
■ Starting position < Goal position : Positioning operation with forward direction
■ Starting position > Goal position : Positioning operation with reverse direction
Y axis Forward direction
X axis
Forward
direction
Y1
Y2
X1 X2
X axis movement value
Y axis
movement
value
X axis
Reverse
direction
Y axis Reverse direction
| Starting position(X1, Y1) Goal positio Operating by linear interpolation |
(X2, Y2)
[ Example ]
■ Starting Position (1000, 4000)
■ Goal Position (10000, 1000)
In this condition, operation is as follows.
Chapter 1 Overview
| 1-6 |
| 0 |
| position |
Goal
Position
(Y axis)
X axis
Starting
1000 5000 10000
X axis movement value (10000-1000=9000)
1000
4000
Y axis movement value
(1000-4000=-3000)
(b) Linear Interpolation by incremental coordinates
1) Goal value becomes movement value
2) Moving direction depends on movement value is positive or negative.
■Positive value (+ or 0) : Positioning operation with forward direction
■Negative value (-) : Positioning operation with reverse direction
Y axis Forward direction
X axis
Forward
direction
Y1
Y2
X1 X2
| X axis movement value |
| position( Starting position(X1, Y1) Movement by Linear interpolation |
Y axis
movement
value
X axis
Reverse
direction
Y axis Reverse direction
Linear interpolation end
X2, Y2)
[ Example ]
■ Starting position (1000, 4000)
■ Goal position (9000, -3000)
In this condition, operation is as follows.
| 0 |
| position |
Linear
interpolation end
position
(Y axis)
(X axis)
Starting
1000 5000 10000
X axis movement value(9000)
1000
4000
Y axis
movement value
(-3000)
Chapter 1 Overview
| 1-7 |
(2) Circular Interpolation Control
Execute interpolation operation along the trace of circle with 2 axes in forward direction that already
designated for each axis.
Circular interpolation has 3 types according to auxiliary point, Middle point method passing auxiliary point,
Center point method using auxiliary point as center of circle and Radius method using auxiliary point as
radius of circle.
In addition, it is available to be executed more than 360° circular interpolation according to the value of
“circular interpolation turns’.
The combination of 2 axes that used in circular interpolation is unlimited. (Available to use any 2 of axis1~8)
(a) Middle Point Specified Circular interpolation
1) Starts operating at starting position and executes circular interpolation through the designated middle
point.
2) There will be a circular arc whose center point is crossing point of perpendicular bisection between
starting position and middle point or middle point and goal position.
Reverse
direction
Forward
direction
Forward
direction
Origin
| Center point of circular arc |
Goal position
Middle point position
Starting point
Reverse
direction
3) Control unit “degree” is not available to be used for circular interpolation control.
4) Movement direction is automatically designated by goal position and auxiliary point of circular
interpolation.
Chapter 1 Overview
| 1-8 |
(b) Center Point Specified Circular interpolation
1) Starts operating from starting position and execute circular interpolation along trace of circle that has
distance from starting point to designated center point as radius.
Reverse
Direction
Forward Direction
Forward
Direction
Origin
| Center point of circular arc Operating by circular interpolation Position |
Goal
Reverse Direction
Radius
Starting
position
2) If the goal position is same as starting position, it is available to have an operation like a circle that has
distance from starting point to auxiliary point as its radius.
Reverse
Direction
Forward Direction
Forward
Direction
Origin
| Center point of the circle & Operating by circular interpolation |
Starting position
Goal position
Reverse Direction
3) Control unit “degree” is not available to be used for circular interpolation control.
4) Direction is determined in setting of “Cir int. mode” (Center point CW, Center point CCW).
Chapter 1 Overview
| 1-9 |
Reverse
Direction
Forward Direction
Forward
Direction
Origin
| Center point Circular angle >= 180° Starting Position |
Operating by circular interpolation when
Circular angle >= 180°
Reverse Direction Center
point
Circular angle
< 180°
Operating by circular
i n t e r p o l a t i o n w h e n
Circular angle >= 180°
(c) Radius Specified Circular interpolation
1) Starts operating from starting position and execute circular interpolation along trace of circular arc that has
value designated in auxiliary point of main axis as it radius. Depending on size setting of circular
arc(<180°,>=180°), center point of circular arc will be different.
2) In radius designation form, goal position can not be set the same as starting position.
3) Control unit “degree” is not available to be used for circular interpolation control.
4) The direction and arc size are determined in “Cir. int. mode”.
(3) Helical Interpolation
(1) Moves along the designated trace of circular arc depending on circular arc interpolation setting and
executes Linear interpolation synchronously.
(2) It is available to execute helical interpolation of more than 360°depending on ‘Circular interpolation
turns’ setting.
(3) The combination of axis that used for helical interpolation control is unlimited, 3 axes among axis1 ~ 8
are used.
+Z
+X
+Y
Straight
interpolation
Part
Center
Position
Starting
Position Circular interpolation part
Helical
Interpolation
End
position
Chapter 1 Overview
| 1-10 |
1.3.3 Speed Control
(1) It is executed by positioning operation start command (Direct start, Indirect start, Synchronous start) and
keeps operating with designated speed until Dec. stop command.
(2) Speed control has forward operation and reverse operation.
(a) Forward operation : Position value >= 0
(b) Reverse operation : Position value < 0
(3) In case of speed control, M code will be on only when M code mode is “With”.
(4) Operating Timing
It will not be ON
even though stop
Time
Speed
Operation
Command
In
Operation
Signal of positioning
complete
Stop command
Chapter 1 Overview
| 1-11 |
1.3.4 FEED Control
(1) After executed by positioning start, resets the current position as 0 and starts positioning as much as
movement value already set.
(2) Movement direction is decided by movement value.
(3) Feed control has forward direction operation and reverse direction operation.
(a) Forward direction : Position value >= 0
(b) Reverse direction : Position value <0
(4) Operation timing is as follows.
Time
Speed
Start
In
operation
Position
Current
position value
is 0 when start
Time
Chapter 2 Specifications
Chapter 2 Specifications
| 2.1 General Specifications |
The following table shows the general specification of XGT series.
| No. | Item | Specifications | Related specifications |
|
| 1 | Ambient temperature |
0℃∼ +55℃ | - | |
| 2 | Storage temperature |
-25℃∼ +70℃ | - | |
| 3 | Ambient humidity |
5 ~ 95%RH (Non-condensing) | - | |
| 4 | Storage humidity | 5 ~ 95%RH (Non-condensing) | - | |
| 5 | Vibration resistance |
Occasional vibration | - | - |
| Frequency | Acceleration | Amplitude | How many times | IEC61131-2 |
| 5 ≤ f < 8.4 ㎐ | - | 3.5 ㎜ | 10 times each directions (X, Y and Z) |
|
| 8.4 ≤ f ≤ 150 ㎐ | 9.8 ㎨ (1G) | - | ||
| For continuous vibration | ||||
| Frequency | Acceleration | Amplitude | ||
| 5 ≤ f < 8.4 ㎐ | - | 1.75 ㎜ | ||
| 8.4 ≤ f ≤ 150 ㎐ | 4.9 ㎨ (0.5G) | - | ||
| 6 | Shock resistance | • Peak acceleration: 147 m/s2(15G) • Duration: 11ms • Half-sine, 3 times each direction per each axis |
IEC61131-2 | |
| 7 | Noise resistance | Square wave Impulse noise |
AC: ± 1,500V DC: ± 900V |
LSIS standard |
| Electrostatic discharge |
Voltage : 4kV (contact discharging) | IEC 61131-2, IEC 61000-4-2 |
||
| Radiated electromagnetic field noise |
80 ~ 1,000 MHz, 10V/m | IEC 61131-2, IEC 61000-4-3 |
||
| Fast transient /bust noise |
Segment | Power supply module |
Digital/analog input/output communication interface |
IEC 61131-2, IEC 61000-4-4 |
| Voltage | 2kV | 1kV | ||
| 8 | Environment | Free from corrosive gasses and excessive dust | - | |
| 9 | Altitude | Up to 2,000 ms | - | |
| 10 | Pollution degree | Less than equal to 2 | - | |
| 11 | Cooling | Air-cooling | - |
| N0ote |
| (1) IEC (International Electrotechnical Commission): An international nongovernmental organization which promotes internationally cooperated standardization in electric/electronic field, publishes international standards and manages applicable estimation system related with. (2) Pollution degree: An index indicating pollution degree of the operating environment which decides insulation performance of the devices. For instance, Pollution degree 2 indicates the state generally that only non-conductive pollution occurs. However, this state contains temporary conduction due to dew produced. |
| 2-1 |
Chapter 2 Specifications
| 2.2 Performance Specifications |
The following table shows the performance specifications of XGT Positioning Module.
2.2.1 Function Specifications
| Items | Specification | ||
| No. of control axis | 4,8 | ||
| Interpolation function | 2~4(8) axes linear interpolation, 2 axes circular interpolation, 3 axes helical interpolation | ||
| Control method | Position control, Speed control, Speed/Position control, Position/Speed control, Position/Torque Control, Feed control |
||
| Control unit | Pulse, ㎜, inch, degree | ||
| Positioning data | Each axis can have up to 400 operation data .(Operation step number : 1 ∼ 400) Available to set with XG-PM or program |
||
| XG-PM | Connection | RS-232C port of CPU module or USB | |
| Setting data | Common, Basic, Extended, Servo parameter, Operation data, Cam data, Command information |
||
| Monitor | Operation information, Trace, Input terminal information, Error information | ||
| Back-up | Save the parameter, operation data in FRAM ROM (No need of Battery) | ||
| POSITIONING | Positioning method | Absolute method/Incremental method | |
| Position address range |
|||
| Absolute | Incremental | Speed/Position, Position/Speed Switching control |
|
| ㎜ | -214748364.8∼ 214748364.7(㎛) | -214748364.8∼ 214748364.7(㎛) | -214748364.8∼ 214748364.7(㎛) |
| Inch | -21474.83648 ∼ 21474.83647 | -21474.83648 ∼ 21474.83647 | -21474.83648 ∼ 21474.83647 |
| degree | -21474.83648 ∼ 21474.83647 | -21474.83648 ∼ 21474.83647 | -21474.83648 ∼ 21474.83647 |
| pulse | -2147483648 ∼ 2147483647 | -2147483648 ∼ 2147483647 | -2147483648 ∼ 2147483647 |
| Speed range | |||
| ㎜ | 0.01 ∼ 20000000.00(㎜/min) | ||
| Inch | 0.001 ∼ 2000000.000(Inch/min) | ||
| degree | 0.001 ∼ 2000000.000(degree/min) | ||
| pulse | 1 ~ 20,000,000(pulse/SEC) | ||
| rpm | 0.1 ∼ 100000.0(RPM) | ||
| Acc./Dec. process | Trapezoid type, S-type | ||
| Acc./Dec. time | 1 ∼ 2,147,483,647 ㎳ selection is available from 4 types of acceleration/deceleration pattern |
||
| Manual Operation | Jog Operation, MPG Operation, Inching Operation | ||
| Homing method | [XGF-PN8A] upper limit + Z phase (CW), lower limit + Z phase (CCW), DOG + Z phase (CW), DOG + Z phase (CCW), upper limit + DOG + Z phase (CW), lower limit + DOG + Z phase (CCW), Z phase (CW), Z phase (CCW), DOG(CW), DOG(CCW) [XGF-PN4B/PN8B] Refer to the method supported by the servo driver |
||
| Speed change function | Speed change (Percent/Absolute value) |
| 2-2 |
Chapter 2 Specifications
| Items | Specification | |
| Torque unit | Rated torque % designation | |
| Absolute position system | Available (when using absolute encoder type servo driver) | |
| External Encoder input |
Channel | 2 channels |
| Max. Input | 200 kpps | |
| Input form | Line drive input (RS-422A IEC specification), open collector output type encoder | |
| Input type | CW/CCW, PULSE/DIR, Phase A/B | |
| Connection connector |
12-point connector | |
| Communication Period | 800 ㎲ (XGF-PN8A), 1ms (XGF-PN4B/PN8B) | |
| Max. transmission distance |
100m | |
| Communication cable | Over CAT.5 STP (Shielded Twisted-pair) cable | |
| Error indication | Indicated by LED | |
| Communication status indication |
Indicated by LED | |
| Consumable current | 500mA | |
| Weight | 115g |
| 2-3 |
Chapter 2 Specifications
2.2.2 Encoder Input Specification
| Item | Specification | |
| Input voltage | 5V (4.5V ~ 5.5V) | In accordance with RS-422A Line Driver Level |
| Input current | 7 ㎃ ~ 11 ㎃ | |
| Min. On guarantee voltage |
4.1V | |
| Max. Off guarantee voltage |
1.7V | |
| Input pulse | 1) Pulse width 2) Phase difference |
| Over 5㎲ Over 2.5㎲ Over 2.5㎲ Over 1.25㎲ A phase B phase When A phase input pulse is ahead of B phase input pulse : Position value increases When B phase input pulse is ahead of A phase input pulse : Position value decreases |
| 2-4 |
Chapter 2 Specifications
| 2.3 The Name of Each Part |
2.3.1 The name of each part
Pin arrangement of connector
④ ⑤ ⑥
①③ ④
| No. | Name | Description |
| ① | Module ready signal | On: Positioning module normal status Off: Power OFF or CPU module reset status Flicker: Positioning module abnormal status |
| ② | Operation indicator LED (AX1 ~ AX8) |
On: applicable axis is running Off: applicable axis is stop status Flicker: applicable axis is error status |
| ③ | Communication status indicator LED |
On: communication with servo driver is connected Off: communication with servo driver is disconnected Flicker: Error occurs during communicating with servo driver |
| ④ | TRX status LED | On: Wiring with servo driver is done Off: Wiring with servo driver is not done Flicker: communicating with servo driver |
| ⑤ | Connector for encoder wiring |
Connector to connect with encoder |
| ⑥ | RJ-45 connector | RJ-45 connector to connect with servo driver |
| 2-5 |
Chapter 2 Specifications
2.3.2 Specification of interface with external device
(1) Pin arrangement of connector
(2) Internal circuit
| Item | Pin No. | Signal | |
| *Note1 | 1 | ENC1A+ | Encoder 1A+ input |
| 2 | ENC1A- | Encoder 1 A- input | |
| 3 | ENC1B+ | Encoder 1 B+ input | |
| 4 | ENC1B- | Encoder 1 B- input | |
| 5 | ENC1Z+ | Encoder 1 Z+ input | |
| 6 | ENC1Z- | Encoder 1 Z- input | |
| *Note2 | 7 | ENC2A+ | Encoder 2 A+ input |
| 8 | ENC2A- | Encoder 2 A- input | |
| 9 | ENC2B+ | Encoder 2 B+ input | |
| 10 | ENC2B- | Encoder 2 B- input | |
| 11 | ENC2Z+ | Encoder 2 Z+ input | |
| 12 | ENC2Z- | Encoder 2 Z- input |
| Pin arrangement |
Pin No. |
Signal name | direction Signal |
| 1 | ENC1A+ | Encoder 1 A+ input | input |
| 2 | ENC1A- | Encoder 1 A- input | |
| 3 | ENC1B+ | Encoder 1 B+ input | |
| 4 | ENC1B- | Encoder 1 B- input | |
| 5 | ENC1Z+ | Encoder 1 Z+ input | |
| 6 | ENC1Z- | Encoder 1 Z- input | |
| 7 | ENC2A+ | Encoder 2 A+ input | |
| 8 | ENC2A- | Encoder 2 A- input | |
| 9 | ENC2B+ | Encoder 2 B+ input | |
| 10 | ENC2B- | Encoder 2 B- input | |
| 11 | ENC2Z+ | Encoder 2 Z+ input | |
| 12 | ENC2Z- | Encoder 2 Z- input |
| DC5V | A B Z |
| 5V | |
| 0V | |
| DC5V 5V 0V |
|
| A+ A B+ B Z+ Z- |
| 2-6 |
Chapter 2 Specifications
| Note |
| *Note1 Wiring of encoder 1 is example about 5V voltage output type (open collector). When using 12V, 24V type MPG, change the input voltage from 5V to 12V or 24V and in case of 12V, connect 910Ω resistor to ENC1 A+(pin 1), ENC1 B+ (pin3), in case of 24V, 2.4㏀ resistor, before connecting the power source (adding PULL-UP resistor is needed) *Note2 Wiring of encoder 2 is example about 5V voltage output type (line driver) |
This describes the internal circuit of the module when connecting the encoder.
| Item | Internal circuit | No. | Terminal | Pin number | Signal name |
| Encoder 1 |
Encoder 2 |
||||
| Input | ① | A+ | 1 | 7 | A phase pulse input + |
| ② | A- | 2 | 8 | A phase pulse input - |
|
| ① | B+ | 3 | 9 | B phase pulse input + |
|
| ② | B- | 4 | 10 | B phase pulse input - |
|
| ① | Z+ | 5 | 11 | Z phase pulse input + |
|
| ② | Z- | 6 | 12 | Z phase pulse input - |
① ②
| 2-7 |
Chapter 3 Operation Order and Installation
| 3-1 |
Chapter 3 Operation Order and Installation
3.1 Operation Order
▶ Here describes the Operation order in case of positioning operation by positioning module.
External emergency stop signal
External upper limit signal
External lower limit signal
Home signal
DOG signal
External Dec. Stop (or position/speed control switching) signal
Reading/Writing servo parameter and servo tuning are
available by XG-PM
Allocate the axis number to each servo by using
XG-PM
Connect the motor and external signal to the servo
Write the servo parameter in the XG-PM and download it to servo
Connect Ethernet communication cable between positioning module
and servo, and between servos
Write the operation data and parameter of positioning module in
the XG-PM and download it to the module
Set up the servo axis and establish communication between Servo
and postioning module
| Specify the number of axis to be connected |
| Specify positioning method and control unit |
| Specify the servo type and capacity |
| Install the XG5000 and XG-PM on the PC |
| Mount the positioning module on the base |
Turn the PLC on
Connect the communication cable between USB ports (RS-232C)
of PC and PLC CPU module
End
Start
Execute a test run by using XG-PM
Write the program for positioning operation through XG5000
Start the positioning operation
Max. Communication distance: 100m
Communication cable: STP cable
Check whether RDY LED is ON or not
Basic parameter, extended parameter, manual
operation parameter, common parameter, operation
data
Check the operation status and modify the module
parameter and servo parameter
Chapter 3 Operation Order and Installation
| 3-2 |
3.2.1 Installation Environment
This machine has a good reliability regardless of installation environment but cares should be taken in the
following items to guarantee the reliability and safety of the system.
(1) Environment Condition
- Install the control panel available for water-proof, anti-vibration.
- The place free from continuous impact or vibration.
- The place not exposed to direct rays.
- The place with no dew phenomena by rapid temperature change.
- The place where surrounding temperature maintains 0-55℃.
(2) Installation Construction
- In case of processing the screw hole or wiring, cares should be taken not to put the wiring remnants to PLC inside.
- Install on the good place to operate.
- Do not install the high voltage machine on the same Panel.
- The distance from duct or surrounding module shall be more than 50mm.
- Ground to the place where surrounding noise environment is good enough.
3.2.2 Notices in Handling
Here describes the notices in handling the positioning module from opening to installation.
(1) Do not fall down or apply the strong impact.
(2) Do not remove PCB from the case. It may cause the failure.
(3) In wiring, cares should be taken not to put the wiring remnants or foreign materials to the upper part of
module. If something entered, it should be removed.
(4) The removal of module in the status of power ON is prohibited.
3.2 Installation
Chapter 3 Operation Order and Installation
| 3-3 |
3.3 Notices in Wiring
3.3.1 Notices in Wiring
(1)The length of connecting cable between positioning module and drive machine shall be as short as
possible. (Max. length: 2m and 10m).
(2)For alternating current and external I/O signal of positioning module, it is required to use the separate
cables to avoid the surge or induction noise generated from the alternating current.
(3)The wires should be selected considering surrounding temperature, allowable current and it is
recommended to be more than max. size AWG22(0.3㎟).
(4)In wiring, if it is too close to the high temperature machine or material or it is directly contacted to the oil for
a long time, the short-circuit will occur that may cause the damage or malfunction.
(5)Make sure to check the polarity before applying the external contact signal to the terminal board.
(6)In case of wiring the high voltage cable and power cables together, the induction noise occurs that may
cause the malfunction or failure.
(7)In case of wiring by the pipe, the grounding of pipe is required.
(8)For the communication cable between the positioning module and the driver, user STP CAT-5 or above
for connection
(9)When the communication error occurs during operation of positioning module, which may be caused by
noise interference in wiring between the positioning module and the driver. At this time, attach Ferrite Core
to the communication cable to prevent the noise
Chapter 3 Operation Order and Installation
| 3-4 |
3.3.2 Connection Example of Servo and Stepping Motor Drive Machine
(1) This is wiring example connecting 400W XGT servo drive/motor to positioning module (XGFPN4B/PN8B).
Chapter 3 Operation Order and Installation
| 3-5 |
3.3.3 Connection Example of Servo and Stepping Motor Drive Machine
(1) This is wiring example connecting 400W XGT servo drive/motor to positioning module (XGFPN4B/PN8B).
| PCON GAIN2 A-RST HOME P-OT N-OT PROBE1 PROBE2 +24V IN CN6 HWBB1- HWBB1+ Digital Input HWBB2- HWBB2+ XGF-PN4B XGF-PN8B C C 0V |
|
| 13 14 12 11 8 7 9 6 3.3kΩ (DI1) (DI3) (DI5) (DI7) C1 C2 B+ XGT Servo XDL-L7NA004 L1 L2 B/Bl |
Digital Input CN1 Regenerative resistor Power AC200~230V 50/60㎐ *Note 5 |
| 10 | |
| 4 3 3.3kΩ 6 5 3.3kΩ |
|
| N4 N3 |
| 3 (DO1) U V W B |
XML-FB04 |
| ALARM+ ALARM- READY+ READY- INSPD INPOS WARN ZSPD+ ZSPD- BRAKE+ BRAKE- EDM+ EDM- Digital Output |
|
| 4 | |
| 17 (DO2) |
|
| 18 | |
| Digital Output | |
| ** | |
| ** | |
| ** | |
| 19 () |
|
| 20 | |
| 1 (DO4) |
|
| 2 | |
| 7 () |
|
| 8 | |
| U | M |
| V | |
| W | |
| E | ENC |
DC24V (DI2)
(DI4)
(DI6)
DO3(DI1)
(DI2)
DO1(DI8)
DC24V
DC24V GND
OUT
DC5V
ENC2B+
ENC2BENC2Z+
ENC2ZENC2A+
ENC2AENC1B+
ENC1BENC1Z+
ENC1ZENC1A+
ENC1A-
5V
A+
AB+ 9
10
11
12
7 8
BZ+
Z-
Encoder2
5V
A B Z 0V
Encoder1
1 2 3 4 5 6
+-
Connect next servo drive .
Ethernet Cable
NF
AMK
*Note 1
*Note 2
*Note 3
*Note 4
Chapter 3 Operation Order and Installation
| 3-6 |
Note
*Note1
Wiring of encoder 1 is an example about 5V voltage output (open collector) type.
*Note2
Wiring of encoder 2 is an example about 5V voltage output (line driver) type.
*Note3
When connecting more than 2 servo drivers, connect first servo driver’s IN to the positioning module’s OUT and for
other servo drivers, connect previous servo driver’s OUT to next servo driver’s IN. last servo driver’s OUT doesn’t
need to be connected. And connection order is not related with axis order.
*Note4
NF is abbreviation of Noise Filer. It is necessary to prevent the noise from coming in.
*Note 5
Use after making a short circuit between terminals B and BI as regenerative resistor of L7NA001B~L7NA004B
(50[W], 100[Ω]), L7NA008B ~L7NA010B(100[W], 40[Ω]), L7NA020B~ L7NA035B(150[W], 13[Ω]) is contained inside.
In case of a high regeneration capacity due to frequent acceleration/deceleration, open the shorting pin(B, BI) and
connect external resistor to B and BI to use.
Chapter 3 Operation Order and Installation
| 3-7 |
(2) This is wiring example connecting 200W servo drive/motor to positioning module (XGF-PN8A).
Note
*Note1
Wiring of encoder 1 is an example about 5V voltage output (open collector) type.
*Note2
Wiring of encoder 2 is an example about 5V voltage output (line driver) type.
*Note3
When connecting more than 2 servo drivers, connect first servo driver’s IN to the positioning module’s OUT and for
other servo drivers, connect previous servo driver’s OUT to next servo driver’s IN. last servo driver’s OUT doesn’t
need to be connected. And connection order is not related with axis order.
*Note4
NF is abbreviation of Noise Filer. It is necessary to prevent the noise from coming in.
*Note5
The regenerative resistor of the XDA-N005/N010 is installed at the inside of driver as bult-in type. The regenerative
resistor of XDA-N001/N002/N004, XDA-N015 and above is not built-in type. Therefore, check the capacity and apply
it to the driver.
*Note6
Surely connect the ground line of CN1 cable to FG (Frame Ground) terminal.
| ENC1 B+ ENC1 A- ENC1 B- ENC1 A+ *note1 ENC2 A+ ENC1 Z- ENC2 A- ENC1 Z+ ENC2 Z+ ENC2 B- ENC2 Z- ENC2 B+ *note2 OU |
4 2 3 1 8 6 7 5 12 10 11 9 |
||
| XGF-PN8A CN1 (input) Power AC 200~230V 50/60Hz NFB MC1 Regenerative resistor *note5 |
XGT Servo XDA-N02 L1 L2 L1C L2C P B 25 7 20 8 21 9 22 10 U V W FG 16 2 13 23 11 24 12 13 26 |
XMR-CJ0 | |
| T IN Ethernet |
ODI_01 ODI_02 ODI_03 ODI_04 ODI_05 GND24 |
||
| Connect to next servo driver *note3 |
|||
| +24V | + - +24V |
||
| HOME | |||
| VTP (STOP) | |||
| DOG | CN1 (Output) |
||
| E-STOP | |||
| CW LIMIT | MONIT1 | ||
| CCW LIMIT | MONIT2 | ||
| NONE | AGND | ||
| Analog | 15 | ||
| AGND | 13 | ||
| U V W G SM + - PG |
|||
| F | |||
| Brake power input ENC |
|||
| COM | *Digital Loader *PC Loader(RS232C) *Network communication (RS232C) |
||
| PAO | 4 | A/D LPF |
|
| NAO | 17 | ||
| PBO | 6 | ||
| NBO | 5 | ||
| PCO | 19 | *note | |
| NZO | 18 | F.G. | 14 |
A B
0V
5V
5V +
-
Z
AA+
0V
5V
B+
BZ+
Z-
OUT
Cable
Encoder
1
Encoder
2
COM
3.3K
D/A
NF
*note4
3.3K
3.3K
3.3K
3.3K
3.3K
3.3K
Chapter 3 Operation Order and Installation
| 3-8 |
(3) This is wiring example connecting SanMotion R Advanced Model EtherCAT servo drive/motor to network
standard type positioning module (XGF-PN4B/PN8B). For detail on installation and wiring, refer to the
driver manual.
ENC1 B+
ENC1 A-
4 ENC1 B-
2 3
1 ENC1 A+
A B
0V
5V
*주1
5V +
-
| XGF-PN4B XGF-PN8B 1 Ethernet Cable Connect to next servo driver *Note3 1 OUT1+ OUT1- OUT2+ OUT2- CONT1+ CONT1- CONT2+ CONT2- |
|
| ~6 SanMotion R Advanced Model with EtherCAT Coe Interface R S RB1 1 2 3 4 5 6 7 8 U V W FG EtherCAT Output) EtherCAT Input) ~6 T RB2 r t 1 2 3 4 5 6 7 8 9 1 1 2 3 4 5 6 7 8 9 1 |
Power AC 200~230V 50/60Hz MC1 *Note4 NFB |
| CN3 | |
| U | |
| V | |
| W | |
| F | G |
| + | Brake Power Input BAT+ CN2 0 0 |
| - | |
| Regenerative resistor |
|
| Alarm Emergency stop |
|
| PG |
ENC2 A+
ENC1 Z-
8 ENC2 A-
6 7
5 ENC1 Z+
ENC2 Z+
ENC2 B-
12 ENC2 Z-
10
11
9 ENC2 B+
Z
AA+
0V
5V
B+
BZ+
Z-
*Note2
OUT Encoder1
Encoder2
EN1/2
NF
Servo Motor
CN1(CN0(MC
Operation
ON
OFF
BATHWGOFF1+
HWGOFF1-
EDM+
EDMHWGOFF2+
HWGOFF2-
*Note4
Note
*Note1
Wiring of encoder 1 is an example about 5V voltage output (open collector) type.
*Note2
Wiring of encoder 2 is an example about 5V voltage output (line driver) type.
*Note3
When connecting more than 2 servo drivers, connect first servo driver’s IN to the positioning module’s OUT and for
other servo drivers, connect previous servo driver’s OUT to next servo driver’s IN. last servo driver’s OUT doesn’t
need to be connected. And connection order is not related with axis order.
*Note4
NF is abbreviation of Noise Filer. It is necessary to prevent the noise from coming in.
Chapter 3 Operation Order and Installation
| 3-9 |
(4) This is wiring example connecting BeckHoff AX2000 servo drive/motor to network standard type
positioning module (XGF-PN4B/PN8B). For detail on installation and wiring, refer to the driver manual.
ENC1 B+
ENC1 A-
4 ENC1 B-
2 3
1 ENC1 A+
A B
0V
5V
*Note1
5V +
-
| XGF-PN4B XGF-PN8B O Ethernet Cable Connect to the next servo driver *Note3 I 2 1 3 4 Regenerative resistor When connecting external regenerative resistor, remove the jumper |
|
| UT X11 N 1 2 3 4 X4 V XGND -RBint -RB -RBext -DC X8 Analog-In 1+ Analog-In 1- AGND Analog-In 2+ Analog-In 2- AGND Analog-Out 2 Analog-Out 1 X3 DGND PSTOP NSTOP DIGITAL-IN1 DIGITAL-IN2 ENABLE DIGITAL-OUT1 DIGITAL-OUT2 BTB/RTO |
|
| AX2000-B110 EtherCAT Drive X9 X0A |
MC1 NFB L1 L2 L3 Power AC 200~230V 50/60Hz |
| L1 L2 L3 W2 V2 U2 PE BRAKE+ BRAKE PE L1 L2 X0B |
1 |
| V P B 6 5 4 3 B 1 2 W |
E M + - U Resolver Encoder |
| 2 | |
| 3 | |
| 4 | |
| L3 X1 |
3 |
| 1 | |
| 2 | |
| 4 | |
| Connect to the next servo driver | |
| 4 | |
| 5 | |
| 1 | |
| 6 | |
| 7 | |
| 1 | 0 |
| X2 | |
| 9 | |
| 8 | |
| 1 | 8 |
| 1 | 3 |
| 1 | 4 |
| 1 | 1 |
| 1 | 2 |
| 1 | 5 |
| 1 | 6 |
| 1 | 7 |
| 2 | |
| 3 | |
| +24V |
ENC2 A+
ENC1 Z-
8 ENC2 A-
6 7
5 ENC1 Z+
ENC2 Z+
ENC2 B-
12 ENC2 Z-
10
11
9 ENC2 B+
Z
AA+
0V
5V
B+
BZ+
Z-
*Note2
OUT
Encoder1
Encoder2
NF
Servo Motor
+24PE
24V DC
Power supply
+ -
*주4
Note
*Note1
Wiring of encoder 1 is an example about 5V voltage output (open collector) type.
*Note2
Wiring of encoder 2 is an example about 5V voltage output (line driver) type.
*Note3
When connecting more than 2 servo drivers, connect first servo driver’s IN to the positioning module’s OUT and for
other servo drivers, connect previous servo driver’s OUT to next servo driver’s IN. last servo driver’s OUT doesn’t
need to be connected. And connection order is not related with axis order.
*Note4
NF is abbreviation of Noise Filer. It is necessary to prevent the noise from coming in.
Chapter 3 Operation Order and Installation
| 3-10 |
3.3.4 Encoder Input (DC 5V Voltage Output) Wiring Example
When Pulse Generator is a Voltage Output type, wiring example of positioning module and Encoder input part is
as follows.
In case pulse generator is totem-pole output and used as voltage output style, wiring is equal.
Notes
Before Wiring, please consider maximum output distance of pulse generator.
| ase+ ase ase+ ase ase+ ase |
| A ph |
| B ph |
| Z ph |
| OUTA | 5V |
| OUTB | |
| OUTZ F.G |
0V |
| wisted shielded cable |
5V DC
XGF-PN8A
Pulse generating part
Chapter 3 Operation Order and Installation
| 3-11 |
3.3.5 Encoder Input (5V Line Driver Output) Wiring Example
Notes
Before Wiring, please consider maximum output distance of pulse generator.
| A ph |
| ase+ ase ase+ ase ase+ ase |
| A ph |
| B ph |
| B ph |
| Z ph |
| Z ph |
| OUTA+ OUTB+ OUTZ+ F.G 0V 5V OUTA OUTB OUTZ |
wisted shielded cable |
5V DC
XGF-PN8A Pulse generating part
Chapter 4 Positioning Parameter & Operation Data
| 4-1 |
Chapter 4 Positioning Parameter & Operation Data
This chapter describes parameter and operation data about positioning module.
4.1 Parameter & Operation data
This picture describes process of parameter and operation data saved in the module.
Sequence
program
| XGF-PN8A/B Reading current stat |
| XGF-PN4B Internal buffer Module parameter Operation data CAM data Servo parameter Command buffer Status buffer Flash Memory CAM data O/S FRAM Operation parameter Operation data Common parameter Absolute position Power On/Reset ROM teaching Power On/Reset Error history Trace setting |
| Command (Write) |
XGT PLC
PC
XG-PM
| XG-PM I/F |
XG5000
Sending data and commands
Servo parameter / Servo parameter / status (Read)
Chapter 4 Positioning Parameter & Operation Data
| 4-2 |
▶ Here describes about basic parameter of positioning module.
4.2.1 Basic parameter
| Basic parameter item | Setting range | |
| Speed limit | ㎜ : 1 ∼ 2,147,483,647 [X10-2 ㎜/min] Inch : 1 ∼ 2,147,483,647 [X10-3Inch/min] degree : 1 ∼ 2,147,483,647 [X10-3 degree/min] pulse : 1 ∼ 2,147,483,647 [pulse/sec] |
|
| Acceleration time 1 | 1 ~ 2,147,483,647 [ms] | |
| Acceleration time 2 | ||
| Acceleration time 3 | ||
| Acceleration time 4 | ||
| Deceleration time 1 | 1 ~ 2,147,483,647 [ms] | |
| Deceleration time 2 | ||
| Deceleration time 3 | ||
| Deceleration time 4 | ||
| Deceleration time for EMG stop | 1 ~ 2,147,483,647 [ms] | |
| Pulse per rotation | 1 ~ 200,000,000 | |
| Travel per rotation | ||
| Control word | unit (bit 2 ~ 3) | 0:Pulse, 1:mm, 2:Inch, 3:Degree |
| Unit multiplier (bit 4 ~ 5) | 0: x 1, 1: x 10, 2: x 100, 3: x 1000 | |
| Speed command unit (bit 6) | 0: unit/time, 1: rpm | |
| Encoder select (bit 7) | 0:Incremental Encoder, 1:Absolute Encoder | |
| Current position display correction(bit 8 ~ 15) |
0 ~ 255 |
| Notes |
| 1. For Deceleration time in case of stop, when it stops by DEC. stop, DEC. time set in command is applied. At this time, if DEC. time is set as 0 in command, DEC. time set in basic parameter is applied. In case it stops by EMG stop because of internal factor, not external factor, EMG stop deceleration time in basic parameter is applied. 2. Among basic parameters, “Encoder select” is applied to only XGF-PN4B/PN8B module. |
4.2 Basic Parameter
Chapter 4 Positioning Parameter & Operation Data
| 4-3 |
4.2.2 Basic parameter setting
(1) Unit
(a) You can set the command unit for positioning control according to control object. The command unit (mm,
inch, pulse, degree) can be set for each axis separately.
(b) In case of changing the unit setting, as the value of other parameter and operation data does not change,
the value of parameter or operation data should be set within the setting range of the unit to be changed.
Ex) mm, inch, pulse : X-Y Table, Conveyor
degree : a body of rotation (360degree/rotation)
(2) Pulse per Rotation
(a) Only in case of using mm, inch, degree as a positioning command unit, you should set pulse per rotation
(b) For XGF-PN8A, multiply the value in “Encoder pulses” of servo parameter P1-13 by 4 and use the result
as “Pulse per rotation”. If the value does not correspond with parameter value of servo drive,
command and motor action can be different.
Travel per pulse = Transfer per rotation (Al) / Pulse per rotation (Ap)
(3) Travel per rotation and unit multiplier
(a) Only in case of using mm, inch, degree as a positioning command unit, you should set travel per rotation
and multiplier
(b) Machine’s travel per rotation of motor is determined by the structure of machine.
If the lead of ball screw (mm/rev) is PB and the rate of deceleration is 1/n,
Transfer amount per rotation (AL) = PB ×1/n.
(c) Settable Travel per rotation (AI) is listed below
In case AL exceeds the above range, the travel per rotation (AI) should be set as follows:
Transfer amount (AL) = PB ×1/n
= Travel per rotation (AI) × Unit multiplier (Am)
Note)
In case unit is mm, unit multiplier (Am) is 1,10,100,1000. If the value of “PB ×1/n” exceeds
20000000.0 ㎛, it is required to adjust the unit multiplier so that the travel per rotation (Al) does not exceed
20000000.0 ㎛.
Ex1) In case that (AL) = PB ×1/n = 2500000.0 ㎛(= 2500 ㎜),
(AL) = (Al) × (Am) = 25000000 ×1
| Setting unit | mm | Inch | degree |
| Travel per rotation | 0.1 ~ 20000000.0 um |
0.00001 ~ 2000.00000 inch | 0.00001 ~ 2000.00000 degree |
Chapter 4 Positioning Parameter & Operation Data
| 4-4 |
Ex2) In case that (AL) = PB ×1/n = 25000000.0 ㎛(= 25000 ㎜),
(AL) = (Al) × (Am) = 25000000 ×10
= 2500000 ×100
(4) Speed Limit, Acceleration Time, Deceleration Time
(a) Speed Limit
Speed limit is maximum speed can be set by positioning operation.
All of the operating speed should be set to be lower than speed limit in positioning operation.
(b) Acceleration Time
The time required to reach from speed “0” (stop state) to the speed limit which is set by parameter.
(It doesn’t mean that the time require to reach to the operation speed.)
(c) Deceleration Time
The time required to reach from the speed limit set by parameter to the bias speed “0” (stop state).
(It doesn’t mean that the time require to reach from the operation speed to the speed “0”.)
(5) Encoder Select
(a) This item is applied to only XGF-PN8B. It sets up the encoder type. If you use absolute position system,
select 1: absolute encoder.
(b) The following describes setting of 「Encoder Select」
| Item | Setting value | Contents |
| Encoder select |
0: Incremental encoder |
After power On/Off, it doesn’t keep previous position of the servo motor. After power On/Off, “Origin Fix” status is always off. |
| 1: Absolute encoder | Absolute position system is activated. After power On/Off, it keeps previous position of the servo motor. For “Origin fix” status, it keeps previous status, too. |
Chapter 4 Positioning Parameter & Operation Data
| 4-5 |
(6) Current Position Display Correction
(a) The Current Position Display Correction is a parameter used to display the current position value of the
servo motor as an command position without displaying it as a fixed value according to user applications
and gain setting if there are little changes in the current position value.
(b) If not during the operation, display the current position value as command position value when the
difference between the command position and the current position is within the Current Position Display
Correction.
(c) The following values can be set as the Current Position Display Correction.
(d) The following shows an example of the Current Position Display Correction according to its value when the
command location is 0.
① Current Position Correction = 0 pls
- The motor’s actual position value is still displayed as the current position value even after the
operation is finished.
| Setting unit | pulse | mm | Inch | degree |
| Current Position Display Correction |
0 ~ 255 | 0.0 ~ 25.5 um | 0.0 ~ 0.00255 inch | 0.0 ~ 0.00255 degree |
Chapter 4 Positioning Parameter & Operation Data
| 4-6 |
② Current Position Correction = 50 pls
- If current position value is within ±50 from the command position after the operation is finished,
the command position value is displayed.
③ Current Position Correction = 100 pls
- If current position value is within ±100 from the command position after the operation is finished,
the command position value is displayed.
(e) The version information that you can use your current location correction function is shown below.
| Version | |
| XGF-PN8A OS | V1.20 or above |
| XGF-PN4B OS | V1.00 or above |
| XGF-PN8B OS | V1.10 or above |
| XGK CPU | V3.90 or above |
| XG5000 | V3.63 or above |
Chapter 4 Positioning Parameter & Operation Data
| 4-7 |
(7) User Defined Position Display Function
(a) The user sets the desired magnification as parameters for the position and speed and convert them to
‘user defined position’, ‘user defined speed’ values for use.
(b) User defined position magnification are applied to the position and speed as follows.
User defined position = Unit position x 10-N (integer value, omit decimals)
※ ‘Unit position’: The command position integer value or current position read by SRD command
※ N: ‘User defined position display magnification’ of the basic parameter (0 ~ 7)
※ If N = 0, user defined position and unit position values are the same
(c) User defined position display value can be set range of the 0 ~ 7
(d) The version information that you can use your current location correction function is shown below.
| Version | |
| XGF-PN4B OS | V1.10 or above |
| XGF-PN8B OS | V1.50 or above |
| XGK CPU | V4.52 or above |
| XG5000 | V4.07 or above |
(8) User Defined Speed Display Function
(a) The user sets the desired magnification as parameters for the position and speed and convert them to
‘user defined position’, ‘user defined speed’ values for use.
(b) User defined speed magnification are applied to the position and speed as follows.
User defined speed = Unit speed x 10-N (integer value, omit decimals)
※ ‘Unit speed’ : The command speed integer value or current speed read by SRD command
※ N : ‘User defined speed display magnification’ of the basic parameter (0 ~ 7)
※ if N = 0, user defined speed and unit speed values are the same
(c) User defined speed display value can be set range of the 0 ~ 7
(d) The version information that you can use your current location correction function is shown below.
| Version | |
| XGF-PN4B OS | V1.10 or above |
| XGF-PN8B OS | V1.50 or above |
| XGK CPU | V4.52 or above |
| XG5000 | V4.07 or above |
Chapter 4 Positioning Parameter & Operation Data
| 4-8 |
4.3 Extended Parameter
It describes about extended parameter of positioning module.
4.3.1 Contents of extended parameter
| Extended parameter Items | Setting Range | |
| Software upper limit | ㎜: -2147483648 ~ 2147483647[X10-4 ㎜] Inch: -2147483648 ~ 2147483647[X10-5Inch] degree: -2147483648 ~ 2147483647[X10-5degree] pulse: -2147483648 ~ 2147483647[pulse] |
|
| Software lower limit | ||
| Infinite running repeat position | mm: 1 ~ 2147483647[X10-4 ㎜] Inch: 1 ~ 2147483647[X10-5Inch] degree: 1 ~ 2147483647[X10-5degree] pulse: 1 ~ 2147483647[pulse] |
|
| Position completion time | 0 ~ 65,535 [unit: ms] | |
| S-Curve ratio | 1 ~ 100 [unit: %] | |
| In-position width | mm: 0 ~ 2147483647[X10-4 ㎜] Inch: 0 ~ 2147483647[X10-5Inch] degree: 0 ~ 2147483647[X10-5degree] pulse: 0 ~ 2147483647[pulse] |
|
| Arc insertion position in 2-axis linear interpolation continuous operation |
||
| Control Word |
Acceleration/Deceleration pattern (bit 1) | 0:Trapezoid operation, 1:S-Curve operation |
| M Code mode (bit 2 ~ 3) | 0:NONE, 1:WITH, 2:AFTER | |
| Software limit detect (bit 5) | 0:Don’t detect, 1: Detect | |
| Interpolation speed selection (bit 4) | 0: main axis speed, 1: synthetic speed | |
| External command selection (bit6 ~ 7) | 0: External VTP, 1: External stop, 2: External latch | |
| External command (bit8) | 0: Disable, 1: Enable | |
| Speed/Position switching coordinate(bit9) | 0: incremental, 1: absolute | |
| Positioning complete condition (bit 10 ~ 11) |
0 : Dwell time 1 : In-position 2 : Dwell time and in-position 3 : Dwell time or In-position |
|
| Infinite running repeat (bit 12) | 0: Disable, 1: Enable | |
| Interpolation continuous operation Type (bit 13) |
0 : Pass target position 1 : Pass near position |
|
| Arc insertion in 2-axis linear interpolation continuous operation (bit 14) |
0 : Don’t insert 1 : Insert arc continuous operation |
|
| Pos.-specified speed override coordinate (bit 15) |
0: absolute, 1: incremental |
- External command selection and external command items are applied to only XGF-PN8A.
Notes
In case of XGF-PN4B/PN8B, external command selection and external command items are applied only when
LS MECAPIONL 7N servo drive is used. The servo drive’s DI#1 signal is used as external command. To use
DI#1 as external command signal, do not assign other functions to DI#1 in Defining Servo Parameter Input
Signal (0x2200, 0x2201) item.
Chapter 4 Positioning Parameter & Operation Data
| 4-9 |
4.3.2 Extended parameter setting
(1) Software Upper/Lower Limit
(a) The function is designed so that the machine does not execute the positioning operation out of the range
by setting the range of machine available to move through software upper limit and software lower limit.
That is, this function is used to prevent any breakaway by incorrect operation position setting and
incorrect operation by user program fault.
(b) External input upper/lower limit can be also set besides the software upper/lower limit.
(c) The range check of software upper/lower limit shall be done at the start of operation and during
operating.
(d) If the software upper/lower limit is detected, error (Software upper limit error: 501, Software lower limit
error: 502) occurs and the pulse output of positioning module shall be disabled.
Therefore, when you want to operate again, it is required to reset error.
(e) Setting range
| Unit | Software upper/lower limit range |
| pulse | -2147483648∼ 2147483647[pulse] |
| ㎜ | -2147483648∼ 2147483647[X10-4 ㎜] |
| Inch | -2147483648∼ 2147483647[X10-5Inch] |
| degree | -2147483648∼ 2147483647[X10-5degree] |
But Software upper limit value always should be higher than software lower limit, at least same.
(f) If the software upper/lower limit was set by default value (upper limit: 2,147,483,647, lower limit: -
2,147,483,648) or same value, then it wouldn’t detect upper/lower limit.
| Transfer range of the Machine |
Software Low limit Software High limit
Chapter 4 Positioning Parameter & Operation Data
| 4-10 |
(2) Infinite running repeat position
(a) When using “Infinite running repeat” mode, it sets the repeated position value.
(b) This is applied when “Infinite running repeat” in the extended parameter is “1: Enable”. When this
parameter setting value is “0: Disable”, command position and current position is expressed within position
expression range according to value set in “Unit” of basic parameter.
(c) When “Infinite running repeat” parameter is “1: enable”, command position and current position is
expressed as 0 ~ “infinite running repeat position-1”.
(d) Setting range
| Unit | Infinite running repeat position range |
| pulse | 1∼ 2147483647[pulse] |
| ㎜ | 1∼ 2147483647[X10-4 ㎜] |
| Inch | 1∼ 2147483647[X10-5Inch] |
| degree | 1∼ 2147483647[X10-5degree] |
(3) Infinite running repeat
(a) It sets whether to enable or disable “Infinite running repeat”
(b) When you set “Infinite running repeat” as “1: enable”, command position and current position refreshes
within the range set in “Infinite running repeat position” periodically.
(c) When you don’t use “Infinite running repeat” function, set as “0: disable”.
(4) Positioning Completion Time
(a) Positioning completion signal shall be OFF after sustaining “ON” for Positioning Completion Time after
positioning is completed and positioning completion signal becomes “ON” in single operation, repeat
operation, keep operation, continuous operation, linear interpolation operation, circular interpolation
operation, speed/position switching control operation, inching operation
At this time, if all start command is executed while positioning completion signal is ON, completion signal
shall be OFF immediately. In case of keep operation and continuous mode operation, positioning
completion signal will be on after all steps end.
Infinite running repeat position
0
Chapter 4 Positioning Parameter & Operation Data
| 4-11 |
(b) The setting range is 0 ∼ 65,535 (unit: 1 ㎳).
(c) The action of single operation mode is as follows :
(d) The action of Keep operation mode is as follows :
Time
Speed
Start
Busy
Positioning
completion
Set positioning
completion output time
= actual positioning
completion output time
Set positioning
completion output time
| actual positioning completion output time |
| Dwell time |
Dwell time
Time
Speed
Start
Busy
Positioning
completion
Positioning completion output time
Dwell time
Dwell time
Chapter 4 Positioning Parameter & Operation Data
| 4-12 |
(e) The action of Continuous operation mode is as follows.
(5) M Code Output
(a) M code mode set by parameter shall be applied to all position data of the corresponding axis.
(b) Available to set M code number differently at each operation step no. of positioning data.
(c) M code number setting range : 1 ∼ 65,535
(d) Available to read and use M code for the identification of operation step no. in operation and the execution
of auxiliary works (Clamp, Drill rotation, tool change etc).
(e) M code signal occurring during the operation shall be reset by M code “Off” command.
Notes
If you execute the next step after the positioning is completed and M code signal is “ON”, the next
operation step no. does not work and the error (In case of indirect start, E233) will occur. Therefore, in
order to execute the positioning of the next operation step number, M code signal should be “OFF” by M
code “Off” command
(f) There are two kinds of M code mode according to the output timing of M code signal: With mode and After
mode.
(In case of setting NONE, There is no M code signal, even if M code No was set.)
Time
Speed
Start
Busy
Positioning
completion
Positioning completion output time
Dwell time
Chapter 4 Positioning Parameter & Operation Data
| 4-13 |
1) With mode
It turns on the M code signal and outputs M code number with start of positioning [Indirect start, direct
start and simultaneous start].
Time
Speed
Indirect start
In operation
| Dwell time Dwell time Keep operation |
| m |
M code No.
M code On signal
M code OFF command
End operation
n 0
Chapter 4 Positioning Parameter & Operation Data
| 4-14 |
2) After mode
It turns on the M code signal and outputs M code number after completion of positioning [indirect start,
direct start, simultaneous start].
(6) Enable/disable external command
(a) If selecting and using one among External Speed/Location Control Shift, External Stop Command,
External Latch Command, set the external command Enable/Disable to “Enable”.
(b) If “Disable” is set, it won’t work even though one among “External Speed/Location Control Shift”, “External
Stop Command” and “External Latch Command” is selected.
(c) XGF-PN8A module can be configured by selecting among “External Speed/Position Switching Control”,
“External Stop command”, “External Latch command”. These options exist in” External Selection” of
“Expansion Parameters”.
(d) XGF-PN4B/XGF-PN8B modules can be configured by selecting either “External Speed/Position Switching
Control” or “External Stop command”. These options exist in” External Selection” of “Expansion
Parameters”. XGF-PN8B module doesn’t need to configure any extra parameter because “External latch
command” can be executed by using not “external command signal of Servo drive” but “touch probe1”
signal.
Time
Speed
Indirect start
M code on
| Dwell time Dwell time Keep operation |
| 0 m |
| 0 |
M code No.
M code on signal
M code OFF command
End operation
n 0
Chapter 4 Positioning Parameter & Operation Data
| 4-15 |
(e) S/W version information that supports the latch function is shown below.
“External Latch command” for XGF-PN8A module operate properly regardless of external Servo drive
versions.
| Version | |
| XGF-PN8A | V1.20 or above |
| XGF-PN4B | V1.10 or above |
| XGF-PN8B | V1.10 or above |
| XGK CPU | V3.90 or above |
| XG5000 | V3.63 or above |
| L7N Servo drive | V0.10 or above |
(7) External command selection
(a) Set which one will be used among “External Speed/Location Control Shift”, “External Stop Command”,
“External Latch Command” as external command.
(b) If you make the selected external command operated by the external signal, enable “External command”
item.
(c) In case of XGF-PN8B, it is valid only when LS MECAPIONL 7N servo drive is used. The servo drive’s
DI#1 signal is used as external command. To use D1#1 as external command signal, do not assign other
functions to DI#1 in Defining Servo Parameter Input Signal (0x2200, 0x2201) item.
Note
Basic setting rules for L7N Servo drive of LS-Mecapion are as below.
| Object | Input signal |
CN1 Pin basic assign number | Basic Setting |
||||||
| Index | Bit | DI#6(7)주) | DI#5(8) | DI#4(11) | DI#3(12) | DI#2(14) | DI#1(13) | ||
| 0x2200 | 0~3 | PCON | - | - | - | - | - | 1 | 0x40 0 |
| 0x2200 | 4~7 | G IN2 | - | - | - | - | 2 | - | |
| 0x2200 | 8~11 | A-RST | - | - | - | 3 | - | - | |
| 0x2200 | 12~15 | HOME | - | - | 4 | - | - | - | |
| 0x2201 | 0~3 | P-OT | - | 5 | - | - | - | - | 0x0 65 |
| 0x2 01 | 4~7 | N-OT | 6 | - | - | - | - | - |
Note) The number in parentheses( ) indicates CN1 of the pin number.
(d) “External Latch Command” is applied only to XGF-PN8A modules. In XGF-PN8B modules, use the servo
drive’s touch probe Input 1 signal instead of external command signal for latch function.
(f) In case using XGF-PN4B/XGF-PN8B, this function is available only when using the L7N Servo drive of
LS-Mecapion servo drive. The signal(DI#1) of the servo drive is used as an external command.
L7N Servo drive of LS-Mecapion operate “External Latch command” properly by using “touch probe1” signal.
Chapter 4 Positioning Parameter & Operation Data
| 4-16 |
(g) The latch command of the external command is only applies to XGF-PN8A module.
The external command for the latch function of XGF-PN4B/ XGF-PN8B module doesn’t be used.
However it uses a touch probe1 input signal of the servo drive.
Note
“Touch probe1” signal use 9 pin of CN1 connector. For more information, please refer to the below illustration.
“Touch probe1” signal for L7N Servo drive of LS-Mecapion is supported later V0.10
Digital Input Digital Output
Chapter 4 Positioning Parameter & Operation Data
| 4-17 |
(8) Software limit detect
(a) Selects whether to stop the operation or not when detecting software limit.
(b) If the software upper/lower limit is set as default value (upper limit: 2,147,483,647, lower limit: -
2,147,483,648) or same value, it wouldn’t detect software upper/lower limit.
(9) Acceleration/Deceleration Pattern
(a) There are 2 kinds of Acceleration/Deceleration operation pattern: Trapezoid operation and S-Curve
operation.
(b) In case of positioning operation, it is available to select operation pattern (either trapezoid operation or SCurve operation) at the section of acceleration and de deceleration.(c) As it is not possible to use S-Curve
operation pattern in case of continuous operation mode and speed override, care should be taken in
setting.
(d) In case of using S-Curve acceleration/deceleration, it is available to protect the motor from the load effect
at the point that the motor starts to move the moving object and stops it.
(10) S-curve rate
(a) In case of selecting S-Curve operation as an acceleration/deceleration pattern, S-Curve rate (1~100%)
should be set.
(b) According to S-Curve rate, S-Curve operation pattern shall be formed in accordance with sine curve.
(c) If S-Curve rate is 1%, it becomes the same as trapezoid operation and if the 100% rate is set, it becomes
the acceleration/deceleration curve which is the closest to the Sin Curve.
(d) The figure as below shows the example of S-Curve rate setting
speed
Time
Acc/Dec.Section is linear
speed
Time
Acc/Dec. Section is Sin Curve.
<Trapezoid Acceleration/Deceleration> <S-Curve Acceleration/Deceleration>
Chapter 4 Positioning Parameter & Operation Data
| 4-18 |
(11) In-position width
(a) Sets the position range from the target position where In-position signal (External signal Bit 11) is ON.
(b) When positioning starts, In-position signal is OFF, and if it goes in “In-position width” from target position,
it will be ON.
(c) In-position signal can be used as a trigger when you execute auxiliary work before positioning
completion
(d) In case of the followings, it doesn’t check “In-position”.
1) Stop by Dec. stop or Emg. Stop command
2) Speed control
(e) In case of the followings, it turns off “In-position” signal.
Speed
Time
100%
50%
1%
100%
50%
1%
S-Curve rate
Speed
Start
In-position
signal
| In- |
position width
Chapter 4 Positioning Parameter & Operation Data
| 4-19 |
1) When executing “floating origin setting” command
2) When executing “Current position preset” command
3) When turning SERVO off
4) When starting positioning
(f) Setting range
| Unit | Setting range for in-position width |
| pulse | 0∼ 2147483647[pulse] |
| ㎜ | 0∼ 2147483647[X10-4㎜] |
| Inch | 0∼ 2147483647[X10-5Inch] |
| degree | 0∼ 2147483647[X10-5degree] |
Chapter 4 Positioning Parameter & Operation Data
| 4-20 |
(12) Positioning Completion Condition
(a) Positioning Completion signal notify that operation has been completed without stop factor
(b) There are 4 kinds of methods for positioning completion condition.
1) by dwell time
2) by in-position signal
3) by using both dwell time and in-position signal
4) by using either dwell time or in-position signal.
(c) Though target reaches goal position and positioning is complete, “in operation” status is kept until
positioning completion condition is met. If positioning completion condition is met, “in operation” signal
will be off and it goes to “Positioning completion” status.
(d) The following is timing diagram for each method.
1) Method by dwell time
If it reaches goal and stops, positioning complete signal will be on after Dwell time
Time
Speed
Start
In operation
Dwell time
During dwell
Positioning completion
Chapter 4 Positioning Parameter & Operation Data
| 4-21 |
2) Method by in-position signal
a) In case that in-position signal becomes ON before positioning is completed
Positioning complete signal will be on when reaching goal and positioning is completed
b) In case In-positioning signal becomes on after positioning is completed.
After reaching goal and positioning is completed, wait until In-position signal becomes on. When Inposition signal becomes on, positioning complete signal will be on.
Time
Speed
Start
In operation
In-position signal
Positioning completion
Time
Speed
Start
In operation
In-position signal
Positioning completion
Chapter 4 Positioning Parameter & Operation Data
| 4-22 |
3) Method by using both dwell time and in-position signal
a) In case that in-position signal occurs before dwell time is ended
b) In case that in-position signal occurs after dwell time is ended.
Time
Speed
Start
In operation
| Dwell time |
During dwell
In-position signal
Positioning completion
Time
Speed
Start
In operation
| Dwell time |
During dwell
In-position signal
Positioning completion
Chapter 4 Positioning Parameter & Operation Data
| 4-23 |
c) In case that in-position signal occurs during pulse output
4) Method by using either dwell time or in-position signal
a) In case that in-position signal occurs before dwell time is ended
Time
Speed
Start
In operation
| Dwell time |
During dwell
In-position signal
Positioning completion
Time
Speed
Start
In operation
| Dwell time |
During dwell
In-position signal
Positioning completion
Chapter 4 Positioning Parameter & Operation Data
| 4-24 |
b) In case that in-position signal occurs after dwell time is ended.
(13) Interpolation continuous operation method
In case control method is linear interpolation or circular interpolation and operation method is
continuous operation, positioning control will be different in accordance with the value set in “Int
continuous opr. Type”.
| Items | Setting value | Description |
| Interpolation continuous operation method |
0 : Pass target position |
In case of continuous operation from current step to next step, it passes target position of current step |
| 1 : Pass near position |
In case of continuous operation from current step to next step, it passes near target position of current step |
For further information, please refer to operation mode (4) continuous operation of 9.2.2 positioning control.
Time
Speed
Start
In operation
| Dwell time |
During dwell
In-position signal
Positioning completion
Chapter 4 Positioning Parameter & Operation Data
| 4-25 |
(14) Arc insertion during 2-axis linear interpolation continuous operation
When executing linear interpolation, determine whether to add arc during 2-axis linear interpolation
continuous operation.
Here describes Arc insertion during 2-axis linear interpolation continuous operation
| Setting item | Setting Value | Content |
| Arc insertion during 2-axis linear interpolation continuous operation |
0 : Don’t insert | When executing 2-axis linear continuous interpolation, doesn’t inserts arc. |
| 1 : insert arc | When executing 2-axis linear continuous interpolation, inserts arc. |
For further information about Arc insertion during 2-axis linear interpolation continuous operation, please
refer to (4) 2-axis linear interpolation continuous operation arc insertion of 2-axis linear interpolating control
of 9.2.6.
(15) Arc insertion position
When 「Arc insertion」 was set as “insert arc”, confirms the arc insertion position and resets the start
position of circular interpolation(Goal position of linear path 1) and goal position(Start position of linear path
2).
This is the setting of ‘Arc insertion position’.
| Setting item | Setting value | Content |
| Arc insertion position | 0 ~ 2147483647 | Set the position where circular will be inputted. It is relative distance from goal position. |
For further information about inputting circular arc in 2-axis linear interpolation continuous operation, please
refer to (4) inputting circular arc in 2-axis linear interpolation continuous operation of control linear
interpolation (9.2.6).
Chapter 4 Positioning Parameter & Operation Data
| 4-26 |
(16) Position-specified speed override coordinate
Position-specified speed override command is the command changing the operation speed when the
object reaches the specified position. At this time, operation may be different according to the type of
position value. Position value can be absolute position value or incremental position value.
This is the setting of ‘Position-specified speed override coordinate’.
| Item | Setting value | Content |
| Position-specified speed override coordinate |
0 : ABS | Speed changes at the specified absolute position. |
| 1 : INC | Speed changes at the position as far as the set value from start position. |
For further information, refer to 9.5.6 position-specified speed override.
(17) Speed/Position switching coordinate
If “Speed/Position switching signal” is inputted during speed control, speed control changes into position
control and executes position control with the value set in target position. At this time, this sets whether to
consider the target position as absolute position value or incremental position value.
This is the setting of “Speed/Position switching coordinate”.
| Item | Setting value | Content |
| Speed/position switching coordinate |
0 : INC | Executes positioning as far as the set value from position where speed/position switching command is executed. |
| 1 : ABS | Considers the set value as absolute position and executes positioning into the set absolute position. |
For further information, refer to 9.2.14 speed/position switching control.
(18) Interpolation speed selection
It selects whether to consider the operation speed of the position data as main axis speed or synthetic speed.
For detailed comparison, refer to the example calculating interpolation speed in Ch9.2.6 and Ch9.2.7.
Chapter 4 Positioning Parameter & Operation Data
| 4-27 |
4.4 Manual Operation Parameter
Here describes Manual operation parameter of positioning module.
Manual operation parameter is used for the operation of JOG, Inching.
4.4.1 Manual Operation Parameter
| Manual operating parameter item | Setting range |
| JOG high speed | ㎜ : 1 ∼ 2,147,483,647 [X10-2 ㎜/sec] Inch : 1 ∼ 2,147,483,647 [X10-3Inch/sec] degree : 1 ∼ 2,147,483,647 [X10-3 degree/sec] pulse : 1 ∼ 2,147,483,647 [pulse/sec] |
| JOG low speed | |
| JOG acceleration speed (ms) | 0 ~ 2,147,483,647 [ms] |
| JOG deceleration speed (ms) | |
| Inching Speed | ㎜ : 1 ∼ 65,535[X10-2 ㎜/ min] Inch : 1 ∼ 65,535[X10-3Inch/ min] degree : 1 ∼ 65,535[X10-3 degree/ min] pulse : 1 ∼ 65,535[pulse/sec] |
4.4.2 Manual Operation Parameter Setting
(1) JOG high Speed
(a) Jog speed is related to Jog operation (a kind of manual operation) and has 2 types of operation : Jog low
speed operation and Jog high speed operation.
(b) For further information, please refer to 9.3.1 JOG Operation.
(c) JOG high speed operation has operation pattern as acceleration, constant speed, deceleration section.
Therefore, acceleration section and deceleration section is controlled by JOG acceleration/deceleration
time.
(d) Jog high speed setting range
All controls executed by the positioning module are done within speed limit. So Jog high speed can’t
exceed the speed limit. And, Jog high speed have to be larger than or same as Jog low speed.
Jog low speed ≤ Jog high speed ≤ Speed limit
(2) JOG Low Speed
(a) JOG low speed operation has operation pattern as acceleration, constant speed, deceleration section.
(b) JOG low speed setting range : 1∼ Jog high speed
(3) JOG Acceleration/Deceleration Time
(a) This means JOG acceleration/deceleration time when Jog high speed and low speed operation.
(b) JOG acceleration/deceleration time setting range : 0 ∼ 2,147,483,647 [ms]
In case of set by 0, operate set by acceleration time 1 and deceleration time of parameter.
(4) Inching Speed
(a) The speed necessary for inching operation is set here.
(b) Inching speed setting range : 1 ∼ 65,535(unit/time)
Chapter 4 Positioning Parameter & Operation Data
| 4-28 |
4.5 Common Parameter
Here describes common parameter of positioning module.
The common parameter is applied to the connected all axes.
4.5.1 Common parameter
| Configuration of Common Parameter |
Setting range | |
| Control word | Encoder 1 pulse input (bit 0/1/2) |
0:CW/CCW 1 multiplier 1:PULSE/DIR 1 multiplier 2:PULSE/DIR 2 multiplier 3:PHASE A/B 1 multiplier 4:PHASE A/B 2 multiplier 5:PHASE A/B 4 multiplier |
| Encoder 1 Z phase clear (bit 3) |
0: Disable, 1: Enable | |
| Encoder 2 pulse input (bit 4/5/6) |
0:CW/CCW 1 multiplier 1:PULSE/DIR 1 multiplier 2:PULSE/DIR 2 multiplier 3:PHASE A/B 1 multiplier 4:PHASE A/B 2 multiplier 5:PHASE A/B 4 multiplier |
|
| Encoder 2 Z phase clear (bit 7) |
0: Disable, 1: Enable | |
| Speed override | 0 : % designate, 1 : Speed designate | |
| Encoder 1 Max. value | -2147483648 ~ 2147283647 | |
| Encoder 1 Min. value | ||
| Encoder 2 Max. value | ||
| Encoder 2 Min. value |
Chapter 4 Positioning Parameter & Operation Data
| 4-29 |
4.5.2 Common Parameter Setting
(1) Encoder pulse input mode
(a) If you want to use signal of a manual pulse generator or Servo drive encoder as input, you can select
suitable signal for a manual pulse generator or Servo drive encoder.
(b) You should select and set one from among CW/CCW 1 multiplier, PULSE/DIR 1 multiplier, PULSE/DIR 2
multiplier, PHASE A/B 1 multiplier, PHASE A/B 2 multiplier and PHASE A/B 4 multiplier as an encoder
input signal.
1) CW/CCW 1 multiplier
When the Phase A input pulse was grow, or the phase B input pulse was grow, act to count.
It act to additional work when the Phase B input pulse is ‘Low’ and the Phase A input pulse is
increased. It acts to cutback when the Phase A is ‘Low’ and the Phase B input pulse is grow.
| Addition/Cutback | Phase A input pulse High | Phase A input pulse Low |
| Phase B input pulse High | - | Cutback count |
| Phase B input pulse Low | Addition count | - |
2) PULSE/DIR 1 multiplier
In case of increasing Phase A input pulse, act to count. Addition/cutback was decided by Phase B.
| Addition/Cutback | Increasing Phase A input pulse |
Decreasing Phase A input pulse |
| Phase B input pulse Off | Addition count | - |
| Phase B input pulse On | Cutback count | - |
Phase A input pulse
Phase B input pulse
Count value
| 7 | 8 | 9 | 10 | 9 | 8 |
| 7 | |||||
| 6 |
addition Cutback
Chapter 4 Positioning Parameter & Operation Data
| 4-30 |
3) PULSE/DIR 2 multiplier
In case of increasing and decreasing Phase A input pulse, act to count. Addition/cutback was
decided by Phase B.
| Addition/Cutback | Increasing Phase A input pulse |
Decreasing Phase A input pulse |
| Phase B input pulse Off | Additional count | Additional count |
| Phase B input pulse On | Cutback count | Cutback count |
4) PHASE A/B 1 multiplier
In case of Phase A input pulse in advance of Phase B input pulse, Act to add when that Phase A
increase pulse. In case of Phase B input pulse in advance of Phase A input pulse, Act to cutback
when that Phase A decrease pulse.
Phase A input pulse
Phase B input pulse
Count value
| 7 | 8 | 9 | 8 | 9 | 10 |
| 10 | 9 On |
||||
| Off |
Addition Cutback Addition
| O | ||||||||
| ff | ||||||||
| O 10 |
n 9 |
11 | ||||||
| 7 | 8 | 9 | 10 | 8 7 |
8 9 |
10 | 11 | 12 |
Phase A input pulse
Phase B input pulse
Count value Addition Cutback Addition
Phase A input pulse
Phase B input pulse
Count value
| 7 | 8 | 9 | 10 | 9 | 8 | 7 |
Addition Cutback
Chapter 4 Positioning Parameter & Operation Data
| 4-31 |
5) PHASE A/B 2 multiplier
Act to count when the Phase A increase/decrease. When Phase A input faster than Phase B at the
Phase, act to decrease.
6) PHASE A/B 4 multiplier
Act to count when Phase A input pulse and Phase B input pulse is increased/decreased. In case that
Phase A input faster than Phase B at the phase, act to add. In case that Phase B input faster than
Phase A at the phase, act to decrease.
(c) The principal axis set encoder for that acting motor synchronization with manual pulse generator (MPG).
Synchronization rate can take “Encoder ≤ Motor” or “Encoder ≥ Motor” what you want.
Phase A input pulse
Phase B input pulse
Count value
| 7 | 8 | 10 | 11 | 8 | 9 | 11 | 12 | 12 | 10 |
| 6 5 |
7 | ||||||||
| 13 |
Addition Cutback
Phase A input pulse
Phase B input pulse
Count value
| 7 | 9 | 16 | 18 | 4 | ||||||
| 8 | 11 | 12 | 15 | 16 | 15 | 12 | 11 | 8 | 7 | |
| 10 | 13 | 14 | 17 | 17 | 14 | 13 | 10 | 9 | 6 | 5 |
Addition Cutback
Chapter 4 Positioning Parameter & Operation Data
| 4-32 |
(2) Max/Min value of encoder
(a) When count Inputted pulse (from a hand pulse generator or encoder signal of Servo drive) and display as
encoder value, the count range and range of encoder value need to be set to Max/Min value of encoder,
(b) The act follows the picture of below.
1) When encoder value increase
2) In case of decreasing encoder value
(3) Speed override
(a) When operate changing speed command (Speed override, Positioning speed override, etc), select
speed(will be changed) or percentage of goal speed.
(b) In case of setting percentage (%) can set each per 0.01% from 0.01% to 655.35%.
Not include
Include
Max value of
encoder
Min value of
encoder
Start spot
Not include
Include
Max value of
encoder
Min value of
encoder
Start spot
Chapter 4 Positioning Parameter & Operation Data
| 4-33 |
4.6 Operation Data
Here describes Operation Data of positioning module.
Can set 400 operation data per each axis, operation of circular interpolation and Linear interpolation act in
accordance with information of operation data.
4.6.1 Operation Data
| Operation data item | Setting range | ||||||
| Target position | ㎜ : -2147483648 ∼ 2147483647 [X10-4㎜] Inch : -2147483648 ∼ 2147483647 [X10-5Inch] degree : -2147483648 ∼ 2147483647 [X10-5degree] pulse : -2147483648 ∼ 2147483647 [pulse] |
||||||
| Circular interpolation aux. Position | |||||||
| Operation speed | ㎜ : 1 ∼ 2,147,483,647 [X10-2㎜/min] Inch : 1 ∼ 2,147,483,647 [X10-3Inch/min] degree : 1 ∼ 2,147,483,647 [X10-3 degree/min] pulse : 1 ∼ 2,147,483,647 [pulse/sec] |
||||||
| Dwell time | 0 ~ 65,535[ms] | ||||||
| M Code no. | 0 ~ 65,535 | ||||||
| Setting the sub-axis | Bit unit setting | ||||||
| Bit 7 | Bit 6 | Bit 5 | it 4 | Bit 3 | Bit 2 | Bit 1 | Bit 0 |
| Axis 8 | Axis 7 | Axis 6 | Axis 5 | Axis 4 | Axis 3 | Axis 2 | Axis 1 |
| Helical interpolation axis | 0, 1 axis ~ 8 axis (Set‘0’,normal circular interpolation) | ||||||
| The number of circular interpolation turns |
0~65,535 | ||||||
| Control Word |
Coordinate (bit 0) | 0:absolute, 1: incremental | |||||
| Control method (bit 1~3) | 0:single axis positioning, 1:Speed control reduction, 2:single axis Feed control, 3:linear interpolation, 4:Circular interpolation |
||||||
| Operation method (bit 4) | 0:Singular, 1:Repeat | ||||||
| Operation pattern (bit 5~6) | 0:End, 1:Keep, 2: Continuous | ||||||
| Circular size (bit 7) | 0:Circular arc<180 1: Circular arc >=180 | ||||||
| Acceleration No. (bit 8~9) | 0 ~ 3 | ||||||
| Deceleration No. (bit 10~11) | 0 ~ 3 | ||||||
| Circular interpolation method (bit 12~13) |
0:middle point, 1:central point, 2:radius | ||||||
| Circular interpolating direction (bit 14) |
0:CW, 1:CCW |
Notes
In case of setting unit of each axis as degree, can’t operate circular interpolation. Therefore it is idle to set
value at the circular interpolating auxiliary position item.
Chapter 4 Positioning Parameter & Operation Data
| 4-34 |
4.6.2 Operation Data Setting
(1) Step No.
(a) The setting range of positioning data as serial no. is 0 ∼ 400.
(b) The first Starting step of operation data is no.1 step.
Notes
In case of designating step No. is ‘0’ with indirectness maneuver, maneuver at the same time, positioning
same period, it means current operation step.
(2) Coordinate
(a) Coordinate of position data includes absolute coordinate and relative coordinate.
1) Absolute Coordinate (Control by Absolute method)
a) This carries out the positioning control from the current position to the goal position (the goal
position assigned by positioning data).
b) Control is carried out based on the assigned position of homing (origin address).
c) Transfer direction shall be determined by the current position and goal position.
▶ Start position < Goal position : forward direction positioning
▶ Start position > Goal position : reverse direction positioning
[Example]
▷ When current position : 1000 , Goal position : 8000, forward direction transfer amount is
7000(8000-1000).
▷ Software Package Setting
Notes
Control by Absolute method (Absolute coordinate) can start only in the state that the origin is determined. If
starting in the state that the origin is not determined, Error will occur.
1000
Current position Goal position
0 8000
Transfer amount: 7000
Chapter 4 Positioning Parameter & Operation Data
| 4-35 |
2) Incremental Coordinate (Control by Incremental method)
a) This carries out the positioning control as much as goal transfer amount from the current position.
b) Transfer direction shall be determined by the sign of transfer amount.
▶ When transfer direction is (+) or no sign: forward direction positioning (position increase
direction)
▶ When transfer direction is ( - ): reverse direction positioning (position decrease direction)
[Example]
▷ When current position : 5000 , Goal position : -7000, the positioning shall be done at –2000
position.
▷ Software Package Setting
(3) Control Method
(a) Select the control method: single-axis position control, single-axis Speed control, single-axis Feed
control, linear interpolation, circular interpolation.
(b) For further information, please refer to 9.2 Positioning control of Chapter 9 “Function”.
Notes
Set coordinate and control method in all at the same time in “control method” item with positioning
software package. And the software package “Control Method” item is as follows ;
Absolute, Single-axis Positioning Control / Absolute, Single-axis Speed Control
/Absolute, Single-axis FEED control / Absolute, linear Interpolation / Absolute, Circular Interpolation
/Incremental, Single-axis Positioning Control / Incremental, Single-axis Speed Control
/Incremental, Single-axis FEED control / Incremental, linear Interpolation / Incremental, Circular
Interpolation
Current position
Transfer direction when transfer amount is (-) Transfer direction when transfer amount is (+)
Revers
-2000
Goal position Current position
5000
Reverse positioning control (transfer amount -7000)
0
Chapter 4 Positioning Parameter & Operation Data
| 4-36 |
(4) Operation Pattern (End/Keep/Continuous)
(a) Operation pattern is setting item, how can step of operation data connect with next step and operate.
(b) Select one operation pattern from End, Keep, Continuous operation.
(c) For further information, please refer to 9.2.2 operation mode of positioning control of Chapter 9 “Function”.
(5) Operation Method (Single/Repeat)
(a) Operating Method is an option for selecting an operating step after finish operating step from the driving
data setting step.
(b) In case of setting singular, it will be select next step after finish operating settled step. If you set by Repeat,
It will be select settled Repeat step after finish operating settled step.
(c) Select one positioning operation pattern from Singular, Repeat operation.
(d) For further information, please refer to 9.2.2 operation mode of positioning control of Chapter 9 “Function”.
Notes
Set operation pattern and operation method at the “operation method” item with XG-PM software package.
These are “operation method” item; Single,End / Single,Keep / Single,Continuous / Repeat,End /
Repeat,Continuous / Repeat,Continuous.
(6) Goal Position
(a) This is the area to set the transfer amount of position data as “position value”.
(b) The setting range is –2,147,483,648 ∼ 2,147,483,647[unit].
(7) M Code
(a) M code is applied to the whole axis in a bundle by M code mode set by positioning parameter and is given
to each operation step no. as a Number within the setting range to use at Program.
(b) The setting range is 1 ∼ 65,535
(c) M code no. can be identified by read by the operation state code
(d) For further information, please refer to M code output of 4.3.2.
(8) Acceleration/Deceleration No.
(a) The dual acceleration/deceleration time setting is available by setting the acceleration/deceleration time
1/2/3/ 4 of basic parameter as acceleration/deceleration no. 1/2/3/4 respectively.
Chapter 4 Positioning Parameter & Operation Data
| 4-37 |
(9) Operation Speed
(a) Operation speed is the goal speed which it is applied when it operate positioning
(b) Operation speed is set within the range that does not exceed Speed limit of basic parameter.
(10) Dwell Time
(a) This is the waiting time before carrying out the next positioning operation after completing one positioning
operation.
(b) Setting range is 0 ∼ 65,535 [㎳].
(c) Especially, in case of using SERVO motor, this is the data to set the waiting time by the stable stop state
as positioning module is in the stop state but actual SERVO motor does not reach to the goal position or
in transition state.
(d) While dwell time is active, the corresponding axis of positioning module maintains “ON” of the “in
operation state” and if dwell time proceeds, “in operation state” becomes “OFF” and the positioning end
signal becomes “ON”.
(11) Sub-Axis setting
(a) This is an option for axis of ordinates of driving shaft when should operate at least over 2 axis such as
linear interpolation or circular interpolation.
(b) Setting each bit from 1 axis to 8 axis. Each bit is as follows ;
| Bit 7 | Bit 6 | Bit 5 | Bit 4 | Bit 3 | Bit 2 | Bit 1 | Bit 0 |
| Axis8 | Axis7 | Axis6 | Axis5 | Axis 4 | Axis 3 | Axis 2 | Axis 1 |
(c) Can choice plural. For example, If you choice axis 2, axis 4 and axis 8 as sub-axis, set “008A’by
hexadecimal in sub axis setting.
(12) Circular interpolating auxiliary position
(a) This is an option for setting auxiliary data when the circular interpolation operates.
(b) According to circular interpolation, mean of circular interpolating auxiliary position is decided.
It means midpoint which is through by circular arc in midpoint method.
It is central point of circular arc in central point method. And It is radius of circular arc in radius method.
(c) In case that circular interpolation method is radius, be valid only value of circular interpolating auxiliary
position of principal axis.
(d) For further information, please refer to “Circular interpolating control” of 9.2.9 ~ 9.2.11.
Chapter 4 Positioning Parameter & Operation Data
| 4-38 |
(13) Circular interpolating method
(a) This is an option for method setting from circular interpolating operation.
(b) There are three method for circular interpolation; midpoint, central point, radius.
(c) For further information, please refer to “Circular interpolation control” of 9.2.9 ~ 9.2.11.
(14) Circular interpolating direction
(a) This is an option for setting direction of drawing circle from circular interpolating operation when the
operation starts.
(b) Circular interpolation direction is based on drawing circular interpolation when the principal axis is axis ‘X’
and the axis of ordinates is axis ‘Y’.
(c) This option is ignored from circular interpolation of midpoint because circular interpolating direction is
selected by position of midpoint.
(d) For further information, please refer to circular interpolation of 9.2.9 ~ 9.2.11.
(15) Circular arc size
(a) When circular interpolating method is set by radius method, User can select one of 2 circular arcs.
(b) Select one of over the 180-degree circular interpolation or under the 180-degree circular interpolation.
(c) This option is ignored in the circular interpolation of midpoint method and central point method.
(d) For further information, please refer to designating radius circular interpolation of 9.2.11
Notes
Positioning software package set as follows at a time; circular arc method, circular interpolating direction,
circular arc size with ‘Circular interpolating mode’.
Software package ‘Circular interpolating mode’ is as follows ;
Middle point / Central point, CW / Central point, CCW / Radius, CW, Circular arc < 180-degree / Radius , CW ,
Circular arc >= 180-degree / Radius, CCW, Circular arc < 180-degree / Radius, CCW, Circular arc >= 180-
degree
(16) The number of circular interpolating turns
(a) This is an option setting the number of rotation of circular arc when operating over the 360-degree. (b)
Setting range is 1 ~ 65,535.
(17) Helical interpolation axis
(a) It is item which is setting axis for linear operation in operating helical interpolation.
(b) Settled axis from helical interpolation rectilinearly operates to settled position at the goal position.
(c) For further information, please refer to helical interpolating control of 9.2.12.
Chapter 5 Internal Memory and I/O Signal
| 5-1 |
Chapter 5 Internal Memory and I/O Signal
5.1 Internal Memory
▶ Here describes the internal memory used for positioning module if XGK CPU module is used.
▶ Internal memory is used when executing direct Data read/write between positioning module and basic unit by
using PUP(PUTP), GET(GETP) command instead of using the dedicated command. For Data read/write using
the dedicated command, please refer to 6.2 Dedicated Command.
5.1.1 Step Data during Point Start
(1) Memory Address of POINT Start Step Data
| Memory address | Contents | |||||||
| 1 axis |
2 axis |
3 axis |
4 axis |
5 axis |
6 axis |
7 axis |
8 axis |
|
| 2A1 | 321 | 3A1 | 421 | 4A1 | 521 | 5A1 | 621 | Point operation step 1 |
| 2A2 | 322 | 3A2 | 422 | 4A2 | 522 | 5A2 | 622 | Point operation step 2 |
| 2A3 | 323 | 3A3 | 423 | 4A3 | 523 | 5A3 | 623 | Point operation step 3 |
| 2A4 | 324 | 3A4 | 424 | 4A4 | 524 | 5A4 | 624 | Point operation step 4 |
| 2A5 | 325 | 3A5 | 425 | 4A5 | 525 | 5A5 | 625 | Point operation step 5 |
| 2A6 | 326 | 3A6 | 426 | 4A6 | 526 | 5A6 | 626 | Point operation step 6 |
| 2A7 | 327 | 3A7 | 427 | 4A7 | 527 | 5A7 | 627 | Point operation step 7 |
| 2A8 | 328 | 3A8 | 428 | 4A8 | 528 | 5A8 | 628 | Point operation step 8 |
| 2A9 | 329 | 3A9 | 429 | 4A9 | 529 | 5A9 | 629 | Point operation step 9 |
| 2AA | 32A | 3AA | 42A | 4AA | 52A | 5AA | 62A | Point operation step 10 |
| 2AB | 32B | 3AB | 42B | 4AB | 52B | 5AB | 62B | Point operation step 11 |
| 2AC | 32C | 3AC | 42C | 4AC | 52C | 5AC | 62C | Point operation step 12 |
| 2AD | 32D | 3AD | 42D | 4AD | 52D | 5AD | 62D | Point operation step 13 |
| 2AE | 32E | 3AE | 42E | 4AE | 52E | 5AE | 62E | Point operation step 14 |
| 2AF | 32F | 3AF | 42F | 4AF | 52F | 5AF | 62F | Point operation step 15 |
| 2B0 | 330 | 3B0 | 430 | 4B0 | 530 | 5B0 | 630 | Point operation step 16 |
| 2B1 | 331 | 3B1 | 431 | 4B1 | 531 | 5B1 | 631 | Point operation step 17 |
| 2B2 | 332 | 3B2 | 432 | 4B2 | 532 | 5B2 | 632 | Point operation step 18 |
| 2B3 | 333 | 3B3 | 433 | 4B3 | 533 | 5B3 | 633 | Point operation step 19 |
| 2B4 | 334 | 3B4 | 434 | 4B4 | 534 | 5B4 | 634 | Point operation step 20 |
(2) POINT Start Step Data Setting
(a) The POINT start step data setting command for POINT start during POINT operation is XPWR.
(b) For XPST (command of XGK point operating) and XPWR (command of point operating step data setting), Please refer to
the ‘Chapter 6.3.43’. (Use XPM_PST function block for XGB-XECU basic unit)
(c) In PLC program, POINT operation data setting during POINT operation should be done in the step before POINT
operation command is executed for normal action of POINT operation.
Chapter 5 Internal Memory and I/O Signal
| 5-2 |
5.1.2 Teaching Data
(1) Memory Address of Teaching Data
| Memory address | Contents | |||||||
| 1 axis |
2 axis |
3 axis |
4 axis |
5 axis |
6 axis |
7 axis |
8 axis |
|
| 280 | 300 | 380 | 400 | 480 | 500 | 580 | 600 | Teaching data1(lower) |
| 281 | 301 | 381 | 401 | 481 | 501 | 581 | 601 | Teaching data1(upper) |
| 282 | 302 | 382 | 402 | 482 | 502 | 582 | 602 | Teaching data2(lower) |
| 283 | 303 | 383 | 403 | 483 | 503 | 583 | 603 | Teaching data2(upper) |
| 284 | 304 | 384 | 404 | 484 | 504 | 584 | 604 | Teaching data3(lower) |
| 285 | 305 | 385 | 405 | 485 | 505 | 585 | 605 | Teaching data3(upper) |
| 286 | 306 | 386 | 406 | 486 | 506 | 586 | 606 | Teaching data4(lower) |
| 287 | 307 | 387 | 407 | 487 | 507 | 587 | 607 | Teaching data4(upper) |
| 288 | 308 | 388 | 408 | 488 | 508 | 588 | 608 | Teaching data5(lower) |
| 289 | 309 | 389 | 409 | 489 | 509 | 589 | 609 | Teaching data5(upper) |
| 28A | 30A | 38A | 40A | 48A | 50A | 58A | 60A | Teaching data6(lower) |
| 28B | 30B | 38B | 40B | 48B | 50B | 58B | 60B | Teaching data6(upper) |
| 28C | 30C | 38C | 40C | 48C | 50C | 58C | 60C | Teaching data7(lower) |
| 28D | 30D | 38D | 40D | 48D | 50D | 58D | 60D | Teaching data7(upper) |
| 28E | 30E | 38E | 40E | 48E | 50E | 58E | 60E | Teaching data8(lower) |
| 28F | 30F | 38F | 40F | 48F | 50F | 58F | 60F | Teaching data8(upper) |
| 290 | 310 | 390 | 410 | 490 | 510 | 590 | 610 | Teaching data9(lower) |
| 291 | 311 | 391 | 411 | 491 | 511 | 591 | 611 | Teaching data9(upper) |
| 292 | 312 | 392 | 412 | 492 | 512 | 592 | 612 | Teaching data10(lower) |
| 293 | 313 | 393 | 413 | 493 | 513 | 593 | 613 | Teaching data10(upper) |
| 294 | 314 | 394 | 414 | 494 | 514 | 594 | 614 | Teaching data11(lower) |
| 295 | 315 | 395 | 415 | 495 | 515 | 595 | 615 | Teaching data11(upper) |
| 296 | 316 | 396 | 416 | 496 | 516 | 596 | 616 | Teaching data12(lower) |
| 297 | 317 | 397 | 417 | 497 | 517 | 597 | 617 | Teaching data12(upper) |
| 298 | 318 | 398 | 418 | 498 | 518 | 598 | 618 | Teaching data13(lower) |
| 299 | 319 | 399 | 419 | 499 | 519 | 599 | 619 | Teaching data13(upper) |
| 29A | 31A | 39A | 41A | 49A | 51A | 59A | 61A | Teaching data14(lower) |
| 29B | 31B | 39B | 41B | 49B | 51B | 59B | 61B | Teaching data14(upper) |
| 29C | 31C | 39C | 41C | 49C | 51C | 59C | 61C | Teaching data15(lower) |
| 29D | 31D | 39D | 41D | 49D | 51D | 59D | 61D | Teaching data15(upper) |
| 29E | 31E | 39E | 41E | 49E | 51E | 59E | 61E | Teaching data16(lower) |
| 29F | 31F | 39F | 41F | 49F | 51F | 59F | 61F | Teaching data16(upper) |
(2) Setting
(a) The command of Teaching data setting is XTWR.
(b) For XTEAA (command of XGK Teaching) and XTWR (command of Teaching Data Setting ), Please refer to the ‘Chapter
6.3.30’. (Use XPM_ATEA function block for XGB-XECU basic unit)
(c) In PLC program, in order to carry out the normal action of Teaching command, the Teaching data setting should be done
in the step before Teaching command is executed.
Chapter 5 Internal Memory and I/O Signal
| 5-3 |
5.1.3 Step Data of Simultaneous Start
(1) Step Data of Simultaneous Start Memory Address
| Memory address | Contents | |||||||
| 1 axis |
2 axis |
3 axis |
4 axis |
5 axis |
6 axis |
7 axis |
8 axis |
|
| 2B6 | 336 | 3B6 | 436 | 4B6 | 536 | 5B6 | 636 | Simultaneous start 1 axis step number |
| 2B7 | 337 | 3B7 | 437 | 4B7 | 537 | 5B7 | 637 | Simultaneous start 2 axis step number |
| 2B8 | 338 | 3B8 | 438 | 4B8 | 538 | 5B8 | 638 | Simultaneous start 3 axis step number |
| 2B9 | 339 | 3B9 | 439 | 4B9 | 539 | 5B9 | 639 | Simultaneous start 4 axis step number |
| 2BA | 33A | 3BA | 43A | 4BA | 53A | 5BA | 63A | Simultaneous start 5 axis step number |
| 2BB | 33B | 3BB | 43B | 4BB | 53B | 5BB | 63B | Simultaneous start 6 axis step number |
| 2BC | 33C | 3BC | 43C | 4BC | 53C | 5BC | 63C | Simultaneous start 7 axis step number |
| 2BD | 33D | 3BD | 43D | 4BD | 53D | 5BD | 63D | Simultaneous start 8 axis step number |
(2) Setting
(a) The command for Step Data of Simultaneous Start setting is XSWR.
(b) For XSST (command of XGK Simultaneous Start) and XSWR (Setting command for Step Data of Simultaneous Start ),
Please refer to the ‘Chapter 6.3.6’. (Use XPM_SST function block for XGB-XECU basic unit)
(c) In PLC program, in order to carry out the normal action of Simultaneous Start, the Step data setting of Simultaneous Start
should be done in the step before Simultaneous Start command is executed.
Chapter 5 Internal Memory and I/O Signal
| 5-4 |
5.1.4 State Information
(1) Memory Address of State Information
| XSRD device offset |
Memory address | Content | |||||||
| 1 axis |
2 axis |
3 axis |
4 axis |
5 axis |
6 axis |
7 axis |
8 axis |
||
| 0 | 2C0 | 340 | 3C0 | 440 | 4C0 | 540 | 5C0 | 640 | Operation state bit information (Lower) |
| 1 | 2C1 | 341 | 3C1 | 441 | 4C1 | 541 | 5C1 | 641 | Operation state bit information (Upper) |
| 2 | 2C2 | 342 | 3C2 | 442 | 4C2 | 542 | 5C2 | 642 | Axis information |
| 3 | 2C3 | 343 | 3C3 | 443 | 4C3 | 543 | 5C3 | 643 | External I/O signal state |
| 4 | 2C4 | 344 | 3C4 | 444 | 4C4 | 544 | 5C4 | 644 | Current Position (lower) |
| 5 | 2C5 | 345 | 3C5 | 445 | 4C5 | 545 | 5C5 | 645 | Current Position ( upper) |
| 6 | 2C6 | 346 | 3C6 | 446 | 4C6 | 546 | 5C6 | 646 | Current Speed ( lower) *2 |
| 7 | 2C7 | 347 | 3C7 | 447 | 4C7 | 547 | 5C7 | 647 | Current Speed ( upper) *2 |
| 8 | 2C8 | 348 | 3C8 | 448 | 4C8 | 548 | 5C8 | 648 | Step Number |
| 9 | 2C9 | 349 | 3C9 | 449 | 4C9 | 549 | 5C9 | 649 | M Code |
| 10 | 2CA | 34A | 3CA | 44A | 4CA | 54A | 5CA | 64A | Error information |
| 11 | 2CB | 34B | 3CB | 44B | 4CB | 54B | 5CB | 64B | Error information 1 |
| 12 | 2CC | 34C | 3CC | 44C | 4CC | 54C | 5CC | 64C | Error information 2 |
| 13 | 2CD | 34D | 3CD | 44D | 4CD | 54D | 5CD | 64D | Error information 3 |
| 14 | 2CE | 34E | 3CE | 44E | 4CE | 54E | 5CE | 64E | Error information 4 |
| 15 | 2CF | 34F | 3CF | 44F | 4CF | 54F | 5CF | 64F | Error information 5 |
| 16 | 2D0 | 350 | 3D0 | 450 | 4D0 | 550 | 5D0 | 650 | Error information 6 |
| 17 | 2D1 | 351 | 3D1 | 451 | 4D1 | 551 | 5D1 | 651 | Error information 7 |
| 18 | 2D2 | 352 | 3D2 | 452 | 4D2 | 552 | 5D2 | 652 | External input signal (lower) *1 |
| 19 | 2D3 | 353 | 3D3 | 453 | 4D3 | 553 | 5D3 | 653 | External input signal (upper) *1 |
| 20 | 2D4 | 354 | 3D4 | 454 | 4D4 | 554 | 5D4 | 654 | Servo error information |
| 21 | 2D5 | 355 | 3D5 | 455 | 4D5 | 555 | 5D5 | 655 | Encoder1 value (lower) |
| 22 | 2D6 | 356 | 3D6 | 456 | 4D6 | 556 | 5D6 | 656 | Encoder1 value (upper) |
| 23 | 2D7 | 357 | 3D7 | 457 | 4D7 | 557 | 5D7 | 657 | - |
| 24 | 2D8 | 358 | 3D8 | 458 | 4D8 | 558 | 5D8 | 658 | - |
| 25 | 2D9 | 359 | 3D9 | 459 | 4D9 | 559 | 5D9 | 659 | Command position (lower) |
| 26 | 2DA | 35A | 3DA | 45A | 4DA | 55A | 5DA | 65A | Command position (upper) |
| 27 | 2DB | 35B | 3DB | 45B | 4DB | 55B | 5DB | 65B | Command speed (lower) |
| 28 | 2DC | 35C | 3DC | 45C | 4DC | 55C | 5DC | 65C | Command speed (upper) |
| 29 | 2DD | 35D | 3DD | 45D | 4DD | 55D | 5DD | 65D | Torque |
| 30 | 2DE | 35E | 3DE | 45E | 4DE | 55E | 5DE | 65E | Common error information |
*1
: External input signal
- It display the status information of digital input(0x60FD Object) of servo drive.
- In order to use this information, please use after checking availability at XG-PM [Network parameter servo information
servo setting information input signal information]. (Servo drives that are registered in XG-PM has been checked by
basically use)
- For more information about external input signal, please refer to the servo drive user’s manual.
- External input signal is composed of a 32bit, lower 16bit is displayed at external input signal (lower) and upper 16bit is
displayed at external input signal(upper).
- In case of L7NH drive, it contains the following information.
Chapter 5 Internal Memory and I/O Signal
| 5-5 |
| Bit | Input | Details |
| 0 | N-OT: The reverse limit switch |
0: Off 1: On |
| 1 | P-OT: The forward limit switch |
0: Off 1: On |
| 2 | Home switch | 0: Off 1: On |
| 3 to 15 | Reserved | |
| 16 | DI #1(I/O pin 11) | 0: Switch Off (Open), 1: Switch On (Close) |
| 17 | DI #2(I/O pin 12) | 0: Switch Off (Open), 1: Switch On (Close) |
| 18 | DI #3(I/O pin 7) | 0: Switch Off (Open), 1: Switch On (Close) |
| 19 | DI #4(I/O pin 8) | 0: Switch Off (Open), 1: Switch On (Close) |
| 20 | DI #5(I/O pin 13) | 0: Switch Off (Open), 1: Switch On (Close) |
| 21 | DI #6(I/O pin 14) | 0: Switch Off (Open), 1: Switch On (Close) |
| 22 | DI #7(I/O pin 9) | 0: Switch Off (Open), 1: Switch On (Close) |
| 23 | DI #8(I/O pin 10) | 0: Switch Off (Open), 1: Switch On (Close) |
| 24~30 | Reserved | |
| 31 | STO(Safe Torque Off) |
*2
: Current speed
- If the command speed is driving at a speed of less than 1pulse for each control period, the actual current speed
can disply more than command speed.
Ex) In case of command speed 200 pls/s operation
Control period is 2ms and position movement amount per control period is 0.4pulse(=200*2/1000). When the movement
amount is more than 1pulse, 1pulse is moved, and actual current speed is displayed in 500pls/s(=1pls/2ms)
(2) Setting
(a) The area of state information of internal memory is the Read only area. So, when you use XGB-XBCU basic unit, it is
available to use only by GET, GETP command. (PUT, PUTP command is not allowed to use in this area).
(b) The command of State Information ready only is XSRD. (Refer to 6.3.42)
(c) If you use only command XSRD, the information of axis status is read at the same time. (Use XPM_SRD function block for
XGB-XECU basic unit)
(d) If you want to choose to read among the state information, it is available to read memory address of above table using by
GET/GETP
Chapter 5 Internal Memory and I/O Signal
| 5-6 |
(e) Use of State Information
1) Operation State Bit Information (Lower)
| Memory address | Information | |||||||
| 1 axis |
2 axis |
3 axis |
4 axis |
5 axis |
6 axis |
7 axis |
8 axis |
|
| 2C0 | 340 | 3C0 | 440 | 4C0 | 540 | 5C0 | 640 | Operation State bit Information (LOWER) |
| Bit 0 |
| Bit 1 |
| Bit 2 |
| Bit 3 |
| Bit 4 |
| Bit 5 |
| Bit 6 |
| Bit 7 |
| Bit 8 |
| Bit 9 |
| Bit 10 |
| Bit 11 |
| Bit 12 |
| Bit 13 |
| Bit 14 |
| Bit 15 |
In Operation [0: Stop, 1: In Operation]
Error State [0: No Error, 1: Errors]
Positioning Completed
[0: Positioning not completed,
1: Positioning completed]
M Code Signal [0: M Code Off, 1: M Code On]
Homing State
Common error state [0: No common error, 1:
common error occured]
Stop State [0: Stop State not by Stop Command,
1: Stop State by Stop Command]
Now reading/writing
variable data
[0: reading/writing variable
data completed, 1: now
reading writing]
Upper limit detection [0: No Detection, 1: Detection]
Lower limit detection [0: No Detection, 1: Detection]
Emergency Stop State [0: Normal, 1: Emergency Stop]
Forward/Reverse [0: Forward, 1: Reverse]
Acceleration State [0: No Accelerating, 1: Accelerating]
Constant Speed State [0: Not Under Constant ,
1: Under Constant]
Deceleration State [0: No Decelerating, 1: Decelerating]
Dwell State [0: No Dwelling , 1: Dwelling]
[0: Homing not completed
1: Homing completed]
Chapter 5 Internal Memory and I/O Signal
| 5-7 |
2) Operation State Bit Information (Upper)
| Memory address | Information | |||||||
| 1 axis |
2 axis |
3 axis |
4 axis |
5 axis |
6 axis |
7 axis |
8 axis |
|
| 2C1 | 341 | 3C1 | 441 | 4C1 | 541 | 5C1 | 641 | Operation State Bit Information (UPPER) |
| Remark |
| *1 RTP: Return to Position Before Manual Operation |
| Bit 0 |
| Bit 1 |
| Bit 2 |
| Bit 3 |
| Bit 4 |
| Bit 5 |
| Bit 6 |
| Bit 7 |
| Bit 8 |
| Bit 9 |
| Bit 10 |
| Bit 11 |
| Bit 12 |
| Bit 13 |
| Bit 14 |
| Bit 15 |
[0: Torque control not in operation,
1: Torque control in operation]
[0]
*1
Axis 1 Position
Controlling
[0: Axis 1 Position not in control,
1: Axis 1 Position in control]
Axis1 Speed
Controlling
[0: Axis 1 Speed not in control,
1: Axis 1 Speed in control]
Linear Interpolation
in Operation
[0: Linear Interpolation not in Operation,
1: Linear Interpolation in Operation]
Torque control
in operation
Circular Interpolation
in Operation
[0: Circular Interpolation not in Operation,
1: Circular Interpolation in Operation]
Homing Operating [0: Homing not in Operation,
1: Homing in Operation]
Synchronous Start by
Position in Operation
[0: Synchronous Start by position not in Operation,
1: Synchronous Start by position in Operation]
Synchronous Start by
Speed in Operation
[0: Synchronous Start by Speed not in Operation,
1: Synchronous Start by Speed in Operation]
JOG in Operation [0: JOG not in Operation,
1: JOG in Operation]
Inching in Operation [0: Inching not in Operation,
1: Inching in Operation]
No Use
RTP in Operation
[0: RTP not in Operation,
1: RTP in Operation]
CAM in Operation
[0: CAM not in Operation,
1: CAM in Operation]
FEED in Operation [0: FEED not in Operation,
1: FEED in Operation]
Circular Interpolation in
Operation
[0: Circular Interpolation not in Operation,
1: Circular Interpolation in Operation]
Phase correction in
Operation
[0: Phase correction not in Operation,
1: Phase correction in Operation]
Chapter 5 Internal Memory and I/O Signal
| 5-8 |
3) Axis Information(bit)
| Memory Address | Information | |||||||
| 1 axis |
2 axis |
3 axis |
4 axis |
5 axis |
6 axis |
7 axis |
8 axis |
|
| 2C2 | 342 | 3C2 | 442 | 4C2 | 542 | 5C2 | 642 | Axis information |
*1: XGF-PN4B/XGF-PN8B can see the information of Latch Completed
*2: Speed synchronizing bit can be used in only XGEARIP, XPM_GEARIP.
*3: XGF-PN4B/XGF-PN8B can see the information of Trigger Completed. This will be on when all latch,
which set by trigger, has completed.
| Bit 0 |
| Bit 1 |
| Bit 2 |
| Bit 3 |
| Bit 4 |
| Bit 5 |
| ~ |
| Bit 6 |
| Bit 8 |
| Bit 7 |
| Bit 13 |
| Bit 15 |
| Bit 14 |
| Bit 12 |
Main axis
informaion
Axis status [0: Sub-axis, 1: Main-axis]
1 ~ 8: 1 ~ 8 Axis
9: Encoder1
10: Encoder2
Trigger
Completed*3
Not used [0]
Not writing to servo driver
EEPROM
Now writing to module Flash
memory
[0: Not writing, 1: Writing]
Speed synchronizing*2 [0: Not synchronizing,
1: Synchronizing]
Latch
Completed*1 [0: Not completed, 1: Completed]
CAM1 cycle completed
status signal
Chapter 5 Internal Memory and I/O Signal
| 5-9 |
4) External I/O Signal State
| Memory Address | Information | |||||||
| 1 axis |
2 axis |
3 axis |
4 axis |
5 axis |
6 axis |
7 axis |
8 axis |
|
| 2C3 | 343 | 3C3 | 443 | 4C3 | 543 | 5C3 | 643 | External I/O signal state |
External EMG
| Bit 0 |
| Bit 1 |
| Bit 2 |
| Bit 3 |
| Bit 4 |
| Bit 5 |
| Bit 6 |
| Bit 7 |
| Bit 8 |
| Bit 9 |
| Bit 10 |
| Bit 11 |
| Bit 12 |
| Bit 13 |
| Bit 14 |
| Bit 15 |
Stop [0: External EMG stop Off, 1: External EMG stop On]
Not used [0]
External upper
limit signal
[0: External upper limit signal Off, 1: External upper
limit signal On]
External lower
limit signal
[0: External lower limit signal Off, 1: External lower
limit signal On]
Home signal [0: Home signal Off, 1: Home signal On]
DOG signal [0: DOG signal Off, 1: DOG signal On]
External
command signal
[0: External command signal Off, 1: External
command signal On]
Servo On signal [0: Servo Off, 1: Servo On]
Servo alarm
signal
[0: Servo driver normal, 1: Servo driver error
occurs]
In-position
signal
[0: Not In-position section, 1: In-position
section]
Communication
error
[0: EtherCAT Comm. normal, 1: EtherCAT Comm.
error]
*1
[0: External input signal B Off,
1: External input signal B ON]
*2
External input
signal A
External input
signal B
External input
signal Z
[0: External input signal A Off,
1: External input signal A ON]
[0: External input signal Z Off,
1: External input signal Z ON]
Chapter 5 Internal Memory and I/O Signal
| 5-10 |
5.1.5 User define position, User define speed information
(1) Memory address and description
| GET command Device offset |
Memory address | Description | |||||||
| 1 Axis |
2 Axis |
3 Axis |
4 Axis |
5 Axis |
6 Axis |
7 Axis |
8 Axis |
||
| 0 | B8 | F8 | 138 | 178 | 1B8 | 1F8 | 238 | 278 | Current user define position (lower) |
| 1 | B9 | F9 | 139 | 179 | 1B9 | 1F9 | 239 | 279 | Current user define position (higher) |
| 2 | BA | FA | 13A | 17A | 1BA | 1FA | 23A | 27A | Current user define position (lower) |
| 3 | BB | FB | 13B | 17B | 1BB | 1FB | 23B | 27B | Current user define position (higher) |
| 4 | BC | FC | 13C | 17C | 1BC | 1FC | 23C | 27C | Current user define position (lower) |
| 5 | BD | FD | 13D | 17D | 1BD | 1FD | 23D | 27D | Current user define position (higher) |
| 6 | BE | FE | 13E | 17E | 1BE | 1FE | 23E | 27E | Current user define position (lower) |
| 7 | BF | FF | 13F | 17F | 1BF | 1FF | 23F | 27F | Current user define position (higher) |
(2) Setting
(a) User define position of the internal memory is read only area. Therefore read command(GET/GETP) for XGK CPU is
available, and the Write command(PUT/PUTP) is not available.
(b) Choose if user wants to read the contents of the state information then, use GET/GETP command and if user read any of
the location of the memory address.
| Remark |
| *1 External command signal: It acts as one between “External speed/position control switching” , “External dec, stop” and “External Latch” according to “External command signal” setting in the extended parameter. D1#1 is used as external command signal only when LS MECAPION L7N servo drive is used. *2 Home Signal: the servo drive’s HOME input signal is mapped to the home signal. |
Chapter 5 Internal Memory and I/O Signal
| 5-11 |
5.2 I/O Signal
Here describes the contents and functions of I/O signal for the exchange of data between Positioning module and
XGB-XBCU basic unit.
5.2.1 Contents of I/O Signal
(1) I/O signal of positioning module uses input: 16 bits and output: 32 bits.
(2) Positioning Module operation ready signal (Uxx.00.F) becomes “ON” only when Modules are in normal state in
H/W and it always keeps “ON” regardless of PLC operation mode.
(3) For operation ready signal, if positioning module and servo driver are connected through EtherCAT
communication, applicable bit of the connected axis will be on regardless of the operation mode of the PLC.
(4) Output Signal
-This is the signal which transfers to positioning module from basic unit.
| Signal Direction: Basic unit Positioning Module | |||||
| Axis | Output signal |
Contents | Axis | Output signal | Contents |
| 1 axis | Uxx.01.0 | 1 axis forward direction JOG | 5 axis | Uxx.02.0 | 5 axis forward direction JOG |
| Uxx.01.1 | 1 axis reverse direction JOG | Uxx.02.1 | 5 axis reverse direction JOG | ||
| Uxx.01.2 | 1 axis JOG low/high speed | Uxx.02.2 | 5 axis JOG low/high speed | ||
| Uxx.01.3 | Not used | Uxx.02.3 | Not used | ||
| 2 axis | Uxx.01.4 | 2 axis forward direction JOG | 6 axis | Uxx.02.4 | 6 axis forward direction JOG |
| Uxx.01.5 | 2 axis reverse direction JOG | Uxx.02.5 | 6 axis reverse direction JOG | ||
| Uxx.01.6 | 2 axis JOG low/high speed | Uxx.02.6 | 6 axis JOG low/high speed | ||
| Uxx.01.7 | Not used | Uxx.02.7 | Not used | ||
| 3 axis | Uxx.01.8 | 3 axis forward direction JOG | 7 axis | Uxx.02.8 | 7 axis forward direction JOG |
| Uxx.01.9 | 3 axis reverse direction JOG | Uxx.02.9 | 7 axis reverse direction JOG | ||
| Uxx.01.A | 3 axis JOG low/high speed | Uxx.02.A | 7 axis JOG low/high speed | ||
| Uxx.01.B | Not used | Uxx.02.B | Not used | ||
| 4 axis | Uxx.01.C | 4 axis forward direction JOG | 8 axis | Uxx.02.C | 8 axis forward direction JOG |
| Uxx.01.D | 4 axis reverse direction JOG | Uxx.02.D | 8 axis reverse direction JOG | ||
| Uxx.01.E | 4 axis JOG low/high speed | Uxx.02.E | 8 axis JOG low/high speed | ||
| Uxx.01.F | Not used | Uxx.02.F | Not used |
Chapter 5 Internal Memory and I/O Signal
| 5-12 |
(5) Input Signal
This is the Signal which transfers to basic unit from Positioning Module.
| Axis | Signal direction: Basic unit Positioning module | |
| Input signal | Contents | |
| 1 axis | Uxx.00.0 | 1 axis operation ready |
| 2 axis | Uxx.00.1 | 2 axis operation ready |
| 3 axis | Uxx.00.2 | 3 axis operation ready |
| 4 axis | Uxx.00.3 | 4 axis operation ready |
| 5 axis | Uxx.00.4 | 5 axis operation ready |
| 6 axis | Uxx.00.5 | 6 axis operation ready |
| 7 axis | Uxx.00.6 | 7 axis operation ready |
| 8 axis | Uxx.00.7 | 8 axis operation ready |
| - | Uxx.00.8 | Not used |
| - | Uxx.00.9 | Not used |
| - | Uxx.00.A | Not used |
| - | Uxx.00.B | Not used |
| - | Uxx.00.C | Not used |
| - | Uxx.00.D | Not used |
| Common | Uxx.00.E | Link up/down information |
| Common | UXX.00.F | Positioning module operation ready |
5.2.2 Use of I/O Signal
(1) Axis operation ready signal
(a) For operation ready signal, if positioning module and servo driver are connected through EtherCAT communication,
applicable bit of the connected axis will be on regardless of the operation mode of the PLC.
(b) EtherCAT communication connection is done through the instruction “XECON” or function block “XPM_DCON”.
(c) When you disconnection the communication between the positioning module and servo driver by using instruction
“XDCON” or function block “XPM_DCON”, operation ready signal of all axes turn off.
(d) When giving the command to axis, check whether axis operation ready signal is on or not.
(e) For “Uxx.00.zz”, U means PLC CPU’s U device, xx means the location of the positioning module, zz means the bit of the
input signal.
(2) Link up/down information
(a) Link up/down information is on when network cable is connected to the positioning module physically. And if the cable is
disconnected, then it will be off.
(b) If you use it as execution condition contact point of servo connection command (XECON, XPM_ECON), when a network
cable is not connected, servo connection command will not be executed and when a network cable is connected, servo
connection command will be executed. Then you can prevent the unnecessary error.
Chapter 5 Internal Memory and I/O Signal
| 5-13 |
(3) JOG Operation
(a) Forward/Reverse Jog Signals show the direction of Jog Operation. The Jog operation shall be divided into
Forward/Reverse direction according to the On/Off signals. When Forward Jog Signal is On, it starts Forward Operation
and When Jog Signal is Off, it starts Reverse Operation. When both signals Off, it stops Jog Signals. When both signals
On, it does Forward Jog Signal.
| Forward Jog Signal | Reverse Jog Signal | Jog Operation Status |
| On | Off | Forward Jog Operation |
| Off | On | Reverse Jog Operation |
| Off | Off | Stop |
| On | On | Forward Jog Operation |
(b) If Jog direction is changed during Jog operation, it slows down at first and then operates as the direction it changed.
(c) According to value of Jog low/high Signals, it could operate with low/high speed. When jog low/high signals Off, it
operates with low speed and when they are ON, it operates with high speed.
(d) If you change value of low/high jog signals during Jog operation, there will be no stop and apply the speed as you
changed.
Time
Speed
JOG in
Operation
JOG Low/High
Speed Signal
Forward JOG
Signal
Reverse JOG
Signal
JOG High Speed
JOG Low Speed
JOG Low Speed
JOG High Speed
| Chapter 6 Command |
| 6-1 |
Chapter 6 Command
Here describes the positioning command used in XGK CPU Module.
6.1 Contents of General Command
| Command | Command description | Command condition |
| PUT | Internal memory write (Level) |
Base, memory address, save device leading address, data number to write at one time |
| PUTP | Internal memory write (Edge) |
Base, memory address, save device leading address, data number to write at one time |
| GET | Internal memory read (Level) |
Base, memory address, save device leading address, data number to write at one time |
| GETP | Internal memory read (Edge) |
Base, memory address, save device leading address, data number to write at one time |
Internal Memory Read (GET, GETP Command)
(1) Difference between GET Command and GETP Command
(a) GET Command
Always execute when operating condition is ON. (Level)
That is, when execute condition is ON, it operates continuously.
(b) GETP Command
Execute with operation start of execute condition. (Edge)
That is, when execute condition is ON, it operates only one time.
To operate again, execute condition should be off and on again.
The case is that read current position, current speed and step number from axis 4 state information
of positioning module which installed in No.0 base, No.2 slot to PLC CPU M0000.
Set the number of data as 5 to read 5 Word from current position to step number.
| Form | Description | Available area |
| n1 | Base and slot No. installed with special module | Constant |
| n2 | Leading address of special module internal memory to read a | Constant |
| D | Leading address of device to save the data to read | M, P, K, L, U, N, D, |
| n3 | Word number of data to read | M, P, K, L, Constant |
data
Example
GET n1 n2 D n3
Operating condition
| M0000 |
| M0001 |
| M0002 |
| M0003 |
| M0004 |
| M0005 |
| Current position (above) |
| Current position (below) |
| Current speed (below) |
| Current speed (above) |
| Step No. |
| M code |
h344
h345
h346
h347
h348
h349
GET 2 h344 M0000 5
Operating condition
| Chapter 6 Command |
| 6-2 |
Internal Memory Write (PUT, PUTP Command)
(1) Difference between GET Command and GETP Command
(a) PUT Command
Always execute when operating condition is ON. (Level)
That is, when execute condition is ON, it operates continuously.
(b) PUTP Command
Execute with operation start of execute condition. (Edge)
That is, when execute condition is ON, it operates only one time.
To operate again, execute condition should be off and on again.
The case that is installed in positioning module No.0 base, slot No.1 and writes value of CPU module
as axis 3 teaching value by 16 Word data of D00000~D00015.
| For | Description | Available area |
| n1 | Base and slot No. installed with special module | Constant |
| n2 | Leading address of special module internal memory to write a | Constant |
| d t Leading address of device that the data to Write is saved |
S | M, P, K, L, U, N, D, R |
| n3 | Word number of data to write | M, P, K, L, Constant |
Example
PUT n1 n2 S n3
Operating condition
| D00000 |
| D00001 |
| D00002 |
| D00003 |
| D00004 |
| D00005 |
| D00006 |
| D00007 |
| D00008 |
| D00009 |
| D00010 |
| D00011 |
| D00012 |
| D00013 |
| D00014 |
| D00015 |
| Teaching data1(lower) |
| Teaching data1(upper) |
| Teaching data2(lower) |
| Teaching data2(upper) |
| Teaching data3(lower) |
| Teaching data3(upper) |
| Teaching data4(lower) |
| Teaching data4(upper) |
| Teaching data5(lower) |
| Teaching data5(upper) |
| Teaching data6(lower) |
| Teaching data6(upper) |
| Teaching data7(lower) |
| Teaching data7(upper) |
| Teaching data8(lower) |
| Teaching data8(upper) |
h280
h281
h282
h283
h284
h285
h286
h287
h288
h289
h28A
h28B
h28C
h28D
h28E
h28F
PUT 1 h280 D00000 16
Operating condition
| Chapter 6 Command |
| 6.2 Dedicated Commands |
| 6-3 |
Command List
| Command | Command description | Command condition | Notes |
| XORG | Homing start | Slot, command axis | 6.3.1 |
| XFLT | Floating origin setting | Slot, command axis | 6.3.2 |
| XDST | Direct start | Slot, command axis, position, speed, dwell time, M code, control word |
6.3.3 |
| XIST | Indirect start | Slot, command axis, step no. | 6.3.4 |
| XSST | Simultaneous start | Slot, command axis, Simultaneous start axis | 6.3.5 |
| XSWR | Simultaneous start step setting |
Slot, command axis, step no., device, number of steps |
6.3.6 |
| XELIN | Ellipse interpolation | Slot, command axis, ratio of the ellipse, driving angle |
6.3.7 |
| XVTP | Speed/position switching control |
Slot, command axis | 6.3.8 |
| XVTPP | Position specified speed/position switching control |
Slot, command axis, target position | 6.3.9 |
| XPTV | Position/speed switching control |
Slot, command axis | 6.3.10 |
| XPTT | Position/torque switching control |
Slot, command axis, torque value | 6.3.11 |
| XSTP | Deceleration stop | Slot, command axis, deceleration time | 6.3.12 |
| XSKP | Skip operation | Slot, command axis | 6.3.13 |
| XSSP | Position synchronous start | Slot, command axis, step no., main axis position, main axis setting |
6.3.14 |
| XSSS | Speed synchronous start | Slot, command axis, main axis rate, subordinate axis rate, main axis setting |
6.3.15 |
| XSSSP | Position assigned Speed synchronous start |
Slot, command axis, main axis rate, subordinate axis rate, main axis setting, goal position |
6.3.16 |
| XCAM | CAM Operation | Slot, command axis, main axis setting, CAM block no. |
6.3.17 |
| XCAMO | Main axis offset-specified CAM operation |
Slot, command axis, main axis setting, CAM block no., main axis offset |
6.3.18 |
| XPOR | Position override | Slot, command axis, position | 6.3.19 |
| XSOR | Speed override | Slot, command axis, speed | 6.3.20 |
| XPSO | Position assigned speed override |
Slot, command axis, position, speed | 6.3.21 |
| XNMV | Continuous operation | Slot, command axis | 6.3.22 |
| XINCH | Inching operation | Slot, command axis, inching amount | 6.3.23 |
| XRTP | Return to the position before manual operation |
Slot, command axis | 6.3.24 |
| XSNS | Start step No. change | Slot, command axis, step no. | 6.3.25 |
| XSRS | Repeat step No. change | Slot, command axis, step no. | 6.3.26 |
| XMOF | M code release | Slot, command axis | 6.3.27 |
| XPRS | Current position preset | Slot, command axis, position | 6.3.28 |
| XEPRS | Encoder preset | Slot, position, Encoder no. | 6.3.29 |
| XTEAA | Teaching Array | Slot, command axis, step no., RAM/ROM, position/speed, Teaching no. |
6.3.30 |
| XTWR | Teaching array data setting | Slot, command axis, teaching data device, no. of teaching |
6.3.31 |
| XSBP | Basic parameter teaching | Slot, command axis, basic parameter change value, item to change, RAM/ROM |
6.3.32 |
| XSEP | Extended parameter setting | Slot, command axis, extended parameter change value, item to change, RAM/ROM |
6.3.33 |
| Chapter 6 Command |
| 6-4 |
| Command | Command description | Command condition | Notes |
| XSMP | Manual operation parameter setting |
Slot, command axis, manual operation parameter change value, item to change, RAM/ROM |
6.3.34 |
| XSCP | Common parameter setting | Slot, command axis, common parameter change value, item to change, RAM/ROM |
6.3.35 |
| XSMD | Operation data teaching | Slot, command axis, operation data value, operation data item, step no., RAM/ROM |
6.3.36 |
| XVRD | Variable data reading | Slot, command axis, read address, block offset, block size, block count |
6.3.37 |
| XVWR | Variable data writing | Slot, command axis, data device, write address, block offset, block size, block count |
6.3.38 |
| XWRT | Parameter/operation data save |
Slot, command axis, axis information | 6.3.39 |
| XEMG | Emergency stop | Slot, command axis | 6.3.40 |
| XCLR | Error reset | Slot, command axis, common error reset | 6.3.41 |
| XECLR | Error history reset | Slot, command axis | 6.3.42 |
| XPST | Point Start | Slot, command axis, step no. | 6.3.43 |
| XPWR | Point start step data setting | Slot, command axis, step data device, step no. | 6.3.44 |
| XSRD | Operation state reading | Slot, command axis, operation state save, device no. |
6.3.45 |
| XECON | Servo connection | Slot, command axis | 6.3.46 |
| XDCON | Servo disconnection | Slot, command axis | 6.3.47 |
| XSVON | Servo On | Slot, command axis | 6.3.48 |
| XSVOFF | Servo Off | Slot, command axis | 6.3.49 |
| XSCLR | Servo error reset | Slot, command axis | 6.3.50 |
| XSECLR | Servo error history reset | Slot command axis | 6.3.51 |
| XRSTR | Restart | Slot, command axis | 6.3.52 |
| XSVPRD* | Servo parameter read | Slot, command axis, Index, Sub-Index, data size | 6.3.53 |
| XSVPWR* | Servo parameter write | Slot, command axis, Index, Sub-Index, data size, data, RAM/ROM |
6.3.54 |
| XSVSAVE* | Servo parameter save | Slot, command axis, saving axis | 6.3.55 |
| XTRQ | Torque control | Slot, command axis, torque value, gradient | 6.3.56 |
| XLRD | Latch position data read | Slot, command axis, device number | 6.3.57 |
| XLCLR | Latch reset | Slot, command axis, latch reset item | 6.3.58 |
| XLSET* | Latch setting | Slot, command axis, latch enable/disable, latch mode | 6.3.59 |
| XSTC | Torque synchronous | Slot, command axis, Main axis torque ratio, Sub axis torque ratio, Main axis speed ratio(Unused), Sub axis speed ratio(Unused), Set main axis(1~8 : 1axis ~ 8axis) |
6.3.60 |
| XPHASING | Phasing Correction | Slot, command axis, Phasing Correction Value, Phasing Correcting speed, Acceleration time, Deceleration time, Command axis |
6.3.61 |
| XSSSD | 32bit Speed synchronous | Slot, command axis, Speed sync. main axis ratio, Speed sync. sub axis ratio, Main axis |
6.3.62 |
| XSSSPD | 32bit Speed synchronous | Slot, command axis, Speed sync. main axis ratio, Speed sync. sub axis ratio, Main axis |
6.3.63 |
| XSETOVR* | Speed Acceleration / Deceleration override |
Slot, command axis, Speed, Main axis, Acceleration, Deceleration, S-curve, Direction of drive |
6.3.64 |
| XCAMA* | Absolute positioning CAM Operation |
Slot, command axis, main axis, CAM block info, synchronize start position |
6.3.65 |
| XTPROBE | Touch Probe | Slot, command axis, Trigger Signal, Trigger Mode, Windowed mode, Start position allowing window mode, End position allowing window mode |
6.3.66 |
| Chapter 6 Command | |||
| Command | Command description | Command condition | Notes |
| XABORTT | Abort Trigger | Slot, command axis, Trigger Signal, Trigger Reset Time |
6.3.67 |
| XTRQSL | Torqur control Mode Speed Limits |
Slot, command axis, Trigger Signal, Torque Value, Slop, Speed LimitValue |
6.3.68 |
| XGEARIP | Synchronous speed designating synchronous position |
Slot, command axis, Synchronization rate, Synchronous position for the main axis, Synchronous position for the sub axis, Synchronous start position for the major axis, Control word |
6.3.69 |
| 6-5 |
| Chapter 6 Command |
| 6-6 |
Cautions Of Using Command
| Remark | ted command acts at Rising edge. That is, it executed the first action once when input condition is “ON.” To execute the action uld be “OFF” and then “ON” again. XSRD just execute High level action. When input condition is “On,” it keeps operating and erate when it’s “Off.” execution time is as below. 15ms (per axis1) nds except XWRT : -PN8A: 1.6ms (when using 2 axes) ~ 4.8ms (when using 8 axes) -PN4B: 2ms (when using 3 axes) ~ 4ms (when using 4 axes) -PN8B: 2ms (when using 3 axes) ~ 4ms (when using 8 axes) e XVRD and XVWR command at the same time. That is, you must execute a command after the other s operation completes. Please note that the command don’t execute at the same time in case the axis is same or different. s with * mark are applied to only XGF-PN4B/PN8B |
| 1. The dedica again, It sho it doesn’t op 2. Command (1) XWRT : (2) Comma 1) XGF 2) XGF 3) XGF 3. Don’t us command’ command 4. Command |
| Remark |
| ▶ This is the method used with the operation state bit(in operation, error state) read by using XSRD as the program operation condition ※ D00000.0: 1 axis in operation, D00000.1: 1 axis error state D00100.0: 2 axis in operation, D00100.1: 2 axis error state D00200.0: 3 axis in operation, D00200.1: 3 axis error state D00300.0: 4 axis in operation, D00300.1: 4 axis error state ▶ The example program for command in this Chapter 8 also uses the operation state bit as the program operation condition as the above. |
| Chapter 6 Command |
| 6-7 |
| Remark |
| ▶ All dedicated commands except XSRD, XPWR, XTWR, XSWR, XLRD are not allowed to use together for one command execution axis. If it is used like the below example program, a command does not work properly. If executing other command If executing same command ▶ A same command can be executed for other axis. |
| Chapter 6 Command |
| 6-8 |
6.3 Use of Dedicated Command
Here describes the command usage based on 1 axis when the positioning module is inserted into slot 2. The position
and speed use the units of pulse and pulse/sec [pps], respectively.
Homing start (Command : XORG)
(1) Program
(2) Description
| Device | Description |
| M00000 | axis1 homing start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 operation |
| D00000.1 | axis1 error |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| Command | XORG | Homing start | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK, constant, D, Z, R, ZR |
WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) If homing start command is executed, it carries out homing operation by the setting homing parameter and if
homing is complete by external input signal, the origin determination end signal is “ON”.
(b) Please refer to "9.1 Homing Start” about detailed explanation of Homing Start.
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-9 |
Floating origin setting (Command : XFLT)
(1) Program
(2) Description
| Device | Description |
| M00001 | axis1 floating origin setting input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| Command | XFLT | Floating origin setting | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) If the floating origin setting command is executed, the current position is changed to the origin address, “0”
and the origin determination signal (bit) is ON.
(b) Floating origin setting that different from homing origin is set at the current position and can not be set in
operation.
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-10 |
Direct start (Command : XDST)
(1) Program
(2) Description
| Device | Description |
| M00002 | axis1 direct start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 signal in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on |
| D00003.A | axis1 servo error |
| Command | XDST | Direct start | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Goal position |
PMLK,constant,D,Z,R,ZR | DINT | Goal position (-2,147,483,648 ~ 2,147,483,647) | |
| OP4 | Goal speed | PMLK,constant,D,Z,R,ZR | DWORD | Goal speed | |
| OP5 | Dwell time | PMLK,constant,D,Z,R,ZR | WORD | Dwell time (0~65535) | |
| OP6 | M code | PMLK,constant,D,Z,R,ZR | WORD | M code (0~65535) | |
| OP7 | Control word |
PMLK,constant,D,Z,R,ZR | WORD |
※ PMLK means P, M, L and K areas.
(a) Details of Control word (OP7) for each Bit are as follows.
| 15 ~ 12 | 11 ~ 10 | 9 ~ 8 | 7 ~ 5 | 4 | 3 ~ 2 | 1 ~ 0 |
| - | Dec. Time | Acc. Time | - | 0:Absolute 1:Increment al |
- | 0:Position Control 1:Speed control 2:Feed Control 3: Shortest Position Control |
(b) If control word is h0012, it shall be set by Feed control, incremental, acc./dec. time 1.
(c) No.2~3, 5~7, 12~15 Bit of control word is the unused area and does not affect the setting.
(d) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-11 |
Indirect start (Command : XIST)
(1) Program
(2) Description
| Device | Description |
| M00003 | axis1 indirect start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D01300 | axis1 step no. |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| Command | DST | Indirect start | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Operation step |
PMLK,constant,D,Z,R,ZR | WORD | Step No. to operate (0~400) |
※ PMLK means P, M, L and K areas.
(a) If operation step No. is set as “0” in indirect start, it will be operated as current step No. If other number
except 0 is set as the operation step number, it operates only for step no. set.
(b) If operation pattern is set as Continuous or Keep, several steps can be operated by an indirect start
command.
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-12 |
Simultaneous Start (Command : XSST)
(1) Program
(2) Description
| Device | Description |
| M00004 | Simultaneous start step setting |
| M00005 | Simultaneous start input |
| U02.00.0 | axis1 ready |
| U02.00.1 | axis2 ready |
| U02.00.4 | axis5 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D00100.0 | axis2 in operation |
| D00100.1 | axis2 error state |
| D00103.9 | axis2 servo on signal |
| D00103.A | axis2 servo error |
| D00400.0 | axis5 in operation |
| D00400.1 | axis5 error state |
| D00403.9 | axis5 servo on signal |
| D00403.A | axis5 servo error |
| D01400 | axis1 simultaneous start step |
| D01401 | axis2 simultaneous start step |
| D01404 | axis5 simultaneous start step |
| Chapter 6 Command | |||||
| Command | XSST | Linear interpolation | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Operation axis |
PMLK,constant,D,Z,R,ZR | WORD | Operating axis setting |
| 6-13 |
※ PMLK means P, M, L and K areas.
(a) Simultaneous command is the command operates simultaneous steps saved in ‘operation axis(OP3)’ at a time.
(b) Axis setting is set by setting the bits to the axis
| 15 ~ 8 Bit | 7Bit | 6Bit | 5Bit | 4Bit | 3Bit | 2Bit | 1Bit | 0Bit |
| Not use | Axis8 | Axis7 | Axis6 | Axis5 | Axis4 | Axis3 | Axis2 | Axis1 |
That is, axis5, axis2, axis1 will be set if set as h0013
But, the axis which command simultaneous start is basically included without being set in operating axis.
(c) In the example program above, axis1 operates step no.1, axis2 operates step no.5, axis5 operates step no.10.
(d) To set steps of axis for simultaneous start, use XSWR command or PUT/PUTP command to set simultaneous
start step no. on simultaneous start step memory address. This must be complete before simultaneous start
executes.
(e) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the axis
state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-14 |
Simultaneous Start Step Setting (Command : XSWR)
(1) Program
(2) Description
Refer to the chapter 6.3.5 for device description.
| Command | XSWR | Simultaneous start step setting | |||
| Operand | OP1 | Slot | Constant | WORD | Slot no. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Device | PMLK,constant,D,Z,R,ZR | WORD | The device leading no. has simultaneous start step no. |
|
| OP4 | Number of step |
PMLK,constant,D,Z,R,ZR | WORD | The number of step to use. |
※ PMLK means P, M, L and K areas.
(a) In the example program, axis 1, axis 2, axis5 operate no.1 step, no.5 step, no.10 step respectively.
(b) To set steps of axis for simultaneous start, use XSWR command or PUT/PUTP command to set simultaneous
start step no. on simultaneous start step memory address. This must be complete before simultaneous start
executes.
(c) When using PUT command to set simultaneous start, refer to the memory address of “5.1.3 Simultaneous start
step data” and “6.1.2 internal memory writing”.
| Chapter 6 Command |
| 6-15 |
Ellipse Interpolation (Command : XELIN)
(1) Program
(2) Description
| Device | Description |
| M00006 | axis1/axis2 ellipse interpolation input |
| U02.00.0 | axis1 ready |
| U02.00.1 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D00100.0 | axis2 in operation |
| D00100.1 | axis2 error state |
| D00103.9 | axis1 servo on signal |
| D00103.A | axis1 servo error |
| D01300 | axis1 operation step |
| Command | XSST | Simultaneous start | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | operation step |
PMLK,constant,D,Z,R,ZR | WORD | Step no. to execute ellipse interpolation | |
| OP4 | Ellipse ratio | PMLK,constant,D,Z,R,ZR | WORD | Ellipse ratio (%) | |
| OP5 | Operation degree |
PMLK,constant,D,Z,R,ZR | WORD | Degree for ellipse interpolation |
※ PMLK means P, M, L and K areas.
(a) Ellipse interpolation distorts operation data which set as circular arc interpolation by ratio set on ellipse ratio
and executes ellipse operation by set degree on OP5. Therefore, step of operation data set on operation step
(OP3) must be set as circular arc interpolation control.
(b) Ellipse ratio is able to be set from 1 to 65535, has [X10-2 %] unit. That is, 65535 will be 655.35%.
(c) Operation degree is able to be set from 1 to 65535, has [X10-1 degree] unit. That is, 3650 will be 365.0 degree.
(d) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-16 |
Speed/Position Switching Control (Command : XVTP)
(1) Program
(2) Description
| Device | Description |
| M00007 | axis1 speed/position switching control input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00001.1 | axis1 in speed control |
| Command | XVTP | Speed/position switching control | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) If speed/position switching control is executed in the state of speed control operation, it shall be switched to
position control and positioning operation is executed with the position set in the speed control.
(b) For detail description about speed/position switching control, refer to “9.2.14 Speed/Position Switching Control”
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-17 |
Position specified Speed/Position Switching Control (Command : XVTPP)
(1) Program
(2) Description
| Device | Description |
| M000041 | 1-axis position-specified speed/position switching control input |
| U02.00.0 | 1-axis ready |
| D00000.0 | 1-axis in operation |
| D00000.1 | 1-axis error state |
| D00001.1 | 1-axis in speed control |
| D01100 | 1-axis target position |
| Command | XVTPP | Speed/position switching control | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Target position |
PMLK,constant,D,Z,R,ZR | DINT | Transfer amount after position control switching |
※ PMLK means P, M, L and K areas.
(a) If speed/position switching control is executed in the state of speed control operation, it shall be switched to
position control and positioning operation is executed with the position set in the speed control.
(b) For detail description about speed/position switching control, refer to “9.2.15 Position-specified Speed/Position
Switching Control”
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-18 |
Position/Speed Switching Control (Command : XPTV)
(1) Program
(2) Description
| Device | Description |
| M00008 | axis1 position/speed switching control input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00001.0 | axis1 in position control |
| Command | PTV | Position/speed switching control | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) If position/speed switching control is executed during position control operation, it is converted to speed
control, operates at the speed set during position control and stops by executing deceleration stop.
(b) For the detail description about position/speed switching control, refer to “9.2.16 Position/Speed Switching
Control”.
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-19 |
Position/Torque Switching Control (Command : XPTT)
(1) Program
(2) Description
| Device | Description |
| M00009 | axis1 position/torque switching control input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00001.0 | axis1 in position control |
| Command | PTV | Position/speed switching control | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | torque | PMLK,constant,D,Z,R,ZR | INT | Operation torque(-32768 ~ 32767) |
※ PMLK means P, M, L and K areas.
(a) If position/torque switching control is executed during position control operation, it is converted to torque
control with torque value of OP3, and keeps torque operation until stop by executing deceleration stop.
(b) Range of Torque value is -32768 ~ 32767 and unit is [%]. The allowable range of torque value may vary
according to the connected servo drive. In general, target torque value is limited to the maximum torque setting.
(c) For the detail description about position/torque switching control, refer to “9.2.17 Position/Toruqe Switching
Control”.
(d) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that it saves the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-20 |
Deceleration Stop (Command : XSTP)
(1) Program
(2) Description
| Device | Description |
| M0000A | axis1 deceleration stop input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D01500 | axis1 deceleration stop time setting |
| Command | STP | Deceleration stop | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Deceleration time |
PMLK,constant,D,Z,R,ZR | WORD | deceleration time 2,147,483,647 ms) (0 ~ |
※ PMLK means P, M, L and K areas.
(a) Deceleration stop carry out the command in deceleration, acceleration and equal speed areas.
(b) Deceleration time means the time required from deceleration start to stop and it is available to set from 0 ~
2,147,483,647ms. But if setting as “0”, it stops only by deceleration time set at the beginning of operation.
(c) Deceleration time means the time required from the speed limit of basic parameter on operation axis to stop.
(d) If deceleration stop command is executed in speed sync., position sync. or CAM operation, it stops speed
sync., position sync. or CAM operation depending on current operation control state.
(e) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-21 |
Skip Operation (Command : XSKP)
(1) Program
(2) Description
| Device | Description |
| M0000B | axis1 skip operation input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| Command | SKP | Skip operation | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) This ends and stops the operation of step which is in operation currently and then continues to operate the
next step.
(b) For the details description of skip operation, refer to “9.5.3 Skip Operation.
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-22 |
Synchronous Start by Position (Command : XSSP)
(1) Program
(2) Description
| Device | Description |
| M0000C | axis1 synchronous start by position input |
| M00002 | axis1 direct start input |
| U02.00.0 | axis1 ready |
| U02.00.0 | Axis2 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D00100.0 | axis2 in operation |
| D00100.1 | axis2 error state |
| D00103.9 | axis2 servo on signal |
| D00103.A | axis2 servo error |
| Command | XSSP | Synchronous start by position | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Main axis position |
PMLK,constant,D,Z,R,ZR | DINT | Position of sub axis to operate | |
| OP4 | Operation step |
PMLK,constant,D,Z,R,ZR | WORD | Sub axis operation step No. (0~ 400) | |
| OP5 | Main axis | PMLK,constant,D,Z,R,ZR | WORD | Main axis ( 1 ~ 10 : axis1 ~ axis8, Encoder1, Encoder2) |
※ PMLK means P, M, L and K areas.
(a) If the command of synchronous start by position is executed, it becomes in operation state but motor does not
operate actually. At the point that axis2 as main axis setting starts and its current position is 1000, axis1 will
start and the motor will operate.
(b) For the detail description about position synchronous start, refer to “9.4.2 position synchronous start control”
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-23 |
Speed Sync (Command : XSSS)
(1) Program
(2) Description
| Device | Description |
| M0000E | axis1 speed sync start input |
| M00002 | axis2 direct start input |
| U02.00.0 | axis1 in operation |
| U02.00.1 | axis2 in operation |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D00100.0 | axis2 in operation |
| D00100.1 | axis2 error state |
| D00103.9 | axis2 servo on signal |
| D00103.A | axis2 servo error |
| Comman d |
XSSS | Synchronous start by speed | |||
| Operand | OP1 | Slot | Constant | WOR D |
Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R, ZR |
WOR D |
Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Main axis ratio | PMLK,constant,D,Z,R, ZR |
WOR D |
Speed sync. main axis ratio (-32768 ~ 32767) |
|
| OP4 | Subordinate axis ratio |
PMLK,constant,D,Z,R, ZR |
WOR D |
Speed sync. sub axis ratio (-32768 ~ 32767) |
|
| OP5 | Main axis | PMLK,constant,D,Z,R, ZR |
WOR D |
Main axis(1 ~ 8 : axis1 ~ axis8, 9 : Encoder1, 10 : Encoder2) |
※ PMLK means P, M, L and K areas.
(a) In the example program above, if the command of synchronous start by speed is executed, axis1 (subordinate
axis) is indicated as ‘in operation’ but the motor does not operate. If operating axis2 set as the main axis, axis1
(subordinate axis) is operated depending on the designated ratio between main axis (OP3) and sub axis(OP4).
(b) If speed sync. ratio (sub axis ratio / main axis ratio) is positive integer, sub axis operation turns main axis
direction, if not positive integer, it turns the opposite of main axis direction.
(c) For example, if main axis ratio is 3, sub axis ratio is 2, when main axis moves by 3000, sub axis moves 2000.
(d) For the detail description about speed sync., refer to “9.4.1 Speed Synchronous Start Control”.
(e) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-24 |
Position-specified Speed synch (Command: XSSSP)
(1) Program
(2) Description
| Device | Description |
| M00040 | axis1 position-specified speed synch input |
| M00002 | axis2 direct start input |
| U02.00.0 | axis1 ready |
| U02.00.1 | axis2 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D00100.0 | axis2 in operation |
| D00100.1 | axis2 error state |
| D00103.9 | axis2 servo on signal |
| D00103.A | axis2 servo error |
| Command | XSSSP | Speed synchronous start by position | |||
| Operand | OP1 | Slot | Constant | WORD | Slot no. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Main axis ratio |
PMLK,constant,D,Z,R,ZR | INT | Speed sync. main axis ratio 32767) (-32768 ~ | |
| OP4 | Sub axis ratio |
PMLK,constant,D,Z,R,ZR | INT | Speed sync. sub axis 32767) ratio (-32768 ~ | |
| OP5 | Main axis | PMLK,constant,D,Z,R,ZR | WORD | Main axis (1 ~ 8 : axis1 ~ axis8, 9 : Encoder1, 10 Encoder2) |
|
| OP6 | Target position |
PMLK,constant,D,Z,R,ZR | DINT | Target position of synch position-specified speed |
※ PMLK means P area, M area, L area, K area.
(a) In the example program above, if the command of synchronous start by speed is executed, axis1 (subordinate
axis) is indicated as ‘in operation’ but the motor does not operate. If operating axis2 set as the main axis, axis1
(subordinate axis) is operated depending on the designated ratio between main axis (OP3) and sub axis(OP4).
(b) If speed sync. ratio (sub axis ratio / main axis ratio) is positive integer, sub axis operation turns main axis
| Chapter 6 Command |
| 6-25 |
direction, if not positive integer, it turns the opposite of main axis direction.
(c) For example, if main axis ratio is 3, sub axis ratio is 2 and target position is 1,000,000, when main axis moves
by 3000, sub axis moves 2000. It stops by where position of main axis is at 1,000,000.
(d) For the detail description about speed sync., refer to “9.4.1 Speed Synchronous Start Control”.
(e) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-26 |
CAM Operation (Command : XCAM)
(1) Program
(2) Description
| Device | Description |
| M0000F | axis1 cam operation input |
| M00002 | axis1 direct start input |
| U02.00.0 | axis1 ready |
| U02.00.1 | axis2 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D00100.0 | axis2 in operation |
| D00100.1 | axis2 error state |
| D00103.9 | axis2 servo on signal |
| D00103.A | axis2 servo error |
| Command | XCAM | Cam Operation | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Main axis |
PMLK,constant,D,Z,R,ZR | WORD | Main axis (1 ~ Encoder1, 10:Encoder2 8 : axis1 ~ axis ) 8, 9 : | |
| OP4 | Cam Block |
PMLK,constant,D,Z,R,ZR | WORD | Cam data block to apply to operation (1 ~ 9) |
※ PMLK means P, M, L and K areas.
| Chapter 6 Command |
| 6-27 |
(a) In the example program above, if cam operation command is executed, axis1 (sub axis) is indicated as “In
operation” but the motor does not operate actually. When axis2 starts operating as a main axis,
motor of axis1 starts operating toward sub axis location depending on data which set on cam block (OP4).
(b) Maximum number of cam data block is 8.
(c) Cam data is set on positioning package but has to be downloaded at positioning module before cam operation.
(d) For the detail description about cam operation, refer to “9.4.3 Cam Operation (XCAM).
(e) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
(f) In order to use user CAM operation, you have to set CAM block number as 9.
(g) In the case of user CAM operation, it is possible to change the user cam data with write variable data command
during operation.
(h) For detailed information on user CAM operation, refer to “94.4. user CAM operation”.
| Chapter 6 Command |
| 6-28 |
Main axis offset-designated CAM Operation (Command : XCAMO)
(1) Program
(2) Description
| Device | Description |
| M0000F | axis1 cam operation input |
| M00002 | axis1 direct start input |
| U02.00.0 | axis1 ready |
| U02.00.1 | axis2 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D00100.0 | axis2 in operation |
| D00100.1 | axis2 error state |
| D00103.9 | axis2 servo on signal |
| D00103.A | axis2 servo error |
| Command | XCAMO | Cam Operation | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Main axis | PMLK,constant,D,Z,R,ZR | WORD | Main axis (1 ~ 8 : axis1 ~ axis8, 9 : Encoder1, 10:Encoder2) |
|
| OP4 | Cam Block | PMLK,constant,D,Z,R,ZR | WORD | Cam data block to apply to operation (1 ~ 9) |
|
| OP5 | Main axis offset |
PMLK,constant,D,Z,R,ZR | DINT | Main axis position to start CAM operation |
※ PMLK means P, M, L and K areas.
| Chapter 6 Command |
| 6-29 |
(a) In the example program above, if cam operation command is executed, axis1 (sub axis) is indicated as “In
operation” but the motor does not operate actually. When axis2 starts operating as a main axis
and transfer amount becomes 2000, motor of axis1 starts operating toward sub axis location depending on
data which set on cam block (OP4).
(b) Maximum number of cam data block is 8.
(c) Cam data is set on positioning package but has to be downloaded at positioning module before cam operation.
(d) For the detail description about cam operation, refer to “9.4.3 Cam Operation (XCAM).
(e) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
(f) In order to use user CAM operation, you have to set CAM block number as 9.
(g) For detailed information on user CAM operation, refer to “9.4.4. user CAM operation”.
| Chapter 6 Command |
| 6-30 |
Position Override (Command : XPOR)
(1) Program
(2) Description
| Device | Description |
| M00010 | axis1 position override input |
| M00002 | axis1 direct start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D01100 | Goal position value |
| D02800 | Position override value |
| Command | XPOR | Position override | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Position value |
PMLK,constant,D,Z,R,ZR | DINT | Goal position value to change (Absolute coordinate) |
※ PMLK means P, M, L and K areas.
(a) If position override is executed before reaching goal position, goal position shall be changed with D02800 for
positioning operation. If executing positioning position override after passing a position to execute position
override, it stops at the current position.
(b) Position override set on position override value is absolute coordinate position.
(c) For the detail description about position override, refer to “9.5.4 Position Override”.
(d) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-31 |
Speed Override (Command : XSOR)
(1) Program
(2) Description
| Device | Description |
| M00012 | axis1 speed override input |
| M00002 | axis1 direct start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D01200 | Goal speed value |
| D01600 | Speed override value |
| Command | XSOR | Speed override | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Speed value |
PMLK,constant,D,Z,R,ZR | DWORD | Goal speed value to change |
※ PMLK means P, M, L and K areas.
(a) Speed override value (OP3) will be set as “%” or “Speed value” depending on the value which set on “speed
override” in common parameter.
(b) If unit of speed override value is %, the setting area is from 1 to 65,535, it means 0.01% ~ 655.35%.
(c) If unit of speed override value is speed value, setting area is from 1 to speed limit value. The speed limit value
is set on “Speed limit value” of basic parameter and unit of speed override value depends on unit of axis.
(d) For the detail description about speed override operation, refer to “9.5.5 Speed Override”.
(e) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-32 |
Position-specified Speed Override (Command : XPSO)
(1) Program
(2) Description
| Device | Description |
| M00013 | axis1 position assigned speed override input |
| M00012 | axis1 direct start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D01200 | Goal speed value |
| D01600 | Speed override value |
| D02800 | Position value to execute speed change |
| Command | XPSO | Position specified speed override | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Position value |
PMLK,constant,D,Z,R,ZR | DINT | Position value to change the speed | |
| OP4 | Speed value |
PMLK,constant,D,Z,R,ZR | DWORD | Goal speed value to change |
※ PMLK means P, M, L and K areas.
| Chapter 6 Command |
| 6-33 |
(a) Speed override value (OP3) will be set as “%” or “Speed value” depending on the value which set on “speed
override” in common parameter.
(b) If unit of speed override value is %, the setting area is from 1 to 65,535, it means 0.01% ~ 655.35%.
(c) If unit of speed override value is speed value, setting area is from 1 to speed limit value. The speed limit value
is set on “Speed limit value” of basic parameter and unit of speed override value depends on unit of axis.
(d) In the example program above, axis1 position assigned speed override input(M00013) become “on” to execute
position assigned speed override after axis1 direct start input (M00011) become “on”. When the position of
axis1 is located at the position where set at D02800, the speed will be changed to the value set at D01600.
(e) For the detail description about position assigned speed override operation, refer to “9.5.6 Position Assigned
Speed Override”.
(f) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
Continuous Operation (Command : XNMV)
(1) Program
(2) Description
| Device | Description |
| M00014 | axis1 continuous operation input |
| M00015 | axis1 indirect start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D01300 | 1axus operation step |
| Command | XNMV | Continuous operation | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) If continuous operation command is executed, the step No. is changed from the step in current operation to
the next step No. and continues positioning operation to the speed of the next step and goal position.
Connection with the next step is executed by continuous operation pattern.
(b) Continuous operation command changes the only current operation pattern in operation, not the operation data.
(c) For the detail description about continuous operation, refer to “9.5.2 Continuous Operation”.
(d) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-34 |
Inching Operation (Command : XINCH)
(1) Program
(2) Description
| Device | Description |
| M00016 | axis1 inching operation input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| D01000 | axis1 inching value |
| Command | XINCH | Inching operation | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Position value |
PMLK,constant,D,Z,R,ZR | DINT | Position value to move for inching operation |
※ PMLK means P, M, L and K areas.
(a) It carries out the relative coordinate operation by inching operation speed set in manual operation parameter
as much as position value (OP3).
(b) For the detail description about inching operation, refer to “9.3.2 Inching Operation”.
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-35 |
Return to the Position before Manual Operation (Command : XRTP)
(1) Program
(2) Descriptiodkn
| Device | Description |
| M00017 | axis1 return to the position before manual operation start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 servo error |
| Command | XRTP | Return to the position before manual operation |
|||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) If the current position is changed as external axis speed sync. operation, inching operation, Jog operation after
completing the positioning, it returns to the previous position of manual operation.
(b) Return to the position before manual operation command will be ignored if it is not in manual operation.
(c) The detail description about return to the previous position of manual operation, refer to “9.3.3 Return to the
Previous Position of Manual Operation”
(d) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-36 |
Start Step No. Change (Command : XSNS)
(1) Program
(2) Description
| Device | Description |
| M00018 | axis1 start step No. change input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 signal in operation |
| D00000.1 | axis1 error state |
| D01300 | axis1 start step no. to change |
| Command | XSNS | Change start step No. | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Step No. | PMLK,constant,D,Z,R,ZR | WORD | step No. to change with start step (1~400) |
※ PMLK means P, M, L and K areas.
(a) Change the current step into the step value which set on step no.(OP3)
(b) It is not available to be executed in operation.
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-37 |
Repeat Step No. Change (Command : XSRS)
(1) Program
(2) Description
| Device | Description |
| M00019 | axis1 start step No. change input |
| U02.00.0 | axis1 ready |
| D00000.1 | axis1 error state |
| D01300 | axis1 repeat step no. to change |
| Command | XSRS | Repeat step No. change | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Step No. | PMLK,constant,D,Z,R,ZR | WORD | step No. to change into repeat step (0~400) |
※ PMLK means P, M, L and K areas.
(a) Change repeat step into the step value which set on step no.(OP3).
(b) Repeat step No. change is available for command execution even during positioning operation.
(c) Set the next step after finish operating designated repeat step.
(d) The detail description about “9.5.10 Repeat Operation Step no. Change”.
(e) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-38 |
M code Release (Command : XMOF)
(1) Program
(2) Description
| Device | Description |
| M0001A | axis1 M code release input |
| U02.00.0 | axis1 ready |
| D00000.1 | axis1 error state |
| D00000.3 | axis1 M code signal |
| Command | XMOF | M code release | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) When M code occurs, M code signal and M code No. are released at the same time (M code and M code No.
are changed to OFF and 0, respectively).
(b) It is available to be executed in operation.
(c) D device signal (axis1 Signal in Operation, etc) which used in the example above is an assumption that saving
the axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-39 |
Current Position Preset (Command : XPRS)
(1) Program
(2) Description
| Device | Description |
| M0001B | axis1 current position preset input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on signal |
| D00003.A | axis1 error |
| D02800 | axis1 preset position value |
| Command | XPRS | Current position preset | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Position value | PMLK,constant,D,Z,R,ZR | DINT | Current position value to change |
※ PMLK means P, M, L and K areas.
(a) The command that change the current position value to the designated position (OP3).
(b) If current position preset command is executed in the origin unsettled state, positioning state signal (bit) is ON
and the current position is changed by setting value (OP3).
(c) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-40 |
Encoder Preset (Command : XEPRS)
(1) Program
(2) Description
| Device | Description |
| M0001C | encoder preset input (Encoder1) |
| M0001D | encoder preset input (Encoder2) |
| D02900 | encoder1 preset position value |
| D2902 | encoder2 preset position value |
| Command | XEPRS | Encoder preset | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Position value |
PMLK,constant,D,Z,R,ZR | DINT | Current position value to change | |
| OP3 | Encoder | PMLK,constant,D,Z,R,ZR | WORD | - |
※ PMLK means P, M, L and K areas.
※ Since the encoder input terminal is 1 within positioning module, it works regardless of the setting item of OP3
encoder.
(a) This is the command that changes the current position to the designated position.
| Chapter 6 Command |
| 6-41 |
Teaching Array (Command : XTEAA)
(1) Program
(2) Description
| Device | Description |
| M0001E | axis1 teaching data setting input |
| M0001F | axis1 teaching array input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D02000 | axis1 teaching array data leading address |
| Command | XTEAA | Teaching Array | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Teaching step | PMLK,constant,D,Z,R,ZR | WORD | leading step No. for teaching (0~400) | |
| OP4 | Teaching method |
PMLK,constant,D,Z,R,ZR | WORD | 0:RAM Teaching, 1:ROM Teaching | |
| OP5 | Teaching item | PMLK,constant,D,Z,R,ZR | WORD | ||
| OP6 | Number of Teaching |
PMLK,constant,D,Z,R,ZR | WORD | Number of step for Teaching (1~16) |
0:Position teaching 1:Speed
teaching
※ PMLK means P, M, L and K areas.
(a) This is the command that change the goal position or goal speed (OP5) among the operation data to the
number as many as from the designated step (OP3) to the number of teaching (OP6). In the case of
operating RAM teaching according to the teaching method (OP3), the changed value is maintained during
positioning module is connected to power. In the case of operating ROM teaching, it is maintained without
power connection of positioning module.
(b) Even though teaching can be performed even when the axis subject to teaching is being operated but, only
the current step’s data is reflected after the current step operation is completed if the step that is currently
running is within the step area while other steps’ data are immediately changed.
(c) The number of times for ROM teaching is not limited because operation data of positioning module is saved
on MRAM.
(d) Before executing teaching array, teaching data should be set in the teaching array setting area. For teaching
array data setting, refer to TWR command.
(e) In the example program above, execute ROM teaching for position data between no.10 step and no.14 step
of axis1 operation data using 5 axis1 teaching data.
(f) D device signal (axis1 Signal in Operation, etc) which used in the example above is an assumption that
saving the axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-42 |
Set Teaching Array Data (Command: XTWR)
(1) Program
(2) Description
| Device | Description |
| M0001E | axis1 Teaching array data setting input |
| M0001F | axis1 Teaching array input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D02000 | axis1 Teaching array data leading address |
| Command | XTWR | Teaching Array Data Setting | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Device | PMLK,D,Z,R,ZR | WORD | Leading device No. with teaching array data |
|
| OP3 | Number of data |
PMLK,constant,D,Z,R,ZR | WORD | Number of data to save |
※ PMLK means P, M, L and K areas.
(a) Teaching data must be set in teaching array data setting area before teaching array is executed.
(b) Teaching array is not executed only by executing teaching array data setting command. Please refer to
teaching array command (TEAA).
(c) In the example program above, execute ROM teaching for position data between no.10 step and no.14 step of
axis1 operation data using 5 axis1 teaching data.
| Chapter 6 Command |
| 6-43 |
(d) According to the leading No. of device, the data are set in teaching array data area as follows.
| No. | Device NO. | Teaching array data |
| 1 | Device + 0 | Teaching array data 1 |
| 2 | Device + 2 | Teaching array data 2 |
| 3 | Device + 4 | Teaching array data 3 |
| 4 | Device + 6 | Teaching array data 4 |
| 5 | Device + 8 | Teaching array data 5 |
| 6 | Device + 10 | Teaching array data 6 |
| 7 | Device + 12 | Teaching array data 7 |
| 8 | Device + 14 | Teaching array data 8 |
| 9 | Device + 16 | Teaching array data 9 |
| 10 | Device + 18 | Teaching array data 10 |
| 11 | Device + 20 | Teaching array data 11 |
| 12 | Device + 22 | Teaching array data 12 |
| 13 | Device + 24 | Teaching array data 13 |
| 14 | Device + 26 | Teaching array data 14 |
| 15 | Device + 28 | Teaching array data 15 |
| 16 | Device + 30 | Teaching array data 16 |
(e) Teaching array data can be set by using PUT command. For this, refer to memory address of “5.1.2 Teaching
data” and “6.1.2 Internal Memory Writing”. If use PUT command in the example program above, it displayed
like the picture below.
(f) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-44 |
Set Basic Parameter (Command : XSBP)
(1) Program
(2) Description
| Device | Description |
| M00020 | axis1 basic parameter setting input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D02100 | Parameter value |
| D02102 | Parameter items |
| Command | XSBP | Basic parameter Teaching | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Parameter value |
PMLK,constant,D,Z,R,ZR | DWORD | Parameter value to change | |
| OP4 | Parameter item |
PMLK,constant,D,Z,R,ZR | WORD | Parameter item to change (1~17, 255) | |
| OP5 | Setting method |
PMLK,constant,D,Z,R,ZR | WORD | 0: RAM setting, 1: ROM setting |
※ PMLK means P, M, L and K areas.
(a) This is the command that changes the value of the item (OP4) which already set among basic parameter
items to setting value (OP3). In the case of RAM setting by the setting method (OP5), the changed value is
maintained during positioning module is being connected to power. In the case of ROM setting, it is
maintained without the power connection of positioning module.
(b) The number of ROM setting operating is unlimited because basic parameter of positioning module is saved
on MRAM.
(c) Basic parameter setting command is unavailable to be executed when the axis is operating.
| Chapter 6 Command |
| 6-45 |
(d) Basic parameter items
| Setting Value |
Items | Setting Range |
| 1 | Speed limit value | mm : 1 ∼ 2,147,483,647 [X10-2 ㎜/min] Inch : 1 ∼ 2,147,483,647 [X10-3Inch/min] degree : 1 ∼ 2,147,483,647 [X10-3 degree/min] pulse : 1 ∼ 2,147,483,647 [pulse/sec] |
| 2 | Acc. Time 1 | 1 ~ 2,147,483,647 [ms] |
| 3 | Acc. Time 2 | |
| 4 | Acc. Time 3 | |
| 5 | Acc. Time 4 | |
| 6 | Dec. Time 1 | 1 ~ 2,147,483,647 [ms] |
| 7 | Dec. Time 2 | |
| 8 | Dec. Time 3 | |
| 9 | Dec. Time 4 | |
| 10 | Emg. Stop Dec. Time | 1 ~ 2,147,483,647 [ms] |
| 11 | Pulse per rotation | 1 ~ 200,000,000 |
| 12 | Travel per rotation | |
| 13 | Unit | 0:Pulse, 1:mm, 2:Inch, 3:Degree |
| 14 | Unit multiplier | 0: x 1, 1: x 10, 2: x 100, 3: x 1000 |
| 15 | Speed command unit | 0: Unit/Time, 1: rpm |
| 16 | Encoder select* | 0: Incremental encoder, 1:Absolute encoder |
| 17 | Current position display correction |
0 ~ 255 |
(e) For the change value (OP3) setting range of each basic parameter item (OP4) which already set, refer to “4.1.1
Basic Parameter Content”
(f) In the example program above, it changes the item that saved on D02102 of axis1 basic parameter to the value
that saved on D02100 using RAM setting method. In the case of D02102=10, D02100=100, it sets sudden stop
time as “100ms” using RAM setting method.
(g) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-46 |
(h) If you want to set up all items of basic parameter with one XSBP command, you have to set up hFF(255) at
OP4 parameter item. At this time, first, items of basic parameter should be saved at multiple teaching memory
address below. You can set up data with PUT instruction or XTWR instruction.
| Memory address | Contents | |||||||
| 1axis | 2axis | 3axis | 4axis | 5axis | 6axis | 7axis | 8axis | |
| 280 | 300 | 380 | 400 | 480 | 500 | 580 | 600 | Speed limit |
| 281 | 301 | 381 | 401 | 481 | 501 | 581 | 601 | |
| 282 | 302 | 382 | 402 | 482 | 502 | 582 | 602 | Acc. time1 |
| 283 | 303 | 383 | 403 | 483 | 503 | 583 | 603 | |
| 284 | 304 | 384 | 404 | 484 | 504 | 584 | 604 | Acc. time2 |
| 285 | 305 | 385 | 405 | 485 | 505 | 585 | 605 | |
| 286 | 306 | 386 | 406 | 486 | 506 | 586 | 606 | Acc. time3 |
| 287 | 307 | 387 | 407 | 487 | 507 | 587 | 607 | |
| 288 | 308 | 388 | 408 | 488 | 508 | 588 | 608 | Acc. time4 |
| 289 | 309 | 389 | 409 | 489 | 509 | 589 | 609 | |
| 28A | 30A | 38A | 40A | 48A | 50A | 58A | 60A | Dec. time1 |
| 28B | 30B | 38B | 40B | 48B | 50B | 58B | 60B | |
| 28C | 30C | 38C | 40C | 48C | 50C | 58C | 60C | Dec. time2 |
| 28D | 30D | 38D | 40D | 48D | 50D | 58D | 60D | |
| 28E | 30E | 38E | 40E | 48E | 50E | 58E | 60E | Dec. time3 |
| 28F | 30F | 38F | 40F | 48F | 50F | 58F | 60F | |
| 290 | 310 | 390 | 410 | 490 | 510 | 590 | 610 | Dec. time4 |
| 291 | 311 | 391 | 411 | 491 | 511 | 591 | 611 | |
| 292 | 312 | 392 | 412 | 492 | 512 | 592 | 612 | Dec. time when EM. Stop |
| 293 | 313 | 393 | 413 | 493 | 513 | 593 | 613 | |
| 294 | 314 | 394 | 414 | 494 | 514 | 594 | 614 | Pulses per rotation |
| 295 | 315 | 395 | 415 | 495 | 515 | 595 | 615 | |
| 296 | 316 | 396 | 416 | 496 | 516 | 596 | 616 | Travel distance per rotation |
| 297 | 317 | 397 | 417 | 497 | 517 | 597 | 617 | |
| 298 | 318 | 398 | 418 | 498 | 518 | 598 | 618 | Unit |
| 299 | 319 | 399 | 419 | 499 | 519 | 599 | 619 | Unit multiply |
| 29A | 31A | 39A | 41A | 49A | 51A | 59A | 61A | Speed unit |
| 29B | 31B | 39B | 41B | 49B | 51B | 59B | 61B | Encoder select |
| 29C | 31C | 39C | 41C | 49C | 51C | 59C | 61C | Current position display correction |
| 29D | 31D | 39D | 41D | 49D | 51D | 59D | 61D | - |
| 29E | 31E | 39E | 41E | 49E | 51E | 59E | 61E | - |
| 29F | 31F | 39F | 41F | 49F | 51F | 59F | 61F | - |
| Chapter 6 Command |
| 6-47 |
The following is example chaning all items of basic parameter with one XSBP command.
If M00000 is on, data set up at D00000 ~ D00026 will be saved at teaching data memory and basic parameter
entire setup command will be executed.
| Chapter 6 Command |
| 6-48 |
Remark
1. When using a couple of parameter setup command to change a couple of parameter item, make the interval
of execution of each command to be more than time needed to execute the setup command. If a couple of
commands are executed by one condition, it may not work properly.
※ Parameter setup command execution time
• 2ms (when using 3 axes) ~ 4ms (when using 8 axes)
※ [Example] You can change acc. time 1 ~ acc. time 4 as follows.
Basic parameter setup commands are executed sequentially from basic parameter no.2 item to basic parameter no.5 item
after M00100 is on.
| Chapter 6 Command |
| 6-49 |
Set Extended Parameter (Command : XSEP)
(1) Program
(2) Description
| Device | Description |
| M00021 | axis1 extended parameter setting input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D02100 | Parameter value |
| D02102 | Parameter items |
| Command | XSEP | Extended parameter Teaching | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Parameter value |
PMLK,constant,D,Z,R,ZR | DINT | Parameter value to change | |
| OP4 | Parameter item |
PMLK,constant,D,Z,R,ZR | WORD | Parameter item to change (1~2, 4~19) | |
| OP5 | Setting Method |
PMLK,constant,D,Z,R,ZR | WORD | 0: RAM setting, 1: ROM setting |
※ PMLK means P, M, L and K areas.
(a) This is the command that changes the value of the item (OP4) which already set among basic parameter
items to setting value (OP3). In the case of RAM setting by the setting method (OP5), the changed value is
maintained during positioning module is being connected to power. In the case of ROM setting, it is
maintained without the power connection of positioning module.
(b) The number of ROM setting operating is unlimited because basic parameter of positioning module is saved
on MRAM.
(c) Basic parameter setting command is unavailable to be executed when the axis is operating.
| Chapter 6 Command |
| 6-50 |
(d) Extended parameter items
| Setting value |
Items | Setting value |
| 1 | S/W upper limit | ㎜:-2147483648 ~ 2147483647[X10-4 ㎜] Inch:-2147483648 ~ 2147483647[X10-5Inch] degree:-2147483648~2147483647[X10-5degree] pulse:-2147483648 ~ 2147483647[pulse] |
| 2 | S/W lower limit | |
| 3 | - | - |
| 4 | Positioning complete time | 0 ~ 65,535[ms] |
| 5 | S-Curve ratio | 1 ~ 100 |
| 6 | In-position width | mm: 0 ~ 65,535[X10-4 ㎜] inch: 0 ~ 65,535[X10-5Inch] degree: 0 ~ 65,535[X10-5degree] pulse: 0 ~ 65,535[pulse] |
| 7 | axis2 Linear interpolation continuous operation circular arc insertion position |
mm: 0 ~ 2147483647[X10-4 ㎜] Inch: 0 ~ 2147483647[X10-5Inch] degree: 0 ~ 2147483647[X10-5degree] pulse: 0 ~ 2147483647[pulse] |
| 8 | Acc./dec. pattern | 0: Trapezoid operation, 1: S-Curve operation |
| 9 | M code mode | 0: None, 1: With, 2: After |
| 10 | Upper&Lower limit detection during speed control |
0: Don’t detect, 1: Detect |
| 11 | Positioning complete condition |
0: Dwell Time 1: In position 2: Dwell Time AND In position 3: Dwell Time OR In position |
| 12 | Interpolation continuous operation type |
0: pass target pos, 1: pass near pos |
| 13 | Arc insertion | 0: Insert arc, 1: Don’t insert. |
| 14 | External command selection | 0: external VTP, 1: external stop |
| 15 | External command | 0:disable, 1: enable |
| 16 | Position-specified speed override coordinate |
0: Absolute, 1: Incremental |
| 17 | Infinite running repeat pos | mm: 1 ~ 2147483647[X10-4 ㎜] Inch: 1 ~ 2147483647[X10-5Inch] degree: 1 ~ 2147483647[X10-5degree] pulse: 1 ~ 2147483647[pulse] |
| 18 | Infinite running repeat | 0: disable, 1: enable |
| 19 | Speed/position switching coordinate |
0: incremental, 1:absoulute |
| 20 | Interpolation speed selection | 0: main axis speed, 1: synthetic speed |
(e) For the change value (OP3) setting range of each extended parameter item (OP4) which already set, refer to
“4.2.1 Extended Parameter Content”
(f) In the example program above, it changes the item that saved on D02102 of axis1 basic parameter to the value
that saved on D02100 using RAM setting method. In the case of D02102=8, D02100=1, it sets sudden stop
time as “With” using RAM setting method.
(g) D device signal (axis1 in Operation, etc) which used in the example above is an assumption that saving the
axis state value in D device area with XSRD command.
| Chapter 6 Command |
| 6-51 |
(h) If you want to set up all items of extended parameter with one XSEP command, you have to set up hFF(255)
at OP4 parameter item. At this time, first, items of extended parameter should be saved at multiple teaching
memory address below. You can set up data with PUT instruction or XTWR instruction.
| Memory address | Contents | |||||||
| 1axis | 2axis | 3axis | 4axis | 5axis | 6axis | 7axis | 8axis | |
| 280 | 300 | 380 | 400 | 480 | 500 | 580 | 600 | Soft upper limit |
| 281 | 301 | 381 | 401 | 481 | 501 | 581 | 601 | |
| 282 | 302 | 382 | 402 | 482 | 502 | 582 | 602 | Soft lower limit |
| 283 | 303 | 383 | 403 | 483 | 503 | 583 | 603 | |
| 284 | 304 | 384 | 404 | 484 | 504 | 584 | 604 | - |
| 285 | 305 | 385 | 405 | 485 | 505 | 585 | 605 | Positioning complete time |
| 286 | 306 | 386 | 406 | 486 | 506 | 586 | 606 | S-curve ratio |
| 287 | 307 | 387 | 407 | 487 | 507 | 587 | 607 | Command in-position width |
| 288 | 308 | 388 | 408 | 488 | 508 | 588 | 608 | |
| 289 | 309 | 389 | 409 | 489 | 509 | 589 | 609 | 2- axis linear interpolation continuous operation arc insertion position |
| 28A | 30A | 38A | 40A | 48A | 50A | 58A | 60A | |
| 28B | 30B | 38B | 40B | 48B | 50B | 58B | 60B | Acc/Dec pattern |
| 28C | 30C | 38C | 40C | 48C | 50C | 58C | 60C | M code mode |
| 28D | 30D | 38D | 40D | 48D | 50D | 58D | 60D | Detect upper/lower limit during speed control |
| 28E | 30E | 38E | 40E | 48E | 50E | 58E | 60E | Positioning complete condition |
| 28F | 30F | 38F | 40F | 48F | 50F | 58F | 60F | Interpolation continuous operation positioning method |
| 290 | 310 | 390 | 410 | 490 | 510 | 590 | 610 | 2-axis linear interpolation continuous operation arc insertion |
| 291 | 311 | 391 | 411 | 491 | 511 | 591 | 611 | External command select |
| 292 | 312 | 392 | 412 | 492 | 512 | 592 | 612 | External command |
| 293 | 313 | 393 | 413 | 493 | 513 | 593 | 613 | Position specified speed override coordinate |
| 294 | 314 | 394 | 414 | 494 | 514 | 594 | 614 | Infinite running repeat position |
| 295 | 315 | 395 | 415 | 495 | 515 | 595 | 615 | |
| 296 | 316 | 396 | 416 | 496 | 516 | 596 | 616 | Infinite running repeat |
| 297 | 317 | 397 | 417 | 497 | 517 | 597 | 617 | Speed/Position switching coordinate |
| 298 | 318 | 398 | 418 | 498 | 518 | 598 | 618 | Interpolation speed selection |
| 299 | 319 | 399 | 419 | 499 | 519 | 599 | 619 | - |
| 29A | 31A | 39A | 41A | 49A | 51A | 59A | 61A | - |
| 29B | 31B | 39B | 41B | 49B | 51B | 59B | 61B | - |
| 29C | 31C | 39C | 41C | 49C | 51C | 59C | 61C | - |
| 29D | 31D | 39D | 41D | 49D | 51D | 59D | 61D | - |
| 29E | 31E | 39E | 41E | 49E | 51E | 59E | 61E | - |
| 29F | 31F | 39F | 41F | 49F | 51F | 59F | 61F | - |
| Chapter 6 Command |
| 6-52 |
The following is example chaning all items of extended parameter with one XSEP command.
If M00000 is on, data set up at D00000 ~ D00024 will be saved at teaching data memory and extended
parameter entire setup command will be executed.
| Chapter 6 Command |
| 6-53 |
Set Parameter Of Manual Operation (Command :XSMP)
(1) Program
(2) Description
| Device | Description |
| M00023 | axis1 manual operation parameter setting input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 in operation |
| D00000.1 | axis1 error state |
| D02100 | Parameter value |
| D02102 | Parameter items |
| Command | XSMP | Manual operation parameter setting | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Parameter value |
PMLK,constant,D,Z,R,ZR | DWORD | parameter value to change | |
| OP4 | Parameter item |
PMLK,constant,D,Z,R,ZR | WORD | parameter item to change (1~5, 255) | |
| OP5 | Setting method |
PMLK,constant,D,Z,R,ZR | WORD | 0: RAM setting, 1: ROM setting |
※ PMLK means P, M, L and K areas.
(a) This is the command that changes the value of the item (OP4) which already set among manual operation
parameter items to setting value (OP3). In the case of RAM setting by the setting method (OP5), the changed
value is maintained during APM module is being connected to power. In the case of ROM setting, it is
maintained without the power connection of APM module.
(b) The number of ROM setting operating is unlimited because manual operation parameter of APM module is
saved on MRAM.
(c) Manual operation parameter setting command is unavailable to be executed when the axis is operating.
(d) Manual operation parameter items are as follows.
| Setting value | Items | Setting value |
| 1 | Jog high speed | ㎜ : 1 ∼ 2,147,483,647 [X10-2 ㎜/min] Inch : 1 ∼ 2,147,483,647 [X10-3Inch/min] degree : 1 ∼ 2,147,483,647 [X10-3 degree/min] pulse : 1 ∼ 2,147,483,647 [pulse/sec] |
| 2 | Jog low speed | |
| 3 | Jog acc. time | 0 ~ 2,147,483,647 [ms] |
| 4 | Jog dec. time | |
| 5 | Inching speed | ㎜ : 1 ∼ 65,535[X10-2 ㎜/min] Inch : 1 ∼ 65,535[X10-3Inch/min] degree : 1 ∼ 65,535[X10-3 degree/sec] pulse : 1 ∼ 65,535[pulse/sec] |
(e) For the change value (OP3) setting range of each manual operation parameter item (OP4) which already set,
| Chapter 6 Command |
| 6-54 |
refer to “4.3.1 Manual Operation Parameter Content”
(f) In the example program above, it changes the item that saved on D02102 of axis1 manual operation parameter
to the value that saved on D02100 using RAM setting method. In the case of D02102=3, D02100=500, it sets
jog acc. time as “500ms” using RAM setting method.
(g) If you want to set up all items of manual operation parameter with one XSMP command, you have to set up
hFF(255) at OP4 parameter item. At this time, first, items of manual operation parameter should be saved at
multiple teaching memory address below. You can set up data with PUT instruction or XTWR instruction.
| Memory address | Contents | |||||||
| 1axis | 2axis | 3axis | 4axis | 5axis | 6axis | 7axis | 8axis | |
| 280 | 300 | 380 | 400 | 480 | 500 | 580 | 600 | JOG high speed |
| 281 | 301 | 381 | 401 | 481 | 501 | 581 | 601 | |
| 282 | 302 | 382 | 402 | 482 | 502 | 582 | 602 | JOG low speed |
| 283 | 303 | 383 | 403 | 483 | 503 | 583 | 603 | |
| 284 | 304 | 384 | 404 | 484 | 504 | 584 | 604 | JOG acc. time |
| 285 | 305 | 385 | 405 | 485 | 505 | 585 | 605 | |
| 286 | 306 | 386 | 406 | 486 | 506 | 586 | 606 | JOG dec. time |
| 287 | 307 | 387 | 407 | 487 | 507 | 587 | 607 | |
| 288 | 308 | 388 | 408 | 488 | 508 | 588 | 608 | Inching speed |
| 289 | 309 | 389 | 409 | 489 | 509 | 589 | 609 | - |
| 28A | 30A | 38A | 40A | 48A | 50A | 58A | 60A | - |
| 28B | 30B | 38B | 40B | 48B | 50B | 58B | 60B | - |
| 28C | 30C | 38C | 40C | 48C | 50C | 58C | 60C | - |
| 28D | 30D | 38D | 40D | 48D | 50D | 58D | 60D | - |
| 28E | 30E | 38E | 40E | 48E | 50E | 58E | 60E | - |
| 28F | 30F | 38F | 40F | 48F | 50F | 58F | 60F | - |
| 290 | 310 | 390 | 410 | 490 | 510 | 590 | 610 | - |
| 291 | 311 | 391 | 411 | 491 | 511 | 591 | 611 | - |
| 292 | 312 | 392 | 412 | 492 | 512 | 592 | 612 | - |
| 293 | 313 | 393 | 413 | 493 | 513 | 593 | 613 | - |
| 294 | 314 | 394 | 414 | 494 | 514 | 594 | 614 | - |
| 295 | 315 | 395 | 415 | 495 | 515 | 595 | 615 | - |
| 296 | 316 | 396 | 416 | 496 | 516 | 596 | 616 | - |
| 297 | 317 | 397 | 417 | 497 | 517 | 597 | 617 | - |
| 298 | 318 | 398 | 418 | 498 | 518 | 598 | 618 | - |
| 299 | 319 | 399 | 419 | 499 | 519 | 599 | 619 | - |
| 29A | 31A | 39A | 41A | 49A | 51A | 59A | 61A | - |
| 29B | 31B | 39B | 41B | 49B | 51B | 59B | 61B | - |
| 29C | 31C | 39C | 41C | 49C | 51C | 59C | 61C | - |
| 29D | 31D | 39D | 41D | 49D | 51D | 59D | 61D | - |
| 29E | 31E | 39E | 41E | 49E | 51E | 59E | 61E | - |
| 29F | 31F | 39F | 41F | 49F | 51F | 59F | 61F | - |
The following is example chaning all items of manual operation parameter with one XSMP command.
If M00000 is on, data set up at D00000 ~ D00008 will be saved at teaching data memory and manual operation parameter entire
setup command will be executed.
| Chapter 6 Command |
| 6-55 |
Set Common Parameter (Command : XSCP)
(1) Program
(2) Description
| Device | Description |
| M00025 | Common parameter setting input |
| U02.00.0 | axis1 ready |
| D02100 | Parameter value |
| D02102 | Parameter items |
| Command | XSCP | Common parameter Setting | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Parameter value |
PMLK,constant,D,Z,R,ZR | DINT | parameter value to change | |
| OP4 | Parameter item |
PMLK,constant,D,Z,R,ZR | WORD | Parameter item to change (1~5,10~11,255) | |
| OP5 | Setting Method |
PMLK,constant,D,Z,R,ZR | WORD | 0: RAM setting, 1: ROM setting |
※ PMLK means P, M, L and K areas.
(a) This is the command that changes the value of the item (OP4) which already set among common parameter
items to setting value (OP3). In the case of RAM setting by the setting method (OP5), the changed value is
maintained during positioning module is being connected to power. In the case of ROM setting, it is
maintained without the power connection of positioning module.
(b) The number of ROM setting operating is unlimited because common parameter of APM module is saved on
MRAM.
| Chapter 6 Command |
| 6-56 |
(c) The value to be set in parameter item is as follows.
| Setting value | Items | Setting value |
| 1 | Speed override method | 0: % setting 1: Speed setting |
| 2 | Encoder1 pulse input mode |
0:CW/CCW 1X 1:PULSE/DIR 1X 2:PULSE/DIR 2X 3:PHASE A/B 1X 4:PHASE A/B 2X 5:PHASE A/B 4X |
| 3 | Encoder1 max. value | -2147483648 ~ 2147283647 |
| 4 | Encoder1 min. value | |
| 5 | Encoder1 Z phase clear | 0: disable, 1:enable |
| 10 | Destination coordinates for posistioning speed synchronization |
0:incremental, 1:absolute, |
| 11 | Encoder 1 average number |
0:None 1: 5 2:10 3:20 |
| 13 | Function selection of external input termanal |
0: A,B,Z phase of encoder signal 1: External input signal A,B,Z |
| 14 | Input filter of external input signal |
0: Disable, 1: Enable |
(d) For the change value (OP3) setting range of each common parameter item (OP4) which already set, refer to
“4.6.1 Common Parameter Content”
(e) In the example program above, it changes the item that saved on D02102 of common parameter to the value
that saved on D02100 using RAM setting method. In the case of D02102=1, D02100=1, it sets speed override
method time as “1: speed setting” using RAM setting method.
(f) If you want to set up all items of common parameter with one XSCP command, you have to set up hFF(255) at
OP4 parameter item. At this time, first, items of common parameter should be saved at multiple teaching
| Chapter 6 Command |
| 6-57 |
memory address below. You can set up data with PUT instruction or XTWR instruction.
| Memory address | Contents | |||||||
| 1axis | 2axis | 3axis | 4axis | 5axis | 6axis | 7axis | 8axis | |
| 280 | 300 | 380 | 400 | 480 | 500 | 580 | 600 | Speed override |
| 281 | 301 | 381 | 401 | 481 | 501 | 581 | 601 | Encoder1 pulse input |
| 282 | 302 | 382 | 402 | 482 | 502 | 582 | 602 | Encoder1 max. value |
| 283 | 303 | 383 | 403 | 483 | 503 | 583 | 603 | |
| 284 | 304 | 384 | 404 | 484 | 504 | 584 | 604 | Encoder1 min. value |
| 285 | 305 | 385 | 405 | 485 | 505 | 585 | 605 | |
| 286 | 306 | 386 | 406 | 486 | 506 | 586 | 606 | Encoder1 Z-phase clear |
| 287 | 307 | 387 | 407 | 487 | 507 | 587 | 607 | Destination coordinates for posistioning speed synchronization |
| 288 | 308 | 388 | 408 | 488 | 508 | 588 | 608 | Encoder 1 average number |
| 289 | 309 | 389 | 409 | 489 | 509 | 589 | 609 | Function selection of external input termanal |
| 28A | 30A | 38A | 40A | 48A | 50A | 58A | 60A | Input filter of external input signal |
| 28B | 30B | 38B | 40B | 48B | 50B | 58B | 60B | |
| 28C | 30C | 38C | 40C | 48C | 50C | 58C | 60C | |
| 28D | 30D | 38D | 40D | 48D | 50D | 58D | 60D | - |
| 28E | 30E | 38E | 40E | 48E | 50E | 58E | 60E | - |
| 28F | 30F | 38F | 40F | 48F | 50F | 58F | 60F | - |
| 290 | 310 | 390 | 410 | 490 | 510 | 590 | 610 | - |
| 291 | 311 | 391 | 411 | 491 | 511 | 591 | 611 | - |
| 292 | 312 | 392 | 412 | 492 | 512 | 592 | 612 | - |
| 293 | 313 | 393 | 413 | 493 | 513 | 593 | 613 | - |
| 294 | 314 | 394 | 414 | 494 | 514 | 594 | 614 | - |
| 295 | 315 | 395 | 415 | 495 | 515 | 595 | 615 | - |
| 296 | 316 | 396 | 416 | 496 | 516 | 596 | 616 | - |
| 297 | 317 | 397 | 417 | 497 | 517 | 597 | 617 | - |
| 298 | 318 | 398 | 418 | 498 | 518 | 598 | 618 | - |
| 299 | 319 | 399 | 419 | 499 | 519 | 599 | 619 | - |
| 29A | 31A | 39A | 41A | 49A | 51A | 59A | 61A | - |
| 29B | 31B | 39B | 41B | 49B | 51B | 59B | 61B | - |
| 29C | 31C | 39C | 41C | 49C | 51C | 59C | 61C | - |
| 29D | 31D | 39D | 41D | 49D | 51D | 59D | 61D | - |
| 29E | 31E | 39E | 41E | 49E | 51E | 59E | 61E | - |
| 29F | 31F | 39F | 41F | 49F | 51F | 59F | 61F | - |
| Chapter 6 Command |
| 6-58 |
The following is example chaning all items of common parameter with one XSCP command.
If M00000 is on, data set up at D00000 ~ D00020 will be saved at teaching data memory and common
parameter entire setup command will be executed.
| Chapter 6 Command |
| 6-59 |
Set Operation Data (Command: XSMD)
(1) Program
(2) Description
| Device | Description |
| M00026 | axis1 Operation data setting input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 l in operation |
| D00000.1 | axis1 error state |
| D02110 | Operation data value |
| D02112 | Operation data items |
| Comman d |
XSMD | Operation data setting | |||
| Operand | OP 1 |
Slot | Constant | WOR D | Slot No. installed with positioning module |
| OP 2 |
Axis | PMLK,constant,D,Z,R,Z R | WOR D | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP 3 |
Operation data value | PMLK,constant,D,Z,R,Z R | DINT | Operation data value to change | |
| OP 4 |
Operation data item | PMLK,constant,D,Z,R,Z R | WOR D | Operation data item (1~17, 255) | |
| OP 5 |
Step No. | PMLK,constant,D,Z,R,Z R | WOR D | Operation data step No. to chang (0~400) e | |
| OP 6 |
Step method | PMLK,constant,D,Z,R,Z R | WOR D | 0: RAM setting, 1: ROM setting |
※ PMLK means P, M, L and K areas.
(a) This is the command that changes the item (OP4) of a step which already set on OP5 among operation data
items to setting value (OP3). In the case of RAM setting by the setting method (OP6), the changed value is
maintained during positioning module is being connected to power. In the case of ROM setting, it is
maintained without the power connection of positioning module.
(b) The number of ROM setting operating is unlimited because operation data of positioning module is saved on
MRAM.
(c) Operation data setting command is available to be executed when the axis is operating. However, if
operation data of the step that is currently operated are changed, those changes are reflected after the
current step is completed.
| Chapter 6 Command |
| 6-60 |
(d) The values to be set in operation data item are as follows
| Setting value |
Items | Setting value | |||||
| 1 | Target position | ㎜ : -2147483648 ∼ 2147483647 [X10-4 ㎜] Inch : -2147483648 ∼ 2147483647 [X10-5Inch] degree : -2147483648 ∼ 2147483647 [X10-5degree] pulse : -2147483648 ∼ 2147483647 [pulse] |
|||||
| 2 | Circular interpolation auxiliary position |
||||||
| 3 | Operation speed | ㎜ : 1 ∼ 2,147,483,647 [X10-2 ㎜/min] Inch : 1 ∼ 2,147,483,647 [X10-3Inch/min] degree : 1 ∼ 2,147,483,647 [X10-3 degree/min] pulse : 1 ∼ 2,147,483,647 [pulse/sec] |
|||||
| 4 | Dwell time | 0 ~ 65,535[ms] | |||||
| 5 | M code No. | 0 ~ 65,535 | |||||
| 6 | Sub axis setting | Bit unit setting | |||||
| Bit 7 | Bit 6 | Bit 5 | Bit 4 | Bit 3 | Bit 2 | Bit 1 | Bit 0 |
| 8axis | 7axis | 6axis | 5axis | axis4 | axis3 | axis2 | axis1 |
| 7 | Helical interpolation axis |
0, axis1 ~ axis8 (0: General circular arc interpolation) | |||||
| 8 | Circular interpolation turns |
0~65,535 | |||||
| 9 | Coordinate | 0:absolute, 1:incremental | |||||
| 10 | Control method | 0:Single axis position control, 1:,Single axis speed control 2:Single-axis Feed control, 3:Linear interpolation, 4:Circular arc interpolation |
|||||
| 11 | Operation method | 0:Single, 1:Repeat | |||||
| 12 | Operation Pattern | 0:End, 1:Keep, 2:Continuous | |||||
| 13 | Circular arc size | 0:Circular arc<180 1:Circular arc>=180 | |||||
| 14 | Acc. No. | 0 ~ 3 | |||||
| 15 | Dec. No. | 0 ~ 3 | |||||
| 16 | Circular arc interpolation method |
0:Middle point, 1:Center point, 2:Radius | |||||
| 17 | Circular arc interpolation direction |
0:CW, 1:CCW |
(e) For the change value (OP3) setting range of each position data item (OP4) which already set, refer to “4.7.1
Operation Data Content”
(f) In the example program above, it changes the item that saved on D02112 of axis1 operation to the value that
saved on D02100 using RAM setting method. In the case of D02112=5, D02100=125, it changes M code no.
of step no.4 to “125” using RAM setting method.
| Chapter 6 Command |
| 6-61 |
(g) If you want to set up all items of position data with one XSCP command, you have to set up hFF(255) at OP4
parameter item. At this time, first, items of position data should be saved at multiple teaching memory address
below. You can set up data with PUT instruction or XTWR instruction.
| Memory address | Contents | |||||||
| 1axis | 2axis | 3axis | 4axis | 5axis | 6axis | 7axis | 8axis | |
| 280 | 300 | 380 | 400 | 480 | 500 | 580 | 600 | Target position |
| 281 | 301 | 381 | 401 | 481 | 501 | 581 | 601 | |
| 282 | 302 | 382 | 402 | 482 | 502 | 582 | 602 | Circular interpolation auxiliary position |
| 283 | 303 | 383 | 403 | 483 | 503 | 583 | 603 | |
| 284 | 304 | 384 | 404 | 484 | 504 | 584 | 604 | Operation speed |
| 285 | 305 | 385 | 405 | 485 | 505 | 585 | 605 | |
| 286 | 306 | 386 | 406 | 486 | 506 | 586 | 606 | Dwell time |
| 287 | 307 | 387 | 407 | 487 | 507 | 587 | 607 | M code number |
| 288 | 308 | 388 | 408 | 488 | 508 | 588 | 608 | Sub-axis setting |
| 289 | 309 | 389 | 409 | 489 | 509 | 589 | 609 | Helical interpolation axis |
| 28A | 30A | 38A | 40A | 48A | 50A | 58A | 60A | Circular interpolation turns |
| 28B | 30B | 38B | 40B | 48B | 50B | 58B | 60B | Coordinate |
| 28C | 30C | 38C | 40C | 48C | 50C | 58C | 60C | Control type |
| 28D | 30D | 38D | 40D | 48D | 50D | 58D | 60D | Operation type |
| 28E | 30E | 38E | 40E | 48E | 50E | 58E | 60E | Operation pattern |
| 28F | 30F | 38F | 40F | 48F | 50F | 58F | 60F | Arc size |
| 290 | 310 | 390 | 410 | 490 | 510 | 590 | 610 | Acc. No. |
| 291 | 311 | 391 | 411 | 491 | 511 | 591 | 611 | Dec. No. |
| 292 | 312 | 392 | 412 | 492 | 512 | 592 | 612 | Circular interpolation mode |
| 293 | 313 | 393 | 413 | 493 | 513 | 593 | 613 | Circular interpolation direction |
| 294 | 314 | 394 | 414 | 494 | 514 | 594 | 614 | - |
| 295 | 315 | 395 | 415 | 495 | 515 | 595 | 615 | - |
| 296 | 316 | 396 | 416 | 496 | 516 | 596 | 616 | - |
| 297 | 317 | 397 | 417 | 497 | 517 | 597 | 617 | - |
| 298 | 318 | 398 | 418 | 498 | 518 | 598 | 618 | - |
| 299 | 319 | 399 | 419 | 499 | 519 | 599 | 619 | - |
| 29A | 31A | 39A | 41A | 49A | 51A | 59A | 61A | - |
| 29B | 31B | 39B | 41B | 49B | 51B | 59B | 61B | - |
| 29C | 31C | 39C | 41C | 49C | 51C | 59C | 61C | - |
| 29D | 31D | 39D | 41D | 49D | 51D | 59D | 61D | - |
| 29E | 31E | 39E | 41E | 49E | 51E | 59E | 61E | - |
| 29F | 31F | 39F | 41F | 49F | 51F | 59F | 61F | - |
| Chapter 6 Command |
| 6-62 |
The following is example chaning all items of first step of position data with one XSMD command.
If M00000 is on, data set up at D00000 ~ D00008 will be saved at teaching data memory and position data entire
setup command will be executed.
| Chapter 6 Command |
| 6-63 |
Read Variable Data (Command: XVRD)
(1) Program
(2) Description
| Device | Description |
| M00040 | Input to read variable data |
| M00041 | Ready flag to read common area (ready flag to save in internal device by GETM after executing command reading variable data) |
| D02114 | Head address to read internal memory data of module |
| D02116 | Block offset |
| D02118 | Block size |
| D02119 | Number of block |
| D02120 | Size of data to read (WORD) |
| D02122 | Size of data to read (DWORD) |
| D02123 | Remaining (after changing WORD to DWORD) |
| D02200 | Head device to save data |
| Chapter 6 Command |
| 6-64 |
| Command | XVRD | Read variable data | |||
| Operand | OP1 | Slot | Constant | WORD | Base and slot number where positioning module is equipped |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Read address |
PMLK,constant,D,Z,R,ZR | DWORD | Head address of data in module internal memory to read (0 ~72793) |
|
| OP4 | Block offset |
PMLK,constant,D,Z,R,ZR | DWORD | Offset between blocks (0 ~72793) | |
| OP5 | Block size |
PMLK,constant,D,Z,R,ZR | WORD | Size of one block (1 ~ 128) | |
| OP6 | No. of block |
PMLK,constant,D,Z,R,ZR | WORD | No. of block to read (1 ~ 128) |
※ PMLK indicates P area, M area, L area, K area.
(a) This is command that reads data among parameter, operating data, CAM data by WORD unit from “Read
address” into CPU. The number of data is set in “Block size”. In case “No. of block” set in OP6 is more than 2,
it reads multiple blocks. At this time, head address of next block is “Block offset” apart from head address of
current block.
(b) Max data size (Block size X No. of block) can be read with one command is 128 WORD.
(c) “Read variable data” can be executed in operation.
(d) If you execute “Read variable data”, the data read from positioning module will be saved in common area. In
order to save in device for using in program, use GETM command [Read address: h280, data size: read data
size (DWORD) as program example after executing “Read variable data” command
(e) In the above program, it reads data starting “Read address” set in D02114 by WORD unit into CPU. The number
of data is “D02118”. In case “No. of block set in D02119 is more than 2, it reads multiple blocks starting “Read
address” D02114 in order. In the above program, saves the read data in D02200 5ms after executing “Read
variable data: command. You have to execute GETM command minimum 4ms after executing “Read variable
data” to save the read data in common area.
(f) Don’t use XVRD command at the same time. That is, you must execute a command after the other command’s
operation completes. Please note that the command don’t execute at the same time in case the command axis
is same or different.
| Chapter 6 Command |
| 6-65 |
Write Variable Data (Command: XVWR)
(1) Program
(2) Comment
| Device | Description |
| M00042 | Input to write variable data |
| D2400 | Head address where data for writing is saved |
| D2124 | Write address |
| D2116 | Block offset |
| D2118 | Block size |
| D2119 | No. of block |
| Command | XVWR | Write variable data | |||
| Operand | OP1 | Slot | Constant | WORD | Base and slot number where positioning module is equipped |
| OP2 | Axis | PMLK,constant,D,Z, R,ZR |
WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Data device |
PMLK,constant,D,Z, R,ZR |
WORD | Head address where data to write is saved. | |
| OP4 | Write address |
PMLK,constant,D,Z, R,ZR |
DWORD | Head address to write module internal memory data (0 ~72768) | |
| OP5 | Block offset |
PMLK,constant,D,Z, R,ZR |
DWORD | Offset between blocks (0 ~ 72768) | |
| OP6 | Block size | PMLK,constant,D,Z, R,ZR |
WORD | Size of one block (1 ~ 128) | |
| OP7 | No. of block |
PMLK,constant,D,Z, R,ZR |
WORD | No. of block to read (1 ~ 128) |
※ PMLK indicates P area, M area, L area, K area.
(a) This is command that writes data starting “Write address” set in OP4 among parameter of positioning module
internal memory, operation data, CAM data to internal memory address starting OP3. The number of data to write
is “Block size” OP6. In case “No. of block” is more than 2, writes multiple blocks. At this time, head address of
next block is “Block offset” OP5 apart from head address of current block.
(b) Max data size (Block seze X No. of block) that can be written with one command is 128 WORD.
(c) Even “Write variable data” command can be executed even when the axis subject to teaching is being operated
but, only the current step’s data is reflected after the current step operation is completed if the step that is currently
running is within the step area while other steps’ data are immediately changed.
(d) In case you execute “Write variable data”, the changed value is kept during power on. So, to save the data,
execute “Save Parameter/Operation data (XWRT) command.
(e) In the above program example, writes data starting from D02400 to internal memory address starting form “D2124”
in order by WORD unit. The number of data is “Block size”. In case “No. of Block” set in D02119 is larger than 2,
writes multiple blocks. At this time, head address of next block is “Block offset” OP5 apart from head address of
current block.
(f) Don’t use XVWR command at the same time. That is, you must execute a command after the other command’s
operation completes. Please note that the command don’t execute at the same time in case the command axis is
same or different.
| Chapter 6 Command |
| 6-66 |
Save Parameter/Operation Data (Command : XWRT)
(1) Program
(2) Description
| Device | Description |
| M00027 | axis1 parameter/operation data save input |
| U02.00.0 | axis1 ready |
| D00000.1 | axis1 error state |
| Command | XWRT | Parameter/operation Data save | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Selection axis |
PMLK,constant,D,Z,R,ZR | WORD | Axis to save data |
※ PMLK means P, M, L and K areas.
(a) This is the command that saves the parameter data & operation data of selected axis on MRAM.
(b) The current parameter & operation data of selected axis will be saved on MRAM, it is also maintained when
the power is off.
(c) The number of parameter/operation data save command is unlimited.
(d) Parameter/operation data save command is available to be executed when the axis is operating. Execute it
when all axes are not in operation.
(e) Set the selection axis by setting each bit of axis.
| 15 ~ 8 Bit | 7Bit | 6Bit | 5Bit | 4Bit | 3Bit | 2Bit | 1Bit | 0Bit |
| Not use | Axis8 | Axis7 | Axis6 | Axis5 | Axis4 | Axis3 | Axis2 | axis1 |
That is, if set h0003, axis2, axis1 will be set to execute parameter/operation data save.
(f) In the example program above, save parameter/operation data of 1, axis2 on MRAM.
(g) In case of changing CAM data with Write variable data command(XVWR), changed CAM data is saved at
Flash during XWRT operation.
Emergency Stop (Command : XEMG)
(1) Program
(2) Description
| Chapter 6 Command |
| 6-67 |
| Device | Description |
| M00028 | axis1 internal emergency stop input |
| U02.00.0 | axis1 ready |
| Command | XEMG | Emergency stop | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) Execute internal emergency stop command to command axis.
(b) Dec. time in emergency stop become the time which set on “Emergency stop dec. time” item of each basic
parameter.
(c) The example program above is the command stop axis1 emergently.
| Chapter 6 Command |
| 6-68 |
Reset Error (Command : XCLR)
(1) Program
(2) Description
| Device | Description |
| M00029 | axis1 error reset input |
| U02.00.0 | axis1 ready |
| D00000.1 | axis1 error state |
| Command | XCLR | Error reset | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Common error |
PMLK,constant,D,Z,R,ZR | WORD | 0: reset axis error, 1: reset common error |
※ PMLK means P, M, L and K areas.
(a) This is the command that reset the error occurred on command axis.
(b) In case of common error, not axis error, execute the command while common error item (OP3) is 1.
(c) The example program above is that reset the error occurred on axis1.
| Chapter 6 Command |
| 6-69 |
Reset Error History (Command : XECLR)
(1) Program
(2) Description
| Device | Description |
| M00030 | axis1 error history reset input |
| U02.00.0 | axis1 ready |
| Command | XECLR | Error History Reset | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) This is the command that reset the error history about command axis.
(b) The module in each axis saves 10 (Maximum) error histories.
(c) The example program above is that reset errors occurred on axis1.
| Chapter 6 Command |
| 6-70 |
Point Start (Command : XPST)
(1) Program
(2) Description
| Device | Description |
| M00031 | axis1 point start step data setting input |
| M00032 | axis1 point start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 operating state |
| D00000.1 | axis1 error state |
| D03000 | Point start step data setting leading device |
| Command | XPST | Point operation | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Point operation No. |
PMLK,constant,D,Z,R,ZR | WORD | Point operation step No. (1~20) |
※ PMLK means P, M, L and K areas.
(a) This is the command that execute point start of command axis.
(b) It is unavailable to be executed when the axis is operating.
(c) It is able to set maximum 20 point start step.
(d) Step data must be set in point start data area before execute point start. For the point start step data setting,
refer to the next page about XPWR command.
(d) For the detail description about operation of point start, refer to “9.2.18 positioning start (4) Point start”.
(f) The example program sets 10 point steps from D03000 on axis1 and executes point start to 5 point step which
already set.
| Chapter 6 Command |
| 6-71 |
Set Step Data of POINT Start (Command: XPWR)
(1) Program
(2) Description
| Device | Description |
| M00031 | axis1 Point Start Step Data Setting Input |
| M00032 | axis1 Point Start Input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 Operating State |
| D00000.1 | axis1 Error State |
| D03000 | Point Start Step Data Setting Leading Device No. |
| Command | XPWR | POINT Start Step Data Setting | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Device | PMLK,D,Z,R,ZR | WORD | Leading No. of device with POINT Start Step Data |
|
| OP3 | Data No. |
PMLK,constant,D,Z,R,ZR | WORD | Data No. to save (1 ~ 20) |
※ PMLK means P, M, L and K areas.
(a) This is the command that sets step which set on device of point step area of command axis.
(b) Point start won’t be executed by only point start step data setting command. Refer to the previous page
about PST command.
(c) It is able to set maximum 20 point start step.
| Chapter 6 Command |
| 6-72 |
(d) Point start step data will be set like item below depending on the leading no. of device.
| No. | Device No. | POINT start step data |
| 1 | Device + 0 | POINT start step data 1 |
| 2 | Device + 1 | POINT start step data 2 |
| 3 | Device + 2 | POINT start step data 3 |
| 4 | Device + 3 | POINT start step data 4 |
| 5 | Device + 4 | POINT start step data 5 |
| 6 | Device + 5 | POINT start step data 6 |
| 7 | Device + 6 | POINT start step data 7 |
| 8 | Device + 7 | POINT start step data 8 |
| 9 | Device + 8 | POINT start step data 9 |
| 10 | Device + 9 | POINT start step data 10 |
| 11 | Device + 10 | POINT start step data 11 |
| 12 | Device + 11 | POINT start step data 12 |
| 13 | Device + 12 | POINT start step data 13 |
| 14 | Device + 13 | POINT start step data 14 |
| 15 | Device + 14 | POINT start step data 15 |
| 16 | Device + 15 | POINT start step data 16 |
| 17 | Device + 16 | POINT start step data 17 |
| 18 | Device + 17 | POINT start step data 18 |
| 19 | Device + 18 | POINT start step data 19 |
| 20 | Device + 19 | POINT start step data 20 |
(e) Step data must be set in point start data area before execute point start.
(f) For detail description of point start operation, refer to “9.2.18 Positioning Start (4) Point Start”.
(g) The example program above sets 10 point steps from D03000 on axis1 and executes point start to 5 point
steps which already set.
(h) It is possible to set point operation step with PUT command. At that time, refer to memory address of “5.1.1
Point Operation Step Data” and “6.1.2 Internal Memory Writing”. If apply PUT to the example program above,
refer to follows.
| Chapter 6 Command |
| 6-73 |
Read Operation State (Command: XSRD)
(1) Program
(2) Description
| Device | Description |
| M0033 | axis1 operation state reading input |
| D04000 | Head address to save the operation status of axis 1 |
| Command | XSRD | Operation state reading | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Device | PMLK,D,Z,R,ZR | WORD | Leading No. of device to save the current state value |
※ PMLK means P, M, L and K areas.
(a) This is the command that checks the operation state of command axis and save it on designated device.
(b) The current state will be saved like items below depending on leading no. of device.
| Device No. | Size | State | |
| Device | WORD | Operation State Information (Up) | |
| Device + 1 | WORD | Operation State Information (Down) | |
| Device + 2 | WORD | Axis Information | |
| Device + 3 | WORD | External Input/Output Signal State | |
| Device + 4 | DINT | Current Position | |
| Device + 6 | DWORD | Current Speed | |
| Device + 8 | WORD | Step No. | |
| Device + 9 | WORD | M Code No. | |
| Device + 10 | WORD | Error state | |
| Device + 11 ~ Device + 17 | WORD | Error History 1 ~ 7 | |
| Device + 18 | WORD | Error History 8 | External input signal low |
| Device + 19 | WORD | Error History 9 | External input signal high |
| Device + 20 | WORD | Servo error information | |
| Device + 21 | DINT | Encoder1 value | |
| Device + 23 | DINT | Encoder2 value | |
| Device + 25 | DINT | Command position | |
| Device + 27 | DWORD | Command speed | |
| Device + 29 | WORD | Torque | |
| Device + 30 | WORD | Common error information |
(c) It is able to read the current state of axis with GET command. At this time, refer to memory address of “5.1.4
State Information” and “6.1.1 Internal Memory Reading”. If use GET command in the example above, it is as
follows. In addition, it is able to read the states that you need with GET command.
| Chapter 6 Command |
| 6-74 |
Connect servo (Command: XECON)
(1) Program
(2) Description
| Device | Description |
| M0034 | Servo connection input |
| U02.00.E | Link up/down information |
| Command | XECON | Servo Connection | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) This is the command that connects the communication between the positioning module and the servo driver
connected to that module through Ethernet cable.
(b) If servo drive is connected normally, a bit corresponding to the connected axis of U device will be set.
| Axis | Signal direction: PLC CPU ← Positioning module | |
| Input signal |
Contents | |
| 1-axis | Uxx.00.0 | 1-axis ready |
| 2-axis | Uxx.00.1 | 2-axis ready |
| 3-axis | Uxx.00.2 | 3-axis ready |
| 4-axis | Uxx.00.3 | 4-axis ready |
| 5-axis | Uxx.00.4 | 5-axis ready |
| 6-axis | Uxx.00.5 | 6-axis ready |
| 7-axis | Uxx.00.6 | 7-axis ready |
| 8-axis | Uxx.00.7 | 8-axis ready |
(c) If you use “Link up/down” information as input condition of servo connection command, you can execute the
command only when network cable is actually connected.
(d) Don’t give the command to each axis and give the command to the one axis among 1-axis~8-axis
| Chapter 6 Command |
| 6-75 |
Disconnect Servo (Command: XDCON)
(1) Program
(2) Description
| Device | Description |
| M0035 | Servo disconnection input |
| Command | XDCON | Servo Disconnection | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) This is the command that disconnects the communication between the positioning module and the servo
driver connected to that module through Ethernet cable.
(b) If servo drive is disconnected normally, a bit corresponding to the connected axis of U device will be cleared.
| Axis | Signal direction: PLC CPU ← Positioning module |
|
| Input signal |
Contents | |
| 1-axis | Uxx.00.0 | 1-axis ready |
| 2-axis | Uxx.00.1 | 2-axis ready |
| 3-axis | Uxx.00.2 | 3-axis ready |
| 4-axis | Uxx.00.3 | 4-axis ready |
| 5-axis | Uxx.00.4 | 5-axis ready |
| 6-axis | Uxx.00.5 | 6-axis ready |
| 7-axis | Uxx.00.6 | 7-axis ready |
| 8-axis | Uxx.00.7 | 8-axis ready |
(c) Don’t give the command to each axis and give the command to the one axis among 1-axis~8-axis
| Chapter 6 Command |
| 6-76 |
Servo On (Command: XSVON)
(1) Program
(2) Description
| Device | Description |
| M00036 | Servo On input |
| U02.00.0 | Axis1 ready |
| D00000.0 | Axis1 in operation |
| D00000.1 | Axis1 error |
| D00003.9 | Axis1 servo on signal |
| Command | XSVON | Servo Disconnection | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) This is the command that turns on the designated servo driver among servo drivers connected to the
positioning module
(b) In order to start the motor, “Servo On” signal should be on.
(c) In the above example, it gives “Servo On” command to 1-axis.
| Chapter 6 Command |
| 6-77 |
Servo Off (Command: XSVOFF)
(1) Program
(2) Description
| Device | Description |
| M00037 | Servo Off input |
| U02.00.0 | Axis1 ready |
| D00000.0 | Axis1 in operation |
| D00000.1 | Axis1 error |
| D00003.9 | Axis1 servo on signal |
| Command | XSVOFF | Servo Disconnection | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) This is the command that turns off the designated servo driver among servo drivers connected to the
positioning module
(b) In order to start the motor, “Servo On” signal should be on.
(c) In the above example, it gives “Servo Off” command to 1-axis.
| Chapter 6 Command |
| 6-78 |
Reset Servo Error (Command: XSCLR)
(1) Program
(2) Description
| Device | Description |
| M00038 | Servo Error Reset input |
| U02.00.0 | Axis1 ready |
| D00000.0 | Axis1 in operation |
| D00003.A | Axis1 servo alarm signal |
| Command | XSVOFF | Servo Disconnection | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) This is the command that clears servo driver alarm occurred at the specific axis among servo drivers
connected to the positioning module.
(b) If you reset the servo driver alarm without removing reason, it may not be cleared. So before resetting the
servo driver alarm, remove the reason why alarm occurs.
(c) In the above example, it resets servo alarm occurred at the axis1.
(d) There may be servo error which can’t be reset according to error type among EtherCAT servo drivers. So
refer to servo driver manual.
| Chapter 6 Command |
| 6-79 |
Reset History Of Servo Error (Command: XSECLR)
(1) Program
(2) Description
| Device | Description |
| M00039 | Servo Error History Reset input |
| U02.00.0 | Axis1 ready |
| D00000.0 | Axis1 in operation |
| Command | XSVOFF | Servo Disconnection | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) This is the command that clears servo driver alarm history occurred at the specific axis among servo drivers
connected to the positioning module.
(b) Servo driver is saving up to 10 servo alarm history.
(c) You can see alarm history of the servo driver at the XG-PM. For further information, refer to XG-PM manual.
| Chapter 6 Command |
| 6-80 |
Restart (Command: XRSTR)
(1) Program
(2) Description
| Device | Description |
| M0003A | 1axis restart command input |
| Command | XRSTR | Restart | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
※ PMLK means P, M, L and K areas.
(a) This is the command that makes the servo restart with position data set up at previous operation after it
stops with DEC. stop
(b) You can’t execute this command while axis is in operation.
(c) If you start the axis with commands other than “Restart” after it stops with DEC. stop, “Restart” will not be
executed
(d) In example above, it gives the command to 1-axis
(d) For detailed information on “Restart”, refer to “9.2.20. Restart”.
| Chapter 6 Command |
| 6-81 |
Read Servo Parameter (Command: XSVPRD)
(1) Program
(2) Description
| Device | Description |
| M00047 | 1axis servo parameter read command input |
| D00002.7 | 1axis servo parameter R/W processing |
| D05000 | 1axis servo parameter read data |
| Command | XSVPRD | Servo Parameter Read | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Index | PMLK,constant,D,Z,R,ZR | WORD | Servo parameter Index (0x1000 ~ 0x9FFF) |
|
| OP4 | Sub Index |
PMLK,constant,D,Z,R,ZR | WORD | Servo parameter Subindex (0x00 ~ 0xFF) | |
| OP5 | Data size |
PMLK,constant,D,Z,R,ZR | WORD | Servo parameter Length (Byte unit) (1~4) |
※ PMLK means P, M, L and K areas.
(a) This is the command that reads parameters (CoE object) of the servo driver connected to positioning module.
(b) It reads the object specified by OP3, OP4 and OP5 among servo parameter data(CoE Object).
(c) You can execute this command while axis is in operation.
| Chapter 6 Command |
| 6-82 |
(d) OP3 can be set as follows.
| Setting value | Contents |
| 0x1000 ~ 0x1FFF | Communication Profile Area |
| 0x2000 ~ 0x5FFF | Manufacturer Specific Profile Area |
| 0x6000 ~ 0x9FFF | Standardized Device Profile Area |
(e) OP4 can be set as follows.
| Setting value | Contents |
| 0x0 ~ 0xFF | Servo parameter Object Sub-index |
(f) OP5 can be set as follows.
| Setting value | Contents |
| 1 ~ 4 | Servo parameter Object Byte Length |
(g) If you execute “Servo parameter read”, the data read from positioning module will be saved in common area.
In order to save in device for using in program, use GETM or GETMP command as program example after
executing “Servo parameter read” command. Data common area address can be used to GETM or GETMP
command as follows.
| Address | Description |
| 0 | 1axis servo parameter Index (high) / SubIndex (low) |
| 1 | 1axis servo parameter data value |
| 2 | 2axis servo parameter Index (high) / SubIndex (low) |
| 3 | 2axis servo parameter data value |
| 4 | 3axis servo parameter Index (high) / SubIndex (low) |
| 5 | 3axis servo parameter data value |
| 6 | 4axis servo parameter Index (high) / SubIndex (low) |
| 7 | 4axis servo parameter data value |
| 8 | 5axis servo parameter Index (high) / SubIndex (low) |
| 9 | 5axis servo parameter data value |
| 10 | 6axis servo parameter Index (high) / SubIndex (low) |
| 11 | 6axis servo parameter data value |
| 12 | 7axis servo parameter Index (high) / SubIndex (low) |
| 13 | 7axis servo parameter data value |
| 14 | 8axis servo parameter Index (high) / SubIndex (low) |
| 15 | 8axis servo parameter data value |
(h) In the above program, saves in D05000 device to read data of h260B (DC link voltage) parameter. In the
above program, saves the read data in d05000 5ms after executing "Read servo parameter" command when
“1-Axis Servo Parameter R/W Processing” is off state. You have to execute GETM command minimum 4ms
after executing “Read servo parameter” to save the read data in common area.
(i) In the above example, if you want to find Index and SubIndex of read parameter, GETMP address set 0 and
number of data set 2.
(j) This action may be completed within several scans.
| Chapter 6 Command |
| 6-83 |
Write Servo Parameter (Command: XSVPWR)
(1) Program
(2) Description
| Device | Description |
| M00045 | 1axis servo parameter write input |
| D00000.0 | 1axis in operation |
| D03000 | Device saving servo parameter data |
| Command | XSVPWR | Servo Parameter Write | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Index | PMLK,constant,D,Z,R,ZR | WORD | Servo parameter Index (0x2000 ~ 0x9FFF) | |
| OP4 | Sub index |
PMLK,constant,D,Z,R,ZR | WORD | Servo paramter subindex (0x00 ~ 0xFF) | |
| OP5 | Data size |
PMLK,constant,D,Z,R,ZR | WORD | Servo parameter Length (byte unit) (1~4) | |
| OP6 | Data | PMLK,constant,D,Z,R,ZR | DINT | Write data (target value of objects to be changed among servo parameters) |
|
| OP7 | Write method |
PMLK,constant,D,Z,R,ZR | WORD | Write method (0: RAM teaching, 1: ROM teaching) |
※ PMLK means P, M, L and K areas.
(a) This is the command that changes parameters (CoE object) of the servo driver connected to positioning
module
(b) It changes the object specified by OP3, OP4 and OP5 among servo parameter to OP6.
(c) You can’t execute this command while axis is in operation
(d) OP3 can be set as follows.
| Setting value | Contents |
| 0x2000 ~ 0x5FFF | Manufacturer Specific Profile Area |
| 0x6000 ~ 0x9FFF | Standardized Device Profile Area |
(e) OP4 can be set as follows.
| Setting value | Contents |
| 0x0 ~ 0xFF | Servo parameter Object Sub-index |
(f) OP5 can be set as follows.
| Setting value | Contents |
| 1 ~ 4 | Servo parameter Object Byte Length |
(g) OP7 can be set as follows.
| Setting value | Teaching method |
| 0 | RAM teaching |
| 1 | ROM teaching |
(h) This action may be completed within several scans.
| Chapter 6 Command |
| 6-84 |
Save Servo Parameter To EEPROM (Command: XSVSAVE)
(1) Program
(2) Description
| Device | Description |
| M00046 | 1axis servo parameter save input |
| U02.00.0 | 1axis ready |
| D00003.9 | 1axis servo on signal |
| Command | XSVSAVE | Servo Parameter EEPROM Save | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Save axis |
PMLK,constant,D,Z,R,ZR | WORD | Axis to save servo parameters |
※ PMLK means P, M, L and K areas.
(a) This is the command that saves parameter of the servo driver connected to the positioning module at the
EEPROM in the servo driver.
(b) OP2, command axis, is different with the axis to save the servo driver. So in order to save the servo
parameter, you have to set bit of corresponding axis at OP3.
(c) It saves servo parameter of the axis set in OP3.
(d) You can’t execute this command while axis is in operation
(e) Each bit of OP3 means each axis as follows. To select the axis, set the corresponding bit.
| 15 ~ 8 Bit | 7Bit | 6Bit | 5Bit | 4Bit | 3Bit | 2Bit | 1Bit | 0Bit |
| Not used | 8axis | 7axis | 6axis | 5axis | 4axis | 3axis | 2axis | 1axis |
(f) This action may be completed within several scans.
| Chapter 6 Command |
| 6-85 |
Control Torque (Command: XTRQ)
(1) Program
(2) Description
| Device | Description |
| M00049 | 1axis torque control command input |
| D00003.9 | 1axis servo on signal |
| Command | XTRQ | Torque Control Command | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Save axis |
PMLK,constant,D,Z,R,ZR | INT | Torque value (unit: %, -32768 ~ 32767) | |
| OP4 | Gradient | PMLK,constant,D,Z,R,ZR | WORD | Torque gradient (unit: ㎳, 0 ~ 65535 ㎳) |
※ PMLK means P, M, L and K areas.
(a) This is the command that executes torque control to positioning module. Torque control executes if torque
value and torque gradient are set and a command is issued.
(b) Set torque value (%) to OP3. Torque values work in % rated torque. (1 = 1% of rated torque)
For example, set 200 if the user wants to control torque in 200% of torque.
※ The allowable range of torque value may vary according to the connected servo drive. In general, target
torque value is limited to the maximum torque setting.
(c) Set time to take in reaching the target torque to OP4. If a command is executed, torque increases in this
gradient until it reaches the set torque value.
(d) Any command cannot be executed, the relevant axis is being operated for functions other than torque control.
(e) This action may be completed within several scans.
| Chapter 6 Command |
| 6-86 |
Read Latch position data (Command: XLRD)
(1) Program
(2) Description
| Device | Description |
| M0004A | 1axis latch data read command input |
| D00002.8 | 1axis latch complete |
| D03002 | 1axis latch position data number |
| Command | XLRD | Latch position data read Command | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Device | PMLK,constant,D,Z,R,ZR | WORD | Leading No. of device to save the latch data |
※ PMLK means P, M, L and K areas.
(a) This command is used to read data count and latch position data saved and latched by the positioning
module’s external latch command.
(b) Read latch data of an axis designated to OP2 of the positioning module designated to OP1 (the positioning
module’s slot number) and save the device designated to OP3.
(c) The following values are saved on the device area designated to OP3.
| Device No. | Size | Description |
| Device | WORD | Number of latch position data |
| Device +1 | WORD | - |
| Device +2 | DINT | Latch position data 1 |
| Device +4 | DINT | Latch position data 2 |
| Device +6 | DINT | Latch position data 3 |
| Device +8 | DINT | Latch position data 4 |
| Device +10 | DINT | Latch position data 5 |
| Device +12 | DINT | Latch position data 6 |
| Device +14 | DINT | Latch position data 7 |
| Device +16 | DINT | Latch position data 8 |
| Device +18 | DINT | Latch position data 9 |
| Device +20 | DINT | Latch position data 10 |
(d) The Read Latch Position Data command is executed at every scan if the contact of input conditions as level
command is On.
(e) This action may be completed within several scans.
| Chapter 6 Command |
| 6-87 |
Reset Latch (Command: XLCLR)
(1) Program
(2) Description
| Device | Description |
| M0004B | 1axis latch complete status reset command input |
| M0004C | 1axis latch data reset command input |
| D00002.8 | 1axis latch complete |
| Command | XLCLR | Latch reset Command | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Device | PMLK,constant,D,Z,R,ZR | WORD | Latch reset item |
※ PMLK means P, M, L and K areas.
(a) This command is used to initialize the data count and latch position data saved and latched on the positioning
module or the state when latch is completed.
(b) Reset latch data of an axis designated to OP2 of the positioning module designated to OP1 (the positioning
module’s slot number).
(c) The following items are reset according to the Reset Latch items designated to OP3.
0: Reset the state when latch is completed
1: Reset latch position data and the state when latch is completed
(Values high than “1” are processed equally with “1”)
(d) If latch position data are read through the Read Latch Position Data command (XLRD) after 1 is set to OP3
and the Reset Latch command is executed, all of data become 0.
(e) This action may be completed within several scans.
Remark
Two latch modes are supported. In case that a single trigger from two latch modes is set, ensure latch function
to perform through the second touch probe 1 signal after the first touch probe 1 signal is inputted and latched.
That is, in latch single trigger mode, the Reset Latch command will execute a function to activate the next latch
trigger after the touch probe 1 signal is inputted and the latch location is saved.
(Even if the Set Latch command is re-executed after it is set as latch permission, it will work in the same way)
| Chapter 6 Command |
| 6-88 |
Set Latch (Command: XLSET)
(1) Program
(2) Description
| Device | Description |
| M0004D | 1axis latch set command input |
| U02.00.0 | 1axis ready |
| D02113 | Latch enable/disable |
| D02114 | Latch mode |
| Command | XLSET | Latch set Command | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Enable/Disable | PMLK,constant,D,Z,R,ZR | WORD | ||
| OP4 | Mode | PMLK,constant,D,Z,R,ZR | WORD | Latch mode(0: single trigger, 1: Continuous trigger) |
Latch enable/disable(0:disable,
1:enable)
※ PMLK means P, M, L and K areas.
(a) This command is used to enable/disable the positioning module’s external latch function or to set latch mode.
(b) Enable/Disable the latch function of an axis designated to OP2 of the positioning module designated to OP1
(the positioning module’s slot number) or set latch mode.
(c) Actions according to the Enable/Disable Latch item designated to OP3 are as following.
0: latch prohibition 1: latch permission
(Values high than “1” are processed equally with “1”)
(d) Actions according to the latch mode item designated to OP4 are as following.
0: Single trigger (The current position latch is available only the touch probe 1 signal inputted at first after
latch is enabled)
1: Continuous trigger (The current position latch is available at every touch probe 1 signal after latch is
enabled)
(Values high than “1” are processed equally with “1”)
(e) This action may be completed within several scans.
| Chapter 6 Command |
| 6-89 |
Torque synchronous (Command: XSTC)
(1) Program
(2) Description
| Device | Description |
| M00050 | 2axis touque synchronous command input |
| U02.00.1 | 2axis ready |
| D02200 | Main axis torque ratio |
| D02201 | Sub axis torque ratio |
| D02202 | Main axis speed ratio(Unused) |
| D02203 | Sub axis speed ratio(Unused) |
| D02204 | Set main axis |
| Command | XLSET | Latch set Command | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1axis~4axis XGF-PN8A/PN8B:1axis~8axis |
|
| OP3 | Main axis torque ratio |
PMLK,constant,D,Z,R,ZR | WORD | Main axis torque ratio | |
| OP4 | Sub axis torque ratio |
PMLK,constant,D,Z,R,ZR | WORD | Sub axis torque ratio | |
| OP5 | Main axis speed ratio |
PMLK,constant,D,Z,R,ZR | WORD | Main axis speed ratio(Unused) | |
| OP6 | Sub axis speed ratio |
PMLK,constant,D,Z,R,ZR | WORD | Sub axis speed ratio(Unused) | |
| OP7 | Set main axis |
PMLK,constant,D,Z,R,ZR | WORD | Set main axis(1~8 : 1axis ~ 8axis) |
※ PMLK means P, M, L and K areas.
(a) This command is used to execute the torque synchronous of positioning module at relevant axis.
(b) Execute torque synchronous of an axis designated to OP2 of the positioning module designated to OP1 (the
positioning module’s slot number)
(c) The axis to perform command execute torque synchronous by axis(OP7) as main axis.
(d) The axis to perform command execute torque synchronous by torque ratio(OP3, OP4) and speed ratio(OP5,
OP6).
Sub axis torque = (OP4/OP3) * Main axis torque
Torque synchronous speed of sub axis = (OP6/OP5) * Speed of main axis
(e) This action may be completed within several scans.
| Chapter 6 Command |
| 6-90 |
Phasing Correction (Command: XPHASING)
(1) Program
(2) Description
| Device | Description |
| M00050 | 2axis Phasing correction command input |
| U02.00.1 | 2axis ready |
| D02206 | Phasing Correction Value |
| D02208 | Target speed |
| D02210 | Acceleration time |
| D02212 | Deceleration time |
| D02214 | Set main axis |
| Command | XPHASING | Phasing correction | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,consta nt,D,Z,R,ZR |
WORD | Command axis XGF-PN4B: 1~4 (axis1 ~ axis4) XGF-PN8A/PN8B: 1~8 (axis1 ~ axis8) |
|
| OP3 | Phasing Correction |
PMLK,consta nt,D,Z,R,ZR |
DINT | Phasing Correction Value (-2,147,483,648 ~ 2,147,483,647) |
|
| OP4 | Target speed |
PMLK,consta nt,D,Z,R,ZR |
DWORD | Phasing Correcting speed (The relative speed compared to the main axis speed) |
|
| OP5 | Accelerati on time |
PMLK,consta nt,D,Z,R,ZR |
DWORD | Acceleration time (0 ~ 2,147,483,647 ms) | |
| OP6 | Decelerati on time |
PMLK,consta nt,D,Z,R,ZR |
DWORD | Deceleration time (0 ~ 2,147,483,647 ms) | |
| OP7 | main axis | PMLK,consta nt,D,Z,R,ZR |
WORD | Command axis XGF-PN4B: 1~4 (axis1 ~ axis4) XGF-PN8A/PN8B: 1~8 (axis1 ~ axis8) |
※ PMLK means P, M, L and K areas.
| Chapter 6 Command |
| 6-91 |
(a) This command is used to execute the phasing correction functions of positioning module at relevant axis.
(b) The axis OP2 of designated by OP1(the positioning module’s slot number) is executed by as much as OP3(the phasing
correction value) which use phasing correction speed(OP4), Acceleration time(OP5), Deceleration time(OP6).
(c) The axis to perform command that execute phase correcting operation by axis(OP7) as main axis
(d) The corresponding axis can be executed only when Speed Sync. or CAM operating.
(e) This action may be completed within several scans.
(f) For the detail description about speed sync., refer to “9.4.5 Phasing correction Control”.
(g) Version information which can execute 32bit speed sync. Command is as follows:
| Item Product |
Module O/S | XG5000 | CPU O/S | ||
| XGK (XGK-CPUUx) |
XGI (XGI-CPUUN) |
XGR | |||
| XGF-PN4B | V1.1 | V4.06 | V4.53 (V1.03) |
V4.01 ( V1.10 ) |
V2.6 |
| XGF-PN8A/PN8B | V1.5 |
| Chapter 6 Command |
| 6-92 |
32bit Speed Sync (Command : XSSSD)
(1) Program
(2) Description
| Device | Description |
| M0000E | axis1 speed sync start input |
| M0000D | Axis2 speed sync start input |
| D00003.9 | axis1 servo on signal |
| D00103.9 | Axis2 servo on signal |
| Command | XSSSD | 32bitSynchronous start by speed | |||
| (Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z,R,ZR | WORD | Command axis XGF-PN4B: 1~4 (axis1 ~ axis4) XGF-PN8A/PN8B: 1~8 (axis1 ~ axis8) |
|
| OP3 | Main axis ratio |
PMLK,constant,D,Z,R,ZR | DINT | Speed sync. main axis ratio (-2147483648~2147483647) |
|
| OP4 | Subordinate axis ratio |
PMLK,constant,D,Z,R,ZR | DINT | Speed sync. sub axis ratio (-2147483648~2147483647) |
|
| OP5 | Main axis | PMLK,constant,D,Z,R,ZR | WORD | XGF-PN4B Main axis(1 ~ 4 : axis1 ~ axis4, 9 : Encoder1, 10 : Encoder2) XGF-PN8A/PN8B Main axis(1 ~ 8 : axis1 ~ axis8, 9 : Encoder1, 10 : Encoder2) |
※ PMLK means P, M, L and K areas.
(a)This is the command that orders 32bit speed sync. to positioning module. Main and sub axis ratio can be set as range of 32bit integer
values.
(b)In the example program above, if the command of synchronous start by speed is executed, axis1 (subordinate axis) is indicated as
‘in operation’ but the motor does not operate. If operating axis2 set as the main axis, axis1 (subordinate axis) is operated depending
on the designated ratio between main axis (OP3) and sub axis(OP4).
(c)If speed sync. ratio (sub axis ratio / main axis ratio) is positive integer, sub axis operation turns main axis direction, if not positive
integer, it turns the opposite of main axis direction.
| Chapter 6 Command |
| 6-93 |
(d)For example, if main axis ratio is 100000, sub axis ratio is 123456, when main axis moves by 100000, sub axis moves 123456.
(e) For the detail description about speed sync., refer to “9.4.1 Speed Synchronous Start Control”.
(f) D device signal (axis1 Servo ON, etc) which used in the example above is an assumption that saving the axis state value in
D device area with XSRD command.
(g) Version information which can execute 32bit speed sync. Command is as follows:
| Item Product |
Module O/S | XG5000 | CPU O/S | ||
| XGK (XGK-CPUUx) |
XGI (XGI-CPUUN) |
XGR | |||
| XGF-PN4B | V1.1 | V4.06 | V4.53 (V1.03) |
V4.01 ( V1.10 ) |
V2.6 |
| XGF-PN8A/PN8B | V1.5 |
| Chapter 6 Command |
| 6-94 |
32bit Position-specified Speed synch (Command: XSSSPD)
(1) Program
(2) Description
| Device | Description |
| M00040 | axis1 position-specified speed synch input |
| M0000D | axis2 direct start input |
| D00003.9 | axis1 servo on signal |
| D00103.9 | Axis2 servo on signal |
| Command | XSSSPD | 32bitSpeed synchronous start by position | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,constant,D,Z ,R,ZR |
WORD | Command axis XGF-PN4B: 1~4 (axis1 ~ axis4) XGF-PN8A/PN8B: 1~8 (axis1 ~ axis8) |
|
| OP3 | Main axis ratio |
PMLK,constant,D,Z ,R,ZR |
DINT | Speed sync. main axis ratio (-2147483648~2147483647) |
|
| OP4 | Subordinate axis ratio |
PMLK,constant,D,Z ,R,ZR |
DINT | Speed sync. sub axis ratio (-2147483648~2147483647) |
|
| OP5 | Main axis | PMLK,상 수,D,Z,R,ZR |
WORD | XGF-PN4B Main axis (1 ~ 4 : axis1 ~ axis8, 9 : Encoder1, 10 Encoder2) XGF-PN8A/PN8B Main axis (1 ~ 8 : axis1 ~ axis8, 9 : Encoder1, 10 Encoder2) |
|
| OP6 | Target position |
PMLK,constant,D,Z ,R,ZR |
DINT | Target position of position-specified speed synch |
※ PMLK means P area, M area, L area, K area.
| Chapter 6 Command |
| 6-95 |
(a) This is the command that orders 32bit Position-specified Speed synch. to positioning module. Main and sub axis ratio can be set
as range of 32bit integer values.
(b) In the example program above, if the command of synchronous start by position-specified speed is executed, axis1 (subordinate
axis) is indicated as ‘in operation’ but the motor does not operate. If operating axis2 set as the main axis, axis1 (subordinate axis)
is operated depending on the designated ratio between main axis (OP3) and sub axis(OP4).After the operating position of
axis1(subordinate axis) is equal to target position, then it terminate speed sync. and stops Immediately at that position.
| (c) | If speed sync. ratio (sub axis ratio / main axis ratio) is positive integer, sub axis operation turns main axis direction, if not positive integer, it turns the opposite of main axis direction |
(d) For example, if main axis ratio is 100,000, sub axis ratio is 123,456 and target position is 1,000,000, when main axis moves by
100,000, sub axis moves 123,456. It stops by where position of main axis is at 1,000,000.
(e) For the detail description about speed sync., refer to “9.4.1 Speed Synchronous Start Control”.
(f) D device signal (axis1 servo ON, etc) which used in the example above is an assumption that saving the axis state value in
D device area with XSRD command.
(g) Version information which can execute 32bit Position-specified Speed synch Command is as follows
| Item Product |
Module O/S | XG5000 | CPU O/S | ||
| XGK (XGK-CPUUx) |
XGI (XGI-CPUUN) |
XGR | |||
| XGF-PN4B | V1.1 | V4.06 | V4.53 (V1.03) |
V4.01 ( V1.10 ) |
V2.6 |
| XGF-PN8A/PN8B | V1.5 |
| Chapter 6 Command |
| 6-96 |
Speed/Acceleration/Deceleration override (Command : XSETOVR)
(1) Program
(2) Description
| Device | Description |
| M00124 | axis1 speed override input |
| M0010C | axis1 direct start input |
| U02.00.0 | axis1 ready |
| D00000.0 | axis1 signal in operation |
| D00000.1 | axis1 error state |
| D00003.9 | axis1 servo on |
| D01200 | Command speed |
| D01600 | Override ratio for speed (or Command speed) |
| D01602 | Override ratio for acceleration time (or Command acceleration time) |
| D01604 | Override ratio for deceleration time (or Command deceleration time) |
| D01606 | Direction for operation |
| Chapter 6 Command | |||||
| Command | XSETOVR | Speed Acceleration/Deceleration override |
|||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,Constant,D,Z,R,ZR | WORD | XGF-PN4B (1~4: axis-1 ~ axis-4) XGF-PN8A/PN8B (1~8: axis-1 ~ axis-8) |
|
| OP3 | Speed | PMLK Constant,D,Z,R,ZR | DINT | Override ratio for speed (or Command speed) |
|
| OP4 | Acceleration | PMLK,Constant,D,Z,R,ZR | UDINT | Override ratio for acceleration time (or Command acceleration time) |
|
| OP5 | Deceleration | PMLK,Constant,D,Z,R,ZR | UDINT | Override ratio for deceleration time (or Command deceleration time) |
|
| OP6 | S-Curve | PMLK,Constant,D,Z,R,ZR | DINT | Unused S-Curve ratio (0= Trapezoid, 1~100=S- S-Curve ratio) |
|
| OP7 | Direction | PMLK,Constant,D,Z,R,ZR | DINT |
| 6-97 |
Operation direction (1~3: 1-
Forward, 2-Reverse, 3-Current
Direction)
※ PMLK means P, M, L and K areas.
(a) In case OP3, if ‘0:% set’ is configured in common parameters, it means ratio for speed override and
configurable setting area is -65,535 ~ +65,535. It means actually -655.35% ~ 655.35%.
If ‘1:% speed set’ is configured, it means command speed and configurable setting area is -(‘speed limit’ of
‘operation parameter’) ~ +(‘speed limit’ of ‘operation parameter’).
(b) In case OP4, if ‘0:% set’ is configured in common parameters, it means ratio for acceleration time override
ratio and configurable setting area is -65,535 ~ +65,535. It means actually -655.35% ~ 655.35%.
If ‘1:% speed set’ is configured, it means acceleration time and configurable setting area is
0~ 4,294,967,295.
(c) In case OP5, if ‘0:% set’ is configured in common parameters, it means ratio for deceleration time
override ratio and configurable setting area is -65,535 ~ +65,535. It means actually -655.35% ~ 655.35%.
If ‘1:% speed set’ is configured, it means deceleration time and configurable setting area is
0~ 4,294,967,295.
(d) Operation direction(OP6) is unused.
(e) Operation direction(OP7) is configurable only for 1(Forword), 2(Reverse), 3(Current)
| Chapter 6 Command |
| 6-98 |
Absolute positioning CAM operation (Command : XCAMA)
(1) Program
(2) Description
| Device | Description | Device | Description |
| M0000F | axis1 CAM operation input | D00003.9 | Axis1 servo on |
| M0000D | axis2 direct start input | D00003.A | Axis1 servo error state |
| U02.00.0 | Axis1 ready | D00100.0 | Axis2 signal in operation |
| U02.00.1 | Axis2 ready | D00100.1 | Axis2 error state |
| D00000.0 | Axis1 signal in operation | D00103.9 | Axis2 servo on |
| D00000.1 | Axis1 error state | D00103.A | Axis2 servo error state |
| Command | XCAM | CAM operating | |||
| Operand | OP1 | Slot | Constant | WORD | Slot No. installed with positioning module |
| OP2 | Axis | PMLK,Constant ,D,Z,R,ZR |
WORD | XGF-PN4B (1~4: axis-1 ~ axis-4) XGF-PN8A/PN8B (1~8: axis-1 ~ axis-8) |
|
| OP3 | Main-axis | PMLK,Constant ,D,Z,R,ZR |
WORD | Main-axis XGF-PN4B (1~4: axis -1 ~ axis –4) XGF-PN8A/PN8B (1~8: axis -1 ~ axis -8) 9: Encoder 1 |
|
| OP4 | CAM block | PMLK,Constant ,D,Z,R,ZR |
WORD | CAM data block to be applied (1 ~ 9) | |
| OP5 | CAM start Movement amount |
PMLK,Constant ,D,Z,R,ZR |
DINT | CAM start movement amount | |
| OP6 | Main axis offset |
PMLK,Constant ,D,Z,R,ZR |
DINT | Main-axis offset | |
| OP7 | Sub axis offset |
PMLK,Constant ,D,Z,R,ZR |
DINT | Sub-axis offset |
※ PMLK means P, M, L and K areas.
| Chapter 6 Command |
| 6-99 |
(a) In the example program above, when absolute position cam operation command is executed, 1 axis of
subordinate axis is displayed in operation but actual motor is not operated.
When starting the 2-axes set as the main axis, linear interpolation is performed that reaches the
synchronous position while the main-axis reaches the synchronous start position (OP5). The
synchronization position of the sub-axis moves according to the setting of the axis offset (OP6) and the
vertical axis offset (OP7).
(b) If the main-axis is operated by the CAM operation start movement amount (OP5), operation will start at the
sub-axis position corresponding to the main-axis position according to the data value of the CAM data block
set in the CAM block (OP4).
(c) CAM data blocks can be set up to 9.
(d) The CAM data can be set in the positioning package, and it must be downloaded to the positioning module
before starting the cam operation.
(e) For details on cam operation, refer to "9.4.3 CAM Operation".
(g) To use the user CAM operation, set the cam block number to 9.
(h) User CAM operation even during operation, user cam data can be changed by variable data write command.
(i) Refer to "9.4.4 User CAM operation" for details on user CAM operation.
| Chapter 6 Command |
| 6-100 |
Touch Probe(Command: XTPROBE)
(1) Program
(2) Description
| Device | Description |
| M00125 | Setup for Axis 1 Touch Probe |
| U01.00.0 | Axis 1 Ready |
| D02115 | Trigger Signal |
| D02116 | Trigger Mode |
| D02117 | Windowed Mode |
| D02118 | Start position allowing windowed mode |
| D02119 | End position allowing windowed mode |
| Comman d |
XTPROBE | Touch Probe | |||
| Operand | OP 1 | Slot | Constant | WORD | Slot number where a positioning module is equipped |
| OP 2 | Axis | PMLK,Constant, D,Z,R,ZR |
WORD | Axis to command XGF-PN4B (1 ~ 4: Axis 1 ~ Axis 4) XGF-PN8B (1 ~ 8: Axis 1 ~ Axis 8) |
|
| OP 3 | Trigger Signal | PMLK,Constant, D,Z,R,ZR |
WORD | Signal to be used as a trigger input | |
| OP 4 | Trigger Mode | PMLK,Constant, D,Z,R,ZR |
WORD | Trigger Mode (0: Single trigger, 1: Double trigger) |
|
| OP 5 | Windowed Mode |
PMLK,Constant, D,Z,R,ZR |
WORD | Windowed Mode (0: Inactive, 1: Active) |
|
| OP 6 | Start position allowing windowed mode |
PMLK,Constant, D,Z,R,ZR |
DINT | Start position value allowing windowed mode (-2,147,483,648 ~ 2,147,483,647) |
|
| OP 7 | End position allowing windowed mode |
PMLK,Constant, D,Z,R,ZR |
DINT | End position value allowing windowed mode (-2,147,483,648 ~ 2,147,483,647) |
※ PMLK means P, M, L and K areas.
| Chapter 6 Command |
| 6-101 |
(a) This command is used to set up external touch probes for positioning modules.
(b) Set up touch probe functions of the axis designated as OP 2 of positioning module designated as OP 1 (Slot
number of positioning module).
(c) OP 3 is Touch Probe signal to set trigger.
0: Rising Edge of the Touch Probe 1
1: Rising Edge of the Touch Probe 2
2: Falling Edge of the Touch Probe 1
3: Falling Edge of the Touch Probe 2
4: Index (Z) Pulse of the Touch Probe 1
5: Index (Z) Pulse of the Touch Probe 2
※ Index (Z) Pulse, and rising and falling edges of each touch probe can not be run simultaneously.
(d) OP 4 is trigger mode
0: Single trigger
(Latch the current position only in the first touch probe 1 signal to be input after setting up a trigger mode)
1: Double trigger
(Latch the current position in every touch probe 1 signal to be input after setting up a trigger mode)
(A value that is greater than “1”is treated the same as “1”.)
(e) OP 5 is window mode.
0: Inactive windowed mode
1: Active windowed mode
※ When a windowed mode is activated, only a single trigger operates.
(f) This operation can be completed by several scans.
(g) Supported versions of the Command are as follows:
| Version | |
| XGF-PN4B OS | V1.80 or higher |
| XGF-PN8B OS | V1.80 or higher |
| XGK CPU | V4.60 or higher |
| XGK CPU (High performance) |
V1.3 or higher |
| XG5000 | V4.29 or higher |
| Chapter 6 Command |
| 6-102 |
Abort Trigger (Command: XABORTT)
(1) Program
(2) Description
| Device | Description |
| M00126 | Abort the axis 1 trigger |
| D02115 | Trigger Signal |
| D02120 | Trigger Reset Items |
| Command | XABORTT | Trigger Abortion | |||
| Operand | OP 1 | Slot | Constant | WORD | Slot number where a positioning module is equipped |
| OP 2 | Axis | PMLK,Constant,D,Z,R,ZR | WORD | Axis to command | |
| OP 3 | Trigger Signal |
PMLK,Constant,D,Z,R,ZR | WORD | Signal to reset triggers | |
| OP 4 | Trigger Reset Items |
PMLK,Constant,D,Z,R,ZR | WORD | Trigger Reset Items |
※ PMLK means P, M, L and K areas.
(a) This is a command used to abort external trigger functions of positioning modules.
(b) Abort trigger functions of the axis designated as OP 2 of positioning module designated as OP 1 (Slot
number of positioning module).
(c) OP 3 is a Touch Probe signal to abort trigger.
0: Rising Edge of the Touch Probe 1
1: Rising Edge of the Touch Probe 2
2: Falling Edge of the Touch Probe 1
3: Falling Edge of the Touch Probe 2
4: Index (Z) Pulse of the Touch Probe 1
5: Index (Z) Pulse of the Touch Probe 2
(d) OP 4 is reset item
0: Reset the status that completes triggers
1: Reset the status that completes triggers and the data of trigger positions
(e) Supported versions of the Command are as follows:
| Version | |
| XGF-PN4B OS | V1.80 or higher |
| XGF-PN8B OS | V1.80 or higher |
| XGK CPU | V4.60 or higher |
| XGK CPU (High performance) |
V1.3 or higher |
| XG5000 | V4.29 or higher |
| Chapter 6 Command |
| 6-103 |
Torque Control Mode Speed Limits (Command: XTRQSL)
(1) Program
(2) Description
| Device | Description |
| M00006 | Run Speed Limits Command in Axis 1 Torque Control Mode |
| D00100 | Torque Value |
| D00102 | Torque Slope |
| D00104 | Torque Speed Limit Value |
| Command | XTRQSL | Speed Limits in Torque Control Mode |
|||
| Operand | OP 1 | Slot | Constant | WORD | Slot number where a positioning module is equipped |
| OP 2 | Axis | PMLK,Constant,D,Z,R,ZR | WORD | Axis to command XGF-PN4B (1 ~ 4: Axis 1 ~ Axis 4) XGF-PN8B (1 ~ 8: Axis 1 ~ Axis 8) |
|
| OP 3 | Torque Value |
PMLK,Constant,D,Z,R,ZR | INT | Torque Value (Unit: 0.1%, -32768~32767) |
|
| OP 4 | Slope | PMLK,Constant,D,Z,R,ZR | WORD | Torque Slope (Unit: ms, 0~65535ms) | |
| OP 5 | Speed Limit Value |
PMLK,Constant,D,Z,R,ZR | WORD | Speed Limit Value (Unit: rpm, 0~6000) |
※ PMLK means P, M, L and K areas.
(A) This command is one that is used to perform torque control under the speed limit of positioning
module. The command applies only to the LSIS Servo Drive family.
(b) Give the speed limits in torque control mode command to the axis designated as OP 2 of positioning
module designated as OP 1 (Slot number of positioning module).
(C) Set the targeted torque value (%) at OP 3. The torque value operates by 0.1% of rated torque. (1 = 0.1%
of rated torque)
For example, set 2000 if you perform torque control by 200.0% of rated torque.
(D) Set the time to arrive at the targeted torque to OP 4. When the command is performed, the torque is
increased to the torque value set to the targeted torque with this slope.
(E) The speed limit value of OP 5 is set to the ‘speed limit value upon torque control’ parameter of Servo
Drive. Therefore, it runs by the maximum speed value during torque rotation.
(F) When the OP2 axis is operating except torque control, this can not be performed.
(g) This operation can be completed by several scans
(H) Supported versions of the Command are as follows:
| Version | |
| XGF-PN4B OS | V1.80 or higher |
| XGF-PN8B OS | V1.80 or higher |
| XGK CPU | V4.60 or higher |
| XGK CPU (High performance) |
V1.3 or higher |
| XG5000 | V4.29 or higher |
| Chapter 6 Command |
| 6-104 |
Synchronous speed designating synchronous position (Command: XGEARIP)
(1) Program
(2) Description
| Device | Description |
| M00006 | Run synchronous speed command in Axis 2 synchronous position designation |
| D00100 | Synchronization rate |
| D00102 | Synchronous position for the main axis |
| D00104 | Synchronous position for the minor axis |
| D00106 | Synchronous start distance for the main axis |
| D00108 | Control word |
| Com mand |
XGEARIP | Synchronous speed designating synchronous position | |||
| Operan d |
OP 1 | Slot | Constant | WORD | Slot number where a positioning module is equipped |
| OP 2 | Axis | PMLK,Constant, D,Z,R,ZR |
WORD | Axis to command XGF-PN4B (1 ~ 4: Axis 1 ~ Axis 4) XGF-PN8B (1 ~ 8: Axis 1 ~ Axis 8) |
|
| OP 3 | Synchronization rate |
PMLK,Constant, D,Z,R,ZR |
REAL | Synchronization rate (the ratio of the sub axis/the ratio of the major axis) |
|
| OP 4 | Synchronous position for the main axis |
PMLK,Constant, D,Z,R,ZR |
DINT | Synchronous position for the main axis |
|
| OP 5 | Synchronous position for the minor axis |
PMLK,Constant, D,Z,R,ZR |
DINT | Synchronous position for the sub axis |
|
| OP 6 | Synchronous start position for the major axis |
PMLK,Constant, D,Z,R,ZR |
DINT | Distance of the major axis to start synchronous rotation |
|
| OP 7 | Control word | PMLK,Constant, D,Z,R,ZR |
WORD | Main axis |
※ PMLK means P, M, L and K areas.
(a) This command is used to conduct the synchronous speed rotation that can designate the distance
where the synchronous speed is conducted and to start the synchronous speed rotation at the
designated position of positioning module.
(b) Give the synchronous speed designating synchronous position command to the axis designated as OP
2 of positioning module designated as OP 1 (Slot number of positioning module).
(c) Set the synchronization rate to OP 3. If the synchronization rate is positive, it rotates in the direction of
the major axis. But if it is negative, it rotates in the opposite direction of the major axis.
(d) For example, if the synchronization rate is set to 0.5, the major axis moves 3000 when the minor axis
does 1500.
| Chapter 6 Command |
| 6-105 |
(e) This operation can be completed only through several scans.
(g) Supported versions of the Command are as follows:
| Version | |
| XGF-PN4B OS | V1.80 or higher |
| XGF-PN8B OS | V1.80 or higher |
| XGK CPU | V4.60 or higher |
| XGK CPU (High performance) |
V1.30 or higher |
| XG5000 | V4.29 or higher |
| Chapter 7 Function Block |
| 7-1 |
Function Block
Common Issues of Function Block
(1) The functions and directions of the following I/O parameter are common for positioning function block.
| Category | Parameter | Data Type |
Description |
| Input | REQ | BOOL | Execution request of function block - Function block is executed if “01”(edge or level) as long as the connection condition is met during the program. |
| BASE | USINT | Base number (Range: 0 ~ 7) | |
| SLOT | USINT | Slot number (range: 0 ~ 7) | |
| AXIS | USINT | Axis number ( XGF-PN4B: 1~4, XGF-PN8B: 1~8) “Error 6” is generated if a value out of the setting range is set |
|
| Output | DONE | BOOL | Indicates function block execution end state - “1” is outputted if function block is executed completely without error and maintained until the next execution; if an error occurs, it outputs “0” |
| STAT | USINT | Error state indication - If an error occurs during function block execution, it generates the error number. |
Error code of STAT of Positioning Function Block is as follows.
| STAT | Description | Detailed description |
| 0 | Normal | In case function block is executed normally, DONE=1 and STAT=0. |
| 1 | Base number setting error | Base number is out of range Setting range according to CPU is as follows. XGI-CPU/H : 0 ~ 7 XGI-CPUS : 0 ~ 3 XGR-CPUH : 0 ~ 31 |
| 3 | Slot number setting error | Slot number is out of range (0 ~ 11). |
| 4 | Empty slot error | There is no module at the position specified with BASE, SLOT. |
| 5 | Positioning module mismatch |
There is a module other than positioning module at the position specified with BASE, SLOT. |
| 6 | Axis number error | AXIS is out of range (1 ~ 8). |
| 10 | Function Block overlap execution error |
This error occurs when previously executed function block is not yet read by positioning module before executing new function block. Execute new function block after previously executed function block is read by positioning module. It needs up to 2ms to read the function block after executing function block. |
| 11 | Input variable setting error | Variable other than BASE, SLOT, AXIS is out of range. Check the input variable |
| 22 | Base skip error | Check the base skip setting |
| 24 | Slot skip error | Check the base skip setting |
| 101 : 821 |
Positioning module error | Error that occurred at positioning module as a result of executing the function block |
| Chapter 7 Function Block |
7-2
(2) The position and speed setting ranges of positioning function block are as follows and the ranges are based on
pulse for position or pulse/sec for speed.
| Category | Setting unit | Setting range |
| Position | pulse | -2,147,483,648 ~ 2,147,483,647[pulse] |
| mm | -2,147,483,648 ~ 2,147,483,647[x 10-4mm] | |
| inch | -2,147,483,648 ~ 2,147,483,647[x 10-5inch] | |
| degree | -2,147,483,648 ~ 2,147,483,647[x 10-5degree] | |
| Speed | pulse/sec | 1 ~ 2,147,483,647 [pulse/sec] |
| mm/min | 1 ~ 2,147,483,647 [X10-2㎜/min] | |
| inch/min | 1 ~ 2,147,483,647 [X10-3Inch/min] | |
| degree/ min |
1 ~ 2,147,483,647 [X10-3 degree/min] |
(3) For the data types which usually used on function block are as follows.
| No. | Initial | Data Types | Size(Bit) | Range |
| 1 | BOOL | Boolean | 1 | 0, 1 |
| 2 | SINT | Short Integer | 8 | -128 ~ 127 |
| 3 | USINT | Unsigned Short Integer | 8 | 0 ~ 255 |
| 4 | INT | Integer | 16 | -32768 ~ 32767 |
| 5 | UINT | Unsigned Integer | 16 | 0 ~ 65535 |
| 6 | DINT | Double Integer | 32 | -2147483648 ~ 2147483647 |
| 7 | UDINT | Unsigned Double Integer | 32 | 0 ~ 4294967295 |
| Chapter 7 Function Block |
| 7-3 |
Function Block of Positioning Module
Here describes the positioning function blocks used in XGI CPU Module.
| No. | Name | Description | Operation condition |
Notes |
| 1 | XPM_CRD | Operation information read | Level | 7.3.1 |
| 2 | XPM_SRD | Operation state read | Level | 7.3.2 |
| 3 | XPM_ENCRD | Encoder value read | Level | 7.3.3 |
| 4 | XPM_SVERD | Servo Error Information Read | Level | 7.3.4 |
| 5 | XPM_LRD | Latch position data read | Level | 7.3.5 |
| 6 | XPM_SBP | Basic parameter teaching | Edge | 7.4.1 |
| 7 | XPM_SEP | Extended parameter teaching | Edge | 7.4.2 |
| 8 | XPM_SMP | Manual operation parameter teaching | Edge | 7.4.3 |
| 9 | XPM_SCP | Common parameter teaching | Edge | 7.4.4 |
| 10 | XPM_SMD | Operation data teaching | Edge | 7.4.5 |
| 11 | XPM_ATEA | Teaching array | Edge | 7.4.6 |
| 12 | XPM_VRD | Variable data read | Edge | 7.4.7 |
| 13 | XPM_VWR | Variable data write | Edge | 7.4.8 |
| 14 | XPM_WRT | Parameter/operation data save | Edge | 7.4.9 |
| 15 | XPM_ORG | Homing start | Edge | 7.5.1 |
| 16 | XPM_DST | Direct start | Edge | 7.5.2 |
| 17 | XPM_IST | Indirect start | Edge | 7.5.3 |
| 18 | XPM_ELIN | Circular Interpolation Operation | Edge | 7.5.4 |
| 19 | XPM_SST | Simultaneous start | Edge | 7.5.5 |
| 20 | XPM_PST | Point start | Edge | 7.5.6 |
| 21 | XPM_STP | Deceleration stop | Edge | 7.5.7 |
| 22 | XPM_EMG | Emergency stop | Edge | 7.5.8 |
| 23 | XPM_RSTR | Restart | Edge | 7.5.9 |
| 24 | XPM_TRQ | Control Torque | Edge | 7.5.10 |
| 25 | XPM_TRQSL | Control Speed Limit Torque | Edge | 7.5.11 |
| 26 | XPM_JOG | JOG operation | Level | 7.6.1 |
| 27 | XPM_INC | Inching operation | Edge | 7.6.2 |
| 28 | XPM_RTP | return to the previous position of manual operation |
Edge | 7.6.3 |
| 29 | XPM_SSP | Position synchronization | Edge | 7.7.1 |
| 30 | XPM_SSS | Speed synchronization | Edge | 7.7.2 |
| 31 | XPM_SSSP | Positioning Speed Synchronous | Edge | 7.7.3 |
| 32 | XPM_CAM | Cam Start | Edge | 7.7.4 |
| 33 | XPM_CAMO | Main axis offset-specified CAM start | Edge | 7.7.5 |
| 34 | XPM_STC | Torque synchronous | Edge | 7.7.6 |
| 35 | XPM_PHASING | Phase Correction | Edge | 7.7.7 |
| 36 | XPM_SSSD | 32-bit speed synchronization | Edge | 7.7.8 |
| 37 | XPM_SSSPD | 32-bit Position specified speed/position switching control |
Edge | 7.7.9 |
| 38 | XPM_CAMA* | Absolute positioning CAM Operation | Edge | 7.7.10 |
| 39 | XPM_GEARIP | Synchronous speed designating synchronous position |
Edge | 7.7.11 |
| 40 | XPM_POR | Position override | Edge | 7.8.1 |
| 41 | XPM_SOR | Speed override | Edge | 7.8.2 |
| 42 | XPM_PSO | Positioning speed override | Edge | 7.8.3 |
| 43 | XPM_PTV | Position/speed switching control | 7.8.4 |
| Chapter 7 Function Block |
7-4
| No. | Name | Description | Operation condition |
Notes |
| 44 | XPM_VTP | Speed/position switching control | Edge | 7.8.5 |
| 45 | XPM_VTPP | Position specified peed/position switching control |
Edge | 7.8.6 |
| 46 | XPM_PTT | Position/torque switching control | Edge | 7.8.7 |
| 47 | XPM_SKP | Skip operation | Edge | 7.8.8 |
| 48 | XPM_NMV | Continuous operation | Edge | 7.8.9 |
| 49 | XPM_SNS | Start step No. change | Edge | 7.8.10 |
| 50 | XPM_SRS | Repeat step No. change | Edge | 7.8.11 |
| 51 | XPM_PRS | Current position preset | Edge | 7.8.12 |
| 52 | XPM_EPRE | Encoder value preset | Edge | 7.8.13 |
| 53 | XPM_SETOVR* | Speed Acceleration / Deceleration override | Edge | 7.8.14 |
| 54 | XPM_RST | Error reset/output disabled release | Edge | 7.9.1 |
| 55 | XPM_HRST | Error History Reset | Edge | 7.9.2 |
| 56 | XPM_FLT | Floating origin setting | Edge | 7.10.1 |
| 57 | XPM_MOF | M code release | Edge | 7.10.2 |
| 58 | XPM_LCLR | Latch reset | Edge | 7.10.3 |
| 59 | XPM_LSET | Latch set | Edge | 7.10.4 |
| 60 | XPM_TPROBE | Torque Control (XPM_TRQ) | Edge | 7.10.5 |
| 61 | XPM_ABORTT | Trigger Abortion | Edge | 7.10.6 |
| 62 | XPM_ECON | Servo communication connect | Edge | 7.11.1 |
| 63 | XPM_DCON | Servo communication disconnect | Edge | 7.11.2 |
| 64 | XPM_SVON | Servo On | Edge | 7.11.3 |
| 65 | XPM_SVOFF | Servo Off | Edge | 7.11.4 |
| 66 | XPM_SRST | Servo error reset | Edge | 7.11.5 |
| 67 | XPM_SHRST | Servo error history reset | Edge | 7.11.6 |
| 68 | XPM_SVIRD | Servo external input information read | Level | 7.11.7 |
| 69 | XPM_SVPRD | Servo driver parameter read | Edge | 7.11.8 |
| 70 | XPM_SVPWR | Servo driver parameter write | Edge | 7.11.9 |
| 71 | XPM_SVSAVE | Servo driver parameter save | Edge | 7.11.10 |
Remark
1. Dedicated commands of positioning module are executed in rising edge. Therefore, it operates when the input
condition is “On”. If you want it to operate again, the input condition has to be “Off” first, then be “On”. But,
XPM_SRD will be operated by high level. Therefore, it continues to operate during the input condition is “On”.
If the input condition become “Off”, it does not operate.
2. Duration time of XPM command is as follows.
(1) XPM_WRT : 15ms (per each axis)
(2) The commands excepting XPM_WRT
1) XGF-PN8A: 1.6ms (when using 2 axes) ~ 4.8ms (when using 8 axes)
2) XGF-PN4B: 2ms (when using 3 axes) ~ 4ms (when using 4 axes)
2) XGF-PN8B: 2ms (when using 3 axes) ~ 4ms (when using 8 axes)
3. *: only for XGF-PN4B/PN8B
| Chapter 7 Function Block |
| 7-5 |
| Remark |
| ▷ For the positioning block except XPM_SRD, XPM_CRD, XPM_ENCRD, XPM_SVERD, XPM_SVIRD and XPM_LRD, only one should be executed for one function block execution axis within a scan. If using it as presented in the following example program, the function block does not work properly. If executing a different function block If executing a same function block ▷ Same block can be executed on a different axis.(except for XPM_VRD, XPM_VWR command) |
| Chapter 7 Function Block |
| Function Block related to Module Information Read |
7-6
| Form of Function Block | Description |
| XPM_CRD SLOT BOOL BOOL USINT USINT UINT USINT AXIS ERR UINT CA DINT CV DINT STEP UINT MCD UINT SA DINT SV DINT TRQ INT CERR UINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation ERR : Display axis error CERR : Display common error CA : Display the command position CV : Display the command speed SA : Display the current position SV : Display the current speed TRQ: Display the current torque STEP : Display step no. of the current operation data MCD : Display the current M code value |
REQ DONE
BASE
STAT
(1) Read the axis state of current operation designated in the axis of designated positioning module with BASE
(Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) The operation information is saved in parameter set on output of function block.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) You can monitor command position, command speed, current position, current speed, torque, operation data
no. and M code value of axis already set through reading them or use them as a condition in user’s program.
| Chapter 7 Function Block |
| 7-7 |
| Form of Function Block | Description |
| XPM_SRD SLOT BOOL BOOL USINT USINT UINT USINT AXIS ST1 BOOL[8 ST2 BOOL[8 ST3 BOOL[8 ST4 BOOL[8 ST5 BOOL[8 ST6 BOOL[8 ST7 BOOL[8 |
] ] ] ] ] ] ] Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation ST1 : State 1 ST2 : State 2 ST3 : State 3 ST4 : State 4 ST5 : State 5 ST6 : State 6 ST7 : State 7 |
REQ DONE
BASE
STAT
(1) Give “Bit Information of Current operation reading” command to the axis designated as the axis of positioning
module with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) The bit information about the state of current operation is saved in parameter set on ST1 ~ ST7.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error
code “6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
7-8
(4) The contents of output parameters, ST1 ~ ST7 are important information necessarily applied in the program.
| Bit | Description | Bit | Description | |
| ST1 | [0] | Operating(0:STOP, 1:BUSY) | [4] | Origin fix state(0:Uncompletion, 1:Completion) |
| [1] | Error state | [5] | Common error state | |
| [2] | Positioning completion | [6] | Stop | |
| [3] | M code On signal(0:Off, 1:On) | [7] | In reading/writing variable data | |
| ST2 | [0] | Upper limit detection | [4] | In acceleration |
| [1] | Lower limit detection | [5] | In constant speed | |
| [2] | Emergent Stop | [6] | In deceleration | |
| [3] | Direction(0:Forward, 1:Reverse) | [7] | In dwell | |
| ST3 | [0] | Axis1 in positioning control | [4] | In circular interpolation operation |
| [1] | Axis1 in speed control | [5] | In homing operation | |
| [2] | In linear interpolation | [6] | In position synchronous start operation | |
| [3] | - | [7] | In speed synchronous start operation | |
| ST4 | [0] | In jog operation | [4] | In returning to position before manual operation |
| [1] | - | [5] | In CAM control operation | |
| [2] | In inching operation | [6] | In Feed control operation | |
| [3] | - | [7] | In ellipse interpolation operation | |
| ST5 | [0] | Main axis information*1 XGF-PN4B:1~4, XGF-PN8A/B:1~8 9: Encoder1 10: Encoder2 |
[4] | Axis state(0:Main axis, 1: sub axis) |
| [1] | [5] | - | ||
| [2] | [6] | - | ||
| [3] | [7] | Now processing Servo parameter R/W (0: not processing R/W, 1: processing R/W) |
||
| ST6 | [0] | Emergent stop/Dec. stop signal | [4] | Upper limit signal |
| [1] | - | [5] | Lower limit signal | |
| [2] | - | [6] | Home signal | |
| [3] | - | [7] | DOG signal | |
| ST7 | [0] | External command signal | [4] | In-position signal |
| [1] | Servo on signal | [5] | Declination counter clear output signal | |
| [2] | Servo alarm signal | [6] | - | |
| [3] | In-position signal | [7] | Communication error state (0:normal, 1: error) |
*1 : For example, ST5 =h09 means encoder1, ST5=h04 means 4 axis
| Chapter 7 Function Block |
| 7-9 |
| Form of Function Block | Description |
| XPM_ENCRD REQ DONE BASE SLOT STAT BOOL BOOL USINT USINT UINT ENC_VAL DINT BOOL ENC |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module ENC : Encoder no. 0: Encoder 1 1: Encoder 2 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation ENC_VAL : Current value of encoder |
(1) Give “Encoder Reading” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) The current encoder value is displayed on ENC_VAL
(3) Set the encoder you want to read in ENC.
0: Encoder1
1: Encoder 2
| Chapter 7 Function Block |
7-10
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation SV_ERR: Servo error information |
(1) It reads servo error information corresponding to the designated axis of positioning module designated by
BASE (Base number of positioning module) and SLOT (Slot number of positioning module)
(2) The current servo error information is saved in the variable designated by SV_ERR.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error
code “6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| 7-11 |
| Form of Function Block | Description |
| XPM_LRD SLOT BOOL BOOL USINT USINT UINT USINT AXIS L_CNT L_DATA UINT DINT[10 |
] Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation L_CNT: Number of latch position data L_DATA: Latch position data 1 ~ 10 |
REQ DONE
BASE
STAT
(1) This command is used to read data count and latch position data saved and latched by the positioning
module’s external latch command.
(2) Save the position data count read and latched the latch data of the axis designated as the positioning
module’s AXIS(Command axis) designated as BASE(Base number of the positioning module) and
SLOT(Slot number of the positioning module) to L_CNT and save the latch position data to L_DATA.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error
code “6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| Parameter/Operation Data Teaching Function Block |
7-12
| Form of Function Block | Description |
| XPM_SBP SLOT BOOL BOOL USINT USINT UINT USINT AXIS UDINT BP_VAL USINT BP_NO BOOL RAM/ROM |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 BP_VAL : Basic parameter to change BP_NO : Item no. of basic parameter to change RAM/ROM : Method of parameter save 0: save on RAM 1: save on ROM Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
(1) Give “Basic Parameter Teaching” command to the axis designated as the axis of positioning module with BASE
(Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Parameter value modified by basic parameter teaching command and setting RAM/ROM to “0” is valid within
power connection. If you want to keep the parameter without power connection, execute basic parameter teaching
command with setting RAM/ROM as “1” or save the modified parameter value on FRAM with XPM_WRT
(Parameter/Operation Data Saving command) after basic parameter teaching.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) Basic parameter setting command is unavailable to be executed when the axis is operating.
| Chapter 7 Function Block |
| 7-13 |
(5) The value that needs to be set in basic parameter is as follows.
| Value | Items | Setting Range |
| 1 | Speed Limit | ㎜ : 1 ∼ 2,147,483,647 [X10-2 ㎜/min] Inch : 1 ∼ 2,147,483,647 [X10-3Inch/min] degree : 1 ∼ 2,147,483,647 [X10-3 degree/min] pulse : 1 ∼ 2,147,483,647 [pulse/sec] |
| 2 | Acc. Time 1 | 1 ~ 2,147,483,647 [ms] |
| 3 | Acc. Time 2 | |
| 4 | Acc. Time 3 | |
| 5 | Acc. Time 4 | |
| 6 | Dec. Time 1 | 1 ~ 2,147,483,647 [ms] |
| 7 | Dec. Time 2 | |
| 8 | Dec. Time 3 | |
| 9 | Dec. Time 4 | |
| 10 | Emergency stop Dec. Time | 1 ~ 2,147,483,647 [ms] |
| 11 | Pulse/rotation | 1 ~ 200,000,000 |
| 12 | Transfer /rotation | |
| 13 | Unit | 0:Pulse, 1:mm, 2:Inch, 3:Degree |
| 14 | Unit mutiplier | 0: x 1, 1: x 10, 2: x 100, 3: x 1000 |
| 15 | Unit for speed command | 0: unit/time, 1: rpm |
| 16 | Encoder selection * | 0: Incremental encoder, 1: Absolute encoder |
| 17 | Current position display correction | 0 ~ 255 |
| Chapter 7 Function Block |
7-14
| Form of Function Block | Description |
| XPM_SEP SLOT BOOL BOOL USINT USINT UINT USINT AXIS DINT EP_VAL USINT EP_NO BOOL RAM/ROM |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 EP_VAL : Parameter value to modify EP_NO : Item no. of parameter to modify RAM/ROM : Method for saving parameter 0: Save at RAM 1: Save at ROM Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
(1) Give “Extended Parameter Teaching” command to the axis designated as the axis of positioning module with
BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Parameter value modified by extended parameter teaching command and setting RAM/ROM to “0” is valid within
power connection. If you want to keep the parameter without power connection, execute extended parameter
teaching command with setting RAM/ROM as “1” or save the modified parameter value on MRAM with XPM_WRT
(Parameter/Operation Data Saving command) after extended parameter teaching.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) Extended parameter setting command is unavailable to be executed when the axis is operating.
| Chapter 7 Function Block |
| 7-15 |
(4) The extended parameter items and setting values are as follows.
| Value | Item | Setting Range |
| 1 | Software upper limit | ㎜ :-2147483648 ~ 2147483647[X10-4 ㎜] Inch:-2147483648 ~ 2147483647[X10-5Inch] degree:-2147483648 ~ 2147483647[X10-5degree] pulse:-2147483648 ~ 2147483647[pulse] |
| 2 | Software lower limit | |
| 3 | - | - |
| 4 | Positioning completion time | 0 ~ 65,535[ms] |
| 5 | S-Curve ratio | 1 ~ 100 |
| 6 | In-position width | mm: 0 ~ 65,535[X10-4 ㎜] inch: 0 ~ 65,535[X10-5Inch] degree: 0 ~ 65,535[X10-5degree] pulse: 0 ~ 65,535[pulse] |
| 7 | Arc insertion position | mm: 0 ~ 2147483647[X10-4 ㎜] Inch: 0 ~ 2147483647[X10-5Inch] degree: 0 ~ 2147483647[X10-5degree] pulse: 0 ~ 2147483647[pulse] |
| 8 | Acc./dec. pattern | 0: Trapezoid operating, 1: S-curve operating |
| 9 | M code mode | 0: None, 1: With, 2: After |
| 10 | ion Upper/Lower limit detect | 0: Not detect, 1: Detect |
| 11 | Condition for positioning completion | 0: Dwell time 1: In-position 2: Dwell time AND In-position 3: Dwell time OR In-position |
| 12 | Interpolation continuous operation type | 0: Pass target position, 1: pass near position |
| 13 | 2 axes linear interpolation continuous operation circular arc insertion |
0: Don’t insert, 1: Insert arc |
| 14 | External command selection | 0: External VTP, 1: External stop |
| 15 | External command | 0: Disable, 1: Enable |
| 16 | Position-specified speed override | 0: Absolute, 1: Incremental |
| 17 | Infinite running repeat position | mm: 1 ~ 2147483647[X10-4 ㎜] Inch: 1 ~ 2147483647[X10-5Inch] degree: 1 ~ 2147483647[X10-5degree] pulse: 1 ~ 2147483647[pulse] |
| 18 | Infinite running repeat | 0: disable, 1:enable |
| 19 | Speed/position switching coordinate | 0: Incremental, 1: Absolute |
| 20 | Interpolation speed selection | 0: main axis speed, 1: synthetic speed |
coordinate
| Chapter 7 Function Block |
7-16
| Form of Function Block | Description |
| XPM_SMP SLOT BOOL BOOL USINT USINT UINT USINT AXIS UDINT MP_VAL USINT MP_NO BOOL RAM/ROM |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 MP_VAL : Manual operation parameter value to modify MP_NO : Item no. of manual operation parameter to modify RAM/ROM : Method for saving parameter 0: Save on RAM 1: Save on ROM Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
STAT
(1) Give “Manual Operation Parameter Setting” command to the axis designated as the axis of positioning module
with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Parameter value modified by manual operation parameter teaching command and setting RAM/ROM to “0” is
valid within power connection. If you want to keep the parameter without power connection, execute manual
operation parameter teaching command with setting RAM/ROM as “1” or save the modified parameter value on
MRAM with XPM_WRT (Parameter/Operation Data Saving command) after manual operation parameter teaching.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) Manual operation parameter setting command is unavailable to be executed when the axis is operating.
(5) The manual operation parameter items and setting values are as follows.
| Setting Value |
Items | Setting Range |
| 1 | JOG high speed | ㎜ : 1 ∼ 2,147,483,647 [X10-2 ㎜/min] Inch : 1 ∼ 2,147,483,647 [X10-3Inch/min] degree : 1 ∼ 2,147,483,647 [X10-3 degree/min] pulse : 1 ∼ 2,147,483,647 [pulse/sec] |
| 2 | JOG low speed | |
| 3 | JOG acc. time | 0 ~ 2,147,483,647 [ms] |
| 4 | JOG dec, time | |
| 5 | Inching speed | ㎜ : 1 ∼ 65,535[X10-2 ㎜/min] Inch : 1 ∼ 65,535[X10-3Inch/min] degree : 1 ∼ 65,535[X10-3 degree/min] pulse : 1 ∼ 65,535[pulse/sec] |
| Chapter 7 Function Block |
| 7-17 |
(1) Give “Common Parameter Setting” command to the axis designated as the axis of positioning module with BASE
(Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Parameter value modified by common parameter teaching command and setting RAM/ROM to “0” is valid within
power connection. If you want to keep the parameter without power connection, execute common parameter
teaching command with setting RAM/ROM as “1” or save the modified parameter value on MRAM with XPM_WRT
(Parameter/Operation Data Saving command) after common parameter teaching.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) The common parameter items and setting values are as follows.
| Setting Value | Items | Setting values |
| 1 | Speed override | 0 : % designation, 1 : speed designation |
| 2 | Mode for encoder1 pulse input | 0:CW/CCW 1 multiplication 1:PULSE/DIR 1 multiplication 2:PULSE/DIR 2 multiplication 3:PHASE A/B 1 multiplication 4:PHASE A/B 2 multiplication 5:PHASE A/B 4 multiplication |
| 3 | Maximum value of encoder1 | -2147483648 ~ 2147283647 |
| 4 | Minimum value of encoder1 | |
| 5 | Encoder1 Z phase clear | 0 : disable, 1 : enable |
| 10 | Destination coordinates for posistioning speed synchronization |
0:incremental, 1:absolute, |
| 11 | Encoder 1 average number | 0:None 1: 5 2:10 3:20 |
| Form of Function Block | Description |
| XPM8_SCP SLOT BOOL BOOL USINT USINT UINT USINT AXIS DINT CP_VAL USINT CP_NO BOOL RAM/ROM |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 CP_VAL : Common parameter value to modify CP_NO : Item no. of common parameter to modify RAM/ROM : Method for saving parameter 0: Save on RAM 1: Save on ROM Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
STAT
| Chapter 7 Function Block |
7-18
| Form of Function Block | Description |
| XPM_SMD SLOT BOOL BOOL USINT USINT UINT USINT AXIS USINT STEP DINT MD_VAL USINT MD_NO BOOL RAM/ROM |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 STEP : Step no. to modify 0 ~ 400 MD_VAL : Operation data value to modify MD_NO : Item no. of operation data to modify RAM/ROM : Method for saving parameter 0: Save on RAM 1: Save on ROM Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
STAT
(1) Give “Operation Data Teaching” command to the axis designated as the axis of positioning module with BASE
(Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Parameter value modified by operation data teaching command and setting RAM/ROM to “0” is valid within power
connection. If you want to keep the parameter without power connection, execute operation data teaching
command with setting RAM/ROM as “1” or save the modified parameter value on MRAM with XPM_WRT
(Parameter/Operation Data Saving command) after operation data teaching.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) Operation data setting command is available to be executed when the axis is operating. However, if operation
data of the step that is currently operated are changed, those changes are reflected after the current step is completed.
| Chapter 7 Function Block |
| 7-19 |
(5) The operation data items and setting values are as follows.
| Setting value |
Items | Setting Range |
| 1 | Goal position | ㎜ : -2147483648 ∼ 2147483647 [X10-4 ㎜] Inch : -2147483648 ∼ 2147483647 [X10-5Inch] degree : -2147483648 ∼ 2147483647 [X10-5degree] pulse : -2147483648 ∼ 2147483647 [pulse] |
| 2 | Auxiliary position for circular interpolation |
-2147483648 ∼ 2147483647 |
| 3 | Operating speed | ㎜ : 1 ∼ 2,147,483,647 [X10-2 ㎜/min] Inch : 1 ∼ 2,147,483,647 [X10-3Inch/min] degree : 1 ∼ 2,147,483,647 [X10-3 degree/min] pulse : 1 ∼ 2,147,483,647 [pulse/sec] |
| 4 | Dwell time | 0 ~ 65,535[ms] |
| 5 | M code no. | 0 ~ 65,535 |
| 6 | Sub axis setting | Bit unit setting |
| 7 | Helical interpolation axis | 0, axis1 ~ axis8 (0: General circular interpolation) |
| 8 | Circular interpolation turns | 0~65,535 |
| 9 | Coordinate | 0: absolute, 1: incremental |
| 10 | Control method | 0:single-axis position control, 1:single axis speed control, 2:single- axis Feed control, 3:linear interpolation, 4:circular interpolation |
| 11 | Operating method | 0:single, 1:repeat |
| 12 | Operating pattern | 0:end, 1:keep, 2:continue |
| 13 | Size of circular arc | 0:circular arc<180 1:circular arc>=180 |
| 14 | Acc. No. | 0 ~ 3 |
| 15 | Dec. No. | 0 ~ 3 |
| 16 | Circular interpolation mode | 0:middle point, 1:center point, 2:radius |
| 17 | Direction of circular interpolation |
0:CW, 1:CCW |
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
axis8 axis7 axis6 axis5 axis4 axis3 axis2 axis1
| Chapter 7 Function Block |
7-20
| Form of Function Block | Description |
| XAPM_ATEA SLOT BOOL BOOL USINT USINT UINT USINT AXIS UINT STEP BOOL RAM/ROM BOOL POS/SPD USINT TEA_CNT DINT[16] TEA_VAL |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command STEP : Set the step no. to do teaching 0 ~ 400 RAM/ROM : Selection of RAM/ROM teaching 0 : RAM teaching, 1 : ROM teaching POS/SPD : Selection of position/speed teaching 0 : Position, 1 : Speed TEA_CNT : Set the no. of data to do teaching 1 ~ 16 TEA_VAL : Set the teaching value Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
STAT
(1) Give “Teaching Array” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Speed teaching is for user to use random speed value in a operation data of specified step and position teaching
is for user to use random position value in a operation data of specified operation step.
(3) This command is for modifying maximum 16 goal positions/speed value at once with teaching array function block.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
(5) Even “Write variable data” command can be executed even when the axis subject to teaching is being operated
but, only the current step’s data is reflected after the current step operation is completed if the step that is
currently running is within the step area while other steps’ data are immediately changed.
(6) You may set step no.(0~400) of operation data on STEP. If you set wrongly, “Error11” arises.
(7) You may set the no. of data to do teaching on TEA_CNT and do teaching max. 16. If you set wrongly, “Error11”
arises.
(8) Parameter value modified by teaching command and setting RAM/ROM as “0” is valid within power connection.
If you want to keep the parameter without power connection, execute teaching command with setting “1” on
RAM/ROM or save the modified parameter value on MRAM with XPM_WRT (Parameter/Operation Data Saving
command) after teaching.
| Chapter 7 Function Block |
| 7-21 |
| Form of Function Block | Description |
| XPM_VRD BOOL BOOL USINT USINT USINT USINT AXIS UDINT S_ADDR UDINT OFFSET UINT SIZE UNIT CNT UINT[128] |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command S_ADDR : Module internal memory head address of Read Data 0 ~ 72793 OFFSET : Offset between Read Data blocks 0 ~ 72793 SIZE : Block size of Read data 1 ~ 128 CNT : No. of Read Data block 1 ~ 128 Output DONE : Maintain 1 after first operation STAT : Output the error no. in operation VAR : PLC device where Read Data is saved |
REQ DONE
BASE
SLOT
STAT
VAR (1) Gives “Read parameter, operation data, CAM data directly” command to positioning module.
(2) You read data you want by designating module internal memory address of parameter, operation data, CAM
data directly.
(3) It reads the positioning module internal memory from the position set by “S_ADDR” by WORD unit and save
them in the device set by “VAR”. The number of data to read is the number set by “Size”. In case “CNT” is
larger than 2, it reads multiple data blocks and save them in the device set by “VAR” in order. At this time,
head address of next block is “Offset” apart from head address of current block.
(4) Max. data size (SIZE x CNT) you can read with one command is 128 WORD.
(5) “Read Variable Data” command can be executed in operation.
(6) You can set axis to command in “AXIS” and the following value is available. If you set other values, error
code “6” appears.
(7) In case Read Data size (SIZE x CNT) is 0 or higher than 128 WORD, error code “11” appears in STAT.
(8) Don’t use XPM_VRD command at the same time. That is, you must execute a command after the other
command’s operation completes. Please note that the command don’t execute at the same time in case the
command axis is same or not.
| Chapter 7 Function Block |
7-22
| Form of Function Block | Description |
| XPM_VWR SLOT BOOL BOOL USINT USINT USINT USINT AXIS UINT[128] VAR UDINT T_ADDR UDINT OFFSET UINT SIZE UINT CNT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module T_ADDR : Module internal memory head address where data is written 0 ~ 72793 OFFSET : Offset between Write data blocks 0 ~ 72793 SIZE : Size of block to write 1 ~ 128 CNT : No. of Write data block 1 ~ 128 Output DONE : Maintain 1 after first operation STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
AXIS : Axis to command
VAR: PLC device where Write Data is saved
(1) Gives “Write parameter, operation data, CAM data directly” command to positioning module.
(2) You can write data you want by designating module internal memory address of parameter, operation data,
CAM data directly.
(3) It writes the WORD data in “VAR” to module internal memory. The data are saved from internal memory
position set by “T_ADDR” and the number of data is the number set by “Size”. In case the number of block
“CNT” is larger than 2, multiple blocks are made. At this time, head address of next block is “Offset” apart
from head address of current block.
(4) Max. data size (SIZE x CNT) you can write with one command is 128 WORD.
(5) “Write Variable Data” command can’t be executed in operation.
(6) You can set axis to command in “AXIS” and the following value is available. If you set other values, error
code “6” appears.
1 ~ 8: axis 1 ~ axis 8ZE x CNT) is 0 or higher than 128 WORD, error code “11” appears in STAT
(8) In case no. of block (CNT) is higher than 2, and block offset is smaller than block size, error code “11”
appears in STAT because module internal memory block to write is overlapped each other.
(9) Don’t use XPM_VWR command at the same time. That is, you must execute a command after the other
command’s operation completes. Please note that the command don’t execute at the same time in case
the command axis is same or not.
| Chapter 7 Function Block |
| 7-23 |
(1) Give “Basic Parameter Setting” command to the axis designated as the axis of positioning module with BASE
(Base no. of positioning module) and SLOT (Slot no. of positioning module).
(2) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(3) If function block is executed normally, the current operation parameter and data which saved on WRT_AXIS
are saved on MRAM and maintain the data without the power connection.
(4) For setting WRT_AXIS, set each Bit
| 15 ~ 8 Bit | 7Bit | 6Bit | 5Bit | 4Bit | 3Bit | 2Bit | 1Bit | 0Bit |
| Not Used | Axis 8 | Axis 7 | Axis 6 | Axis 5 | Axis 4 | Axis 3 | Axis 2 | Axis 1 |
If you want to select axis3, axis5 and axis6, just set to “16#34”
(5) In case of modifying the CAM data with XPM_VWR instruction, when you execute XPM_WRT, the modified
data will be saved in FLASH
| Form of Function Block | Description |
| XPM_WRT BOOL BOOL USINT USINT UINT USINT USINT WRT_AXIS |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 XPM_WRT_AXIS : Saving axis setting (by setting bit) 0bit ~ 7bit: axis1 ~ axis8 Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
| Chapter 7 Function Block |
7-24
Start/Stop Function Block
| Form of Function Block | Description |
| XPM_ORG BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) This is the command that give homing command to APM module.
(2) This is the command to find the origin of machine by Direction, Correction, Speed, Address and Dwell set on
parameter of each axis for homing according to the homing access.
(3) Give “Homing” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) If homing command is executed normally, it starts homing according to “homing method” of “homing parameter”.
| Chapter 7 Function Block |
| 7-25 |
(1) Give “Direct Start” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) This is for operating by setting goal position address, operation speed, dwell time, M code, control method,
coordinates setting and no. of Acc./Dec time, not by operation data.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) If the value set on SPEED, CTRL, TIME_SEL is out of setting range, “Error11” will occur on STAT.
| Form of Function Block | Description |
| XPM_DST BOOL BOOL USINT USINT UINT USINT AXIS DINT ADDR UDINT SPEED UINT DWELL UINT MCODE USINT CTRL BOOL ABS/INC USINT ACC_SEL USINT DEC_SEL |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 ADDR : Goal position address setting -2147483648 ~ +2147483647 SPEED : Goal speed setting DWELL : Dwell time setting 0 ~ 65535[ms] M code : M code value setting CTRL : Control method setting 0: Position, 1: Speed, 2: Feed 3: Shortest Position ABS/INC: Coordinate setting 0: Absolute, 1: Incremental ACC_SEL: Acc.time no. setting 0: Acc. Time 1, 1: Acc. Time 2 2: Acc. Time 3, 3: Acc. Time 4 DCC_SEL: Dec.time no. setting 0: Dec. time 1, 1: Dec. time 2 2: Dec. time 3, 3: Dec. time 4 Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
SLOT
STAT
| Chapter 7 Function Block |
7-26
| Form of Function Block | Description |
| XPM_IST SLOT BOOL BOOL USINT USINT UINT USINT AXIS UINT STEP |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 STEP : Set the step no. to do teaching 0 ~ 400 Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
STAT
(1) Give “Indirect Start” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) This is for operating by setting operation step no. of axis which set as an operation data.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) If the value set on STEP is out of the setting range (0~400), “Error11” arises on STAT.
(5) If set STEP to 0, it operates the current step.
(6) Linear interpolation, circular interpolation and helical interpolation are executed in indirect start by setting the
control method.
| Chapter 7 Function Block |
| 7-27 |
| Form of Function Block | Description |
| XPM_ELIN SLOT BOOL BOOL USINT USINT UINT USINT AXIS UINT STEP UINT RATIO UINT DEG |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 STEP : Step no. to operate RATIO : Ellipse ratio(%) DEG : Operating angle Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
STAT
(1) Give “Ellipse Interpolation” command to the axis designated as the axis of positioning module with BASE (Base
no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This is the command that execute ellipse interpolation to the designated step as much as the angle set on DEG
in the ratio of it which set on RATIO.
(3) Ellipse interpolation is that distort operation data of the step already set at the rate already set on RATIO to
execute ellipse interpolation. Therefore, the step of operation data set on STEP has to be set in accordance with
circular interpolation control.
(4) Ellipse rate range from 1 to 65535, it has [X10-2 %] as its unit. If you set 65535, the rate will be 655.35%.
(5) Operation angle range from 1 to 65535, it has [X10-1 degree] as its unit. If you set 3650, the angle will be 365.0
(6) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
7-28
| Form of Function Block | Description |
| XPM_SST SLOT BOOL BOOL USINT USINT UINT USINT SST_AXIS A1_STEP A2_STEP A3_STEP UINT UINT UINT UINT A4_STEP A5_STEP A6_STEP A7_STEP UINT UINT UINT UINT A8_STEP |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module SST_AXIS : Simultaneous axis setting 0bit ~ 7bit: axis1 ~ axis8 Set bit of each axis to select A1_STEP : step no. of axis1 to start A2_STEP : step no. of axis2 to start A3_STEP : step no. of axis3 to start A4_STEP : step no. of axis4 to start A5_STEP : step no. of axis5 to start A6_STEP : step no. of axis6 to start A7_STEP : step no. of axis7 to start A8_STEP : step no. of axis8 to start Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
STAT
(1) Give “Simultaneous Start” command to the axis designated as the axis of positioning module with BASE (Base
no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This is for starting more than 2 axes at once.
(3) If you set a value out of setting range, “Error6” arises. Set with each bit as follows.
| 7bit | 6bit | 5bit | 4bit | 3bit | 2bit | 1bit | 0bit |
| Axis8 | Axis7 | Axis6 | Axis5 | Axis4 | Axis3 | Axis2 | Axis1 |
(4) Set the step no. of each axis to execute simultaneous start on A1_STEP ~ A8_STEP.
| Chapter 7 Function Block |
| 7-29 |
| Form of Function Block | Description |
| XPM_PST SLOT BOOL BOOL USINT USINT UINT USINT AXIS USINT PST_CNT UINT[20] PST_VAL |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 PST_CMT : Set the no. of step for point operation 1 ~ 19 PST_VAL : Set the step no. for point operation 0 ~ 400 Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
STAT
(1) Give “Point start” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(3) This is for when operating PTP(Point to Point), operate continuously by setting max. 20 operation steps.
(4) Point operation may be executed with max. 20 point steps. Therefore, you may use the parameter which has 20
elements and like UNIT arrangement.
| Chapter 7 Function Block |
7-30
| Form of Function Block | Description |
| XPM_STP BOOL BOOL USINT USINT UINT USINT UDINT DEC_TIME |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 DEC_TIME : Decelerating stop time 0: Acc./Dec. time applied when start operating 1 ~ 2147483647: 1 ~ 2147483647ms Output DONE : Maintain 1 after first operation STAT : Output the error no in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Decelerating Stop” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) If receive the stop command by operation data, it will stop operating and continue to operate by start command.
(3) If “Decelerating Stop” is executed in speed/position synchronization or CAM operation, speed/position
synchronization or CAM operation will stop depending on the state of the current operation control.
(4) “Decelerating Stop” may be executed in not only acc./dec. area but also steady speed area.
(5) Deceleration time means the time between the point of start decelerating and the point of stop and may be set to
0 ~ 2,147,483,647ms. But, if it is set to “0”, it will stop by the time set at the starting of operation.
(6) Deceleration time means the time between the speed limit of basic parameter and stop.
(7) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| 7-31 |
| Form of Function Block | Description |
| XPM_EMG BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Emergency Stop” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for immediate stop. The axis to execute this command will stop.
(3) Dec. time of emergent stop is the time set on “Dec. time of Emergent stop” of basic parameter.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Form of Function Block | Description |
| XPM_RSTR BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
| Chapter 7 Function Block |
7-32
(1) Give “Restart” command to the axis of positioning module designated by BASE (Base no. of Positioning module)
and SLOT (Slot no. of Positioning module).
(2) This command is used when restarting the axis which stops by EMG stop command. If this command is executed,
the axis operates again with previous operating information.
(3) If you start the axis with commands other than “Restart” after it stops with DEC. stop, “Restart” will not be executed
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) For detailed information on “Restart”, refer to “9.2.20. Restart”.
(6) If the command changing current operation is executed except for DEC. stop, “Restart” will not be executed.
(7) It is impossible to execute the “Restart” in case of continuous operation, circular interpolation, home and all
operation of sub axis.
| Chapter 7 Function Block |
| 7-33 |
| Form of Function Block | Description |
| XPM_TRQ BOOL BOOL USINT USINT UINT USINT AXIS UINT TIME INT TRQ_VAL |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 TRQ_VAL: Torque value (unit: %, -32768 ~ 32767) TIME: Torque gradient (unit: ㎳, 0 ~ 65535 ㎳) Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
(1) Give “Torque Control” command to the axis of positioning module designated by BASE (Base no. of Positioning
module) and SLOT (Slot no. of Positioning module).
(2) Torque control executes if torque value and torque gradient are set and a command is issued.
(3) Set torque value (%) to TRQ_VAL. Torque values work in % rated torque. (1 = 1% of rated torque)
For example, set 200 if the user wants to control torque in 200% of torque.
※ The allowable range of torque value may vary according to the connected servo drive. In general, target torque
value is limited to the maximum torque setting.
(4) Set time to take in reaching the target torque to TIME. If a command is executed, torque increases in this gradient
until it reaches the set torque value.
(5) Any command cannot be executed, the relevant axis is being operated for functions other than torque control.
(6) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(7) For detailed information on “Torque Control”, refer to “9.2.21. Torque Control”.
| Chapter 7 Function Block |
7-34
| Function Block type | Content |
| XPM_TRQSL BOOL BOOL USINT USINT UINT USINT AXIS UINT TIME INT TRQ_VAL UINT SPD_LIMIT |
Input REQ: Request the execution of function blocks BASE: Set the number of a base equipped with a module SLOT: Set the number of a slot equipped with a module AXIS: Designate the axis of command execution XGF-PN4B: 1-4 (Axis 1-Axis 4) XGF-PN8B: 1-8 (Axis 1-Axis 8) TRQ_VAL: Torque Value (Unit: 0.1%, -32768 ~ 32767) TIME : Torque Slope (Unit: ms, 0~65535ms) SPD_LIMIT: Speed Limit Value (Unit: rpm, 0~6000) Output DONE: Maintain 1 after initial operation STAT: Output an error code that occurred during the execution of function blocks |
REQ DONE
BASE
SLOT
STAT
(1) It is a command to conduct torque control below the speed set to AXIS (command axis) of a positioning module
designated by BASE (the base number of a positioning module) and SLOT (the slot number of a positioning
module).
(2) If giving a command after setting torque values, torque slopes and speed limit values, torque control is
performed.
※ The command applies only to the LSIS Servo Drive family.
(3) Set the torque value to TRQ_VAL The torque value operates by 0.1% of rated torque. (1 = 0.1% of rated
torque)For example, set the TRQ_VAL to 2000 if you perform torque control by 200% of rated torque.
※ Tolerances on the torque values are varied according to types of the connected servo drive.
Generally the targeted torque value is limited to the maximum torque setting.
(4) TIME sets the time to arrive the targeted torque. When the command is performed, the torque is increased to
the torque value set to TRQ_VAL with this slope.
(5) SPD_LIMIT, the speed limit value, is set to the ‘speed limit value upon torque control’ parameter of the servo
drive. Therefore, it operates by the maximum speed value during torque rotation.
(5) When the corresponding axis is operating except torque control, the torque control can not be performed.
(6) The axis of command execution is set to AXIS and the following values can be set to it: When setting values
other than the setting value, “Error Code 6” occurs.
XGF-PN4B: 1-4 (Axis 1-Axis 4), XGF-PN8B: 1-8 (Axis 1-Axis 8)
(7) Supported versions of the Function Block are as follows:
- XGF-PN4B, XGF-PN8B OS: V1.80 or higher
- XGI OS: V4.10 or higher, XGI OS(high performance): V1.30 or higher
- XG5000: V4.28 or higher
| Chapter 7 Function Block |
| 7-35 |
Manual Operation Function Block
| Form of Function Block | Description |
| XPM_JOG SLOT BOOL BOOL USINT USINT UINT USINT AXIS BOOL JOG_DIR BOOL LOW/HIGH |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 JOG_DIR : Set the direction of JOG operation 0:Forward, 1:Reverse LOW/HIGH : Set the speed of JOG operation 0:Low speed, 1:High speed Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
(1) Give “JOG Operation” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for checking operation of system, wiring and address for teaching. It may be used in High/Low
speed.
(3) The operating condition of JOG operation function block is Level type. That is, when the condition of input
parameter (REQ) is ON, pulse is outputted by setting value.
(4) If the value of LOW/HIGH is changed, the speed will be changed without stop and if the value of JOG_DIR is
changed, it will change the direction after decelerating stop.
(5) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
7-36
| Form of Function Block | Description |
| XPM_INC BOOL BOOL USINT USINT UINT USINT DINT INCH_VAL |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 INCH_VAL: Amount of movement by Inching Operation -2,147,483,648 ∼ 2,147,483,647 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Inching Operation” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is a kind of manual operation for process a minute movement as an operation of fixed amount.
(3) Speed of inching operation is set on manual operation parameter.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| 7-37 |
| Form of Function Block | Description |
| XPM_RTP BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Returning to position before manual operation” command to the axis designated as the axis of positioning
module with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) When the position is changed by manual operation, this command may move the axis to previous manual
operation position.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| Synchronization Start Function Blocks |
7-38
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 STEP : Step no. to operate 0 ~ 400 MST_AXIS : Set the main axis XGF-PN4B:1~4, XGF-PN8A/B:1~8, 9: Encoder1 MST_ADDR : Set the position of main axis -2,147,483,648 ∼ 2,147,483,647 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) Give “Synchronization Start” command to the axis designated as the axis of positioning module with BASE (Base
no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Operate operation step set by command axis after main axis comes to the position of synchronization.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) You may set the main axis on MST_AXIS with following values. If you set wrongly, “Error6” arises.
XGF-PN4B:1~4, XGF-PN8A/B:1~8, 9 : Encoder1
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 MST_AXIS : Set main axis XGF-PN4B:1~4, XGF-PN8A/B:1~8, 9: Encoder1, |
| Chapter 7 Function Block |
| 7-39 |
XPM_SSS
| REQ | DONE |
| BASE | STAT |
SLOT
BOOL BOOL
USINT
USINT
UINT
INT MST_RAT
INT SLV_RAT
USINT MST_AXIS
USINT AXIS
MST_RAT : Set speed rate of main axis
-32,768 ~ 32,767
SLV_RAT : Set speed rate of sub axis
-32,768 ~ 32,767
Output
DONE : Maintain 1 after first operating
STAT : Output the error no. in operation
(1) Give “Speed Synchronization” command to the axis designated as the axis of positioning module with BASE
(Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for operating at the operation speed ratio between main axis and subordinate axis.
(3) There is no rule about size of the speed ratio between main/sub axis. If the speed ratio of main axis is bigger than
sub’s, the main axis will move faster than sub axis. If the speed ratio of sub axis is bigger than main’s, the sub
axis moves faster than main.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) You may set the main axis on MST_AXIS with following values. If you set wrongly, “Error 11” arises.
XGF-PN4B:1~4, XGF-PN8A/B:1~8, 9 : Encoder1
(6) The operating direction of subordinate depends on speed synchronization ratio ( )
Main
Sub
. If it is positive, operate
in direction of main axis. If it is negative, operate in reverse direction of main axis.
| Chapter 7 Function Block |
7-40
| Form of Function Block | Description |
| XPM_SSSP SLOT BOOL BOOL USINT USINT UINT INT MST_RAT INT SLV_RAT USINT MST_AXIS USINT AXIS DINT POS |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 MST_AXIS : Set main axis XGF-PN4B:1~4, XGF-PN8A/B:1~8, 9: Encoder1 MST_RAT : Set speed rate of main axis -32,768 ~ 32,767 SLV_RAT : Set speed rate of sub axis -32,768 ~ 32,767 POS : Goal position -2,147,483,648 ~ 2,147,483,647 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
(1) Give “Position Assigned Speed Synchronization” command to the axis designated as the axis of positioning
module with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for operating at the operation speed ratio between main axis and subordinate axis. It stops
operating when the position of sub axis come to the position set on POS.
(3) There is no rule about size of the speed ratio between main/sub axis. If the speed ratio of main axis is bigger than
sub’s, the main axis will move faster than sub. If the speed ratio of sub axis is bigger than main’s, the sub axis
moves faster than main.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) You may set the main axis on MST_AXIS with following values. If you set wrongly, “Error6” arises.
XGF-PN4B:1~4, XGF-PN8A/B:1~8, 9 : Encoder1
(6) The operating direction of subordinate depends on speed synchronization ratio ( )
Main
Sub
. If it is positive, operate
in direction of main axis. If it is negative, operate in reverse direction of main axis.
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module |
| Chapter 7 Function Block |
| 7-41 |
XPM_CAM
| REQ | DONE |
| BASE | STAT |
SLOT
BOOL BOOL
USINT
USINT
UINT
USINT AXIS
USINT MST_AXIS
USINT CAM_BLK
SLOT : Set the slot no. with module
AXIS : Axis to command
XGF-PN4B:1~4, XGF-PN8A/B:1~8
MST_AXIS : Set main axis
XGF-PN4B:1~4, XGF-PN8A/B:1~8,
9: Encoder1,
CAM_BLK : Set CAM block
1 ~ 9: Block1 ~ Block9
Output
DONE : Maintain 1 after first operating
STAT : Output the error no. in operation
(1) Give “CAM Operation” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Execute CAM operation with CAM main axis and CAM data block.
(3) When executing CAM operation, sub axis is indicated that it is in operation but it does not work actually. When
main axis starts, the motor starts working according to the data value of CAM data block which already set on
CAM block (CAM_BLK)
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) Set main axis of CAM operation at MST_AXIS and available value is as follows. In case other values are set,
“Error 11” occurs.
XGF-PN4B:1~4, XGF-PN8A/B:1~8, 9: Encoder1
(6) Set CAM block number in CAM_BLK and available value is as follows. In case other values are set, “Error 11”
occurs.
1 ~ 9 : block1 ~ block9
(7) CAM data may be set on positioning package and you may set max. 8 blocks (block1~block8).
(8) In order to use user CAM operation, you have to set CAM block number as 9.
(9) For detailed information on user CAM operation, refer to “94.4. user CAM operation”.
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 MST_AXIS : Set main axis XGF-PN4B:1~4, XGF-PN8A/B:1~8, |
| Chapter 7 Function Block |
7-42
| 9: Encoder1 CAM_BLK : Set CAM block 1 ~ 9: Block1 ~ Block9 MST_OFFSET: main offset transfer amount setting -2147483648 ~ 2147483647 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) Give “Main Axis Offset-specified CAM Operation” command to the axis designated as the axis of positioning
module with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Execute CAM operation with CAM main axis and CAM data block.
(3) When executing CAM operation, sub axis is indicated that it is in operation but it does not work actually. If main
axis starts and moves as far as transfer amount set in the MST OFFSET, the motor starts working according to
the data value of CAM data block which already set on CAM block (CAM_BLK)
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) Set main axis of CAM operation at MST_AXIS and available value is as follows. In case other values are set,
“Error 11” occurs.
XGF-PN4B:1~4, XGF-PN8A/B:1~8, 9: Encoder1
(6) Set CAM block number in CAM_BLK and available value is as follows. In case other values are set, “Error 11”
occurs.
1 ~ 9 : block1 ~ block9
(7) CAM data may be set on positioning package and you may set max. 8 blocks (block1~block8).
(8) In order to use user CAM operation, you have to set CAM block number as 9.
(9) For detailed information on user CAM operation, refer to “94.4. user CAM operation”.
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 MST_TRQ : Set torque ratio of main axis 1~65535 SLV_TRQ : Set torque ratio of sub axis |
| Chapter 7 Function Block |
| 7-43 |
| 1~65535 MST_RAT : Set speed ratio of main axis 1~65535 SLV_RAT : Set speed ratio of sub axis Unused MST_AXIS : Set main axis of torque synchronous Unused Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) This function block is used to execute the torque synchronous at relevant axis of servo drive connected to
positioning module.
(2) Give “Main Axis Offset-specified CAM Operation” command to the axis designated as the axis of positioning
module with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(3) The axis to perform command execute torque synchronous by axis(MST_AXIS) as main axis.
(4) The axis to perform command execute torque synchronous by torque ratio(MST_TRQ, SLV_TRQ) and speed
ratio(MST_RAT, SLV_RAT). Sub axis torque = (SLV_TRQ/MST_TRQ) * Main axis torque
Torque synchronous speed of sub axis = (SLV_RAT/MST_RAT) * Speed of main axis
(5) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
(6) Set main axis of torque synchronous at MST_AXIS and available value is as follows. In case other values are
set, “Error 11” occurs. XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Form of Function Block | Description |
| Chapter 7 Function Block |
7-44
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command 1~4: XGF-PN4B, 1~8: XGF-PN8A/B MST_AXIS : Set main axis of phase correction 1~4: XGF-PN4B, 1~8: XGF-PN8A/B 9: Encoder1, 10: Encoder2 PHASE_VAL : Phase correction value VELOCITY : Speed of phase correction ACC_TIME : Acceleration time (0 ~ 2,147,483,647 ms) DEC_TIME : Deceleration time (0 ~ 2,147,483,647 ms) Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) This function block enables the synchronous operation on the position of main-axis with the corrected subaxis by executing the phase correction with respect to the reference position of the main-axis of the axis
specified as AXIS of the positioning module.
(2) Phase correction is executed with values set in VELOCITY, ACC_TIME, DEC_TIME as much as the amount
of phase correction set in PHAS-VAL with respect to the main-axis set in MST_AXIS of the axis specified as
AXIS of the positioning module designated as BASE(base number of the positioning module) and SLOT(slot
number of the positioning module).
(3) In AXIS, axesto issue commands are set, and the following values can be set. If the value other than setting
values is set, “Error6” occurs.
1) XGF-PN8A/B
1 ~ 8 : 1 Axis ~ 8 Axis
2) XGF-PN4B
1 ~ 4 : 1 Axis ~ 4 Axis
(4) In MST_AXIS, the main-axis of phase correction command is set, and the following values can be set. If the
value other than setting values is set, “Error11” occurs.
1) XGF-PN8A/B
1 ~ 8 : 1 Axis ~ 8 Axis, 9:Encoder1, 10:Encoder2
2) XGF-PN4B
2 ~ 4 : 1 Axis ~ 4 Axis, 9:Encoder1, 10:Encoder2
| Form of Function Block | Description |
| Chapter 7 Function Block |
| 7-45 |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command 1~4: XGF-PN4B, 1~8: XGF-PN8A/B MST_AXIS : Set main axis of phase correction 1~4: XGF-PN4B, 1~8: XGF-PN8A/B 9: Encoder1, 10: Encoder2 MST_RAT: Speed ratio of the main-axis ( -2,147,483,648 ~ 2,147,483,647 ) SLV_RAT : Speed ratio of the sub-axis ( -2,147,483,648 ~ 2,147,483,647 ) Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) Speed synchronization command is issued to the axis specified as AXIS of the positioning module designated as BASE
(base number of the positioning module) and SLOT (slot number of the positioning module).
(2) It is used to control with the ratio to set the operation speed between the two axes. The values of main-axis ratio and subaxis ratio can be set in 32-bit integer range.
(3) There are no rules on the size between the speed ratio of the main-axis and that of the sub-axis. That is, if the speed ratio
of the main-axis is greater than that of the sub-axis, the main-axis is faster than the sub-axis, and if the speed ratio of the
sub-axis is greater than that of the main-axis, the sub-axis is faster than the main-axis.
(4) In AXIS, axes to issue commands are set, and the following values can be set. If the value other than setting values is set,
“Error6” occurs.
XGF-PN4B: 1 ~ 4(1 axis - 4 axis), XGF-PN8A/XGF-PN8B: 1 ~ 8(1 axis – 8 axis)
(5) In MST_AXIS, the main-axis of the speed synchronization is set, and the following values can be set. If the value other
than setting values is set, “Error11” occurs.
XGF-PN4B: 1 ~ 4(1 axis– 4 axis), XGF-PN8A/XGF-PN8B: 1 ~ 8(1 axis– 8 axis), 9: Encoder 1, 10: Encoder 2
(6) The sub-axis is operated in the operational direction of the main-axis if the speed synchronization ratio (main-axis ratio
/ sub-axis ratio) is positive, and in the opposite direction of the main-axis if it is negative.
| Form of Function Block | Description |
| Chapter 7 Function Block |
7-46
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command 1~4: XGF-PN4B, 1~8: XGF-PN8A/B MST_AXIS : Set main axis of phase correction 1~4: XGF-PN4B, 1~8: XGF-PN8A/B 9: Encoder1, 10: Encoder2 MST_RAT: Speed ratio of the main-axis ( -2,147,483,648 ~ 2,147,483,647 ) SLV_RAT : Speed ratio of the sub-axis ( -2,147,483,648 ~ 2,147,483,647 ) POS : Target position. Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) Positioning speed synchronization command is issued to the axis specified as AXIS of the positioning module designated
as BASE (base number of the positioning module) and SLOT (slot number of the positioning module).
(2) It is used to control with the ratio to set the operation speed between the two axes. The values of main-axis ratio and
sub-axis ratio can be set in 32-bit integer range. After the execution of XPM_SSSPD, when the position to which the sub-axis is
moved becomes the one specified in POS, the speed synchronization ends and stops.
(3) There are no rules on the size between the speed ratio of the main-axis and that of the sub-axis. That is, if the speed ratio
of the main-axis is greater than that of the sub-axis, the main-axis is faster than the sub-axis, and if the speed ratio of the
sub-axis is greater than that of the main-axis, the sub-axis is faster than the main-axis.
(4) In AXIS, axes to issue commands are set, and the following values can be set. If the value other than setting values is set,
“Error6” occurs.
XGF-PN4B: 1 ~ 4(1 axis - 4 axis), XGF-PN8A/XGF-PN8B: 1 ~ 8(1 axis – 8 axis)
(5) In MST_AXIS, the main-axis of the speed synchronization is set, and the following values can be set. If the value other
than setting values is set, “Error11” occurs.
XGF-PN4B: 1 ~ 4(1 axis– 4 axis), XGF-PN8A/XGF-PN8B: 1 ~ 8(1 axis– 8 axis), 9: Encoder 1, 10: Encoder 2
(6) The sub-axis is operated in the operational direction of the main-axis if the speed synchronization ratio (main-axis ratio /
sub-axis ratio) is positive, and in the opposite direction of the main-axis if it is negative.
| Form of Function Block Description | Form of Function Block Description |
| INPUT REQ : Request for execution BASE : Set the base no. with module |
| Chapter 7 Function Block |
| 7-47 |
| SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8B:1~8 9:Encorder: 1 CAM_BLK : Set the CAM block 1block~ 9block STRT_DST : CAM start movement setting -2147483648 ~ 2147483647 MST_OFFSET : Main-axis offset setting -2147483648 ~ 2147483647 SLV_OFFSET : Sub-axis offset setting -2147483648 ~ 2147483647 OUTPUT DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) Command to absolute positioning CAM operation at the axis of the designated module of BASE(Base number
of positioning module) and SLOT(Slot number of positioning module)
(2) Operate the CAM by using the CAM main axis, CAM data block, CAM operating start position, main-axis
offset, sub-axis offset of the axis.
(3) Operating absolute CAM command and if the axis set as the main axis starts, it executes the operation to reach
synchronous position until it moves by the distance set in STRT_DST. The synchronized position can be moved
according to the setting of the MST_OFFSET and SLV_OFFSET values to the position on the subordinate axis
according to the CAM data value set in the cam block (CAM_BLK) when the main axis is in STRT_DST. When
the main axis reaches the distance set in STRT_DST, the motor starts to move to the subordinate axis position
corresponding to the main axis position according to the data value of the cam data block set in the cam block
(CAM_BLK).
| Chapter 7 Function Block |
7-48
(4) You can set the following values for the axis by configure command axis.
If a value except the set value is set, "Error 6" occurs.
XGF-PN4B: 1~4 (axis-1~ axis 4), XGF-PN8A/B: 1 ~ 8(axis 1 ~ axis 8)
(5) Set the main-axis of CAM operation at MST_AXIS, and the following values can be set.
If a value except the set value is set, "Error 11" occurs.
XGF-PN4B: 1~4 (axis-1~ axis 4), XGF-PN8A/B: 1 ~ 8(axis 1 ~ axis 8), 9: Encoder
(6) Set the CAM block number to be executed at CAM_BLK, and the following values can be set.
If a value except the set value is set, "Error 11" occurs.
1 ~ 9: Block 1 ~ 9
(7) The cam data can be created in the positioning package, and you can set up to 8 blocks
(Block 1 to block 8).
(8) To use the absolute positioning CAM operation, set the cam block number to 9
(9) Refer to "9.4.6 Absolute positioning CAM operation” for details on user CAM operation.
| Function Block type | Content |
| Input REQ: Request the execution of function blocks BASE: Set the number of a base equipped with a module SLOT: Set the number of a slot equipped with a module AXIS: Designate the axis of command execution XGF-PN4B: 1-4 (Axis 1-Axis 4) XGF-PN8B: 1-8 (Axis 1-Axis 8) RATIO: Set the synchronization rate MST_S_POS: Set a position of the main axis to |
| Chapter 7 Function Block |
| 7-49 |
| XPM_GEARIP BASE STAT REQ DONE USINT UINT BOOL BOOL USINT SLOT USINT AXIS REAL RATIO DINT MST_S_POS DINT SLV_S_POS DINT MST_S_DIST UINT CW |
be synchronized SLV_S_POS: Set a position for the minor axis to be synchronized MST_S_DIST: Distance of the major axis to start synchronous rotation CW: Control word(Main Axis) Output DONE: Maintain 1 after initial operation STAT: Output an error code that occurred during the execution of function blocks |
(1) The speed synchronization command is given to the AXIS of a positioning module designated by BASE (the
base number of a positioning module) and SLOT (the slot number of a positioning module).
(2) It is used when controlling the operating speed between two axes by the set rate.
(3) When the speed ratio of the major axis is greater than that of the minor axis, the major axis moves faster
than the minor axis. When the speed ratio of the minor axis is greater than that of the major axis, the minor
axis moves faster than the major axis.
(4) The axis of command execution is set to AXIS and the following values can be set to it: When setting values
other than the setting value, “Error Code 6” occurs.
XGF-PN4B: 1-4 (Axis 1-Axis 4), XGF-PN8B: 1-8 (Axis 1-Axis 8)
(5) The synchronous speed designating synchronous position is set to CW and the following values can be set
to it: XGF-PN4B: 1-4 (Axis 1-Axis 4), XGF-PN8B: 1-8 (Axis 1-Axis 8), 9: Encoder 1, 10: Encoder 2
(6) If the synchronization rate is positive, the minor axis rotates in the direction of the major axis. if it is negative,
it rotates in the opposite direction of the major axis.
(7) Supported versions of the Function Block are as follows:
- XGF-PN4B, XGF-PN8B OS: V1.80 or higher
- XGI OS: V4.10 or higher, XGI OS(high performance): V1.30 or higher
- XG5000: V4.28 or higher
Modification Function Block
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module |
| Chapter 7 Function Block |
7-50
| XPM_POR BOOL BOOL USINT USINT UINT USINT DINT POR_ADDR |
AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 POR_ADDR : Set a new goal position -2,147,483,648 ∼ 2,147,483,647 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Position Override” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for changing the goal position in operation.
(3) If execute position override after pass the position to execute position override, it will stop at the current position
and turn back to the position set on POR_ADDR.
(4) Set the goal position to modify on POR_ADDR.’
(5) Override position set on position override is absolute coordinates.
(6) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Form of Function Block | Description |
| XPM_SOR BOOL BOOL USINT USINT UINT USINT UDINT SOR_SPD |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 SOR_SPD : Set a new operaion speed value Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Speed Override” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for changing the operating speed in operation.
(3) It may be set to “%” or “Speed value (unit/time)” according to “Speed Override” value of common parameter.
(4) If unit of Speed override is %, setting range is from 1 to 65,535. It means 0.01% ~ 655.35%.
(5) If unit of speed override is speed value, the setting range is from 1 to speed limit. The speed limit is the
| Chapter 7 Function Block |
| 7-51 |
value set on “Speed Limit” item of basic parameter and the unit of speed override is the same as unit of axis.
(6) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
7-52
| Form of Function Block | Description |
| XPM_PSO SLOT BOOL BOOL USINT USINT UINT USINT AXIS DINT PSO_ADDR UDINT PSO_SPD |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 PSO_ADDR : The position to change speed -2,147,483,648 ∼ 2,147,483,647 PSO_SPD : Set new speed value Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
(1) Give “Position Assigned Speed Override” command to the axis designated as the axis of positioning module with
BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for changing operating speed in operation after command axis arrive at definite position.
(3) The speed value set on PSO_SPD will be “% Designation” or “Speed value Designation” depending on the value
set on “Speed Override” of common parameter.
(4) If unit of speed value is %, the setting range is from 1 ~ 65,535 and it means 0.01% ~ 655.35%.
(5) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
7-53
| Form of Function Block | Description |
| XPM_PTV BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Position/Speed Switching Control” command to the axis designated as the axis of positioning module with
BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) When the designated axis is in positioning control operation, if it receives position/speed control switching
command, positioning control operation will be changed into speed control operation and continues to operate
until stop command.
(3) Once the command is executed, origin would not be assigned and then operate in speed control.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Form of Function Block | Description |
| XPM_VTP BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Speed/Position Switching Control” command to the axis designated as the axis of positioning module
with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) When the designated axis receives speed/position control switching command in speed control operation,
speed control will be changed to position control and keep operating by the position value at the beginning.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error
code “6” appears.XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
7-54
| Chapter 7 Function Block |
| 7-55 |
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 POS: transfer amount -2,147,483,648 ~ 2,147,483,647 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) Give “Position-specified Speed/Position Switching Control” command to the axis designated as the axis of
positioning module with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) When the designated axis receives speed/position control switching command in speed control operation,
speed control will be changed to position control and moves by transfer amount set in POS.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
7-56
| Form of Function Block | Description |
| XPM_PTT SLOT BOOL BOOL USINT USINT UINT USINT AXIS INT TRQ |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 TRQ: torque value Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
(1) Give “Position/Torque Switching Control” command to the axis designated as the axis of positioning module with
BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) When the designated axis receives position/torque switching control command in position control operation,
position control will be changed to torque control and keep moving until stop command.
(3) The range of Torque value is -32768~32767 and unit is [%]. The allowable range of torque value may vary
according to the connected servo drive. In general, target torque value is limited to the maximum torque setting.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| 7-57 |
| Form of Function Block | Description |
| XPM_SKP BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Skip Operation” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for operating the next step. That is, stop operating of the current step and then start operating
the next step.
(3) Skip a step at once.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Form of Function Block | Description |
| XPM_NMV BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Continuous Operation” command to the axis designated as the axis of positioning module with BASE (Base
no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for command axis to continue to operate the next step without stop.
| Chapter 7 Function Block |
7-58
(3) If this command is executed, the current step no. would be changed to the next step no. and continue to execute
positioning operation at the next step speed to the goal position.
(4) Continuous Operation command only changes the current operation pattern, not changes operation data.
(5) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Form of Function Block | Description |
| XPM_SNS SLOT BOOL BOOL USINT USINT UINT USINT AXIS UINT STEP |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 STEP : Set the operation step no. to operate 1 ~ 400 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
(1) Give “Start Step no. Change” command to the axis designated as the axis of positioning module with BASE (Base
no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for changing the operation step of command axis.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) Set the step no. on STEP. The setting range is 1 ~ 400, if you set the setting value wrongly, “Error11” arises.
| Chapter 7 Function Block |
| 7-59 |
| Form of Function Block | Description |
| XPM_SRS SLOT BOOL BOOL USINT USINT UINT USINT AXIS UINT STEP |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 STEP : Set the repeat step no. to change 1 ~ 400 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
(1) Give “Repeat Step no. Change” command to the axis designated as the axis of positioning module with BASE
(Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for designating the starting step no. of repeat operation and operating from the designated
operation step.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(4) Set the step no. to operate repeatedly on STEP. The setting range is 1 ~ 400, if you set the setting value wrongly,
“Error11” arises.
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 PRS_ADDR : Set the current position value to change. -2,147,483,648 ∼ 2,147,483,647 Output |
| Chapter 7 Function Block |
7-60
XPM_PRS
| REQ | DONE |
| BASE | STAT |
| SLOT | |
| AXIS |
BOOL BOOL
USINT
USINT
UINT
USINT DINT PRS_ADDR
DONE : Maintain 1 after first operating
STAT : Output the error no. in operation
(1) Give “Basic Parameter Setting” command to the axis designated as the axis of positioning module with BASE
(Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for changing the current position to random position. If it is executed in the state of non-origin,
the origin signal would be On and the current position would be set as setting value (PRS_ADDR).
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| 7-61 |
| Form of Function Block | Description |
| XPM_EPRE SLOT BOOL BOOL USINT USINT UINT USINT AXIS BOOL ENC DINT EPRE_VAL |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 ENC : Encoder no. 0: Encoder1 EPRE_VAL : Set the value of encoder preset -2147483648 ~ 2147483647 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
STAT
(1) Give “Encoder Preset” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for changing the current value of encoder to the value set on EPRE_VAL
(3) Set the encoder to preset on ENC.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Form of Function Block | Description |
| Input REQ : Request for execution BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8B:1~8 VEL_FACTOR : Override ratio for speed |
| Chapter 7 Function Block |
7-62
| XPM_SETOVR REQ DONE BASE SLOT STAT BOOL BOOL USINT USINT USINT USINT AXIS DINT VEL_FACOTR UDINT ACC_FACTOR UDINT DEC_FACTOR UINT S-RATIO UINT DIRECTION |
(or Command speed) ACC_FACTOR : Override ratio for acceleration time (or Command acceleration time) DEC_FACTOR : Override ratio for deceleration time (or Command deceleration time) S_RATIO : Unused (S-curve ratio (0= Trapezoid, 1~100: S-curve ratio)) DIRECTION : Operating direction (1 ~ 3: 1-forword, 2-reverse, 3-current) Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
Give “Acceleration/deceleration speed override” command to the axis designated as the axis of positioning
module with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is used when the command axis is in operation and you want to change operation speed,
acceleration, deceleration, direction.
(3) VEL_FACTOR, ACC_FACTOR, DEC_FACTOR is configurable in “speed override” of common parameters, it
can be set “%” or “speed(unit/time)”.
(4) If the unit of the speed override is set the speed percent(%), it means ratio for acceleration time override ratio
and configurable setting area is -65,535 ~ +65,535. It means actually -655.35% ~ 655.35%. If you set a negative
value, it will operate in the opposite direction.
(5) If the unit of the speed override is set the speed value, configurable setting area is -(‘speed limit’ of ‘operation
parameter’) ~ +(‘speed limit’ of ‘operation parameter’). The units of the speed override value follow the axis unit.
(6) If the unit of the acceleration override is set the percent (%),it means ratio for acceleration time override ratio
and configurable setting area is -65,535 ~ +65,535. It means actually -655.35% ~ 655.35%.
(7) If the override value unit of acceleration/ deceleration is a speed value, configurable setting area is
0~ 4,294,967,295.
(8) Operation direction is configurable only for 1(Forward), 2(Reverse), 3(Current)
(9) You can set axis to command in “AXIS” and the following value is available. If you set other values,
error code“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
Error Function blocks
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module |
| Chapter 7 Function Block |
| 7-63 |
XPM_RST
| REQ | DONE |
| BASE | STAT |
SLOT
BOOL BOOL
USINT
USINT
UINT
USINT AXIS
BOOL SEL
AXIS : Axis to command
XGF-PN4B:1~4, XGF-PN8A/B:1~8
SEL : Select axis error/common error
0:axis error
1: common error
Output
DONE : Maintain 1 after first operating
STAT : Output the error no. in operation
(1) Give “Error Reset” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(3) This is for resetting the errors.
(4) Select the kind of error to reset on SEL. If SEL is set to 0, it will reset the errors of the designated axis. And if that
is set to 1, it will reset the errors affecting entire module, not axis error.
| Chapter 7 Function Block |
7-64
| Form of Function Block | Description |
| XPM_HRST BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Error History Reset” command to the axis designated as the axis of positioning module with BASE (Base
no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(3) If errors arise, Max.10 errors are saved on module. This command is for resetting error history.
| Chapter 7 Function Block |
| 7-65 |
Other Function Blocks related with the Module
| Form of Function Block | Description |
| XPM_FLT BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Floating Origin” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) This command is for setting the current position as the origin by compulsion. The address value saved on homing
address will be the current position.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Form of Function Block | Description |
| XPM_MOF BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “M code Release” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) In the case that M code of parameter of each axis is set as “With” of “After”, you may turn the M code off with this
command. That is, M code signal will be OFF, M code no. will be 0.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
7-66
| Chapter 7 Function Block |
| 7-67 |
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 SEL: Latch reset item selection Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) This command is used to initialize the data count and latch position data saved and latched on the positioning
module or the state when latch is completed.
(2) Give “Latch Reset” command to the positioning module with BASE (Base no. of Positioning module) and SLOT
(Slot no. of Positioning module).
(3) The following items are reset according to the Reset Latch items designated to SEL.
0: Reset the state when latch is completed
1: Reset latch position data and the state when latch is completed
(Values high than “1” are processed equally with “1”)
(4) If latch position data are read through the “Read Latch Position Data (XPM_LRD)” command after 1 is set to SEL
and the “Reset Latch” command is executed, all of data become 0.
(5) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
Remark
2 latch modes are supported for XGF-PN4B and XGF-PN8A/B. In case that a single trigger from two latch modes
is set, ensure latch function to perform through the second touch probe 1 signal after the first touch probe 1 signal
is inputted and latched.
That is, in latch single trigger mode, the Reset Latch command will execute a function to activate the next latch
trigger after the touch probe 1 signal is inputted and the latch location is saved.
(Even if the Set Latch command is re-executed after it is set as latch permission, it will work in the same way)
| Chapter 7 Function Block |
7-68
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 ENABLE: Latch enable/disable MODE: Latch mode Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) This command is used to initialize the data count and latch position data saved and latched on the positioning
module or the state when latch is completed.
(2) Give “Latch Set” command to the positioning module with BASE (Base no. of Positioning module) and SLOT (Slot
no. of Positioning module).
(3) Actions according to the Enable/Disable Latch item designated to ENABLE are as following.
0: latch prohibition 1: latch permission
(Values high than “1” are processed equally with “1”)
(4) Actions according to the latch mode item designated to MODE are as following.
0: Single trigger (The current position latch is available only the touch probe 1 signal inputted at first after latch is
enabled)
1: Continuous trigger (The current position latch is available at every touch probe 1 signal after latch is enabled)
(Values high than “1” are processed equally with “1”)
(5) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| 7-69 |
| Function Block type | Content |
| XPM_TPROBE BOOL REQ USINT BASE USINT SLOT USINT AXIS BOOL TRIG_MODE BOOL WIND_ONLY DINT FIRST_POS DINT LAST_POS DONE BOOL STAT UINT USINT TRIG_INPUT |
Input REQ: Request the execution of function blocks BASE: Set the number of a base equipped with a module SLOT: Set the number of a slot equipped with a module AXIS: Designate the axis of command execution XGF-PN4B: 1-4 (Axis 1-Axis 4) XGF-PN8B: 1-8 (Axis 1-Axis 8) TRIG_INPUT: Signal to be used as a trigger 0: Rising Edge of the Touch Probe 1 1: Rising Edge of the Touch Probe 2 2: Falling Edge of the Touch Probe 1 3: Falling Edge of the Touch Probe 2 4: Index (Z) Pulse of the Touch Probe 1 5: Index (Z) Pulse of the Touch Probe 2 TRIG_MODE: Trigger Mode Setting 0: Single trigger 1: Double trigger WIND_MODE: Windowed Mode Setting 0: Inactive 1: Active FIRST_POS: Start position allowing windowed mode -2,147,483,648 ~ 2,147,483,647 LAST_POS: End position allowing windowed mode -2,147,483,648 ~ 2,147,483,647 Output DONE: Maintain 1 after initial operation STAT: Output an error code that occurred during the execution of function blocks |
(1) This is a command used to set up touch probe functions of positioning modules.
(2) Set the rising and falling edges, and half of a touch probe according to TRIG_INPUT set to the AXIS of a
positioning module designated by BASE (the base number of a positioning module) and SLOT (the slot number
of a positioning module). And the command to set a trigger mode is given according to items designated in
TRIG_MODE.
(3) Actions according to the trigger input signal designated in TRIG_INPUT are as follows: When setting values
other than the setting value, “Error Code 756” occurs.
0: Rising Edge of the Touch Probe 1 1: Rising Edge of the Touch Probe 2
2: Falling Edge of the Touch Probe 1 3: Falling Edge of the Touch Probe 2
4: Index (Z) Pulse of the Touch Probe 1 5: Index (Z) Pulse of the Touch Probe 2
Index (Z) pulse, and rising and falling edges of each touch probe can not be run simultaneously.
| Chapter 7 Function Block |
7-70
(4) Actions according to the trigger mode designated in TRIG_MODE are as follows:
0: Single trigger 1: Double trigger
(5) When activating WIND_MODE, a tolerance area to receive a trigger signal of an axis can be set. When a
windowed mode is activated, only a single trigger operates.
(6) The axis of command execution is set to AXIS and the following values can be set to it: When setting values
other than the setting value, “Error Code 6” occurs.
XGF-PN4B: 1-4 (Axis 1-Axis 4), XGF-PN8B: 1-8 (Axis 1-Axis 8)
(7) The commands to set touch probes are ones only for XGF-PN4B and XGF-PN8B.
(8) The Supported versions of the Function Block are as follows:
- XGF-PN4B, XGF-PN8B OS: V1.80 or higher
- XGI OS: V4.10 or higher, XGI OS(high performance): V1.30 or higher
- XG5000: V4.28 or higher
| Function Block type | Content |
| XPM_ABORTT BOOL REQ USINT BASE USINT SLOT USINT AXIS BOOL TRIG_RST DONE BOOL STAT UINT USINT TRIG_INPUT |
Input REQ: Request the execution of function blocks BASE: Set the number of a base equipped with a module SLOT: Set the number of a slot equipped with a module AXIS: Designate the axis of command execution XGF-PN4B: 1-4 (Axis 1-Axis 4) XGF-PN8B: 1-8 (Axis 1-Axis 8) TRIG_INPUT: Signal to abort triggers 0: Rising Edge of the Touch Probe 1 1: Rising Edge of the Touch Probe 2 2: Falling Edge of the Touch Probe 1 3: Falling Edge of the Touch Probe 2 4: Index (Z) Pulse of the Touch Probe 1 5: Index (Z) Pulse of the Touch Probe 2 TRIG_RST: Set to abort triggers 0: Trigger Abortion 1: Trigger Abortion and Reset Position Data Output DONE: Maintain 1 after initial operation STAT: Output an error code that occurred during the execution of function blocks |
(1) This is a command used to abort trigger functions of positioning modules.
(2) Abort waiting triggers in the rising and falling edges, and half of a touch probe according to TRIG_INPUT set
to the AXIS of a positioning module designated by BASE (the base number of a positioning module) and SLOT
(the slot number of a positioning module). And the command to set a trigger reset mode is given according to
items designated in TRIG_RST.
(3) Actions according to the trigger input signal designated in TRIG_INPUT are as follows: When setting
| Chapter 7 Function Block |
7-71
values other than the setting value, “Error Code 756” occurs.
0: Rising Edge of the Touch Probe 1
1: Rising Edge of the Touch Probe 2
2: Falling Edge of the Touch Probe 1
3: Falling Edge of the Touch Probe 2
4: Index (Z) Pulse of the Touch Probe 1
5: Index (Z) Pulse of the Touch Probe 2
(4) Actions according to the trigger abortion mode designated in TRIG_RST are as follows:
0: Trigger Abortion
1: Trigger Abortion and Reset Position Data
(5) The commands to abort triggers are ones only for XGF-PN4B and XGF-PN8B.
(6) The version information that can use the command to abort triggers is as follows:
Other Function Blocks related with the Servo Driver
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) Give “Servo Communication Connect” command to the positioning module with BASE (Base no. of Positioning
module) and SLOT (Slot no. of Positioning module).
(2) If servo driver is connected normally, the bit corresponding to the connected axis among automatic registration
variables will be set.
| Automatic registration variable | Contents | |
| 1-axis | _00yy_A1_RDY | 1-axis ready |
| 2-axis | _00yy_A2_RDY | 2-axis ready |
| 3-axis | _00yy_A3_RDY | 3-axis ready |
| 4-axis | _00yy_A4_RDY | 4-axis ready |
| Chapter 7 Function Block |
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| 5-axis | _00yy_A5_RDY | 5-axis ready |
| 6-axis | _00yy_A6_RDY | 6-axis ready |
| 7-axis | _00yy_A7_RDY | 7-axis ready |
| 8-axis | _00yy_A8_RDY | 8-axis ready |
(* “yy” of _00yy means slot number.)
| Chapter 7 Function Block |
| 7-73 |
| Form of Function Block | Description |
| XPM_DCON BOOL BOOL USINT USINT UINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
(1) Give “Servo Communication Disconnect” command to the positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) If servo driver is disconnected normally, the bit corresponding to the connected axis among automatic
registration variables will be cleared.
| Automatic registration variable | Contents | |
| 1-axis | _00yy_A1_RDY | 1-axis ready |
| 2-axis | _00yy_A2_RDY | 2-axis ready |
| 3-axis | _00yy_A3_RDY | 3-axis ready |
| 4-axis | _00yy_A4_RDY | 4-axis ready |
| 5-axis | _00yy_A5_RDY | 5-axis ready |
| 6-axis | _00yy_A6_RDY | 6-axis ready |
| 7-axis | _00yy_A7_RDY | 7-axis ready |
| 8-axis | _00yy_A8_RDY | 8-axis ready |
(* “yy” of _00yy means slot number.)
| Chapter 7 Function Block |
7-74
| Form of Function Block | Description |
| XPM_SVON BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Servo Ont” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) Give “Servo On” Command to the servo corresponding to the selected axis among the servos connected to the
module.
(3) In order to operate a motor, Servo On signal have to be on.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| 7-75 |
| Form of Function Block | Description |
| XPM_SVOFF BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Servo On” command to the axis designated as the axis of positioning module with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(2) Give “Servo Off” Command to the servo corresponding to the selected axis among the servos connected to the
module.
(3) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
7-76
| Form of Function Block | Description |
| XPM_SRST BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Servo Error Reset” command to the axis designated as the axis of positioning module with BASE (Base
no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Give the command that clears servo driver alarm occurred at the specific axis among servo drivers connected
to the positioning module.
(3) If you reset the servo driver alarm without removing reason, it may not be cleared. So before resetting the servo
driver alarm, remove the reason why alarm occurs.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) There may be servo error which can’t be reset according to error type among EtherCAT servo drivers. So refer
to servo driver manual.
| Chapter 7 Function Block |
| 7-77 |
| Form of Function Block | Description |
| XPM_SHRST BOOL BOOL USINT USINT UINT USINT |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
REQ DONE
BASE
SLOT
STAT
AXIS
(1) Give “Servo Error Reset” command to the axis designated as the axis of positioning module with BASE (Base
no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Give the command that clears servo driver alarm history occurred at the specific axis among servo drivers
connected to the positioning module.
(3) Servo drive can save up to 10 servo alarm history.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) servo error history reset is not supported.
| Chapter 7 Function Block |
7-78
| Form of Function Block | Description |
| XPM_SVIRD REQ DONE BASE SLOT STAT BOOL BOOL USINT USINT UINT SV_IN UDINT USINT AXIS |
Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation SV_IN: Servo input signal information |
(1) Give “Servo External Input Information Read” command to the axis of positioning module designated with BASE
(Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) This is command reading input signal state of the servo driver corresponding to the selected axis among servos
connected to the module
(3) Input signal state is outputted at SV_IN.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
| Chapter 7 Function Block |
| 7-79 |
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 INDEX: Servo parameter object Index SUBINDEX: Servo paramter object subindex LENGTH: Servo parameter object size Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation DATA: Read servo parameter data |
(1) This is the command that reads parameters (CoE object) of the servo driver connected to positioning module.
(2) Give “Servo Parameter Read” command to the axis of positioning module designated with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(3) Save in DATA to read value of LENGTH size at the servo parameter object designated with INDEX, SUBINDEX,
at the axis designated with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) INDEX can be set as follows. If you set wrongly, “Error11” arises at STATE.
| Set value | Description |
| Communication Profile Area | |
| Manufacturer Specific Profile Area | |
| Standardized Device Profile Area |
0x1000 ~
0x1FFF
0x2000 ~
0x5FFF
0x6000 ~
0x9FFF
(6) SUBINDEX can be set as follows. If you set wrongly, “Error11” arises at STATE.
| Set value | Description |
| 0x0 ~ 0xFF | Object Subindex of servo parameter |
(7) LENGTH can be set as follows. If you set wrongly, “Error11” arises at STATE.
| Set value | Description |
| 1 ~ 4 | Object Byte Length of servo parameter |
| Chapter 7 Function Block |
7-80
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 INDEX : Servo parameter object Index SUBINDEX : Servo paramter object subindex LENGTH : Servo parameter object size DATA: Servo parameter value RAM/ROM : how to save parameter 0: save at RAM, 1: save at ROM Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) This is the function block that changes parameters (CoE object) of the servo driver connected to positioning
module
(2) Give “Servo Parameter Write” command to the axis of positioning module designated with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(3) If you want to save at the internal ROM of the servo driver with “Servo parameter write” command, set up 1 at
RAM/ROM and execute the command, or set up 0 at RAM/ROM and execute the command and later save them
at servo driver EEPROM with XPM_SVSAVE command.
(4) Save DATA of LENGTH size at the servo parameter object designated with INDEX, SUBINDEX, at the axis
designated with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(5) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears. XGF-PN4B:1~4, XGF-PN8A/B:1~8
(6) You can set INDEX as follows. If you set wrongly, “Error11” arises
| Setting value | Description |
| 0x2000 ~ 0x5FFF | Manufacturer Specific Profile Area |
| 0x6000 ~ 0x9FFF | Standardized Device Profile Area |
(7) You can set SUBINDEX as follows. If you set wrongly, “Error11” arises
| Setting value | Description |
| 0x0~0xFF | Servo parameter Object Subindex |
(8) You can set SUBINDEX as follows. If you set wrongly, “Error11” arises
| Setting value | Description |
| 1~4 | Servo parameter Object Byte Length |
(9) You can set SUBINDEX as follows.
| Setting value | Teaching method |
| 0 | RAM teaching |
| 1 | ROM teaching |
| Chapter 7 Function Block |
| 7-81 |
| Form of Function Block | Description |
| Input REQ : Request for execution of function block BASE : Set the base no. with module SLOT : Set the slot no. with module AXIS : Axis to command XGF-PN4B:1~4, XGF-PN8A/B:1~8 SAVE_AXIS: Set the axis to save by setting each bit (bit 0~7: 1-axis~8-axis) Output DONE : Maintain 1 after first operating STAT : Output the error no. in operation |
(1) This is the function block that saves parameters of the servo driver connected to positioning module at the
EEPROM of the servo driver.
(2) Give “Servo Parameter Save” command to the axis of positioning module designated with BASE (Base no. of
Positioning module) and SLOT (Slot no. of Positioning module).
(3) This is the function block that save the selected servo parameter of servo drive among connected servo drive to
EEPROM of internal servo drive.
(4) Set up the axis to give a command at AXIS and you can set as follows. If you set wrongly, “Error6” arises.
Command axis is different with the axis for saving servo parameter. If you want to save servo parameter of the
command axis, set the corresponding bit at SAVE_AXIS.
XGF-PN4B:1~4, XGF-PN8A/B:1~8
(5) Set up the servo driver axis at SAVE_AXIS. If you set wrongly, “Erro11” arises
Bit 0 ~ 7 : 1-axis ~ 8-axis
| Chapter 8 Program |
| 8-1 |
Chapter 8 Program
Here describes the basic program that operate positioning module case by using its commands.
8.1 Example of XGK Programming
8.1.1 General description
Here we supposed the positioning module installed at the slot no.3 of the 0 base. In the real usage, you need to
change its value according to your actual set up.
8.1.2 Current State Read
(1) Using XSRD command
(a) Module ready
(b) Axis ready
(c) Position of the module
(d) Command axis
(e) Head address to save current status
| Chapter 8 Program |
| 8-2 |
(a) Module’s ready
After Turn On, if there is no error occurred in Positioning Module, it is “ON,” meaning that modules are ready
to operate.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on. In the example program, since F00099 (Always ON), positioning module ready (Uxx.00.F) and axis ready
(Uxx.00.0 ~ Uxx.00.7) are used, if there is no error in the module, it reads the current status every scan.
(c) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module installed
at the slot no.3.
(d) Axis of operation
Positioning module operate as 4 axes. In this example, number 1 through 4 means axis 1 through axis 4.
(e) Address of first device where those conditions of current axis are saved
This D00000 tells the address of first device which already register from the configuration of sequence program.
For example, in this program above, the condition of axis 1 will be saved from D00000 to D00030. How to
setup a device function would be explained at the “Chapter 6.3.42 Reading Driving Condition.”
(f) Also you can use the bit information from saved data in the device for as a condition of another operation. For
example, in this program above, according to use axis 1 driving signal, you need to setup a data as D00000.0,
and to check error condition of axis 2, you need to configure as D0000.1.
| Chapter 8 Program |
| 8-3 |
(2) Using command Get
(a) The address of Positioning Module.
(b) The first memory address of operating Axis.
You can setup the memory address of condition information case by axis. For example, in this program above,
“h0200” refers that condition information of 3axis. How to setup a memory address by axis would be explained
at “Chapter 5.1.5 Condition Information.”
(c) The first address of device which can save the condition of axis
(d) Number of reading data by WORD
Using command GET to read condition information, can save number of data by WORD, hence you only chosen
data will be saved.
(e) Also you can use the bit information from saved data in the device for as a condition of another operation. For
example, in this program above, according to use axis 1 driving signal, you need to setup a data as D00000.0,
and to check error condition of axis 2, you need to configure as D0000.1.
(a) Position of the module
(d) Number to data to read
(b) Head address of status information
(c) Head address of device to save
current status
| Chapter 8 Program |
| 8-4 |
(3) Latch Position Data Read
(a) Conditions for Latch Position Data Read
Conditions to implement the Latch Position Data Read command (XLRD). Fox Axis 1, the Latch Position
Data Read command is always implement if M00147 is On after the axis is connected with the network.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will
be on. In the example program, latch position data are read if M00147 (Conditions to read latch data) is On
after the axis is connected with the module since Axis 1 ready state (Uxx.00.0) is used.
(c) Latch Completion state
It is the state of “Latch Completion” when an example program of“8.1.2 Read the Current Sate is used. ”It is
on when latch is completed once external latch command signal of the relevant axis is inputted. In case of
Axis 2, the Latch Position Data Read command of Axis 2 is implemented as soon as D00102.6 (Latch
Completion state) is On.
(d) Position of the module
In order to give a command, you have to specify the position of the positioning module to give a command.
In the example, the positioning module is mounted on the slot 3..
(e) Command axis
When giving a command to each axis, you have to specify an axis to give a command. XGF-PN8A/B
supports up to 8 axes, 1~8 in command means 1-axis ~ 8-axis.
(f) Leading address of the device to save Axis’s latch position data
It is the leading address of the device to save the axis’s latch data value read from the positioning module by
using XLRD. This device can be used on sequence programs. For example, Axis 1’s data count of latch
position is saved on D00030 and latch position data 1 ~ 10 are saved on D10032 through D00050 the
example program above. For further information on the saved device, refer to 6.3.56 Latch Position Data
Read command (Command: XLRD).”
(b) Ready for each axis
(a) Condition for read
latch position data
(d) Position of the module
(e) Command axis
(f) Head address of device to
save latch position data
(c) Status of latch completion
| Chapter 8 Program |
| 8-5 |
8.1.3 Operation Ready
(1) Servo driver connection
(a) Condition for servo connection
Condition to execute Servo connection command (XECON)
(b) Position of the module
In order to give a command, you have to specify the position of the positioning module to give a command.
In the example, the positioning module is mounted on the slot 3.
(c) Command axis
When giving a command to each axis, you have to specify an axis to give a command. XGF-PN8A/B
supports up to 8 axes, 1~8 in command means 1-axis ~ 8-axis.
(d) Axis ready
If connection with servo driver is complete, the signal corresponding to each axis will be on. In the example,
we assume that 8 axes are connected to the module. Set the only connected axis according to the system.
If connection is complete and all signals corresponding to each axis is on, it resets servo connection
condition.
(e) If you use Link up/down information as input condition of servo connection command, you can execute
servo connection command only when the network cable is actually connected.
(2) Servo driver disconnection
(a) Condition for servo disconnection
Condition to execute Servo disconnection command (XDCON)
(b) Position of the module
(c) Command axis
When giving a command to each axis, you have to specify an axis to give a command. XGF-PN8A/B
supports up to 8 axes, 1~8 in command means 1-axis ~ 8-axis.
(d) Axis ready
If disconnection with servo driver is complete, the signal corresponding to each axis will be off. In the
example, we assume that 8 axes are connected to the module. Set the only connected axis according to the
system. If connection is complete and all signals corresponding to each axis is off, it resets servo
disconnection condition.
(e) If you use Link up/down information as input condition of servo disconnection command, you can execute
servo disconnection command only when the network cable is actually connected.
(a) Condition for servo connection
| (d) Axis ready |
(b) Position of the module
(c) Command axis
(a) Condition for servo disconnection
(d) Axis ready
(b) Position of the module
(c) Command axis
| Chapter 8 Program |
| 8-6 |
(3) Servo On
(a) Condition for Servo On command
Condition for Servo On command (XSVON)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, the signal corresponding
to the connected axis will be on. In the example, if condition for Servo On command is on, it will give a Servo
On command to the connected axis. You can remove the command of the axis not connected according to
the system.
(c) Position of the positioning module
In the example, we assume that the module is equipped on Base 0, Slot 3.
(d) Command axis
When giving a command to each axis, you have to specify an axis to give a command. XGF-PN8A/B
supports up to 8 axes, 1~8 in command means 1-axis ~ 8-axis.
(e) If Servo On command is executed, the servo driver of each axis will be “Servo On” status.
(a) Condition for Servo On
(b) Axis ready (c) Position of the module
(d) Command axis
| Chapter 8 Program |
| 8-7 |
(4) Servo Off
(a) Condition for Servo Off command
Condition for Servo Off command (XSVOFF)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, the signal corresponding
to the connected axis will be on. In the example, if condition for Servo Off command is on, it will give a Servo
Off command to the connected axis. You can remove the command of the axis not connected according to
the system.
(c) Position of the positioning module
In the example, we assume that the module is equipped on Base 0, Slot 3.
(d) Command axis
When giving a command to each axis, you have to specify an axis to give a command. XGF-PN8A/B
supports up to 8 axes, 1~8 in command means 1-axis ~ 8-axis.
(e) If Servo Off command is executed, the servo driver of each axis will be “Servo Off” status.
(a) Condition for Servo Off
(b) Axis ready
(c) Position of the module
(d) Command axis
| Chapter 8 Program |
| 8-8 |
8.1.4 Operation Test
(1) Floating Origin Setting
Decide origin of current motor’s position without set a machinery origin.
(a) Condition of running a Floating Origin Setting
It only works with XFLT command.
(b) Axis Ready
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
(a) Condition for floating origin setting
(b) Axis Ready
(c) Axis operation status
(d) Axis error status
(e) Servo On signal
(g) Command axis
(f) Position of the module
| Chapter 8 Program |
| 8-9 |
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since floating origin setting command can’t be executed when
the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute
floating origin setting command when axis is not Servo On state, the error 212 occurs.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Floating Origin Setting. XGF-PN8A/B supports for 8 axes. In the “execution of axis”
from the configuration of Floating Origin Setting, you can set a value for axis 1 through 8 axes
| Chapter 8 Program |
| 8-10 |
(2) Jog Operation
(a) Condition for JOG operation
(b) Axis Ready
(c) Operation state
(d) Operation control type
(f) Servo On signal
(e) Error state
(g) Jog Operation Command
| Chapter 8 Program |
| 8-11 |
(a) Condition of Jog Operation
Condition of Jog Operation Command
(b) Axis Ready
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Operating state by axis
Jog Operation can only be working when the state of axis set as Jog Operation. In this example above, specific
axis set as Jog Operation otherwise it is not operating.
(d) State of driving control by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Jog Operating” for each axis.
It turns on when it is operating. Jog Operation configuration can be changed while it is operating.
(e) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(f) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Jog operation” command can’t be executed when the
axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute “Jog
operation” command when axis is not Servo On state, the error 413 occurs.
(g) Jog Operation Command for each axis
Jog Operation works by setting or clearing directly its considered bit from U device not by a command. In this
example above, look at the axis 1, once Jog Operation conditions are satisfied, clockwise jog bit becomes ”On,’
count clockwise jog bit becomes “Off’,” and jog speed bit becomes “On.” Everything together Jog Operation
works clock wisely with high speed. Reference for detail information about Bit of U device is from “Chapter 5.2.1.”
The value of U device renewed from Scan End of sequence program.
| Chapter 8 Program |
| 8-12 |
(3) Inching Operation
(a) Condition of Inching Operation
Condition of Inching Operation Command (XINCH)
(b) Axis Ready
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Inching Operating” for each
axis. It turns on when it is operating. Inching Operation can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Inching Operation while it is running,
the “error 401” would be appeared.
Moves 1-axis as many as D01000
Moves 2-axis as many as D01002
Moves 3-axis as many as D01004
Moves 4-axis as many as D01006
Moves 5-axis as many as D01008
Moves 6-axis as many as D01010
Moves 7-axis as many as D01012
Moves 8-axis as many as D01014
(a) Condition for inching operation
(b) Axis ready
(c) Operation state
(d) Error state
(e) Servo On signal
(h) Inching moving amount
(f) Position of the module
(g) Command axis
| Chapter 8 Program |
| 8-13 |
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis. When
each axis is Servo On state, it will be on. Since “Inching operation” command can’t be executed when the axis
is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute “Inching
operation” command when axis is not Servo On state, the error 403 occurs.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Inching Operation. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Inching Operation, you can set a value for axis 1 through 8 axes.
(h) Amount of Inching Operation Movement
Measure the amount of moving range by Inching Operation.
(i) Reference for Inching Operation is from “Chapter 9.3.2.”
| Chapter 8 Program |
| 8-14 |
(4) Return to the position before Manual Operation
(a) Condition of Return to the position before Manual Operation
Condition of Return to the position before Manual Operation Command (XRTP)
(b) Axis Ready
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each
axis. It turns on when it is operating. Inching Operation can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Manual Operation while it is running,
the “error 431” would be appeared.
1-axis returns to the position before
Manual Operation
2-axis returns to the position before
Manual Operation
3-axis returns to the position before
Manual Operation
4-axis returns to the position before
Manual Operation
5-axis returns to the position before
Manual Operation
6-axis returns to the position before
Manual Operation
7-axis returns to the position before
Manual Operation
8-axis returns to the position before
Manual Operation
(a) Condition for retuning to the position
before manual operation
(b) Axis Ready
(c) Operation state
(d) Error state
(e) Servo On signal
(g) Command axis
(f) Position of the module
| Chapter 8 Program |
| 8-15 |
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis. When
each axis is Servo On state, it will be on. Since “Return to the manual operation” command can’t be executed
when the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute
“Return to the manual operation” command when axis is not Servo On state, the error 434 occurs.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Manual Operation. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Manual Operation, you can set a value for axis 1 through 8 axes.
(h) When manual operation is running, the other operations are going back to its original position such as Jog
Operation and Inching Operation. Reference for Manual Operation is from “Chapter 9.3.2.”
| Chapter 8 Program |
| 8-16 |
8.1.5 Parameter and Operation Data Setting
(1) Parameter Setting
Sets acc. Time of 1-axis basic
parameter as 1000ms with RAM
setting
Sets In-position width of 2-axis
extended parameter as 500 with
RAM setting
Sets dec. time of 3-axis basic
parameter as 100ms with RAM
setting
Sets D1723 item of 4-axis manual
operation parameter as D1706 value
with RAM setting
Sets encoder1 input mode of
common parameter as PULSE/DIR
X2 with ROM setting
Sets acc./dec. pattern of 6-axis
extended parameter as D01716 with
ROM setting
Sets speed command unit of 7-axis
basic parameter as rpm with ROM
setting
Sets JOG acc. Time of 8-axis manual
operation parameter as 2000ms with
ROM setting
(a) Condition for parameter setting
(b) Axis ready state
(c) Operation state
(e) Position of the module
(d) Error state
(h) Parameter item to change
(f) Command axis
(g) Parameter value to change
(i) ROM/RAM setting
| Chapter 8 Program |
| 8-17 |
(a) Condition of Parameter Setting Command
Condition of Parameter Setting Command (XSEP, XSHP, XSMP, XSES, XSCP)
(b) Axis ready state
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Except common parameter setting, parameter setting can not be configured while
it is running hence configuration will only be configured when it is not running. If you execute Parameter Setting
while it is running, the “error 471” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis 1 through 8 axes.
(g) Value of Changing Parameter
You can set a value of changing parameter. For more information about Parameter Value Changing look for
“Chapter 6. Command.” In case of setting I/O parameter, the value would be parameter value itself.
(h) List of Changing Parameter
You need to set a list for parameter (f) changing from set command. Once operating is working, this value will
change to parameter (f). For more information of list of changing parameter look for “Chapter 6. Command.” In
case of setting I/O parameter, the value would be parameter value itself. Therefore changing of list would not
be necessary.
(i) ROM/RAM Setting
This function sets whether you save value of changing parameter to Rom or Ram. If you choose Rom the data
will be saved regardless of power and if you save in the ram the data will be vanished when powers off. This
parameter sets as 1 means Rom saved, and sets as 0 means Ram saved. There is no limitation of saving
parameters in the Rom since parameter of Positioning Module saved in the FRAM.
| Chapter 8 Program |
| 8-18 |
(2) Operating Data Setting
(a) Condition of Operating Data Command
Condition of Operating Data Command (XSMD)
(b) Axis ready state
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. Operation data setting command is available to be
executed when the axis is operating. However, if operation data of the step that is currently operated are
changed, those changes are reflected after the current step is completed.
Sets target position of 1-axis,
operation data no.2 step as 10000
with RAM setting
Sets target position of 2-axis,
operation data no.10 step as 5000
with RAM setting
Sets dwell time of 3-axis, operation
data no.11 step as 100ms with RAM
setting
Sets coordinate of 4-axis, operation
data no.12 step as absolute
coordinate with RAM setting
Sets D01824 item of 5-axis,
operation data no.D01834 step as
D1808 with ROM setting
Sets D01825 item of 6-axis,
operation data no.D01835 step as
D1810 with ROM setting
Sets operation pattern of 7-axis,
operation data no.100 step as
“Keep” with ROM setting
Sets acc. time of 8-axis, operation
data no. 200 step as “acc. Time 4”
with ROM setting
(a) Condition for operation data setting
(b) Axis ready state
(c) Operation state
(d) Error state
(e) Position of the module
(f) Command axis
(g) Operation data value to change
(h) Operation data item to change
(i) Operation data step to change
(j) ROM/RAM setting
| Chapter 8 Program |
| 8-19 |
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Operating Data Setting. XGF-PN8A/B supports for 8 axes. In the “execution of axis”
from the configuration of Operating Data Setting, you can set a value for axis 1 through 8 axes.
(g) Value of Changing Parameter
You can set a value of changing parameter.
(h) List of Changing Parameter
You need to set a list for parameter (f) changing from set command. Once operating is working, this value will
change to parameter (f). Each value of Operating Data is listed below. For example if you put 1000 for value of
Changing Operating Data and 4 for Operating data then the value of Dwell is going to be set as 1000ms.
| Setting Value | Items |
| 1 | Goal Position |
| 2 | Circular interpolation auxiliary position |
| 3 | Operating speed |
| 4 | Dwell Time |
| 5 | M code No. |
| 6 | Auxiliary axis setting |
| 7 | Helical interpolation axis |
| 8 | The number of circular interpolation turn |
| 9 | Coordinates |
| 10 | Control method |
| 11 | Operating method |
| 12 | Operting pattern |
| 13 | Size of Circular arc |
| 14 | Acc. No. |
| 15 | Dec. No. |
| 16 | Circular interpolation method |
| 17 | Circular interpolation direction |
(i) Changing Operating Data Step
You can configure the changing operating data step number by using the operating data step command. XGFPN8A/B supports 400 steps for each axis. This value supports from number 0 to 400. The numbers are
considered as a step meaning number 1~400 are same as 1~400 steps. When you set this value as 0 means
that you will stay put with current value.
(j) ROM/RAM Setting
This function sets whether you save value of changing parameter to Rom or Ram. If you choose Rom the data
will be saved regardless of power and if you save in the ram the data will be vanished when powers off. This
parameter sets as 1 means Rom saved, and sets as 0 means Ram saved. There is no limitation of saving
parameters in the Rom since parameter of Positioning Module saved in the FRAM.
| Chapter 8 Program |
| 8-20 |
(3) Operation Data Multiple Teaching
1-axis writing teaching data
2-axis writing teaching data
3-axis writing teaching data
4-axis writing teaching data
5-axis writing teaching data
6-axis writing teaching data
7-axis writing teaching data
8-axis writing teaching data
1-axis no.13~22 step’s position value
RAM teaching
2-axis no.21~36 step’s speed value
ROM teaching
3-axis no.100115 step’s position
value RAM teaching
4-axis no.200~215 step’s position
value ROM teaching
5-axis operation data D02242 item
D02241 teaching as many as
D02243 starting from D02240 step
7-axis position value D02261
teaching as many as D02263
starting from D02260 step
6-axis 15 operation data speed value
ROM teaching starting from D02250
step
8-axis 7 operation data D02272 item
RAM teaching starting from D02270
step
(a) Condition for multiple teaching
(b) Axis ready state
(g) Head address of the device where
multiple teaching data is saved
(h) No. of teaching data to save
(e) Position of the module (f) Command axis
| (c) Operation state (d) Error state |
(j) Teaching method (i) Head number of the step for teaching |
(i) No. of data for teaching
(k) Teaching item
| Chapter 8 Program |
| 8-21 |
(a) Condition of Teaching Array
Condition Teaching Array Command (XTWR, XTEAA)
(b) Axis ready state
If communication between the positioning module and the servo driver is normal, the signal corresponding
to each axis will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Teaching Array can not be configured while it is running hence configuration will
only be configured when it is not running. Even though teaching array can be performed even when the axis
subject to teaching is being operated but, only the current step’s data is reflected after the current step operation
is completed if the step that is currently running is within the step area while other steps’ data are immediately
changed.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Teaching Array. XGF-PN8A/B series supports for 8 axes. In the “execution of axis” from
the configuration of Teaching Array, you can set a value for axis 1 through 8 axes.
(g) Address of first device where those data for Teaching Array are saved
To execute a Teaching Array, you need to set a specific value first. TWR commands are using for set up those
Teaching Array data. It has to be done before actual Teaching Array operation. Teaching Data will be set up
depends on number of first device as below table.
| No. | Device No. | Teaching array data |
| 1 | Device + 0 | Teaching array data1 |
| 2 | Device + 2 | Teaching array data2 |
| 3 | Device + 4 | Teaching array data3 |
| 4 | Device + 6 | Teaching array data4 |
| 5 | Device + 8 | Teaching array data5 |
| 6 | Device + 10 | Teaching array data6 |
| 7 | Device + 12 | Teaching array data7 |
| 8 | Device + 14 | Teaching array data8 |
| 9 | Device + 16 | Teaching array data9 |
| 10 | Device + 18 | Teaching array data10 |
| 11 | Device + 20 | Teaching array data11 |
| 12 | Device + 22 | Teaching array data12 |
| 13 | Device + 24 | Teaching array data13 |
| 14 | Device + 26 | Teaching array data14 |
| 15 | Device + 28 | Teaching array data15 |
| 16 | Device + 30 | Teaching array data16 |
(h) Amount of Saving Teaching data
Decide how many data will be saved by using XTWR command. Maximum 16 data can be saved. In this example
above, 10 Teaching data saved in the axis 1. Therefore those Teaching data from D01800~D01818 saved in
the module.
(i) First number of Teaching Step
You can setup the first number of Teaching Step among the Operating Data step. In this example above,
Teaching Array of axis 1 will be operate from 22th step, which is 10th step away from 13th step, hence it will be
operate between 13th step and 22th step.
(j) Teaching Method
This function sets whether you save value of changed Teaching data to Rom or Ram. If you choose Rom the
data will be saved regardless of power and if you save in the ram the data will be vanished when powers off.
This parameter sets as 1 means Rom saved, and sets as 0 means Ram saved. There is no limitation of saving
parameters in the Rom since parameter of Positioning Module saved in the FRAM.
(k) List of Teaching
| Chapter 8 Program |
| 8-22 |
You can set a data with Teaching Method among the Operating Data. Both “Goal Position” and “Operating
Speed” can be changed by Teaching Array. When its value set “0” means set a Goal Position and “1” means
set an Operating Speed.
(l) Amount of Teaching Method
Decide how many steps will be operated using by Teaching Method. Maximum 16 Teaching Array data can be
used. For more information about Teaching Array Operation, look for reference from “Chapter 9.7.1”
(m) This example above can also be operated, using command PUT from XTWR as below.
For more information about each saving Teaching Data, look for reference from “Chapter 5.1.2.” When you
are using a command “PUT,” you need to setup a type of data as a “WORD” not a “DINT” considered its size.
(a) Condition for writing teaching data
(b) Axis ready state
(c) Position of the module
(f) No. of Words to write
(d) Head address of teaching data area
of the command axis
(e) Head address of the device where
teaching data is saved
| Chapter 8 Program |
| 8-23 |
(4) Saving Current Data
(a) Condition of Saving Current Data
Condition of Saving Current Data Command (XWRT). When current saving data operated, those values of
module parameter and operating data would be saved in FRAM. Therefore configuration of Ram or Ram
Teaching would be constantly saved whether power is on or not.
(b) Axis ready state
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Emergency Stop by each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “State of Emergency Stop”
for each axis. It turns on when it is Emergency Stop. Emergency Stop can not be configured while it is running
hence configuration will only be configured when it is not running.
(d) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
1-axis saving current data
2-axis saving current data
4-axis saving current data
3-axis saving current data
5-axis saving current data
6-axis saving current data
8-axis saving current data
7-axis saving current data
(a) Condition for saving current data
(b) Axis ready state
(c) Emg. Stop state (d) Position of the module
(e) Command axis
(f) Axis to save
| Chapter 8 Program |
| 8-24 |
(e) Axis of command execution
You can set an axis for Saving Current Data. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from
the configuration of Saving Current Data, you can set a value for axis 1 through 8 axes.
(f) Saving by axes
Configure current data operation setting. Choosing axes are configured follow by below table. Therefore even if
those axis are not operated as it programmed, saving axis can be saved in Array. The data of operated axis
saved in FRAM, which make constantly stable whether its power is on or not.
| 15 ~ 8 Bit | 7Bit | 6Bit | 5Bit | 4Bit | 3Bit | 2Bit | 1Bit | 0Bit |
| N/A | 8-axis | 7-axis | 6-axis | 5-axis | 4-axis | 3-axis | 2-axis | 1-axis |
| Chapter 8 Program |
| 8-25 |
8.1.6 Positioning Operation
(1) Homing
(a) Condition of Homing
Condition of Homing Command (XORG)
(b) Axis ready state
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Homing command can not be configured while it is running hence configuration
will only be configured when it is not running. If you execute Homing while it is running, the “error 201” would be
appeared.
(d) Error state for each axis
1-Axis Home Return start
2-Axis Home Return start
3-Axis Home Return start
4-Axis Home Return start
5-Axis Home Return start
6-Axis Home Return start
7-Axis Home Return start
8-Axis Home Return start
(a) Condition for homing (d) Error state
(e) Servo On signal
(g) Command axis
(b) Axis ready state
(c) Operation state (f) Position of the module
| Chapter 8 Program |
| 8-26 |
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis. When
each axis is Servo On state, it will be on. Since “Homing” command can’t be executed when the axis is not servo
on, it makes command executed when servo driver is “Servo On” state. If you execute “Homing” command when
axis is not Servo On state, the error 203 occurs.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Homming Operation. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from
the configuration of Homming Operation, you can set a value for axis 1 through 8 axes.
(h) For more information, reference for Homing is in the “Chapter 9.1.”
| Chapter 8 Program |
| 8-27 |
(2) Direct Start
1-axis, target position D01100, target speed D01200,
dwell time 0, M code 0, absolute coordinate, acc. time
1, dec. time 1, position control
2-axis, target position D01102, target speed D01202,
dwell time 0, M code 0, incremental coordinate, acc.
time 2, dec. time 2, speed control
3-axis, target position D01104, target speed D01204,
dwell time 0, M code 0, absolute coordinate, acc. time
3, dec. time 3, Feed control
5-axis, target position D01108, target speed D01208,
dwell time 500ms, M code 10, incremental coordinate,
acc. time 1, dec. time 1, speed control
4-axis, target position D01106, target speed D01206,
dwell time 0, M code 123, incremental coordinate, acc.
time 4, dec. time 4, position control
6-axis, target position D01110, target speed D01210,
dwell time 0, M code 0, absolute coordinate, acc. time
1, dec. time 4, position control
7-axis, target position D01112, target speed D01212,
dwell time 0, M code 0, incremental coordinate, acc.
time 4, dec. time 1, speed control
8-axis, target position D01114, target speed D01214,
dwell time 0, M code 0, incremental coordinate, acc.
time 2, dec. time 3, Feed control
(a) Condition for direct start
(b) Axis ready state
(c) Operation state
(d) Error state
(e) Servo On signal
(f) Position of the module
(g) Command axis
(h) Direct start target position
(i) Direct start target speed (j) Direct start dwell time
(k) Direct start M code
(l) Direct start control word
| Chapter 8 Program |
| 8-28 |
(a) Condition of Direct Start
Condition of Direct Start Command (XDST)
(b) Axis ready state
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Direct Start command can not be configured while it is running hence configuration
will only be configured when it is not running. If you execute Direct Start while it is running, the “error 221” would
be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis. When
each axis is Servo On state, it will be on. Since “Direct start” command can’t be executed when the axis is not
servo on, it makes command executed when servo driver is “Servo On” state. If you execute “Direct start”
command when axis is not Servo On state, the error 225 occurs
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Direct Start. XGF-PN8A/B series supports for 8 axes. In the “execution of axis” from the
configuration of Direct Start, you can set a value for axis 1 through 8 axes.
(h) Goal of Direct Start
Decide changing position of Direct Start command. In this example above, the initialized value is “device,” but
you can also change it with “real numbers,” which data type is “DINT.”
(i) Speed of Direct Start
Decide goal speed of Direct Start. In this example above, the initialized value is “device,” but you can also
change it with “real numbers,” which data type is “UDINT.”
(j) Dwell Time of Direct Start
Dwell Time consider as a total amount of time from beginning of Direct Start operation that reach to the goal
position and make output of Positioning Done Signal. That means after done its operation, direct Start will make
a Positioning done signal. Its unit is “ms,” and type is “UINT”
(k) Direct Start M code
You can set a value of M code which are displaying of Operating Parameter by Direct Start. The way of M code
outputs are “Parameter Expansion, M code Mode,” within the “None, With, After.” It will make an M code
besides you choose “None” for its parameter. For more information, reference for M code is in the “Chapter
4.2.2”
(l) Direct Start Control Word
These are list of setting values in a form of Word by Bit for Direct Start. The details of Bits are in the table below.
| 15 ~ 12 | 11 ~ 10 | 9 ~ 8 | 7 ~ 5 | 4 | 3 ~ 2 | 1 ~ 0 |
| - | Dec. Time | Acc. Time | - | 0:Absolute 1: Incremental |
- | 0:Position control 1:Speed control 2:Feed control 3: Shortest position control |
| Chapter 8 Program |
| 8-29 |
(3) Indirect Start
(a) Condition of Indirect Start
Condition of Indirect Start Command (XIST)
(b) Axis ready state
If communication between the positioning module and the servo driver is normal, the signal corresponding to
each axis will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Indirect Start while it is running, the
“error 231” would be appeared.
2-axis D01301 step indirect start
1-axis D01300 step indirect start
3-axis D01302 step indirect start
4-axis D01303 step indirect start
5-axis current step indirect start
6-axis no. 10 step indirect start
7-axis no. 100 step indirect start
8-axis no. 200 step indirect start
(a) Condition for indirect start
(h) Step number to be executed by
indirect start
(g) Command axis
(c) Operation state
(d) Error state
(b) Axis ready state
(e) Servo On signal
(f) Position of the module
| Chapter 8 Program |
| 8-30 |
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis. When
each axis is Servo On state, it will be on. Since “Indirect start” command can’t be executed when the axis is not
servo on, it makes command executed when servo driver is “Servo On” state. If you execute “Indirect start”
command when axis is not Servo On state, the error 235 occurs.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Indirect Start. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Indirect Start, you can set a value for axis 1 through 8 axes.
(h) Operating step number by Indirect Start
Set the operating step number by indirect start for main command axis.
(i) Indirect start operates by appointing step of position data for each axis. Therefore it could run those commands
of Positioning control, Speed control, Feed control, Linear circular interpolation depends on setting of positioning
data. For more information, reference for Setting of Operating Data is in the “Chapter4.7.”
| Chapter 8 Program |
| 8-31 |
(4) Ellipse Interpolation
(a) Condition of Ellipse Interpolation
Condition of Ellipse Interpolation Command (XELIN)
(b) Operating state by axis
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on. Since ellipse interpolation operates two axes, main axis and sub axis have to be ready status.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(d) Ready signal for each axes
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis.
This command only works when the condition of Drive Ready is on. If a Drive Ready of main axis is not set as
“ON,” the “error 549” would be appeared and If a Drive Ready of subordinate axis is not set as “ON,” the “error
550” would be appeared and
1-axis, 2-axis step 1300, 50%, 360
degree ellipse interpolation
3-axis, 4-axis step 1302, 150%, 90
degree ellipse interpolation
5-axis, 6-axis step 21, 200%, 187.5
degree ellipse interpolation
7-axis, 8-axis step 23, 71.2%, 271
degree ellipse interpolation
(a) Condition for ellipse interpolation (f) Position of the module
(g) Command axis
(h) Step number to be executed by
ellipse interpolation
(j) Ellipse interpolation operation angle
(j) Ration of ellipse interpolation axes
(b) Axis ready state
(c) Operation state
(d) Error state
(e) Servo On signal
| Chapter 8 Program |
| 8-32 |
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis. When
each axis is Servo On state, it will be on. Since “Indirect start” command can’t be executed when the axis is not
servo on, it makes command executed when servo driver is “Servo On” state. If you execute “Indirect start”
command when axis is not Servo On state, the error 235 occurs.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Ellipse Interpolation. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from
the configuration of Ellipse Interpolation, you can set a value for axis 1 through 8 axes.
(h) Operating step number by Ellipse Interpolation
Set the operating step number by Ellipse Interpolation. The setting of main operating step and subordinate step
is the same.
(i) Ratio of Ellipse Interpolation Axis
Set both ratio values for main and subordinate axis of set operates data from circular interpolation locus. It is to
change circular locus into ellipse locus by using ratio of main and subordinate axis.
(j) Degree of Ellipse Interpolating Operation
Set the degree for Ellipse Interpolating Operation. Unit is [X10-1 degree]. For more information, reference for
Ellipse Interpolation is in the “Chapter9.213.”
(5) Simultaneous Start
(a) Condition of Simultaneous Start
Condition of Simultaneous Start Command
(b) Axis ready state for each axis
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on. Since simultaneous start operates more than two axes simultaneously, all axes to operate have to be
ready status.
(c) Address of first device where those step numbers for Simultaneous Start of each axis are saved
To execute a Simultaneous Start, set data steps for each axis. XSWR commands are using for set up those step
data for Simultaneous Start. It has to be done before actual Simultaneous Start operation. Simultaneous Start will
be set up depends on number of first device as below table.
(b) Axis ready state
(a) Condition for simultaneous start
(e) Servo On signal
(d) Operation state
(f) Position of the module
(g) Command axis
(h) Axes for simultaneous start
(e) Servo On signal
(d) Operation state
(c) Head device where simultaneous
start step number is saved
| Chapter 8 Program |
| 8-33 |
| Value | Device No. | Teaching Array Data |
| 1 | Device + 0 | Axis1 Simultaneous Start Step |
| 2 | Device + 1 | Axis2 Simultaneous Start Step |
| 3 | Device + 2 | Axis3 Simultaneous Start Step |
| 4 | Device + 3 | Axis4 Simultaneous Start Step |
| 5 | Device + 4 | Axis5 Simultaneous Start Step |
| 6 | Device + 5 | Axis6 Simultaneous Start Step |
| 7 | Device + 6 | Axis7 Simultaneous Start Step |
| 8 | Device + 7 | Axis8 Simultaneous Start Step |
(d) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence configuration
will only be configured when it is not running. If you execute Axis1 Synchronous Start while it is running, the “error
291” would be appeared.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis. When
each axis is Servo On state, it will be on. Since “Simultaneous start” command can’t be executed when the axis
is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute “Simultaneous
start” command when axis is not Servo On state, the error 295 occurs.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Simultaneous Start. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Simultaneous Start, you can set a value for axis 1 through 8 axes.
(h) Axis for Simultaneous Start
Set axis for Simultaneous Start. The axis for Simultaneous Start uses a “bit” from WORD Data setting as a “1” for
each axis. Axis for each bits are as below.
| 15 ~ 8 Bit | 7Bit | 6Bit | 5Bit | 4Bit | 3Bit | 2Bit | 1Bit | 0Bit |
| Not use | Axis8 | Axis7 | Axis6 | Axis5 | Axis4 | Axis3 | Axis2 | Axis1 |
In the example program, since it is set as “hFF”, it operates axis1~axis8, all axes simultaneously.
(i) In this program above, you can use command “PUT” instead of XSWR.
(j) Setting a memory address for each axis of Simultaneous Start step number, look up reference for Simultaneous
Start is in the “Chapter5.1.3.”
(a) Condition for simultaneous start
(b) Axis ready status
(b) Head device where simultaneous
start step number is saved
(c) Simultaneous start step head
memory address of command axis
(e) No. of data word to write
Writing simultaneous
start step
| Chapter 8 Program |
| 8-34 |
(6) Point Operation
1-axis writing point
operation step
2-axis writing point
operation step
3-axis writing point
operation step
4-axis writing point
operation step
5-axis writing point
operation step
6-axis writing point
operation step
7-axis writing point
operation step
8-axis writing point
operation step
1-axis point operation start
2-axis point operation start
3-axis point operation start
4-axis point operation start
5-axis point operation start
6-axis point operation start
7-axis point operation start
8-axis point operation start
(a) Condition for point operation-related
command
(h) Head device where point operation
step number is saved
(i) No. of point operation step to save
(f) Position of the module
(g) Command axis
(f) Position of the module
(c) Operation status
(d) Error status
(e) Servo On signal
(j) No. of point operation step to operate
| Chapter 8 Program |
| 8-35 |
(a) Condition of Point Operation
Condition of Point Operation Command (XPST) Point Operation Step Writing (XPWR)
XPWR has to be done before execute the Point Operation.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Point operation start command can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Point Operation while it is running,
the “error 231” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Point operation start” command can’t be executed
when the axis is not servo on, it makes command executed when servo driver is “Servo On” state.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Point Operation. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Point Operation, you can set a value for axis 1 through 8 axes.
(h) Address of first device where those data for Step Numbers of Point Operation are saved
To execute a Point Operation, you need to set a specific value first. XPWR commands are using for set up those
Point Operation steps. It has to be done before actual Point Operation. Point Operation Step Data will be set up
depends on number of first device as below table.
| Value | Device No. | Point start step data |
| 1 | Device + 0 | Point start step data 1 |
| 2 | Device + 1 | Point start step data 2 |
| 3 | Device + 2 | Point start step data 3 |
| 4 | Device + 3 | Point start step data 4 |
| 5 | Device + 4 | Point start step data 5 |
| 6 | Device + 5 | Point start step data 6 |
| 7 | Device + 6 | Point start step data 7 |
| 8 | Device + 7 | Point start step data 8 |
| 9 | Device + 8 | Point start step data 9 |
| 10 | Device + 9 | Point start step data 10 |
| 11 | Device + 10 | Point start step data 11 |
| 12 | Device + 11 | Point start step data 12 |
| 13 | Device + 12 | Point start step data 13 |
| 14 | Device + 13 | Point start step data 14 |
| 15 | Device + 14 | Point start step data 15 |
| 16 | Device + 15 | Point start step data16 |
| 17 | Device + 16 | Point start step data17 |
| 18 | Device + 17 | Point start step data18 |
| 19 | Device + 18 | Point start step data19 |
| 20 | Device + 19 | Point start step data20 |
(i) Amount of Saving Point Operation Steps
Decide how many data will be saved by using XTWR command. In this example above, 10 Point Operation
steps are saved in the axis 1. Therefore those Step data from D01450~D01459 are saved in the module.
(j) Number of Operation amount by Point Operation
Set the number of saving Step numbers by Point Operating Writing command. For more information, reference
for Setting of Point Operation is in the “Chapter 9.2.18.”
| Chapter 8 Program |
| 8-36 |
(k) In this program above, you can use command “PUT” instead of XPWR.
Setting a memory address for each axis of Point Operation step number, look up reference for Point Operation is in
the “Chapter5.1.1.”
(a) Condition for writing point operation step
(b) Axis ready status (c) Position of the module (f) No. of words to write
(d) Point operation step head
memory address of command
| axis | (e) Head device where point operation step is saved |
8-axis writing point
operation step
7-axis writing point
operation step
6-axis writing point
operation step
5-axis writing point
operation step
4-axis writing point
operation step
3-axis writing point
operation step
2-axis writing point
operation step
1-axis writing point
operation step
| Chapter 8 Program |
| 8-37 |
(7) Speed Synchronization
(a) Condition of Speed Synchronization
Condition of Speed Synchronization Command (XSSS)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Speed Synchronization while it is
running, the “error 351” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Speed synchronization” command can’t be executed
when the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you
execute this command when it is not “Servo On” state, number 354 error will appears
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Speed Synchronization. XGF-PN8A/B supports for 8 axes. In the “execution of axis”
from the configuration of Speed Synchronization, you can set a value for axis 1 through 8 axes.
(h) Ratio of Main Axis
Set value for Ratio of Main Axis to execute a Speed Synchronization.
(a) Condition for speed synchronization
(e) Servo On signal
(b) Axis ready state
(c) Operation state
(d) Error state
(f) Position of the module
(g) Command axis
(h) Main axis ratio
(l) Sub axis ratio
(j) main axis setting
1-axis speed
synchronization command,
axis2 as main axis, main
axis ratio: sub axis
ratio=2:1 3-axis speed
synchronization command,
axis2 as main axis, main
axis ratio: sub axis
ratio=1:2
5-axis speed
synchronization command,
axis6 as main axis, main
axis ratio: sub axis
ratio=D02510:D02511
7-axis speed
synchronization command,
encoder1 as main axis,
main axis ratio: sub axis
ratio=2:3
8-axis speed
synchronization command,
encoder2 as main axis,
main axis ratio: sub axis
ratio=3:1
| Chapter 8 Program |
| 8-38 |
(i) Ratio of Subordinate Axis
Set value for Ratio of Subordinate Axis to execute a Speed Synchronization. In this example above, the ratio of
main and subordinate axis is 2:1. Meaning that operational speed ratio of those axes is 2 to 1. So, if main axis
is operating in speed of 10000, subordinate axis will be operating in speed of 5000.
(j) Main Axis Setting
Setting of main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization.
This setting cannot be set as same value as command axis, and possible setting values are as below.
| Setting value | Main Axis |
| 1 | Axis1 |
| 2 | Axis2 |
| 3 | Axis3 |
| 4 | Axis4 |
| 5 | Axis5 |
| 6 | Axis6 |
| 7 | Axis7 |
| 8 | Axis8 |
| 9 | Encoder1 |
| 10 | Encoder2 |
(k) For more information, reference for Speed Synchronization is in the “Chapter 9.4.1.”
(8) Position Assign Speed Synchronization
(a) Condition of Position Assign Speed Synchronization
Condition of Position Assign Speed Synchronization Command (XSSSP)
(a) Condition for position assign speed
synchronization
(e) Servo On signal
(b) Axis ready state
(c) Operation state
(d) Error state
(g) Command axis
(f) Position of the module
(k) Target position
(h) Main axis ratio
(i) Sub axis ratio
(j) Main axis setting
1-axis position assign
speed synchronization
command, 2-axis as main
axis, main axis ratio: sub
axis ratio=2:1, target
position 100000
3-axis position assign
speed synchronization
command, 2-axis as main
axis, main axis ratio: sub
axis ratio=1:2, target
position 200000
5-axis position assign
speed synchronization
command, 6-axis as main
axis, main axis ratio: sub
axis ratio=D02510:D02511,
target position D01106
7-axis position assign
speed synchronization
command, encoder1 as
main axis, main axis ratio:
sub axis ratio=1:2, target
position 100
8-axis position assign
speed synchronization
command, encoder2 as
main axis, main axis ratio:
sub axis ratio=3:1, target
position 3000
| Chapter 8 Program |
| 8-39 |
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured if it is not running. If you execute Position Assign Speed Synchronization
while it is running, the “error 351” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Speed synchronization” command can’t be executed
when the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you
execute this command when it is not “Servo On” state, number 354 error will appears
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Position Assign Speed Synchronization. XGF-PN8A/B supports for 8 axes. In the
“execution of axis” from the configuration of Position Assign Speed Synchronization, you can set a value for axis
1 through 8 axes.
(h) Ratio of Main Axis
Set value for Ratio of Main Axis to execute a Speed Synchronization.
(i) Ratio of Subordinate Axis
Set value for Ratio of Subordinate Axis to execute a Speed Synchronization. In this example above, the ratio of
main and subordinate axis is 2:1. Meaning that operational speed ratio of those axes is 2 to 1. So, if main axis
is operating in speed of 10000, subordinate axis will be operating in speed of 5000.
(j) Main Axis Setting
Setting of main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization.
This setting cannot be set as same value as command axis, and possible setting values are as below.
| Setting value | Main Axis |
| 1 | Axis1 |
| 2 | Axis2 |
| 3 | Axis3 |
| 4 | Axis4 |
| 5 | Axis5 |
| 6 | Axis6 |
| 7 | Axis7 |
| 8 | Axis8 |
| 9 | Encoder1 |
| 10 | Encoder2 |
(k) Goal Position
Set goal of Position Assign Speed Synchronization. Once command axis reaches the goal position, Speed
Synchronization ends and operation will be stop immediately.
(l) For more information, reference for Position Assign Speed Synchronization is in the “Chapter 9.4.1.”
| Chapter 8 Program |
| 8-40 |
(9) Synchronous Start by Position
(a) Condition of Synchronous Start by Position
Condition of Synchronous Start by Position Command (XSSP)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Synchronous Start by Position while
it is running, the “error 341” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Speed synchronization” command can’t be executed
when the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you
execute this command when it is not “Servo On” state, number 354 error will appears
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Synchronous Start by Position. XGF-PN8A/B supports for 8 axes. In the “execution of
axis” from the configuration of Synchronous Start by Position, you can set a value for axis 1 through 8 axes.
(a) Condition for speed synchronization
(b) Axis ready state
(c)Operation state
(d) Error state
(e) Servo on signal
(f) Position of the module
(g) Command axis
(h) Main axis position value
(i) Sub axis step
(j) Main axis setting
1-axisposition synch
command starting operation
data no.2 step when 2-axis
reaches position 100000
3-axisposition synch
command starting operation
data no.4 step when 4-axis
reaches position 12345
5-axisposition synch
command starting operation
data no.D01304 step when 6-
axis reaches position D02560
7-axisposition synch
command starting operation
data no.100 step when
encoder1 reaches position -
2000
8axisposition synch command
starting operation data no.1
step when encoder2 reaches
position -12000
| Chapter 8 Program |
| 8-41 |
(h) Value of Main Axis
Set value for Main Axis to execute Synchronous Start by Position. Therefore main axis will be executed the
command when the subordinate axis reaches this set value.
(i) Step of Subordinate Axis
Set step number for Subordinate Axis to execute a Speed Synchronization.
(j) Main Axis Setting
Setting of main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization.
This setting cannot be set as same value as command axis, and possible setting values are as below.
| Setting value | Main Axis |
| 1 | Axis1 |
| 2 | Axis2 |
| 3 | Axis3 |
| 4 | Axis4 |
| 5 | Axis5 |
| 6 | Axis6 |
| 7 | Axis7 |
| 8 | Axis8 |
| 9 | Encoder1 |
| 10 | Encoder2 |
(k) For more information, reference for Synchronous Start by Position is in the “Chapter 9.4.2.”
(10) CAM Operation
(a) Condition of CAM Operation
Condition of CAM Operation Command (XCAM)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(a) Condition for CAM operation
(b) Axis ready status
(c) Operating status
(d) Error status
(e) ServoOn status
(f) Position of the module
(g) Command axis
(h) Main axis setting
(i) CAM block number
(j) Main axis offset
CAM operation with CAM
block no. 1 (sub axis: axis 1,
main axis: axis2)
CAM operation with CAM
block no. 5 (sub axis: axis 3,
main axis: axis4)
CAM operation with CAM
block no. D02604 (sub axis:
axis 5, main axis: axis6)
Main axis offset-specified
CAM operation with CAM
block no. 7 (sub axis: axis 7,
main axis: axis8)
| Chapter 8 Program |
| 8-42 |
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute CAM Operation while it is running,
the “error 701” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.1.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Speed synchronization” command can’t be executed
when the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you
execute this command when it is not “Servo On” state, number 354 error will appears
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for CAM Operation. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of CAM Operation, you can set a value for axis 1 through 8 axes.
(h) Main Axis Setting
Setting of main axis to operate .This setting is for main axis of CAM Operating. This setting cannot be set as
same value as command axis. Can set a value 1~4, meaning from axis 1 to axis 4.
(i) CAM Block Numbers
Setting for Block Numbers of CAM data to operate CAM operation. You can set up 9 CAM Blocks. The CAM
Data for each Block would be downloaded to module written from Software Package.
(j) Main axis offset
In case of main axis offset specified CAM operation command, sets offset position of main axis for sub axis to
start CAM operation. After operation, sub-axis starts CAM operation after main axis moves as much as position
value set in main axis offset
(k) For more information, reference of CAM Operation is in the “Chapter 9.4.3.”
| Chapter 8 Program |
| 8-43 |
(11) Deceleration Stop
(a) Condition of Deceleration Stop
Condition of Deceleration Stop Command (XSTP)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(a) Condition for dec. stop
(b) Axis ready state
(c) Operation state
(d) Error state
(e) Position of the module
(f) Command axis
(g) Dec. time at dec. stop
1-axis dec. stop with D01500
dec. time
2-axis dec. stop with D01502
dec. time
3-axis dec. stop with D01504
dec. time
4-axis dec. stop with D01506
dec. time
5-axis dec. stop with dec. time
set at operation
6-axis dec. stop with 1000ms
dec. time
7-axis dec. stop with 1ms dec.
time
8-axis dec. stop with 500ms
dec. time
| Chapter 8 Program |
| 8-44 |
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Deceleration Stop. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Deceleration Stop, you can set a value for axis 1 through 8 axes.
(g) Deceleration time of Deceleration Stop
Setting a deceleration time of Deceleration Stop operation. Unit of Deceleration Stop is [ms]. Since this time
refers deceleration time from the speed limit, there might be little difference between Deceleration Stop set time
and actual stop time. The range of deceleration time is “0~2,147,483,674.” 1~2,147,483,674 means
Deceleration Time set as 1ms ~ 2,147483674ms. If it set as “0,” it will be operated with set deceleration value.
Also it use to stop Speed Synchronous Operation or CAM Operation while Speed and CAM Operation. During
this time Deceleration Time is meaningless, CAM Operation Is just cancelled.
(i) For more information, reference of Deceleration Stop is in the “Chapter 9.2.18.”
(12) Emergency Stop
(b) Axis ready state
(a) Condition for EMC. stop
(c) Position of the module
(d) Command axis
8-axis EMG. stop
7-axis EMG. stop
6-axis EMG. stop
5-axis EMG. stop
4-axis EMG. stop
3-axis EMG. stop
2-axis EMG. stop
1-axis EMG. stop
| Chapter 8 Program |
| 8-45 |
(a) Condition of Emergency Stop
Condition of Emergency Stop Command (XEMG)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(d) Axis of command execution
You can set an axis for Emergency Stop. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Emergency Stop, you can set a value for axis 1 through 8 axes.
(e) Emergency Stop is operating by each axis.
Once Emergency Stop command executes the error “481” would be occurred. With the set value for
deceleration time, it will be decelerated and stop the operation
(f) For more information, reference of Emergency Stop is in the “Chapter 9.2.18.”
(13) M code Off
(a) Condition for E code cancellation
(b) Axis ready state
(c) M code state
(e) Command axis
(d) Position of the module
1-axis M code Off
2-axis M code Off
3-axis M code Off
4-axis M code Off
5-axis M code Off
6-axis M code Off
7-axis M code Off
8-axis M code Off
| Chapter 8 Program |
| 8-46 |
(a) Condition of M code Off
Condition of M code Off(XMOF). Once M code Off command executed, number of M code would be change to
“0,” and signal of M code to “Off.”
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each
signal will be on.
(c) M code state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “M Code” for each axis. It
turns on when it is operating. M code Off command can only be valid once M code are generated. The condition
for execution is operation possible when it is “On.”
(d) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(e) Axis of command execution
You can set an axis for M code Off. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of M code Off, you can set a value for axis 1 through 8 axes.
(f) For more information, reference of M code Off is in the “Chapter 9.6.2.”
(14) Torque Control
(a) Conditions to torque control
Conditions to implement the Torque Control command (XTRQ). If the command is implemented,
the corresponding axis implements Torque Control with the set torque value and torque gradient.
(b) Error state of each axis
It is“Error State” signal of each axis when the example program of “8.1.2 Read the Current Sate”is applied.
It shall be set to ensure any command is implement only when a relevant axis has no error. This condition
may be removed if the user wants to implement a command regardless of occurrence of error.
(b) Axis error status
(a) Condition for torque control
(c) Axis servo on status
(d) Position of module
(e) Command axis
(f) Torque value
(g) Torque gradient
| Chapter 8 Program |
| 8-47 |
(c) Servo On Signal of each axis
It is“Servo On” signal of each axis when the example program of “8.1.2 Read the Current Sate”is applied. It
is On when a relevant axis is the state of “Servo On.” Since the Control Torque command cannot be
implemented if the axis is not servo on, a condition to implement the command only in case of the state of
servo on shall be set. If the Control Torque command is implemented when it is not the state of servo on, No.
743 error takes place.
(d) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(e) Axis of command execution
It sets an axis that will implement the Control Torque command. Up to 8 axis can be connected and value 1
through 8, referring to Axis 1 through 8, can be set to “Axis to which Command is executed” item of the
Torque Control command.
(f) After implementing the Torque Control command, set torque value to drive under the Torque Control
command. The torque value range is -32768 through 32767%.
(g) Set gradient until reach the target torque in time. The gradient range is 0 through 65535ms.
(h) For further information on actions of the Torque Control command, refer to “9.2.21 Torque Control.
| Chapter 8 Program |
| 8-48 |
8.1.7 Operation Setting Change while Operating
(1) Speed Override
(a) Condition for speed override
(b) Axis ready state
(c) Operation state
(d) Error state
(e) Position of the module
(f) Command axis
(g)Operation speed to change
Changes operation speed of
1-axis into D01600
Changes operation speed of
2-axis into D01602
Changes operation speed of
3-axis into D01604
Changes operation speed of
4-axis into D01606
Changes operation speed of
5-axis into 10000
Changes operation speed of
6-axis into 500
Changes operation speed of
7-axis into 20000
Changes operation speed of
8-axis into 5000
| Chapter 8 Program |
| 8-49 |
(a) Condition of Speed Override
Condition of Speed Override Command (XSOR)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Speed Override while it is running,
the “error 371” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Speed Override. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Speed Override, you can set a value for axis 1 through 8 axes.
(g) Value Change for Speed Operation
Setting Value Change for Speed Operation. According to Speed Override from common parameters, it is a
signal of “%” or “Speed Value” depends on setting of category. Also, when Speed Override set as Speed Value,
it means Unit/Time depends on Speed Command Unit from basic parameters, or it means “rpm.” If a changing
Operation Speed Value is “%,” then the unit would be [X10-2%]. If it is “rpm, “then the unit would be X10-1rpm].
(h) For more information, reference of Speed Override is in the “Chapter 9.5.5.”
| Chapter 8 Program |
| 8-50 |
(2) Position Override
(a) Condition for position override
(b) Axis ready state
(c) Operation state
(d) Error state
(e) Position of the module
(f) Command axis
(g) Target position value to change
Changes target position of
1-axis into D01100
Changes target position of
2-axis into D01102
Changes target position of
3-axis into D011004
Changes target position of
4-axis into D01106
Changes target position of
5-axis into D01108
Changes target position of
6-axis into D01110
Changes target position of
7-axis into 100000
Changes target position of
8-axis into 5000
| Chapter 8 Program |
| 8-51 |
(a) Condition of Position Override
Condition of Position Override Command (XPOR)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Position Override while it is running,
the “error 361” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Position Override. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Position Override, you can set a value for axis 1 through 8 axes.
(g) Change for Goal Position Value
Setting Value Change for Goal Position Value. The unit of this value depends on “Unit” category. Once Position
Override commands are executed, the goal position of executed axis will be changed to set goal position.
(h) For more information, reference of Position Override is in the “Chapter 9.5.4.”
| Chapter 8 Program |
| 8-52 |
(3) Position Assign Speed Override
(b) Axis ready state
(d) Error state
(c) Operation state (e) Position of the module
(f) Command axis
(a) Condition for position assign speed
override
(g) Position to change speed
(h) Operation speed value to change
Changes speed into D01200
when position of 1-axis is
D01100
Changes speed into D01202
when position of 2-axis is
D01102
Changes speed into D01204
when position of 3-axis is
D01104
Changes speed into D01206
when position of 4-axis is
D01106
Changes speed into 10000
when position of 5-axis is
D01108
Changes speed into D01210
when position of 6-axis is
D01110
Changes speed into 5000
when position of 7-axis is
100000
Changes speed into 100000
when position of 8-axis is
5000
| Chapter 8 Program |
| 8-53 |
(a) Condition of Position Assign Speed Override
Condition of Position Assign Speed Override Command (XPSO)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Position Assign Speed Override while
it is running, the “error 381” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Position Assign Speed Override. XGF-PN8A/B supports for 8 axes. In the “execution of
axis” from the configuration of Position Assign Speed Override, you can set a value for axis 1 through 8 axes.
(g) Position of Speed Change Execution
Setting position of Speed Change. Once the actual position located at set position with speed override command
running, the speed change commands are executed.
(h) Value Change for Operation speed
Setting Value Change for Operation speed. According to Speed Override from common parameters, it is a signal
of “%” or “Speed Value” depends on setting of category. Also, when Speed Override set as Speed Value, it
means Unit/Time depends on Speed Command Unit from basic parameters, or it means “rpm.” If a changing
Operation Speed Value is “%,” then the unit would be [X10-2%]. If it is “rpm, “then the unit would be X10-1rpm].
(i) For more information, reference of Position Assign Speed Override is in the “Chapter 9.5.6.”
| Chapter 8 Program |
| 8-54 |
(4) Speed/Position Switching Control
(a) Condition for speed/position switching
control
(b) Axis ready state
(c) Operation state (g) Command axis
(d) Error state (f) Position of the module
(e) In-speed control signal
1-axis speed/position
switching control
2-axis speed/position
switching control
3-axis speed/position
switching control
4-axis speed/position
switching control
5-axis speed/position
switching control
6-axis speed/position
switching control
7-axis speed/position
switching control
8-axis speed/position
switching control
| Chapter 8 Program |
| 8-55 |
(a) Condition of Speed/Position Switching Control
Condition of Speed/Position Switching Control Command (XVTP)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Speed/Position Switching Control
while it is running, the “error 301” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Signal from Speed Control by each Axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Speed Control state” for each
axis. It turns on when it is operating. Speed/Position Switching Control Setting can only be configured while it is
running. If you execute Speed/Position Switching Control while it is not running, the “error 302” would be
appeared.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Speed/Position Switching Control. XGF-PN8A/B series supports for 8 axes. In the
“execution of axis” from the configuration of Speed/Position Switching Control, you can set a value for axis 1
through 8 axes.
(h) For more information, reference of Speed/Position Switching Control is in the “Chapter 9.2.14.”
| Chapter 8 Program |
| 8-56 |
(5) Position-specified Speed/Position Control Switching
(a) Condition for position-specified
speed/position switching control
(e) In-speed control signal
(b) Axis ready state
(c) Operation state
(d) Error state
(f) Position of the module
(g) Command axis
(h) Target position
1-axis position specified
speed/position switching
control
2-axis position specified
speed/position switching
control
3-axis position specified
speed/position switching
control
4-axis position specified
speed/position switching
control
5-axis position specified
speed/position switching
control
6-axis position specified
speed/position switching
control
7-axis position specified
speed/position switching
control
8-axis position specified
speed/position switching
control
| Chapter 8 Program |
| 8-57 |
(a) Condition to perform “position-specified speed/position switching control”
Condition to perform control command (XVTPP) for position-specified speed/position switching
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each
signal will be on.
(c) Operation state for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing that each axis
is “operating.” If a relevant axis is running, it becomes ‘On’. A condition has been set to make the control
command for position specified speed/position switching valid only when the relevant axis is running. If the
control command for position specified switching is carried out when the relevant axis is not running, No.301
Error will take place.
(d) Error State for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing “Error State”
for each axis. If any error takes place, it becomes ‘On’. A condition has been set to perform a control command
only when there is no error with the relevant axis. If the user wants to execute a command regardless of the
occurrence of errors, he/she may remove this condition.
(e) Speed Control Signal for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing each axis is
“controlling its speed.” If the relevant axis is running under speed control, it becomes ‘On.’ A condition has
been set to make the control command for position specified speed/position switching control valid only when
the relevant axis is in a speed control status. If the control command is carried out when the relevant axis is
not in a speed control status, No.302 Error will take place.
(f) Position of a module
For the example program above, it is assumed that positioning modules are installed on NO.0 Base and No.
3 Slot.
(g) Axis to make a command
Decide an axis that will execute the control command. XGF-PA8A/B can control up to 8 axes and assign 1
through 8 referring to 1-axis through 8-axis for this item.
(h) Transfer amount
After the control command for position specified speed/position control switching is executed, convert from
speed control to position control and moves by transfer amount.
(i) For details on the operation of position specified speed/position switching control, refer to “position specified
speed/position switching control”
| Chapter 8 Program |
| 8-58 |
(6) Position/ Speed Switching Control
(a) Condition for position/speed switching
control
(b) Axis ready state
(c) Operation state
(d) Error state
(g) Command axis
(f) Position of the module
(e) In-position control signal
8-axis position / speed
switching control
7-axis position / speed
switching control
6-axis position / speed
switching control
5-axis position / speed
switching control
4-axis position / speed
switching control
3-axis position / speed
switching control
2-axis position / speed
switching control
1-axis position / speed
switching control
| Chapter 8 Program |
| 8-59 |
(a) Condition of Position/ Speed Switching Control
Condition of Position/ Speed Switching Control Command (XPTV)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Position/ Speed Switching Control
while it is running, the “error 311” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Signal from Position Control by each Axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Position Control state” for
each axis. It turns on when it is operating. Position/ Speed Switching Control Setting can only be configured
while it is running. If you execute Position/Speed Switching Control while it is not running, the “error 317” would
be appeared.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Position/ Speed Switching Control. XGF-PN8A series supports for 8 axes. In the
“execution of axis” from the configuration of Position/ Speed Switching Control, you can set a value for axis 1
through 8 axes.
(h) For more information, reference of Position/ Speed Switching Control is in the “Chapter 9.2.15.”
| Chapter 8 Program |
| 8-60 |
(7) Position/Torque Switching Control
(a) Condition for position/torque switching
control
(b) Axis ready state
(c) Operation state
(d) Error state
(h) Torque value
(g) Command axis
(e) In-position control signal (f) Position of the module
1-axis position /torque
switching control with 300%
torque
2-axis position /torque
switching control with 200%
torque
3-axis position /torque
switching control with 100%
torque
4-axis position /torque
switching control with 10%
torque
5-axis position /torque
switching control with
D02954% torque
6-axis position /torque
switching control with
D02955% torque
7-axis position /torque
switching control with 250%
torque
8-axis position /torque
switching control with 30%
torque
| Chapter 8 Program |
| 8-61 |
(a) Condition of Position/ Torque Switching Control
Condition of Position/ Torque Switching Control Command (XPTT)
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Position/ Toque Switching Control
while it is running, the “error 561” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Signal from Position Control by each Axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Position Control state” for
each axis. It turns on when it is operating. Position/ Torque Switching Control Setting can only be configured
while it is running. If you execute Position/Torque Switching Control while it is not running, the “error 317” would
be appeared.
(f) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(g) Axis of command execution
You can set an axis for Position/ Torque Switching Control. XGF-PN8A/B series supports for 8 axes. In the
“execution of axis” from the configuration of Position/ Torque Switching Control, you can set a value for axis 1
through 8 axes.
(h) It sets torque value. After position/torque switching command, it operates with that torque value. Range is
-32768~32767%.
(i) For more information, reference of Position/ Torque Switching Control is in the “Chapter 9.2.15.”
| Chapter 8 Program |
| 8-62 |
(8) Skip Operation
(a) Condition for skip operation
(b) Axis ready state
(c) Operation state
(d) Error state
(e) Position of the module
(f) Command axis
1-axis skip operation
2-axis skip operation
3-axis skip operation
4-axis skip operation
5-axis skip operation
6-axis skip operation
7-axis skip operation
8-axis skip operation
| Chapter 8 Program |
| 8-63 |
(a) Condition of Skip Operation
Condition of Skip Operation Command (XSKP) Once Skip Operation is executed, current operation step is stop
and will go to operate with next step.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Skip Operation while it is running, the
“error 331” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Skip Operation. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Skip Operation, you can set a value for axis 1 through 8 axes.
(g) For more information, reference of Skip Operation is in the “Chapter 9.5.3”.
| Chapter 8 Program |
| 8-64 |
(9) Continuous Operation
(b) Axis ready state
(c) Operation state
(c) Error state
(f) Command axis
(e) Position of the module
(a) Condition for continuous operation
1-axis continuous operation
2-axis continuous operation
3-axis continuous operation
4-axis continuous operation
5-axis continuous operation
6-axis continuous operation
7-axis continuous operation
8-axis continuous operation
| Chapter 8 Program |
| 8-65 |
(a) Condition of Continuous Operation
Condition of Continuous Operation Command (XNMV). Once Continuous Operation is executed, current
operation step and next operation step would be operated continuously.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Continuous Operation while it is
running, the “error 391” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Continuous Operation. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from
the configuration of Continuous Operation, you can set a value for axis 1 through 8 axes.
(g) For more information, reference of Continuous Operation is in the “Chapter 9.5.2”.
| Chapter 8 Program |
| 8-66 |
(10) Current Step Change (Start Step Number Change)
(a) Condition for current step change
(b) Axis ready state
(c) Operation state
(d) Error state
(e) Position of the module
(f) Command axis
(g) Step number to change
1-axis changes current step
to no.10
2-axis changes current step
to no.20
3-axis changes current step
to no.4
4-axis changes current step
to no.100
5-axis changes current step
to no.D01304
6-axis changes current step
to no.D01305
7-axis changes current step
to no.D01306
8-axis changes current step
to no.D01307
| Chapter 8 Program |
| 8-67 |
(a) Condition of Current Step Change
Condition of Current Step Change Command (XSNS). Once Current Step Change is executed, current operation
step will move set step.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Current Step Change while it is running,
the “error 441” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Current Step Change. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from
the configuration of Current Step Change, you can set a value for axis 1 through 8 axes.
(g) Change Step Number
Set change step number by Current Step Change. XGF series support 400 step operation data for each Axis.
Therefore, the range of step number setting of Current Step Change is 1~400.
(h) For more information, reference of Current Step Change is in the “Chapter 9.5.9.”
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(11) Repeat Step No. Change
(a) Condition for repeat step change
(b) Axis ready state
(c) Error state
(d) Position of the module
(e) Command axis
(f) Step number to change
1-axis changes repeat step
to no. 11
2-axis changes repeat step
to no. 21
3-axis changes repeat step
to no. 5
4-axis changes repeat step
to no. 200
5-axis changes repeat step
to no. D01304
6-axis changes repeat step
to no. D01305
7-axis changes repeat step
to no. D01306
8-axis changes repeat step
to no. D01307
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(a) Condition of Repeat Step No. Change
Condition of Repeat Step No. Change Command (XSRS). Once Repeat Step No. Change is executed, current
operation step will move set step. It will execute an operation when set of Operation Method is “Repeat.”
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(e) Axis of command execution
You can set an axis for Repeat Step No. Change. XGF-PN8A/B supports for 8 axes. In the “execution of axis”
from the configuration of Repeat Step No. Change, you can set a value for axis 1 through 8 axes.
(f) Change Step Number
Set change step number by Current Step Change. XGF-PN8A support 400 step operation data for each Axis.
Therefore, the range of step number setting of Current Step Change is 1~400.
(g) For more information, reference of Repeat Step No. Change is in the “Chapter 9.5.10.”
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(12) Current Position Preset
(a) Condition of Current Position Preset
Condition of Current Position Preset Command (XPRS). Once Current Position Preset is executed, current
operation step will move to set step. If the origin has not set yet, the origin would be set to origin decided.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Current Position Preset while it is
running, the “error 451” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(a) Condition for current position preset
(b) Condition for repeat step change
(c) Condition for repeat step change
(d) Condition for repeat step change
(e) Condition for repeat step change
(f) Condition for repeat step change
(g) Condition for repeat step change
1-axis changes current
position to 5000
2-axis changes current
position to 0
3-axis changes current
position to 1200000
4-axis changes current
position to D02806
5-axis changes current
position to D02808
6-axis changes current
position to D02810
7-axis changes current
position to D02812
8-axis changes current
position to D02814
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(e) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(f) Axis of command execution
You can set an axis for Current Position Preset. XGF-PN8A/B series supports for 8 axes. In the “execution of
axis” from the configuration of Current Position Preset, you can set a value for axis 1 through 8 axes.
(g) Change Current Position
Set change current position by Current Position Preset. Unit follows the value from “Unit” of basic parameter.
(h) For more information, reference of Current Position Preset is in the “Chapter 9.5.7.”
(13) Encoder Preset
(a) Condition of Encoder Preset
Condition of Encoder Preset Command (XEPRS). Once Encoder Preset is executed, current operation step will
move to set step.
(b) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(c) Changing Encoder Position
Set for Changing Encoder Position
(d) Changing Encoder
Set Changing Encoder to execute a preset. “0” means “Encoder1” and “1” means “Encoder2”
(e) For more information, reference of Encoder Preset is in the “Chapter 9.5.8.”
(14) Reset Latch
(a) Conditions to Reset Latch
Conditions to implement the Reset Latch command (XLCLR). In case of Axis 1, the Reset Latch command is
implemented as soon as M00148 (Reset Latch) is On after the axis is connected to the network.
(b) Preparation for each axis
If communication with the servo drive connected to positioning module is normally conducted, the corresponding
signal to the connected axis is On. In the example program, the Reset Latch command is implemented as soon
as M00148(Reset Latch) is On after the axis connected with servo since Axis 1 preparation state (Uxx.00.0) is
used.
(a) Condition for encoder preset
Changes current value of
encoder1 into 2000
(b) Position of the module
(c) Encoder position to change
(d) Encoder to change
(b) Axis ready state
(a) Condition of latch reset execution
(d) Position of the module
(e) Command axis
(f) Latch reset items
(c) Latch completion state
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(c) Latch Completion
It is the state of “Latch Completion” when an example program of“8.1.2 Read the Current Sate.”It is on when latch
is completed once external latch command signal of the relevant axis is inputted. In case of Axis 2, the Reset
Latch item is implemented as soon as D00102.6 (Latch Completion state) is On. To read latch data every time
when latch is completed upon the input of the axis’s external latch command signal, program to set latch
completion as a condition for the Reset Latch command after implementing the Latch Position Data Read
command.
(d) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(e) Axis of command execution
You can set an axis for Reset Latch. XGF-PN8A/B series supports for 8 axes. In the “execution of axis” from the
configuration of Reset Latch, you can set a value for axis 1 through 8 axes.
(f) Latch Reset item
The following items are reset according to the Latch Reset item.
0: Reset the state when latch is completed
1: Latch position data Reset and the latch completion state Reset
In the example program, latch position data and latch completion are reset for Axis 1 and only latch completion is
reset for Axis 2 when implementing the Latch Reset command.
(15) Set Latch
(a) Conditions to Set Latch
Conditions to implement the Latch Set command (XLSET). The Set Latch command is implemented on Axis 1
and 2 as soon as M00149(Set Latch) is On after the axis is connected to the network and it is implemented on
Axis 3 as soon as M00150(3-Axis Latch Disable) is On.
(b) Preparation for each axis
If communication with the servo drive connected to the positioning module is normally conducted, the
corresponding signal to the connected axis is On. In the example program, the Set Latch command is
implemented as soon as the condition to Set Latch is On after the axis connected with servo since Axis 1 Ready
(Uxx.00.0) is used.
(c) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(d) Axis of command execution
Note
Two latch modes are supported for XGF-PN4B/PN8B module. In case that a single trigger from two latch modes is set, ensure latch
function to perform through the second touch probe 1 signal after the first touch probe 1 signal is inputted and latched and latch reset
command is completed.
That is, in XGF-PN4B/PN8B module’s latch single trigger mode, the Reset Latch command will execute a function to activate the next
latch trigger after the touch probe 1 signal is inputted and the latch location is saved.
(Even if the Set Latch command is re-executed after it is set as latch permission, it will work in the same way)
(b) Axis ready
(a) Condition of set latch
(c) Position of module
(d) Command axis
(e) Latch Enable/Disable
(f) Latch mode
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You can set an axis for Set Latch. XGF-PN4(8)B series supports for 4(8) axes. In the “execution of axis” from the
configuration of Set Latch, you can set a value for axis 1 through 8 axes, can be set to “Axis to which Command
is executed” item of the Latch Set command(XLSET).
(e) Latch Enable/Disable item
Actions according to the designated Latch Enable/Disable item are as following:
0: latch disable
1: latch enable
In the example program, latch is enabled for Axis 1 and 2 while it is disabled for Axis 3.
(f) Latch Mode Item
Actions according to the designated latch mode item are as following:
0: Single trigger (The current position latch is available only the touch probe 1 signal inputted at first after latch
is permitted)
1: Continuous trigger (The current position latch is available at every touch probe 1 signal after latch is permitted)
In the example program, Axis 1 is set in the single trigger mode while Axis 2 is set in the continuous trigger mode
when implementing the Set Latch command.
(g) The Set Latch command is only used for XGF-PN4B/PN8B.
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8.1.8 Error
(1) Error Reset
(a) Condition of Error Reset
Condition of Error Reset Command (XCLR). Once Error Reset is executed, it erases errors of module form each
axis.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(e) Axis of command execution
(d) Position of the module
(a) Condition for error reset
(f) axis error/ common error setting
(c) Error state
(b) Ready state
(e) Command axis
Axis 1 error reset
Axis 2 error reset
Axis 3 error reset
Axis 4 error reset
Axis 5 error reset
Axis 6 error reset
Axis 7 error reset
Common error reset
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You can set an axis for Error Reset. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Error Reset, you can set a value for axis 1 through 8 axes.
(f) Error setting of Error/Common by axis
If this is set as “0”, it will delete the axis error occurred during execution of command and if this is set as “1”, it
will delete the error commonly occurred at common parameter or communication error.
(2) Error History Reset
(a) Condition of Error History Reset
Condition of Error History Reset Command (XECLR). Once Error Reset is executed, it erases history of
generated errors of module. XGF series has ten error histories by each axis. It will be saved to FRAM, remain
still even there is no power.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(d) Axis of command execution
(a) Condition for error history reset
(b) Ready state (d) Command axis
(c) Position of the module
2-axis error history reset
1-axis error history reset
3-axis error history reset
4-axis error history reset
5-axis error history reset
6-axis error history reset
7-axis error history reset
8-axis error history reset
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You can set an axis for Error History Reset. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from
the configuration of Error History Reset, you can set a value for axis 1 through axis 8.
(3) Servo Driver Error Reset
(a) Condition for servo driver error reset
(b) Ready state
(c) Servo error state
(d) Position of the module
(e) Command axis
1-axis servo driver error
reset
2-axis servo driver error
reset
3-axis servo driver error
reset
4-axis servo driver error
reset
5-axis servo driver error
reset
6-axis servo driver error
reset
7-axis servo driver error
reset
8-axis servo driver error
reset
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(a) Condition of Servo Driver Error Reset
Condition of Servo Driver Error Reset Command (XSCLR). Once Error Reset is executed, it erases errors of
the servo driver connected to corresponding axis. If you execute this command without removing the cause of
error, error of the servo driver may remain.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Servo error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Servo error state” for each
axis. It turns on when an servo error occurred. Operation will only work when there is servo error. If you want to
operate a system regardless of errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(e) Axis of command execution
You can set an axis for Servo Driver Error Reset. XGF-PN8A supports for 8 axes. In the “execution of axis” from
the configuration of Servo Driver Error Reset, you can set a value for axis 1 through axis 8.
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(4) Servo Driver Error History Reset
(a) Condition of Servo Error History Reset
Condition of Servo Error History Reset Command (XSECLR). Once Error Reset is executed, it erases history of
generated errors of servo driver. Servo driver has ten error histories by each axis. .
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(d) Axis of command execution
You can set an axis for Servo Error History Reset. XGF-PN8A supports for 8 axes. In the “execution of axis”
from the configuration of Servo Error History Reset, you can set a value for axis 1 through axis 8.
(b) Ready state
(a) Condition for servo driver error history
reset
(c) Position of the module
(d) Command axis
1-axis servo driver error
history reset
2-axis servo driver error
history reset
3-axis servo driver error
history reset
4-axis servo driver error
history reset
5-axis servo driver error
history reset
6-axis servo driver error
history reset
7-axis servo driver error
history reset
8-axis servo driver error
history reset
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8.1.9 Program related with the Servo Parameter (XGF-PN4B/PN8B)
(1) Servo driver parameter read
(a) (b) (c) (d) (e) (f)
(d) (g) (h) (i)
(j)
(a) Condition of Servo Parameter Read
Condition of Servo Parameter Read Command (XSVPRD). Once “Servo Parameter Read” is executed,
it saves to read parameter object value of the servo driver into addressed memory area.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each
signal will be On.
(c) Axis servo parameter R/W processing status
Display execution status of Servo drive parameter read/write command or memory save command.
Set command executed during servo drive read/write do not executing.
(d) Position of the module
In this example, Positioning Module installed at the slot no.1 of 1 bases.
(e) Axis of command execution
You can set an axis for Parameter Read. XGF-PN4(8)B supports for 4(8) axes. In the “execution of axis” from
the configuration of Parameter Read, you can set a value for axis 1 through axis 8.
(f) Set servo driver parameter
Set index number, SubIndex number, Size of reading parameter object in servo drive parameters.
In this example, read servo drive internal temperature of specified by h2610:00 with 2 byte size.
(g) Address of common data area
If you execute “Servo parameter read”, the data read from positioning module will be saved in common area.
In order to save in device for using in program, use GETM or GETMP command as program example after
executing “Servo parameter read” command. common data common area address can be used to GETM or
GETMP command as follows.
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| Address | Description |
| 0 | 1axis servo parameter Index (high) / SubIndex (low) |
| 1 | 1axis servo parameter data value |
| 2 | 2axis servo parameter Index (high) / SubIndex (low) |
| 3 | 2axis servo parameter data value |
| 4 | 3axis servo parameter Index (high) / SubIndex (low) |
| 5 | 3axis servo parameter data value |
| 6 | 4axis servo parameter Index (high) / SubIndex (low) |
| 7 | 4axis servo parameter data value |
| 8 | 5axis servo parameter Index (high) / SubIndex (low) |
| 9 | 5axis servo parameter data value |
| 10 | 6axis servo parameter Index (high) / SubIndex (low) |
| 11 | 6axis servo parameter data value |
| 12 | 7axis servo parameter Index (high) / SubIndex (low) |
| 13 | 7axis servo parameter data value |
| 14 | 8axis servo parameter Index (high) / SubIndex (low) |
| 15 | 8axis servo parameter data value |
(h) Save device of common data
Set starting address of the device to be saved after read data. In the example, saves data into D03100.
(i) Data size
It set up size of data to read from common data area. In the example, reads 2 DWORD.
In the example, saves in D03100 device to read data of h2610 (Inner temperature of servo driver) parameter
after executed the Servo driver parameter read command. It saves the Index/SubIndex and data value of servo
parameter in d03100 and D03102 at after 5ms executing servo parameter read command when “1-Axis Servo
Parameter R/W Processing” is off state.
You can read the data of servo parameter as follows.
After executing “servo parameter read” command, you have to execute GETM command minimum 4ms to
read updated data in common area.
(j) Cyclic read execution condition of servo parameter
When servo parameter cyclic read contact is ‘On’, ‘Servo driver parameter read’ command execute once per
second. Periodically, you can monitor the servo driver parameters. If cycle is set too fast, 'Servo driver parameter
read' command executed duplicate errors can occur.
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(2) Servo driver parameter write
(a) Condition of Servo Parameter Write
Condition of Servo Parameter Write Command (XSPWR). Once “Servo Parameter Write” is executed, it changes
parameter object value of the servo driver into setting value.
(b) Axis ready status
If communication between positioning module and servo drive is done, the signal corresponding to each signal
will be on.
(c) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(d) Axis of command execution
You can set an axis for Servo Parameter Write. XGF-PN4(8)B supports for 4(8) axes. In the “execution of axis”
from the configuration of Servo Parameter Write, you can set a value for axis 1 through axis 8.
(a)
(b) (c)
(d)
(e)
(f)
(g)
(h)
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(e) Servo driver parameter index
Index number of the parameter object among servo driver parameters. You can set up as follows.
| Setting value | Description |
| 0x2000 ~ 0x5FFF | Manufacturer Specific Profile Area |
| 0x6000 ~ 0x9FFF | Standardized Device Profile Area |
(f) Servo driver parameter sub-index
Index number of the parameter object among servo driver parameters. You can set up as follows.
| Setting value | Description |
| 0x0~0xFF | Servo parameter Object Subindex |
(g) Servo driver parameter size
It set up size of the servo driver parameter. You can set up 1~4byte with 1~4.
(h) How to write the servo driver parameter
It determines whether to save the servo driver parameter at the internal RAM of the servo driver or at the internal
EEPROM. If it is set as 0, it saves at RAM and if it is set as 1, it saves at EEPROM. When saving at EEPROM,
it may take several scans according to servo driver model. You can check whether writing is complete or not,
by seeing bit 7 among module axis information (refer to manual 5.4.1 state information list)
(3) Servo Driver Parameter Save (XSVSAVE)
(a) Condition of Servo Parameter Save
Condition of Servo Parameter Save Command (XSVSAVE). Once “Servo Parameter Save” is executed, it saves
parameter of the servo driver at the internal EEPROM.
(b) Address of Positioning Module
In this example, Positioning Module installed at the slot no.3 of 0 bases.
(c) Axis of command execution
You can set an axis for Servo Parameter Save. XGF-PN4(8)B supports for 4(8) axes. In the “execution of axis”
from the configuration of Servo Parameter Save, you can set a value for axis 1 through axis 8.
(d) Servo Driver Parameter Save Axis
It sets up the servo driver among servo drivers to save the parameter at the EEPROM. Select the servo driver
by setting each bit as follows.
| 15 ~ 8 Bit | 7Bit | 6Bit | 5Bit | 4Bit | 3Bit | 2Bit | 1Bit | 0Bit |
| Not used | 8axis | 7axis | 6axis | 5axis | 4axis | 3axis | 2axis | 1axis |
(a) (b)
(c)
(d)
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8.2 Example of XGI Programming
8.2.1 General description
Here we supposed the positioning Module is installed at the 3 slot of the 0 base and two servo drivers are
installed at axis1 and axis2. In the real usage, you need to change its value according to your actual set up.
8.2.2 Current State Read
(1) Bit Information about Operation state Reading (XPM_SRD)
(a) Module ready state
(c) Position of the module
(d) Command axis (e) Position to save bit information
(f) Completion state
(g) Error state
(b)Axis ready state
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(a) Module’s ready
After Turn On, if there is no error occurred in Positioning Module, it is “ON,” meaning that modules are ready to
operate.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on. In the example program, since _ON (Always ON), positioning module ready (UX0.3.15) and axis ready
(UX0.3.0 ~ UX.3.1) are used, if there is no error in the module, it reads the current status every scan.
(c) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot.
(d) Axis of operation
If you command each axis, need to set Axis of command execution. XGF-PN8A/B can control max. 8 axes and
Axis of command execution 1~8 means axis1~axis8.
(e) The position for saving bit information
Set the device to save bit state value of axis from the module with XPM_SRD. This device is available to be
used in sequence program as a condition. For example, the current bit state in the example program above is
saved in %MB0 ~ % MB6. For the detail description about the device saved, refer to “7.3.2 Current Operation
State Bit Information Reading”. Bit information which saved in a device is available to be used to execute
another command. For example, if you need to use In-operation-signal of axis1, just set as %MB0.0. If you
need to use Error-state of axis2, just set %MB10.1.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
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(2) Current Operation Information Reading
(a) Module ready state
(b) Axis ready state
(d) Command axis
(e) Position to save operation information
(c) Position of the module
(f) Completion state
(g) Error state
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(a) Module’s ready
After Turn On, if there is no error occurred in Positioning Module, it is “ON,” meaning that modules are ready to
operate.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on. In the example program, since _ON (Always ON), positioning module ready (UX0.3.15) and axis ready
(UX0.3.0 ~ UX.3.1) are used, if there is no error in the module, it reads the current status every scan.
(c) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot.
(d) Axis of operation
If you command each axis, need to set Axis of command execution. XGF-PN8A/B can control max. 8 axes,
Axis of command execution1~8 means axis1~axis8.
(e) The position for saving operation information
Set the device to save operation state value of axis from the module with XPM_CRD. This device is available
to be used in sequence program as a monitoring value. For example, the current position value of axis1 in the
example program above is saved in %MD8. For the detail description about the device saved, refer to “7.3.1
Operation Information Reading (XPM_CRD)”.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
(3) Encoder value Reading
(a) Module’s ready
After Turn On, if there is no error occurred in Positioning Module, it is “ON,” meaning that modules are ready to
operate.
(a) Module ready state
(c) Encoder number
(d) Position to save operation information
(f) Error state
(e) Completion state
(b) Position of the module
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(b) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot.
(c) Encoder No.
Set the encoder no. to read encoder value.
0: encoder1, 1:encoder2
(d) Encoder value
The current value of encoder is displayed.
(e) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(f) Error State
This is the area that output error no. if there are errors in operation of function block.
(4) Reading Servo Error Information (XPM_SVERD)
(a) Module’s ready
After Turn On, if there is no error occurred in Positioning Module, it is “ON,” meaning that modules are ready to
operate.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on. In the example program, since _ON (Always ON), positioning module ready (UX0.3.15) and axis ready
(UX0.3.0 ~ UX.3.1) are used, if there is no error in the module, it reads the current status every scan.
(c) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot.
(d) Axis of operation
If you command each axis, need to set Axis of command execution. XGF-PN8A/B can control max. 8 axes and
Axis of command execution 1~8 means axis1~axis8.
(a) Module ready state
(b) Axis ready
(c) Position of the module
(d) Command axis
(f) Complete state
(g) Error state
(e) Servo error information
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(e) Servo error information
It specifies the device to save “servo error information” read by “XPM_SVERD”. You can use this device as
execution condition in the sequence program. In the above example, current servo error information of axis 1 is
saved in the device “%MW303”.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
(5) Reading Servo Input Information (XPM_SVIRD)
(a) Module’s ready
After Turn On, if there is no error occurred in Positioning Module, it is “ON,” meaning that modules are ready to
operate.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on. In the example program, since _ON (Always ON), positioning module ready (UX0.3.15) and axis ready
(UX0.3.0 ~ UX.3.1) are used, if there is no error in the module, it reads the current status every scan.
(c) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot.
(d) Axis of operation
If you command each axis, need to set Axis of command execution. XGF-PN8A/B can control max. 8 axes and
Axis of command execution 1~8 means axis1~axis8.
(e) Servo input information
It sets the device to save input signal information of the each axis from positioning module by using
XPM_SVIRD. This device can be used as a condition in sequence program. For example above, servo input
signal information of 1-axis is saved at %MD400.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
Axis2
Axis1
(a) Module ready state
(b) Axis ready
(d) Command axis
(c) Position of the module
(f) Complete state
(g) Error state
(e) Servo input information
Chapter 8 Program
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(6) Read Latch Position Data (XPM_LRD)
(a) Condition for read latch position data
(b) Ready for each axis
(d) Position of the module
(e) Command axis
(f) Number of Latch data
| (h (i |
) Completion state
) Error state
(c) Status of latch completion
(g) Latch position data
(a) Conditions to Read Latch Position Data
Conditions to implement the Read Latch Position Data command (XPM_LRD). Fox Axis 1, the Read Latch
Position Data command is always implement if %MX1048 is On after the axis is connected with the network.
(b) Axis ready state
If communication between the positioning module and the servo driver is normal, corresponding signal will
be on. In the example program, latch position data are read if %MX1048 (Read latch position data) is On
after the axis is connected with the module since Axis 1 preparation state (UX0.3.0) is used.
(c) Status of Latch Completion
It is the state of “Latch Completion” when an example program of “8.2.2 Read the Current Sate.” It is on
when latch is completed once external latch command signal of the relevant axis is inputted. In case of Axis
2, the Read Latch Position Data command of Axis 2 is implemented as soon as %MB4.6 (Latch Completion
state) is On.
(d) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot..
(e) Axis of operation
If you command each axis, need to set Axis of command execution. XGF-PN8A/B can control maximum 8
axes. Axis of command execution1~8 means axis1~axis8.
(f) Number of latch position data
It is the device to save the axis’s number of latch data value read from the positioning module by using
XPM_LRD. This device can be used on sequence programs. For example, Axis1’s data number of latch
position is saved on %MW310.
(g) Latch position data
It is the device to save the axis’s latch data value read from the positioning module by using XPM_LRD.
This device can be used on sequence programs. For example, Axis 1’s data of latch position is saved
on %MD156 through %MD165.
(h) Status of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error state
This is the area that output error no. if there are errors in operation of function block.
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8.2.3 Operation Ready
(1) Connecting servo driver
(a) Condition for servo connection
Condition to execute Servo connection command (XPM_ECON)
(b) Link up/down information
If you use Link up down information as input condition point of servo connection command, you can execute
the command only when network cable is actually connected.
(c) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot.
(d) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(e) Error State
This is the area that output error no. if there are errors in operation of function block.
(f) Axis ready state
If connection with servo driver is established, corresponding signal will be on. In the example, we assume that
two axes are connected to the module. Set the only connected axis according to system. If connection is
complete, corresponding signal will be on and reset the condition for servo connection.
(b) Link up/down information
(a) Condition for servo connection
(f) Axis ready state
(e)Error state
(d) Completion state
(c) Position of the module
| _0003_LINK UP_INFO |
Chapter 8 Program
| 8-87 |
(2) Disconnecting servo driver
(a) Condition for servo disconnection
Condition to execute Servo disconnection command (XPM_DCON)
(b) Link up/down information
If you use Link up down information as input condition point of servo connection command, you can execute
the command only when network cable is actually connected.
(c) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot.
(d) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(e) Error State
This is the area that output error no. if there are errors in operation of function block.
(f) Axis ready state
If disconnection with servo driver is complete, corresponding signal will be off. In the example, we assume that
two axes are connected to the module. Set the only connected axis according to system. If disconnection is
complete, corresponding signal will be off and reset the condition for servo disconnection.
_0003_LINK
UP_INFO
(a) Condition for servo disconnection
(b) Link up/down information
(f) Axis ready state
(c) Position of the module
(d) Completion state
(e) Error state
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(3) Servo On
(a) Condition for servo on
Condition to execute Servo on command (XPM_SVON)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on. In the example program, if the condition for “Servo on” is on, it will gives “Servo on” command. You can
remove the axis not connected.
(c) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot.
(d) Axis of operation
If you command each axis, need to set Axis of command execution. XGF-PN8A can control max. 8 axes. Axis
of command execution1~8 means axis1~axis8.
(e) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(f) Error State
This is the area that output error no. if there are errors in operation of function block.
(g) If “Servo on” command is executed, corresponding servo driver will be “Servo on” state.
(a) Condition for servo on
(b) Axis ready state
(d) Command axis
(c) Position of the module
(e) Completion state
(f) Error state
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(4) Servo Off
(a) Condition for servo off
Condition to execute Servo off command (XPM_SVOFF)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on. In the example program, if the condition for “Servo off” is on, it will gives “Servo off” command. You can
remove the axis not connected
(c) Address of Positioning Module
Before operation, you need to configure its position by numbers. In this example, Positioning Module is
installed at the 3 slot.
(d) Axis of operation
If you command each axis, need to set Axis of command execution. XGF-PN8A can control max. 8 axes. Axis
of command execution1~8 means axis1~axis8.
(e) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(f) Error State
This is the area that output error no. if there are errors in operation of function block.
(g) If “Servo off” command is executed, corresponding servo driver will be “Servo off” state.
(a) Condition for servo of
(b) Axis ready state
(d) Command axis
(c) Position of the module
(e) Completion state
(f) Error state
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8.2.4 Operation Test
(1) Floating Origin Setting
Decide origin of current motor’s position without set a machinery origin.
(a) This is the condition for running a Floating Origin Setting
It only works with XPM_FLT command.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis.
When corresponding axis is not operating, it is on. Since “Floating origin setting” command can’t be executed,
the condition is set to execute when axis is not operating. If you execute “Floating origin setting” command
while axis is operating, error 211 will appear.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since floating origin setting command can’t be executed when
the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute
floating origin setting command when axis is not Servo On state, the error 212 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Floating Origin Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from
the configuration of Floating Origin Setting, you can set a value for axis1 through axis 8
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(b) Axis ready state
(a) Condition for floating origin setting
(c) Operation state
(d) Error state
(e) Servo on signal
(h) Completion state
(f) Position of the module
(i) Error state
(g) Command axis
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(2) Jog Operation
(a) This is the condition for Jog Operation
This is the condition for Jog Operation Command
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will
be on.
(c) Operating state by axis
Jog Operation can only be working when the state of axis set as Jog Operation. In this example above,
specific axis set as Jog Operation otherwise it is not operating.
(d) State of driving control by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Jog Operating” for each
axis. It turns on when it is operating. Jog Operation configuration can be changed while it is operating.
(e) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis.
It turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(f) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
(b) Axis ready state
(a) Condition for JOG operation
(c) Operating state
(j) Select JOG speed
(i) Select JOG direction
(h) Command axis
(l) Error state
(k) Completion state
(g) Position of the module
(f) Servo on signal
(e) Error state
(d) Operating control type
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When each axis is Servo On state, it will be on. Since JOG operation can’t be executed when the axis is not
“servo on”, it makes command executed when servo driver is “Servo On” state. If you execute JOG operation
when axis is not Servo On state, the error 413 occurs.
(g) Address of Positioning Module
The module is attached to slot no.3 of no.0 base.
(h) Axis of command execution
Set an axis to execute Jog Operation. XGF-PN8A can control max. 8 axes. It is available to set 1 ~
8(axis1~axis8) on “Axis of command execution” of Jog operation command.
(i) Selection for Jog Direction
Set the direction of Jog operation. If Input value is 0, it will execute Jog operation in forward direction. If Input
value is 1, it will execute Jog operation in reverse direction. Direction is can be changed in operation.
(j) Selection for Jog Speed
Set the speed of Jog operation. If Input value is 0, it will execute low speed Jog operation. If Input value is 1, it
will execute high speed Jog operation. Operating speed can be changed in operation.
(k) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(l) Error State
This is the area that output error no. if there are errors in operation of function block.
(3) Inching Operation
(a) This is the condition for Inching Operation
This is the condition for Inching Operation Command (XPM_INC)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis.
(a) Condition for inching operation
(b) Axis ready state
(c) Operating state
(d) Error state
(e) Servo on signal (f) Position of the module
(i) Completion state
(j) Error state
(h) Inching amount
(g) Command axis
Chapter 8 Program
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When corresponding axis is not operating, it is on. Since “Inching operation” command can’t be executed, the
condition is set to execute when axis is not operating. If you execute “Inching operation” command while axis is
operating, error 401 will appear.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Inching operation” command can’t be executed when
the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute
“Inching operation” command when axis is not Servo On state, the error 403 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Inching Operation. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Inching Operation, you can set a value for axis1 through axis8.
(h) Amount of Inching Operation Movement
Measure the amount of moving range by Inching Operation.
(i) Complete Operating Status
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(j) Error Status
This is the area that output error no. if there are errors in operation of function block.
(k) Reference for Inching Operation is from “Chapter 7.6.2.”
(4) Return to the position before Manual Operation
(b) Axis ready state
(c) Operation state
(d) Error state
(e) Servo on signal
(a) Condition for command
(f) Position of the module
(h)Completion state
(g) Command axis
(i) Error state
Chapter 8 Program
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(a) This is the condition for Return to the position before Manual Operation
This is the condition for Return to the position before Manual Operation Command (XPM_RTP)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Manual Operating” for each
axis. It turns on when it is operating. Inching Operation can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Manual Operation while it is running,
the “error 431” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since RTP command can’t be executed when the axis is not
servo on, it makes command executed when servo driver is “Servo On” state. If you execute RTP command
when axis is not Servo On state, the error 434 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Inching Operation. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Manual Operation, you can set a value for axis1 through axis8.
(i) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(j) Error State
This is the area that output error no. if there are errors in operation of function block.
(h) When manual operation is running, the other operations are going back to its original position such as Jog
Operation and Inching Operation. Reference for Manual Operation is from “Chapter 7.6.3 Return to the
previous position of manual operation.”
Chapter 8 Program
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8.2.5 Parameter and Operation Data Setting
(1) Parameter Setting
(a) Condition for parameter setting
(b) Axis ready state
(c) Operating state
(e) Position of the module
(f) Command axis
(g) Parameter value to change
(h) Parameter item to change
(d) Error state
(i) Select RAM/ROM
(e) Position of the module
(f) Command axis
(g) Parameter value to change
(h) Parameter item to change
(i) Select RAM/ROM
Chapter 8 Program
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(a) This is the condition for Parameter Setting Command
This is the condition for Parameter Setting Command (XPM_SBP, XPM_SEP, XPM_SMP, XPM_SCP)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Except common parameter setting, parameter setting can not be configured
while it is running hence configuration will only be configured when it is not running. If you execute Parameter
Setting while it is running, the “error 471” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(g) Value of Changing Parameter
You can set a value of changing parameter. For more information about Parameter Value Changing look for
“Chapter 6. Command.” In case of setting I/O parameter, the value would be parameter value itself.
(h) List of Changing Parameter
You need to set a list for parameter (f) changing from set command. Once operating is working, this value will
change to parameter (f). For more information of list of changing parameter look for “Chapter 6. Command.” In
case of setting I/O parameter, the value would be parameter value itself. Therefore changing of list would not
be necessary.
(i) ROM/RAM Setting
This function sets whether you save value of changing parameter to Rom or Ram. If you choose Rom the data
will be saved regardless of power and if you save in the ram the data will be vanished when powers off. This
parameter sets as 1 means Rom saved, and sets as 0 means Ram saved. There is no limitation of saving
parameters in the Rom since parameter of Positioning Module saved in the FRAM.
(j) Execution content of each function block is as follows.
XPM_SBP : RAM Setting Acc. Time of basic parameter of axis1 as 1000ms
XPM_SEP : RAM Setting 2 axes linear interpolation continuous operation position that circular arc is added as
500
XPM_SMP : ROM Setting Jog speed of axis2 manual operation parameter as 5000.
XPM_SCP : ROM Setting %MB100 of common parameter as %MD24.
Chapter 8 Program
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(2) Operating Data Setting
(a) This is the condition for Operating Data Command
This is the condition for Operating Data Command (XPM_SMD)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. Operation data setting command is available to be
executed when the axis is operating. However, if operation data of the step that is currently operated are
changed, those changes are reflected after the current step is completed.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(a) Condition for operation data setting
(b) Axis ready state
(c) Operating state
(k) Completion state
(e) Position of the module
(d) Error state
(f) Command axis
(g) Operation step to change
(h) Operation data to change
(i) Operation data item to change
(j) Select RAM/ROM
(l) Error state
Chapter 8 Program
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(g) Operation data step to change
Set the operation data step no. to change with operation data setting command. XGF-PN8A can set 400 step
operation data per each axis and the data would be 0 to 400. If the data is set as “0”, it means “Current step” of
operation data of corresponding axis.
(h) Operation data value to change
Set the value of operation data to change.
(i) List of Changing Parameter
You need to set a list for parameter (h) changing from set command. Once operating is working, this value will
change to parameter (h). Each value of Operating Data is listed below. For example if you put 1000 for value of
Changing Operating Data and 4 for Operating data then the value of Dwell is going to be set as 1000ms.
| Setting value |
Operation Data |
| 1 | Goal position |
| 2 | Circle interpolation support position |
| 3 | Operation speed |
| 4 | Dwell time |
| 5 | M code No. |
| 6 | Second axis setting |
| 7 | Helical interpolation axis |
| 8 | Count for circle interpolation turn |
| 9 | Coordinate |
| 10 | Control method |
| 11 | Operation method |
| 12 | Operation pattern |
| 13 | Size of circle |
| 14 | Acceleration No. |
| 15 | Deceleration No. |
| 16 | Circle interpolation method |
| 17 | Circle interpolation direction |
(j) ROM/RAM Setting
This function sets whether you save value of changing parameter to Rom or Ram. If you choose Rom the data
will be saved regardless of power and if you save in the ram the data will be vanished when powers off. This
parameter sets as 1 means Rom saved, and sets as 0 means Ram saved. There is no limitation of saving
parameters in the Rom since parameter of Positioning Module saved in the FRAM.
(k) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(l) Error State
This is the area that output error no. if there are errors in operation of function block.
(m) Execution content of each function block is as follows.
Operation data setting for axis1 : RAM Setting the goal position on step no.2 of axis1 operation data as 10000.
Operation data setting for axis2 : ROM Setting %MB112(Operation data item of axis2) of axis2 operation
data %MW41(Operation step of axis2) step as %MD27(Operation data value of axis2).
Chapter 8 Program
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(3) Operation Data Teaching Array
(a) This is the condition for Teaching Array
Condition Teaching Array Command (XPM_ATEA)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Teaching Array can not be configured while it is running hence configuration will
only be configured when it is not running. Even though teaching can be performed even when the axis subject
to teaching is being operated but, only the current step’s data is reflected after the current step operation is
completed if the step that is currently running is within the step area while other steps’ data are immediately
changed.
(d) Error state for each
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(g) First number of Teaching Step
(a) Condition for multiple teaching
(c)Operating state
(e) Position of the module
(d) Error state
(l) Completion state
(m) Error state
(f) Command axis
(g) Head step for teaching
(h) Teaching method
(i) Teaching item
(j) Data count for teaching
(k) Head device where multiple
teaching data is saved
(b) Axis ready state
Chapter 8 Program
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You can setup the first number of Teaching Step among the Operating Data step. In this example above,
Teaching Array of axis1 will be operate from 22th step, which is 10th step away from 13th step, hence it will be
operate between 13th step and 22th step.
(h) Teaching Method
This function sets whether you save value of changed Teaching data to Rom or Ram. If you choose Rom the
data will be saved regardless of power and if you save in the ram the data will be vanished when powers off.
This parameter sets as 1 means Rom saved, and sets as 0 means Ram saved. There is no limitation of saving
parameters in the Rom since parameter of Positioning Module saved in the FRAM.
(i) List of Teaching
You can set a data with Teaching Method among the Operating Data. Both “Goal Position” and “Operating
Speed” can be changed by Teaching Array. When its value set “0” means set a Goal Position and “1” means
set an Operating Speed.
(j) Amount of Teaching
Decide how many steps will be operated using by Teaching Method. Maximum 16 Teaching Array data can be
used. For more information about Teaching Array Operation, look for reference from “Chapter 7.4.8”
(k) Address of first device where those data for Teaching Array are saved
To execute a Teaching Array, you need to set a specific value first. TWR commands are using for set up those
Teaching Array data. It has to be done before actual Teaching Array operation. Teaching Data will be set up
depends on number of first device as below table.
| Value | Device No. | Teaching Array Data |
| 1 | Device + 0 | Teaching Array Data 1 |
| 2 | Device + 1 | Teaching Array Data 2 |
| 3 | Device + 2 | Teaching Array Data 3 |
| 4 | Device + 3 | Teaching Array Data 4 |
| 5 | Device + 4 | Teaching Array Data 5 |
| 6 | Device + 5 | Teaching Array Data 6 |
| 7 | Device + 6 | Teaching Array Data 7 |
| 8 | Device + 7 | Teaching Array Data 8 |
| 9 | Device + 8 | Teaching Array Data 9 |
| 10 | Device + 9 | Teaching Array Data 10 |
| 11 | Device + 10 | Teaching Array Data 11 |
| 12 | Device + 11 | Teaching Array Data 12 |
| 13 | Device + 12 | Teaching Array Data 13 |
| 14 | Device + 13 | Teaching Array Data 14 |
| 15 | Device + 14 | Teaching Array Data 15 |
| 16 | Device + 15 | Teaching Array Data 16 |
(l)State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(m) Error State
This is the area that output error no. if there are errors in operation of function block.
(n) Execution content of each function block is as follows.
Axis1 Teaching Array : Execute RAM Teaching the position value of 10 steps from no.13 to no.22 of axis1 as
the value saved in %MD50 ~ %MD59.
Axis2 Teaching Array : Teaching the items of 2axis(from %MW132~%MB2666.1) as the value saved in that
from %MD70 to MB267 by %MB266.0
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| 8-101 |
(4) Saving Current Data
(a) This is the condition for Saving Current Data
This is the condition for Saving Current Data Command (XPM_WRT). When current saving data operated,
those values of module parameter and operating data would be saved in FRAM. Therefore configuration of
Ram or Ram Teaching would be constantly saved whether power is on or not.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Emergency Stop by each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “State of Emergency Stop”
for each axis. It turns on when it is Emergency Stop. Emergency Stop can not be configured while it is running
hence configuration will only be configured when it is not running.
(d) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(f) Saving by axis
Configure current data operation setting. Choosing axis are configured follow by below table. Therefore even if
those axis are not operated as it programmed, saving axis can be saved in Array. The data of operated axis
saved in FRAM, which make constantly stable whether its power is on or not.
| 15 ~ 8 Bit | 7Bit | 6Bit | 5Bit | 4Bit | 3Bit | 2Bit | 1Bit | 0Bit |
| N/A | axis 8 | axis 7 | axis 6 | axis 5 | axis 4 | axis 3 | Axis 2 | axis 1 |
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(a) Condition for saving current data
(b) Axis ready state
(c) EMG. stop state
(d) Position of the module
(g)Completion state
(h) Error state
(e) Command axis
(f) Axis to save
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8.2.6 Positioning Operation
(1) Homing
(a) This is the condition for Homing
This is the condition for Homing Command (XPM_ORG)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Homing command can not be configured while it is running hence configuration
will only be configured when it is not running. If you execute Homing while it is running, the “error 201” would
be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Home return” command can’t be executed when the
axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute “Home
return” command when axis is not Servo On state, the error 203 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Inching Operation. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Manual Operation, you can set a value for axis1 through axis8.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) For more information, reference for Homing is in the “Chapter 9.1.”
(a) Condition for home return
(b) Axis ready state
(c) Operating state
(d) Error state
(e) Servo on signal
(f) Position of the module
(h) Completion state
(g) Command axis
(i) Error state
Chapter 8 Program
| 8-103 |
(2) Direct Start
(a) This is the condition for Direct Start
This is the condition for Direct Start Command (XPM_DST)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will
be on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Direct Start command can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Direct Start while it is running, the
“error 221” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(a) Condition for direct start
(b) Axis ready state
(c) Operating state
(d) Error state
(e) Servo on signal
(f) Position of the module
(p) Completion state
(q) Error state
(g) Command axis
(h) Target position
(i) Target speed
(i) Dwell time
(k) M code
(l) Control method
(m) Coordinate setting
(n) Change acc. time
(o) Change dec. time
Chapter 8 Program
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(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Direct start” command can’t be executed when the axis
is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute “Direct
start” command when axis is not Servo On state, the error 212 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Inching Operation. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Manual Operation, you can set a value for axis1 through axis8.
(h) Goal of Direct Start
Decide changing position of Direct Start command. In this example above, the initialized value is “device,” but
you can also change it with “real numbers,” which data type is “DINT.”
(i) Speed of Direct Start
Decide goal speed of Direct Start. In this example above, the initialized value is “device,” but you can also
change it with “real numbers,” which data type is “UDINT.”
(j) Dwell Time of Direct Start
Dwell Time consider as a total amount of time from beginning of Direct Start operation that reach to the goal
position and make output of Positioning Done Signal. That means after done its operation, direct Start will
make a Positioning done signal. Its unit is “ms,” and type is “UINT”
(k) Direct Start M code
You can set a value of M code which are displaying of Operating Parameter by Direct Start. The way of M code
outputs are “Parameter Expansion, M code Mode,” within the “None, With, After.” It will make an M code
besides you choose “None” for its parameter. For more information, reference for M code is in the “Chapter
4.2.2”
(l) Control method
Set direct start. Follows are executed depending on setting value.
0 : Position control
1 : Speed control
2 : Feed control
3: Shortest position control
(m) Coordinates setting
Set the operating coordinates of direct start. Followings are executed depending on setting value.
0 : Absolute coordinates
1 : Relative coordinates
(n) Acceleration No.
Set the acc. No. used in positioning control. It operates by corresponding acc. Time of basic parameter
depending on setting value.
0 : Acc. Time 1
1 : Acc. Time 2
2 : Acc. Time 3
3 : Acc. Time 4
(o) Deceleration No.
Set the dec. No. used in positioning control. It operates by corresponding dec. Time of basic parameter
depending on setting value.
0 : Dec. Time 1
1 : Dec. Time 2
2 : Dec. Time 3
3 : Dec. Time 4
(p) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(q) Error State
This is the area that output error no. if there are errors in operation of function block.
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(r) The function block used in the example is as follows.
Axis1 Direct Start : Execute position control with Axis1 Goal Position %MD80(axis1 Goal position), Goal
Speed %MD81(axis Goal Speed), Dwell time 100ms, M code 0, Absolute coordinates,
Acc. Time1, Dec Time 1
Axis2 Direct Start : Execute position control with Axis1 Goal Position %MD82(axis2 Goal position), Goal
Speed %MD83(axis2 Goal Speed), Dwell time 500ms, M code 0, Absolute coordinates,
Acc. Time 2, Dec Time 2
(3) Indirect Start
(a) This is the condition for Indirect Start
This is the condition for Indirect Start Command (XPM_IST)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Indirect Start while it is running, the
“error 231” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Indirect start” command can’t be executed when the
axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute
“Indirect start” command when axis is not Servo On state, the error 212 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(a) Condition for indirect start
(b) Axis ready state
(h) Step number to be executed by
indirect start
(f) Position of the module
(i) Completion state
(j) Error state
(c) Operating state
(d) Error state
(e) Servo on signal
(g) Command axis
Chapter 8 Program
| 8-106 |
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(h) Operating step number by Indirect Start
Set the operating step number by indirect start for main Axis of command execution.
(i) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(j) Error State
This is the area that output error no. if there are errors in operation of function block.
(k) Indirect start operates by appointing step of position data for each axis. Therefore it could run those
commands of Positioning control, Speed control, Feed control, Linear circular interpolation depends on setting
of positioning data. For more information, reference for Setting of Operating Data is in the “Chapter4.6.”
(l) The operation of function block is as follows.
Axis1 Indirect Start : Execute step no.1 of axis1 by indirect start
Axis2 Indirect Start : Execute %MW168(Indirect start step) of axis2 by indirect start
(4) Ellipse Interpolation
(a) This is the condition for Ellipse Interpolation
This is the condition for Ellipse Interpolation Command (XPM_ELIN)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will
be on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Ellipse Interpolation while it is
running, the “error 541” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(a) Condition for ellipse interpolation
(b) Axis ready state
(h) Step number to be executed by
ellipse interpolation
(i) Operation angle
(j) Ration between axes (g) Command axis
(c) Operating state
(d) Error state
(e) Servo on signal (f) Position of the module
(k) Completion state
(l) Error state
Chapter 8 Program
| 8-107 |
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Ellipse interpolation” command can’t be executed when
the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute
“Ellipse interpolation” command when axis is not Servo On state, the error 549 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(h) Operating step number by Ellipse Interpolation
Set the operating step number by Ellipse Interpolation. The setting of main operating step and subordinate step
is the same.
(i) Ratio of Ellipse Interpolation Axis
Set both ratio values for main and subordinate axis of set operates data from circular interpolation locus. It is to
change circular locus into ellipse locus by using ratio of main and subordinate axis.
(j) Angle of Ellipse Interpolating Operation
Set the degree for Ellipse Interpolating Operation. Unit is [X10-1 degree]. For more information, reference for
Ellipse Interpolation is in the “Chapter9.213.”
(k) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(l) Error State
This is the area that output error no. if there are errors in operation of function block.
(m) The function block used in the example is as follows.
Axis1_2 Ellipse interpolation: Execute ellipse interpolation of 180°, ratio of between axis as 50% with operation
data of %MW169(Ellipse interpolation step)step.
Chapter 8 Program
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(5) Synchronous Start
(a) This is the condition for Synchronous Start
This is the condition for Synchronous Start Command
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will
be on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Axis1 Synchronous Start while it is
running, the “error 291” would be appeared.
(d) Error state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Simultaneous start” command can’t be executed when
the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute
simultaneous start” command when axis is not Servo On state, the error 295 occurs.
(a) Condition for simultaneous start
(b) Axis ready state
(h) Step number for simultaneous start
(f) Position of the module
(i) Completion state
(j) Error state
(e) Servo on signal
(d) Error state
(c) Operating state
(g)Axis for simultaneous start
Chapter 8 Program
| 8-109 |
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis for Synchronous Start
Set axis for Synchronous Start. The axis for Synchronous Start uses a “bit” from WORD Data setting as a “1”
for each axis. Axis for each bits are as below.
| 15~8 Bit | 7Bit | 6Bit | 5Bit | 4Bit | 3Bit | 2Bit | 1Bit | 0Bit |
| N/A | Axis 8 | Axis 7 | Axis 6 | Axis 5 | Axis 4 | Axis 3 | Axis 2 | Axis 1 |
(h) Synchronous start step no. per each axis
Set the step no. of each axis for synchronous start. XGF series can control 4 axes, it doesn’t use A4_STEP ~
A8_STEP input.
(i) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(j) Error State
This is the area that output error no. if there are errors in operation of function block.
(k) The function block used in the example is as follows.
Axis1_2 Synchronous start: Execute no.10 operation step of axis1 and step of %MW170(axis2 synchronous
start step) synchronously.
.
(6) Point Operation
(a) This is the condition for Point Operation
This is the condition for Point Operation Command (XPM_PST).
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(a) Condition for point operation
(b) Axis ready state
(c) Operating state
(d) Error state
(f) Position of the module
(j) Completion state
(k) Error state
(i) Head device where operation step
number is saved
(g) Command axis
(h) Step count for point operation
(e) Servo on signal
Chapter 8 Program
| 8-110 |
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Point Operation while it is running,
the “error 231” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Point operation” command can’t be executed when the
axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you execute “Point
operation” command when axis is not Servo On state, the error 212 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(h) Amount of Point Operation Steps
Decide how many steps will be operated. In this example above, 10 Point Operation steps are set in the axis1.
Therefore, the step no. saved in %MW171 ~ %MW180 will be executed by point operation. For the details
about point operation, refer to “(4) Point operation” of “9.2.17 Positioning start”.
(i) Address of first device where those data for Step Numbers of Point Operation are saved
To execute a Point Operation, you need to set a specific value first. Point Operation Step Data will be set up
depends on number of first device as below table.
| Value | Device No. | Point Operating Step Data |
| 1 | Device + 0 | Point Operating Step Data 1 |
| 2 | Device + 1 | Point Operating Step Data 2 |
| 3 | Device + 2 | Point Operating Step Data 3 |
| 4 | Device + 3 | Point Operating Step Data 4 |
| 5 | Device + 4 | Point Operating Step Data 5 |
| 6 | Device + 5 | Point Operating Step Data 6 |
| 7 | Device + 6 | Point Operating Step Data 7 |
| 8 | Device + 7 | Point Operating Step Data 8 |
| 9 | Device + 8 | Point Operating Step Data 9 |
| 10 | Device + 9 | Point Operating Step Data 10 |
| 11 | Device + 10 | Point Operating Step Data 11 |
| 12 | Device + 11 | Point Operating Step Data 12 |
| 13 | Device + 12 | Point Operating Step Data 13 |
| 14 | Device + 13 | Point Operating Step Data 14 |
| 15 | Device + 14 | Point Operating Step Data 15 |
| 16 | Device + 15 | Point Operating Step Data 16 |
| 17 | Device + 16 | Point Operating Step Data 17 |
| 18 | Device + 17 | Point Operating Step Data 18 |
| 19 | Device + 18 | Point Operating Step Data 19 |
| 20 | Device + 19 | Point Operating Step Data 20 |
(j) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(k) Error State
This is the area that output error no. if there are errors in operation of function block.
Chapter 8 Program
| 8-111 |
(7) Speed Synchronization
(a) This is the condition for Speed Synchronization
This is the condition for Speed Synchronization Command (XPM_SSS)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Speed Synchronization while it is
running, the “error 351” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Speed synchronization” command can’t be executed
when the axis is not servo on, it makes command executed when servo driver is “Servo On” state. If you
execute “Speed synchronization” command when axis is not Servo On state, the error 354 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(h) Main Axis Setting
Set a main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization. This
setting cannot be set as same value as Axis of command execution, and possible setting values are as below.
(a) Condition for point operation
(a) Condition for point operation
(a) Condition for point operation
(a) Condition for point operation
(a) Condition for point operation
(a) Condition for point operation
(a) Condition for point operation
(a) Condition for point operation
(a) Condition for point operation
(a) Condition for point operation
(a) Condition for point operation
Chapter 8 Program
| 8-112 |
(i) Ratio of Main Axis
Set value for Ratio of Main Axis to execute a Speed Synchronization.
(j) Ratio of Subordinate Axis
Set value for Ratio of Subordinate Axis to execute a Speed Synchronization. In this example above, the ratio of
main and subordinate axis is 2:1. Meaning that operational speed ratio of those axis is 2 to 1. So, if main axis
is operating in speed of 10000, subordinate axis will be operating in speed of 5000.
| Set value | Main Axis |
| 1 | Axis1 |
| 2 | Axis 2 |
| 3 | Axis 3 |
| 4 | Axis 4 |
| 5 | Axis 5 |
| 6 | Axis 6 |
| 7 | Axis 7 |
| 8 | Axis 8 |
| 9 | Encoder1 |
| 10 | Encoder2 |
(k) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(l) Error State
This is the area that output error no. if there are errors in operation of function block.
(m) For more information, reference for Speed Synchronization is in the “Chapter 9.4.1.”
Chapter 8 Program
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(8) Position Assign Speed Synchronization
(a) This is the condition for Position Assign Speed Synchronization
This is the condition for Position Assign Speed Synchronization Command (XPM_SSSP)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured if it is not running. If you execute Position Assign Speed Synchronization
while it is running, the “error 351” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Position assign speed synchronization” command
can’t be executed when the axis is not servo on, it makes command executed when servo driver is “Servo
On” state. If you execute “Position assign speed synchronization” command when axis is not Servo On state,
the error 354 occurs.
(a) Condition for command
(c) Operating state
(d) Error state
(e) Servo on signal
(l) Completion state
(f) Position of the module
(h) Main axis setting
(i) Main axis ratio
(j) Sub axis ratio
(k) Target position
(g) Command axis
(b) Axis ready state
(m) Error state
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(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(h) Main Axis Setting
Set a main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization. This
setting cannot be set as same value as Axis of command execution, and possible setting values are as below.
‘
| Set value | Main Axis |
| 1 | Axis1 |
| 2 | Axis2 |
| 3 | Axis3 |
| 4 | Axis4 |
| 5 | Axis5 |
| 6 | Axis6 |
| 7 | Axis7 |
| 8 | Axis8 |
| 9 | Encoder1 |
| 10 | Encoder2 |
(i) Ratio of Main Axis
Set value for Ratio of Main Axis to execute a Speed Synchronization.
(j) Ratio of Subordinate Axis
Set value for Ratio of Subordinate Axis to execute a Speed Synchronization. In this example above, the ratio of
main and subordinate axis is 2:1. Meaning that operational speed ratio of those axes are 2 to 1. So, if main
axis is operating in speed of 10000, subordinate axis will be operating in speed of 5000.
(k) Goal Position
Set goal of Position Assign Speed Synchronization. Once Axis of command execution reaches the goal
position, Speed Synchronization ends and operation will be stop immediately.
(l) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(m) Error State
This is the area that output error no. if there are errors in operation of function block.
(n) For more information, reference for Position Assign Speed Synchronization is in the “Chapter 9.4.1.”
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(9) Synchronous Start by Position
(a) This is the condition for Synchronous Start by Position
This is the condition for Synchronous Start by Position Command (XPM_SSP)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Synchronous Start by Position while
it is running, the “error 341” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Servo On signal
When applying the example program of “8.2.2 Current State Read”, this is “Servo On” signal for each axis.
When each axis is Servo On state, it will be on. Since “Position synchronization” command can’t be
executed when the axis is not servo on, it makes command executed when servo driver is “Servo On” state.
If you execute “Position synchronization” command when axis is not Servo On state, the error 212 occurs.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis4.
(h) Step of Subordinate Axis
Set step number for Subordinate Axis to execute a Speed Synchronization.
(a) Condition for position
(b) Axis ready state
(c) Operating state
(d) Error state
(k) Completion state
(l) Error state
(f) Position of the module
(i) Main axis
(h) Sub axis operation step
(j) Main axis position
(g) Command axis
(e) Servo on signal
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(i) Main Axis Setting
Set a main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization.
This setting cannot be set as same value as Axis of command execution, and possible setting values are as
below.
(j) Value of Main Axis
Set value for Main Axis to execute Synchronous Start by Position. Therefore main axis will be executed the
command when the subordinate axis reaches this set value.
| Set value | Main Axis |
| 1 | Axis1 |
| 2 | Axis2 |
| 3 | Axis3 |
| 4 | Axis4 |
| 5 | Axis5 |
| 6 | Axis6 |
| 7 | Axis7 |
| 8 | Axis8 |
| 9 | Encoder1 |
| 10 | Encoder2 |
(k) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(l) Error State
This is the area that output error no. if there are errors in operation of function block.
(m) For more information, reference for Synchronous Start by Position is in the “Chapter 9.4.2.”
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(10) CAM Operation
(a) This is the condition for CAM Operation
This is the condition for CAM Operation Command (XPM_CAM)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute CAM Operation while it is running,
the “error 701” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis.
This command only works when this is the condition for Drive Ready is on. If a Drive Ready of main axis is not
set as “ON,” the “error 703” would be appeared.
(a) Condition for CAM operation
(b) Axis ready state
(c) Operating state
(d) Error state
(e) Servo On signal
(j) Main axis offset
(k) Completion state
(l) Error state
(g) Command axis
(h) Main axis setting
(i) CAM block
(f) Position of the module
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(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF series supports for 4 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis4.
(h) Main Axis Setting
Setting of main axis to operate .This setting is for main axis of CAM Operating. This setting cannot be set as
same value as Axis of command execution. Can set a value 1~4, meaning from axis1 to axis 4.
(i) CAM Block Numbers
Setting for Block Numbers of CAM data to operate CAM operation. XGF series support 8 CAM Blocks. The
CAM Data for each Block would be downloaded to module written from Software Package.
(j) Main axis offset
In case of “XPM_CAMO”, you have to set the main axis offset position where sub axis starts CAM operation.
After execution of instruction, sub axis starts CAM operation after main axis moves as far as the moving
amount set at the main axis offset.
(k) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(l) Error State
This is the area that output error no. if there are errors in operation of function block.
(m) For more information, reference of CAM Operation is in the “Chapter 9.4.3.”
(11) Deceleration Stop
(a) This is the condition for Deceleration Stop
This is the condition for Deceleration Stop Command (XPM_STP)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running.
(a) Condition for dec. stop
(b) Axis ready state
(c) Operating state
(d) Error state
(e) Position of the module
(h) Completion state
(i) Error state
(f) Command axis
(g) Dec. time at dec. stop
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(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(g) Deceleration time of Deceleration Stop
Set a deceleration time of Deceleration Stop operation. Unit of Deceleration Stop is [ms]. Since this time
refers deceleration time from the speed limit, there might be little difference between Deceleration Stop set
time and actual stop time. The range of deceleration time is “0~2,147,483,674.” 1~2,147,483,674 means
Deceleration Time set as 1ms ~ 2,147483674ms. If it set as “0,” it will be operated with set deceleration value.
Also it use to stop Speed Synchronous Operation or CAM Operation while Speed and CAM Operation. If Dec.
stop command is executed at this time, Speed synchronization or CAM Operation is cancelled, it stops with
Dec. time
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) For more information, reference of Deceleration Stop is in the “Chapter 9.2.18.”
(k) Operation of each function block is as follows.
Axis1 Dec. Time : When axis1 is in operation, decelerate to %MD96(axis1 Dec. stop Time), then stop.
Axis2 Dec. Time : When axis 2 is in operation, decelerate to 1000ms, then stop.
(12) Emergency Stop
(a) This is the condition for Emergency Stop
This is the condition for Emergency Stop Command (XPM_EMG)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(b) Axis ready state
(a) Condition for EMG. stop
(c) Position of the module (e) Completion state
(f) Error state
(d) Command axis
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(c) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(d) Axis of command execution
You can set an axis for Emg. stop. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(e) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(f) Error State
This is the area that output error no. if there are errors in operation of function block.
(g) Emergency Stop is operating by each axis.
Once Emergency Stop command executes the error “481” would be occurred. With the set value for
deceleration time, it will be decelerated and stop the operation
(h) For more information, reference of Emergency Stop is in the “Chapter 9.2.18.”
(13) M code Cancellation
(a) This is the condition for M code Cancellation
This is the condition for M code Cancellation (XPM_MOF). Once M code Cancellation command executed,
number of M code would be change to “0,” and signal of M code to “Off.”
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) M code state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “M Code” for each axis. It
turns on when it is operating. M code Cancellation command can only be valid once M code are generated.
The condition for execution is operation possible when it is “On.”
(d) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(e) Axis of command execution
You can set an axis for M code cancellation. XGF-PN8A supports for 8 axes. In the “execution of axis” from
the configuration of Parameter Setting, you can set a value for axis1 through axis8.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
(h) For more information, reference of M code Cancellation is in the “Chapter 9.6.2.”
(a) Condition for M code cancellation
(b) Axis ready state
(c) M code state
(d) Position of the module
(f) Completion state
(g) Error state
(e) Command axis
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(14) Torque Control
(a) Condition for torque control
(b) Error state
(d) Position of module
(h) Completion state
(i) Error state
(c) Servo on signal
(e) Command axis
(f) Torque value
(g) Torque gradient
(a) This is the condition for Torque Control
Conditions to execution the Control Torque command (XPM_TRQ). Once Torque Control command
executed, the corresponding axis executions Control Torque with the set torque value and torque gradient.
(b) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(c) Servo on signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Servo On” for each axis.
This command only works when this is the condition for Servo is on. If the Control Torque command is
executed when it is not the state of servo on, No. 743 error takes place.
(d) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(e) Axis of command execution
You can set an axis for M code cancellation. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from
the configuration of Parameter Setting, you can set a value for axis1 through axis8.
(f) After executing the Control Torque command, set torque value to drive under the Torque Control command.
The torque value range is -32768 through 32767%.
(g) Set gradient until the target torque in time. The gradient range is 0 through 65535ms.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) For more information, reference of Torque Control is in the “Chapter 9.2.21 Torque Control.”
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8.2.7 Operation Setting Change while Operating
(1) Speed Override
(a) This is the condition for Speed Override
This is the condition for Speed Override Command (XPM_SOR)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Speed Override while it is running,
the “error 371” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Speed override. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis 8.
(g) Value Change for Speed Operation
Set speed value. According to Speed Override from common parameters, it is a signal of “%” or “Speed Value”
depends on setting of category. Also, when Speed Override set as Speed Value, it means Unit/Time depends
on Speed Command Unit from basic parameters, or it means “rpm.” If a changing Operation Speed Value is
“%,” then the unit would be [X10-2%]. If it is “rpm, “then the unit would be X10-1rpm].
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(b) Axis ready state
(a) Condition for speed override
(c) Operating state
(d) Error state
(e) Position of the module
(h) Completion state
(f) Command axis
(g) Speed to change
(i) Error state
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(j) The function block in the example above is as follows.
Axis1 Speed Override : The operating speed of axis1 will be changed to speed value saved in %MD97 and
then continue to operate.
Axis2 Speed Override : The operating speed of axis2 will be changed to 20000 and then continue to operate.
(k) For more information, reference of Speed Override is in the “Chapter 9.5.5.”
(2) Position Override
(a) This is the condition for Position Override
This is the condition for Position Override Command (XPM_POR)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Position Override while it is running,
the “error 361” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Position override. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(g) Change for Goal Position Value
Setting Value Change for Goal Position Value. The unit of this value depends on “Unit” category. Once Position
Override commands are executed, the goal position of executed axis will be changed to set goal position.
(b) Axis ready state
(c) Operating state
(d) Error state
(e) Position of the module
(h) Completion state
(i) Error state
(g) Position to change
(f) Command axis
(a) Condition for override
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(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) The function block in the example above is as follows.
Axis1 Position Override: Goal position of axis1 is changed to the value saved in %MD98.
Axis2 Position Override: Goal position of axsi2 is changed to the value saved in %MD99.
(k) For more information, reference of Position Override is in the “Chapter 9.5.4.”
(3) Position Assign Speed Override
(a) This is the condition for Position Assign Speed Override
This is the condition for Position Assign Speed Override Command (XPM_PSO)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Position Assign Speed Override
while it is running, the “error 381” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Position assign speed override. XGF-PN8A supports for 8 axes. In the
(b) Axis ready state
(a) Condition for position assign speed override
(c) Operating state
(d) Error state
(e) Position of the module
(i) Completion state
(j) Error state
(g) Position to change speed
(f) Command axis
(h) Speed to change
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“execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis8.
(g) Position of Speed Change Execution
Set the position of Speed Change. Once the actual position located at set position with speed override
command running, the speed change commands are executed.
(h) Value Change for Operation speed
Set the Value Change for Operation speed. According to Speed Override from common parameters, it is a
signal of “%” or “Speed Value” depends on setting of category. Also, when Speed Override set as Speed Value,
it means Unit/Time depends on Speed Command Unit from basic parameters, or it means “rpm.” If a changing
Operation Speed Value is “%,” then the unit would be [X10-2%]. If it is “rpm, “then the unit would be X10-1rpm].
(i) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(j) Error State
This is the area that output error no. if there are errors in operation of function block.
(k) The function block in the example above is as follows.
Axis1 Positioning Speed Override : When the current position of axis1 become the same position as the
position saved in %MD100, the speed value will be changed to the speed
saved in %MD92.
Axis2 Positioning Speed Override : When the current position of axis1 become 50000, the speed will be
changed to 100000.
(l) For more information, reference of Position Assign Speed Override is in the “Chapter 9.5.6.”
(4) Speed/Position Switching Control
(a) This is the condition for Speed/Position Switching Control
This is the condition for Speed/Position Switching Control Command (XPM_VTP)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Speed/Position Switching Control
while it is running, the “error 301” would be appeared.
(b) Axis ready state
(c) Operating state
(e) In-speed control signal
(f) Position of the module
(i) Error state
(h) Completion state
(d) Error state
(a) Condition for speed/position switching control (g) Command axis
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(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Signal from Speed Control by each Axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Speed Control state” for
each axis. It turns on when it is operating. Speed/Position Switching Control Setting can only be configured
while it is running. If you execute Speed/Position Switching Control while it is not running, the “error 302” would
be appeared.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) For more information, reference of Speed/Position Switching Control is in the “Chapter 9.2.14.”
(5) Position Specified Speed/Position Switching Control
(a) Condition to perform “position-specified speed/position switching control”
Condition to perform control command (XPM_VTPP) for position-specified speed/position switching
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(a) Condition for position-specified speed/position switching control
(c) Operating state
(d) Error state
(a) Condition for speed/position switching control
(e) In-speed control signal
(f) Position of the module
(i) Completion state
(g) Command axis
(h) Target position
(b) Axis ready state
(j) Error state
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(c) Operation state for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing that each
axis is “operating.” If a relevant axis is running, it becomes ‘On’. A condition has been set to make the
control command for position specified speed/position switching valid only when the relevant axis is running.
If the control command for position specified switching is carried out when the relevant axis is not running,
No.301 Error will take place.
(d) Error State for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing “Error State”
for each axis. If any error takes place, it becomes ‘On’. A condition has been set to perform a control
command only when there is no error with the relevant axis. If the user wants to execute a command
regardless of the occurrence of errors, he/she may remove this condition.
(e) Speed Control Signal for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing each axis is
“controlling its speed.” If the relevant axis is running under speed control, it becomes ‘On.’ A condition has
been set to make the control command for position specified speed/position switching control valid only when
the relevant axis is in a speed control status. If the control command is carried out when the relevant axis is
not in a speed control status, No.302 Error will take place.
(f) Position of a module
For the example program above, it is assumed that positioning modules are installed on NO.0 Base and No.
3 Slot.
(g) Axis to make a command
Decide an axis that will execute the control command. XGF-PN8A can control up to four axes and assign 1
through 8 referring to 1-axis through 8-axis for this item.
(h) Transfer amount
After the control command for position specified speed/position control switching is executed, convert from
speed control to position control and moves by transfer amount.
(i) Completion state
If any function block is completely executed without any error, it displays and maintains “1” until the next
execution while it displays“0” if any error takes place.
(j) Error state
If any error takes place when any function block is executed, this area generates its error number.
(k) For details on the operation of position specified speed/position switching control, refer to “position specified
speed/position switching control”
(6) Position/ Speed Switching Control
(b) Axis ready state
(a) Condition for position/speed switching control
(c) Operating state
(d) Error state
(e) In-position control signal
(g) Command axis
(f) Position of the module
(h) Completion state
(i) Error state
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(a) This is the condition for Position/ Speed Switching Control
This is the condition for Position/ Speed Switching Control Command (XPM_PTV)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Position/ Speed Switching Control
while it is running, the “error 311” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Signal from Position Control by each Axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Position Control state” for
each axis. It turns on when it is operating. Position/ Speed Switching Control Setting can only be configured
while it is running. If you execute Position/Speed Switching Control while it is not running, the “error 317” would
be appeared.
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) For more information, reference of Position/ Speed Switching Control is in the “Chapter 9.2.15.”
(7) Position/ Torque Switching Control
(b) Axis ready state
(a) Condition for position/torque switching control
(g) Command axis
(i) Error state
(h) Completion state
(f) Position of the module
(e) In-position control signal
(d) Error state
(c) Operating state
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(a) This is the condition for Position/ Torque Switching Control
This is the condition for Position/ Torque Switching Control Command (XPM_PTT)
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Position/ Torque Switching Control
while it is running, the “error 561” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Signal from Position Control by each Axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Position Control state” for
each axis. It turns on when it is operating. Position/ Torque Switching Control Setting can only be configured
while it is running. If you execute Position/Torque Switching Control while it is not running, the error would be
appeared according to control type
(f) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(g) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) Torque value to operate
This is the area that sets torque value to be used after switching
(k) For more information, reference of Position/ Speed Switching Control is in the “Chapter 9.2.17.”
(8) Skip Operation
(j) Torque value to operate
(a) Condition for skip operation
(b) Axis ready state
(c) Operating state
(d) Error state
(e) Position of the module
(g) Completion state
(h) Error state
(f) Command axis
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(a) This is the condition for Skip Operation
This is the condition for Skip Operation Command (XPM_SKP) Once Skip Operation is executed, current
operation step is stop and will go to operate with next step.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Skip Operation while it is running, the
“error 331” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A series supports for 8 axes. In the “execution of axis”
from the configuration of Parameter Setting, you can set a value for axis1 through axis8.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(i) For more information, reference of Skip Operation is in the “Chapter 9.5.3.”
(9) Continuous Operation
(a) This is the condition for Continuous Operation
This is the condition for Continuous Operation Command (XPM_NMV). Once Continuous Operation is
executed, current operation step and next operation step would be operated continuously.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(b) Axis ready state
(a) Condition for skip operation
(c) Operating state
(d) Error state
(e) Position of the module
(g) Completion state
(h) Error state
(f) Axis ready state
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(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Continuous Operation while it is
running, the “error 391” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(i) For more information, reference of Continuous Operation is in the “Chapter 9.5.2.”
(10) Current Step Change (Start Step Number Change)
(a) This is the condition for Current Step Change
This is the condition for Current Step Change Command (XPM_SNS). Once Current Step Change is executed,
current operation step will move set step.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Current Step Change while it is
(b) Axis ready state
(a) Condition for current step change
(c) Operating state
(d) Error state
(e) Position of the module
(h) Completion state
(i) Error state
(f) Command axis
(g) Step number to change
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running, the “error 441” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(g) Change Step Number
Set change step number by Current Step Change. XGF-PN8A support 400 step operation data for each Axis.
Therefore, the range of step number setting of Current Step Change is 1~400.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) For more information, reference of Current Step Change is in the “Chapter 9.5.9.”
(11) Repeat Step No. Change
(a) This is the condition for Repeat Step No. Change
This is the condition for Repeat Step No. Change Command (XSRS). Once Repeat Step No. Change is
executed, current operation step will move set step. It will execute a operation when set of Operation Method is
“Repeat.”
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(a) Condition for repeat step change
(b) Axis ready state
(c)Error state
(d) Position of the module
(h) Error state
(g) Completion state
(e) Command axis
(f) Step to change
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(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(f) Change Step Number
Set change step number by Current Step Change. XGF series support 400 step operation data for each Axis.
Therefore, the range of step number setting of Current Step Change is 1~400. In the example, Axis1 and axis2
are changed to step no.11 and step no. saved in %MW203.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(i) For more information, reference of Repeat Step No. Change is in the “Chapter 9.5.10.”
(12) Current Position Preset
(a) This is the condition for Current Position Preset
This is the condition for Current Position Preset Command (XPM_PRS). Once Current Position Preset is
executed, current operation step will move to set step. If the origin has not set yet, the origin would be set to
origin decided.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(b) Axis ready state
(a) Condition for preset
(c) Operating state
(d) Error state
(e) Position of the module
(h) Completion state
(f) Command axis
(g)Current position to change
(i) Error state
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(c) Operating state by axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Operating” for each axis. It
turns on when it is operating. Operating Data Setting can not be configured while it is running hence
configuration will only be configured when it is not running. If you execute Current Position Preset while it is
running, the “error 451” would be appeared.
(d) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(e) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(g) Change Current Position
Set change current position by Current Position Preset. Unit follows the value from “Unit” of basic parameter.
In the example, Axis1 and axis2 are changed to 5000 and the position saved in %MD102.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) For more information, reference of Current Position Preset is in the “Chapter 9.5.7.”
(13) Encoder Preset
(a) This is the condition for Encoder Preset
This is the condition for Encoder Preset Command (XPM_EPRS). Once Encoder Preset is executed, current
operation step will move to set step.
(a) Condition for encoder preset
(b) Position of the module
(f) Completion state
(g) Error state
(c) Command axis
(d) Encoder to change
(e) Encoder position to change
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(b) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(c) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(d) Changing Encoder
Set Changing Encoder to execute a preset. 0 means “Encoder1” and 1 means “Encoder2”
(e) Changing Encoder Position
Set for Changing Encoder Position. In the example, the encoder1 position is changed to 2000 and the
encoder2 position is changed to the value in %MD103(encoder2 preset value
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
(h) For more information, reference of Encoder Preset is in the “Chapter 9.5.8.”
(14) Reset Latch
| (a) Condition for Reset Latch (b) Axis ready state |
(d) Position of the module |
(e) Command axis
(g) Completion state
(h) Error state
(c) Latch completion state
(f) Reset latch item
(a) This is the condition for Reset Latch
This is the condition for Reset Latch Command (XPM_LCLR). Once Reset Latch is executed, it reset state of
latch completion or latch data by set the reset latch item.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Latch completion state
It is the state of “Latch Completion” when an example program of“8.2.2 Read the Current Sate.” It is on when
latch is completed once external latch command signal of the relevant axis is inputted. In case of Axis 2, the
Reset latch item is executed as soon as %MB4.6 (Latch Completion state) is On. To read latch data every
time when latch is completed upon the input of the axis’s external latch command signal, program to set latch
completion as a condition for the Reset Latch command after executing the Read Latch Location Data
command.
(d) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Reset Latch. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Reset Latch, you can set a value for axis1 through axis8.
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(f) Reset latch item
The following items are reset according to the Reset latch item.
0: Reset the state when latch is completed
1: Reset latch location data and the state when latch is completed
In the example program, latch location data and latch completion are reset for Axis 1 and only latch completion
is reset for Axis 2 when executing the Reset Latch command.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(15) Set Latch
| (a) Condition for Set Latch (b) Axis ready state |
(c) Position of the module |
(d) Command axis
(g) Completion state
(h) Error state
(e) Latch Enable/Disable
(f) Latch mode
(a) This is the condition for Reset Latch
This is the condition for Set Latch Command (XPM_LSET). The Set Latch command is executed on Axis 1
and 2 as soon as %MX1050(Set Latch) is On after the axis is connected to the network and it is executed on
Axis 3 as soon as %MX1051(3-Axis Latch Disable) is On.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(d) Axis of command execution
You can set an axis for Set Latch. XGF-PN8A/B supports for 8 axes. In the “execution of axis” from the
configuration of Set Latch, you can set a value for axis1 through axis8.
(e) Latch enable/disable
Actions according to the designated Enable/Disable Latch item are as following:
0: latch disable
1: latch enable
In the example program, latch is enabled for Axis 1 and 2 while it is disabled for Axis 3.
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(f) Latch mode item
Actions according to the designated latch mode item are as following:
0: Single trigger (The current position latch is available only the touch probe 1 signal inputted at first after
latch is permitted)
1: Continuous trigger (The current position latch is available at every touch probe 1 signal after latch is
permitted)
In the example program, Axis 1 is set in the single trigger mode while Axis 2 is set in the continuous trigger
mode when implementing the Set Latch command.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
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8.2.8 Error
(1) Error Reset
(a) This is the condition for Error Reset
This is the condition for Error Reset Command (XPM_RST). Once Error Reset is executed, it erases errors of
module form each axis.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(f) Error setting of Error/Common by axis
Depending on the errors, if it is set by “0”, erase the errors in operation of each axis, if it is set by “1”, erase the
common errors of each modules.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(a) Condition for error reset
(b) Axis ready state
(d) Position of the module
(g) Completion state
(e) Command axis
(f) Axis error/ common error setting
(c) Error state
(h) Error state
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(2) Error History Reset
(a) This is the condition for Error History Reset
This is the condition for Error History Reset Command (XPM_HRST). Once Error Reset is executed, it erases
history of generated errors of module. XGF series has ten error histories by each axis. It will be saved to FRAM,
remain still even there is no power.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(d) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis 8.
(e) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(f) Error State
This is the area that output error no. if there are errors in operation of function block.
(b) Axis ready state
(a) Condition for error history reset (d) Command axis
(c) Position of the module
(e) Completion state
(f) Error state
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(3) Servo Driver Error Reset
(a) This is the condition for Servo Driver Error Reset
This is the condition for Servo Driver Error Reset Command (XPM_SRST). Once Servo Driver Error Reset is
executed, it erases errors of module form each axis. At this time, if you execute this command without
removing causes of error, error may ramin.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis8.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
(b) Axis ready state
(a) Condition for servo driver error reset (b) Axis ready state
(h) Error state
(g) Completion state
(d) Position of the module
(b) Servo error state
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(4) Servo Driver Error History Reset
(a) This is the condition for Servo Driver Error History Reset
This is the condition for Servo Driver Error History Reset Command (XPM_SHRST). Once Servo Driver Error
Reset is executed, it erases history of generated errors of servo driver. Servo driver can have ten error
histories by each axis.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(d) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN8A supports for 8 axes. In the “execution of axis” from the
configuration of Parameter Setting, you can set a value for axis1 through axis 8.
(e) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(f) Error State
This is the area that output error no. if there are errors in operation of function block.
(b) Axis ready state
(a) Condition for Servo driver error history reset
(d) Command axis
(c) Position of the module
(e) Completion state
(f) Error state
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8.2.9 Program related with Servo Parameter (XGF-PN4B/PN8B)
(1) Servo Driver Parameter Read
| (a) Condition for servo driver parameter read (b) Axis ready |
(d) Position of the module |
(h) Completion stae
(i) Error state
(e) Command axis
(c) Servo parameter R/W processing state
(g) Servo driver
parameter data
(f) Servo driver parameter setting
(a) This is the condition for Servo Drive Parameter Read
This is the condition for Servo Driver Parameter Read Command (XPM_SVPRD). Once “Servo Driver
Parameter Read” command is executed, it saves to read parameter object value of the servo driver.
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Servo parameter R/W processing state
It indicates the executing state of “Servo Driver Parameter Read/Write” or “EEPROM Save” command. In the
example, “Servo Driver Parameter Read” command executes when servo parameter R/W processing is off.
(d) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Servo Driver Parameter Read. XGF-PN4(8)B supports for 4(8) axes. In the
“execution of axis” from the configuration of Servo Driver Parameter Read, you can set a value for axis1
through axis 8.
(f) Set servo driver parameter
Set index number, SubIndex number, Size of reading parameter object in servo drive parameters. In this
example, save to “Axis1_ServoPameter” to read axis1 servo DCLink voltage of specified by h260b:00 with
2byte size. Save to “Axis2_ServoParameter” to read axis2 servo parameter of specified by INDEX, SUBINDEX
with LENGTH size.
(g) Servo Parameter Data
It sets up data to read to the servo driver parameter.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
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(2) Servo Driver Parameter Write
(a) This is the condition for Servo Parameter Write
This is the condition for Servo Parameter Write Command (XPM_SVPWR). Once “Servo Parameter Write”
command is executed, it changes parameter value of the servo driver into setting value
(b) Axis ready
If communication between the positioning module and the servo driver is normal, corresponding signal will be
on.
(c) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(d) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN4(8)B supports for 4(8) axes. In the “execution of axis”
from the configuration of Parameter Setting, you can set a value for axis1 through axis 8.
(b) Axis ready state
(a) Condition for Servo Driver Parameter Write
(d) Command axis
(c) Position of the module
(e) Servo parameter position
(f) Servo parameter data
(g) How to write servo parameter
(i) Error state
(h) Complete state
Chapter 8 Program
| 8-144 |
(e) Servo Parameter Position
It sets position of the servo parameter to write. In INDEX, set up Index number of the servo parameter object ,
and in SUBINDEX, set up sub-index number of the servo parameter object, and in LENGTH, set up length of
the servo parameter by byte unit.
(f) Servo Parameter Data
It sets up data to write to the servo parameter.
(g) How to write the servo parameter
It sets how to write the servo parameter. If it is set as 0, servo parameter will be written at RAM. And if it is set
as 1, servo parameter will be written at EEPROM.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(2) Servo Driver Parameter Save
(a) This is the condition for Servo Parameter Save
This is the condition for Servo Parameter Save Command (XPM_SVSAVE). Once “Servo Parameter Save”
command is executed, it saves all parameter values of the servo driver at the internal EEPROM.
(b) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(c) Axis of command execution
You can set an axis for Parameter Setting. XGF-PN4(8)B supports for 4(8) axes. In the “execution of axis”
from the configuration of Parameter Setting, you can set a value for axis1 through axis 8.
(d) Axis setting for saving servo parameter
It sets the axis of the servo driver to save. Each axis of 1-axis ~ 8-axis is assigned with 0~7 bit. Set the
corresponding bit to select the axis.
(e) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If
error occurred, “0” will be outputted.
(f) Error State
This is the area that output error no. if there are errors in operation of function block.
(d) Axis setting for saving servo parameter
(a) Condition for Servo Driver Parameter Save
(c) Command axis
(b) Position of the module
(f) Error state
(e) Complete state
| Chapter 9 Functions |
| 9-203 |
(2) Full-Closed control unit specifications
(a) Bar code head specifications
| Item | Descriptions | Remarks |
| Manufacturer | Leuze Electronic | - |
| Input power | 12 ~ 24VDC | Option board included |
| Current consumption | Max. 0.5A | Option board included |
| Effective Resolution | 1mm | |
| Setting resolution | 0.1mm | Option board settings |
| Measuring range | 90 ~ 170mm | Barcode band Reference |
| weight | 400g | - |
| Dimensions | 120 * 90 * 43(mm) | - |
| Operating temperature | 0 ~ 40℃ | BPS37SM100 |
| -30 ~ 40℃ | BPS37SM100H (with optics heating) |
|
| Operating humidity | below 90% | No condensation |
| Storage temperature | -20 ~ 60℃ |
| Note |
| For other relevant information, please check the manufacturer’s website. (http://www.leuze.com) |
| Chapter 9 Functions |
| 9-204 |
| PIN1 | GND | GND: For initial-setup RS232 |
| PIN2 | SWIN | Switching input 1 |
| PIN3 | SSI data+ | SSI data line |
| PIN4 | SSI data- | SSI data line |
| PIN5 | Unused | - |
| PIN6 | SSI Clock+ | SSI Clock line |
| PIN7 | /Serv | Bridge to PIN15: For initial-setup RS232 |
| PIN8 | VIN | Input power (12 ~ 24VDC) |
| PIN9 | SSI Clock- | SSI Clock line |
| PIN10 | SWOUT1 | Switching output 1 |
| PIN11 | RXD/Serv | RXD: For initial-setup RS232 |
| PIN12 | TXD/Serv | TXD: For initial-setup RS232 |
| PIN13 | Unused | - |
| PIN14 | Unused | - |
| PIN15 | GND | Input power (GND) |
<BPS327 Wiring Diagram >
| Chapter 9 Functions |
| 9-205 |
(b) Full-Closed control option board specifications
< Full-Closed control option board >
| Item | Descriptions | Remarks |
| Manufacturer | Hayijen motor | |
| Input power | 12 ~ 24VDC | BPS37 included |
| Current consumption | Max. 0.5A | BPS37 included |
| Input Signal | BPS37 SSI | BPS37 private |
| Output Signal | RS232 | RS232 Modbus (Hayijen private) |
| Output communication speed |
38400bps | 38400bps fix |
| Setup configuration | PC For setup RS232 | BPS37 For initial-setup |
| Dimensions | 90 * 100 * 20(mm) | |
| Operating temperature | 0 ~ 50℃ | |
| Operating humidity | -20 ~ 80℃ | |
| Storage temperature | below 90% | No condensation |
| Chapter 9 Functions |
| 9-206 |
(c) Full-Closed control option board wiring
< Power supply and BPS37 input part >
< Modbus RS232 and servo drive connection >
| Chapter 9 Functions |
| 9-207 |
< BPS37 setup RS232 and PC connection >
< BPS37 option board LED >
| Chapter 9 Functions |
| 9-208 |
(1) Initial settings of Full-Closed control BPS37
(a) Download of program for BPS37 settings
Download the program from the website of Leuze electronc and install it.
(http://www.leuze.com/download/log/download-08_en.html)
Download file: BPSConfigV011600.exe (April 20, 2012)
(b) To set up BPS37, PC, option board, BPS37 and related cables are needed, and they should be
configured as shown in the figure.
(c) Execute BPS37 set-up program and enter the setting values as follows.
| Chapter 9 Functions |
| 9-209 |
| Chapter 9 Functions |
| 9-210 |
| Item | Setup value | |
| Host Interface | Format | Binary |
| Signed | Binary | |
| Out Module | Output Position, Measurement Error | |
| Position Logging | Resolution | Accurate to tenth Millimeter |
If the settings are completed, the values are stored in EEPROM of BPS37.
[Device => Transmit Parameter, Press Enter]
Read and check EEPROM of BP537 to determine whether the settings are normally stored.
[Device => Load Parameter, Press Enter]
(d) Set the RS232 Modbus communication speed of BPS37 option board as shown in the figure.
| Switch number | Setup value(fix) | Communication speed |
| 1 | ON | 38400bps |
| 2 | OFF | |
| 3 | ON | |
| 4 | OFF |
| Chapter 9 Functions |
| 9-211 |
(2) Full-Closed control servo parameter
Full-Closed control is available only if you have an option board for higen motor and barcode heater of
BPS537 of Leuze electronic.
< Full-Closed control block diagram >
Full-Closed control setting parameters are as follows.
| P04-01 | Full-Closed control enable |
Unit - |
Setting range 0 ~ 1 |
Manufactured default 0 |
Position control |
User can select whether or not to use Full-Closed control. [0: Disable, 1: Enable]
| P04-02 | Full-Closed Polarity Internal encoder characteristics |
Unit - |
Setting range 0 ~ 1 |
Manufactured default 0 |
Position control |
User can set the incremental direction of Full-Closed control external detector (barcode input) with
respect to the encoder incremental direction inside the motor.
0: External detector (barcode input) incremental direction is the same as the internal encoder direction
1: External detector (barcode input) incremental direction is the opposite direction from the internal encoder
If there is an error in direction settings of the external encoder (barcode input) used in Full-Closed control,
[Barcode Polarity Error, AL-35] occurs.
| Chapter 9 Functions |
| 9-212 |
| P04-03 | Full-Closed NUM Decelerator molecules |
Units - |
Setting range 1 ~ 999999 |
Manufactured default 1 |
Position control |
| P04-04 | Full-Closed DEN Decelerator denominator |
Units - |
Setting range 1 ~ 999999 |
Manufactured default 1 |
Position control |
Set the number of pulses of the internal encoder of the servo motor per detector resolution (0.1mm) for Full-Closed
control.
Convert input values with the diameter of the final drive wheel and the deceleration ratio of the decelerator.
| Chapter 9 Functions |
| 9-213 |
| P04-05 | Full-Closed ErrPLS Deviation range |
Units 0.1 rev |
Setting range 1 ~ 2000 |
Manufactured default 10 |
Position control |
If incorrect settings of decelerator numerator and denominator, or non-transfer of machine leads to large
position deviation, an alarm [Barcode Follow Error, AL-36] is detected by the value set in the Full-Closed
deviation range [P04-5].
- Causes for Barcode Follow Error[AL-36] detection
1) Decelerator setting error[P04-03, P04-04]
2) Mechanical constraint
3) Excessive slip of drive unit
| Chapter 9 Functions |
| 9-1 |
Functions
Home Return
Home Return is carried out to confirm the origin of the machine when applying the power. In case of homing, it is
required to set the parameters related with homing among servo parameters per axis. If the origin position is
determined by homing, the origin detection signal is not recognized during positioning operation. In case of homing,
the needed contact point is inputted through a CN1 connector of a servo driver (EtherCAT CoE-supported servo
driver).
EtherCAT
Servo
L7N Drive
HOME
ALMRST
PCON
GAIN2
P-OT
11
15
16
17
8 7
N-OT HOME P-OT
+24V 6 U,V, W,F.G.
Coupling
Servo
motor Encoder
Encoder
Input
Servo Driver
Input
Table
Ball screw
N-OT
For home return, select “Home return method” (EtherCAT CoE-supported driver: refer to manual) according to
user system. In motion control module, actual execution is performed in servo driver after home return execution.
Besides supported home return method conforms related servo drive. The parameters of axis those are related
with home return in servo parameters must be configured before home return setting.
. ■
Setting example of parameter home return
| Chapter 9 Functions |
| 9-2 |
(1) Relevant parameter of home return
| Index | Sub | Name | Data Type | Unit |
| 0x6040 | - | Control word | UINT | - |
| 0x6041 | - | Status word | UINT | - |
| 0x607C | - | Home offset | DINT | [pls] |
| 0x6098 | - | Homing method | SINT | - |
| 0x6099 | - | Homing speeds | - | - |
| 0 | Number of item | USINT | - | |
| 1 | Speed during search for switch |
UDINT | [pls/s] | |
| 2 | Speed during search for zero |
UDINT | [pls/s] | |
| 0x607D | - | Software position limit | - | - |
| 0 | Number of item | USINT | - | |
| 1 | Minimum position limit | DINT | [pls] | |
| 2 | Maximum position limit | DINT | [pls] | |
| 0x609A | - | Homing acceleration | UDINT | [pls/s2] |
| Homing Method (0x6098) |
Details |
| 1 | The drive returns to the home position with the negative limit switch (NOT) and the Index (Z) pulse while driving in the reverse direction. |
| 2 | The drive returns to the home position with the positive limit switch (POT) and the Index (Z) pulse while driving in the forward direction. |
| 7, 8, 9, 10 | The drive returns to the home position with the home switch (HOME) and the Index (Z) pulse while driving in the forward direction. When the positive limit switch (POT) is input during homing, the drive will switch its driving direction. |
| 11, 12, 13, 14 | The drive returns to the home position with the home switch (HOME) and the Index (Z) pulse while driving in the reverse direction. When the negative limit switch (NOT) is input during homing, the drive will switch its driving direction. |
| 24 | The drive returns to the home position with the home switch (HOME) while driving in the forward direction. When the positive limit switch (POT) is input during homing, the drive will switch its driving direction. |
| 28 | The drive returns to the home position with the home switch (HOME) while driving in the reverse direction. When the negative limit switch (NOT) is input during homing, the drive will switch its driving direction. |
| 33 | The drive returns to the home position with the Index (Z) pulse while driving in the reverse direction. |
| 34 | The drive returns to the home position with the Index (Z) pulse while driving in the forward direction. |
| 35 | Sets the current position as the origin. |
| -1 | The drive returns to the home position with the negative stopper and the Index (Z) pulse while driving in the reverse direction. |
| -2 | The drive returns to the home position with the positive stopper and the Index (Z) pulse while driving in the forward direction. |
| -3 | The drive returns to the home position with the negative stopper while driving in the reverse direction. |
| -4 | The drive returns to the home position with the positive stopper while driving in the forward direction. |
| -5 | The driver returns to the home position in the reverse direction with the home switch(HOME) |
| -6 | The driver returns to the home position in the forward direction with the home switch(HOME) |
| Chapter 9 Functions |
| 9-3 |
(2) Homing method (0x6098)
| Value | Details |
| 1, 2 | (1) If NOT-Switch is turned-off, starting move direction becomes CW (clock wise). If NOT-Switch is turned-on, move direction is changed as CCW (counter clock wise). While operate in the CCW after NOT-Switch is turned-off, the first point of contact with index pulse will be home position. (2) If POT-Switch is turned-off, starting move direction becomes CCW (counter clock wise). If POT Switch is turned-on, move direction is changed as CW (clock wise). While operate in the CW after POT-Switch is turned-on, the first point of contact with index pulse will be home position. ←CW →CCW |
| 7 to 10 | Method (7) ~ (10) determine the home position by a HOME or POT switch. (7)_Upper figure: If POT-Switch is turned-off, starting move direction becomes CCW (counter clock wise) with switch searching speed. If HOME-Switch is turned-on, move direction is changed as CW (clock wise). After while operate in the CW, the first point of contact with index pulse will be home position and operating with zero searching speed. (7)_Middle figure: If POT-Switch is turned-off and HOME-Switch is turned-on, starting move direction becomes CW (counter clock wise) with switch searching speed. If HOME-Switch is turned-off, operating speed is changed as zero searching speed. After while operate in the CW, the first point of contact with index pulse will be home position. (7)_Lower figure: If POT-Switch is turned-off and HOME-Switch is turned-on, starting move direction becomes CCW (counter clock wise) with switch searching speed. If POT-Switch is turned-on, move direction is changed as CW (clock wise). When HOME-Switch is changed as ON to OFF, operating speed is changed as zero searching speed. After while continue to operate in the CW, the first point of contact with index pulse will be home position. The other method (8) ~ (10) are same as positioning operation of method (7) except for operations in accordance with the polarity switch. Please refer to the follow, ←CW →CCW Index pulse Home switch 8 10 7 9 7 10 8 9 7 8 9 10 Positive limit switch (POT) |
| Chapter 9 Functions |
| 9-4 |
| Value | Details |
| 11 to 14 | For homing using the Homing Method 14, the velocity profile according to the sequence is as follows. The sequence depends on the relationship between the location of load and the Home switch at homing, which is categorized into three cases as below. For more information, see the details below: (14) Upper figure: The initial driving direction is CW (clock wise), and the drive operates at the Switch Search Speed. When the Negative Home Switch is turned off, the drive will decelerate to Zero Search Speed, and then continue to operate. While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home). (14) Middle figure: Since the Home signal is on, the drive will operate at the Switch Search Speed in the direction of the Negative Home Switch (CW). It might not reach the Switch Search Speed depending on the start position of homing. When the Home switch is turned off, the drive will decelerate to Zero Search Speed, and then continue to operate. While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home). (14) Lower figure: The initial driving direction is CW (clock wise), and the drive operates at the Switch Search Speed. When the negative limit switch (NOT) is turned on, the drive will decelerate down to stop, and then operate at the Switch Search Speed in the CCW (counter clock wise). When the Negative Home Switch is turned on, the drive will decelerate to the Zero Search Speed, and then switches its direction to the CW (clock wise). While operating at the Zero Search Speed, the drive detects the first index pulse to move to the index position (Home). The methods from 11 to 13 are nearly identical to the method 14 in terms of the homing sequence. The only differences are the initial driving direction and Home switch polarity. Index pulse Home switch Negative limit switch (NOT) 1 4 1 12 1 12 4 CW CCW |
12
14
1
13
11
3 11
3 110x6099:01 Speed during search for switch
0x6099:02 Speed during search for Zero
| Chapter 9 Functions |
| 9-5 |
| Value | Details |
| 24 | It determines the Home position in the same manner as method 8, but it does not use an index pulse. The point where the Home switch is turned on or off becomes the Home position. ←CW →CCW Home switch Positive limit switch (POT) |
| 28 | It determines the Home position in the same manner as method 12, but it does not use an index pulse. The point, where the Home switch is turned on or off, becomes the Home position. ←CW →CCW Home switch Negative limit switch (NOT) 28 |
| 33, 34 | The position that the first index pulse encounters while driving in a CCW/CW direction becomes the Home position. ←CW →CCW 33 34 |
24
24
24
28
28
Index pulse
| Chapter 9 Functions |
9-6
Value Details
35
The starting point of the homing operation becomes the Home position.
Homing operation
0x6040:bit4
CW CCW
35
0 1
-1, -2
Homing methods -1 and -2 are using Stopper and Index (Z) pulse to home. The velocity profiles
depending on the sequence are shown below. For more information, see the details below:
(-1) The initial driving direction is CW (clock wise), and the drive operates at the Switch Search
Speed. When the drive hits the negative stopper, it will stand by according to the torque limit
value (0x2409), and the time setting value (0x240A) at the time of homing using stopper
before direction switch. While operating at the Zero Search Speed, the drive detects the first
index pulse to move to the index position (Home).
(-2) The initial driving direction is CCW (counter clock wise), and the drive operates at the Switch
Search Speed. When the drive hits the positive stopper, it will stand by according to the
torque limit value (0x2409) and the time setting value (0x240A) at the time of homing using
stopper before direction switch. While operating at the Zero Search Speed, the drive detects
the first index pulse to move to the index position (Home).
Index Pulse
Negative Stopper Positive Stopper
-1 -2
CW CCW
0x6099:01 Speed during search for switch
0x6099:02 Speed during search for Zero
| Chapter 9 Functions |
| 9-7 |
| Value | Details |
| -3,-4 | Homing method -3 and -4 are using Stopper to home. The velocity profiles depending on the sequence are shown below. (-3) The initioal driving direction is counter forward (CW), and the drive operates at the Switch Search Speed. When the drive hits the negative Stopper, it will stand by according to the torque limit value (0x2409), and the time setting value (0x240A) at the time of homing using stopper before direction switch. (-4) The initial driving direction is CCW (counter clock wise), and the drive operates at the Switch Search Speed. When the drive hits the positive Stopper, it will stand by according to the torque limit value (0x2409), and the time setting value (0x240A) at the time of homing using stopper before direction switch. CW CCW |
| -5,-6 | Homing methods -5, -6 are using home switch (-5) The initial movement is CW direction with Switch Search Speed. When positive home switch is ON, home return is completed after deceleration stop. (-6) The initial movement is CCW direction with Switch Search Speed. When positive home switch is ON, home return is completed after deceleration stop. CW CCW |
Negative Stopper Positive Stopper
-3 -4
0x6099:01 Speed during search for switch
0x6099:02 Speed during search for Zero
Home switch Home switch
-5 -6
0x6099:01 Speed during search for switch
0x6099:02 Speed during search for Zero
Comment) ▬ : Speed during search for switch (0x6099:01),
→ : Speed during search for zero (0x6099:02)
| Chapter 9 Functions |
| 9-8 |
Positioning Control
Positioning control executes using data which is set on the 「Operation Data」 . Positioning control includes
Single-axis Position control, Single-axis Speed Control, Single-axis Feed Control, Interpolation control,
Speed/Position Switching control, Position/Speed Switching control and Position/Torque Switching control.
| Positioning Control | Control Method | Operation | |
| Positioning Control |
Single-axis Position Control |
Absolute, Single-axis Position Control Incremental, Single axis Position Control |
Specified axis executes positioning control from the beginning (current stop position) to the goal position. |
| Single-axis Feed Control |
Absolute, Single-axis Feed Control Incremental, Single axis Feed Control |
The starting position (the current stop position) changes to 0 and executes positioning control as far as specified moving amount. |
|
| Linear Interpolation |
Absolute, Linear Interpolation Incremental, Linear Interpolation |
Executes linear interpolation control by using specified axes from the start position (current stop position) to the target position. |
|
| Circular Interpolation |
Absolute, Circular Interpolation Incremental, Circular Interpolation |
Executes positioning control by using 2 axes, controlling sub-axis in accordance with the data of command axis (main axis), to target position with the trajectory of arc |
|
| Helical Interpolation |
Executes positioning control by using 3 axes, controlling sub-axis in accordance with the data of command axis (main axis), to target position with the trajectory of arc. The axis set as helical interpolation axis executes linear interpolation until target position |
||
| Ellipse Interpolation |
Executes positioning control by using 2 axes, controlling sub-axis in accordance with the data of command axis (main axis), to target position with the trajectory of ellipse having specified angle. |
||
| Speed Control | Absolute, Single-axis Speed Control Incremental, Single axis Speed Control |
Execute Speed control with specified speed until deceleration stop command is entered. |
|
| Speed/Position Switching Control |
Absolute, Single-axis Speed Control Incremental, Single axis Speed Control |
If speed / position switching command or speed / position control switching input signal is entered during speed control operation, speed control switches to position control and it executes positioning control as far as target position (moving amount). |
|
| Position/Speed Switching Control |
Absolute, Single-axis Position Control Incremental, single axis Position Control |
If position/speed switching command is executed during position control operation, position control switches to speed control and it executes speed control with specified speed until deceleration stop command is entered. |
|
| Position/Torque Switching Control |
Absolute, Single-axis Position Control Incremental, single axis Position Control |
If position/torque switching command is executed during position control operation, position control switches to torque control and it executes torque control with specified torque until deceleration stop command is entered. |
| Chapter 9 Functions |
| 9-9 |
Describe the Operation data and Setting to execute positioning control.
| Operation Data | Setting |
| Control Method | Sets the Type of control and standard coordinate of Positioning control. |
| Operation Method | Sets the control method of continuous operation. |
| Target Position | Sets the absolute target position or moving amount in case of position control. |
| Operation Speed | Sets the operation speed. |
| Acceleration No. | Sets the number to be used as acceleration time. Acceleration No. is selected among Acceleration No. 1, 2, 3, and 4 of basic parameters |
| Deceleration No. | Sets the number to be used as deceleration time. Deceleration No. is selected among Deceleration No. 1, 2, 3, and 4 of basic parameters |
| M Code | Sets the M Code when using the code number for auxiliary operation of positioning control. |
| Dwell Time | Sets the time needed for servo driver to complete the positioning after positioning the object |
| Sub Axis Setting | Sets the sub axis for interpolation control. |
| Circular Interpolation | Sets the auxiliary data (middle point, center point and radius) for circular interpolation. |
| Circular Interpolation Mode |
Sets how to generate the arc (middle point, center point and radius) for circular interpolation. |
| Circular Interpolation Turn Number |
Sets the number of arcs to draw for circular interpolation. |
| Helical Interpolation | Sets the axis to execute linear operation during helical interpolation. |
| Remark |
| For operation data, It is available to set 1~400 steps per each 1~8axis. |
| Chapter 9 Functions |
| 9-10 |
Operation mode of positioning control determines whether to execute the next operation data after executing
current operation and how to handle the operation speed.
Operation mode types are as follows.
| Control Method |
Operation Method |
Operation Pattern |
Operation | |
| Single-axis Positioning Control |
Single | End | ○ | Ends after the completion of the current step |
| Keep | ○ | Keeps operating the next step after the completion of the current step | ||
| Continuous | ○ | Operates the current step and the next step with a continuous speed | ||
| Repeat | End | ○ | Ends after the completion of the current step and changes the Current step number into Repeat Step |
|
| Keep | ○ | Keeps operating the Repeat Step after the completion of the current step | ||
| Continuous | ○ | Operates the current step and the Repeat Step with a continuous speed | ||
| Single-axis Speed Control |
Single | End | ○ | Speed control operation with operation data of the current step |
| Keep | ○ | Speed control operation with operation data of the current step In case of VTP command, after completing the positioning, keeps operating the next step. |
||
| Continuous | Х | Errors | ||
| Repeat | End | ○ | Speed control operation with operation data of the current step | |
| Keep | ○ | Speed control operation with operation data of the current step In case of VTP command, after completing the positioning, keeps operating the step specified by Repeat Step. |
||
| Continuous | Х | Errors | ||
| Single-axis FEED Control |
Single | End | ○ | Ends after the completion of the current step-Feed control |
| Keep | ○ | Keeps operating the next step after the completion of the current step-Feed control | ||
| Continuous | Х | Errors | ||
| Repeat | End | ○ | Ends after the completion of the current step-Feed control and changes the Current step number into Repeat Step |
|
| Keep | ○ | Keeps operating the Repeat Step after the completion of the current step-Feed control |
||
| Continuous | Х | Errors | ||
| Linear Interpolation |
Single | End | ○ | Ends after the completion of the current step Linear interpolation |
| Keep | ○ | Keeps operating the next step after the completion of the current step | ||
| Continuous | ○ | Operates the current step and the next step with a continuous speed | ||
| Repeat | End | ○ | Ends after the completion of the current step and changes the Current step number into Repeat Step |
|
| Keep | ○ | Keeps operating the Repeat Step after the completion of the current step | ||
| Continuous | ○ | Operates the current step and the Repeat Step with a continuous speed | ||
| Circular Interpolation |
Single | End | ○ | Ends after the completion of the current step Circular Interpolation |
| Keep | ○ | Keeps operating the next step after the completion of the current step | ||
| Continuous | ○ | Operates the current step and the next step with a continuous speed | ||
| Single | End | ○ | Ends after the completion of the current step and changes the Current step number into Repeat Step |
|
| Keep | ○ | Keeps operating the Repeat Step after the completion of the current step | ||
| Continuous | ○ | The current step and the next step in a continuous arc interpolation drive speed |
| Chapter 9 Functions |
| 9-11 |
Remark
1, Operation mode shall be set from PLC Program or Operation data of XG-PM.
2. Operation data can be set up to 400 ranging from operation step no. 1 ∼ 400 per each axis.
3. With one start command, whether to operate one operation step or several operation steps is determined
by operation mode set by the user.
(1) End Operation (Single)
(a) With one time start command, positioning to the target position is executed and the positioning is completed
after the dwell time.
(b) This is used as last operation data of Keep operation mode, Continuous operation mode. (After executing the
operation data set as END, it stops)
(c) Operation direction is determined by target position.
(d) Generally, operation action is trapezoid type operation that has acceleration, constant, deceleration section
according to the operation speed and target position but according to the setting value, the operation pattern
can be as follows.
1) Normal Operation Patterns
| Dwell time |
| ON |
| ON |
| ON |
| ON |
| ON |
| ON |
Speed
Time
Start command
In operation
In acceleration
In constant
speed
In deceleration
In dwell
Positioning
complete
| Chapter 9 Functions |
| 9-12 |
2) Abnormal Operation Patterns
Dwell time
| Speed Time Start command In operation In acc At constant speed In dec In dwell Positioning complete |
Speed Time Start command In operation In acc At constant speed In dec In dwell Positioning complete |
| The operation speed is large compared with moving amount | Acc. time = 0, Dec. time = 0 |
ON
.
.
ON
ON
ON
ON
Dwell time
ON
.
.
ON
ON
ON
| Chapter 9 Functions |
| 9-13 |
[ Example ] - Executes Start command after setting the step no. of “Indirect Start” as “0”
- Execute Start command total four times.
■ Setting of XG-PM
| Step NO. | Control type | Operation type |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. | Decel NO. | M Code | Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single, End |
10000 | 1000 | 1 | 1 | 0 | 0 |
| 2 | Absolute Single-axis Position Control |
Single, End |
15000 | 500 | 1 | 1 | 0 | 0 |
| 3 | Absolute Single-axis Position Control |
Single, End |
25000 | 1000 | 1 | 1 | 0 | 0 |
| 4 | Absolute Single-axis Position Control |
Single, End |
30000 | 500 | 1 | 1 | 0 | 0 |
■ Operation Pattern
Speed
Time
ON
Start
command
In
operation
ON ON ON
| ON |
| ON |
| ON |
| ON |
Operation step
no. : 1
Operation
step no. :2
Operation step
no. : 1
Operation
step no. : 2
| Operation mode : Single, End |
Operation mode : Single, End |
| Operation mode : Single, End |
Operation mode : Single, End |
1000
500
Operation step execution order according to start command will be [1] → [2] → [3] → [4].
| Chapter 9 Functions |
| 9-14 |
(2) End Operation (Repeat)
(a) With one time start command, positioning to the target position is executed and the positioning is complete
after the dwell time.
(b) The operation type of Repeat operation mode is same as that of Single operation but the different thing is
that after completion of positioning, next operation is determined by operation step no. specified by Repeat
Step No. Change command.
(c) Therefore, if Repeat step no. change command was not executed, the step no.“1” will be assigned after
positioning completion of Repeat operation mode and operated at next Start command. Thus, this operation
can be used for the structure that several operation steps are repeated.
(d) In case that operation step is set as the value except “0” (1~400) for Indirect Start, the positioning operation
will be done with the set step no. regardless of the current operation step no. But, if the step no. is set as “0”,
the positioning operation will be done with the operation step no. changed by Repeat operation mode.
(e) Operation direction will be determined by position value.
(f) Repeat operation step no. change command is available to execute during operation.
[ Example 1 ] - Executes Start command after setting the step no. of “Indirect Start” as “0”
- Execute Start command total four times.
■ Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. |
Decel NO. |
M Code |
Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single, End |
10000 | 1000 | 1 | 1 | 0 | 0 |
| 2 | Absolute Single-axis Position Control |
Repeat, End |
15000 | 500 | 1 | 1 | 0 | 0 |
| 3 | Absolute Single-axis Position Control |
Single, End |
25000 | 1000 | 1 | 1 | 0 | 0 |
| 4 | Absolute Single-axis Position Control |
Repeat, End |
30000 | 500 | 1 | 1 | 0 | 0 |
| ■ Operation Pattern | Since you don’t change operation step number after Repeat operation, |
| Speed Time ON Start command In operation ON ON ON Operation step number : 1 Operation method : Single, end 1000 500 Operation method : Single, end Operation method : repeat, end Operation method : repeat, end Operation step number : 2 Operation step number : 2 Operation step number : 1 |
ON ON ON ON
Operation step execution order according to start command will be [1] → [2] → [1] → [2].
Operation step 3, 4 will not be executed.
it operates step number “1” again.
| Chapter 9 Functions |
| 9-15 |
[ Example 2 ] When operating by Start command and Repeat operation step no. assignment
- Setting the step no. of indirect start as “0”
- After the first Start command, change repeat operation step number as “3” by
「Change repeat step number」 command.
- Executes Start command 3 times more.
■ Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Goal Position [pls] |
Operation Speed [pls/s] |
Accel NO. |
Decel NO. |
M Code | Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single, End |
10000 | 1000 | 1 | 1 | 0 | 0 |
| 2 | Absolute Single-axis Position Control |
Repeat, End |
15000 | 500 | 1 | 1 | 0 | 0 |
| 3 | Absolute Single-axis Position Control |
Single, End |
25000 | 1000 | 1 | 1 | 0 | 0 |
| 4 | Absolute Single-axis Position Control |
Repeat, End |
30000 | 500 | 1 | 1 | 0 | 0 |
■ Operation Pattern
If it keeps operating by start command, it will
operates operation step no. 3 and 4 repeatedly
Speed
Time
ON
Start
command
In
operation
ON ON ON
Operation step no. : 1
Operation
Step no. : 2 Operation step no. : 3
Operation
step no. : 4
ON
| ON |
| ON |
| ON |
Operation mode : Single, End
Operation mode : Repeat, End
Operation mode : Single, End
Operation mode : Repeat, End
Changing
Repeat
Step No.
ON
Changing Repeat Step No.
1000
500
Operation step execution order according to start command will be [1] → [2] → [3] → [4].
| Chapter 9 Functions |
| 9-16 |
(3) Keep Operation
(a) With one time Start command, positioning to the target position of operation step is executed and the
positioning will be completed after dwell time and without additional start command, the positioning of
operation step for (current operation step no. +1) will be done.
(b) Keep operation mode is available to execute several operation steps in order.
(c) When using Keep operation pattern, set the operation pattern of last step as ‘End’.
(d) When operation pattern is Keep (or continuous), operation doesn’t end until it executes the step whose
operation pattern is 'End'. Therefore, if there is no step whose operation pattern is “End”, it will keep operating
until the operation step No. 400. When operation pattern of the operation step No. 400 is not the “End”, error
occurs and operation will be stop. When operation pattern of the operation step No. 400 is 'Keep' and 'Repeat',
it will execute the operation step specified by Repeat Step No.
(e) Operation direction will be determined by target position.
[Example] - Executes start command (Indirect Start command) after setting the step no. of “Indirect Start” as “0”.
- Execute start command total four times.
■ Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. |
Decel NO. |
M Code | Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single Keep |
10000 | 1000 | 1 | 1 | 0 | 0 |
| 2 | Absolute Single-axis Position Control |
Single Keep |
15000 | 500 | 1 | 1 | 0 | 0 |
| 3 | Absolute Single-axis Position Control |
Single Keep |
25000 | 1000 | 1 | 1 | 0 | 0 |
| 4 | Absolute Single-axis Position Control |
Single Keep |
30000 | 500 | 1 | 1 | 0 | 0 |
■ Operation Pattern
Speed
Time
ON
Start
command
In
operation
ON
| Operation step no. : 1 Operation step no. : 2 |
Operation step no. : 3
Operation
step no. : 4
ON
| ON |
Operation mode : Single, Keep
Operation mode :
Single, Keep
Operation mode : Single, End
Operation mode : Single, End
Dwell time Dwell time
※ Start operation step no. : 1
1000
500
Operation step execution order according to start command will be [1] → [2] → [3] → [4].
| Chapter 9 Functions |
| 9-17 |
(4) Continuous Operation
(a) Continuous Operation Overview
1) With one time Start command, the operation steps set as “Continuous” operation mode are executed until the
target position without Dec. stop and the positioning will be completed after dwell time.
2) During “Continuous” operation, if the moving amount of next operation step is smaller than the distance
needed to decelerate the current operation speed, “Look Ahead” control is used to avoid to stop immediately
while operation speed ≠ 0
3) Dwell time of the operation step set as 'Continuous' operation mode is ignored, dwell time of the operation
step set as 'End' operation pattern is valid.
4) When you execute 'Continuous' operation mode, always set the last operation step as 'End'.
5) When operation pattern is Continuous (or Keep), operation doesn’t end until it executes the step whose
operation pattern is 'End'. Therefore, if there is no step whose operation pattern is “End”, it will keep operating
until the operation step No. 400. When operation pattern of the operation step No. 400 is not the “End”, error
occurs and operation will be stop. When operation pattern of the operation step No. 400 is 'Continuous' and
'Repeat', it will execute the operation step specified by Repeat Step No.
6) Operation direction will be determined by target position.
7) If you want to operate the next step before the operation step that is active currently reaches the target position,
it is available with「Next Move continuous operation」 (XNMV) command.
8) You can execute「Next Move continuous operation」 (XNMV) command, when the operation is in the
acceleration, constant speed, deceleration section.
[Example] - Executes start command after setting the step no. of “Indirect Start” as “0”
- Executes Start command once.
■ Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. |
Decel NO. |
M Code | Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single Continuous |
10000 | 500 | 1 | 1 | 0 | 0 |
| 2 | Absolute Single-axis Position Control |
Single Continuous |
30000 | 1000 | 1 | 1 | 0 | 0 |
| 3 | Absolute Single-axis Position Control |
Single End |
40000 | 300 | 1 | 1 | 0 | 0 |
■ Operation Pattern
Speed
Time
| ON ON |
| Operation mode : Single, Continuous Operating step no. : 1 Operating step no. : 2 Operation mode : Single, Continuous Operating step no. : 3 |
Start
command
In
operation
Operation mode :
Single, Continuous
1000
500
300
Operation step execution order according to start command will be [1] → [2] → [3].
| Chapter 9 Functions |
| 9-18 |
Remark
1. When operation method is continuous, before reaching the amount of movement set by target
position, sometimes its speed changes to next operation step speed.
That is operating the remaining amount of movement less than operation speed at the next step to
control the operation speed continuously
(The remaining distance less than operation speed is less than distance the object can move within
one control cycle (0.8 (less than 2 axes)~2.4ms (8 axes) with the speed of the object before reaching
the target.
2. If control method is linear or circular interpolation and operation method is continuous, positioning
speed control will be different according to “Interpolation continuous operation type” of the extended
parameter. For more information, refer to “Interpolation control continuous operation”.
(b) Look Ahead
1) During “Continuous” operation, if the moving amount of next operation step is smaller than the distance
needed to decelerate the current operation speed, “Look Ahead” control is used to avoid to stop immediately
while operation speed ≠ 0
2) Look Ahead means is control that it calculates the permissible entry speed available for the next step by using
current operation step data and target position of the next step previously and uses that as the speed of the
end point of the current step. When target position (moving amount) of the next operation step is small, it
makes the step speed as 0 by reducing the permissible entry speed available for the next step.
3) The positioning module calculate the speed of the end point using total 3 steps including current step for Look
Ahead.
Next figure will explain the difference between general continuous operation using Look Ahead and not using
Look Ahead.
| Speed End point speed = Operating speed Time . : 3 Start command operation |
Speed Time Start command operation Calculate the end point speed *2 |
| Normal continuous operation | Continuous operation with Look Ahead |
Operation step no. : 1
Operation step no. : 2
Operation step noOperation step no. : 1
Operation step no. : 2
Operation step no. : 3
ON
In
ON
In
ON
ON
Calculates the
end point speed
with Look Ahead
*1 with Look Ahead
*1 : Moving amount of step 2 and step 3 is more than the distance needed to decelerate step 1 operation speed. So,
endpoint speed = operation speed.
*2 : Since moving amount of step 3 is less than distance needed to decelerate step 2 operation speed, it calculates
the speed that makes the stop speed of step 3 as 0 and uses that as the end point speed of step 2.
| Chapter 9 Functions |
| 9-19 |
(c) Continuous operation of interpolation control
When control method is linear or circular interpolation and operation method is Continuous, positioning control
is different according to “Interpolation continuous operation type” of extended parameter. There are 「Pass
Target Position」 in which the object goes through the specified target position and 「Pass Near Position」 in
which the object goes to the target position of the next step at the near position not exceeding the specified
target position.
The next describes「Interpolation continuous operation type」 setting of extended parameter.
| Item | Setting Value | Contents |
| Interpolation continuous operation type |
0 : Pass Target Position |
In case of Continuous operation from current step to next step, the object passes the target position set on the operation data. |
| 1 : Pass Near Position |
In case of Continuous operation from current step to next step, the object goes to the target position of next step at the near position not exceeding the target position set on the operation data. |
1) Continuous Operation Passing Target Position
「Pass Target Position」 Continuous Operation means that in case of Continuous operation from current step
to next step, the object passes the target position set on the operation data.
In general, when executing interpolation control passing the target position, there can be mechanical vibration
because of discontinuous operating speed caused by remaining moving amount at the last section where
operation data changes from current step to next step. The positioning module use the speed correction to
solve mechanical vibration problem and execute Continuous operation precisely at the target position set by
the user.
Position of
sub-axis
Position of
main-axis
| Operation step : 1 Operation step Passes target positiont |
| Pass Target Position Continuous operation |
Speed
Time
| Operation step no. : 1 |
Operation step
no. : 2
: 2
Speed
| Operation step no. : 1 | Operation step no. : 2 |
Time
Set speed
Calibrated speed
Operating speed = Set speed
Continuous operation before correction Pass Target Position Continuous Operation
Discontinuous Speed
| Chapter 9 Functions |
| 9-20 |
In “Pass Target Position” Continuous Operation, in order to position the object at the target position of each
operation data being executed continuously, it corrects the position at the acceleration speed, constant speed
section by reducing the operation speed as much as the remaining of the moving amount occurring at the last
section of the current step. When operating the next step, it uses the speed corrected at the previous step as
current speed. So the continuous operation is available without discontinuous operation.
2) Pass Near Position Continuous Operation
In case of continuous operation form the current step to the next step, it executes continuous operation for the
target position of the next step at the near position not exceeding the target position of the current operation step.
This is method to remove the discontinuity caused by remaining moving amount at the last section where
operation data changes from current step to next step. The following is principal of the Pass Near Position
Continuous Operation.
Position of
sub-axis
Position of
main-axis
| Operation step : 1 Passing near position |
| Pass Near Position Continuous Operation |
Operation step : 2
Continuous operation before correction
Speed
Time
| Operation step no. : 1 Operation step no. : 2 |
Operating speed = Set speed
No discontinuous speed
Speed
Time
| Operation step no. : 1 |
Operation step
no. : 2
Operating speed = Set speed
Discontinuous speed
Pass Near Position Continuous Operation
In the picture above, during general Continuous Operation, speed discontinuity occurs because of the remaining
of moving amount at the last of the operation step NO.1. Since「Pass Near Position」 Continuous Operation
make it move as much as the remaining of moving amount at the next step, continuous operation without
discontinuity is available.
Remark
「Pass Near Position」 continuous operation may operate with operation speed of the next step before
reaching the target position according to the remaining of the moving amount based on the operation
speed in order to remove the speed discontinuity. In case of single-axis position control continuous
operation, if it doesn’t change the direction, it always passes the target position, but in case of interpolation
control continuous operation, it may operate with the operation speed of the next step before reaching
the target position, then trajectory of actual movement may be different with that of operation data. The
following is the Max. position gap per each axis.
Max. position gap per each axis < (operation speed of the each axis (pls/s) x control cycle (s))
| Chapter 9 Functions |
| 9-21 |
(d) Deceleration Stop of Continuous Operation
Continuous operation control decelerates and stops at the ‘End’ step. And then positioning is complete.
However, in the following case, it keeps the next operation step after Dec. stop
.
1) When the moving direction of current operation step and the moving direction of next step are different (only
in case of the single-axis position control)
■ Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. | Decel NO. | M Code | Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single Continuous |
10000 | 1000 | 1 | 1 | 0 | 0 |
| 2 | Absolute Single-axis Position Control |
Single End |
3000 | 700 | 1 | 1 | 0 | 0 |
■ Operation Pattern
Speed
Time
| ON |
| Operation mode : Single, Continuous Operation step no. : 1 Decelerating untill stop |
| ON |
| Operation mode : Single, End Operation step no. : 2 |
Start
command
In
operation
1000
-300
Step 1 operates by the start command and then changes moving direction because the target position of
the next step goes 10000 → 3000. It decelerates and stops, and then operates Step 2 in a opposite direction.
| Chapter 9 Functions |
| 9-22 |
2) When the moving amount of next step is 0
When the moving amount of next step is 0, operation speed is 0 during one cycle.
■ Setting of XG-PM
■ Operation Pattern
Speed
Time
| ON ON |
| Operation mode : Single, Continuous Operation step no. : 1 Decelerating till stop Operation mode : Single, End Operation step no. : 3 Operation mode : Single, Continuous Operation step no. : 2 |
Start
command
In
operation
1000 500
Step 1 operates by the start command, and then because target position of next step is same as that of
current step, moving amount becomes 0. It decelerates and stops. And then it operates step 3.
| Step NO. | Control Method | Operation Method |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. | Decel NO. | M Code | Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single Continuous |
10000 | 1000 | 1 | 1 | 0 | 0 |
| 2 | Absolute Single-axis Position Control |
Single Continuous |
10000 | 700 | 1 | 1 | 0 | 0 |
| 3 | Absolute Single-axis Position Control |
Single End |
15000 | 500 | 1 | 1 | 0 | 0 |
| Chapter 9 Functions |
| 9-23 |
3) When error is on the operation data of the next step
When next step of operation speed is 0, or operation method of current step is 「Single-axis Positioning
Control」 and operation method of next step is 「Single-axis FEED Control」 , it can not execute next
operation data. In this case, it decelerates and stops at the current step. And then positioning is complete
■ Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. | Decel NO. | M Code | Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single Continuous |
10000 | 1000 | 1 | 1 | 0 | 0 |
| 2 | Absolute Single-axis Feed Control |
Single Continuous |
20000 | 1000 | 1 | 1 | 0 | 0 |
| 3 | Absolute Single-axis Position Control |
Single End |
30000 | 1000 | 1 | 1 | 0 | 0 |
■ Operation Pattern
Speed
Time
| ON ON |
| Operation mode : Single, Continuous Operation step no. : 1 |
Start
command
In
operation
Decelerating till stop
1000
| Chapter 9 Functions |
| 9-24 |
Remark
During Continuous Operation of Linear interpolation or circular interpolation, it does not check the
direction of movement. So even if moving direction changes, there is no Dec. stop. Therefore, if
operation data is set to change the direction, because the direction of movement changes dramatically,
it may damage the machine.
In this case, use the operation method of 「Keep 」 and do not use「Continuous」 , not to give the
impact to the machine.
| Position of sub-axis Position of main axis Operation step Linear interpolating continuous operation Moving direction of sub-axis changes |
Speed Time Operation step no. 1 Operation step no. : 2 Start command Main in operation ON Speed Time Sub in operation Action of main-axis |
Operation step
no. : 1
no. : 2
ON
Operation step no. 1
Operation step no. : 2
ON
Action of sub-axis
| Chapter 9 Functions |
| 9-25 |
After executed by the start command (「Direct start」 , 「Indirect start」 , 「Simultaneous start」 ), it executes
positioning control from start position (the current stop position) to target position (the position to move) on the
specified axis.
(1) Control by Absolute method (Absolute coordinate) (「Absolute, Single-axis Position Control」 )
(a) Position control from start position to target position (assigned by positioning data). Positioning control is
carried out based on the position assigned by homing (origin position).
(b) Moving direction is determined by start position and target position.
▶ Start position < target position: forward direction positioning
▶ Start position > target position: reverse direction positioning
[Example] Executes Absolute coordinate, single-axis position control with the following setting
▷ Start position: 1000,
▷ Target position: 8000
The moving amount to forward direction is 7000 (7000=8000-1000).
1000
Starting position Target position
0 8000
Moving amount : 7000
■ Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. | Decel NO. | M Code | Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single End |
8000 | 1000 | 1 | 1 | 0 | 100 |
■ Operation Pattern
| Amount of movement = 7000 Dwell time = 100ms |
| ON |
| ON |
| ON |
| ON |
Speed
Time
Start
command
In
operation
In dwell
Positioning
complete
1000
| Chapter 9 Functions |
| 9-26 |
(2) Control by Incremental method (「Incremental, Single-axis Position Control」 )
(a) It moves the object as much as the target moving amount from start position. Unlike the target position of the
absolute coordinate, the value specified on target position is not position value. That is a transfer amount from
the current position.
(b) Transfer direction is determined by the sign of moving amount.
▷ Transfer direction (+) or no sign: forward direction positioning (current position increases)
▷ Transfer direction ( - ) : reverse direction positioning (current position decreases)
Starting position
Reverse Forward
Amount of movement is - Amount of movement is +
[ Example ] Executes Absolute coordinate, single-axis position control with the following setting
▷ Start position: 5000,
▷ Target position: -7000
It goes to reverse direction and stops at the –2000.
-2000
Target position Starting position
0 5000
Position control to reverse direction
(Amount of movement -7000)
■ Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. | Decel NO. | M Code | Dwell Time |
| 1 | Absolute Single-axis Position Control |
Single End |
-7000 | 1000 | 1 | 1 | 0 | 100 |
■ Operation Patten
| Amount of Movement = -7000 | Dwell | time = 100ms |
| ON | ||
| ON | ||
| ON | ||
| ON |
Speed
Time
Start
command
In operation
In dwell
Positioning
complete
-1000
| Chapter 9 Functions |
| 9-27 |
After executed by the start command (「Direct start」 , 「Indirect start」 , 「Simultaneous start」 ), it keeps
moving with the specified speed until deceleration stop command is entered.
(1) Features of Control
(a) Speed control contains 2 types of start: Forward direction start and Reverse direction start.
▷ Forward direction: when position value is positive number (+) (“0” included)
▷ Reverse direction: when position value is negative number (-)
(b) In case of using speed control, the following items of operation data do not affect.
▷ Coordinate, Operation method, Dwell time
▷ “Absolute, single-axis speed control” and “Incremental, single-axis speed control” execute same operation.
(c) Accelerating operation of speed control operates based on acceleration number on operation data,
decelerating operation operates based on deceleration time of a command 「deceleration stop」 .
(2) Operation Timing
Stops but not On
Time
Speed
Start command
In operation
Positioning
complete signal
Dec. stop
command
| ON ON time |
ON
Set speed
Decelerates within dec. stop
| Chapter 9 Functions |
| 9-28 |
(3) Restrictions
(a) Set the operation pattern of speed control as 'End' or 'Keep'. When it is set as "Continuous", error occurs (error
code: 236) and can not execute speed control.
(b) In speed control, only when「M code mode」 of extended parameter is "with", M code signal is "On".
(If you use "After mode", M code signal will not be "On".)
(c) For a software upper/lower limit check during speed control, it varies according to the setting of the “Software
limit detect”.
(4) Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Target Position [pls] |
Operation Speed [pls/s] |
Accel NO. | Decel NO. | M Code | Dwell Time |
| 1 | Absolute Single-axis Speed Control |
Single End |
100 | 1000 | 1 | 1 | 0 | 0 |
| Item | Setting Value | Contents |
| Soft Upper/Lower Limit detect during speed control |
0 : Don’t Detect | During Speed Control, do not operate to check the range of upper/lower limit of software |
| 1 : Detect | During Speed Control, operate to check the range of upper/lower limit of software |
| Chapter 9 Functions |
| 9-29 |
After executed by the start command (「Direct start」 , 「Indirect start」 , 「Simultaneous start」 ), it changes
current stop position as ‘0’ and operates until target position.
(1) Features of control
(a) The value set on target position is moving amount. That is, moving direction is decided by the sign of target
position.
▷ Forward direction : when position address is positive number (+) (“0” included)
▷ Reverse direction : when position address is negative number (-)
(b) In case of using Single-axis Feed Control, the following items of operation data do not affect.
▷ Coordinate
▷ “Absolute, single-axis speed control” and “Incremental, single-axis speed control” execute same operation.
(2) Operation Timing
| Dwell time = 100ms Dwell time = |
|
| ON | ON |
| ON | ON |
| ON | |
| The current position value is 0 when positioning starts |
Speed
Time
Start command
In operation
Positioning complete
1000
100ms
Position
Time
500
1000
700
In dwell
(3) Restrictions
(a) Set the operation pattern of Feed control as 'End' or 'Keep'. When it is set as "Continuous", error occurs (error
code: 230) and can not execute Feed control.
(4) Setting of XG-PM
| Step NO. | Control Method | Operation Method |
Goal Position [pls] |
Operation Speed [pls/s] |
Accel NO. | Decel NO. | M Code | Dwell Time |
| 1 | Absolute, Single-axis Feed Control |
Single, Keep |
1000 | 1000 | 1 | 1 | 0 | 100 |
| 2 | Absolute, Single-axis Feed Control |
Single End |
700 | 500 | 1 | 1 | 0 | 100 |
| Chapter 9 Functions |
| 9-30 |
After executed by start command (「Indirect start」 , 「Synchronous start」 ), then executes interpolation control
from starting position to the target position with linear trajectory by using the interpolation axes set as the main axis
and sub axis.
(1) Linear interpolation control with absolute coordinates (「Absolute, Linear Interpolation」 )
(a) Executes linear interpolation from starting position to the target position designated on positioning data.
Positioning control is carried out based on the position specified from homing.
(b) The direction of movement depends on the starting position and the target position for each axis.
■ Starting position < target position: Positioning operation in forward
■ Starting position > target position: Positioning operation in reverse
(c) Restrictions
Linear interpolation with 2 axes may not be executed in the case below.
■ 「Sub axis setting」 Error (error code : 253)
▪ 「Sub axis setting」 of operation data of the main axis is “Axis-undecided”
▪ 「Sub axis setting」 of operating data of the main axis is the same as main axis no.
▪ 「Sub axis setting」 of operating data of the main axis exceeds the settable axis no.
Remark
Because more than 2 axes are in action, so need user to pay attention
(1) The commands available are as follows.
▪ Speed override, Dec. stop, Emg. stop, Skip operation, Continuous operation
(2) The commands unavailable in linear interpolation are as follows.
▪ Position/Speed switching control, Position override
(3) The parameter items which work depending on the value of each axis are as follows.
▪ Software high/low limit among extended parameter items
Y Forward
X Forward
Y1
Y2
X1 X2
| Moving amount |
| Starting positon(X1, Y1) Action by linear interpolation |
of X axis
Moving amount
of Y axis
X Reverse
Y Reverse
Goal position
(X2, Y2)
| Chapter 9 Functions |
| 9-31 |
(d) Setting example of operation data
| Setting items | Main-axis setting | Sub-axis setting | Description |
| Control method |
Absolute, Linear interpolation |
Absolute, single axis position control |
When linear interpolation control is executed by the absolute coordinates method, set「Absolute, Linear interpolation」 on the main axis and set the sub-axis coordinate as “Absolute”. |
| Operating method |
Single, End | -*1 | Set the operating method to execute linear interpolation |
| Target position [pls] |
10000 | 5000 | Set the target position on main-axis and sub-axis |
| Operation speed [pls/s] |
1000 | - | Speed of interpolation operation is determined by main axis speed. Set the main axis speed. |
| Acc. no. | No.1 | - | Set acc. no. for acceleration (no.1 ~ no.4) |
| Dec. no. | No.2 | - | Set dec. no. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub-axis setting |
Axis2 | - | Set an axis to be used as sub in operating data of main-axis-axis among settable axis |
- *1 : It does not need to be set. Whatever value is set, it does not affect the linear interpolation.
Remark
Linear interpolation control is executed on the basis of operating data of main axis.
Only 「Target position」 item of sub-axis setting affects linear interpolation. In other word, whatever value is set
for other items, it does not affect the operation and errors do not arise.
But, coordinate setting of sub-axis control method indicates whether target position is absolute coordinate value
or incremental coordinate value. So in case of linear interpolation control by absolute coordinate method, set the
coordinate of sub-axis as “Absolute”.
| Chapter 9 Functions |
| 9-32 |
[Example] axis1 and axis2 are main and sub axis each. Executes linear interpolation with the following
setting
■ Starting position (1000, 4000), target position (10000, 1000)
In this condition, the operation is as follows.
■ Setting example of XG-PM
▪ Operation data of main-axis(1-axis)
| Step no. | Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Absolute, Linear | Singular, End |
10000 | 3000 | No.1 | No.1 | 0 | 100 | Axis2 |
▪ Operation data of sub-axis(2-axis)
| Step no. | Control method | Operation method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Absolute, Single axis position control |
Single, End | 1000 | 0 | No.1 | No.1 | 0 | 0 | Axis undecided |
■ Operating pattern
| 0 | 1000 5000 10000 |
| Starting position | 1000 4000 |
Goal position
Position of Sub-axis
Position of
main axis
Moving amount of main-axis
(10000-1000=9000)
Moving amout
of sub-axis
(1000-4000=-3000)
Speed of
main aixs
Time
Start command
Main-axis in operation
| ON Dwell time |
| ON |
| ON |
Speed of
sub axis
Time
Sub-axis in operation
Action of main axis
Action of sub axis
3000
-1000
0 0
| Chapter 9 Functions |
| 9-33 |
(2) Linear interpolation control with incremental coordinates (「Incremental, Linear Interpolation」 )
(a) Executes 2 axes linear interpolation from starting position to the target position. Positioning control is carried
out based on the current stop position.
(b) Moving direction depends on the sign of the target position (Moving amount)
■ The sign is positive (+ or nothing) : Positioning operation in forward
■ The sign is negative (-) : Positioning operation in reverse
(c) Restrictions
Linear interpolation with 2 axes may not be executed in the case below.
■ 「Sub-axis setting」 error (error code : 253)
▪ 「Sub-axis setting」 value of operation data of the main axis is “Axis-undecided”
▪ 「Sub-axis setting」 value of operation data of the main axis is same as the main axis no.
▪ 「Sub-axis setting」 value of operation data of the main axis exceeds settable axis no.
Y Forward
X Forward
Y1
Y2
X1 X2
| Moving amount of X |
| Starting position (X1, Y1) Action by linear interpolation |
Moving amount
of Y
X Reverse
Y Reverse
Ending position of
linear interpolation
(X2, Y2)
| Chapter 9 Functions |
| 9-34 |
(d) Setting example of operation data
| Setting items | Main-axis setting |
Sub-axis setting | Description |
| Control method |
Incremental, Linear interpolation |
Incremental, single-axis position control |
When linear interpolation control is executed by the incremental coordinate method, set「Incremental, Linear interpolation」 on the main axis and set the sub-axis as “Incremental” coordinate. |
| Operating method |
Single, End | -*1 | Set interpolation the operation method to execute linear |
| Target position [pls] |
10000 | 5000 | Set the moving amount on the main & sub-axis |
| Operation speed [pls/s] |
1000 | - | Speed of interpolation operation is determined by main axis speed. Sets the main axis speed. |
| Acc. no. | No.1 | - | Set acc. no. for acceleration (no.1 ~ no.4) |
| Dec. no. | No.2 | - | Set dec. no. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub-axis setting |
Axis2 | - | Set an axis to be used as sub axis in operating data of main-axis -axis among settable |
- *1 : It does not need to be set. Whatever value is set, it does not affect linear interpolation.
Remark
Linear interpolation control is executed on the basis of operation data of main axis.
Only 「Target position」 item of sub-axis setting affect linear interpolation. In other word, whatever value is
set for other items, it does not affect the operation and errors do not arise.
But, coordinate setting of sub-axis control method indicates whether target position is absolute coordinate
value or incremental coordinate value. So in case of linear interpolation control by incremental coordinate
method, set the coordinate of sub-axis as “Incremental”.
| Chapter 9 Functions |
| 9-35 |
[Example] axis1 and axis2 are main and sub axis each. Executes linear interpolation with the following
setting
■ Starting position (1000, 4000), Target position (9000, -3000)
In this case, the operation is as follows.
■ Setting example of XG-PM
▪ Operation data of main-axis(axis1)
| Step no. | Control method | Operation method |
Target position [pls] |
Operation speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Incremental, Linear | Single, End | 9000 | 3000 | No.1 | No.1 | 0 | 100 | Axis2 |
▪ Operation data of sub-axis(axis2)
| Step no. | Control method | Operation method |
Target position [pls] |
Operation speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Incremental, Single axis position control |
Single, End | -3000 | 0 | No.1 | No.1 | 0 | 0 | Axis undecided |
■ Operating pattern
| Moving amount = -3000 ON Dwell time=100ms |
| Moving amount = 9000 |
| ON |
| -axis |
| ON |
| 0 | 1000 5000 10000 |
| Starting position | 1000 4000 |
Ending position of
linear interpolation
Position of Sub-aixs
Position of
main-axis
Moving amount of main-axis
(9000)
Moving amount of
sub-axis
(-3000)
Speed of main-axis
Time
Start command
Main-axis in operation
Speed of subTime
Sub-axis in operation
Action of
main-axis
Action of
sub-axis
3000
-1000
0 0
| Chapter 9 Functions |
| 9-36 |
(3) Speed in 2 axes linear interpolation control
Operation speed in linear interpolation is determined based on “Interpolation speed selection” option of
extended parameter, main-axis speed or synthetic speed. If operation speed is set on command axis (main),
positioning module calculates the speed of sub-axis based on the moving amount. Sub-axis speed and
interpolation speed of the object are calculated as follows.
■ Speed in 2 axes linear interpolation (when main-axis speed is selected)
[Example]
■ Starting position (2000, 1000)
■ Target position (6000, 4000)
■ Operating speed : 400 [pls/s]
Sub-axis speed and interpolating speed are as follows.
Speed of sub-axis = [pls/s]
Interpolating speed = [pls/s]
Position of Y
Position of X
Y1
Y2
X1 X2
| Moving amount of X(Sx) | |
| (X2, | (Speed of Sub-axis) Vy Vx (Speed of main-axis) Starting position (X1, Y1) F (Speed of interpolation) |
Moving amount
of Y (Sy)
Action by linear interpolation
Goal position
Y2)
Moving amount of Main ( )
Moving amount of Sub ( )
Speed of sub( ) Speed of main ( )
x
y
y x S
S
V = V ×
| 2 Interpolating speed (F) = Vx + Vy |
2 |
300
4000
3000
400× =
4002 +3002 = 500
| Chapter 9 Functions |
| 9-37 |
■ Speed in 2 axes linear interpolation (when synthetic speed is selected)
Interpolatingspeed (F) = Operationspeedsetinpositiondata
| 2 Interpolatingmovingamount (S) = S x + S y |
2 |
( )
( )
( ) int ( )
Interpolatingmovingamount S
Mainaxismovingamount S
Mainaxisspeed Vx = erpolatingspeed F × x
| ( ) Interpolatingmovingamount S y |
Subaxisspeed V y = Interpolatingspeed F × |
( )
( ) ( )
Mainaxismovingamount S
[Example]
■ Starting position (2000, 1000),
■ Target position (6000, 4000)
■ Synthetic speed: 400 [pls/s]
Main-axis speed and sub-axis speed are as follows.
Interpolating moving amount = 40002 + 30002 = 5000
Main-axis speed = 320
5000
4000
400× = [pls/s]
Sub-axis speed = 240
5000
3000
400× = [pls/s]
Position of Y
Position of X
Y1
Y2
X1 X2
| Moving amount of X(Sx) | |
| (X2, | (Speed of Sub-axis) Vy Vx (Speed of main-axis) Starting position (X1, Y1) F (Speed of interpolation) |
Moving amount
of Y (Sy)
Action by linear interpolation
Goal position
Y2)
| Chapter 9 Functions |
| 9-38 |
| Remark (1) Speed limit for Sub-axis when interpolation speed is main axis speed When using linear interpolation control and moving distance of main < moving distance of sub, it is possible that sub-axis speed calculated by positioning module exceeds 「Speed limit」 of basic parameter. In this case, error (error code: 261) arises and main-axis speed is recalculated for sub-axis not to exceed “Speed Limit” and operates. To prevent errors, reduce the main-axis speed so that sub-axis speed doesn’t exceed the “Speed Limit”. (2) The speed when the moving distance of main-axis is 0 and interpolation speed is main axis speed When the moving distance of main-axis is 0, the operation speed of main-axis operation data becomes actual interpolating speed. In this case of 2 axes linear interpolation where the moving distance of main-axis is 0, only sub-axis operates at the speed set on command axis. ■ Setting example of XG-PM ▪ Operating data of Main-axis ▪ Operating data of Sub-axis ■ Operating pattern |
| Position of sub-axis Position of main-axis 3000 Speed of main-axis Time Start command Main-axis in operation Speed of sub Time Sub-axis In operation Action of main-axis 1000 1000 200 1000 0 0 Trace of linear Operating step : 2 Moving amount of = 0) |
Step no. Control method Operation
method
Target position
[pls]
Operation speed
[pls/s] Acc. no. Dec. no. M code Dwell time Sub axis setting
1 Absolute, Linear
interpolation
Single,
Continuous 5000 1000 No.1 No.1 0 100 Axis2
2 Absolute, Linear
interpolation Single, End 5000 1000 No.1 No.1 0 100 Axis2
Step no. Control method Operating
method
Target position
[pls]
Operation speed
[pls/s] Acc. no. Dec. no. M code Dwell time Sub axis setting
1
Absolute, single
axis position
control
Single, End 1000 0 No.1 No.1 0 0 Axisundecided
2
Absolute, single
axis position
control
Single, End 3000 0 No.1 No.1 0 0 Axisundecided
0
5000
Operating step : 1 Operating step : 2
ON
ON
-axis
Operating step : 1 Operating step : 2
ON
Action of
sub-axis
Dwell time
interpolation
Operating step : 1
Operating at the
speed of main-axis
(main-axis
| Chapter 9 Functions |
| 9-39 |
(4) 2 axes linear interpolation continuous operation with circular arc insertion
When the operation method is set as “continuous” and the direction of movement changes rapidly, machine is
possible to be damaged. When you need not position the object to the target position precisely, user can insert
‘circular interpolation operation’ between two trajectories to make operation softer and smoother.
(a) Operation order
1) Confirm whether to execute 2 axes linear interpolation continuous operation with circular arc insertion. It can
be set in「Arc insertion」 of extended parameter.
| Setting items | Setting value | Description |
| Arc insertion | 0 : Don’t insert | In case of 2 axes linear interpolation continuous operation, it doesn’t insert arc |
| 1 : Insert arc cont. | In case of 2 axes linear interpolation continuous operation, it inserts arc |
2) It checks the position where arc will be inserted and resets the starting position of circular interpolation (target
position of linear trajectory 1) and the target position (starting position of linear trajectory 1). The position where
circular arc will be inserted can be set in「Arc insertion position」 of extended parameter.
| Setting items | Setting value | Description |
| Arc insertion position | 0 ~ 2147483647 | Set the position where circular arc will be inserted. This value means the incremental distance from the target position of linear trajectory 1. |
3) After linear interpolation to the starting position of circular arc to be inserted, it executes circular interpolation
at the same speed as linear interpolation. After finishing the circular interpolation, it executes linear
interpolation to the target position of the next operation step again at the same speed.
(b) Operating pattern
| Sub-axis Main axis Shock occurs Connecting speed Time 0 |
Sub-axis Main axis Operation step: 1 Position of circular interpolation Connecting speed Time 0 |
| No circular interpolation | Circular interpolating continuous operation |
Operation
step : 1
Operation
step : 2
Operation
Circular step : 2
interpolation
Position of
circular
interpolation
Operation step : 1
Operation step: 2
Linear
interpolation
Circular
interpolation
Linear
interpolation
| Chapter 9 Functions |
| 9-40 |
(c) Restrictions
Circular arc is not inserted in the case below and it executes linear interpolation to the target position.
▪ Operating method of operation data is “End” or “Keep”
▪ Position of circular arc insertion is bigger than linear trajectory 1, 2 (Error code : 262)
▪ Trajectory of both linear interpolations are on the same line
[Example] Executes linear interpolation at the current position (0,0) when the extended parameter
setting is as follows
| Extended parameter | Setting value |
| Arc insertion | 1 : Insert arc cont. |
| Arc insertion position | 2000 |
■ Setting example of XG-PM
▪ Operating data of Main-axis
| Step no. | Control method | Operating method |
target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Absolute, Linear interpolation |
single, continuous |
0 | 3000 | No.1 | No.1 | 0 | 0 | Axis2 |
| 2 | Absolute, Linear interpolation |
single, continuous |
5000 | 3000 | No.1 | No.1 | 0 | 0 | Axis2 |
| 3 | Absolute, Linear interpolation |
single, end | 5000 | 3000 | No.1 | No.1 | 0 | 100 | Axis2 |
▪ Operating data of Sub-axis
| Step no. | Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Absolute, single axis position control |
single, end | 1000 | 0 | No.1 | No.1 | 0 | 0 | Axis undecided |
| 2 | Absolute, single axis position control |
single, end | 1000 | 0 | No.1 | No.1 | 0 | 0 | Axis undecided |
| 3 | Absolute, single axis position control |
single, end | 4000 | 0 | No.1 | No.1 | 0 | 0 | Axis undecided |
■ Operating pattern
| Sub-axis Main axis 1000 4000 3 |
Sub-axis 1000 4000 3000 |
| No arc insertion | Arc insertion continuous operation |
Step : 1
Step : 2
0 1000 5000
Step : Mainaxis
0 1000 3000 5000
Arc insertion
position=2000
| Chapter 9 Functions |
| 9-41 |
■ Description about action
When executing operation step no.1, executes linear interpolation to original target position (0,1000)
without circular arc insertion because arc insertion position (2000) is bigger than the length of line 1(1000).
When finishing linear interpolation to target position of operation step no.1 and executing operation step
no.2, because arc insertion position (2000) is smaller than line length of step no.2(5000) and no.3(3000),
so it recalculates the starting position (target position of linear trajectory no.1) and the target position
(Starting position of linear trajectory no.2) of circular interpolation.
It continues to execute linear interpolation to the recalculated target position of operation step no.2 (3000,
1000), and then executes circular interpolation to recalculated starting position of operation step no.3
(5000,3000).
After circular interpolation, it executes linear interpolation to the target position of operation step no.3
(5000,4000). And then positioning will be complete.
| Chapter 9 Functions |
| 9-42 |
After executed by start command (「Indirect start」 , 「Synchronous start」 ), then executes interpolation control
from starting position to the target position with interpolation axes set as the main axis and sub axes.
(1) Linear interpolation control with absolute coordinate (「Absolute, Linear Interpolation」 )
(a) Executes linear interpolation with 3 axes from starting position to the target position based on positioning data.
Positioning control is carried out based on origin point specified by homing.
(b) The direction of movement depends on the starting position and the target position.
■ Starting position < Target position : Positioning operation in forward
■ Starting position > Target position : Positioning operation in reverse
| Y1 Y2 Z1 Moving amount of axis1 (X2, Y2, Z2) of axis1,2,3 X1 X2 |
| 2 1) |
Reverse
Reverse
ZForward(axis3)
Moving amount of
axis3
Starting
position
(X1, Y1, ZReverse
Moving amount of axis2
Target position
Action by linear interpolation
Forward(axis2)
Forward(axis1)
(c) Restrictions
Linear interpolation with 3 axes can not be executed in the case below.
■ 「Sub axis setting」 Error (error code : 253)
▪ 「Sub axis setting」 of operating data of main axis is “Axis-undecided”
▪ 「Sub axis setting」 of operating data of main axis is the same as main axis no.
▪ 「Sub axis setting」 of operating data of main axis exceeds the settable axis no.
■ If only one axis is set as sub axis, it will execute “linear interpolation control with 2 axes”.
| Chapter 9 Functions |
| 9-43 |
(d) Setting example of operating data
| Setting items | Main-axis setting (axis1) |
Sub-axis setting(axis2) |
Sub-axis setting(axis3) |
Description |
| Control method |
Absolute, Linear interpolation |
Absolute, single axis position control |
Absolute, single axis position control |
When linear interpolation control is executed by the method of absolute coordinate, set「Absolute, Linear interpolation」 on the main axis. Set the coordinate of sub-axis as “Absolute” too. |
| Operating method |
Single, End | - | -*1 | Set the operating method to execute linear interpolation |
| Target position [pls] |
5000 | 6000 | 4000 | Set the target position to position on main axis and sub-axis |
| Operating speed [pls/s] |
1000 | - | Linear interpolation speed is determined by main axis speed |
|
| Acc. no. | No.1 | - | Set acc. no. for acceleration (no.1 ~ no.4) |
|
| Dec. no. | No.2 | - | Set dec. no. for deceleration. (no.1 ~ no.4) |
|
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
|
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
|
| Sub-axis setting |
Axis2, Axis3 | - | Set axes settable axis in operating data of main to be used as sub-axis among -axis |
- *1 : It does not need to be set. Whatever value is set as, it does not affect linear interpolation.
Remark
Linear interpolation control is executed on the basis of operating data of main axis.
Only 「Target position」 item of sub-axis setting affect linear interpolation. In other word, whatever value is set
as, it does not affect the operation and errors do not arise.
Coordinate setting for sub-axis indicates whether target position of the sub-axis is absolute coordinate or
incremental coordinate. So in case of linear interpolation control by absolutel coordinate method, coordinate of
sub-axis should be 「Absolute」
| Chapter 9 Functions |
| 9-44 |
[Example] axis1 is main axis, axis2 and axis3 are sub axes. Executes linear interpolation with following
settings.
■ Starting position (2000, 1000, 1000), target position (5000, 6000, 4000)
In this condition, the operation is as follows.
■ Setting example of XG-PM
▪ Operating data of main-axis(axis1)
| Step no. | Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Absolute, Linear | Singular, End |
5000 | 1000 | No.1 | No.1 | 0 | 100 | Axis2 |
▪ Operating data of sub-axis1(axis2)
| Step no. | Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Absolute, single axis position control |
Single, End | 6000 | 0 | No.1 | No.1 | 0 | 0 | Axis undecided |
▪ Operating data of sub-axis2(axis3)
| Step no. | Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Absolute, single axis position control |
Single, End | 4000 | 0 | No.1 | No.1 | 0 | 0 | Axis undecided |
■ Operating pattern
| Reverse 3 =3000) 3) 1000 1000 6000 4000 |
| 6000-1000 (5000,6000,4000) (2000, |
| 2000 5000 (5000-2000=3000) |
Reverse
Reverse
Moving amount of axis(4000-1000Forward(axisForward(axis2)
Moving amount of axis2
(=5000)
Goal position
Forward(axis1)
Starting position
1000,1000)
Moving amount of axis1
| Chapter 9 Functions |
| 9-45 |
(2) Linear interpolation control with incremental coordinate (「Incremental, Linear Interpolation」 )
(a) Executes 3 axes linear interpolation from starting position to the goal position. Positioning control is carried
out based on the current stop position.
(b) Moving direction depends on the sign of the target position (Moving amount)
■ The sign is positive (+ or nothing) : Positioning operation in forward
■ The sign is negative (-) : Positioning operation in reverse
(c) Restrictions
Linear interpolation with 2 axes can not be executed in the case below.
■ 「Sub-axis setting」 error (error code : 253)
▪ 「Sub-axis setting」 value of operating data of main axis is “Axis-undecided”
▪ 「Sub-axis setting」 value of operating data of main axis is same as the main axis no.
▪ 「Sub-axis setting」 value of operating data of main axis exceeds settable axis no.
■ If only one axis is set as sub axis, it will execute “linear interpolation control with 2 axes”.
Y1
| Y Z1 Moving amount of axis1 X1 X2 |
2
Reverse
Reverse
Z2
Forward(axis3)
Moving amount
of axis3
Starting position
(X1, Y1, Z1)
Reverse
Moving amount of axis2
Action by linear
interpolation of
axis1, 2, 3
Forward(axis2)
Forward(axis1)
| Chapter 9 Functions |
| 9-46 |
(d) Setting example of operating data
| Setting items | Main-axis setting (axis1) |
Sub-axis setting(axis2) |
Sub-axis setting(axis3) |
Description |
| Control method |
Incremental, Linear interpolation |
Incremental, single-axis position control |
Incremental, single-axis position control |
When linear interpolation control is executed by the incremental coordinate method, set「Incremental, Linear interpolation」 on the main axis. Set the coordinate of sub-axis as “Incremental” too. |
| Operating method |
Singular, End | -*1 | - *1 | Set the operating meth interpolation od to execute linear |
| Target position [pls] |
5000 | 6000 | 4000 | Set the target position to position on main-axis and sub-axis |
| Operating speed [pls/s] |
1000 | - | Interpolation speed is determined by main axis speed |
|
| Acc. no. | No.1 | - | Set acc. no. for acceleration (no.1 ~ no.4) |
|
| Dec. no. | No.2 | - | Set dec. no. for deceleration. (no.1 ~ no.4) |
|
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
|
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
|
| Sub-axis setting |
Axis2, Axis3 | - | Set axes settable axis in operating data of main to be used as sub-axis among -axis |
- *1 : It does not need to be set. Whatever value is set as, it does not affect linear interpolation.
| Remark |
| Linear interpolation control is executed on basis of operating data of main axis. Only 「target position」 item of sub-axis setting affect linear interpolation. In other word, whatever value is set as, it does not affect the operation and errors do not arise. |
| Chapter 9 Functions |
| 9-47 |
[Example] axis1 is main axis. axis2, 3 are sub axes. Execute linear interpolation with following settings.
■ Starting position (2000, 1000, 1000), Target position(Movement amount) (10000, 5000, 5000)
In this condition, the operation is as follows.
■ Setting example of XG-PM
▪ Operating data of main-axis(axis1)
| Step no. | Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Incremental, Linear | Single, End | 10000 | 1000 | No.1 | No.1 | 0 | 100 | Axis2 |
▪ Operating data of sub-axis1(axis2)
| Step no. | Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Incremental, (SNG) POS |
Single, End | 5000 | 0 | No.1 | No.1 | 0 | 0 | undecided Axis- |
▪ Operating data of sub-axis2(axis3)
| Step no. | Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time | Sub axis setting |
| 1 | Incremental, (SNG) POS |
Single, End | 5000 | 0 | No.1 | No.1 | 0 | 0 | undecided Axis- |
■ Operating pattern
Reverse
Reverse
Forward
(3-axis)
Forward (2-axis)
Forward
| 5000 10000 2000 12000 |
| 5000 axis ) 1000 |
| 2-axis (5000) (12000, 6000 Moving amount of 1-axis(10000) |
(1 axis)
5000 Start position
(Current stop position)
M o v i n g
amount of
Stop position after
positioning complete
, 6000)
Moving
amount of
3-(5000
| Chapter 9 Functions |
| 9-48 |
(3) Speed in 3 axes linear interpolation control
Operation speed in linear interpolation is determined based on “Interpolation speed selection” option of
extended parameter, main-axis speed or synthetic speed. If operation speed is set on command axis (main),
positioning module calculates the speed of sub-axis based on the moving amount. Sub-axis speed and
interpolation speed of the object are calculated as follows.
■ Speed in 3 axes linear interpolation (when main axis is selected as interpolation speed)
Y
X
| Y1 X1 Moving amount of X(Sx) X2 Moving amount of Y (S Target position (X2, Y2, Z2) Vz Y2 Z |
| Starting position (X1, Y1, Z1) |
| Moving amount of Z(Sz) Z2 |
y)
Action by linear interpolation
Vx
F
Vy
Z
1
[Example]
■ Starting position (2000, 2000, 1000)
■ Target position (6000, 5000, 6000)
■ Operating speed: 400 [pls/s]
Speed of sub-axis and interpolating speed are as follows.
| Speed of sub-axis1 = 3000 400× = |
[pls/s] |
| Speed of sub-axis2 = 5000 400× = |
[pls/s] |
| 300 | 4000 |
Interpolating speed = [pls/s]
Moving amount of Main ( )
Moving amount of Sub ( )
Speed of sub( ) Speed of main ( )
x
y
y x S
S
V = V ×
Moving amount of main ( )
Moving amount of sub ( )
Speed of sub ( ) Speed of main ( )
x
z
z x S
S
V = V ×
2 2 2
Interpolating speed (F) = Vx + Vy +Vz
500
4000
4002 +3002 +5002 ≈ 707
| Chapter 9 Functions |
| 9-49 |
■ Speed in 3 axes linear interpolation (when synthetic speed is selected as interpolation speed)
Y
X
| Y1 X1 Moving amount of X(Sx) X2 Moving amount of Y (S Target position (X2, Y2, Z2) Vz Y2 Z |
| Starting position (X1, Y1, Z1) |
| Moving amount of Z(Sz) Z2 |
y)
Action by linear interpolation
Vx
F
Vy
Z
1
Interpolatinspeed (F) = Operationspeedsetinpositiondata
| InterpolatingmovingamountS= S x + S y + S z | ||
| () 2 | 2 | 2 |
| ( ) Main axismovingamount S x |
||
| ( ) ( ) Mainaxisspeed Vx = Interpolatingspeed F × |
( )
Interpolatingmovingamount S
| ( ) Interpolatingmovingamount S y |
1speed ( ) ( ) Sub - axis V y = Interpolatingspeed F × |
1 ( )
Sub axis movingamount S
-
| ( ) Interpolatingmovingamount S z |
2 speed ( ) ( ) Sub - axis Vz = Interpolatingspeed F × |
2 ( )
Sub axis movingamount S
- [ Example ]
■ Starting position (2000, 1000, 1000),
■ Target position (6000, 5000, 6000)
■ Synthetic speed: 400 [pls/s]
Main-axis speed and sub-axis speed are as follows. (X-axis: main-axis/ Y,Z-axis: sub-axis)
Interpolating moving amount = 40002 + 40002 +50002 ≈7549.8
Main axis speed = 211.9
7549.8
4000
400× ≈
Sub-axis 1 speed = 211.9
7549.8
4000
400× ≈ [pls/s]
Sub-axis 2 speed = 264.9
7549.8
5000
400× ≈ [pls/s]
| Chapter 9 Functions |
| 9-50 |
| Remark | limit for Sub-axis sing linear interpolation control and moving distance of main < moving distance of sub and “Interpolation selection” is “main-axis speed”, it is possible that sub-axis speed calculated by the positioning module s 「Speed limit」 of basic parameter. In this case, error (error code: 261) arises and main-axis speed is lated for sub-axis not to exceed “Speed Limit” and operates. To prevent errors, reduce the main-axis so that sub-axis speed doesn’t exceed the “Speed Limit”. peed when the moving distance of main-axis is 0 and interpolation speed selection” is “main-axis speed he moving distance of main-axis is 0, the operating speed of main-axis operating data becomes actual ation speed. of linear interpolation with more than 3 axes, the speed of sub-axis is calculated by the formula below. ( ) ( ) ( ) y Moving amount of sub axis S of sub axis V Interpolating speed F - - = × |
| (1) Speed When u speed exceed recalcu speed (2) The s When t interpol In case Speed Speed |
( )
f
y Merged moving amount S
( )
( )
( ) ( )
f
z
z Merged moving amount S
Moving amount of sub axis S
of sub - axis V = Interpolating speed F × -
| Chapter 9 Functions |
| 9-51 |
After executed by start command (「Indirect start」 , 「Synchronous start」 ), then executes interpolation control
from starting position to the target position with interpolation axes set as the main axis and sub axes.
There is no limit to the combination of interpolation axis and maximum 8 axes linear interpolation control is
available. Characteristics of action are same as linear interpolation control with 3 axes. For the details, refer to
linear interpolation control with 3 axes.
(1) Linear interpolation control with absolute coordinate (「Absolute, Linear Interpolation」 )
(a) Executes multiple axes linear interpolation from starting position to the target position based on positioning
data. Positioning control is carried out on the basis of the origin point specified from homing.
(b) The direction of movement depends on the starting position and the target position.
■ Starting position < Target position : Positioning operation in forward
■ Starting position > Target position : Positioning operation in reverse
(2) Linear interpolation control with incremental coordinate (「Incremental, Linear Interpolation」 )
(a) Executes multiple axes linear interpolation from starting position to the target position. Positioning control is
carried out on basis of the current stop position.
(b) Moving direction depends on the sign of the target position (Moving amount)
■ The sign is positive (+ or nothing) : Positioning operation in forward
■ The sign is negative (-) : Positioning operation in reverse
(3) Speed in multiple axes linear interpolation control
Operation speed in linear interpolation is determined based on “Interpolation speed selection” option of
extended parameter, main-axis speed or synthetic speed. If operation speed is set on command axis (main),
positioning module calculates the speed of sub-axis based on the moving amount. Sub-axis speed and
interpolation speed of the object are calculated as follows.
■ Interpolation speed selection is main-axis speed
( )
( )
( 2axis) speed ( ) axis speed ( )
1
2
2 1
Main axismovingamount S
Sub axis movingamount S
Sub axis V Main V
-
-
- = ×
( )
( )
(3 ) speed ( ) ( )
1
3
3 1
Main axismovingamount S
Sub axismovingamount S
Sub aixs axis V Main axis speed V
-
-
- = - ×
： ：
( )
( )
(8axis) speed ( ) ( )
1
8
8
Main axismovingamount S
Sub axismovingamount S
Sub axis V Main axisspeed V
-
-
- = - ×
2
8
2
3
2
2
2
Interpolatingspeed(F) = V1 + V + V + … +V
| Chapter 9 Functions |
| 9-52 |
■ Interpolation speed selection is synthetic speed
Interpolatingspeed (F) = Operationspeedsetinpositiondata
28
23
2
2
2
Interpolatingmovingamount (S) = S1 + S + S + + S
( )
( )
( 1) ( ) 1
Interpolatingmovingamount S
main axis movingamount S
Main - axisspeed V = Interpolatingspeed F × -
( )
1 ( )
1 ( 2 ) ( ) 2
Interpolatingmovingamount S
Sub axis movingamount S
Sub - axis speed V = Interpolatingspeed F × -
| ( ) Interpolatingmovingamount S |
|
| 2 speed ( 3 ) ( ) Sub - axis V = Interpolatingspeed F × |
3 |
2 ( )
Sub axis movingamount S
-
： ：
| ( ) Interpolatingmovingamount S |
|
| 7 speed ( 8 ) ( ) Sub - axis V = Interpolatingspeed F × |
8 |
7 ( )
Sub axis movingamount S
-
| Chapter 9 Functions |
| 9-53 |
After started by start command (「Indirect start」 , 「direct start」 ), executes interpolation operating following
the circular path which passes middle point set by “Circular interpolation auxiliary point” using 2 axes.
And, it can execute circular interpolation of over 360 degrees according to the “Circular interpolation turns”
setting. There is no limit to the combination of 2 axes. User can randomly use 2 axes among 1~ 8-axis
(1) absolute coordinate, Middle point-specified Circular Interpolation
(「Absolute, circular interpolation」 )
(a) Executes circular interpolation from starting point to target point passing the middle point that is set on
operation data.
(b) Circular trajectory is made using the crossing which is made by dividing between start position and middle
point, and between middle point and target position perpendicularly and equally as center point.
(c) Movement direction is decided automatically depending on the target position and auxiliary point of circular
interpolation.
(d) Condition
■ In the middle point-specified circular interpolation, you can’t draw the circle whose starting position is same
as end position. If you want to draw the circle above, use the center point-specified circular interpolation.
■ You cannot execute the middle point-specified circular interpolation in the following cases.
▪ 「Sub axis setting」 error (Error code : 279)
▪ 「Sub-axis setting」 value of operating data of main axis is “Axis-undecided”
▪ 「Sub-axis setting」 value of operating data of main axis is same as the main axis no.
▪ 「Sub-axis setting」 value of operating data of main axis is axis no. that is not connected to network.
▪ In case “degree” is set as control unit of main axis or sub axis, (Error code : 282(Main axis), 283(Sub axis))
▪ Middle point set on auxiliary point is same as starting position or target position. (Error code : 284)
▪ In case start position is same as target position (Error code : 285)
▪ In case calculated radius of circular exceeds 2147483647pls (Error code : 286)
▪ In case auxiliary position and target position is in a straight line from start position, (Error code : 287)
| Chapter 9 Functions |
| 9-54 |
Remark
Caution is needed, because 2 axes work simultaneously in the circular interpolation operation.
(1) Available auxiliary operations are as follows ;
▪ Speed override, Deceleration stop, Emergency stop, Skip operation
(2) Unavailable commands during circular interpolation operation are as follows ;
▪ Position/Speed switching control, Position override, Continuous operation
(3) The parameter items which are operated by the set value of each axis are as follows ;
▪ Software upper limit, software lower limit among extended parameter.
(e) Example of operation data setting
| Setting item | Main axis (axis1) setting |
Sub axis (axis 2) setting |
Contents |
| Control method | Absolute, circular interpolation |
Absolute, single axis position control |
When circular interpolation control is executed by the absolute coordinate method, set「Absolute, circular interpolation」 on the main axis. Set the coordinate of sub-axis as “Absolute” too. |
| Operation method | Single, End | - *1 | Set operation method for circular interpolation. |
| Target position [pls] |
10000 | 0 | Set the target position for positioning on the main, sub axes |
| Operation speed [pls/s] |
1000 | - | Circular interpolation uses the method of designating composition speed. Set the composition speed at the main-axis |
| Acceleration No. | No.1 | - | Set Acc. No. for acceleration (no.1 ~ no.4) |
| Deceleration No. | No.2 | - | Set Dec. No. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub-axis setting | Axis 2 | - | Set an axis to be used as sub-axis among settable axis in operating data of main-axis |
| Circular interpolation Auxiliary point |
5000 | 5000 | In case of middle point specified circular interpolation, set the position of the middle point where circular arc passes |
| Circular interpolation mode |
Middle point | - | In case of middle point specified circular interpolation, select「middle point」 on the main axis. |
| Circular interpolation turns |
0 | - | When user want to draw circle of over 360 degree, set the number of turns of circular arc. |
| Helical interpolation | Don’t use | - | In case of circular interpolation, select 「Do not use」 on the main axis. |
- *1 : You need not set. Whatever you set, there is no effect to circular interpolation.
| Chapter 9 Functions |
| 9-55 |
Remark
The middle point specified circular interpolation is operated by operation data of main axis (command axis).
In case of the middle point specified circular interpolation, sub axis items except for「Target position」 ,
「circular interpolation auxiliary point 」 don’t affect the operation. That is, whatever you set, those don’t
affect the operation and error doesn’t occur.
But, coordinate setting of sub-axis control method indicates whether target position is absolute coordinate
or incremental coordinate. So in case of circular interpolation control by absolute coordinate method, set
the coordinate of sub-axis as “absolute” too.
[Example] executes middle point-specified circular interpolation, absolute coordinate
(main axis; axis 1, sub axis; axis 2)
■ In case of Start position (0, 0), Target position (10000, 6000) and Auxiliary point (2000, 6000), operation is
as follows;
■ Example of setting in the XG-PM
▪ Main axis(axis1) operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular interpolati on mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, Circular interpolation |
Single, End |
13000 | 1000 | No. 1 | No. 1 | 0 | 100 | Axis 2 | 10000 | Mid point dle | 0 | Do not use |
▪ The axis(axis 2) of ordinates operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular interpolati on mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, Single-axis position control |
Single, End |
9000 | 0 | No. 1 | No. 1 | 0 | 0 | none | 7500 | Mid point dle | 0 | Do not use |
■ Operation pattern
| Chapter 9 Functions |
| 9-56 |
(2) Middle point specified Circular interpolation by incremental coordinate
(「Incremental, circular interpolation」 )
(a) Operates circular interpolation from start position to target position as much as amount of set movement
passing the middle.
(b) Middle point position is the position increased from current stop position as much as the set value on
「Circular interpolation auxiliary point」 .
(c) The intersection of perpendicular bisectors between starting position and middle point and perpendicular
bisectors between the current stop position and the position increased form current stop position as much as
target position will be the center-point of the arc.
(d) Movement direction is decided by the set target position and circular interpolation auxiliary point.
(e) Condition
■ In the middle point-specified circular interpolation, you can’t draw the circle whose starting position is same
as end position. If you want to draw the circle above, use the center point-specified circular interpolation.
■ You cannot execute the middle point-specified circular interpolation in the following cases.
▪ 「Sub axis setting」 error (Error code : 279)
▪ 「Sub-axis setting」 value of operating data of main axis is “Axis-undecided”
▪ 「Sub-axis setting」 value of operating data of main axis is same as the main axis no.
▪ 「Sub-axis setting」 value of operating data of main axis is axis no. that is not connected to network.
▪ In case “degree” is set as control unit of main axis or sub axis, (Error code : 282(Main axis), 283(Sub axis))
▪ Middle point set on auxiliary point is same as starting position or target position. (Error code : 284)
▪ In case start position is same as target position (Error code : 285)
▪ In case calculated radius of circular exceeds 2147483647pls (Error code : 286)
▪ In case auxiliary position and target position is in a straight line from start position, (Error code : 287)
| Chapter 9 Functions |
| 9-57 |
(f) Example of operation data setting
| Setting item | Main axis (axis1) setting |
Sub axis (axis 2) setting |
Contents |
| Control method | Incremental, circular interpolation |
Incremental, single-axis position control |
When circular interpolation control is executed by the incremental coordinate method, set「incremental, circular interpolation」 on the main axis. Set the coordinate of sub-axis as “incremental” too. |
| Operation method | Single, End | - *1 | Set operation method for circular interpolation. |
| Target position [pls] |
10000 | 0 | Set the target position by incremental amount from current position |
| Operation speed [pls/s] |
1000 | - | Circular interpolation uses the method of composition speed. Set the composition speed at the main-axis |
| Acceleration No. | No.1 | - | Set Acc. No. for acceleration (no.1 ~ no.4) |
| Deceleration No. | No.2 | - | Set Dec. No. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub-axis setting | Axis 2 | - | Set an axis to be used as sub-axis among settable axis in operating data of main-axis |
| Circular interpolation Auxiliary point |
5000 | 5000 | Set the middle point position by incremental amount from current position |
| Circular interpolation mode |
Middle point | - | In case of middle point specified circular interpolation, select「middle point」 on the main axis. |
| Circular interpolation turns |
0 | - | When user want to draw circle of over 360 degree, set the number of turns of circular arc. |
| Helical interpolation | Don’t use | - | In case of circular interpolation, select 「Do not use」 on the main axis. |
- *1 : You need not set. Whatever you set, there is no effect to circular interpolation.
Remark
The middle point specified circular interpolation is operated by operation data of main axis (command axis).
In case of the middle point specified circular interpolation, sub axis items except for
「Coordinate」 ,「Target position」 , 「circular interpolation auxiliary point 」 don’t affect the operation.
That is, whatever you set, those don’t affect the operation and error doesn’t occur.
But, coordinate setting of sub-axis control method indicates whether target position is absolute coordinate
or incremental coordinate. So in case of circular interpolation control by incremental coordinate method, set
the coordinate of sub-axis as “incremental” too.
| Chapter 9 Functions |
| 9-58 |
[ Example ] Operates middle pint-specified circular interpolation, incremental coordinate with axis 1
(main axis) and axis 2 (sub axis)
■ Start position : (1000, 1000)
Target position (amount of movement) setting : (8000, 4000)
Auxiliary point (amount of movement) setting : (5000, 5000)
In this case operation is as follows:
■ Example of setting XG-PM
▪ Main axis(axis 1) Operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Incremental, Circular interpolation |
Single, End |
8000 | 1000 | No. 1 | No. 1 | 0 | 100 | Axis 2 | 5000 | Middle point | 0 | Do not use |
▪ Sub axis(axis 2) Operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, single-axis position control |
Single, End |
4000 | 0 | No. 1 | No. 1 | 0 | 0 | None | 5000 | Middle point | 0 | Do not use |
■ Operation pattern
| Chapter 9 Functions |
| 9-59 |
After operated by starting command (「indirect start」 , 「Simultaneous Start」 ), it operates interpolation along
the trace of the circle whose center is specified center point by using 2 axes in the set circular interpolation
rotation direction.
Circular interpolation over 360 degrees is available according to 「Circular interpolation turns」 .
There is no limit to the composition of 2 axes. User can select 2 axes among 1~ 8-axis randomly.
(1) Center point-specified Circular interpolation, Absolute Coordinate
(「Absolute, Circular interpolation」 )
(a) Operates circular interpolation from start position to target position along the trace of circle whose radius is
distance from center point to start position. 「Circular interpolation auxiliary point」 indicates the center point
of the circle.
(b) Moving direction depends on the set direction on “circular interpolation mode” of operation data.
▪ 「Midpoint, CW」 - Circular interpolation going clockwise from current position.
▪ 「Midpoint, CCW」 - Circular interpolation going counterclockwise from current position.
| Chapter 9 Functions |
| 9-60 |
(c) If target position is same as start position, you can execute circular interpolation whose circle radius is distance from center
point to starting position (=target position)
(d) Condition
■ You cannot execute the center point-specified circular interpolation in the following cases.
▪ 「Sub axis setting」 error (Error code : 279)
▪ 「Sub-axis setting」 value of operating data of main axis is “Axis-undecided”
▪ 「Sub-axis setting」 value of operating data of main axis is same as the main axis no.
▪ 「Sub-axis setting」 value of operating data of main axis is axis no. that is not connected to network.
▪ In case “degree” is set as control unit of main axis or sub axis, (Error code : 282(Main axis), 283(Sub axis))
▪ In case center point set on auxiliary point is same as starting position or target position. (Error code : 284)
▪ In case calculated radius of circular exceeds 2147483647pls (Error code : 286)
Remark
Be careful during starting circular interpolation, because 2 axes act at a time.
1. Available auxiliary operation is as follows:
▪ Speed override, Deceleration stop, Emergency stop, Skip operation
2. Unavailable command with circular interpolation is as follows:
▪ Position/Speed switching control, Position override, Continuous operation
3. The parameter item that it is operated by set value per each axes is as follows:
▪ Software upper limit, Software lower limit among extended parameter items
| Chapter 9 Functions |
| 9-61 |
(e) Example of operation data setting
| Setting item | Main axis (axis1) setting |
Sub axis (axis 2) setting |
Contents |
| Control method | Absolute, circular interpolation |
Absolute, single axis position control |
When circular interpolation control is executed by the absolute coordinate method, set「absolute, circular interpolation」 on the main axis. Set the coordinate of sub-axis as “absolute” too. |
| Operation method | Single, End | - *1 | Set operation method for circular interpolation. |
| Target position [pls] |
10000 | 0 | Set the main, sub axes target position for positioning on the |
| Operation speed [pls/s] |
1000 | - | Circular interpolation uses the method of composition speed. Set the composition speed at the main-axis |
| Acceleration No. | No.1 | - | Set Acc. No. for acceleration (no.1 ~ no.4) |
| Deceleration No. | No.2 | - | Set Dec. No. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub-axis setting | Axis 2 | - | Set an axis to be used as sub-axis among settable axis in operating data of main-axis |
| Circular interpolation Auxiliary point |
5000 | -5000 | Set the position of the center point |
| Circular interpolation mode |
Center point, CW |
- | Select「Center point, CW」 on the main axis. |
| Circular interpolation turns |
0 | - | When user want to draw circle of over 360 degree, set the number of turns of circular arc. |
| Helical interpolation | Don’t use | - | In case of circular interpolation, select 「Do not use」 on the main axis. |
- *1 : You need not set. Whatever you set, there is no effect to circular interpolation.
Remark
The center - point specified circular interpolation is operated by operation data of main axis (command axis).
In case of the center point - specified circular interpolation, sub axis items except for「Target position」 ,
「circular interpolation auxiliary point 」 don’t affect the operation. That is, whatever you set, those don’t
affect the operation and error doesn’t occur.
But, coordinate setting of sub-axis control method indicates whether target position is absolute coordinate
or incremental coordinate. So in case of circular interpolation control by absolute coordinate method, set
the coordinate of sub-axis as “Absolute” too.
| Chapter 9 Functions |
| 9-62 |
[Example] Operates center point - specified circular interpolation, absolute coordinate
(main axis; 1-axis, sub axis; 2-axis)
■ Start position (0, 0), Target position (0, 0), Auxiliary point (1000, 1000), direction of rotation :CW
■ Example of setting in the XG-PM
▪ Main axis (axis1) operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, Circular interpolation |
Single, End |
0 | 1000 | No. 1 | No. 1 | 0 | 100 | Axis 2 | 1000 | Center ,CWpoint | 0 | Do not use |
▪ Sub axis (axis 2) operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular Interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, single-axis position control |
Single, End |
0 | 0 | No.1 | No.1 | 0 | 0 | None | 1000 | Center CWpoint, | 0 | Do not use |
■ Operation pattern
1000
1000
0
Centerpoint
(1000,1000)
Forward
of main
axis
Forward of sub axis
| Chapter 9 Functions |
| 9-63 |
(2) Center point – specified Circular interpolation control, incremental coordinate
(「Incremental, Circular interpolation」 )
(a) Starts operation at starting position and then executes circular interpolation by already set moving amount,
along the trace of the circle which has a distance between starting position and center point as radius.
「Circular interpolation auxiliary point」 means the moving amount between the current position and center
point.
(b) Moving direction is decided to set direction on “circular interpolation mode” of operation data.
▪ 「Center point, CW」 - Circular interpolation going clockwise from current position.
▪ 「Center point, CCW」 - Circular interpolation going counterclockwise from current position.
(c) If you set target position of main axis and sub axis as “0”, starting position will be same as target position and
can execute circular interpolation that it is drawing circle whose radius is distance from starting position to
center-point.
| Centerpoint of circle Acting by circular interpolation Target position Radius Start position Forward of main axis Reverse of sub axis Forward of sub axis Reverse of main axis Amount of movement to main axis target position Amount of movement to sub axis target position Amount of movement of main axis centerpoint position Amount of movement of sub axis centerpoint position |
Target position Acting by circular interpolation Radius Forward of main axis Reverse of sub axis Forward of sub axis Reverse of main axis Centerpoint of circle Starting position Amount of movement to main Amount of movement of main axis centerpoint position Amount of movement to sub axis target position Amount of movement of sub axis centerpoint position |
| Centerpoint, CW | Centerpoint, CCW |
axis target position
Origin
point
Center of the circle
Acting by circular interpolation
Starting
position
= Target
position
Forward
of main
axis
Reverse of
sub axis
Forward of
sub axis
Reverse
of the
main axis
| Chapter 9 Functions |
| 9-64 |
(d) Condition
■ You cannot execute the center point-specified circular interpolation in the following cases.
▪ 「Sub axis setting」 error (Error code : 279)
▪ 「Sub-axis setting」 value of operating data of main axis is “Axis-undecided”
▪ 「Sub-axis setting」 value of operating data of main axis is same as the main axis no.
▪ 「Sub-axis setting」 value of operating data of main axis is axis no. that is not connected to network.
▪ In case “degree” is set as control unit of main axis or sub axis, (Error code : 282(Main axis), 283(Sub axis))
▪ In case center point set on auxiliary point is same as starting position or target position. (Error code : 284)
▪ In case calculated radius of circular exceeds 2147483647pls (Error code : 286)
(e) Example of operation data setting
| Setting item | Main axis (axis1) setting |
Sub axis (axis 2) setting |
Contents |
| Control method | Incremental, circular interpolation |
Incremental, single-axis position control |
When circular interpolation control is executed by the incremental coordinate method, set「incremental, circular interpolation」 on the main axis. Set the coordinate of sub-axis as “incremental” too. |
| Operation method | Single, End | - *1 | Set operation method for circular interpolation. |
| Target position [pls] |
10000 | 0 | Set the target position by incremental amount from current position |
| Operation speed [pls/s] |
1000 | - | Circular interpolation uses the method of composition speed. Set the composition speed at the main-axis |
| Acceleration No. | No.1 | - | Set Acc. No. for acceleration (no.1 ~ no.4) |
| Deceleration No. | No.2 | - | Set Dec. No. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub-axis setting | Axis 2 | - | Set an axis to be used as sub-axis among settable axis in operating data of main-axis |
| Circular interpolation Auxiliary point |
5000 | -5000 | Set the center point position by incremental amount from current position |
| Circular interpolation mode |
Center point, CW |
- | Select「Center point, CW」 on the main axis. |
| Circular interpolation turns |
0 | - | When user want to draw circle of over 360 degree, set the number of turns of circular arc. |
| Helical interpolation | Don’t use | - | In case of circular interpolation, select 「Do not use」 on the main axis. |
- *1 : You need not set. Whatever you set, there is no effect to circular interpolation.
| Chapter 9 Functions |
| Remark The center point specified circular interpolation is operated by operation data of main axis (command axis). In case of the center point specified circular interpolation, sub axis items except for「Target position」 , 「circular interpolation auxiliary point 」 don’t affect the operation. That is, whatever you set, those don’t affect the operation and error doesn’t occur. But, coordinate setting of sub-axis control method indicates whether target position is absolute coordinate or incremental coordinate. So in case of circular interpolation control by incremental coordinate method, set the coordinate of sub-axis as “incremental” too. |
| 9-65 |
[ Example ] Operates center point – specified circular interpolation, Incremental coordinate with axis 1
(main axis), with axis 2 (sub axis)
■ Start position: (0, 0)
Target position (amount of movement): (2000, 0)
Auxiliary point (amount of movement): (1000, 0)
Direction of rotations: CW
In this case, operation is as follows:
■ Example of setting XG-PM
▪ Main axis (axis 1) Operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular Interpolation mode |
Circular interpolation turns |
Helical Interpolation |
| 1 | Incremental, Circular interpolation |
Single, Keep |
2000 | 1000 | No. 1 | No. 1 | 0 | 100 | Axis 2 | 1000 | Center ,CW-point | 0 | Do not use |
| 1 | Incremental, Circular interpolation |
Single, End |
2000 | 1000 | No. 1 | No. 1 | 0 | 100 | Axis 2 | 1000 | Center ,CW-point | 0 | Do not use |
▪ Sub axis (axis 2) Operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No, |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular Interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Incremental, single-axis position control |
Single, End |
0 | 0 | No. 1 | No. 1 | 0 | 0 | None | 0 | Midpoint ,CW | 0 | Do not use |
| 1 | Incremental, single-axis position control |
Single, End |
0 | 0 | No. 1 | No. 1 | 0 | 0 | None | 0 | Midpoint ,CW | 0 | Do not use |
■ Operation pattern
(3) Circular interpolation control whose radius of starting point is different with radius of ending point.
(a) According to set value of target position, distance A which it is distance from start point to center point may
| 0 1000 |
Operation step No.: 1 Operation step No.: 2 Centerpoint Centerpoint |
| 0 2000 4000 |
|
| Main axis centerpoint Amount of movement = 1000 |
Main axis centerpoint Amount of movement = 1000 |
| Main axis target position Amount of movement = 2000 |
Main axis target position Amount of movement = 2000 |
Forward of
main axis
Forward of sub axis
| Chapter 9 Functions |
| 9-66 |
be different with distance B which it is distance from target position to center point (End point, Radius). At this
time, normal circular arc operation is not available.
When starting point radius have a difference with end point radius, the positioning module calculates angular
velocity from the set operation speed, and operates circular interpolation compensating a difference of radius
in proportion to that angular velocity.
(b) In case of starting point radius has some difference with ending point radius, compensating speed is as
follows:
▪ Radius of starting point > Radius of ending point: The more near from target position, the slower.
▪ Radius of starting point < Radius of ending point: The more near from target position, the faster.
| Remark |
| In case of “Starting point radius < Ending point radius”, the closer to target position the object gets, the faster speed is. Sometimes it exceeds 「Speed limit」 of parameter. When operating circular interpolation, in case starting point radius is shorter than ending point radius, XGF-PN4B/PN8B lowers speed not to exceed「Speed limit」 . With that method, even if it gets closer to target position, it can’t exceed the 「Speed limit」 . Compensation speed Time Setting speed Speed limit Exceed speed limit Compensation speed Time Not exceed speed limit Speed limit Setting speed |
| Forward of sub axis Target position Reverse of main axis Reverse o f sub axis Forward of main axis Starting point radius Center point Compensation speed Time Setting speed Speed will be slow. |
Target position Reverse of main axis Starting point radius = Ending point radius Starting point radius < Ending point radius Center point Time Speed will be fast Forward of sub axis Reverse o f sub axis Forward of main axis Compensation speed Setting speed |
| Starting point radius > Ending point radius | Midpoint starting point radius < Ending point radius |
Starting position
0
Starting point
radius
> Ending point
radius
Starting position
0
= Ending point
radius
Speed be faster
Lower setting speed
| Chapter 9 Functions |
| 9-67 |
(4) The number of circular interpolation rotation in absolute coordinate
(a) In case of center point - specified circular interpolation, absolute coordinate, when setting “Circular
interpolation turns” is more than 1, if you stop it by Dec. stop command and restart interpolation operation, it
doesn’t operate along the circular arc set again at this stop point and operates along the circular arc set at the
previous start position. That is, in absolute coordinate, center point – specified circular interpolation, it operates
according to rotation number at start position.
(b) Even if it decelerates and stops, it operates original circular interpolation by restart.
(c) Condition
In the following case, current position changes after deceleration stop command. The number of circular
interpolation rotation is not the number of absolute rotations. It operates by the number of incremental rotations.
▪ After executing positioning command except for current step indirect start (Directing start, Jog operation,
Inching operation, Sync. operation, etc),
▪ After executing “Current position change” command
▪ After executing “Servo off” command
[ Example ] operates center-point circular interpolation, absolute coordinate with axis 1 (main axis), with
axis 2 (sub axis)
■ Starting position (100, 500), Target position (600, 300), Auxiliary position (600, 500),
Direction of rotations: CW, operation is as follows:
■ Example of setting XG-PM
▪ Main axis (axis 1) operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No, |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular Interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, circular interpolation |
Single, End |
600 | 1000 | No.1 | No.1 | 0 | 100 | Axis 2 | 600 | Center CWpoint, | 3 | Do not use |
▪ Sub axis (axis 2) operation data
| Step No. |
Control Method |
Operation method |
Target position [pls] |
Operation Speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell time |
Sub axis setting |
Circular interpolation Auxiliary point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, single axis position control |
Single, End |
300 | 0 | No.1 | No.1 | 0 | 0 | None | 500 | Middle point | 0 | Do not use |
■ Operation pattern
When you restart the same step number after stopping it by Dec. stop command, it doesn’t rotate 3 times at the stop
position. Since it rotated 2 times previous operation, it executes circular interpolation of one time rotation to go target
position.
| Forward of sub axis Forward of 0 main axis Centerpoint Starting position 100 600 500 100 Stop by 「deceleration stop」 Target position 300 |
Forward of sub axis Forward of 0 main axis Starting position 100 600 500 100 Restart by 「directing start」 Centerpoint Target position 300 |
| 「Deceleration stop」 during of operation circular interpolation | Restart of circular interpolation operation |
| Chapter 9 Functions |
| 9-68 |
After operated by starting command (「indirect start」 , 「Simultaneous Start」 ), it operates interpolation along
the trace of the circle made by the specified radius.
Circular interpolation over 360 degrees is available according to 「Circular interpolation turns」 .
There is no limit to the composition of 2 axes. User can select 2 axes among 1~ 8-axis randomly.
(1) Radius specified Circular interpolation, absolute coordinate (「Absolute, Circular interpolation」 )
(a) Starts operating at starting position and execute circular interpolation along the trace of the circle which has
radius specified by auxiliary point of main-axis operation data. Center point of Circular arc depends on the
turning direction (CW, CCW) of「Circular interpolation mode」 and size setting of circular arc (Circular
arc<180°, Circular arc>=180°).
| Circular interpolation mode | Description |
| Radius, CW, Arc<180° | Executes circular interpolation in clockwise and the arc is smaller than 180° |
| Radius, CW, Arc>=180° | Executes circular interpolation in clockwise and the arc is bigger than 180° |
| Radius, CCW, Arc<180° | Executes circular interpolation in counterclockwise and the arc is smaller than 180° or same. |
| Radius, CCW, Arc>=180° | Executes circular interpolation in counterclockwise and the arc is bigger than 180° or same. |
Center
point
| 중심점 Arc < 180° 「CW, Arc<180°」 Circular interpolation action Radius 「CW, Arc>=180°」 Circular interpolation action Sub-axis Forward Main-axis Forward Center point Goal position |
Radius Sub-axis Forward Main-axis Forward Center point 「CCW, Arc>=180°」 Circular interpolation action Arc>=180° °」 Circular interpolation action |
| CW, Arc<180° CW, Arc>=180° | CCW, Arc<180° CCW, Arc>=180° |
Arc >= 180°
Starting
position
Radius
Origin
Arc < 180°
Origin
Center
point
「CCW, Arc<180Starting
position
Radius
Goal position
| Chapter 9 Functions |
| 9-69 |
(b) Restrictions
■ Radius specified circular interpolation can not draw an exact circle that the starting position and ending
position are same. If you want to draw that, use center point - specified circular interpolation.
■ In the cases below, error would arise and circular interpolation can not be executed.
▪「Sub-axis setting」 error (error code: 279)
- Value of 「Sub-axis setting」 is “Axis-undecided”
-「Sub axis setting」 of main axis operating data is the same as main axis no.
-「Sub axis setting」 of main axis operating data is the axis no. that is not connected to the network.
▪ Control unit of main or sub axis is set as “degree”. (error code : 282(main), 283(sub))
▪ Starting position and goal position are same (error code: 285)
▪ Radius value of circular interpolation of main-axis operating data is smaller than half of the length from
starting position to target position
- When Radius < (R x 0.8) : Error (error code:270)
-> When Radius < (R x 80%): Error
- When (R x 0.8) <= Radius < R
: Executes circular interpolation after reset the radius to R. In other words, executes circular interpolation by
setting the center of the line from starting position to goal position as center point.
-> When Radius >= (R x 80%) or Radius < (R x 100%): Effective Radius
Remark
If executing circular interpolation, 2 axes will operate at the same time. Pay attention.
(1) Available auxiliary operations are as follows.
▪ Speed override, Dec. stop, Emergent stop, Skip operation.
(2) The commands unavailable during circular interpolation operation are as follows.
▪ Position/Speed switching control, Position override, Continuous operation
(3) The parameter items operating by each axis setting are as follows.
▪ Software high limit, Software low limit among extended parameter
| Chapter 9 Functions |
| 9-70 |
(c) Setting example of Operating data
| Items | Main-axis setting | Sub-axis setting | Description |
| Control Method |
Absolute, Circular interpolation |
- *1 | When executing circular interpolation with absolute coordinates, set「Absolute, Circular interpolation」 on main. Set the coordinate of sub-axis as “Absolute” too. |
| Operating Method |
Single, End | - | Set the method to execute circular interpolation |
| Target position [pls] |
10000 | 0 | Set the target position to execute on Main, Sub axis |
| Operation speed [pls/s] |
1000 | - | Circular interpolation uses the method of composition speed. Set the composition speed at the main-axis |
| Acc. no. | No.1 | - | Set Acc. No. for acceleration (no.1 ~ no.4) |
| Dec. no. | No.2 | - | Set Dec. No. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub-axis setting |
Axis2 | - | Set an axis to be used as sub operating data of main-axis -axis among settable axis in |
| Auxiliary point |
7000 | - | Set the radius on main-axis |
| Circular interpolation mode |
Radius, CW, Arc<180° |
- | When using radius specified circular interpolation, set「Radius」 on main-axis and set moving direction of arc and size of arc |
| Circular interpolation urns |
- | - | Set the no. of turns of arc for making a circle bigger than 360° |
| Helical | Don’t use | - | When using circular interpolation, set it to「Don’t」 |
- *1 : It means that it need not be set. Whatever value it is, it dose not affect circular interpolation.
| Remark | specified circular interpolation is executed on the basis of the items set on operating data of main axis axis). When it is executed, only「Target position」 among sub axis items can affect circular on. In other words, whatever value is set as, it does not affect the action and no errors arise. But, setting of sub-axis control method means whether target position is absolute coordinate or incremental . So in case of circular interpolation control by absolute coordinate method, set the coordinate of sub bsolute” too. setting the circular interpolating auxiliary point (radius) of main-axis, it must be bigger than the half of the ween starting position and target position. When radius is smaller than the half(R) of straight, it is likely r. If the Radius is higher than 80% of R, circular interpolation which has middle point between starting d goal position as center-point is executed, and if the value is lower than 80% of R, error (error code:270) circular interpolation is not executed. |
| (1) Radius (command interpolati coordinate coordinate axis as “A (2) When length bet occur erro position an arises and |
| Chapter 9 Functions |
| 9-71 |
[Example] Axis1 is main-axis and Axis2 is sub-axis. Execute radius specified circular interpolation with
incremental.
■ Starting position (1000, 1000), Target position (9000, 1000), Auxiliary point (5000, 0)
Moving direction of arc : CW, Size of arc : Arc < 180°
The action is as follows in the condition above
■ Setting example in XG-PM
▪ Main-axis(Axis1) Operating data
| Step No. |
Control method |
Operation Method |
Target position [pls] |
Operation speed [pls/s] |
Acc. No, |
Dec. No, |
M Code |
Dwell Time |
Sub-axis Setting |
Auxiliary Point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, Circular interpolation |
Single, End |
9000 | 1000 | No.1 | No.1 | 0 | 100 | Axis2 | 5000 | Radius, CW, Arc<180 | 0 | Not use |
▪ Sub-axis(Axis2) Operating data
| Step No. |
Control method |
Operation Method |
Target position [pls] |
Operation speed [pls/s] |
Acc. No, |
Dec. No, |
M Code |
Dwell Time |
Sub-axis Setting |
Auxiliary Point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, single axis position control |
Single, End |
1000 | 1000 | No.1 | No.1 | 0 | 100 | Axis2 | 5000 | Radius, CW, Arc<180 | 0 | Not use |
■ Operation pattern
Sub-axis
Forward
Goal position
| (9000, Starting position (1000,1000) |
1000 |
| 0 1000 2000 |
1000 5000 9000 Arc’s degree< 180° Center Radius =5000 |
1000)
Main-axis
Reverse
Sub-axis
Reverse
Main-axis
Forward
--「CW, Arc<180°」
Circular interpolation action
| Chapter 9 Functions |
| 9-72 |
(2) Radius specified circular interpolation, incremental coordinate
(「Incremental, Circular interpolation」 )
(a) Starts operation from starting position and executes circular interpolation by the increment set on target
position along the trace of the circle which has the value set on circular interpolation auxiliary point of main-axis
operation data as a radius. Circular arc depends on the moving direction of「Circular interpolation mode」 (CW,
CCW) and setting of arc size(Arc<180°, Arc>=180°)
| Circular interpolation mode | Description |
| Radius, CW, Arc<180° | Executes circular interpolation with center-point whose arc is smaller than 180° in CW direction |
| Radius, CW, Arc >=180° | Executes circular interpolation with center-point whose arc is bigger than 180° in CW direction |
| Radius, CCW, Arc<180° | Executes circular interpolation with center-point whose arc is smaller than 180° in CCW direction |
| Radius, CCW, Arc>=180° | Executes circular interpolation with center-point whose arc is bigger than 180° in CCW direction |
Center point
? ? ?
Degree of arc < 180°
Degree of arc >= 180°
| ? CW, Arc<180°? Circular interpolation ? CW, Arc>=180°? Circular interpolation action Sub-axis Forward axis Forward Goal position Moving amount of sub axis position |
Sub-axis Forward Main-axis Forward Center point ? CCW, Arc>=180°? Circular interpolation action Degree of arc>=180 °? Circular interpolation action Goal position goal position Moving amount of sub axis position |
| CW, Arc<180° CW, Arc>=180° | CCW, Arc<180°CCW, Arc>=180° |
action
Staring
position
Radius
Radius
Main-Origin
Center
point
Degree of arc < 180°
Radius
Origin Center
point
°
? CCW, Arc180Starting
position
Radius
Moving amount of main-axis’
goal position
’ goal
Moving amount of main-axis’
’ goal
| Chapter 9 Functions |
| 9-73 |
(b) Restrictions
■ Radius specified circular interpolation can not draw an exact circle that the starting position and ending
position are same. If you want to draw that, use center point specified circular interpolation.
■ In the cases below, error would arise and circular interpolation can not be executed.
▪「Sub-axis setting」 error (error code: 279)
- Value of 「Sub-axis setting」 is “Axis-undecided”
-「Sub axis setting」 of main axis operating data is the same as main axis no.
-「Sub axis setting」 of main axis operating data is axis no. that is not connected to the network.
▪ Control unit of main or sub axis is set as “degree”. (error code : 282(main), 283(sub))
▪ Starting position and target position are same (error code: 285)
▪ Radius value of circular interpolation of main-axis operating data is smaller than half of the length from
starting position to target position
- When Radius < (R x 0.8) : Error (error code: 270)
- When (R x 0.8) <= Radius < R
: Executes circular interpolation after reset the radius to R. In other words, executes circular interpolation by
setting the center of the line from starting position to target position as center point.
| Chapter 9 Functions |
| 9-74 |
(c) Setting example of Operating data
| Items | Main-axis setting | Sub-axis setting | Description |
| Control Method |
Incremental, Circular interpolation |
Incremental, single-axis position control |
When executing circular interpolation with incremental coordinates, set「Incremental, Circular interpolation」 on main. Set the coordinate of sub-axis as “Incremental” too |
| Operating Method |
Single, End | -*1 | Set the method to execute circular interpolation |
| Target position [pls] |
10000 | 0 | Set the target position by incremental amount from current position |
| Operation speed [pls/s] |
1000 | - | Circular interpolation uses the method of composition speed. Set the composition speed at the main-axis |
| Acc. no. | No.1 | - | Set Acc. No. for acceleration (no.1 ~ no.4) |
| Dec. no. | No.2 | - | Set Dec. No. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub-axis setting |
Axis2 | - | Set an axis to be used as sub operating data of main-axis -axis among settable axis in |
| Auxiliary point |
7000 | - | Set the radius on main-axis |
| Circular interpolation mode |
Radius, CW, Arc<180° |
- | When using Radius specified circular interpolation, select “Radius” |
| Circular interpolation Turns |
- | - | Set the no. of turns of arc for making a circle bigger than 360° |
| Helical interpolation |
Don’t | - | When using circular interpolation, set it to「Don’t use」 |
- *1 : It means that it need not be set. Whatever value it is, it dose not affect circular interpolation.
Remark
(1) Radius specified circular interpolation is executed on the basis of the items set on main axis operating data.
When it is executed, only「Target position」 among sub axis items can affect circular interpolation. In other words,
whatever value is set as, it does not affect the action and no errors arise. But, coordinate setting of sub-axis control
method means whether target position is absolute coordinate or incremental coordinate. So in case of circular
interpolation control by incremental coordinate method, set the coordinate of sub-axis as “Incremental” too.
(2) When setting the circular interpolation auxiliary point (radius) of main-axis, it must be bigger than the half of the
length between starting position and goal position. When it is smaller than the (R), if the value is higher than 80%
of R, circular interpolation which has middle point between starting position and target position as center-point is
executed, and if the value is lower than 80% of R, error (error code:270) arises and circular interpolation is not
executed.
| Chapter 9 Functions |
| 9-75 |
[Example] Axis1 is main-axis and Axis2 is sub-axis. Executes Radius specified circular interpolation
with incremental coordinates.
■ Starting position (1000, 1000), Target position (8000, 0), Auxiliary point (5000, 0)
Moving direction of arc : CCW, Size of arc : Arc >= 180°
The action is as follows in the condition above
■ Setting example in XG-PM
▪ Main-axis(Axis1) Operating data
| Step No. |
Control method | Operation Method | position Target [pls] |
Operation speed [pls/s] |
Acc. No, |
Dec. No, |
M Code |
Dwell Time |
Sub-axis Setting |
Auxiliary Point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Incremental, Circular interpolation |
Single, End | 8000 | 1000 | No.1 | No.1 | 0 | 100 | Axis2 | 5000 | Radius, CCW, Arc>=180 |
0 | Not use |
▪ Sub-axis(Axis2) Operating data
| Step No. |
Control method | Operation Method | position Target [pls] |
Operation speed [pls/s] |
Acc. No, |
Dec. No, |
M Code |
Dwell Time |
Sub-axis Setting |
Auxiliary Point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Incremental, single-axis position control |
Single, End | 1000 | 0 | No.1 | No.1 | 0 | 100 | Axis2 | 0 | Middle point | 0 | Not use |
■ Operation pattern
Sub-axis
Forward
| Goal po (9000,1 Radius =5000 |
sition 000) |
| 1000 5000 9000 Degree of arc>=180° Center-point Moving amount of main-axis’ goal position=8000 |
Main-axis
Reverse
Sub-axis
Reverse
Main-axis
Forward
Starting position
(1000,1000)
0 1000
-1000
-2000
「CCW, Arc>=180°」
Circular interpolation
action
Moving amount of subaxis’ goal position
= 0
| Chapter 9 Functions |
| 9-76 |
After executed by start command (Indirect start, Synchronous start), 2 axes move along the circular arc and an
axis execute linear interpolation synchronizing with circular interpolation.
It can execute helical interpolation of over 360° according to “Circular interpolation turns” setting
There is no limit to the combinations of axes and 3 axes among axis1~axis8 are used.
(1) Characteristics of control
(a) After setting operating data for circular interpolation, if you set a helical interpolation axis on the item “Helical
interpolation”, the helical interpolation will be executed.
(b) The direction of circular arc depends on the target position and the mode of circular interpolation, the direction
of helical axis depends on the coordinates setting and the target position.
■ In case of「Absolute, Circular interpolation」
Starting position < Target position: Positioning operation in forward direction
Starting position > Target position: Positioning operation in reverse direction
■ In case of「Incremental, Circular interpolation」
Positive sign (+) or No sign : Positioning operation in forward direction
Negative sign (-) : Positioning operation in reverse direction
Z
X
Y
Linear interpolation part
Center
Starting position
(x1, y1, z1)
Circular interpolation part
Goal Position Helical interpolation
(x2, y2, z2)
| Chapter 9 Functions |
| 9-77 |
(2) Restrictions
(a) The restrictions of helical interpolation are same as various kinds of circular interpolation depending on the
mode of circular interpolation.
(b) If you set「Helical Interpolation」 as “Don’t use”, it will be same as the action of circular interpolation.
(c) If you set the target position of helical interpolation axis as the same starting position, it will be same as the
action of circular interpolation.
Remark
If you execute helical interpolation, 3 axes will operate at the same time. Pay attention.
(1) Available auxiliary operations are as follows.
▪ Speed override, Dec. stop, Emergent stop, Skip operation.
(2) The commands unavailable during helical interpolation operation are as follows.
▪ Position/Speed switching control, Position override, Continuous operation
(3) The parameter items operated by each axis setting are as follows.
▪ Software high limit, Software low limit among extended parameter.
(3) Example of operation data setting
| Items | Main axis(axis1) Setting |
Sub axis(axis2) Setting |
Helical axis(axis3) setting |
Description |
| Control method |
Absolute, Circular interpolation |
Absolute, single-axis position control |
Absolute, single-axis position control |
when executing helical interpolation, circular interpolation must be set |
| Operation method |
Single, End | - *1 | -*1 | Set operation method for helical interpolation |
| Target position [pls] |
10000 | 0 | 10000 | Set the goal position on main, sub, helical axis for executing positioning. |
| Operation speed [pls/s] |
1000 | - | - | Helical interpolation circular interpolation part uses composition speed of |
| Acc. no. | No.1 | - | - | Set Acc. No. for acceleration (no.1 ~ no.4) |
| Dec. no | No.2 | - | - | Set Dec. No. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | - | When you need to execute auxiliary work based on the interpolation operation , set the M code |
| Dwell time | 500 | - | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub axis setting |
Axis2 | - | - | Set an axis to be used as sub settable axis in operating data of main -axis among -axis |
| Circular interpolation auxiliary point |
5000 | 5000 | - | Set auxiliary data of circular interpolation action |
| Circular interpolation mode |
Middle point | - | - | Set circular interpolation mode to be used in circular action of helical interpolation |
| circular interpolation turns |
0 | - | - | Set the no. of turns of circular arc when user need to execute helical interpolation of over 360° |
| Helical interpolation |
Axis3 | - | - | Set an axis to be used as helical interpolation axis from settable axis on main axis operation data |
| Chapter 9 Functions |
| 9-78 |
- *1 : This item does not need to be set. Whatever it is set as, it dose not affect circular interpolation.
Remark
Helical interpolation control is executed on the basis of item set on operation data of main axis.
When executing circular interpolation of helical interpolation, only “target position”, “Circular interpolation
auxiliary point” items of sub axis setting and “Target position” item of helical axis setting affect helical
interpolation. In other words, Whatever the setting value is, it does not affect operation and cause any errors.
But, coordinate setting of sub-axis control method means whether target position is absolute coordinate or
incremental coordinate. So in case of circular interpolation control by absolute coordinate method, set the
coordinate of sub-axis as “Absolute” too.
[Example] Executes center point - specified helical interpolation, absolute coordinates with axis1 (main),
axis2 (sub) and axis3(helical).
■ The action in the case (Starting point (650, 400, 0), Goal position (400, 1200, 350), Auxiliary point (800,
400)) is as follows.
■ Setting example of XG-PM
▪ Operation data of main axis(axis1)
| Step no. |
Control method |
Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. |
Dec. no. |
M code |
Dwell time |
Sub axis setting |
Circular interpolation auxiliary point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, circular interpolation |
Single, End |
400 | 1000 | No.1 | No.1 | 0 | 100 | Axis2 | 800 | Center CCWpoint, | 0 | Axis3 |
▪ Operation data of sub axis(axis2)
| Step no. |
Control method |
Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. no. |
Dec. no. |
M code |
Dwell time |
Sub axis setting |
circular interpolation auxiliary point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, single axis position control |
Single, End |
1200 | 0 | No.1 | No.1 | 0 | 100 | - | 400 | Middle point | 0 | Not use |
▪ Operation data of helical axis(axis3)
| Step no. |
Control method |
Operating method |
Goal position [pls] |
Operating speed [pls/s] |
Acc. no. |
Dec. no. |
M code |
Dwell time |
Sub axis setting |
circular interpolation auxiliary point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Absolute, single axis position control |
Single, End |
350 | 0 | No.1 | No.1 | 0 | 100 | - | 0 | Middle point | 0 | Not use |
■ Operating pattern
Z
X
Y
Linear interpolation part
| Center point (800,400) |
Starting position
(650,400,0)
Circular interpolation part
Helical interpolation action
| Goal position (400,1200,350) 0 800 12 |
100 40 |
| 00 |
700
400
300
0
600
400
| Chapter 9 Functions |
| 9-79 |
Executes ellipse interpolation by using circular interpolation operation data set on the 2 axes, and ellipse rate and
moving angle, auxiliary data of 「Ellipse interpolation」 command.
There is no limit to the combinations of axes and 2 axes among axis1~axis8 are used.
(1) Characteristics of Control
(a) For ellipse interpolation, set the operation data as “center point - specified circular interpolation” and set the
rate and size of ellipse by auxiliary data of “ellipse interpolation command”
| Auxiliary data | Setting value |
Description |
| Ratio of ellipse (%) | 0 ~ 65535 | Set the ratio of horizontal axis and vertical axis (1 = 0.01%) |
| Size(Degree) of ellipse |
0 ~ 65535 | Set the (1 = 0.1°) ellipse’s moving degree |
(b) Moving direction of ellipse is decided by the direction set by “circular interpolation mode” of operation data.
▪「Center point, CW」 - Executes ellipse interpolation in clockwise.
▪「Center point, CCW」 - Executes ellipse interpolation in counterclockwise.
(c) Starting position and target position must be same when executing ellipse interpolation.
? ?
Main axis
Forward
Sub axis
Reverse
Sub axis
Forward
Main
axis
Reverse
50%
100%
150%
| Rate:50%, Size:90° Ellipse interpolation Rate:150%, Size:360° |
Starting position
= Goal position
| Rate:100% |
, Size:180°
Ellipse interpolation
Ellipse interpolation
Center point
| Chapter 9 Functions |
| 9-80 |
(d) When executing ellipse interpolation, the radius changes continuously and composing speed also changes
depending on the ratio of ellipse. When the ratio of ellipse is bigger than 100%, operating speed of sub axis
and composing speed get faster. So it calls user’s attention. Sub axis of ellipse interpolation is not limited by
“speed limit”, so you set the operating speed not to exceed the speed limit.
(2) Restrictions
(a) Ellipse interpolation can not be executed in the case below.
▪「Sub-axis setting」 Error (error code : 547)
- The value of sub-axis setting of main axis operating data is “Axis-undecided”.
- The value of sub-axis setting of main axis operating data is same as the no. of main-axis.
- The value of sub-axis setting of main axis operating data is axis no. that is not connected to the network.
- An axis of helical interpolation is set.
▪ Control unit of main or sub axis is set as “degree”. (error code : 551(main), 552(sub))
▪ The center point designated as auxiliary point is the same as starting position or goal position.
(error code : 553)
▪ The radius of circular arc exceeds 2147483647pls. (error code : 554)
▪ The operating method is “continuous” or “Keep”. (error code : 556)
If user executes ellipse interpolation, End operation must be set before use.
▪ Staring position and Goal position are different. (error code : 558)
▪ Size of circular arc (Moving degree) is 0. (error code : 559)
| Main-axis Forward Sub-axis Forward Size:180° Ellipse interpolation Composing speed Time Speed set Slower Faster |
원점 Main-axis Forward Sub-axis Forward 150% Ratio:150%,Size:180° Ellipse interpolation Center point Starting position = Goal position Composing speed Time Faster Slower Speed set |
| Ratio of ellipse < 100% | Ratio of ellipse > 100% |
50%
Starting position
= Goal position
Ratio:50%,Center point
| Chapter 9 Functions |
| Remark 2 axes will operate at the same time. So pay attention. 1. Auxiliary operations available are as follows. ▪ Speed override, Dec. stop, Emergent stop, Skip operation 2. The commands unavailable during ellipse interpolation operation are as follows. ▪ Position/Speed switching control, Position override, Continuous operation 3. Parameter items operated by setting value of each axis are as follows. ▪ Software high limit, Software low limit among extended parameter. |
| 9-81 |
(3) Setting example of operation data
| Items | Main-axis setting | Sub-axis setting | Description |
| Control Method |
Absolute, Circular interpolation |
Absolute, single-axis position control |
Set circular interpolation when executing ellipse interpolation |
| Operating Method |
Single, End | - | “End” must be set when using ellipse interpolation |
| Target position[pls] |
10000 | 0 | Set the goal position to execute on Main, Sub axis |
| Operation speed[pls/s] |
1000 | - | Designate composing speed for circular interpolation part in ellipse interpolation |
| Acc. no. | No.1 | - | Set Acc. No. for acceleration (no.1 ~ no.4) |
| Dec. no. | No.2 | - | Set Dec. No. for deceleration. (no.1 ~ no.4) |
| M code | 0 | - | When you need to execute auxiliary work based on the interpolation operation, set the M code |
| Dwell time | 500 | - | Set dwell time(ms) needed to output the positioning completion signal |
| Sub-axis setting |
Axis2 | - | Set an axis to be used as sub operating data of main-axis -axis among settable axis in |
| Auxiliary point |
5000 | 5000 | Set the center point of ellipse |
| Circular interpolation |
Center point, CW | - | Center point must be set when using ellipse interpolation |
| Circular interpolation turns |
- | - | The no. of turns is not operated in ellipse interpolation |
| Helical interpolation |
Don’t use | - | Set axis ellipse interpolation of helical interpolation as “Don’t Use” when using |
- *1 : It means that no need to be set. Whatever value it is, it dose not affect circular interpolation.
Remark
Ellipse interpolation control is executed based on the operating data of main-axis. When executing ellipse
interpolation, only「Target position」 and「circular interpolation auxiliary point 」 affect the operation of ellipse
interpolation. In other words, whatever value is set, it does not affect operation and no errors arise. But,
coordinate setting of sub-axis control method means whether target position is absolute coordinate or
incremental coordinate. So in case of circular interpolation control by absolute coordinate method, set the
coordinate of sub-axis as “Absolute” too.
| Chapter 9 Functions |
| 9-82 |
[Example] Executes ellipse interpolation with 20% of ellipse ratio, 360°of movement degree and
incremental coordinate
■ Starting position (100, 100),
Setting of goal position : (0, 0)
Setting of auxiliary point : (500, 200)
Direction of operation : CW
■ Example setting in XG-PM
▪ Operation data of Main-axis(axis1)
| Step no. |
Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell Time |
Setting Sub axis |
circular interpolation auxiliary point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Incremental, circular interpolation |
Single, End | 0 | 1000 | No.1 | No.1 | 0 | 100 | Axis2 | 500 | Center point, CW |
0 | Don’t use |
▪ Operation data of Sub-axis(axis2)
| Step no. |
Control method | Operating method |
Target position [pls] |
Operating speed [pls/s] |
Acc. No. |
Dec. No. |
M code |
Dwell Time |
Setting Sub axis |
circular interpolation auxiliary point |
Circular interpolation mode |
Circular interpolation turns |
Helical interpolation |
| 1 | Incremental, single-axis position control |
Single, End | 0 | 0 | No.1 | No.1 | 0 | 0 | None | 200 | Middle point | 0 | Don’t use |
■ Operating pattern
| Remark |
| (1) If the degree of ellipse is not 360°, the target position and actual position after stop are not same. (2) If the ratio of ellipse is 0%, the trace of ellipse interpolation is shown as straight line. Ratio of ellipse need to be set to above 0. |
Main-axis
Forward
Sub-axis
Forward
Starting position
= Goal position
Center point
100 600 1100
500
100
300
20%
Movement of center point
= 500
Movement of
center point
= 200
Main-axis
Reverse
Sub-axis
Reverse
Rate:20%,Size:360°
Ellipse interpolation
| Chapter 9 Functions |
| 9-83 |
The setting axis carries out the speed control and is switched from speed control to position control when
speed/position switching signal is entered to the positioning module inside or outside, and then carries out the
positioning according to the target position.
(1) Characteristics of Control
(a) Set control method of operating data as “Single-axis speed control” and execute 「Speed/Position Switching」
command during speed control operation.
(b) Direction of movement depends on the sign of value.
■ Forward: The position value is Positive(+)
■ Reverse: The position value is Negative(-)
(c) On order to use the external command as “Speed/position switching signal”, you have to set “External
command selection” item and “External command” item of extended parameter.
| Item | Setting value | Description |
| External command selection |
0 : External speed/position control switching |
In case there is external command input, it is used as “External speed/position control switching” signal |
| 1 : External stop command |
In case there is external command input, it is used as “External stop command” signal |
|
| External command | 0: Disable | External command signal is ignored and it does not affect operation |
| 1: Enable | In case there is external command input, it operates according to “External command selection” item. |
(d) In case of speed/position switching, this item determines whether to consider the set value as absolute
coordinate value or incremental coordinate value.
| Item | Setting value | Description |
| Speed/position switching coordinate |
0 : incremental | The object moves as far as the set value from the position where command is executed. |
| 1 : absolute | It considers the set value as the absolute coordinate value and the object moves to the set absolute position. |
(e) The coordinate setting specified when starting the speed control doesn’t affect the operation. Namely,
operation of “ABS, single-axis speed control” is same as that of “INC, single-axis speed control”.
| Chapter 9 Functions |
| 9-84 |
(2) Operation timing
1) Speed/Position switching coordinate = 0: incremental
2) Speed/Position switching coordinate = 1: absolute
Start
command
In
operation
External
speed/position
switching signal
Position
Time
Target
position
| ON | ON |
| ON | ON |
| ON | |
| Position control Dwell time |
Positioning
complete
Inner
speed/position
switching
command
Acc. section
Speed control Speed
Set speed
Start
position
Time
Start command
In operation
Acc. area
| Speed control Position control Dwell Time |
|
| ON | ON |
| ON | |
| ON | |
| ON |
External
speed/position
switching signal
Designated moving amount
Speed
Time
Speed set
Positioning
complete
Internal
speed/position
switching
command
| Chapter 9 Functions |
| 9-85 |
(3) Restrictions
(a) Operation pattern of speed control has to be set as “End” or “Keep”. If that is set as “Continuous”, error (error
code:236) arises and speed control can not be executed.
(b) In case speed/position switching coordinate = “”0: incremental”, if target position of operation data or Direct
start command is 0, speed/position switching command is not executed and error (error code: 304) appears.
At this time, it keeps speed control.
(4) Setting example of operation data
| Items | Setting value | Description |
| Control method | Absolute, single axis speed control |
When executing speed/position switching control, set single-axis speed control |
| Operating method |
Single, End | When executing speed/position switching control, set “End” or “Keep” |
| Target position [pls] |
10000 | Set the position value to be used for positioning after speed/position switching command. |
| Operating speed [pls/s] |
1000 | Set the operating speed of speed/position switching control |
| Acc. no. | No.1 | Set acc. no. used in acceleration (no.1~4) |
| Dec. no. | No.2 | Set dec. no. used in deceleration (no.1~4) |
| M code | 0 | Set when you need to execute another auxiliary work based on the speed/position switching control |
| Dwell time | 500 | Set dwell time(ms) needed to output the positioning completion signal after positioning |
| Chapter 9 Functions |
| 9-86 |
Remark
In case speed/position switching coordinate is 1: ABS and target position is smaller than current position, its
operation is different according to “infinite running repeat” setting.
1. When infinite running repeat = 0: disable
- After dec. stop, it goes to the opposite direction and gets to the target position.
Start
command
Position
Time
Switching
position
| ON |
| ON |
Switching
command
Speed
Setting speed
Start
position
Time
Target
position
Speed control Position control
2. When infinite running repeat = 0: enable
- It keeps its direction and goes to the target position within infinite running position
Start
command
Position
Time
Switching
position
| ON | |
| ON | |
| Infinite ru | nning position |
Switching
command
Seed
Setting
speed
Start
position
Time
Target
position
Speed control Position control
| Chapter 9 Functions |
| 9-87 |
The setting axis carries out the speed control and is switched from speed control to position control when position
specified speed/position switching signal is entered to the positioning module, and then carries out the positioning
according to target position.
(1) Characteristics of Control
(a) Set control method of operating data as “Single axis speed control” and execute 「Position specified
Speed/Position Switching」 during speed control operation.
(b) In case of speed/position switching, this determines whether to consider the set position value as absolute
coordinate value or incremental coordinate value.
| Item | Setting value | Description |
| Speed/position switching coordinate |
0 : incremental | The object moves as far as the set value from the position where command is executed. |
| 1 : absolute | It considers the set value as the absolute coordinate value and the object moves to the set absolute position. |
(c) In speed/position switching control, the value of coordinate specified when starting speed control has no
affection. In other words, action of “Absolute, single axis speed control” and “incremental, single axis speed
control” are same.
(d) In Position specified speed/position control, a target position set in the operation data or Direct start command
is ignored and it moves according to target position operand of 「Position specified speed/position switching
control」 command
(2) Operation timing
1) Speed/Position switching coordinate = 0: incremental
| Chapter 9 Functions |
| 9-88 |
2) Speed/Position switching coordinate = 1: absolute
Start
command
In
operation
External
speed/position
switching signal
Position
Time
Target
position
| ON | ON |
| ON | ON |
| ON | |
| Position control Dwell time |
Positioning
complete
Inner
speed/position
switching
command
Acc. section
Speed control Speed
Set speed
Start
position
time
(3) Restrictions
(a) Operation pattern of speed control has to be set as “End” or “Keep”. If that is set as “Continuous”, error (error
code:236) arises and speed control can not be executed.
(b) If the value of target position is 0, position specified speed/position switching command can not be executed.
In this case, it continues to operate with speed control.
(c) In case infinite running repeat = 1: Enable and speed/position switching coordinate = 1: Absolute, if you set
the position value which make the object go to the opposite direction as position operand, error (error code
306) appears and it keep its speed control.
| Chapter 9 Functions |
| 9-89 |
(4) Setting example of operation data
| Items | Setting value | Description |
| Control method | Absolute, Single axis speed control |
When executing speed/position switching control, set single axis speed control |
| Operating method |
Single, End | When executing speed/position switching control, set “End” or “Keep” |
| Target position [pls] |
10000 | Set the position value to be used for positioning after speed/position switching command. In case of position specified speed/position switching command, the target position set here is ignored and the target value set as the operand of the position specified speed/position switching command is used for positioning |
| Operating speed [pls/s] |
1000 | Set the operating speed of speed/position switching control |
| Acc. no. | No1 | Set acc. no. used in acceleration (no.1~4) |
| Dec. no. | No.2 | Set dec. no. used in deceleration (no.1~4) |
| M code | 0 | Set when you need to execute another auxiliary work based on the position specified speed/position switching control. |
| Dwell time | 500 | Set dwell time(ms) needed to output the positioning completion signal after positioning. |
| Chapter 9 Functions |
| 9-90 |
Remark
In case speed/position switching coordinate is 1: ABS and target position is smaller than current position, its
operation is different according to “infinite running repeat” setting.
1. When infinite running repeat = 0: disable
- After dec. stop, it goes to the opposite direction and gets to the target position.
Start
command
Position
Time
Switching
position
| ON |
| ON |
Switching
command
Speed
Setting speed
Start
position
Time
Target
position
Speed control Position control
2. When infinite running repeat = 0: enable
- It keeps its direction and goes to the target position within infinite running position
Start
command
Position
Time
Switching
position
| ON | |
| ON | |
| Infinite r | unning positi |
Switching
command
Seed
Setting
speed
Start
position
Time
Target
position
Speed control Position control
| Chapter 9 Functions |
| 9-91 |
The setting axis carries out the position control and is switched from position control to speed control when
position/speed switching signal is entered to the positioning module inside, and then it stops by “Dec. stop” or
“SKIP operation”, or continues next operation.
(1) Characteristics of Control
(a) Set control method of operating data as “Single axis position control” and change position control to speed
control with「Position/Speed Switching」 command
(b) Direction of movement depends on the sign of value and coordinates
■ 「Absolute, Single axis position control」
▪ Starting position < Target position : Positioning in forward direction
▪ Starting position > Target position : Positioning in reverse direction
■ 「Incremental, Single axis position control」
▪ The value of target position has positive sign (+) : Positioning in forward direction
▪ The value of target position has negative sign (-) : Positioning in reverse direction
(2) Operating timing
Dec. stop
command
| Acc. area Position control Speed control |
|
| ON | |
| ON | ON |
| ON |
Speed
Time
Speed set
Start
command
In operation
Position/Spee
d switching
command
Positioning
complete
| Chapter 9 Functions |
| 9-92 |
(3) Restrictions
(a) If position/speed switching command is not inputted before getting to the target position, it stops and finishes
the positioning.
(b) After position/speed switching, software upper/lower limit check during speed control depends on “Soft ware
upper/lower limit detect” of extended parameter.
| Items | Setting value | Description |
| Software upper/lower limit detect |
0 : Don’t detect | Doesn’t execute checking for software upper/lower limit during speed control |
| 1 : Detect | Executes checking for software upper/lower limit during speed control |
(4) Setting example of operation data
| Items | Setting value | Description |
| Control method | Absolute, Single axis speed control |
When executing position/speed switching control, set single-axis speed control |
| Operating method |
Single, End | Set operating method for position control |
| Target position [pls] |
10000 | Set the value of target position for position control |
| Operating speed [pls/s] |
1000 | Set the operating speed of position/speed switching control |
| Acc. no. | No.1 | Set acc. no. used in acceleration (no.1~4) |
| Dec. no. | No.2 | Set dec. no. used in deceleration (no.1~4) |
| M code | 0 | Set when you need to execute another auxiliary work based on the position/speed switching control |
| Dwell time | 500 | Set dwell time(ms) needed to output the positioning completion signal after positioning |
| Chapter 9 Functions |
| 9-93 |
The setting axis t carries out the position control and is switched from position control to torque control when
position/torque switching signal is entered to the positioning module inside, and then it stops by “Dec. stop” or
“SKIP operation”, or continues next operation.
(1) Characteristics of Control
(a) Set control method of operating data as “single-axis position control” and change position control to torque
control with「Position/Torque Switching」 command
(b) Direction of movement depends on the sign of torque value, auxiliary data of position/torque switching
command
▪ When torque value is positive value (+) : Positioning in forward direction
▪ When torque value is negative value (-) : Positioning in reverse direction
(2) Operating timing
DEC. stop
command
Acc. section
| P o s i t i o n control |
|
| T o r q u e control |
|
| O | N |
| ON | ON |
| ON |
Seed
Time
Set speed
Start
command
In
operation
Switching
command
Positioning
complete
Torque
Set torque
| Chapter 9 Functions |
| 9-94 |
(3) Restrictions
(a) If there is no position/torque switching command input until the object gets to the target position, it slows
down and stops. Then positioning is complete.
(4) Setting example of operation data
| Setting Items | Setting value | Description |
| Control method | Absolute, Single axis position control |
When executing position/torque switching control, set single axis position control |
| Operating method |
Single, End | Set operating method for position control |
| Target position [pls] |
10000 | Set the value of target position for position control |
| Operating speed [pls/s] |
1000 | Set the operating speed of position/torque switching control |
| Acc. no. | No.1 | Set acc. no. used in acceleration (no.1~4) |
| Dec. no. | No.2 | Set dec. no. used in deceleration (no.1~4) |
| M code | 0 | Set when you need to execute another auxiliary work based on the position/torque switching control |
| Dwell time | 500 | Set dwell time(ms) needed to output the positioning completion signal after positioning |
| Chapter 9 Functions |
| 9-95 |
When it stops by stop factor during operation, it can execute positioning again by start. There are general start,
Simultaneous start, and point operation in start. When executing start, “In operation” signal have to be “OFF”.
(1) Direct start
(a) Does not use operation data, directly inputs positioning data and performs positioning control.
(b) Setting auxiliary data of direct start.
| Setting item | Contents |
| Target position | Set target position of control. |
| Operating speed | Set operating speed of control. |
| Dwell time | Set dwell time(ms) needed to output the positioning completion signal after positioning (0~65535) |
| M code | Set when you need to execute another auxiliary work based on the operation (0~65535) |
| Acceleration time No. |
Set acceleration number for acceleration. (No.1 ~ No.4) |
| Deceleration time No. |
Set reduction number for deceleration. (No.1 ~ No.4) |
| Coordinate | Set coordinate of target position.(absolute, incremental) |
| Control method | Set type of control (0:Position control, 1:Speed control, 2:Feed control, 3: Shortest distance control ) |
Remark
Direct start only can be used when it is single -axis operation. In case of Interpolation operation, use indirect
start.
(2) Indirect Start
(a) Starts positioning control by designating step number of operation data saved in positioning module.
(b) Setting auxiliary data of indirect start
| Setting item | Contents |
| Operation step | Set step number of operation data what you want to operate. (0 or 1 ~ 400) |
| Remark |
| If you set ‘0’ as operation step of Indirect start and carry out command of indirect start, it starts operation step saved in the current step number. |
| Chapter 9 Functions |
| 9-96 |
(3) Simultaneous start
(a) According to axis information and step setting, it starts positioning operation data of 2-axis ~8-axis
simultaneously.
(b) When you input the stop command, only corresponding axis stops. If you input the start command again,
in case Simultaneous start setting step number is current operation step, it starts positioning operation
according to incremental coordinate, absolute coordinate.
(c) Condition
In these cases, it can not operate all of the axes set on simultaneous start, because of error.
▪ When error occurs in operation data of any one axis among simultaneous start setting axes.
- Outputs error code to the corresponding axis
- Outputs error code: 297 to the axis where Simultaneous start command is executed.
- All axes set by Simultaneous start don’t start.
▪ When setting of simultaneous start command axis is wrong. (Error code : 296)
- Only set command axis (You have to set more than 2 axes.)
- There is an axis not being connected to the network among setting axes.
- When there is linear interpolation or circular interpolation among position data of setting axes, the axis
same as simultaneous setting axis is included in sub-axis of corresponding position data
[ Example ] Executes Simultaneous start of axis 1, axis 2 and axis 3 with the follow settings;
■ Current position of axis 1: 0, Operation step: 1
Current position of axis 2: 0, Operation step: 3
Current position of axis 3: 0, Operation step: 10
■ Example of setting XG-PM
▪ Operation data of axis 1
| Step No. | Control method | Operation method |
Target position [pls] |
Operation speed [pls/s] |
Acc. No. | Dec. No. | M code | Dwell time |
| 1 | Absolute, single axis position control |
Single, Continuous |
1000 | 1000 | 1 | 1 | 0 | 0 |
| 2 | Absolute, single axis position control |
Single, End | 1800 | 800 | 1 | 1 | 0 | 100 |
▪ Operation data of axis 2
| Step No. | Control method | Operation method |
Target position [pls] |
Operation speed [pls/s] |
Acc. No. | Dec. No. | M code | Dwell time |
| 3 | Absolute, single axis position control |
Single, End | 900 | 500 | 2 | 2 | 0 | 0 |
▪ Operation data of axis 3
| Step No. | Control method | Operation method |
Target position [pls] |
Operation speed [pls/s] |
Acc. No. | Dec. No. | M code | Dwell time |
| 10 | Absolute, single axis speed control |
Single, End | 1000 | 300 | 3 | 3 | 0 | 100 |
| Chapter 9 Functions |
| 9-97 |
■ Operation pattern
Time
Speed
Command of
Simultaneous start
Operating Axis 1
Signal of finishing
positioning axis
| 1 | |
| 2 | ON |
| 3 | |
| Operation step No. of Axis 1 : 1 Operation step No. of Axis 2 : 3 Operation step No. of Axis 3 : 10 Only its axis decelerate and st Operation step No. of Axis 1 : 2 Dwell time =100ms |
|
| ON |
Deceleration stop
command (Axis 3)
ON
ON
ON
1000
Operating Axis 2
ON
Operating Axis 3
ON
Signal of finishing
positioning axis Signal of finishing
positioning axis 500
300
800
| Chapter 9 Functions |
| 9-98 |
(4) Point operation
(a) Point operation is positioning operation executing operation data of user-specified step number
sequentially wit one time start command. That is also known as PTP (Point To Point) start.
(b) You can specify up to 20 steps for point operation.
(c) Executes Point operation as much as the set point number form the set step (Point 1) regardless of
operation mode such as End, Keep, continuous. In case of Keep or Continuous operation mode,
specify the step which starts first.
[ Example ] Point operation of axis 1 is as follows;
■ The number of point operation: 4
Point operation step No. : 1, 2, 10, 20
Current position of Axis 1 : 0
■ Example of setting XG-PM
| Step No. | Control method | Operation method |
Target position [pls] |
Operation speed [pls/s] |
Acc. No. | Dec. No. | M code | Dwell time |
| 1 | Absolute, single axis position control |
Single, End | 1000 | 1000 | 1 | 1 | 0 | 20 |
| 2 | Absolute, single axis position control |
Single, End | 3000 | 2000 | 1 | 1 | 0 | 20 |
| 10 | Absolute, single axis position control |
Single, Keep |
6000 | 3000 | 1 | 1 | 0 | 20 |
| 11 | Absolute, single axis position control |
Single, Keep |
10000 | 4000 | 1 | 1 | 0 | 20 |
| 12 | Absolute, single axis position control |
Single, Keep |
15000 | 5000 | 1 | 1 | 0 | 20 |
| 13 | Absolute, single axis position control |
Single, End | 25000 | 6000 | 1 | 1 | 0 | 20 |
| 20 | Absolute, single axis position control |
Single, Continue |
45000 | 7000 | 1 | 1 | 0 | 0 |
| 21 | Absolute, single axis position control |
Single, Continue |
75000 | 8000 | 1 | 1 | 0 | 0 |
| 22 | Absolute, single axis position control |
Repeat, End |
0 | 9000 | 1 | 1 | 0 | 0 |
| Chapter 9 Functions |
| 9-99 |
Here describes factor which stops axis during operation.
(1) Stop command and Stop factor
Command and Stop factor which stop positioning operating are as follows. Those don’t stop all axes and just
stop the corresponding axis.
(a) When stop command is “On” or there are some stop factors at each axis, the corresponding axis will stop. But,
in case of interpolation control (linear interpolation, Circular interpolation, helical interpolation, elliptic
interpolation), when there is a stop command or stop factor on main axis, all axes of interpolation control stop.
| Status Stop factor |
Positioning *1 |
Home return*2 | Jog Operation |
Speed synchronous Cam control |
Status of axis after stop |
Status of “M code On” signal |
|
| Parameter setting *3 |
Exceed soft upper limit |
Emg. stop | No Detection | Emg.stop | Error (Error501) | No change | |
| Exceed soft lower limit |
Emg. stop | No Detection | Emg. stop | Error (Error502) | No change | ||
| Sequence program *4 |
Dec. stop command |
Dec. stop | Dec. stop | Error 322 (Keeps operating) |
Dec. stop*5 | Stop status “On” | No change |
| Emg. stop command |
Emg. Stop | Error (Error481) | “Off” | ||||
| External signal |
External upper limit “On” |
Emg. stop | Forward operation, Emg. stop |
Emg. stop*6 | Error (Error492) | No change | |
| External lower limit “On” |
Emg. stop | Reverse operation, Emg. stop |
Emg. stop | Error (Error493) | No change | ||
| External emergency stop “On” |
Emg. Stop | Error (Error491) Output inhibited |
“Off” | ||||
| External stop “On” *7 |
Dec. stop | Dec. stop | Error322 (Keeps operating) |
Dec. stop | Stop status “On” | No change | |
| XG-PM Software |
Deceleration stop command |
Dec. stop | Dec. stop | Error322 (Keeps operating) |
Dec. stop | Stop status “On” | No change |
| Emergency stop command |
Emg. stop | Stop status “On” | “Off” |
Remark
*1 : Positioning means position control, speed control, interpolation control, speed/position switching control,
position/speed switching control, position/torque control by positioning data.
*2 : After complete homing, DOG and HOME signal do not effect to positioning control.
Emg and Dec stop time are controlled by Servo drive Setting.
*3 : Software high/low limit check during speed control operation mode only works when “Software limit detect” is set
as “1: detect”.
*4 : Sequence program means XGT program type.
*5 : It decelerates according to Dec. stop time, auxiliary data of Dec. stop command, and speed becomes 0.
*6 : It decelerates according to Dec. time for emg. Stop of basic parameter, and speed becomes 0.
*7 : It is valid when the「External command selection」 of extended parameter is “1: External stop command and
「External command」 is “1:Enable”.
| Chapter 9 Functions |
| 9-100 |
(2) Deceleration Stop
(a) If meet emergency stop while operate indirect start, direct start, simultaneous start, start operation, homing
operation, inching operation, it will sudden stop.
(b) Deceleration stop command not different at these sections: acceleration section, constant section,
deceleration section.
(c) If it is decelerated and stopped by deceleration stop command, will not be completed positioning operation as
set target position. And….
▪ No signal for completely positioning
▪ M code signal cannot be “On” during “After” mode of “M code” mode.
(d) If it receives order for indirect start command (step No. = current step No.) while it is stop,
▪ Positioning of absolute coordinate method: Operate amount of the position reminder which it isn’t outputted
on the current operation step.
▪ Positioning of relative coordinate method: Operate as set movement at the target position.
(e) There are two type of deceleration stop: Internal/external deceleration stop.
▪ Internal deceleration stop command
It decelerate and stop by XG-PM and「deceleration stop」 command of sequence program as set support
data.
▪ External deceleration stop signal
In case of input signal of external emergency stop/deceleration stop to be “On”, it will be decelerated and
stopped by set deceleration time in current positioning operation.
Have to set item of “select external emergency stop/deceleration stop” of expansion parameter for using
input signal of external emergency stop/deceleration stop as external deceleration stop command.
| Item | Setting value | Contents |
| External command selection |
0: external speed/position control switching |
When there is external command input, it is used as “External speed/position control switching” signal |
| 1: external stop command |
When there is external command input, it is used as “External stop command” signal |
|
| External command | 0: Disable | External signal is ignored and doesn’t affect the operation. |
| 1: Enable | Where there is external command input, it is operated as the signal specified “External command selection” item. |
(f) Condition
▪ When command internal deceleration stop
The value of deceleration time can bigger than set value of deceleration time by auxiliary data.
▪ If deceleration stop command is inputted while operate Jog, error (error code: 322) will be made. Use “Stop
Jog” command for Jog operation stop.
▪ If Dec. stop command is executed during stop, Dec. stop command will be ignored without error.
| Chapter 9 Functions |
| 9-101 |
(g) Movement Timing
■ If the deceleration distance is longer than distance to target position when input deceleration stop command
during positioning control operation, it will be stopped at the target position.
| Time Speed command Operating deceleration stop command ON Completer positioning Setting speed Speed limit Deceleration time of command Deceleration stop as deceleration time of deceleration stop Deceleration of current operation |
Speed command Operating external atop command ON Complep Deceleration stop as setted time Speed limit Setting speed Time Deceleration of current operation |
| Internal deceleration stop command | External stop command |
Start
Internal
ON
ON
command
Start
ON
ON
| T | arget position stop |
ON |
| target position | ||
| ON |
Deceration stop
command
ON
Immediate stop at the
Position
Speed Normal operation pattern
Start command
Operating
Stop position
by deceleration
| Chapter 9 Functions |
| 9-102 |
(3) Emergency Stop
(a) It will be decelerated, stopped and occurred error as set time in「deceleration time when it is suddenly
stopped」 during indirect start, direct start, start at the same time, synch. operation, homing operation, jog
operation, inching operation, when it be emergency stopped during operation.
(b) In case of internal emergency stop, error 481 will occur and in case of external emergency stop, error 491 will occur.
(c) M code signal will be “Off” after Emergency stop.
(d) There are two type of Emergency stop: External emergency stop and Internal emergency stop.
▪ Internal emergency stop command
To be decelerated and stopped by「emergency stop」 command of XG-PM & Sequence program as set time
in「deceleration time when it is suddenly stopped」 , and error will be occurred.
▪ External emergency stop signal
In case of inputting signal of external emergency stop/ deceleration stop to be “On”, it will be decelerated,
stopped and error will be occurred as set time in 「deceleration time when it is suddenly stopped」 of basic
parameter.
Have to set “select external emergency stop/deceleration stop” of expansion parameter for using signal of
inputting external emergency stop/deceleration stop as “external emergency stop command”
| Item | Setting value | Contents |
| Select external emergency stop/ deceleration stop |
0 : Emergency stop | Use as “emergency stop” signal when input external signal |
| 1 : Deceleration stop | Use as “deceleration stop” signal when input external signal |
■ Setting related parameter (Basic parameter)
| Item | Setting value | Contents |
| When sudden stop, deceleration time |
0 ~ 2147483647 [ms] | Set deceleration time for using when detect hardware high/low limit signal. Deceleration time express needed time for deceleration as bias speed at speed limit, when suddenly stop. |
| Chapter 9 Functions |
| 9-103 |
(e) Motion timing
Time
Speed
Start command
Operating
Internal or External
emergency stop
ON
| ON |
ON
Signal of complete
positioning
Setting speed
Decelerate and stop
as deceleration time
when sudden stop
M code ON
(With mode)
ON
| Chapter 9 Functions |
| 9-104 |
(4) Stop hardware by high/low limit
(a) When positioning control, if the signal of hardware high/low limit is inputted, then stop positioning control and
it will be decelerated and stopped as set time at「deceleration time when it is suddenly stopped」 , and error
will be occurred.
(b) In case of external input stroke high limit error, error 492 will occur and in case of external input stroke low limit
error, error 493 will occur.
■ Setting related parameter (basic parameter)
| Item | Setting value | Content |
| When sudden stop, deceleration time |
0 ~ 2147483647 [ms] | Set deceleration time for using when detect hardware high/low limit signal. Deceleration time express needed time for deceleration as bias speed at speed limit, when suddenly stop. |
(c) Motion timing
Time
Seed
Start command
Operating
Input external
stroke high/low limit
| ON ON |
| ON |
Signal of complete
positioning
Setting speed
Decelerate and stop
as deceleration time
when sudden stop
| Chapter 9 Functions |
| 9-105 |
(5) Stop by software high/lower limit
(a) When positioning control, if value of current command position out of set value of expansion parameter
in「software high limit」 and「software low limit」 , it will promptly be stopped without outputting value of
command position.
(b) If value of command position to be out of software high limit range, will occur error 501, and if it to be out of
software low limit range, will occur error 502.
■ Setting related parameter (expansion parameter)
| Item | Setting value | Contents |
| Software high limit | -2147483648 ~ 2147483647 | Set position of software high limit. |
| Software low limit | -2147483648 ~ 2147483647 | Set position of software low limit. |
(c) Condition
Software high/low limit not to be checked in the following case:
• In case of setting Software high/low limits as maximum (2147483647), minimum (-2147483648)
• In case of “Software high limit = Software low limit”
(d) Motion timing
Position
Start command
Operating
ON
ON
Signal of complete positioning
| Prompt sto |
Software low limit Software high limit
| Chapter 9 Functions |
| 9-106 |
(6) The priority of stop process
The priority of stop process of positioning module is as follows:
Deceleration stop < Sudden stop
When encounter factor of sudden stop in deceleration stop of positioning, it will be suddenly stopped. In case
of sudden top deceleration time bigger than deceleration stop time, it will be decelerated and stopped as set
deceleration stop time.
| Remark Process is as follows, when factor of sudden stop is occurred during deceleration stop. |
| The factor of sudden stop : Emergency stop command or software high/low limit |
| Positioning speed S t o p p o s i t i o n b y deceleration stop factor Deceleration stop command Emergency stop Deceleration stop factor generation. Sudden stop factor generation |
ON
ON
command
Software
high limit
| Chapter 9 Functions |
| 9-107 |
(7) Stop command under interpolation operation
(a) If encounters stop command during interpolation operation (linear interpolation, circular interpolation, helical
interpolation, elliptic interpolation), it carries out the deceleration stop. It depends on the trace of wheels of
origin.
(b) When it restarts after deceleration stop, indirect start command carries out operation to target position of
positioning. And then, operation depends on absolute coordinate and relative coordinate.
(c) Stop command during interpolation operation can external/internal deceleration stop.
(d) Deceleration stop command should be progressed at main axis which is operating for interpolation.
(e) Operation pattern
(8) Restart after Positioning stop
(a) Deceleration stop
When indirect start after deceleration stop, operate positioning as set operation step.
In case of using with mode, Signal “On” of M code has to “Off” for restart.
Signal On of M code have to be changed “Off” by「Cancellation M code (XMOF)」 command.
(b) Restart after Internal/External emergency stop
In case of emergency stop, signal On of M code will automatically be “Off”, therefore can operate positioning
as set operation step, when it operate indirect start.
Time
Composition
| speed | |
| ON | |
| ON | |
| point | point |
| ON |
Starting
command
Be operating
main axis
Internal
deceleration
stop command
ON
Setting
speed Deceleration stop
as setted
deceleration time.
Forward of
main axis
Forward of the axis
of ordinates
Decelerate and
stop as the trace
of the wheels
of circular
Starting
Target
Be operating
the axis of
ordinates
| Chapter 9 Functions |
| 9-108 |
It describes the restart to operate the axis stopped by deceleration stop during positioning operation.
If stopped decelerated by a factor of stop during positioning operation, it is possible to restart operation to the target
position by using the "Restart" command and the previous operating conditions from the position stopped.
However, the restart is valid when the previous command is “Direct start” and “Indirect start”.
The figure below, describes the operation of the restart.
The figure below, describes the difference between restart and re-run the previous operation command in case of
stopping after operation in incremental coordinate.
| Chapter 9 Functions |
| 9-109 |
It operates by set torque and executes by 「Torque control」 command until 「Deceleration stop」 command is
inputted.
(1) Characteristic of control
(a) Operate torque control by designated torque value(%) and gradient(ms).
(b) auxiliary data of 「Torque control」 command.
| Auxiliary data | Setting value | Contents |
| Torque (%) | -32768 ~ 32767 | Set the torque value of target at the time of torque control. The Torque value is operated by % about rated torque.(1=rated torque of 1%) |
| Gradient (ms) | 0 ~ 65535 | Set gradient to the target torque by time. |
※ Permissible range of torque value is different according to variety of servo drive connected. Commonly, target
torque value is limited to maximum torque setting.
(c) The direction is determined according to setting of torque value is the auxiliary data of the torque command.
▪ When torque value is positive value (+) : Positioning in forward direction
▪ When torque value is negative value (-) : Positioning in reverse direction
(2) Motion timing
Dec.stop
command
| Gradient(ms) ON |
ON |
| Torque control | |
| ON |
Torque(%)
Time
Target
Torque
Torque contorl
command
In operation
Positioning
completion
| Chapter 9 Functions |
| 9-110 |
(3) Restrictions
(a) You can not execute torque control in the case as follows.
▪ If you execute the command in the state of during the operation except for torque control(Error code: 741)
▪ If you execute the command in the state in which the M code on signal is on(Error code: 742)
▪ If you execute the command in the state of servo-off(Error code: 743)
▪ If the servo drive does not support the torque control mode(Error code: 565)
| Chapter 9 Functions |
| 9-111 |
The operation by external input signal use an existing encoder input terminal as an external input signal.
When the external input signal is input, it is the function to perform set to input signal parameter.
(1) Characteristics of the control
(a) External input signal use 3 points as follows.
- External input signal A : [ENC A 24V(or A 5V) – A COM]
- External input signal B : [ENC B 24V(or B 5V) – B COM]
- External input signal Z : [ENC Z 24V(or Z 5V) – Z COM]
(b) In order to use the encoder input signal as an external input signal, you will need to set
commom parameters as follows.
| Item | Setting value | |
| Common parameter |
Function selection of external input terminal |
1: External input signal A / B / Z |
| Input filter of external input signal | 0: Disable, 1: Enable |
(c)The function executed when input signal A,B,Z is input can set in the input signal parameter.
| Item | Setting value | |
| Input signal parameter |
Function selection of input signal A | 0: Unused 1: Switching speed/position control 2: Switching position/torque control 3: External operation |
| Function selection of input signal B | ||
| Function selection of input signal Z | ||
| Logic selection of input signal A | A Contact, B Contact | |
| Logic selection of input signal B | ||
| Logic selection of input signal Z | ||
| Switching torque of external position/torque control |
-32768 ~ 32767 |
(d) In ‘Logic selection of input signal’, you can shoose the logic of the input signal A,B,Z is input to the
module from the outside. In case it is selected to B contact, if no current flows through the input signal
terminal, the module recognizes to On, if the current flows, the module is recognized Off
| Chapter 9 Functions |
| 9-112 |
(2) Types of control
(a) Control switching of speed/position
Switch control to the position control from the speed controlled by the input signal. If you do not have
speed control operation, when the external input signal is input, an error occurs.
Detailed function of control switching speed/position, please refer to the ‘9.2.14 switching control of
speed / position’.
(b) Control switching of position/torque
Switch to the torque control from the position controlled by the input signal. Torque values are converted
at the time of switching position / torque control, you can set in the item of "external location / torque
control switching talk" parameter of the input signal.
Detailed function of control switching position/torque, please refer to the ‘9.2.17 switching control of
position / torque’.
(c) External operation
Execute the operation data of current step number by input signal.
In case function selection parameter of the input signal is ‘3: External operation’, it starts the operation
the steps that have been saved in the current step number when the external input signal is input.
For users to drive the step operation data you want, please change the current step number using
the first "Changing the starting step number" command.
Remark
1. In case function selection of external input terminal is ‘1: external input signal A,B,Z’, Value of the
encoder position is displayed as 0. It does not operate even if the encoder preset command, the
value of the position of the encoder holds a value of 0.
2. If case function selection of external input terminal changes ‘0: Encoder signal A,B,Z’, the encoder
position value set initial value(0 if the maximum / minimum value contains a 0, minimum value if not
included) after checking encoder maximum/minimum value
3. State of the external input signal of state information displays Off when external input terminal
function selection is changed to ‘0: Encoder signal A,B,Z phase’.
| Chapter 9 Functions |
| 9-113 |
(3) Status information
- State of the external input signal A,B,Z, which can be confirmed by the state of the external I / O signal of
state information area
| Memory Address | Information 1 axis |
|||||||
| 1 axis |
2 axis |
1 axis |
2 axis |
1 axis |
2 axis |
1 axis |
2 axis |
|
| 2C3 | 343 | 2C3 | 343 | 2C3 | 343 | 2C3 | 343 | 2C3 |
External EMG
| Bit 0 |
| Bit 1 |
| Bit 2 |
| Bit 3 |
| Bit 4 |
| Bit 5 |
| Bit 6 |
| Bit 7 |
| Bit 8 |
| Bit 9 |
| Bit 10 |
| Bit 11 |
| Bit 12 |
| Bit 13 |
| Bit 14 |
| Bit 15 |
Stop [0: External EMG stop Off, 1: External EMG stop On]
Not used [0]
External upper
limit signal
[0: External upper limit signal Off, 1: External upper
limit signal On]
External lower
limit signal
[0: External lower limit signal Off, 1: External lower
limit signal On]
Home signal [0: Home signal Off, 1: Home signal On]
DOG signal [0: DOG signal Off, 1: DOG signal On]
External
command signal
[0: External command signal Off, 1: External
command signal On]
Servo On signal [0: Servo Off, 1: Servo On]
Servo alarm
signal
[0: Servo driver normal, 1: Servo driver error
occurs]
In-position
signal
[0: Not In-position section, 1: In-position
section]
Communication
error
[0: EtherCAT Comm. normal, 1: EtherCAT Comm.
error]
*1
[0: External input signal B Off,
1: External input signal B ON]
*2
External input
signal A
External input
signal B
External input
signal Z
[0: External input signal A Off,
1: External input signal A ON]
[0: External input signal Z Off,
1: External input signal Z ON]
| Chapter 9 Functions |
| 9-114 |
Manual Operation Control
Manual control is a function that execute random positioning according to user’s demand without operation data
Manual operations include Jog operation, Manual pulse generator operation, inching operation, previous position
movement of manual operation etc.
(1) Characteristic of Control
(a) Jog Operation is
▪Execute positioning control at jog high/low speed depending on the signal of high/low speed during
forward/reverse jog start signal is being ON.
▪Positioning is started by Jog command from the state that the origin is determined. The value of positioning
stars changing, user can monitor it.
▪This is a way of manual operation that can be executed before determination of origin.
(b) Acceleration/Deceleration process and Jog speed
The acceleration/deceleration processing is controlled based on the setting time of Jog acceleration/
deceleration time from XG-PM manual operation parameter setting.
Set the Jog speed on Jog high/low speed of XG-PM manual operation parameter setting.
If Jog speed is set out of the setting range, error will occur and the operation does not work.
■ Parameter setting (Manual Parameter)
| Item | Setting value | Description |
| Jog High Speed | 1 ~ Speed limit | Set Jog speed. Jog high speed must be set below limit |
| Jog Low Speed | 1 ~ Jog High Speed | Set Jog speed. Jog low speed must be set below Jog high speed |
| Jog Acc. Time | 0 ~ 2147483647 | Set the acc. Time used in acceleration of Jog operation |
| Jog Dec. Time | 0 ~ 2147483647 | Set the dec. time used in deceleration of Jog operation |
| Remark |
| If “Jog Acc. Time” is 0, it operates at “Acc. Time1” of basic parameter. If “Jog Dec. Time” is 0, it operates at “Dec. Time1” of basic parameter. |
| Chapter 9 Functions |
| 9-115 |
(2) Operation Timing
Remark
Notices for setting Jog speed are as follows.
Jog Low Speed ≤ Jog High Speed ≤ Speed Limit
(3) Restrictions
You can not execute Jog operation in the case as follows.
(a) Value of Jog High Speed exceeds the speed limit of basic parameter (Error code : 121)
(b) Value of Jog Low Speed exceeds the value of Jog high speed. (Error code : 122)
Stopped but
not be ON
Time
Speed
Forward Jog
Signal
In
operation
Signal of
Positioning
complete
| ON ON Jog accelerating Jog ON |
Jog High Speed
decelerating
Jog Low Speed
Jog low/high speed
Signal
Time
Speed
Jog High Speed
Jog Low Speed
Speed Limit
| Chapter 9 Functions |
| 9-116 |
(4) Jog Operation Start
Jog operation start consists of Start by XG-PM and Start by Sequence program. The start by sequence program
is that execute Jog operation with output contact of CPU.
| Axis | Direction of Signal : CPU -> Positioning module | |
| Output Signal | Description | |
| Axis1 | UXX.01.0 | Axis1 Forward Jog |
| UXX.01.1 | Axis1 Reverse Jog | |
| UXX.01.2 | Axis1 Jog Low/High Speed | |
| UXX.01.3 | - | |
| Axis2 | UXX.01.4 | Axis2 Forward Jog |
| UXX.01.5 | Axis2 Reverse Jog | |
| UXX.01.6 | Axis2 Jog Low/High Speed | |
| UXX.01.7 | - | |
| Axis3 | UXX.01.8 | Axis3 Forward Jog |
| UXX.01.9 | Axis3 Reverse Jog | |
| UXX.01.A | Axis3 Jog Low/High Speed | |
| UXX.01.B | - | |
| Axis4 | UXX.01.C | Axis4 Forward Jog |
| UXX.01.D | Axis4 Reverse Jog | |
| UXX.01.E | Axis4 Jog Low/High Speed | |
| UXX.01.F | - | |
| Axis5 | UXX.02.0 | Axis5 Forward Jog |
| UXX.02.1 | Axis5 Reverse Jog | |
| UXX.02.2 | Axis5 Jog Low/High Speed | |
| UXX.02.3 | - | |
| Axis6 | UXX.02.4 | Axis6 Forward Jog |
| UXX.02.5 | Axis6 Reverse Jog | |
| UXX.02.6 | Axis6 Jog Low/High Speed | |
| UXX.02.7 | - | |
| Axis7 | UXX.02.8 | Axis7 Forward Jog |
| UXX.02.9 | Axis7 Reverse Jog | |
| UXX.02.A | Axis7 Jog Low/High Speed | |
| UXX.02.B | - | |
| Axis8 | UXX.02.C | Axis8 Forward Jog |
| UXX.02.D | Axis8 Reverse Jog | |
| UXX.02.E | Axis8 Jog Low/High Speed | |
| UXX.02.F | - |
| Chapter 9 Functions |
| 9-117 |
[Example] Execute Jog start in the order as follows.
■ Forward Jog Low speed Operation -> Forward Jog High speed Operation -> Stop
Reverse Jog High speed Operation -> Reverse Jog Low speed Operation -> Stop
| Remark |
| Dec. stop command will not be executed in Jog Operation. Jog operation will stop if turn the Jog signal of the current operating direction Off. |
| Stop not |
|
| but turn ON |
|
| ON | |
| ON | |
| ON | |
| Forward Jog ope | ration |
| Reverse Jog Operation |
Time
Speed
Forward Jog Signal
(Uxx.01.0)
In Operation
Positioning complete
signal
Jog High Speed
Change to Jog High Speed
Jog Low Speed
Jog High/Low Speed
Signal
(Uxx.01.2)
ON
Reverse Jog Signal
(Uxx.01.1)
Jog Low Speed
Jog High Speed
Change to Jog Low Speed
Stop but
not turn ON
| Chapter 9 Functions |
| 9-118 |
This is a kind of manual operation and executing positioning at the speed already set on manual operation
parameter as much as the amount of movement already set on the data of inching operation command.
(1) Characteristics of Control
(a) While the operation by ON/OFF of Jog signal is difficult in moving to the correct position as the operation starts
and stops according to the command, the inching command enables to set the desired transfer amount easily
and reach the goal point.
(b) Thus, it is available to reach the correct goal position by moving fast near the working position by Jog command
and operating the detail movement by inching command.
(c) The setting range is –2147483648 ∼ 2147483647 Pulse.
(d) The direction of moving depends on the amount of inching.
■ The amount is POSITIVE(+) : Positioning operation in forward direction
■ The amount is NEGATIVE(-) : Positioning operation in reverse direction
(e) Acc./Dec process and Inching speed
Use Jog acc./dec. Time of manual operation as acc./dec. time of Inching operation.
Set Jog acc./dec. time on “Jog acc./dec. time” of manual operation parameter setting of XG-PM.
Set Inching speed on “Inching speed” of manual operation parameter setting.
If inching speed is set out of the setting range, error will occur and the operation does not work.
■ Related parameter setting (Manual operation parameter)
| Items | Setting value | Description |
| Jog acc. Time | 0 ~ 2147483647 | Set the accelerating time for acceleration of Inching operation |
| Jog dec. Time | 0 ~ 2147483647 | Set the decelerating time for deceleration of Inching operation |
| Inching Speed | 1 ~ Speed limit | Set the speed of Inching operation |
(2) Operation Timing
Time
Speed
Inching operation
command
In operation
Positioning
complete Signal
ON
ON
Inching Speed
Accelerating at Jog acc. time
Decelerating
at Jog dec.
time
Amount of Inching
ON
| Chapter 9 Functions |
| 9-119 |
This positioning control function is used to return to the position address that the positioning is completed before
manual operation when the position is changed by manual operation (Jog operation, inching operation).
(1) Characteristic of Control
(a) Direction of moving depends on the current position and the previous position of manual operation.
■ Starting position < The previous position of manual operation : Forward direction
■ Starting position < The previous position of manual operation : Reverse direction
(b) Acc./Dec. process and the speed of return
Acc./Dec. time of returning is the same as homing acc./dec. time of homing parameter.
Set acc./dec. time on homing acc./dec, time of homing parameter of XG-PM.
If returning speed is set out of the setting range, error will occur and the operation does not work.
■ Related parameter setting (Manual Operation Parameter)
| Item | Setting value | Description |
| Homing speed | 1 ~ Speed limit | Set returning speed |
| Homing acc. time | 0 ~ 2147483647 | Set acc. time used in return |
| Homing dec. time | 0 ~ 2147483647 | Set dec. time used in return |
| Chapter 9 Functions |
| 9-120 |
(2) Operation timing
If value of the current position is “A” after positioning control operation and the positioning value changed by Jog
operation is “B”, execute positioning to “A” when executing the returning to the previous position of manual operation.
Time
Speed
Forward Jog Signal
In operation
Positioning
complete Signal
| ON | |
| ON | |
| ON | |
| Jog in Forward | |
| ON | |
| Returning to the previous position of manual operation |
|
| Jog Operation |
Returning |
Jog High Speed
Returning command
Homing Low Speed
Positioning
complete position
(A)
Jog stop position
(B)
Position
Time
| Chapter 9 Functions |
| 9-121 |
Synchronous Control
This is the command that control the operation synchronizing with the main axis or operating of encoder.
This is the command that synchronize with sub axis in speed and control operation depending on speed
synchronous rate already set when main axis starts.
(1) Characteristic of Control
(a) Start and Stop is repeated depending on operating of main axis after execution of speed synchronous
command. The operating direction of sub axis and the main’s are same.
(b) The operating direction of sub axis depends on the ratio of speed sync. . If it is positive, the
direction is forward. If it is negative, the direction is reverse.
(c) If execute speed sync. command, it will be the state of operating and remain in the state of speed sync.
operation before release of speed sync. command.
(d) Auxiliary data of speed sync. command
The auxiliary data used in speed sync. command is as follows.
| Item | Setting value | Description |
| Main Axis | 1(axis1) ~ 8(axis8), 9(Encoder1) |
Set the main axis of speed sync. |
| Ratio of Main axis |
-32768 ~ 32767 | Set the ratio of main axis at speed sync. ratio. |
| Ratio of Sub axis | -32768 ~ 32767 | Set the ratio of sub axis at speed sync. ratio.. |
Ratio of Speed sync. is calculated as follows.
It is possible to set like “Ratio of Main axis(Absolute) < Ratio of Sub axis(Absolute)” at setting ratio of speed
sync.
Operating speed of sub axis is calculated as follows.
(e) Modifying the ratio of speed sync. in operation is available.
When modify the ratio, if there is too big gap between the former ratio and the current ratio, the machine is
possible to be damaged.
( )
MainAxis
SubAxis
MainAxis
SubAxis
Ratio =
Ratio of MainAxis
Ratio of SubAxis
Operating Speed of MianAxis
Operaing speed of SubAxis Operating Speed of MainAxis Ratio of speed sync.
= ×
= ×
| Chapter 9 Functions |
| 9-122 |
(2) Operation Timing
(3) Restrictions
You can not execute Jog operation in the case as follows.
(a) If speed sync. is executed in being On of M code signal, error (code:353) arises. Make M code “off” with M
code release command (XMOF) before use.
(b) In the case that the axis set as main axis is not the axis can be set or the case that the setting of main axis is
the same as the setting of command axis, error (code”355) arises. Set the main axis among the axis available
to be set.
(c) If the speed of main axis exceeds the speed limit, error (code:357) arises. In the case, the speed of main axis
has to be down below the speed limit.
In the case that the speed of main axis exceeds the speed limit, error arises and it decelerate in “Dec. time of
“emergent stop”.
Time
Speed
Main axis start
command
Main axis in
operation
Positioning
complete signal
of Main axis
| ON ON ON ON Ratio of Main Axis : m Ratio of Sub Axis : n Stop but not turn ON ON |
| ON |
Speed of
Main Axis
Speed of
Sub Axis
Sub axis speed
sync. command
Sub axis in
operation
Sub axis stop
Positioning complete signal
of Sub axis
| Chapter 9 Functions |
| 9-123 |
[Example] axis1 is main axis, axis2 is sub axis. Operate at “ratio of main axis : ratio of sub axis = 2 : 1”
at the beginning and then execute speed sync. control changing the ratio to “ratio of main axis :
ratio of sub axis = 1 : 2”
■ Example of setting in XG-PM
▪Operation data of main axis(axis1)
| Step no. | Control method | Operation method |
Goal Position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell Time |
| 1 | Incremental, Reduction position control |
Single, End |
10000 | 2000 | No. 1 | No. 1 | 0 | 0 |
■ Operating pattern
(4) Speed synchronous control with encoder
Time
Speed
Main axis
Start command
Main axis
in operation
Main axis
positioning
complete signal
ON
ON
2000
Sub axis
Speed sync.
command
ON
Sub axis
In operation
ON
Ratio of main axis
| : 2 |
| : 1 |
Sub axis stop
command
ON
Stop but
Sub axis not turn On
positioning
complete signal
ON
ON
1000
4000
Ratio of sub axis Ratio of main axis : 1
Ratio of sub axis : 2
| Chapter 9 Functions |
| 9-124 |
(a) Set encoder as the main axis of speed sync. and execute positioning control by ratio of speed sync. that
consists of pulse speed from encoder, ratio of main axis and ratio of sub axis.
(b) This command is used in the case that executing thorough positioning manually.
(c) After executed speed sync. command, when the pulse string is inputted, speed sync. control starts.
(d) Operate regardless of the state of origin.
(e) The pulse inputted by encoder increase of decrease the position value of encoder.
(f) The direction of moving depends on encoder pulse input mode and ratio of speed sync,
■ Positioning in forward direction : Input pulse of A phase is ahead of B’s
■ Positioning in reverse direction : Input pulse of B phase is ahead of A’s
The position value increases when the input pulse
of phase A is ahead of B’s
The position value decreases when the input
pulse of phase B is ahead of A’s
| 2.5㎛ or above |
B Phase
A Phase
- The operating direction of sub axis depends on . If it is
positive, operating direction will be forward direction of encoder. If it is negative, operating direction will be
reverse direction of encoder.
(g) Related parameter (Common Parameter)
Set parameter related to encoder on common parameter.
| Item | Setting Value | Description |
| Encoder1 Pulse Input |
0 : CW/CCW 1 multiplying 1 : PULSE/DIR 1 multiplying 2 : PULSE/DIR 2 multiplying 3 : PHASE A/B 1 multiplying 4 : PHASE A/B 2 multiplying 5 : PHASE A/B 4 multiplying |
Set the encoder type to be used as input of encoder1 |
| Encoder1 Z phase clear |
0: Disable 1: Enable |
Set whether to use Z phase input of Encoder1 as counter clear signal or not |
| Encoder1 max. value |
-2147483647 ~ 2147483647 | With encoder1 max. and min. value, it sets the count range |
| Encoder1 min. value |
-2147483647 ~ Encoder1 max. value |
.( )
Ratio of MainAxis
Ratio of SubAxis
Ratio of speed sync
| Chapter 9 Functions |
| 9-125 |
[Example] Execute speed sync. control with encoder (main axis), axis2(sub axis) at “the ratio of main axis :
the ratio of sub axis = 1 : 2”.
(Hypothesize that the input speed of encoder is 1Kpps)
When the direction of encoder is forward, the operating direction of sub axis is reverse. When the direction
of encoder is reverse, the operating direction of sub axis is forward.
■ Operating pattern
Time
Speed
2000
Speed sync.
for axis2
| ON ON Stop but not turn On … Forward Reverse |
| ON |
Axis2 in
operation
Stop command
for axis2
Positioning complete signal
of axis2
1000
Ratio of main axis :
Ratio of sub axis = 1:2
Encoder phase A
Input
Encoder phase B
Input
…
… …
-2000
| Chapter 9 Functions |
| 9-126 |
(5) Position-specified speed sync. control
(a) The basic operation of positioning speed sync. control is similar to speed synchronization. After executing
positioning speed sync. command, start and stop are repeated depending on operation of main axis. The
direction of sub axis and the direction of main axis are same.
(b) The operating direction of sub axis depends on . If it is positive,
operating direction will be forward direction of main axis. If it is negative, operating direction will be reverse
direction of main axis.
(c) If give speed sync. command to sub axis, it will be changed to the operating state and stay at operating state
until release command.
(d) If the current position of sub axis become the goal position, it stops speed sync. and stay there. For the details,
refer to “Speed sync. control”.
(e) Auxiliary data of positioning speed sync. command.
The auxiliary data used in speed sync. is as follows.
| Items | Setting value | Description |
| Main axis | 1(axis1) ~ 4(axis4), 9(Encoder) | Set main axis |
| Ratio of main axis | -32768 ~ 32767 | Set ratio of main axis |
| Ratio of sub axis | -32768 ~ 32767 | Set ratio of sub axis |
| Goal position | -2147483648 ~ 2147483647 | Set the goal position of positioning speed sync. |
(f) Operation timing
.( )
Ratio of MainAxis
Ratio of SubAxis
Ratio of speed sync
Time
Speed
Start command
for main axis
Main axis
in operation
Positioning
complete signal
of main axis
| ON |
| ON |
| ON |
| ON |
| Ratio of sub axis : n |
| Stop but not turn On |
| ON |
| Sub axis starts operating when main axis starts operating |
Speed of
main axis
Speed of
sub axis
Speed sync.
command for
sub axis
Sub axis
in operation
Ratio of main axis : m
Positioning complete signal
of sub axis
Position of
sub axis
Time
Goal position
Stop when sub axis arrived
at the goal position
| Chapter 9 Functions |
| 9-127 |
Start positioning with step no. and operation data when the current position of main axis is same as the position
set in position sync.
(1) Characteristics of control
(a) Synchronous Start by Position (SSP) command is carried out only in case that the main axis is in the origin
determination state.
(b) SSP command starts by the synchronization of the subordinate axis according to the current position of the
main axis.
(c) SSP carries out the SSP command at the subordinate axis.
(d) If SSP command is executed, it becomes the state in operation and the actual operation is carried out at the
subordinate axis where the current position of the main axis is the setting position of the position synchronous
start.
(e) In case of cancellation after executing the SSP command at the subordinate axis, if you execute the stop
command, the SSP command shall be released.
(f) The auxiliary data of position sync. command
The auxiliary data used in position sync. is as follows.
| Items | Setting Value | Description |
| Position of position sync. |
-2147483648 ~ 2147483647 | Set the position of main axis in position sync. control |
| Operation step | 1 ~ 400 | Set the step no. to be executed when the main axis arrives at the position for position sync. |
| Main axis | 1(axis1) ~ 8(axis8), 9(Encoder1) |
Set the main axis of position sync. |
| Remark |
| Even though the current position of main axis and the setting value set on position sync. are not exactly same, if the current position of main axis is at between the position of main axis of previous scan and the current position of main axis, the sub axis will be executed with the positioning data of step no. set on operation step. |
| Chapter 9 Functions |
| 9-128 |
(2) Operation timing
(3) Restrictions
Position sync. control can be executed in the case below.
(a) If position sync. command is executed in M code signal is On, error (code:343) arises. Use it after making M
code “Off” with M code release command(XMOF).
(b) If the current main axis is not the axis can be set on the current module or main axis and command axis are
the same axis, error (code:355) arises. Set the main axis among one of the axis can be set on module.
Time
Speed
Start command
for main axis
Main axis
in operation
Main axis
positioning
complete signal
| ON | Position of sub | axis |
| ON | ||
| ON | ||
| ON | ||
| ON | ||
| Position of main axis | ||
| ON | ||
| Dwell Time |
Speed of
main axis
Speed of
sub axis
Position sync.
command for
sub axis
Sub axis
in operation
Sub axis
positioning
complete signal
Time
Position for
position sync.
Position
| Chapter 9 Functions |
| 9-129 |
[Example] Axis1 is main axis, axis2 is sub axis. The position of main axis for position sync. is 1000,
execute position sync. with operation data no.10.
■ The current position of axis1 : 0
The current position of axis2 : 0
■ Example in XG-PM
▪ Main axis (axis1) Operation data
| Step no. | Control method | Operation | Goal position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time |
| 1 | Incremental, single-axis position control |
Single, End | 2000 | 1000 | No. 1 | No. 1 | 0 | 0 |
▪ Sub axis (axis2) Operation data
| Step no. | Control method | Operation | Goal position [pls] |
Operating speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time |
| 10 | Incremental, single-axis position control |
Single, End | 2000 | 2000 | No. 2 | No. 2 | 0 | 0 |
■ Operating pattern
Time
Speed
Start command
for axis1
Axis1
in operation
Axis1 positioning
complete signal
| ON | Position for position sync. |
| ON | |
| ON | |
| ON | |
| ON | |
| ON | |
| of axis Position of axis1 Axis2 starts operating |
|
| Step of axis2 : 10 Step of axis1 : 1 |
2000
1000
Position sync.
command for
axis2
Axis2
in operation
Axis2 positioning
complete signal
Time
1300
Position
Position
2
2000
0 0
| Chapter 9 Functions |
| 9-130 |
This is the command that convert mechanical work to CAM data displayed with CAM curve and then execute
CAM axis control synchronizing with the position of main motor.
(1) Characteristics of Control
(a) Replace existing mechanical work of CAM with software CAM operation
(b) You may write max. 9 CAM data blocks and apply it to each axis.
(c) Each block consists of 2048 CAM data.
(d) Auxiliary data of CAM command
Auxiliary data used in CAM command is as follows.
| Item | Setting value | Description |
| Main Axis | 1(Axis1) ~ 8(Axis8), 9(Encoder) |
Set the main axis of CAM operation |
| CAM block | 1(no.1) ~ 9(no.9) | Set CAM block no. |
| Main axis offset |
-2147483648 ~ 2147483647 |
Set the position of main-axis position as offset value if main-axis reaches this position, the sub-axis starts CAM operation. |
Encoder can not be used as main axis.
You may set different CAM block no. for each axis. In addition, it is possible to execute CAM operation with the
same CAM block. In order to use user CAM operation, you have to set up CAM block number as 9.
(e) You can make sub-axis start the CAM operation at the specified position of main-axis by setting the “Main axis
offset”. Main axis offset setting is available at “Offset specified CAM start command (XCAMO, XPM_CAMO).
(f) Create CAM data by setting CAM parameter on XG-PM to use CAM.
(g) After main axis is operated, input the calculated value per CAM block setting and point unit based on the current
value per rotation of main axis. For the detail description, refer to “(3) Principle of CAM operation”.
(h) If CAM operation is executed on sub axis, it become ‘operating status’ and keep executing CAM operation with
CAM data according to the position of main axis until stop command.
| Servo motor |
CAM data
| Chapter 9 Functions |
| 9-131 |
(2) CAM Parameter
The table below describes the parameter items for writing CAM data.
| Item | Setting Range | Description | |
| Main/Sub axis parameter |
Unit | pulse, mm, inch, degree | Set unit of main/sub axis |
| Transfer distance per 1 rotation |
Depending on Unit | Set the transfer distance of main/sub axis per 1 rotaiton | |
| No. of Pulse per 1 rotation |
1 ~ 200000000 | Set no. of pulse of main/sub axis per 1 rotation | |
| CAM control mode | Control method | Repeat, Increase | Set CAM control method |
| Point unit | No. of pulse per 1 rotation | Set the resolution ability of CAM data |
|
| CAM block data | Starting position of main axis |
Depending on Unit | Set the CAM position of sub axis corresponding to main axis |
| Ending position of main axis |
|||
| Starting position of sub axis |
|||
| Ending position of sub axis |
|||
| CAM curve | Straight Line ~ 7th curve | Set the curve of each CAM data step |
| Remark | inimum setting value of encoder1 of common parameter set so as to satisfy the following condition operation used encoder to main axis value of encoder1 – Minimum value of encoder1] >= [Input speed of maximum pulse of s) x control period (s) x 2 x 1.1] period according to number of axes connected to the network is as follows. s: 1ms, 3~5 axes: 2ms, 6~8 axes: 3ms es connected to the network are 4, input speed of maximum pulse of encoder is 100kpps, um value/minimum value of encoder1 can be set as follows. um value of encoder1 – minimum value of encoder1] = 100000 x 0.002 x 2 x 1.1 = 440 ximum value of encoder1 : 440 imum value of encoder1 : 0 |
| Maximum/m when CAM [Maximum encoder(pp ※ Control 1~2 axe Ex) If the ax maxim [maxim - Ma - Min |
| Chapter 9 Functions |
| 9-132 |
(a) Main/Sub parameter setting
1) Unit
Set the control unit of main/sub axis. Set the same as the value already set on “Unit” of basic parameter.
| Item | Setting Range | Remarks |
| Unit of main axis |
pulse, mm, inch, degree | - |
| Unit of sub axis |
pulse, mm, inch | Degree may not be used. |
2) Transfer distance per 1 rotation
Set the transfer distance per 1 rotation of main/sub axis. The unit of transfer distance is according to 1).
If the unit is “mm” or “inch”, this value is the maximum last position of main/sub axis.
Transfer distance per 1 rotation is depending on unit.
■ Setting range for transfer distance per 1rotation
| Unit | Setting Range | Remarks |
| pulse | - | No need to set |
| mm | 0.1 ~ 20000000.0 um | The maximum last position of main/sub axis |
| inch | 0.00001 ~ 2000.00000 inch | The maximum last position of main/sub axis |
| degree | 360.00000 Fixation | No need to set The maximum last position of main/sub axis |
3) No. of pulse per 1rotation
Set the no. of pulse per 1rotation of main/sub axis.
If the unit is “pulse”, the value is the maximum last position of main/sub axis.
| Chapter 9 Functions |
| 9-133 |
(b) CAM control mode setting
1) Control method
Set the form of CAM repeat pattern. “Repeat mode” and “Increase mode” may be set.
▪ Repeat (Two-way mode)
Execute round-trip motion repeatedly in the range already set from starting position of sub axis to ending
position according to the position of main axis in 1 rotation.
When CAM data is created in repeat, the ending position of the last step of sub axis user last set must be
set as 0.
Position <CAM data>
Ending
position of
Sub axis
Position of main axis
Position in
| 1rotation |
| Time Time |
| Time |
of main axis
Position of sub axis
Ending
position of
main axis
0
1 rotation of main axis
1 cycle 1 cycle 1 cycle
| Chapter 9 Functions |
| 9-134 |
▪ Increase (Feed mode)
Execute CAM operation from starting position of sub axis to ending position according to the position in
1rotation of main axis.
Position <CAM data>
Last
position of
sub axis
Position of main axis
Position in
| 1rotation of |
main axis
Position of sub axis
Ending position of
main axis
Time
Time
0
1rotation of main axis
Time
Movement
amount of
sub axis
1 Cycle 1 Cycle 1 Cycle
| Chapter 9 Functions |
| 9-135 |
2) Point unit
Set the resolution ranging from starting position of main axis to ending position of main axis on each step
data of CAM block data setting. When CAM data is created, calculate the position of sub axis corresponding
to the position of main axis from the starting position of main axis by point unit. The smaller point unit is, the
more no. of CAM data is, so you may execute much smoother CAM operation. However, if point unit is small,
no. of CAM data exceeds 2048, so there is a chance that user can not create CAM data.
| Remark |
| When set CAM block data after point unit setting, “Ending position of main axis” must be set as positive multiple number of point unit. For example, if the unit of main axis is “degree” and point unit is 10, “Ending position of main axis” must be set as multiple number of 10 like 40, 90, 180, ···. |
| Position of sub axis <CAM data> Ending position of sub axis 0 1rotation of main axis Position of main axis |
Point unit
| Chapter 9 Functions |
| 9-136 |
(c) CAM block data setting
20 data sections may be set in a CAM block and every section may have specific curve.
1) Starting position of main axis
Set the starting position of main axis in designated section. Starting position of main axis is the same as the
ending position of main axis in previous section.
2) Ending position of main axis
Set ending position of main axis in designated section. The ending position of main axis in the last section
must be set as much as the transfer distance per 1rotation set on main/sub axis parameter.
3) Starting position of sub axis
Set the starting position of sub axis corresponding to the starting position of main axis in the designated
section. Starting position of sub axis is the same as the ending position of sub axis in previous section.
4) Ending position of sub axis
Set ending position of sub axis corresponding to the ending position of main axis in the designated section.
If control method is “Repeat (Two-way mode), the ending position of sub axis in the last section must be 0. If
control method is “Increase(Feed mode)”, the ending position of sub axis in the last section generally has to
be set as much as the transfer distance per 1rotation set on main/sub axis parameter.
5) CAM curve
Set CAM specific curve to create data ranging from starting position of sub axis to ending position of sub axis
in the designated section. The position of sub axis is calculated by characteristic of selected CAM curve, the
position of main axis increase by point unit at the same time.
There are 22 kinds of CAM curve.
Describe characteristic of each CAM curve on next page.
Position of sub axis
| 0 Section3 of sub axis |
Section1 | Section2 Section3 Section1 Ending position of main axis Section2 Ending position of main axis |
| S S 3 |
ection1 ection2 |
|
| Section3.CAM curve : Section1 Ending position of sub axis Section2 Ending position of sub axis Section2.CAM curve : Straight Line Section1.CAM curve : Straight Line |
Transfer distance per 1rotation of main axis
Position of
main axis
Point unit
SectionSection3
Ending
position of
main axis
Cycloidal
Ending position
| Chapter 9 Functions |
| 9-137 |
■ Characteristic of CAM curve
| Name | Acc. type | Position (Smax) |
Speed (Vmax) |
Acc. (Amax) |
Jerk (Jmax) |
| Straight Line | 1.00000 | 0.00000 | 0.00000 | 0.00000 | |
| Constant Acceleration | 1.00000 | 2.00000 | 4.00000 | 0.00000 | |
| Simple Harmonic | 1.00000 | 1.57076 | 4.93409 | 2.46735 | |
| No-Dwell Simple Harmonic | 1.00000 | 1.57076 | 4.93409 | 2.46735 | |
| Double Harmonic | 1.00000 | 2.04047 | 5.55125 | 0.10285 | |
| Reverse Double Harmonic | 1.00000 | 2.04048 | 9.86605 | 4.93455 | |
| No-Dwell Modified Constant Velocity | 1.00000 | 1.22203 | 7.67383 | 3.83881 | |
| Modified Constant Velocity | 1.00000 | 1.27526 | 8.00947 | 0.98712 | |
| No-Dwell Modified Trapezoid | 1.00000 | 1.71788 | 4.19885 | 2.09942 | |
| One-Dwell Modified Trapezoid | 1.00000 | 1.91589 | 4.43866 | 55.77788 | |
| Modified Trapezoid | 1.00000 | 1.99975 | 4.88812 | 0.30562 | |
| Asymmetrical Modified Trapezoid | 1.00000 | 1.99982 | 6.11015 | 0.47620 | |
| One-Dwell Cycloidal | 1.00000 | 1.75953 | 5.52756 | 0.17345 | |
| Cycloidal | 1.00000 | 1.99985 | 6.28273 | 0.19715 | |
| Asymmetrical Cycloidal | 1.00000 | 1.99989 | 7.85304 | 0.30783 | |
| One-Dwell Trapecloid | 1.00000 | 1.73636 | 4.91007 | 0.30699 | |
| Reverse Trapecloid | 1.00000 | 2.18193 | 6.16975 | 0.38579 | |
| Trapecloid | 1.00000 | 2.18193 | 6.17044 | 0.38579 | |
| One-Dwell Modified Sine | 1.00000 | 1.65978 | 5.21368 | 0.32603 | |
| Modified Sine | 1.00000 | 1.75953 | 5.52697 | 0.34562 | |
| 5th Curve | 1.00000 | 1.87500 | 5.77350 | 60.00000 | |
| 7th Curve | 1.00000 | 2.18750 | 7.51283 | 41.99646 |
| Chapter 9 Functions |
| 9-138 |
(3) Principle of CAM operation
(a) When CAM operation command is executed, the current position of main axis is recognized as 0.
(b) When the main axis starts operating, “the current position in 1rotation of main axis” increase to “no. of pulse
per 1rotation (-1)” then become 0. The position value (0~“no. of pulse per 1rotation (-1)”) is repeated.
(c) Calculate CAM data step no. corresponding to “the current position per 1rotation” with “point unit” of CAM
parameter.
For example, if the position of main axis at the beginning of CAM operation is 1000, the current position is
1073 and point unit is 10, the step no. of CAM data is as follows.
(d) Calculate update position of sub axis with CAM data step. If main
axis is forward direction, calculate the position of sub axis with the position corresponding to “the part of
positive number of CAM data step no.” and the position corresponding to “the part of positive number of CAM
data step no. +1”.
Position of sub axis
= {(Step position of CAM data +1) – (Step position of CAM data)} x Decimal part of CAM data step no.
+ (Step position of CAM data)
For example, if position value of sub axis of step 7 is 395 and step 8’s is 475, the position of sub axis is as
follows.
Point Unit
Current Positio per1rotation of Main Axis
Cam Data Step no. =
Point Unit
Current Positio per1rotation of Main Axis
Cam Data Step no. =
419
395 24
Position of sub axis 395 (475 - 395) 0.3
=
= +
= + ×
7.3
10
1073 1000
=
-
=
| Chapter 9 Functions |
| 9-139 |
(4) Operation timing
(a) General CAM start command
| Position for main axis Starting position Target position |
Time Time |
| Position per rotation for main axis |
|
| Position for sub axis Travel per rotation for sub axis |
|
| Travel per rotation for main axis |
|
| 1 cycle Start command for main axis Main axis in operation Positioning completion signal for main axis ON ON CAM command for sub axis ON Sub axis in operation ON Stop command for sub axis ON Positioning Stop but not On completion signal for sub axis ON 1 cycle |
Time
0 0
| Chapter 9 Functions |
| 9-140 |
(b) Main-axis offset-specified CAM start command
Position for
main axis
Position per rotation for main axis
Position for
sub axis
Travel per rotation
for main axis
| Time Time |
Offset for main axis |
| 1 cycle 1 cycle |
ON |
| ON | |
| ON | |
| ON | |
| ON | |
| St O |
|
| op but not N Time |
|
| ON | |
| Sub axis transfer distance per one cycle |
Start command
for main axis
Main axis
in operation
Positioning
completion signal
for main axis
CAM Command
for sub axis
Sub axis
in oepration
Stop command
for sub axis
Positioning
completion signal
sub axis
Starting position
for main axis
Target
position
0 0
Main axis position for CAM start
Starting position
for sub axis
(5) Restrictions
CAM operation command may not be executed in the cases below.
(a) If execute CAM operation command in being On of M code, error (code:702) arises. Make M code “OFF” with
“M code release (XMOF)” command before use.
(b) If the current main axis is not the axis can be set on the current module or main axis and command axis are
the same axis, error (code:704) arises. Set the main axis among one of the axis can be set on module.
(c) If speed of main axis is too fast and speed of sub axis exceeds speed limit, error (code:708) arises. In this
case, you have to lower the operation speed.
| Chapter 9 Functions |
| 9-141 |
(6) Additional function of CAM operation
The following are additional function related to the CAM operation.
(a) The function to stop after finishing cam cycle of operation when cam operation is stopped.
1) Execution method
The deceleration stop of deceleration stop command(XSTP) set to 2,147,483,467, when you execute the
deceleration stop command during CAM operation, it will stop when the cam cycle was currently in operation
is finished.
2) Program example
a) XGK
■Installed slot of positioning module: 0 base 2 slot, Axis of CAM operation : 2 axis, time of deceleration stop :
2,147,483,647
It is created assuming that saving the state information of axis 2 at D00100 by using the XSRD command.
| Chapter 9 Functions |
| 9-142 |
Position for
main axis
Position
| er rotation | |
| 1 Cycle 1 C |
ON |
| ON | |
| ON | |
| ON | |
| ON | |
| Stop but not ON | |
| ON | |
| ycle | |
| Travel per rotation of serve axis |
for main axis
Position for sub axis
Travel per rotation
for main axis
Time
Time
Start command
for main axis
Main axis
in operation
Positioning
completion signal
for main axis
Cam command
for main axis
Sub axis
in operation
Stop command
for sub axis
(Set deceleration
time: 2,147,483,647)
Positioning completion signal
for sub axis
Time
Starting position
for main axis
Target
position
0 0
Starting point
for sub axis
| Chapter 9 Functions |
| 9-143 |
(b) Flag of cam period
Cam cycle flag turned on each time when 1 cycle of the cam operation is completed. And it turned off after the
time that was set at the complete time of positioning.
Cam cycle flag can be monitored by using XSRD command(read the operation status) and GET command.
1) Contents of each bit of axis information
| Memory address | Contents | |||||||
| 1Axi s |
2Axi s |
3Axi s |
4Axi s |
5Axi s |
6Axi s |
7Axi s |
8Axi s |
|
| 2C2 | 342 | 3C2 | 442 | 4C2 | 542 | 5C2 | 642 | Axis information |
| Bit 0 |
| Bit 1 |
| Bit 2 |
| Bit 3 |
| Bit 4 |
| Bit 5 |
| ~ |
| Bit 6 |
| Bit 8 |
| Bit 7 |
| Bit 13 |
| Bit 15 |
| Bit 14 |
| Bit 12 |
Information of
main axis
Axis status [0: Sub axis, 1: Main axis]
1 ~ 8: 1Axis ~ 8Axis
9: Encoder1
10: Encoder2
Unused [0]
Unused [0]
In writing EEPROM of
servo drive [0: Not in writing, 1: In writing]
In writing flash memory
of module [0: Not in writing, 1: In writing]
Unused [0]
Completion status of latch [0: Incompletion, 1: Completion]
Completion status of
CAM 1 cycle
[Turned on each time when 1 cycle operation
is completed and turned off after the time that
was set at the complete time of positioning.]
| Chapter 9 Functions |
| 9-144 |
2) motion timing of cam cycle flag
Position for
main axis
Position per rotation
for main axis
Position for
sub axis
Travel per rotation for
main axis
| Time Time |
Offset for main axis | |
| 1 Cycle | ON | 1 Cycle |
| ON | ||
| ON | ||
| ON | ||
| ON | ||
| ON ON |
||
| Time | ||
| Travel per rotation for sub axis |
Start command
for main axis
Main axis
in operation
Positioning
completion signal
for sub axis
CAM command
for main axis
Sub axis
in operation
Flag of cam
cycle
Positioning
completion signal
for sub axis
Starting position
for main axis
Target
position
0 0
Main axis position for CAM start
Starting position
for sub axis
Completion time
of positioning
| Remark |
| The time maintaining that cam cycle flag turn on will be applied the time that has been set to “positioning complete time” of extended parameters. |
| Chapter 9 Functions |
| 9-145 |
(c) CAM restart function
If you re-execute the cam operation at stop position in case that main/sub axis of cam operation is stopped by
error and EMG.stop, it operates CAM restart.
1) Condition of execution
a) ‘CAM restart operation’ item of extended parameter is set to ‘1: Enable’.
b) If you re-execute the cam operation in case that axis of cam operation is stopped by error and EMG.stop,
it operates CAM restart.
c) After the cam operation axis is stopped by EMG.stop, it doesn’t have any cam restart operation be
performed if cam operation command is executed again when it is changed to the homing start/floating origin
setting/preset of current position/status of undetermined origin.
d) CAM restart doesn’t work in case that CAM operation is executed after sub axis is stopped by deceleration
stop.
e) If the main axis is encoder, be careful encoder axis doesn’t move because position change of encoder isn’t
reflected to synchronization position movement of sub axis when operating to synchronization position of sub
axis about main axis position after restart.
| Chapter 9 Functions |
| 9-146 |
2) Motion timing of CAM restart
Position of main axis
Position per rotation for
main axis
Position for sub axis
Travel per rotation
for main axis
| Time | |||
| Time art |
|||
| 1 Cycle | ON | Time | ON |
| ON | |||
| ON | ON | ||
| ON | |||
| ON | |||
| Cam rest |
Start command
for main axis
Main axis
in operation
CAM command
for sub axis
Sub axis
in operation
EMG.Stop
command
for sub axis
Starting position
for main axis
Target position
0 0
Starting position for
sub axis
Position for sub axis
1 Cycle Time
0
Starting Position
for sub axis
Remark If you don't operate CAM restart, it works as follows.
| Chapter 9 Functions |
| 9-147 |
User CAM operation, like CAM operation, executes CAM axis control in which CAM data shown as CAM curve
synchronize with position of the motor set as main-axis. The difference with CAM operation is that user sets
up CAM data not in XG-PM but in PLC program (XG5000), and the number of CAM data is 30.
(1) Operation
Like figure above, you can set up maximum 30 CAM data points, and it operates CAM curve between CAM
points with straight line. CAM point data is set up at sub-axis and as type of (main-axis position, sub-axis
position). CAM data point can be saved at the specified memory address of each axis by using XVWR
command. For memory address to save CAM data point of each axis, refer to appendix 2.11 User CAM data
memory address.
Remark
You can change the user cam data by write command of variable data(XVWR, XPM_VWR) during user cam
operation. The time the changed user cam data is reflected is later cycle of user cam data currently running is
completed.
It can be used for applications that need to operate by changing the cam pattern without stopping during the
user cam operation.
Phase correction control is the function that performs correcting phase for executing synchronous control of main
axis. While acting synchronous control, it executes virtual positioning move (correcting phase) about the main axis
position being synchronized with sub-axis. So the sub-axis executes synchronous control about position of the moved
main-axis.
(1) Features of control
(a) Phase correction command can be executed about axis being synchronous operation such as speed
synchronous or CAM control.
(b) Although the phase correction command is executed, the position of the command for main axis and
| Chapter 9 Functions |
| 9-148 |
the current position don’t change. When operating synchronous control for sub-axis, phase correction is
executed with calibrated value for main axis position to refer.
(c) The position of main-axis referring sub-axis with synchronous operation will be set “real main-axis
position + phase correction control position”.
(d) The phase correction speed is operated by relative velocity for the currently main-axis speed.
(e) Trapezoid or s-curve operation is executed by the acceleration or deceleration patterns of main-axis.
(f) In case main-axis is encoder, when execute the phase correction control it is executed by using speed
limit and the acceleration or deceleration patterns of sub-axis.
(g) When command is re-executed with operating phase correction, the phase correction is executed as
much as correcting size at that point. In other words, phase correction amount is additional operations as
a relative value.
(h) When phase correction size is set as 0 with re-executing phase correction, existing operation will stop
directly. (The phase correction operation status change to Off)
(i) The assistance data for phase correction command
The assistance data that is used for the phase correction command is shown below.
| Item | Set value | Description |
| Main-axis | 1(1Axis) ~ 8(8Axis), 9(Encoder1) |
Set the main-axis of the phase correction control. |
| Phase correction amount |
-2,147,483,648 ~ 2,147,483,647 |
Set the position correction amount to execute phase correction. |
| Phase correction speed |
0 ~ 2,147,483,647 | Set the axis velocity. target speed as relative velocity of the main |
| Acceleration time | 0 ~ 2,147,483,647(ms) | Set the acceleration time for the speed limit of the main-axis. |
| Deceleration time | 0 ~ 2,147,483,647(ms) | Set the deceleration time for the speed limit of the main-axis. |
| Chapter 9 Functions |
| 9-149 |
(2)Operation Timing
Time
Main-axis
position
MaIn-axis
driving
command
| ON ON ON ON ON |
CAM operation before executing phase correction | |
| Real main-axis velocity on velociry Main-axis velocity refer to sub-axis. |
Phase | correcti |
| CAM operation after executing phase correction | ||
| Real sub-axis velocity |
Sub-axis CAM
operating
command
During
operate
Sub-axis
Phase correction amount
Main-axis position refer to sub-axis.
Main-axis
velocity
Time
Sub-axis
position
Time
During operate
phase correct
operation
Sub-axis phase
correcting
command
Target
speed
(3)Restriction
For the following is considered as an error, it can’t execute the phase correction control.
(a) When phase correction command is executed with non-synchronous control (Speed synchronization,
CAM) of sub-axis, error code (771) is generated.
(b) When the phase correction amount of phase correction is set as out the range of pulse unit
expression (-2,147,483,648~2,147,483,647), error code (771) is generated.
(c) When the velocity of phase correction is set as below to 0 or exceeding the speed limit,
error code (774) is generated.
(d) When the acceleration time of phase correction is set as out the range (0~2,147,483,647),
error code (775) is generated.
(e) When the deceleration time of phase correction is set as out the range (0~2,147,483,647),
error code (775) is generated.
| Chapter 9 Functions |
| 9-150 |
Absolute Position CAM operation allows the cam to synchronize to the absolute position of the main axis.
(1) Control Characteristics
Once the command for Absolute Position CAM operation (XCAMA, XPM_CAMA) is executed, the main
axis will move to the synchronization position by moving the distance set in STRT_DST. The
synchronization position is the position of the longitudinal axis according to the cam data value set in the
cam block, which is located at the position of the main axis that has moved the distance set in STRT_DST.
The synchronization position of the main axis may move according to SLV_OFFSET and MST_OFFSET
values. Once the main axis reaches the distance set in STRT_DST, cam operation is performed according
to the cam data values set in the cam block.
(2) Parameters of Absolute Position CAM
| Category | Setting values | Description |
| Main axis | 1 (1 axis) - 8 (8 axes), 9 (Encoder1) |
Sets the main axis for cam operation. |
| Cam block | 1 (no. 1) - (no. 9) | Sets the number of the cam block. |
| Start distance |
-2147483648 - 2147483647 |
Sets the starting position of absolute position cam operation. |
| Main axis offset |
-2147483648 - 2147483647 |
Sets the position of the main axis where the longitudinal axis starts cam operation at an offset value at the main axis position. |
| Longitudinal axis offset |
-2147483648 - 2147483647 |
Sets the position of the main axis where the longitudinal axis starts cam operation at an offset value at the longitudinal axis position. |
(a) The encoder can be used as the main axis of absolute position cam operation.
(b) Different cam block numbers can be set for each axis. Also, cam operation of different axes is possible
with one cam block.
To use the user CAM operation, the cam block number must be set to 9.
(c) You can change the position of the main axis where cam synchronization starts upon cam command
execution by setting the starting distance (STRT_DST). If the starting distance is set to a small value,
the longitudinal axis may operate suddenly once the absolute position cam operation is executed and
could result in a shock.
(d) You can change the starting position of the longitudinal axis cam operation by setting the main axis
offset and the longitudinal axis offset.
(3)Restriction
The absolute position cam operation command cannot be executed under the following conditions, which
are interpreted as errors:
| Chapter 9 Functions |
| 9-151 |
(a) If the cam operation command is executed during a state where the M code signal is ON.
(Error code 702) Change the M code signal to OFF by using the M code disable command (XMOF).
(b) If the axis set as the main axis is not currently connected to the network or if the main axis settings is
identical to the command axis. (Error code 704) Set the main axis from the axes that are currently
connected to the network.
(c) If the calculated speed of longitudinal axis at the service axis position of the cam operation data
exceeds the speed limit due to the high speed of the main axis. (Error code 708) Make sure to lower
the operation speed of the main axis so that the longitudinal axis does not exceed the speed limit.
If the longitudinal axis exceeds the speed limit, an error occurs and it decelerates to a stop, according
to Decelerationtime1 of the default parameter.
| Chapter 9 Functions |
| 9-152 |
(1) Characteristics
(a) The synchronous speed designating synchronous position operates at the synchronous speed of the main
axis (or encoder) and the sub axis set according to the same rate as the operation of synchronous speed.
(b) You can designate the start position where the main and sub axes are synchronized.
(c) The operation method is as the following figure:
In the following figure, MasterSyncPosition is the “synchronous position of the main axis” and
SlaveSyncPosition is the “synchronous position of the sub axis”.
The start position of the main axis synchronization is a distance from the synchronous position of the main
axis. For example, if the main axis synchronization is 1000, the sub axis synchronization is 1000 and the
start position of the main axis is 400, the sub axis starts to operate at the position of 600 and operates at
the synchronization rate that is set at the position where the main axis is 1000 and the sub one is 1000.
(2) Operation Timing
| Chapter 9 Functions |
| 9-153 |
(3) Operation Example
Main Axis: 1, Sub Axis: 2,
Synchronous Rate: 1, Main Axis Sync. Position: 1000, Sub Axis Sync. Position: 1000
Synchronous Start Distance: 500
Synchronization starts from 500 position and Sub Axis catch the speed and position until Main/Sub Axis Sync.
Position (1000, 1000).
1ax_Pos. 2ax_Pos. 1ax_Speed 2ax_Speed
| Chapter 9 Functions |
| Modification Function of Control |
| 9-154 |
This is used to force to set the current position as the origin without carrying out the homing action of the machine.
(1) Characteristic of Control
(a) Modify the current position into “Homing end position” of homing parameter and become Origin-decided status.
(b) After floating origin setting command is executed, the current position is changed to “0”
(c) Related parameter (Homing Parameter)
Remark
Floating origin setting just executes forced origin-decision from the current position to origin completion
position. So user need to take notice as follows.
(1) When error arose, clear the cause of error and reset,
(2) set floating origin again,
(3) change the operation step no. to operate with start step no. change command and then execute.
(2) Operation timing
(3) Restrictions
If drive ready signal is in “OFF”, floating origin setting command is not executed but error (code:212)arises.
When drive ready signal is in “ON”, execute floating origin setting command.
| ON Origin |
ON Position of Homing completion |
| Origin |
Psotion
Floating Origin
setting command
Origin-decision
Signal
Position
Current position
| Chapter 9 Functions |
| 9-155 |
Execute positioning control changing the current operation step no. to the next one.
(1) Characteristics of Control
(a) When continuous operation command is executed, operating speed is changed into the speed of next
operation step directly.
(b) This command may be used in End, Go on, Continuous mode and used at Acc.,Dec.,Steady speed section.
(c) If continuous operation command is executed in operation, the current operation step no. is changed to the
next step no. and keep operating.
(d) There are differences of operation depending on between absolute coordinates and relative coordinates.
(2) Operation timing
| B A Operation mode: Singular, End Step no. : 2 de : tinuous |
Time | Speed | Time n |
Speed Operation mo Singular, Con Step no. : 1 |
Operation mode: Singular, End Step no. : 2 de : tinuous |
Operation mo Singular, Con Step no. : 1 |
unitnoCesU |
| Time ON Speed Start In operation ON Operation mode: Singular, End Step no. : 2 Operation mode : Singular, Continuous Step no. : 1 Position P1 Position P2 |
Time Speed Start In operation Operation mode: Singular, End Step no. : 2 |
oCesUtoN noitarepOsu | |||||
| In operation ON ON Position P1 Position P2 Continuous operation command |
Continuous operation command In operation ON ON Position P1 Positio P1+P2 |
||||||
| Operation on absolute coordinates | Operation on relative coordinates | nin |
ON
ON
Operation mode :
Singular, Continuous
Step no. : 1
Position P1 Position
P1+P2
tarepOsuouo■ The goal positions of continuous operation on absolute coordinates are same, so the goal position is the same
as the position before and after continuous operation. Therefore, the current position positioned by continuous
operation is P2. (A area and B area both are same size)
■ When continuous operation is executed on relative coordinates, the movement amount between current position
and goal position is the real goal position. Therefore, the goal position is different from the one without continuous
operation. The position positioned by continuous operation is P1 + P2.
| Chapter 9 Functions |
| 9-156 |
(3) Restrictions
In the cases below, continuous operation is not executed and previous operation is being kept.
(a) Acc./Dec. pattern of extended parameter is “S-curve operation”. (error code : 390)
(b) It is in dwell. (error code : 392)
(c) The current control is not shortcut position control or linear interpolation. (error code : 393)
(d) Speed data value of operation step to be executed next is 0 or exceeds the speed limit. (error code : 394)
(e) Execute continuous operation command on sub axis. (error code : 395)
User has to execute continuous operation command on main axis in linear interpolation.
(f) Execute continuous operation command on axis in circular interpolation. (error code : 396)
(g) Execute continuous operation on sub axis in sync. operation. (error code : 397)
(h) The current operation step no. is the last step(400) of operation data. (error code : 399)
(i) The current axis in operation is executed by direct start command. (error code : 400)
[Example] Execute continuous operation on axis1 operating by absolute, shortcut position control
■ Current position of Axis1 : 0
■ Setting example in XG-PM
▪ Operation data of axis1
| Step no. | Control method | Operation | Goal position [pls] |
Operation speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time |
| 1 | Absolute, shortcut position control |
Singular, end |
1000 | 1000 | No.1 | No.1 | 0 | 0 |
| 2 | Absolute, shortcut position control |
Singular, end |
5000 | 2000 | No.1 | No.1 | 0 | 0 |
■ Operation pattern
Position
| ON 0 |
ON ON 1000 |
5000 |
| Operation mode : Singular, End Operation step no. : 2 Operation mode : Singular, End Operation step no.: 1 Previous operation pattern of continuous operation Change to next step |
2000 1000 |
|
| ON |
Speed
Start command
In operation
Continuous
operation
command
Positioning
complete
| Chapter 9 Functions |
| 9-157 |
Decelerate and stop the current operation step and change to the operation data of next operation step no., then
execute positioning control.
(1) Characteristics of Control
(a) SKIP operation command stops the operation and carries out the operation of next step after executing the
command other than Continuous operation command (Next Move).
(b) This is used in case that the operation mode is End, Go-on, Continuous and the operation pattern is in
Acceleration, Constant speed, Deceleration section.
(c) If SKIP operation command is executed in the status that the operation data of next step is not yet set, Error
151 will occur.
(d) When set position data, there would be differences on skip operation command depending on absolute
coordinates and relative coordinates,
(2) Operation timing
■ The goal position of next operation step after skip operation command is executed on absolute coordinates is
the same as the case did not execute skip operation. Therefore, current position positioned by skip operation
is P2. (A area and B area both are same size)
■ When skip operation is executed on relative coordinates, the movement amount between current position and
goal position is the real goal position. Therefore, the goal position is different from the one without continuous
operation. The position positioned by skip operation is P1 + P2.
| A B Operation mode : Singular, End Step no. : 2 : uous |
Time | Speed Ope Sin Ste |
Time n |
Speed Ope Sin Ste |
ration mode gular, Contin p no. : 1 |
unitnoCesU | ration mode gular, Contin p no. : 1 |
: uous Operation mode: Singular, End Step no. : 2 |
| Time ON Speed Start In operation ON Operation mode : Singular, End Step no. : 2 Position P1 Position P2 Operation mode : Singular, Continuous Step no. : 1 |
Time ON Speed Start In operation ON Position P1+P2 Operation mode: Singular, End Step no. : 2 Position P1 Operation mode : Singular, Continuous Step no. : 1 |
oCesUtoN noitarepOsu | ||||||
| In operation ON ON Position P1 Position P2 Skip operation command |
In operation ON Position P1 Positio P1+P2 Skip operation command ON |
|||||||
| Operation on absolute coordinates | Operation on relative coordinates | nin |
B
tarepOsuouo
| Chapter 9 Functions |
| 9-158 |
(3) Restrictions
In the cases below, skip operation is not executed and previous operation is being kept.
(a) Execute skip operation command on the sub axis of linear interpolation. (error code:332)
Skip operation in linear interpolation operation must be executed on main axis.
(b) Execute skip operation command on the sub axis of sync. operation. (error code:333)
(c) Execute skip operation command on the axis in Jog operation. (error code:335)
(d) The current axis is executed by direct start. (error code:336)
(e) Execute skip operation on the axis in Inching operation. (error code:337)
(f) Execute skip operation on the sub axis of circular interpolation. (error code:338)
Skip operation in circular interpolation operation must be executed on main axis.
[Example] Execute skip operation command on axis1 operating by absolute and shortcut position control.
■ Current position of axis1 : 0
■ Setting example in XG-PM
▪ Operation data of axis1
| Step no. | Control method | Operation method |
Goal position [pls] |
Operating speed [pls/s] |
Acc.no. | Dec.no. | M code | Dwell time |
| 1 | Absolute, single axis position control |
Singular,End | 1000 | 1000 | No.1 | No.1 | 0 | 0 |
| 2 | Absolute, Single axis position control |
Singular,End | 5000 | 2000 | No.1 | No.1 | 0 | 0 |
■ Operation pattern
Position
| ON 0 |
ON ON Move to the next step 1000 |
5000 |
| Operation mode : Singular, End Operation step no. : 2 Operation mode : Singular, End Operation step no. : 1 Previous operation pattern of skip operation |
2000 1000 |
|
| ON |
Speed
Start command
In operation
Skip operation
command
Positioning
complete
| Chapter 9 Functions |
| 9-159 |
This is used to change the goal position during positioning operation by positioning data.
(1) Characteristics of Control
(a) Position override command is used in the operation pattern (Acceleration, Constant speed, Deceleration section)
and the available operation mode is End operation, Go-on operation, Continuous operation.
(b) Position setting range is –2147483648 ∼ 2147483647 Pulse.
(c) As the operation is different according to Position Override command during operation, cares should be taken
in using.
In other words, if position of position override at the moment of commanding position override is bigger than
the position it stopped at, the positioning direction would be forward. If it is smaller, the direction would be
reverse.
(d) This command may be executed several times in operation.
(2) Operation timing
If position override is executed in operation, the goal position is changed to override position1 and keep
operating. If position override for override position2 is executed at dec. area, positioning is finished by acc.
speed already set at override position2.
Position
| ON Start Curr |
Override position2 |
ent position Goal Position | Override position1 |
| ON ON ON Override position1 Ove |
|||
| ON | |||
| when decelerating, it starts acceleratin |
|||
| rride position2 |
Speed
In-operation
Setting Speed
Position override
command
Positioning complete
Position override is executed
| Chapter 9 Functions |
| 9-160 |
■ The case that override position is smaller than decelerating stop position.
(3) Restrictions
In the cases below, position override is not executed and previous operation is being kept.
(a) Execute position override in dwell. (error code:362)
(b) Current operation is not positioning control(shortcut positioning, Inching operation). (error code:363)
(c) Execute position override on the axis operating linear interpolation. (error code:364)
(d) Execute position override on the axis operating circular interpolation. (error code:365)
(e) Execute position override on the sub axis of sync. operation. (error code:366)
Position
| ON | ||
| ON | ||
| Current | position Override position | Goal position |
| reverse. |
Speed
Start command
Setting Speed
Position override
Override position is smaller
than decelerating stop position,
so the operating direction is
Setting speed
| Chapter 9 Functions |
| 9-161 |
[Example] Execute position override on axis1 operating by absolute, shortcut positon control.
■ Current position of axis1 : 0
■ Setting example in XG-PM
▪ Operation data of axis1
| Step no. | Control method | Operation method |
Goal position [pls] |
Operation speed [pls/s] |
Acc.no. | Dec.no. | M code | Dwell time |
| 1 | Absolute single axis position control |
Singular, End |
1000 | 1000 | No.1 | No.1 | 0 | 0 |
| 2 | Absolute single axis position control |
Singular, End |
5000 | 2000 | No.1 | No.1 | 0 | 0 |
■ Operation pattern
| Remark |
| If operation pattern is “continuous” and override position is bigger than goal position, keep operating at current speed then continue to operate the next step. If override position is smaller than goal position, execute decelerating stop and position in reverse direction, then continue to operate the next step. |
Position
| ON 0 |
1000 2000 Goal position Override position |
5000 |
| ON ON Ove |
||
| Operation mode : Singular, End Operation step no. : 2 Operation mode : Singular, continuous Operation step no. : 1 Operate the next step at override position |
2000 1000 |
|
| ON | ||
| rride position : 2000 |
Speed
Start command
In operation
Positioning complete
Previous operation pattern
of position override
Position override
| Chapter 9 Functions |
| 9-162 |
When user wants to change the operation speed of positioning control, user may change the speed with speed
override command.
(1) Characteristics of Control
(a) Speed override command is available in acc./steady speed area and available operation modes are “end”, “go
on” and “continuous”.
(b) It may be executed several times in operation.
(c) User may set speed override value as “%setting” or “speed setting” on [Speed override] of common parameter.
(d) Related parameter setting (common parameter)
| Items | Setting value | Description |
| Speed override | 0 : %setting | Set the speed override setting value by % |
| 1 : speed setting | Set the speed override setting value with exact number |
(e) Auxiliary data of speed override command setting
| Items | Setting value | Description |
| Speed | 1 ~ 65535 (1=0.01%) | Set the speed override setting value with percentage (If it is 100%, set 10000) |
| 1 ~ Speed limit | Set the speed override setting value directly |
(2) Operation timing
Time
| ON | |
| ON ON Ove |
ON |
| ON | |
| Previous operation pattern of override Override speed1 |
|
| rride speed1 Ove | |
| rride speed2 |
Speed
Start command
In operation
Setting speed
Speed override
Positioning complete
Override speed2
| Chapter 9 Functions |
| 9-163 |
(3) Restrictions
In the cases below, speed override is not executed and previous operation is being kept.
(a) Value of speed override exceeds speed limit of basic parameter. (error code:372)
Speed value of Speed override must be below speed limit.
Override speed of linear interpolation for each axis need to be below speed limit.
(b) Execute speed override on the sub axis of linear interpolation. (error code:373)
In linear interpolation, speed override must be executed on main axis.
(c) Execute speed override on the sub axis of circular interpolation. (error code:374)
In circular interpolation, speed override must be executed on main axis.’
(d) Execute speed override on sub axis of sync. operation. (error code:375)
(e) Execute speed override in dec. area. (error code:377)
(f) In the case that acc./dec. pattern of extended parameter is “S-curve operation”. (error code:378)
[Example] Execute speed override(50%→100%→200%→150%) on axis1 operating by absolute, shortcut
position control.
■ Current position of axis1 : 0
“Speed override” of common parameter : Set %
“Speed limit” of basic parameter : 3000 [pls/s]
■ Setting example of XG-PM
▪ Operation data of axis1
| Step no. | Control method | Operation method |
Goal position [pls] |
Operation speed [pls/s] |
Acc.no. | Dec.no. | M code | Dwell time |
| 1 | Absolute, single axis position control |
Singular, End |
1000 | 2000 | No.1 | No.1 | 0 | 0 |
■ Operation pattern
Time
ON
Speed
Start command
In operation
| ON Override speed : 50% ON Override speed : 100% Override speed : 200% Override speed : 150% |
2000
Speed override
command
ON
Positioning
complete
ON
ON
Previous
operation pattern
of speed override
3000
1000
ON
Speed limit
4000 Not operate because of
exceeding speed limit
Override speed : 50%
Override speed : 100%
Override speed : 150%
Override speed : 200%
| Chapter 9 Functions |
| 9-164 |
This is the command to operate by the changed operation speed if it reaches the setting position during
positioning operation.
(1) Characteristics of Control
(a) This command is used only in Acceleration and Constant speed section from operation pattern and the
available operation mode is End, Go-on, Continuous operation.
(b) As this command is not carried out in Deceleration section, cares should be taken in using.
(c) The position setting range is –2147483648 ∼ 2147483647 Pulse.
(d) User may set speed override value as “%setting” or “speed setting” on [Speed override] of common parameter.
(e) User may select that consider the designated position value on “coordinates of positioning speed override” of
extended parameter as an absolute position or a relative position.
(f) Related parameter setting
■ Common parameter
| Items | Setting value | Description |
| Speed override | 0 : Set % | Set the value of speed override by % |
| 1 : Set speed | Set the value of speed override with exact number |
■ Extended parameter
| Items | Setting value | Description |
| Coordinates of positioning speed override |
0 : Absolute | Speed override is executed in the designated absolute position |
| 1 : Incremental | Start speed override from the position increment added |
(g) Auxiliary data setting of positioning speed override command
| Items | Setting value | Description |
| Position | -2147483648 ~ 2147483647 | Set the position to start speed override |
| Speed | 1 ~ 65535 (1=0.01%) | If speed override is “%”, set the speed by % (100% is 10000) |
| 1 ~ Speed limit | If speed override is “Exact number”, set the speed with exact number |
| Remark |
| While the current position is not exactly same as the value set on speed override, if the position of speed override is at between previous scan and current scan, speed override is executed at the speed set. |
| Chapter 9 Functions |
| 9-165 |
(2) Operation timing
(3) Restrictions
In the cases below, positioning speed override is not executed and previous operation is being kept.
(a) Current operation is not positioning (shortcut position control, Inching operation) control. (error code:382)
(b) The value of speed override exceeds speed limit of basic parameter. (error code:383)
The speed value of speed override must be below speed limit.
Override speed of linear interpolation for each axis need to be below speed limit.
(c) Execute positioning speed override on the sub axis of linear interpolation. (error code:384)
In linear interpolation, positioning speed override must be executed on main axis.
(d) Execute speed override on the sub axis of circular interpolation. (error code:385)
In circular interpolation, positioning speed override must be executed on main axis.’
(e) Execute speed override on sub axis of sync. operation. (error code:386)
(f) In the case that acc./dec. pattern of extended parameter is “S-curve operation”. (error code:389)
(g) If execute positioning speed override in dec. area., although error does not arise but speed override is not
executed. However, execute positioning speed override command in non-dec. area and speed override is
executed when it is decelerating, error arises. (error code:377)
Position
| ON Starting position |
Position of speed override | Goal positio |
| ON ON |
||
| ON | ||
| not executed here |
Speed
Start command
In operation
Setting speed
Positioning
speed override
Positioning complete
Speed override is
Override speed
| Chapter 9 Functions |
| 9-166 |
[Example] Execute positioning speed override at 4000 [pls/s] at 2000(position of speed override) on
axis1 operating by absolute, shortcut position control.
■ Current position of axis1 : 0
「Speed override」 of common parameter : Speed setting
「Speed limit」 of basic parameter : 5000 [pls/s]
「Coordinates of positioning speed override」 of extended parameter : Absolute
■ Setting example in XG-PM
▪ Operation data of axis1
| Step no. | Control method | Operation method |
Goal position [pls] |
Operation speed [pls/s] |
Acc.no. | Dec.no. | M code | Dwell time |
| 1 | Absolute single axis position control |
Singular, End |
5000 | 2000 | No.1 | No.1 | 0 | 0 |
■ Operation pattern
Position
| ON 0 |
2000 | 5000 Position for Speed override |
Starting position |
Goal position |
| ON ON Pos 200 |
||||
| 2000 5000 4000 |
Speed limit | |||
| ON | ||||
| ition for speed override 0 |
: |
Speed
Start command
In operation
Positioning
complete
Override speed : 4000
Positioning
speed override
command
| Chapter 9 Functions |
| 9-167 |
This command is for changing the current position value to the value at user’s pleases.
(1) Characteristics of Control
(a) If user uses this command, the origin-undecided status becomes origin-decided status.
(b) When the current position is changed by position changing command, the mechanical origin position is
changed. If user wants to use the mechanical origin again, has to execute homing command.
(c) The current position preset command may not be executed in operation.
(d) Auxiliary data setting of current position preset command.
| Items | Setting value | Description |
| Position | -2147483648 ~ 2147483647 | Set the position to change |
(2) Operation timing
(3) Restrictions
In the cases below, current position preset is not executed and error arises.
(a) Setting value of current position preset exceeds soft high/low limit of extended parameter. (error code:452)
ON
Current position
preset command
ON
Origin-deciding
signal
Position
Time
Current
position
Preset
position
Origin
If the position to preset is 0
Origin
Soft low limit
Soft high limit
| Chapter 9 Functions |
| 9-168 |
This command is for changing the value of current encoder position to the value at user’s pleases.
(1) Characteristics of Control
(a) User may change the current position value.
(b) If there is an encoder being main axis, the speed of sub axis is possible to be changed dramatically, so encoder
preset command may not be executed.
(c) Encoder preset command should be executed in the status that external encoder pulse input is not entered.
(d) Auxiliary data setting of encoder preset command
| Items | Setting value | Description |
| Position | -2147483648 ~ 2147483647 |
Set the encoder position to change on selected encoder |
| Types | 0 : Encoder1 | Select encoder to change |
(2) Operation timing
(3) Restrictions
In the cases below, encoder preset command may not be executed and error arises.
(a) There is an encoder 1 operating as a main axis (error code: 532)
(b) Position value of encoder1 preset exceeds the max./min. value of encoder1 of common parameter.
(error code:534)
ON
Encoder preset
command
Encoder Position
Time
Current position
Position to preset
Min. value of encoder
Max. value of encoder
0
Encoder A phase
input
Encoder B phase
input
… …
| Chapter 9 Functions |
| 9-169 |
This command is for changing the current step no. when executing indirect start command.
(1) Characteristics of Control
(a) When starting with setting step no. as 0 in indirect start command, current operation step no. is executed. The
current step no. may be changed by start step no. change command.
(b) This command may be only executed in stop motion or error arises.
(c) Auxiliary data setting of start step no. change command.
| Items | Setting value | Description |
| Step | 1 ~ 400 | Set the step no. to change |
(2) Operation timing
(3) Restrictions
In the case below, start step no. change command is not executed.
(a) Step no. to change is out of 0 ~ 400. (error code:442)
If step no. is 0, keep the current step no.
Time
| ON ) . 1 . |
ON n |
1 | 2 | n | n+1 |
| ON | no | . : n | ON | ||
| ON Step |
|||||
| ON | ON | ||||
| Operation step no. : 1 Operation step no. : n |
Speed
Start command
(IST Step:0In-operation
Start step nochange command
Positioning
complete
Current step no
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| 9-170 |
This command is for changing the repeat operation step no will be executed next.
(1) Characteristics of Control
(a) In case of repeat operation mode setting (End, Go-on, Continuous operation), the current operation step no.
will be changed automatically to operate the step no.1 when repeat operation mode setting step completes
the positioning operation but if start step no. change command is executed in repeat operation, the step no.
will be changed with the assigned step no. not the step no.1 .
(b) The repeat operation step no. change command can be executed during positioning operation.
(c) Auxiliary data setting of repeat operation step no. change command
| Items | Setting value | Description |
| Step | 1 ~ 400 | Set the repeat operation step no. to change |
(2) Operation timing
| Remark |
| The current operation step is not changed at the moment of executing the command. After “Repeat” positioning data operation is finished, it is changed to the step designated by repeat operation step no. change command. |
Time
| ON ) 10 . |
ON 1 |
10 | 1 | 1 | n |
| ON | no. : n | ON | |||
| ON Step |
|||||
| ON | ON | ||||
| Operation step no. : 10 Repeat, End |
Operation step no. : 1 It is before executing Repeat, End repeat operation step no. change command, So become “1” |
Speed
Start command
(IST step:0In operation
Repeat operation
step no. change
command
Positioning
complete
Current step noBeing changed to the
designated step no.
| Chapter 9 Functions |
| 9-171 |
(3) Restrictions
In the case below, repeat operation step no. change command is not executed.
(a) Step no. to change is out of 0 ~ 400. (error code:442)
If the step no. is 0, keep the previous step no.
[Example] Execute repeat operation step no. change command on axis1 operating by absolute, shortcut
position control.
■ Current position of axis1 : 0
■ Setting example in XG-PM
▪ Operation data of axis1
| Step no. | Control method | Operation method |
Goal position [pls] |
Operation speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time |
| 1 | Absolute single axis position control |
Singular, Go on |
1000 | 1000 | No.1 | No.1 | 0 | 0 |
| 2 | Absolute single axis position control |
Singular, continuous |
2000 | 2000 | No.1 | No.1 | 0 | 0 |
| 3 | Absolute single axis position control |
Singular, continuous |
4000 | 3000 | No.1 | No.1 | 0 | 0 |
| 4 | Absolute single axis position control |
Repeat, Continuous |
2000 | 3000 | No.1 | No.1 | 0 | 0 |
| 5 | Absolute single axis position control |
Singular, End. |
5000 | 2000 | No.1 | No.1 | 0 | 0 |
■ Operation pattern
Time
| ON ) 1 . |
1 2 3 4 2 3 Repeat, Continuous Singular,C ontinuous Repeat,Go on 4 |
|
| ON ON Step no. : 2 |
||
| 2 | ||
| Singular, Continuous |
Step no.2, 3, 4 are repeated ingular,C ntinuous |
Singular, continuous Singular, continuous S o |
Speed
Start command
(IST Step:0In operation
Repeat operation
step no. change
command
Positioning
complete
Current step no1000
2000
3000
-3000
| Chapter 9 Functions |
| 9-172 |
Infinite Running Repeat Function means the function refreshing the command position and current position value
automatically and periodically with the value specified “Infinite Running Repeat Position” at extended parameter.
If you use this function, positioning with repeated position value for the same direction is available.
(1) Characteristics of Control
(a) If you set “Infinite Running Repeat” of the Extended parameter as “1: Enable”, you can use “Infinite Running
Repeat” function.
(b) Set the position value to be refreshed automatically at “Infinite Running Repeat position” of the extended
parameter.
(c) When “Infinite Running Repeat” parameter is “1: Enable”, command position and current position value are
expressed as 0 ~ “Infinite Running Repeat - 1”
(d) When setting “Infinite Running Repeat” parameter as “1: Enable”, if current position is out of the range of
Infinite Running Repeat, it will be changed into the value within the range of Infinite Running Repeat
automatically.
[Ex1] In case current position is 32100, infinite running repeat position is 10000,
When setting “Infinite Running Repeat” parameter as “1: Enable”, current position will be 2100.
[Ex2] In case current position is -32100, infinite running repeat position is 10000,
When setting “Infinite Running Repeat” parameter as “1: Enable”, current position will be 7900.
. (e) Setting the extended parameter related with infinite running repeat function
| Item | Setting value | Description |
| Infinite running repeat position |
Sets the repeated position value to be refreshed automatically. |
|
| Infinite running repeat |
0: Disable 1: Enable |
Sets whether to enable Infinite running repeat function or not. |
pulse 1∼ 2147483647[pulse]
mm 1∼ 2147483647[X10-4mm]
Inch 1∼ 2147483647[X10-5Inch]
degree 1∼ 2147483647[X10-5degree]
Infinite running repeat position
0
| Chapter 9 Functions |
| 9-173 |
(f) Shortest distance control
1) In case of absolute coordinate positioning, it automatically selects the rotation direction that makes the
object reach the target position through shortest distance
2) Shortest distance control operates only when Control method of Direct Start Command (XDST, XPM_DST)
is set as “3: Shortest Distance Control”.
3) Restriction
In the following case, Shortest Distance Control can’t be executed.
a) When coordinate is set as incremental coordinate (Error code: 266).
b) When target position value is out of 0~Infinite Running Repeat Position (Error code: 227)
(g) If Infinite Running Repeat function is enabled, you can’t execute single-axis continuous operation and
interpolation control.
(2) Operation Diagram
| Remark |
| You can’t change Infinite Running Repeat setting during operation. If you enable Infinite Running Repeat setting during stop state, in case current position is larger than Infinite Running Repeat position, current position will be changed to the value within Infinite Running Repeat position. |
| Current Time Repeat“0: Disable” “1: Enable” |
(3) Restriction
When Infinite Running Repeat function is set as “1: Enable”, in the following case, error occurs.
(a) When starting the operation step which is set as “Single-axis position control”, “Continuous” (Error code:
239)
(b) When starting the operation step which is set as “Linear interpolation” or “Circular interpolation” (Error
code: 240)
Position
Infinite
Running
Repeat
Position
(10000)
Infinite Running
0
15000
Infinite Running Repeat
| Chapter 9 Functions |
| 9-174 |
(4) Operation Example
[ EX1 ] It executes absolute, single-axis position control with the following settings while Infinite Running
Repeat = 10000 pulse, Infinite Running Repeat “1: Enable”
■ Start position : 2000 pulse, target position : 10000 pulse
■ Setting example of XG-PM
| Step No. | Control type | Operation type |
Target position [pls] |
Operation speed [pls/s] |
Acc. No. | Dec. No. | M code | Dwell time |
| 1 | Absolute, single axis position control |
Single, End | 10000 | 1000 | No. 1 | No. 1 | 0 | 100 |
■ Operation pattern
| Transfer amount = 8000 Dwell time = 100ms |
| O N |
| ON |
| O |
Speed
Time
Start
command
In operation
In dwell
1000
N
Position
0
2000
10000
(Infinite Running
Repeat position)
Time
| Chapter 9 Functions |
| 9-175 |
[ EX2 ] It executes absolute, single-axis position control with the following settings while Infinite Running
Repeat = 10000 pulse, Infinite Running Repeat “1: Enable”
■ Start position : 2000 pulse, target position : -15000 pulse
■ Setting example of XG-PM
| Step No. | Control type | Operation type |
Target position [pls] |
Operation speed [pls/s] |
Acc. No. | Dec. No. | M code | Dwell time |
| 1 | Absolute, single axis position control |
Single, End | -15000 | 1000 | No. 1 | No. 1 | 0 | 100 |
■ Operation pattern
| Transfer amount = 8000 Dwell time = 100ms |
| O N |
| ON |
| O |
Speed
Time
Start
command
In operation
In dwell
1000
N
Position
0
2000
10000
(Infinite Running
Repeat position)
Time
| Chapter 9 Functions |
| 9-176 |
[ EX3 ] It executes absolute, single-axis position control with the following settings while Infinite Running
Repeat = 360.0 degree, Infinite Running Repeat “1: Enable”
■ Start position : 270.0 ˚, target position : 45.0 ˚, operation speed: 1000
1) Direct start control word setting = Absolute, shortest distance control
| 15 ~ 12 | 11 ~ 10 | 9 ~ 8 | 7 ~ 5 | 4 | 3 ~ 2 | 1 ~ 0 |
| - | Dec. Time | Acc. Time | - | 0:absolute coordinate |
- | 3:shortest distance control |
■ Operation pattern
Transfer
amount =
135.0
| Speed Time Start command In operation 1000 Position 0 270.0 Time 45° 270° 45.0 |
| 2) Direct start control word setting = Absolute, 0: Position control |
| ■ Operation pattern |
| Speed Time Start command In operation -1000 0 270.0 360.0 Time 45° 270° 45.0 |
ON
ON
15 ~ 12 11 ~ 10 9 ~ 8 7 ~ 5 4 3 ~ 2 1 ~ 0
- Dec. Time Acc. Time - 0:absolute
coordinate -
0: Position
control
Transfer
amount =
225.0
ON
ON
Position
| Chapter 9 Functions |
| 9-177 |
To change the operating speed or the acceleration/deceleration rate of the positioning control currently in
operation, use the speed acceleration/deceleration override command. (XSETOVR/XPM_SETOVR)
(3) Control Characteristics
(a) The speed acceleration/deceleration override command can be used only in accelerating sections or
during constant speed sections of operation. Available operation commands are: End operation,
continuous operation, and consecutive operation.
(b) Multiple executions are possible during an operation.
(c) You can set the speed override value as "designate %" or
designate speed" in the speed override of the common parameter.
(d) Setting Related Parameters (Common Parameter)
| Category | Setting values | Description |
| Speed override |
0: Designate % | Designates the setting value of speed override as a % of the set speed. |
| 1: Designate speed | Designates the setting value of speed override directly as the driving speed. |
(e) Setting Secondary Data of the Speed Override Command
| Category | Setting values | Description |
| Speed | 1 – 65,535 (1= 0.01%) | If speed override is set as "Designate%", specify the percentage. (E.g. Set 10,000 for 100%) |
| 1 - speed limit value | If speed override is set as "Designate speed", specify the driving speed. |
(4) Movement timing
(a) Command
| Chapter 9 Functions |
| 9-178 |
(b) Function block
Speed
Setting speed
Start command
| ON Acc.Dec. ON |
|
| Override speed1 Previous operation Override speed2 pattern of overrid |
|
| ON Ove |
|
| ON | |
| ON | |
| rride speed1 Ove | rride speed2 |
Time
Speed overrideIn operation
Positioning
complete
(4) Limitations
(a) Speed override is not executed in the following cases, which are interpreted as errors, and the
previous speed shall be maintained.
(b) If the speed override value exceeds the speed limit value of the default parameter. (Error code: 372)
Set the speed value of the speed override as lower than the speed limit value.
If possible, set the speed override of the linear interpolation control as less than the speed limit for
each interpolation axis.
(c) If the speed override command is executed on the longitudinal axis of linear interpolation.
(Error code: 373) If the linear interpolation is operating, the speed override command must be
executed on the main axis.
(d) If the speed override command is executed on the longitudinal axis of circular interpolation.
(Error code: 374) If the circular interpolation is operating, the speed override command must be
executed on the main axis.
(e) If the speed override command is executed on the longitudinal axis of synchronized interpolation.
(Error code: 375)
(f) If the speed override command is executed in the deceleration section. (Error code: 377)
(g) If the acceleration/deceleration pattern of the extended parameter is "S-curve drive."
(Error code: 378)
(h) If a 0, or a value greater than 3, is entered for the driving direction. 781)
Enter only 1 (forward direction), 2 (reverse direction), or 3 (current direction) for the driving direction.
(i) If a negative speed value is designated during the position control operation. (Error code: 782)
If the speed override command of the common parameter Designate& and a value greater than
65,535 is executed for acceleration or deceleration. Error code: 783)
| Chapter 9 Functions |
| 9-179 |
Auxiliary Function of Control
Positioning module includes Hardware high/low limit and Software high/low limit.
(1) Hardware High/Low Limit
(a) This is used to stop the positioning module promptly before reaching Stroke limit/Stroke End of the Driver by
installing the stroke limit of positioning module inside Stroke limit/Stroke end of the Driver. In this case, if it is
out of the high limit, Error 492 will occur and if it is out of the low limit, Error 493 will occur.
(b) Input of high/low limit switch is connected to input/out terminal block.
(c) When positioning module is not in the controllable area, positioning operation is not executed.
(d) If it is stopped by hardware high/low limit detection, move it into the controllable area with Jog operation in
reverse direction of detected signal.
(e) Hardware high/low limit is shown as follows.
| Moving Direction Start Start Moving Direction Control available range of positioning module |
| Switch of lower limit |
| Emg.Stop when upper detection Emg.Stop when lower detection |
| Switch of upper limit |
Upper Lower
Servo
Drive
Stopper
Stopper
XGF-PN4B
XGF-PN8B
EtherCAT
(f) Emergent stop when hardware high/low limit is detected
When hardware high/low limit is detected, stop the current positioning control and then decelerate within “Dec.
time for Emergent stop”.
■ Related parameter setting (Basic parameter)
| Items | Setting value | Description |
| Dec. time of Emergent stop |
0 ~ 2147483647 [ms] | Set the dec. stop means the time needed at decelerating by bias speed. time for emergent stop. Dec. time for emergent |
| Chapter 9 Functions |
| 9-180 |
(2) Software High/Low Limit
(a) This command is for setting the movable range of machine as software high/low limit. If it is out of the range
in operation, stop emergently within dec. time for emergency. In other words, this command is for preventing
errors, malfunctions and being out of range.
(b) If it is out of the range of software high/low limit, set external input high/low limit for use.
(c) Checking range of software high/low limit is executed at the beginning.
(d) If software high/low limit is detected, error arises. (High limit error:501, Low limit error:502)
(e) User may set the position value of high/low limit on extended parameter.
■ Related parameter setting (Extended parameter)
| Items | Setting value | Description |
| Soft High Limit | -2147483648 ~ 2147483647 |
Set the position of soft high limit |
| Soft Low Limit | -2147483648 ~ 2147483647 |
Set the position of soft low limit |
(f) When an object stops because of detection of software high/low limit, move the object within control area by
using JOG operation.
(g) Software high/low limit is shown as follows.
| Software Low limit Software High limit |
| Position Positioning complete signal Emergent stop S |
Moving range of machine
Start command
In operation
ON
ON
Soft High limit
oft low limit
| Chapter 9 Functions |
| 9-181 |
(h) In the case below, software high/low limit are not detected.
▪ The value of soft high limit 2147483647, the value of soft low limit is -2147483648
▪ The value of soft high and low limit are same. (High limit = Low limit)
| Remark | ot detect software high/low limit in origin-undecided state tect software high/low limit lue of current position becomes 2147483647 in forward operation, the current position becomes 3646 and keeps operating in forward direction. lue of current position becomes -2147483647 in reverse operation, the current position becomes 3646 and keeps operating in reverse direction. MG. Stop by detection of software upper limit, if position value exceeds position max. value 647 and becomes (-) position value, when executing JOG reverse operation, software lower limit curs. In this case, set the software upper/lower limit as max/min value so software limit is not and move the object within control area with JOG reverse operation. Then reset the software limit. G. Stop by detection of software upper limit, if position value exceeds position min. value - 647 and becomes (+) position value, when executing JOG forward operation, software upper limit curs. In this case, set the software upper/lower limit as max/min value so software limit is not and move the object within control area with JOG forward operation. Then reset the software limit. |
| (1) It does n (2) Not to d If the va -214748 If the va 214748 (3) After E 2147483 error oc detected (4) After E 2147483 error oc detected |
| Chapter 9 Functions |
| 9-182 |
This is used to confirm the current operation step no. and carry out the auxiliary work (Clamp, Drill rotation, Tool
change etc.) by reading M Code from the program.
(1) Characteristics of Control
(a) M code should be set in the M code item of operation data.(Setting range : 1 ~ 65535)
(b) If M code is set as “0”, M code signal will not occur.
(c) If M code occurs, M code no.(1 ~ 65535) and M code signal (On) will occur simultaneously.
(d) In case of Go-on operation mode, if M code no. and M code signal occur, it becomes standby for the next step;
if executing M code release command, it carries out Go-on operation to the next step without start command.
(e) In continuous operation mode, even if M code no. and M code On signal occur, not to wait but execute
continuous operation to the next step.
(f) User may turn M code signal off and set M code no. to 0 with M code release command. M code release
command can be used even during operation.
(g) M code mode is set from M code output item of extended parameter. ( 0 : NONE, 1 : WITH, 2 : AFTER)
■ Related parameter setting (Extended parameter)
| Items | Setting value | Description |
| M code mode | 0 : None | Not to output M code signal and M code no. |
| 1 : With | Start and turn M code signal on at the same time, then output M code no. set in operation data. |
|
| 2 : After | After finishing positioning by start command, turn M code signal on and then output M code no. set in operation data. |
(2) Operation timing
| Time Time Start command In operation Positioning complete M code no Dwell time M code ON 0 M code release |
Time Time Start command In operation Positioning complete M code no. 0 M code ON M code release m |
| 1 : With mode | 2 : After mode |
ON
ON
. 0
ON
ON
m
ON
ON
ON
ON
Dwell
time
ON
0
ON
| Chapter 9 Functions |
| 9-183 |
[Example] Set M code no. in operation data as follows and execute absolute, shortcut positioning
control.
■ Current position of axis1 : 0
M code mode of basic parameter : With
■ Setting example in XG-PM
▪ Operation data of axis1
| Step no. | Control method | Operation method |
Goal position [pls] |
Operation speed [pls/s] |
Acc. no. | Dec. no. | M code | Dwell time |
| 1 | Absolute, single axis positioning control |
Singular, continuous |
1000 | 2000 | No.1 | No.1 | 100 | 100 |
| 2 | Absolute, single axis positioning control |
Singular, continuous |
3000 | 2000 | No.1 | No.1 | 200 | 100 |
| 3 | Absolute, single axis positioning control |
Singular, continuous |
5000 | 2000 | No.1 | No.1 | 300 | 100 |
■ Operation pattern
Time
| ON . 0 |
Start “go on” | Start “go on” |
| ON | ||
| ON | ON | ON |
| Singular, Go on Singular, Go on Singular, End Dwell time Dwell time Dwell time Operation step no. : 1 Operation step no. : 2 Operation step no.: 3 |
Speed
Start command
In operation
ON
Positioning
complete
M code nooutput
M code ON
300
M code
release
100 0 200 0
ON ON
2000
| Chapter 9 Functions |
| 9-184 |
The latch function supported by XGF-PN4B/PN8B can catch current position of servo drive. And then you can
read position data of latch by command from CPU when touch probe 1 of servo drive signal is inputted.
(1) Characteristic of control
(a) To use the latch features supported by XGF-PN4B/PN8B, please set latch function enable/disable and
latch mode by using command of latch setting.
| Item | Setting value | Contents |
| Latch Enable/Disable |
0: Disable | Prohibit latch function. It is ignored even if signal of touch probe1 is inputted. |
| 1: Enable | Enable latch function. Set trigger mode operates if signal of touch probe1 is inputted. |
|
| Latch mode | 0: Single trigger | After being latch enable, only the first touch probe 1 signal can do latch of current position. |
| 1: Continuous trigger |
After being latch enable, every touch probe 1 signal can do latch. |
(b) The moment that signal of touch probe 1 is on, it saves current position value of servo drive to latch position
data.
(c) The position data of latch can be saved up to 10. When the latch position data is more than 10, it is deleted
from the oldest position data of latch and save new latch data. That is, 10 data of latch position data of
current is maintained.
(d) If the signal of touch probe 1 is on to latch is completed, Bit 8: “Complete latch” is on among axis information
of status information. The status bit of “Complete latch” is on until reset by command of latch reset(XLCLR,
XPM_LCLR).
| Item | Setting value | Contents |
| Item of latch reset |
0: Status reset of latch completion |
Reset the bit of latch completion among axis information of status information. |
| 1: Reset of latch position data and latch complete status |
Reset latch position data and latch complete status to 0 with the latch completion status to off. |
If latch mode is single trigger, you can use latch function by signal of touch probe 1 again with latch reset
command that is executed after operating the latch function by the first signal of touch probe 1. (After
setting latch set command to enable, it works in the same way when you operate again)
(e) You can read the number of latch position data and latch position data by reading command of latch
position data(XLRD, XPM_LRD) from CPU. Auxiliary data to be used for reading command of latch
position data is as follows.
| Item | Setting value | Contents |
| Saving device of latch data |
Device | Set the device position data is saved. that the number of latch position data and latch |
| Chapter 9 Functions |
| 9-185 |
The value that is saved to device address is as follows.
| Device Number | Size | Contents |
| Device | WORD | The number of latch position data |
| Device+1 | WORD | - |
| Device+2 | DINT | The latch position data 1 |
| Device+4 | DINT | The latch position data 2 |
| Device+6 | DINT | The latch position data 3 |
| Device+8 | DINT | The latch position data 4 |
| Device+10 | DINT | The latch position data 5 |
| Device+12 | DINT | The latch position data 6 |
| Device+14 | DINT | The latch position data 7 |
| Device+16 | DINT | The latch position data 8 |
| Device+18 | DINT | The latch position data 9 |
| Device+20 | DINT | The latch position data 10 |
(f) Motion timing(single trigger mode)
| Position Time Status of latch completion Speed 3000 Time Signal of touch probe1 10500 Start command Command of latch reset(Reset latch completion) Command of latch setting(Enable latch) |
| Reading address of latch data |
ON
The number of latch position data = 2
Latch position data 1 = 3000
Latch position data 2 = 10500
::
Latch position data 10
ON
1 2
ON
In single trigger mode, only the first touch probe 1 signal can do latch of current position after being latch
enable
You can use latch function by signal of touch probe 1 again with latch reset command that is executed
after operating the latch function by the first signal of touch probe 1.
| Chapter 9 Functions |
| 9-186 |
(g) Motion timing(Continuous trigger mode)
| Position Status of latch completion Speed 3000 Time Signal of touch probe1 10500 Start Command Command of latch reset(Reset latch completion Command of latch setting (Enable latch ) 5500 8000 |
| Reading address of latch data |
Time
ON
The number of latch position data = 4
Latch position data 1 = 3000
Latch position data2 = 5500
::
Latch position data 10
ON
1 4
ON
2 3
Latch position data3 = 8000
Latch position data4 = 10500
In continuous trigger mode, every touch probe 1 signal can do latch after being latch enable.
| Chapter 9 Functions |
| 9-187 |
The touch probe function supported by XGF-PN4B/XGF-PN8B can read position data latched by commands in the
CPU by latching the current position of a servo drive when the rising or falling edges of the Touch Probe 1 or the
Touch Probe 2 of the servo drive are triggered.
(1) Characteristics of Control
(a) To use the touch probe function supported by XGF-PN4B/XGF-PN8B, you should set a trigger input
signal and a trigger mode through the command to set touch probes. The auxiliary data used in the
command to set touch probes is as follows:
| Item | Setting value | Content |
| Trigger input | 0: Rising Edge of the Touch Probe 1 |
Save the position data triggered from the rising edge of the Touch Probe 1. |
| 1: Rising Edge of the Touch Probe 2 |
Save the position data triggered from the rising edge of the Touch Probe 2. |
|
| 2: Falling Edge of the Touch Probe 1 |
Save the position data triggered from the falling edge of the Touch Probe 1. |
|
| 3: Falling Edge of the Touch Probe 2 |
Save the position data triggered from the falling edge of the Touch Probe 2. |
|
| 4: Index (Z) Pulse of the Touch Probe 1 |
Save the position data triggered from the index (Z) pulse of the Touch Probe 1. |
|
| 5: Index (Z) Pulse of the Touch Probe 2 |
Save the position data triggered from the index (Z) pulse of the Touch Probe 2. |
|
| Trigger Mode | 0: Single trigger | The current position is latched only by the first touch probe signal to be input. |
| 1: Double trigger | The current position is latched by every touch probe signal. |
(b) When touch probes or index (Z) pulse signals are turned on, the current position value of a servo drive
is saved in the position data.
(c) When touch probes or index (Z) pulse signals are turned on and the latch is completed, information is
saved in Bit 5: “Trigger is Completed” of axis information under the status information. The “Trigger is
Completed” status bit remains ‘On’ until it is reset by trigger abortion commands (XABORTT,
XPM_ABORTT). The auxiliary data used in trigger abortion commands is as follows.
| Item | Setting value | Content |
| Trigger input | 0: Rising Edge of the Touch Probe 1 |
Abort trigger setting of the rising edge of the Touch Probe 1. |
| 1: Rising Edge of the Touch Probe 2 |
Abort trigger setting of the rising edge of the Touch Probe 2. |
|
| 2: Falling Edge of the Touch Probe 1 |
Abort trigger setting of the falling edge of the Touch Probe 1. |
|
| 3: Falling Edge of the Touch Probe 2 |
Abort trigger setting of the falling edge of the Touch Probe 2. |
|
| 4: Index (Z) Pulse of the Touch Probe 1 |
Abort trigger setting of the index (Z) pulse of the Touch Probe 1. |
|
| 5: Index (Z) Pulse of the Touch Probe 2 |
Abort trigger setting of the index (Z) pulse of the Touch Probe 2. |
|
| Trigger Reset Items |
0: Reset the status that completes triggers |
Reset the trigger completion bit of axis information under the status information. |
| 1: Reset the status that completes triggers and the data of latch positions |
Turn off the trigger completion status and reset the number of latch position data and the latch position data to 0. |
(d) When a latch mode is a single trigger, if you run a trigger abortion command after a latch function
operates in the first touch probe or index (Z) pulse signal, you can use a trigger function again in the
following touch probe or index (Z) pulse signal: (Even if you run a touch probe setting command again,
it operates identically.)
| Chapter 9 Functions |
| 9-188 |
(e) Index (Z) pulse, and rising and falling edges of each touch probe can not be run simultaneously.
(f) You can designate an area where a latch (touch probe) function operates.
- If a tolerance area is designated, you can let it operate only within the designated area.
- When it is an infinite repeating operation (a rotational axis), its relationship with a latch (touch probe) operation area according
to the start and end positions of a tolerance area is as follows:
End of
Allowed area
Start of
Allowed area
0
- +
End of
Allowed area
Start of
Allowed area
0
- +
Start of Allowed
area
End of
Allowed area
0
- +
Start of
Allowed area
End of
Allowed area
0
- +
Operate area
If the start position of a allowed area > the end
If the start position of a allowed area < the end
Operate area
Operate area
(g) To use a latch (touch probe) function, the PDO setting of a slave parameter must include the following
object.
| Trigger input | RxPDO | TxPDO |
| The Rising Edge of the Touch Probe 1 |
0x60B8:0 Touch Probe Function | 0x60B9:0 Touch Probe Status 0x60BA:0 Forward Position Value of the Touch Probe 1 |
| The Rising Edge of the Touch Probe 2 |
0x60B8:0 Touch Probe Function | 0x60B9:0 Touch Probe Status 0x60BC:0 Forward Position Value of the Touch Probe 2 |
| The Falling Edge of the Touch Probe 1 |
0x60B8:0 Touch Probe Function | 0x60B9:0 Touch Probe Status 0x60BB:0 Forward Position Value of the Touch Probe 1 |
| The Falling Edge of the Touch Probe 2 |
0x60B8:0 Touch Probe Function | 0x60B9:0 Touch Probe Status 0x60BD:0 Forward Position Value of the Touch Probe 2 |
| Chapter 9 Functions |
| 9-189 |
(h) If using a latch command when there are not the above objects, the following errors occur according to
each trigger input:
| Trigger input | Error code |
| The Rising Edge of the Touch Probe 1 |
752 |
| The Rising Edge of the Touch Probe 2 |
753 |
| The Falling Edge of the Touch Probe 1 |
754 |
| The Falling Edge of the Touch Probe 2 |
755 |
(i) With the read command (XLRD, XPM_LRD) of latch position data in the CPU you can read the number
of latch position data and the latch position data. The auxiliary data using the read command of latch
position data is as follows:
| Item | Setting value |
Content |
| Latch data Saving device |
Device | Set the device where the number of latch position data and the value of latch position data are saved. |
| Chapter 9 Functions |
| 9-190 |
Data Modification Function
This function is for changing operation data and operation parameter of positioning module.
User may change the operating speed and the goal position of the step user designated with teaching command
but without XG-PM.
(1) Characteristics of Control
(a) This command is for changing operating speed or the goal position on several steps.
(b) User may change maximum 16 data.
(c) RAM teaching and ROM teaching are available depending on the saving position.
■ RAM teaching
When executing teaching to operation data of positioning module and operating positioning module in power
connection, user may change speed value or position value but the speed value and position value are not
saved in non-power connection.
■ ROM teaching
When executing teaching to operation data of positioning module and operating positioning module in power
connection, user may change speed value or position value and operation data is saved permanently by saving
operation data to MRAM(non-volatility memory) even in non-power connection.
(d) The value of goal position being changed is position teaching, the value of operating speed being changed is
speed teaching.
(e) The axis in operation may be the subject of position teaching or speed teaching.
(f) If user changes the value of goal position or operating speed frequently, this command is very useful for it.
(g) Auxiliary data setting of teaching array command
| Items | Setting value | Description |
| Step | 0 ~ 400 | Set the step no. for teaching |
| Position | 0 : RAM teaching 1 : ROM teaching |
Set the method of teaching |
| Data | 0 : Position 1 : Speed |
Set the data items for teaching |
| The No. | 1 ~ 16 | Set the number of operating step |
(h) Even though teaching can be performed even when the axis subject to teaching is being operated but, only
the current step’s data is reflected after the current step operation is completed if the step that is currently
running is within the step area while other steps’ data are immediately changed.
Remark
The teaching data must be set in the data setting area for teaching array before teaching array command
is executed. Refer to the teaching array command XTWR.
(2) Restrictions
Teaching array command may not be executed in the case as follows.
(a) The number of teaching array is out of the range (1~16). (Error code: 462)
(b) Teaching step no. is out of the range (1~400). (Error code: 465)
Total number(Teaching step no. + number of Teaching) must be below 400.
| Chapter 9 Functions |
| 9-191 |
User may modify the operation parameter set on XG-PM with teaching command for each parameter.
(1) Characteristics of Control
(a) There are 6 kinds of parameter teaching command. (Basic, Extended, Manual operation, Homing, External
signal, common parameter teaching)
(b) Parameter teaching is not available in operation.
(c) RAM teaching and ROM teaching are available depending on the saving position.
■ RAM teaching
When users execute teaching to operation data and operate positioning module in power connection, it can be
used by changing the value of the speed and position. But the speed value and position value are not saved in
non-power connection.
■ ROM teaching
When users execute teaching to operation data and operate positioning module in power connection, it can be
used by changing the value of the speed and position. And the parameter value that was used in the existing
can be saved to MRAM (non-volatility memory) even in non-power connection.
| Chapter 9 Functions |
| 9-192 |
(2) Basic Parameter Teaching
(a) Change the setting value of designated item from basic parameter of positioning module into teaching data.
(b) Auxiliary data setting of basic parameter teaching command
| Item | Setting value | Description | ||
| Teaching data |
Refer to “setting range” | Set the teaching value of parameter selected | ||
| Setting range | ||||
| Teaching item |
1 | Speed limit | 1 ~ 2147483647 | Choose the parameter item to do execute teaching |
| 2 | Acc.time 1 | 0 ~ 2147483647 | ||
| 3 | Acc.time 2 | |||
| 4 | Acc.time 3 | |||
| 5 | Acc.time 4 | |||
| 6 | Dec.time 1 | |||
| 7 | Dec.time 2 | |||
| 8 | Dec.time 3 | |||
| 9 | Dec.time 4 | |||
| 10 | Emergent Dec.time | |||
| 11 | 1 ~ 200000000 | |||
| 12 | Transferring distance/rotation |
Depend on “Unit” | ||
| 13 | Unit | 0:pulse 1:mm 2:inch 3:degree |
||
| 14 | Double precision of unit |
0:x1 1:x10 2:x100 3:x1000 |
||
| 15 | Speed unit | 0: unit/time 1: rpm |
||
| 16 | Encoder selection | 0: incremental encoder 1: abolute encoder |
||
| 17 | Current position display correction |
0 ~ 255 | ||
| 18 | User defined position display scale |
0 ~ 7 | ||
| 19 | User defined speed display scale |
0 ~ 7 | ||
| 20 | Axis type | 0: Real axis 1: Virtual Axis |
||
| Teaching method |
0 : RAM Teaching 1 : ROM Teaching |
Set the teaching method |
Demultiply ouput
pulse/rotation For the details about basic parameter items and setting value, refer to “Chapter 4 parameter and operation data”.
| Chapter 9 Functions |
| 9-193 |
(3) Extended Parameter Teaching
(a) Change the setting value of designated item from extended parameter of positioning module into teaching
data.
(b) Auxiliary data setting of extended parameter teaching command
| Items | Setting value | Description | ||
| Teaching data |
Refer to “Setting range | Set the teaching value of parameter selected | ||
| Setting value | ||||
| Teaching items |
1 | Soft high limit | -2147483648 ~ 2147483647 | Select the parameter item to execute teaching |
| 2 | Soft low limit | -2147483648 ~ 2147483647 | ||
| 3 | - | - | ||
| 4 | Positioning complete Output time |
0 ~ 65535 | ||
| 5 | Ratio of S-curve | 1 ~ 100 | ||
| 6 | In-position width | 0 ~ 2147483647 | ||
| 7 | 2 axes linear interpolation continuous operation arc insertion position |
0 ~ 2147483647 | ||
| 8 | Acc./Dec. Pattern | 0 : Trapezoid operation 1 : S-curve operation |
||
| 9 | M code mode | 0 : None 1 : With 2 : After |
||
| 10 | Soft high/low limit In speed control |
0 : Don’t detect 1 : Detect |
||
| 11 | Condition for positioning complete |
0 : Dwell time 1 : In-position signal 2 : Dwell time AND In-position signal 3 : Dwell time OR In-position signal |
||
| 12 | Positioning method of interpolation continuous operation |
0 : Pass the goal position 1 : Pass near position |
||
| 13 | 2 axes linear interpolation continuous operation arc insertion |
0 : Don’t insert arc 1: Insert arc |
||
| 14 | External command selection |
0 : External speed/position control switching 1 : External stop |
||
| 15 | External command | 0 : Enable 1 : Disable |
||
| 16 | Position-specified speed override coordinate |
0 : Absolute 1 : Incremental |
||
| 17 | Infinite running repeat position |
mm: 1 ~ 2147483647[X10-4 ㎜] Inch: 1 ~ 2147483647[X10-5Inch] degree: 1 ~ 2147483647[X10-5degree] pulse: 1 ~ 2147483647[pulse] |
||
| 18 | Infinite running repeat | 0: disable, 1: enable | ||
| 19 | Speed/position switching coordinate |
0: incremental, 1: absolute | ||
| 20 | Interpolation speed selection |
0: main-axis speed 1: synthetic speed |
||
| Teaching method |
0 : RAM teaching 1 : ROM teaching |
Set the teaching method |
For the details about basic parameter items and setting value, refer to “Chapter 4 parameter and operation data”.
| Chapter 9 Functions |
| 9-194 |
(4) Manual Operation Parameter Teaching
(a) Change the setting value of designated item from manual operation parameter of positioning module into
teaching data.
(b) Auxiliary data setting of manual operation parameter teaching command
| Items | Setting value | Description | ||
| Teaching data |
Refer to “setting range” | Set the teaching value of parameter selected | ||
| Setting range | ||||
| Teaching items |
1 | Jog high speed | 1~ Speed limit | Select the parameter item to execute teching |
| 2 | Jog low speed | 1 ~ Jog high speed | ||
| 3 | Jog acc. time | 0 ~ 2147483647 | ||
| 4 | Jog dec. time | |||
| 5 | Inching speed | 1 ~ Speed limit | ||
| Teaching method |
0 : RAM teaching 1 : ROM teaching |
Set the teaching method |
For the details about basic parameter items and setting value, refer to “Chapter 4 parameter and operation data”.
(5) Input signal parameter teaching
(a) It changes the settings value of the input signal parameters of the positioning module to teaching data.
(b) The meaning of each bit of setting value of input signal parameter teaching command.
| 15 | 14 | 13 | 12 | 11 ~ 8 | 7 ~ 4 | 3 ~ 0 |
| - | Logic select ion of input signal Z |
Logic select ion of input signal B |
Logic select ion of input signal A |
Function se lection of in put signal Z |
Function se lection of in put signal B |
Function se lection of in put signal A |
Content and the set value of parameter item details input signal, please refer to Chapter 4.
(6) Input signal parameter - Switching torque of external position/torque control teaching
(a) It changes the torque value of the switching of external location / torque control of input signal par
ameters of the positioning module to teaching data
(b) Setting range of torque values are as follows..
-32768 % ~ 32767 %
Content and the set value of parameter item details input signal, please refer to Chapter 4.
| Chapter 9 Functions |
| 9-195 |
(7) Common Parameter Teaching
(a) Change the setting value of designated item from common parameter of positioning module into teaching data.
(b) Auxiliary data setting of common parameter teaching command
| Items | Setting value | Description | ||
| Teaching data |
Refer to “setting range” | Set the teaching value of parameter selected | ||
| Setting range | ||||
| Teaching items |
1 | Speed override | 0 : % setting 1 : speed setting |
Select the parameter item to execute teching |
| 2 | Encoder1 pulse input | 0 : CW/CCW 1 multiplying 1 : PULSE/DIR 1 multiplying 2 : PULSE/DIR 2 multiplying 3 : PHASE A/B 1 multiplying 4 : PHASE A/B 2 multiplying 5 : PHASE A/B 4 multiplying |
||
| 3 | Max. value of encoder1 | -2147483648 ~ 2147483647 |
||
| 4 | Min. value of encoder1 | |||
| 5 | Encoder1 Z phase clear | 0: Disable 1: Enable |
||
| 10 | Destination coordinates for posistioning speed synchronization |
0:incremental, 1:absolute, | ||
| 11 | Encoder 1 average number | 0:None 1: 5 2:10 3:20 |
||
| 13 | Function selection of external input termanal |
0: A,B,Z phase of encoder signal 1: External input signal A,B,Z |
||
| 14 | Input filter of external input signal |
0: Disable, 1: Enable | ||
| Teaching method |
0 : RAM teaching 1 : ROM teaching |
Set the teaching method |
For the details about basic parameter items and setting value, refer to “Chapter 4 parameter and operation data”.
| Chapter 9 Functions |
| 9-196 |
User may modify the positioning operation data set on XG-PM with operation data teaching command.
(1) Characteristics of Control
(a) Change setting value of designated step and item from positioning module’s operation data into teaching data.
(b) Operation data setting command is available to be executed when the axis is operating. However, if operation
data of the step that is currently operated are changed, those changes are reflected after the current step is
completed.
(c) RAM teaching and ROM teaching are available depending on the saving position.
■ RAM teaching
When executing teaching to operation data of positioning module and operating positioning module in power
connection, user may change speed value or position value but the speed value and position value are not
saved in non-power connection.
■ ROM teaching
When executing teaching to operation data of positioning module and operating positioning module in power
connection, user may change speed value or position value and operation data is saved permanently even in
non-power connection.
| Chapter 9 Functions |
| 9-197 |
(d) Auxiliary data setting of operation data teaching command
| Items | Setting value | Description | ||
| Teaching data |
Refer to “Setting range” | Set the teaching value of parameter selected Setting range | ||
| Teaching items |
1 | Goal position | -2147483648 ~ 2147483647 | Select the parameter item to execute teching |
| 2 | Auxiliary point of Circular interpolation |
-2147483648 ~ 2147483647 | ||
| 3 | Operating speed | 1 ~ Speed limit | ||
| 4 | Dwell time | 0 ~ 65535 | ||
| 5 | M code | 0 ~ 65535 | ||
| 6 | Set a sub axis | Set it on Bit 0 ~ Bit 7 0 : Not be set 1 : Be set |
||
| 7 | Helical interpolation | 0 : Not use 1 ~ 8 : axis1 ~ axis8 |
||
| 8 | No. of circular interpolation turn |
0 ~ 65535 | ||
| 9 | Coordinate | 0 : Absolute 1 : Incremental |
||
| 10 | Control method | 0 : Single-axis position control 1 : Single-axis speed control 2 : Single-axis Feed control 3 : Linear interpolation control 4 : Circular interpolation control |
||
| 11 | Operating method | 0 : Single 1 : Repeat |
||
| 12 | Operating pattern | 0 : End 1 : Keep 2 : Continuous |
||
| 13 | Size of circular arc | 0 : Circular arc < 180 1 : Circular arc >= 180 |
||
| 14 | Acc. no. | 0 ~ 3 | ||
| 15 | Dec. no. | 0 ~ 3 | ||
| 16 | Method of circular interpolation |
0 : Middle point 1 : Center point 2 : Radius |
||
| 17 | Direction of circular interpolation |
0 : CW 1 : CCW |
||
| Step no. | 0 ~ 400 | Set the step no. of operation data to execute teaching | ||
| Teaching method |
0 : RAM Teaching 1 : ROM Teaching |
Set the teaching method |
For the details about basic parameter items and setting value, refer to “Chapter 4 parameter and operation data”.
Parameter, operation data, CAM data can be read by “Read Variable Data” command and written by “Write
Variable Data” command directly.
(1) Read Variable Data
(a) You read data you want by designating module internal memory address of parameter, operation data, CAM
data directly.
(b) Reads data as many as “Block size” starting position set in “Read address” with WORD unit to CPU among
parameter, operation data, CAM data. In case “CNT” is higher than 2, reads blocks with interval of “Block
offset” starting “Read address” as many as “CNT”-1.
| Chapter 9 Functions |
| 9-198 |
(c) Max. data size (block size x No. of block) you can read with one command is 128 WORD
(d) “Read Variable Data” command can’t be executed in operation.
(e) Auxiliary data setting of “Read Variable Data” command
| Item | Setting value | Description |
| Read address | 0 ~73769 | Sets head address of Read Data |
| Block offset | 0 ~73769 | Sets offset between blocks of Read Data |
| Block size | 1 ~ 128 | Sets size of block |
| No. of block | 1 ~ 128 | Sets No. of Read Block |
(f) Restriction
In the following case, error occurs and can’t execute “Read Variable Data” command
■ Data setting error (Error code: 711)
▪ Read data size (Block size x No. of block) is 0 or higher than 128 WORD.
▪ Read data address [Read address + {block offset x (No. of block -1)} + Block size is higher than last
address value (73768)
Remark
If you execute “Read Variable Data” command in XGK PLC, Read data from positioning module is saved in
common area. To save in device for using in PLC program, use GETM command [Read address: 0, data size:
Read data size (DWORD)]
In XGI/XGR PLC, Read data is saved in register set in Function Block automatically.
| Block 1 | ||
| Block 2 | ||
| Block n | ||
| Data address Block size Block offset No. of block |
0 9 |
Operation parameter |
| ••• | ||
| Axis 1 operation data | ||
| Common parameter | ||
| ••• | ||
| Axis 4 operation data | ||
| CAM data |
| Block 1 |
| Block 2 |
| Block n |
| •• |
•Module internal memory Data common area
Module internal memory address and position
7376128 word
| Chapter 9 Functions |
| 9-199 |
(2) Write Variable Data
(a) You write data you want by designating module internal memory address of parameter, operation data,
CAM data directly.
(b) Writes data set in PLC program as many as “Block size” starting position set in “Write address” with WORD
unit among parameter, operation data, CAM data of positioning module. In case “No. of block” is higher
than 2, writes blocks with interval of “OFFSET” starting “Write address” as many as “CNT”-1.
(c) Max. data size (Block size x No. of block) you can write with one command is 128 WORD.
(d) “Read Variable Data” command can’t be executed in operation. But changing the user cam data of relevant
axis is available about an axis in the cam control operation.
(e) After executing “Write Variable Data” command, since the changed value is maintained while power is on,
in order to keep the changed value, execute “Save parameter/Operation data” command
(f) Auxiliary data setting of “Write Variable Data” command
| Item | Setting value | Description |
| Data device | - | Sets device where data to write to module is saved |
| Write address | 0 ~ 73769 | Sets head address of positioning module internal memory |
| Block offset | 0 ~ 73769 | Sets offset between blocks of Write data |
| Block size | 1 ~ 128 | Sets size of block |
| No. of block | 1 ~ 128 | Sets No. of Write block |
(g) Restriction
In the following case, error occurs and can’t execute “Read Variable Data” command
■ Data range setting error (Error code: 711)
▪ Write data size (Block size x No. of block) is 0 or higher than 128 WORD
▪ Write data address [Write address + {Block offset x (No. of block -1)} + Block size] is higher than
last address value (73769)
■ Block overlap error (Error code: 713)
▪ In case module internal block to write is overlapped each other
(In case no. of block is higher than 2, block offset is smaller than block size)
■ Execution inhibition error in operation (Error code: 712)
▪ Any axis of positioning module is in operation
| Block 1 | ||
| Block 2 | ||
| Block n | ||
| Data address Block size Block offset No. of block |
0 | Operation parameter |
| ••• | ||
| Axis 1 operation data | ||
| Common parameter | ||
| ••• | ||
| Axis 4 operation data | ||
| CAM data |
| Block 1 |
| Block 2 |
| Block n |
| ••• |
Module internal memory Data common area
Module internal memory address and position
73769
128 word
| Chapter 9 Functions |
| 9-200 |
User Defined Position / Speed Display Function
The user sets the desired magnification as parameters for the position and speed and converts them to
‘user defined position’, ‘user defined speed’ values for use.
The following items of the status information are converted to user defined position and speed for use.
(1) Current Position.
(2) Current Speed
(3) Command Position
(4) Command Speed
Parameters related to the user defined position / speed function are as follows.
| Items | Setting value | |
| Common Parameter |
User defined position display scale | 0 ~ 7 |
| User defined speed display scale | 0 ~ 7 |
User defined position / speed magnification are applied to the position and speed as follows.
(1) Position
User defined position = Unit position x 10-N (integer value, omit decimals)
※ ‘Unit position’: The command position integer value or current position read by SRD command
※ N:‘User defined position display magnification’ of the basic parameter (0 ~ 7)
※ If N = 0, user defined position and unit position values are the same
※ Unit=mm, unit position=1000000, user defined position display magnification = 4
| Items | Setting value | Description |
| Unit Position | 100000 | The read value from CPU by SRD command |
| XG-PM System view | 100000.0 um | - |
| User defined position | 100 | Unit [mm] |
| Chapter 9 Functions |
| 9-201 |
(2) Speed
User defined speed = Unit speed x 10-N (integer value, omit decimals)
※ ‘Unit speed’: The command speed integer value or current speed read by SRD command
※ N: ‘User defined speed display magnification’ of the basic parameter (0 ~ 7)
※ if N = 0, user defined speed and unit speed values are the same
※ Unit = mm, unit speed = 10000, user defined speed display magnification = 2
| Items | Setting value | Description |
| Unit Speed | 10000 | The read value from CPU by SRD command |
| XG-PM System view | 100.0 mm/m | - |
| User defined position | 100 | Unit [mm/m] |
User defined position / speed can be checked by reading the following common memory address with GET
command.
| GET Device offset |
Memory address | Description | |||||||
| 1Axis | 2Axis | 3Axis | 4Axis | 5Axis | 6Axis | 7Axis | 8Axis | ||
| 0 | B8 | F8 | 138 | 178 | 1B8 | 1F8 | 238 | 278 | User defined current position(Lower) |
| 1 | B9 | F9 | 139 | 179 | 1B9 | 1F9 | 239 | 279 | User defined current position(Upper) |
| 2 | BA | FA | 13A | 17A | 1BA | 1FA | 23A | 27A | User defined current speed(Lower) |
| 3 | BB | FB | 13B | 17B | 1BB | 1FB | 23B | 27B | User defined current speed (Upper) |
| 4 | BC | FC | 13C | 17C | 1BC | 1FC | 23C | 27C | User defined command position(Lower) |
| 5 | BD | FD | 13D | 17D | 1BD | 1FD | 23D | 27D | User defined command position(Upper) |
| 6 | BE | FE | 13E | 17E | 1BE | 1FE | 23E | 27E | User defined command speed(Lower) |
| 7 | BF | FF | 13F | 17F | 1BF | 1FF | 23F | 27F | User defined command speed (Upper) |
(1) Example of use
1) Method to check 2-axis user defined command position of the positioning module mounted on
BASE=0, SLOT=2
2) Method to check 1-axis user defined position/speed of the positioning module mounted on
BASE=0, SLOT=2
| Chapter 9 Functions |
| 9-202 |
Full-Closed Contro
Full-Closed control is to perform the control using the external encoder in addition to the encoder attached to the servo
motor in the servo derive, and perform a function to control the position of the actual mechanism using the external encoder.
(1) Wire connection with the main circuit of servo drive and peripherals for Full-Closed control
| Note |
| Be sure to use independent SMPS for power supply of Full-Closed control option board. The combined use of the external brake SMPS can cause a malfunction due to the power supply noise. |
| Chapter 9 Functions |
| 9-203 |
(2) Full-Closed control unit specifications
(a) Bar code head specifications
| Item | Descriptions | Remarks |
| Manufacturer | Leuze Electronic | - |
| Input power | 12 ~ 24VDC | Option board included |
| Current consumption | Max. 0.5A | Option board included |
| Effective Resolution | 1mm | |
| Setting resolution | 0.1mm | Option board settings |
| Measuring range | 90 ~ 170mm | Barcode band Reference |
| weight | 400g | - |
| Dimensions | 120 * 90 * 43(mm) | - |
| Operating temperature | 0 ~ 40℃ | BPS37SM100 |
| -30 ~ 40℃ | BPS37SM100H (with optics heating) |
|
| Operating humidity | below 90% | No condensation |
| Storage temperature | -20 ~ 60℃ |
| Note |
| For other relevant information, please check the manufacturer’s website. (http://www.leuze.com) |
| Chapter 9 Functions |
| 9-204 |
| PIN1 | GND | GND: For initial-setup RS232 |
| PIN2 | SWIN | Switching input 1 |
| PIN3 | SSI data+ | SSI data line |
| PIN4 | SSI data- | SSI data line |
| PIN5 | Unused | - |
| PIN6 | SSI Clock+ | SSI Clock line |
| PIN7 | /Serv | Bridge to PIN15: For initial-setup RS232 |
| PIN8 | VIN | Input power (12 ~ 24VDC) |
| PIN9 | SSI Clock- | SSI Clock line |
| PIN10 | SWOUT1 | Switching output 1 |
| PIN11 | RXD/Serv | RXD: For initial-setup RS232 |
| PIN12 | TXD/Serv | TXD: For initial-setup RS232 |
| PIN13 | Unused | - |
| PIN14 | Unused | - |
| PIN15 | GND | Input power (GND) |
<BPS327 Wiring Diagram >
| Chapter 9 Functions |
| 9-205 |
(b) Full-Closed control option board specifications
< Full-Closed control option board >
| Item | Descriptions | Remarks |
| Manufacturer | Hayijen motor | |
| Input power | 12 ~ 24VDC | BPS37 included |
| Current consumption | Max. 0.5A | BPS37 included |
| Input Signal | BPS37 SSI | BPS37 private |
| Output Signal | RS232 | RS232 Modbus (Hayijen private) |
| Output communication speed |
38400bps | 38400bps fix |
| Setup configuration | PC For setup RS232 | BPS37 For initial-setup |
| Dimensions | 90 * 100 * 20(mm) | |
| Operating temperature | 0 ~ 50℃ | |
| Operating humidity | -20 ~ 80℃ | |
| Storage temperature | below 90% | No condensation |
| Chapter 9 Functions |
| 9-206 |
(c) Full-Closed control option board wiring
< Power supply and BPS37 input part >
< Modbus RS232 and servo drive connection >
| Chapter 9 Functions |
| 9-207 |
< BPS37 setup RS232 and PC connection >
< BPS37 option board LED >
| Chapter 9 Functions |
| 9-208 |
(1) Initial settings of Full-Closed control BPS37
(a) Download of program for BPS37 settings
Download the program from the website of Leuze electronc and install it.
(http://www.leuze.com/download/log/download-08_en.html)
Download file: BPSConfigV011600.exe (April 20, 2012)
(b) To set up BPS37, PC, option board, BPS37 and related cables are needed, and they should be
configured as shown in the figure.
(c) Execute BPS37 set-up program and enter the setting values as follows.
| Chapter 9 Functions |
| 9-209 |
| Chapter 9 Functions |
| 9-210 |
| Item | Setup value | |
| Host Interface | Format | Binary |
| Signed | Binary | |
| Out Module | Output Position, Measurement Error | |
| Position Logging | Resolution | Accurate to tenth Millimeter |
If the settings are completed, the values are stored in EEPROM of BPS37.
[Device => Transmit Parameter, Press Enter]
Read and check EEPROM of BP537 to determine whether the settings are normally stored.
[Device => Load Parameter, Press Enter]
(d) Set the RS232 Modbus communication speed of BPS37 option board as shown in the figure.
| Switch number | Setup value(fix) | Communication speed |
| 1 | ON | 38400bps |
| 2 | OFF | |
| 3 | ON | |
| 4 | OFF |
| Chapter 9 Functions |
| 9-211 |
(2) Full-Closed control servo parameter
Full-Closed control is available only if you have an option board for higen motor and barcode heater of
BPS537 of Leuze electronic.
< Full-Closed control block diagram >
Full-Closed control setting parameters are as follows.
| P04-01 | Full-Closed control enable |
Unit - |
Setting range 0 ~ 1 |
Manufactured default 0 |
Position control |
User can select whether or not to use Full-Closed control. [0: Disable, 1: Enable]
| P04-02 | Full-Closed Polarity Internal encoder characteristics |
Unit - |
Setting range 0 ~ 1 |
Manufactured default 0 |
Position control |
User can set the incremental direction of Full-Closed control external detector (barcode input) with
respect to the encoder incremental direction inside the motor.
0: External detector (barcode input) incremental direction is the same as the internal encoder direction
1: External detector (barcode input) incremental direction is the opposite direction from the internal encoder
If there is an error in direction settings of the external encoder (barcode input) used in Full-Closed control,
[Barcode Polarity Error, AL-35] occurs.
| Chapter 9 Functions |
| 9-212 |
| P04-03 | Full-Closed NUM Decelerator molecules |
Units - |
Setting range 1 ~ 999999 |
Manufactured default 1 |
Position control |
| P04-04 | Full-Closed DEN Decelerator denominator |
Units - |
Setting range 1 ~ 999999 |
Manufactured default 1 |
Position control |
Set the number of pulses of the internal encoder of the servo motor per detector resolution (0.1mm) for Full-Closed
control.
Convert input values with the diameter of the final drive wheel and the deceleration ratio of the decelerator.
| Chapter 9 Functions |
| 9-213 |
| P04-05 | Full-Closed ErrPLS Deviation range |
Units 0.1 rev |
Setting range 1 ~ 2000 |
Manufactured default 10 |
Position control |
If incorrect settings of decelerator numerator and denominator, or non-transfer of machine leads to large
position deviation, an alarm [Barcode Follow Error, AL-36] is detected by the value set in the Full-Closed
deviation range [P04-5].
- Causes for Barcode Follow Error[AL-36] detection
1) Decelerator setting error[P04-03, P04-04]
2) Mechanical constraint
3) Excessive slip of drive unit
| Appendix1 |
| A1-1 |
Positioning Error Information & Solutions
Here describes the positioning error types and its solutions.
(1) Error Information of Basic Parameter
| Error Code |
Error Description | Solutions |
| 101 | Speed limit value of Basic Parameter exceeds the range |
Speed limit value of Basic Parameter is 1 ~ 20,000,000 based on pulse unit. |
| 104 | Speed limit of basic parameter by degree is bigger than 180out of range, so circular interpolation can not be executed. |
Operate with lower speed limit of Circular Interpolation |
(2) Error Information of Expanded Parameter
| Error Code |
Error Description | Solutions |
| 111 | Extended Parameter software high/low limit range error |
S/W high limit of Extended Parameter should be greater than or equal to S/W low limit of Extended Parameter. |
| 112 | M Code Mode value of Extended Parameter exceeds the range. |
M Code output of Extended Parameter is 0:None, 1:With, 2:After. Select one among three. |
| 113 | S-Curve rate of Extended Parameter exceeds the range. |
Change S-Curve rate of Extended Parameter to be more than 1 and less than 100. |
(3) Error Information of Manual Operation Parameter
| Error Code |
Error Description | Solutions |
| 121 | Jog high speed value of Manual operation parameter exceeds the range. |
Set Jog high speed of Manual operation parameter to be greater than or equal to bias speed of Basic Parameter and less than or equal to max. speed of Basic Parameter. |
| 122 | Jog low speed value of Manual operation parameter exceeds the range. |
Set Jog low speed of Manual operation parameter to be more than 1 and less than Jog high speed of Manual operation parameter. |
| 123 | Inching speed value of Manual operation parameter exceeds the range. |
Set Inching speed of Manual operation parameter to be greater than or equal to bias speed of Basic Parameter and less than or equal to max. speed of Basic parameter. |
(4) Error Information of Common Parameter
| Error Code |
Error Description | Solutions |
| 141 | Encoder type value of Common parameter exceeds | Set Encoder input signal of Common parameter to be |
| Appendix1 |
A1-2
| Error Code |
Error Description | Solutions |
| the range. | between 0 and 5. | |
| 148 | Encoder1 max/min value of common parameter Exceeds the range. |
Set Encoder max value smaller than min value, also set encoder max/min value contains current position. |
| 149 | Encoder2 max/min value of common parameter Exceeds the range. |
Set Encoder max value smaller than min value, also set encoder max/min value contains current position. |
(5) Error Information of Operating Data
| Error Code |
Error Description | Solutions |
| 151 | Not available to set operation speed value of Operation data as “0”. |
Set operation speed to be greater than “0”. |
| 152 | Operation speed of Operation data exceeds max. speed value. |
Set operation speed to be less than or equal to max. speed set in the Basic Parameter. |
| 155 | Exceeds End/Go on/Continuous operation setting range of Operation data. |
Set one from operation pattern (0:End, 1:Go on, 2: Continuous) of operation data to operate |
| 156 | Even the operation pattern settled continuous, next command cannot support continuous operation. |
Set for abstract positioning control or speed control. If it is for current step command then next step command should be a interpolation command. |
| 157 | Even the operation pattern settled continuous, next command cannot support axis of current command. |
If operation pattern is continuous, them set both Operation data and next step operation data equally |
| 158 | Even the operation pattern set continuous, current command cannot support continuous current command. |
Continuous operation only can be operated when it is shortening position control, linear interpolation, and circular interpolation. In other commands, set operation option to end or continuous. |
| 159 | Goal position of operation data exceeds the range. |
For positioning control operating change goal position more than 2,147,483,648 and less than 2,147,483,647. |
(6) Error Information of Data Writing
| Error Code |
Error Description | Solutions |
| 171 | Parameter writing command cannot be done because of start command execution while XG-PM is sending common parameter. |
Once current operation is done, eliminate error with error reset command, and then execute writing command again. Do not execute start operation while parameter sending. |
| 172 | Parameter writing command cannot be done because of start command execution while XG-PM is sending operating parameter. |
Once current operation is done, eliminate error with error reset command, then execute writing command again. Do not execute start operation while parameter sending. |
| 173 | Parameter writing command cannot be done because of start command execution while XG-PM is sending operating data. |
Once current operation is done, eliminate error with error reset command, then execute writing command again. Do not execute start operation while operating data sending. |
| 174 | Parameter writing command cannot be done because of start command execution while XG-PM is sending CAM data. |
Once current operation is done, eliminate error with error reset command, then execute writing command again. Do not execute start operation while CAM data sending. |
| Appendix1 |
| A1-3 |
| 175 | Start command cannot be executed while writing sending-parameters or operating-data from XG-PM. |
Execute again once writing of parameter or operating data are done. |
| 176 | Servo parameter writing command cannot be done because of start command execution while XG-PM is sending parameter data. |
After current operation is done, remove error with Error reset and write servo parameter again. Don’t execute start command during servo parameter transmission |
(7) Error Information of positioning command and Auxiliary Step control
| Error Code |
Error Description | Solutions |
| 201 | Not possible to carry out Homing command in the state of in operation. |
Check if command axis is in operation when the Homing command is executed. |
| 203 | Not possible to carry out Homing command in the state of Servo Ready OFF. |
Check if Driver Ready signal of command axis is OFF when Homing command is executed. |
| 204 | Home Return method (P3-25) of servo driver is set as “0: No operation”. |
Set the Home Return method of servo driver parameter as the value other than “0: No operation” and execute Home Return. |
| 205 | Not possible to carry out Home Return, because servo driver doesn’t support Home return mode |
Unable to carry out Home return in that servo driver |
| 206 | Not possible to complete reading home offset | Check the status of the servo driver and execute Home return command |
| 207 | Error occurs during home return | Check if Home return method is available for the servo driver and execute Home return again |
| 211 | Not possible to carry out Floating origin setting command in the state of in operation. |
Check if command axis is in operation when Floating origin setting command is executed. |
| 212 | Not possible to carry out Floating origin setting command in the state of Servo OFF. |
Carry out Floating origin setting command after making Servo ON status with Servo On command. |
| 221 | Not possible to carry out Direct Start command in the state of in operation. |
Check if command axis is in operation when Direct Start command is executed. |
| 223 | Not possible to carry out Direct Start command in the state of M Code ON. |
Execute Direct Start command after turning off the M code On signal with MOF command |
| 224 | Not possible to carry out Direct Start command at the absolute coordinate in the origin unsettled state. |
Execute Direct Start command after making Home decided status with Home Return or Floating Origin Setting command |
| 225 | Not possible to carry out Direct Start command in the state of Servo OFF. |
Carry out Direct Start command after making Servo ON status with Servo On command |
| 226 | Shortest distance control can’t be executed in Incremental coordinate. |
Set the coordinate as Absolute. |
| 227 | In Infinite Running Repeat mode, target position of shortest distance control is invalid |
In Infinite Running Repeat mode, target position should be 0~ “Infinite Running Repeat position” of Extended parameter. |
| 230 | Not possible to carry out continuous operating out Indirect Start command in the state of feed control. |
Execute indirect start with setting of feed control for operation control, continuous for operating pattern if it is set as continuous or end. |
| 231 | Not possible to carry out Indirect Start command in the state of in operation. |
Check if command axis is in operation when Indirect Start command is executed. |
| 233 | Not possible to carry out Indirect Start command in the state of M Code ON. |
Execute Indirect Start command after turning off the M code On signal with MOF command |
| 234 | Not possible to carry out Indirect Start | Execute Indirect Start command after making Home |
| Appendix1 |
A1-4
| Error Code |
Error Description | Solutions |
| command at the absolute coordinate in the origin unsettled state. |
decided status with Home Return or Floating Origin Setting command |
|
| 235 | Not possible to carry out Indirect Start command in the state of Servo OFF. |
Carry out Indirect Start command after making Servo ON status with Servo On command |
| 236 | Not possible to carry out Continuous operation of Indirect Start at speed control. |
When control method is “speed control” and operation pattern is “Continuous”, change the operation pattern as “End” or “Keep” and execute Indirect Start command. |
| 237 | Step no. of POINT start is limited up to 20. | Set the step no. for POINT start to be less than 20 and greater than 1 |
| 238 | Not possible to carry out Continuous operation of Indirect Start at S-Curve acceleration / deceleration pattern. |
Set the ACC/DEC pattern of extended parameter as “Trapezoid” |
| 239 | When main-axis or sub-axis is “Enable” status, Continuous Operation of Indirect Start can’t be executed. |
Set Infinite Running Repeat of sub-axis or main-axis as “0: Disable” or set the operation pattern as “END” or “KEEP”. |
| 240 | When main-axis or sub-axis is “Enable” status, Interpolation Operation of Indirect Start can’t be executed. |
Set Infinite Running Repeat of sub-axis or main-axis as “0: Disable” or set the operation pattern as “END” or “KEEP”. |
| 241 | Not possible to carry out Linear interpolation Start in the state that main axis of linear interpolation is in operation. |
Check if main axis is in operation when Linear interpolation command is executed. |
| 242 | Not possible to carry out Linear interpolation Start in the state that subordinate axis of linear interpolation is in operation. |
Check if subordinate axis 1 is in operation when Linear interpolation command is executed. |
| 247 | Not possible to carry out Linear interpolation Start in the state that M Code signal of main axis of Linear interpolation is ON. |
Turn off the M code On signal of main-axis with MOF command and execute the Linear Interpolation operation |
| 248 | Not possible to carry out Linear interpolation Start in the state that M Code signal of subordinate axis of Linear interpolation is ON. |
Turn off the M code On signal of main-axis with MOF command and execute the Linear Interpolation operation |
| 250 | Not possible to carry out positioning operation of absolute coordinate in the state that main axis of Linear interpolation is origin unsettled. |
Make the main-axis as home-decided status with Home Return command or Floating Origin setting command |
| 251 | Not possible to carry out positioning operation of absolute coordinate in the state that subordinate axis of Linear interpolation is origin unsettled. |
Make the sub-axis as home-decided status with Home Return command or Floating Origin setting command |
| 253 | In case that main axis and subordinate axis is set wrong in Linear interpolation. (the case that the subordinate axis is not assigned, the case that only one axis is assigned, or the case that no axis is assigned) |
Set the more than one axis among axes connected to the network except main-axis for sub-axis setting in main-axis operation data |
| 254 | Not possible to carry out the linear interpolation operation because the main axis of Linear interpolation is Servo Off status |
Make the main axis as Servo On status with Servo On command. |
| 255 | Not possible to carry out the linear interpolation operationbecausethesubaxis of Linear interpolation is Servo Off status |
Make the sub axis as Servo On status with Servo On command. |
| Appendix1 |
| A1-5 |
| Error Code |
Error Description | Solutions |
| 261 | Main axis speed of linear interpolation exceeds its speed limit. |
Set low for main axis speed so that linear interpolation speed limit would not exceeds. |
| 262 | Not possible to insert the circular because the position of 2axis continuous linear interpolation circular insertion are longer than goal position. |
Set low for position of 2 axis linear interpolation continuous operating circular insertion from expanded parameter, smaller than goal position. |
| 263 | Not possible to insert the circular because two lines of 2axis continuous linear interpolation circular insertion are at the same position. |
Set again for goal position or set “0:Not insert circular” for 2 axis linear interpolation continuous operating circular insertion. |
| 264 | Not possible to insert the circular because the radius of 2axis continuous linear interpolation circular insertion are bigger than 2147483647. |
Set again for goal position so those two lines would not be at the same location or set “0:Not insert circular” for 2 axis linear interpolation continuous operating circular insertion then execute linear interpolation. |
| 265 | Not possible to insert the circular because the radius of 2axis continuous linear interpolation circular insertion are rarely small or its speed limits are too high. |
Make bigger for circular insert position and less for speed limit or set “0:Not insert circular” for 2 axis linear interpolation continuous operating circular insertion then execute linear interpolation. |
| 266 | Not possible to insert the circular because the circular of 2axis continuous linear interpolation circular insertion are at the same position from where it is supposedly located. |
Set again for goal position so those two lines would not be at the same location or set “0:Not insert circular” for 2 axis linear interpolation continuous operating circular insertion then execute linear interpolation. |
| 270 | Error of radius setting from radius circular interpolation. |
Set radius setting from circular interpolation main axis operating data for 80% bigger than its half distance of beginning point to end point. |
| 271 | Not possible to carry circular interpolation start in the state that main axis of circular interpolation is in operation. |
Check if main axis is in operation when circular interpolation command is executed. |
| 272 | Not possible to carry circular interpolation start in the state that subordinate axis of circular interpolation is in operation |
Check if subordinate axis is in operation when circular interpolation command is executed. |
| 275 | Not possible to carry circular interpolation start in the state that M Code signal of main axis of circular interpolation is ON. |
Turn off the M code On signal of the main-axis with MOF command |
| 276 | Not possible to carry circular interpolation start in the state that M Code signal of subordinate axis of circular interpolation is ON. |
Turn off the M code On signal of the sub-axis with MOF command |
| 277 | Not possible to carry positioning operation of absolute coordinate in the state that main axis of circular interpolation is origin unsettled. |
Make the main-axis as Home-decided status with Home Return command and Floating origin setting command and then execute the circular interpolation |
| 278 | Not possible to carry positioning operation of absolute coordinate in the state that subordinate axis of circular interpolation is origin unsettled |
Make the sub-axis as Home-decided status with Home Return command and Floating origin setting command and then execute the circular interpolation |
| 279 | Incorrect setting of main axis from circular Interpolation. (Either, unset main axis, incorrect helical interpolation axis, exceeding number of current possible operating axis) |
Execute circular interpolation after 1.Set one more operational axis from circular interpolation data except main axis 2. Set one more operate able axis from helical interpolation. |
| Appendix1 |
A1-6
| Error Code |
Error Description | Solutions |
| 280 | Not possible to carry out the Circular interpolation operation because the main axis of Circular interpolation is Servo Off status |
Make the main axis as Servo On status with Servo On command. |
| 281 | Not possible to carry out the Circular interpolation operation because the sub axis of Circular interpolation is Servo Off status |
Make the sub axis as Servo On status with Servo On command. |
| 282 | Not possible to carry out degree operation in circular interpolation. |
Check if the unit of Basic Parameter of main axis of circular interpolation command is set as degree. |
| 283 | Not possible to carry out degree operation in circular interpolation. |
Check if the unit of Basic Parameter of subordinate axis of circular interpolation command is set as degree. |
| 284 | Not possible to carry out the operation if start point =center point (middle point) or center point (middle point) =end point in circular interpolation. |
Check if the center point or middle point is set as the same point as start point or end point in circular interpolation. |
| 285 | The start point and end point is Not possible to be same in the middle point mode (Radius mode) of circular interpolation. |
Check if circular interpolation method of Common parameter is set as middle point (or Radius) and if the position of start point is not the same as end point. |
| 286 | Radius setting error in circular interpolation. | The radius of the circle to carry out circular interpolation operation is up to 2e31 pulse. Check if it is set in order to carry out the circular interpolation more than the size. |
| 287 | Not possible to carry out the operation as linear profile comes out of circular interpolation. |
Check if circular interpolation method of Common parameter is set as Middle point and the middle point is set to be aligned with start point and end point. |
| 290 | Since angular velocity is greater than 90°, correct circle cannot be drawn. |
Set operation speed lower than 90° for circular Interpolation angular velocity. |
| 291 | Not possible to carry out Synchronous Start command in the state of in operation. |
Check if the Error occurred axis is included in Synchronous Start command and if there is no axis in operation when the command is executed. |
| 293 | Not possible to carry out Synchronous Start command in the state of M Code ON. |
Check if the Error occurred axis is included in Synchronous Start command and if M Code signal is ON when the command is executed. Available to make M Code OFF by MOF command |
| 294 | Not possible to carry out Synchronous Start command in case that there is no goal position. |
Check if the Error occurred axis is included in Synchronous Start command, and if the goal position of operation data of the step to operate is not the same as the current position for absolute coordinate and is set as “0” for relative coordinate. |
| 295 | Not possible to carry out Synchronous Start command in the state that Servo Ready is OFF. |
Check if the Error occurred axis is included in Synchronous Start command, and if Driver Ready signal is OFF when the command is executed. |
| 296 | In case that Synchronous Start command axis setting is wrong. |
Check if only one axis of Synchronous Start command is assigned. The axis assignment address means 0 bit : X axis, 1 bit : Y axis, 2 bit : Z axis and each bit is set as “1” for axis assignment. |
| 297 | An error occurred from axis of synchronous start operating. |
Execute synchronous start after eliminate an error element from error occurred axis. |
| 301 | Not possible to carry out Speed/Position control switching command not in the state of in operation. |
Check if the axis is ‘stop’ state when speed/position control switching command is executed. |
| Appendix1 |
| A1-7 |
| Error Code |
Error Description | Solutions |
| 302 | Not possible to carry out Speed/Position control switching command not in the state of speed control. |
Check if the axis is ‘speed control’ state when speed/position control switching command is executed. |
| 303 | Not possible to carry out Speed/Position control switching command at subordinate axis of Synchronous Start operation. |
Check if the axis is in operation by subordinate axis of Synchronous Start operation when speed/position control switching command is executed. |
| 304 | Not possible to carry out Speed/Position control switching command if there is no goal position. |
Check if the operation has the goal position when speed /position control switching command is executed. |
| 306 | For Position-specified Speed/Position switching command, when Infinite Running Repeat is “Enable”, Speed/Position switching coordinate is “Absolute”, the value which makes the object go to the opposite direction can’t be set. |
For position value of Position-specified speed/position switching command, when operation direction is forward, set the positive position value and when operation direction is reverse, set the negative position value. |
| 311 | Not possible to carry out Position/Speed control switching command not in the state of in operation. |
Check if the axis is ‘stop’ state when position/speed control switching command is executed. |
| 312 | Not possible to carry out Position/Speed control switching command at subordinate axis of Synchronous Start operation. |
Check if the axis is in operation by subordinate axis of Synchronous Start operation when position/speed control switching command is executed. |
| 313 | Not possible to carry out Position/Speed control switching command in the state of circular interpolation operation. |
Check if the axis is in circular interpolation operation when position/speed control switching command is executed. |
| 314 | Not possible to carry out Position/Speed control switching command in the state of Linear interpolation operation. |
Check if the axis is in linear interpolation operation when position/speed control switching command is executed. |
| 316 | Not possible to carry out Position/Speed switching command in the state of decreasing section. |
Execute Position/Speed switching command before the decreasing of axis, while in increasing section or regular section. |
| 317 | Not possible to carry out Position/Speed switching command when it is not either at the positioning control or inching operation |
Execute Position/Speed switching command while the commanding axis is positioning control or inching operation |
| 321 | Dec. stop command can’t ne executed when axis is not in operation. |
Execute Dec. stop command when command axis is in operation |
| 322 | Not possible to carry out deceleration stop command in the state of Jog operation. |
Dec. stop command can’t stop JOG operation. For JOG operation stop, use the JOG STOP command. |
| 324 | Deceleration time setting from deceleration stop commands are out of range. |
The range of deceleration time is between 0 and 2147483647. Execute deceleration command after resetting the value from its range. |
| 331 | Not possible to carry out Skip command not in the state of in operation. |
Execute the Skip command when command axis is in operation. |
| 332 | Not possible to carry out Skip command for subordinate axis of Linear interpolation operation. |
Give the Skip command to linear interpolation main-axis. |
| 333 | Not possible to carry out Skip command for subordinate axis of Synchronous Start operation. |
Check if the axis is in operation by subordinate axis of Synchronous Start operation when Skip command is executed. |
| 335 | Not possible to carry out Skip command in the state of Jog operation. |
Check if the axis is in Jog operation when Skip command is executed. |
| 336 | Not possible to carry out Skip command in the state of Direct Start operation. |
Check if the axis is in Direct Start operation when Skip command is executed. |
| Appendix1 |
A1-8
| Error Code |
Error Description | Solutions |
| 337 | Not possible to carry out Skip command in the state of Inching operation. |
Check if the axis is in Inching operation when Skip command is executed. |
| 338 | Not possible to carry out Skip command for subordinate axis of circular interpolation operation. |
Check if the axis is in operation by subordinate axis of circular interpolation operation when Skip command is executed. |
| 339 | Skip operation command can’t be executed during torque control. |
Skip operation command doesn’t work in the axis under torque control. |
| 341 | Not possible to carry out Synchronous Start by Position command in the state of in operation. |
Check if the axis is in operation when Synchronous Start by Position command is executed. |
| 343 | Not possible to carry out Synchronous Start by Position command in the state of M Code ON. |
Check if the M Code signal of the axis is ON when Synchronous Start by Position command is executed. Available to make M Code OFF by MOF command. |
| 344 | Not possible to carry out Synchronous Start by Position command at the absolute coordinate in the state of origin unsettled. |
Not available to carry out absolute coordinate operation in the origin unsettled state. Check the coordinate of step to operate and the current origin determination state. Available to carry out absolute coordinate operation after origin determination by Homing command or floating origin setting command. |
| 345 | Not possible to carry out Synchronous Start by Position command in the state that Servo Ready is OFF. |
Check if Driver Ready signal of the axis is OFF when Synchronous Start by Position command is executed. |
| 346 | Not possible to carry out Synchronous Start by Position command in the state that the origin of main axis is not settled. |
Check if main axis is in the origin unsettled state when Synchronous Start command is executed. |
| 347 | There is error in setting main axis/subordinate axis of Synchronous Start by Position command. |
Set the main axis of Synchronous Start command with one among axes connected to the network other than command axis and encoders. For main axis setting, 1(1-axis)~8(8-axis), 9(Encoder1), 10(Encoder2) are available. |
| 350 | Not possible to carry out Synchronous Start when main-axis is in operation |
Execute Synchronous Start when main-axis is not in operation. |
| 351 | Not possible to carry out Synchronous Start by Speed command in the state of in operation. |
Check if the axis is in operation when Synchronous Start by Speed command is executed. |
| 353 | Not possible to carry out Synchronous Start by Speed command in the state of M Code ON. |
Check if the M Code signal of the axis is ON when Synchronous Start by Speed command is executed. Available to make M Code OFF by XMOF command. |
| 354 | Not possible to carry out Synchronous Start by Speed command in the state that Servo Ready is OFF. |
Check if Driver Ready signal of the axis is OFF when Synchronous Start by speed command is executed. |
| 355 | There is error in setting main axis/subordinate axis of Synchronous Start by Speed command. |
Check if main axis of Synchronous Start by Speed command is set as the same as command axis. Main axis is set by writing 0(X axis),1(Y axis),2(Z axis) to the setting address. |
| 356 | There is error in setting main/sub axis settings. | Main axis ratio of Speed Synchronous command can’t be 0. set the value of -32768 ~ 32767 except 0 |
| 357 | The speed of Synchronous Start by Speed command cannot exceeds its speed limit. |
Set low for main axis ratio/second axis ratio values so The value would not exceed its limitation. |
| Appendix1 |
| A1-9 |
| Error Code |
Error Description | Solutions |
| 361 | Not possible to carry out Position Override command not in the state of in operation (Busy). |
Check if the axis is ‘stop’ state when Position Override command is executed. |
| 362 | Not possible to carry out Position Override command not in the state of in dwell. |
Check if the axis is in dwell when Position Override command is executed.. |
| 363 | Not possible to carry out Position Override command not in the state of positioning operation. |
Check if the axis is in operation by position control when Position Override command is executed. |
| 364 | Not possible to carry out Position Override command for the axis of Linear interpolation operation. |
Check if the axis is in Linear interpolation operation when Position Override command is executed. |
| 365 | Not possible to carry out Position Override command for the axis of circular interpolation operation. |
Check if the axis is in circular interpolation operation when Position Override command is executed. |
| 366 | Not possible to carry out Position Override command for the subordinate axis of Synchronous operation. |
Check if the axis is in operation by subordinate axis of Synchronous Start operation when Position Override command is executed. |
| 371 | Not possible to carry out Speed Override command not in the state of in operation (Busy). |
Check if the axis is ‘stop’ state when Speed Override is executed. |
| 372 | Exceeds the range of speed override value. | Speed value of Speed Override command should be less than or equal to max. speed set in Basic Parameter. Check the speed value. |
| 373 | Not possible to carry out Speed Override command for the subordinate axis of Linear interpolation operation. |
Check if the axis is in operation by subordinate axis of Linear interpolation operation when Speed Override command is executed. |
| 374 | Not possible to carry out Speed Override command for the axis of circular interpolation operation. |
Check if the axis is in operation by subordinate axis of circular interpolation operation when Speed Override command is executed. |
| 375 | Not possible to carry out Speed Override command for the subordinate axis of Synchronous operation. |
Check if the axis is in operation by subordinate axis of Synchronous Start operation when Speed Override command is executed. |
| 377 | Not possible to carry out Speed Override command in the deceleration section. |
Check if the axis is in the state of deceleration stop when Speed Override command is executed. |
| 378 | Not possible to carry out Speed Override command in S-curve acceleration/deceleration pattern. |
Check if the acceleration/deceleration pattern of Extended Parameter of command axis is set as S-Curve. |
| 381 | Not possible to carry out Random position speed override command not in the state of in operation. |
Check if the axis is ‘stop’ state when Random position speed override command is executed. |
| 382 | Not possible to carry out Random position speed override command not in positioning operation. |
Check if the axis is in speed control operation when Random position speed override command is executed. |
| 383 | Exceeds the speed override value range of Random position speed override command. |
Speed value of Random position speed override command should be less than or equal to max. speed set in Basic Parameter. Check the speed value. |
| 384 | Not possible to carry out Random position speed override command for the subordinate axis of Linear interpolation operation. |
Check if the axis is in operation by subordinate axis of Linear interpolation operation when Random position speed override command is executed. |
| 385 | Not possible to carry out Random position speed override command for the axis of circular interpolation operation. |
Check if the axis is in circular interpolation operation when Speed Override command is executed. |
| 386 | Not possible to carry out Random position speed override command for the subordinate axis of Synchronous operation. |
Check if the axis is in operation by subordinate axis of Synchronous Start operation when Speed Override command is executed. |
| Appendix1 |
A1-10
| Error Code |
Error Description | Solutions |
| 389 | Not possible to carry out Random position speed override command in S-Curve acceleration / deceleration pattern. |
Check if the acceleration/deceleration pattern of Extended Parameter of command axis is set as S-Curve |
| 390 | Not possible to carry out Continuous operation command in S-Curve acceleration/deceleration pattern. |
Check if the acceleration/deceleration pattern of Extended Parameter of command axis is set as S-Curve |
| 391 | Not possible to carry out Continuous operation command not in the state of in operation. |
Check if the axis is ‘stop’ state when Continuous operation command is executed. |
| 392 | Not possible to carry out Continuous operation command not in the state of in dwell. |
Check if the axis is in dwell when Continuous operation command is executed. |
| 393 | Not possible to carry out Continuous operation command not in the settled of positioning operation. |
Check if the axis is in speed control operation when Continuous operation command is executed. |
| 394 | Speed data value of Continuous operation command exceeds the allowable range. |
Speed value of Continuous operation command should be less than or equal to max. speed set in Basic Parameter. Check the speed value. |
| 395 | Not possible to carry out Continuous operation command for the subordinate axis of Linear interpolation operation. |
Check if the axis is in operation by subordinate axis of Linear interpolation operation when Continuous operation command is executed. |
| 396 | Not possible to carry out Continuous operation command for the axis of circular interpolation operation axis. |
Check if the axis is in circular interpolation operation when Continuous operation command is executed. |
| 397 | Not possible to carry out Continuous operation command for the subordinate axis of Synchronous operation. |
Check if the axis is in operation by subordinate axis of Synchronous Start operation when Continuous operation command is executed. |
| 399 | Not possible to carry out Continuous operation command at the last step of Operation data. |
Check if the axis is in operation of 400th step when Continuous operation command is executed. |
| 400 | Not possible to carry out Continuous operation command in the state of Direct Start operation. |
Check if the axis is in operation by Direct Start command that Continuous operation command is executed. |
| 401 | Not possible to carry out Inching command in the state of in operation. |
Check if the axis is in operation when Inching command is executed. |
| 403 | Not possible to carry out Inching command in the state that Drive Ready is OFF. |
Check if Drive Ready signal of the axis is OFF when Inching command is executed. |
| 411 | Not possible to carry out Jog Start command in the state of in operation. |
Check if the axis is in operation when Jog Start command is executed. |
| 413 | Not possible to carry out Jog Start command in the state that Servo Ready is OFF. |
Check if Driver Ready signal of the axis is OFF when Jog Start command is executed. |
| 431 | Not possible to carry out Return to the Position before Manual Operation in the state of in operation. |
Check if the axis is in operation when Return to the position before manual operation command is executed . |
| 434 | Not possible to carry out Return to the Position before Manual Operation in the state that Drive Ready is OFF. |
Check if Driver Ready signal of the axis is ON when Return to the position before manual operation command is executed. |
| 441 | Not possible to carry out Start step no. Change/Repeat Operation Start step no. assignment command in the state of in operation. |
Check if the axis is in operation when Start step no. change /repeat command is executed. |
| 442 | Exceeds the step assignment range of Start step no. Change/Repeat Operation Start step no. assignment command. |
Check if the setting step value of Start step no. change command or repeat operation start step no. assignment command is greater than or equal to 1 and less than or |
| Appendix1 |
| A1-11 |
| Error Code |
Error Description | Solutions |
| equal to 400. | ||
| 451 | Not possible to carry out Current Position Preset command in the state of in operation. |
Check if the axis is in operation when Current position preset command is executed. |
| 452 | Not possible to set the auxiliary position data value out of range of software high/low limit while Current Position Preset command is executed. |
Check if the position value of current position preset command is within the range of soft high /low limit set in Extended Parameter. |
| 461 | Not possible to carry out Position Teaching command in the state of in operation. |
Check if the axis is in operation when Position teaching command is executed. |
| 462 | Not possible to carry out Teaching Array command for the data over 16. |
Check if the data no. of Teaching Array command is set in the range that is greater than or equal to 1 and less than or equal to 16. |
| 463 | Not possible to carry out Speed Teaching command in the state of in operation. |
Check if the axis is in operation when Speed teaching command is executed. |
| 465 | Error from step number appointing which are about to execute teaching operation. |
Make sure step for teaching operation is smaller than 400 or same as 400. |
| 466 | Teaching list error for multi teaching command. | Execute teaching command after set teaching data list as 0:position or 1:speed |
| 467 | Teaching method error for multi teaching command. |
Execute teaching command after set teaching method as 0:position or 1:speed |
| 471 | Parameter teaching command cannot be Executed while its operating. |
Check if the axis was operating when parameter teaching commands are executing |
| 472 | Operating data teaching command cannot be Executed while its operating. |
Check if the axis was operating when operating Data teaching commands are executing |
| 473 | Set data cannot be teaching. | Execute teaching command after setting right value for parameter teaching data or operating data teaching list. |
| 474 | Parameter/Operation data saving commands cannot be done while the axis is operating. |
Check if the axis is operating when Parameter/ Operation data saving commands are operating. Execute Parameter/Operation command when any axis are not operating. |
| 475 | Error of value for teaching data is out of range. | Execute teaching command after setting value of parameter teaching or operating data teaching data among its set range. |
| 476 | Error of value for teaching method is out of range. | Execute teaching command after setting value of parameter teaching or operating data teaching data for 1(RAM teaching) or 2(ROM teaching). |
| 477 | There may be damage to parameter/operation data because power turns off when saving parameter/operation data. |
Write parameter/operation data with “Write Project” command in the XG-PM. |
| 478 | There may be damage to CAM data because power turns off when saving parameter/operation data. |
Write CAM data with “Write Project” command in the XG PM. |
| 481 | Internal emergency stop | Eliminate reason of emergency stop and execute XCLR command to delete the error. |
| 491 | Error of external emergency stop | Eliminate reason of emergency stop and execute XCLR command to delete the error. |
| 492 | Hard Upper Error | Be out of limited external upper signal range |
| Appendix1 |
A1-12
| Error Code |
Error Description | Solutions |
| by using counter direct jog command. Then execute XCLR command to delete the error. |
||
| 493 | Hard Lower Error | Be out of limited external lower signal range by using direct jog command. Then execute XCLR command to delete the error. |
| 501 | Soft Upper Error | Be out of limited soft upper range by using counter direct jog command. Then execute XCLR command to delete the error. |
| 502 | Soft Lower Error | Be out of limited soft upper range by using direct jog command. Then execute XCLR command to delete the error. |
| 511 | Inappropriate command | Check the commands are appropriate. Look up the references for COMMANDS. |
| 512 | Step number of support data is out of range. | Commands set for bigger than 400. Set it Between 1 and 400. |
| 521 | Can’t execute the command because of servo driver error during operation |
Remove the servo error factor and clear the servo error with Servo Error Reset command. |
| 522 | The command cannot be done when the signal of Drive Ready is OFF during the operation. |
Execute again once Drive Ready is ON. |
| 523 | Not possible to carry out command because “Quick stop” function is activated during operation |
Check if “Quick Stop” function is activated by EMG stop input and etc. |
| 531 | Error for Encoding number exceed from Encoder preset command. |
Execute Encoder preset command after set “0” For encoder number. |
| 532 | Preset command cannot be done because of the axis which using encoder1 as a main axis |
Execute Encoder preset when the encoder1 using axis is not operating |
| 533 | Preset command cannot be done because of the axis which using encoder2 as a main axis |
Execute Encoder preset when the encoder2 using axis is not operating |
| 534 | The position of Encoder preset exceeds from Max or Min value of encoder.1 |
Execute Encoder1 preset command after set the value of encoder position preset as bigger than Min value and smaller than Max value. |
| 535 | The position of Encoder2 preset exceeds from Max or Min value of encoder. |
Execute Encoder2 preset command after set the value of encoder position preset as bigger than Min value and smaller than Max value. |
| 541 | Ellipse interpolation cannot be operated while main axis of circular interpolation is operating. |
Execute the Ellipse interpolation command when main axis is not operating. |
| 542 | Ellipse interpolation cannot be operated while support axis of circular interpolation is operating. |
Execute the circular interpolation command when subordinate axis is not operating |
| 543 | Ellipse interpolation start cannot be operated when M code from main axis circular interpolation is “ON.” |
Execute Ellipse interpolation command after set M code from main axis Ellipse interpolation is “OFF” with MOF command. |
| 544 | Ellipse interpolation start cannot be operated when M code from subordinate axis circular interpolation is “ON.” |
Execute Ellipse interpolation command after set M code from subordinate axis Ellipse interpolation is “OFF” with XMOF command. |
| Appendix1 |
| A1-13 |
| Error Code |
Error Description | Solutions |
| 545 | Not possible to carry out absolute coordinate positioning operation in the state that the origin of main axis is not settled. |
Execute Ellipse interpolation command after set main axis as a state of being origin with homing command or floating origin setting. |
| 546 | Not possible to carry out absolute coordinate positioning operation in the state that the origin of sub axis is not settled. |
Execute Ellipse interpolation command after Set sub axis as a state of being origin with homing command or floating origin setting. |
| 547 | Incorrect setting for main and subordinate axis from Ellipse interpolation.(Unset for main/ subordinate axis Set as Helical interpolation Exceed number of possible current operating Axis.) |
Execute Ellipse interpolation after set a axis From subordinate axis setting beside its main axis and unset Helical interpolation. |
| 548 | Ellipse interpolation cannot be operated with middle point setting and radius setting. |
Ellipse interpolation only can operate in center point setting. Execute Ellipse interpolation after changing operating data Ellipse interpolation mode for center point setting. |
| 549 | Cannot be operated when Drive Ready of Ellipse interpolation main axis is “OFF.” |
Execute Ellipse interpolation command after Drive Ready is “ON” of main axis. |
| 550 | Cannot be operated when Drive Ready of Ellipse interpolation subordinate axis is “OFF.” |
Execute Ellipse interpolation command after Drive Ready is “ON” of subordinate axis. |
| 551 | Cannot be operated when unit of Ellipse interpolation main axis is “degree.” |
Execute Ellipse interpolation command after Basic parameter unit is “degree” of main axis. |
| 552 | Cannot be operated when unit of Ellipse interpolation subordinate axis is “degree.” |
Execute Ellipse interpolation command after basic parameter unit is “degree” of subordinate axis. |
| 553 | Cannot be operated when three parameters of Ellipse interpolation are same. (start point=main point=end point) |
Execute Ellipse interpolation command after set those parameters differently. (start point, main point, end point) |
| 554 | Radius setting error from Ellipse interpolation. | The range of possible execution for Ellipse Interpolation is between 0 and 2147483647. Set radius of circle from its range, smaller than 2147483647pulse. |
| 555 | Exact circle cannot be draw because of degree of Ellipse interpolation is bigger than 90° |
Set lower for operation speed so that degree of Ellipse interpolation is smaller than 90° |
| 556 | Continuous operation cannot be done for Ellipse interpolation. |
Execute Ellipse interpolation after terminate operation step of circular interpolation. |
| 557 | Ellipse interpolation only can be operated when control setting is circular interpolation. |
Execute Ellipse interpolation after change control setting for drive step of Ellipse interpolation to circular interpolation. |
| 558 | Operation cannot be executed when beginning point and end point of ellipse interpolation are not same. |
Execute Ellipse interpolation after set the goal Position of ellipse interpolation operating step Same as current position. |
| 559 | Operation cannot be executed when operating degree of ellipse interpolation is “0.” |
Set the value of operating degree for ellipse interpolation, larger than “0.”(1~65535) |
| 561 | Position/Torque switching command can’t be executed when axis is not in operation |
Execute Position/Torque switching command when command axis is not in operation. |
| 562 | Position/Torque switching command can’t be executed at the sub axis of synchronous operation |
Position/Torque switching command doesn’t work at the sub axis of synchronous operation |
| Appendix1 |
A1-14
| Error Code |
Error Description | Solutions |
| 563 | Position/Torque switching command can’t be executed under circular (ellipse) interpolation operation. |
Position/Torque switching command doesn’t work at the axis under circular (ellipse) interpolation operation. |
| 564 | Position/Torque switching command can’t be executed under linear interpolation operation. |
Position/Torque switching command doesn’t work at the axis under linear interpolation operation. |
| 565 | Not possible to carry out torque control because servo driver doesn’t support torque control |
Unable to carry out torque control in that servo driver |
| 571 | Operation cannot be executed because of error from sub-coordinate axis of main axis by current axis. |
Check the error from subordinate axis of main axis by current axis whether it is occurred during the operation of current axis. |
| 572 | Operation cannot be executed because of error from sub coordinate axis of main axis by interpolated axis. |
Check the error from subordinate axis of main axis by current axis whether it is occurred during the operation of interpolated axis. |
| 582 | In infinite running repeat mode, In case of shortest distance positioning control, target position is invalid. |
In infinite running repeat mode, In case of shortest distance positioning control, target position should be 0~ “infinite running repeat position” of extended parameter. |
| 591 | Not possible to carry our “Servo parameter write” command while operating |
Execute “Servo parameter write” when command axis is not operating. |
| 592 | Data such as servo parameter index, subindex are out of range. |
Don’t let data setting value out of range |
| 593 | “Abort” arises during “servo parameter write” command |
Check if parameter is writable or parameter number and setting data is within range. Sometimes you can’t write parameter according to servo driver status. |
| 594 | There is no response of the servo driver on “servo parameter write” command. |
Check if servo driver is normal or not. |
| 595 | Unable to carry out “Servo parameter EEPROM save” command while servo is on. |
Execute “Servo parameter EEPROM save” command after making the servo “off” status with “Servo off” command |
| 596 | “Abort” arises during “servo parameter EEPROM write” command |
Check the status of the servo driver. In particular status, “Servo parameter EEPROM save” command can’t be executed. |
| 597 | There is no response of the servo driver on “servo parameter EEPROM save” command. |
Check if servo driver is normal or not. |
| 598 | The axis for “Servo parameter EEPROM save” is not connected now. |
It can execute “Servo parameter EEPROM save” command only for currently connected axis. |
| 599 | Unable to carry out other commands during “Servo parameter write” or “Servo parameter EEPRO save” |
Execute other commands after completing “Servo parameter write” or “Servo parameter EEPROM save”. |
| 600 | “Abort” arises during “servo parameter read” command |
Check if parameter is readable or parameter number and setting data is within range. Sometimes you can’t read parameter according to servo driver status. |
| 601 | There is no response of the servo driver on “servo parameter read” command. |
Check if servo driver is normal or not. |
| 602 | It is not possible to execute the “Servo parameter read/write” or “Servo parameter save” command in the state that servo parameter read command is |
Execute command when servo parameter read command is completed. |
| Appendix1 |
| A1-15 |
| Error Code |
Error Description | Solutions |
| executing. | ||
| 701 | Not possible to carry out CAM command in the state of in operation. |
Execute CAM command when main axis is not operating. |
| 702 | Not possible to carry out CAM command in the state of M Code ON |
Execute CAM command after set M Code OFF from commanding axis with MOF. |
| 703 | Not possible to carry out CAM command in the state that servo is OFF. |
Execute CAM command when Servo On signal is “ON.” |
| 704 | Error of setting main/subordinate axis from CAM command. |
Set main axis for CAM command as other axis besides its command axis from connecting axis. Set parameters are 1axis through 8axis. |
| 705 | CAM command of main axis cannot be executed during the operation. |
Execute CAM command when the main axis setting of CAM command is not operating. |
| 706 | Error of CAM block setting from CAM command. |
Execute CAM command after set a CAM block from CAM command as bigger than 1 and smaller than 8. |
| 707 | Error for CAM data of appointed block from CAM command. |
Execute CAM command after set right data for appointed block from CAM command. |
| 708 | The speed of subordinate axis from CAM command cannot exceed its speed limit. |
Set lower speed for main axis so that speed of subordinate axis from CAM data which is calculated by subordinate position would not exceed its speed limit. |
| 709 | For CAM command, in case main axis is encoder, main axis unit f CAM data should be pulse. |
When you set the main axis of CAM data as encoder, set the unit of main axis of CAM block as pulse. |
| 710 | Movement position per control cycle is out of main axis range of CAM data because high speed of main axis of CAM command. |
Operate with lower speed of main axis. |
| 711 | Data area setting value (block size and no. of block) of Variable Data Read/Write command is out of range. |
Set the block size and no. of block for [block size X no. of block] to be 1~128. |
| 712 | Variable Data Write command can’t be executed during operation. |
Check whether any axis is under operation when executing the Variable Data Write command |
| 713 | Block area of Variable Data Write command is overlapped so Writing is unavailable. |
In case the number of block is more than 2, set the block set to be larger than block size. (Or set the block size to be smaller than block offset) |
| 721 | Restart command can’t be executed after operate the restart unavailable command, just like circular interpolation etc. |
Check whether execute the restart unavailable command before execute restart command. |
| 722 | Restart command can’t be executed during the operation. |
Execute restart command when main axis is not operating. |
| 741 | Not possible to execute torque control command in the state of in operation except torque control in operation |
Execute torque control command when main axis is not operating. |
| 742 | Not possible to carry out torque control command in | Execute torque control command after set M Code OFF from commanding axis with MOF. |
| Appendix1 |
A1-16
| Error Code |
Error Description | Solutions |
| the state of M Code ON | ||
| 743 | Not possible to carry out torque control command in thestate that servo is OFF. |
Execute torque control command when Servo On signal is “ON.” |
| 751 | “Latch Configuration command” can’t be executed because servo drive doesn’t support “Latch(Touch probe)” function. |
Corresponding servo drive can’t be execute “Latch Configuration command”. |
| 752 | Servo Drive does not support TouchProbe1 Rising Edge |
Set TouchProbe1 Rising Edge PDO from Servo. |
| 753 | Servo Drive does not support TouchProbe2 Rising Edge |
Set TouchProbe2 Rising Edge PDO from Servo. |
| 754 | Servo Drive does not support TouchProbe1 Falling Edge |
Set TouchProbe1 Falling Edge PDO from Servo. |
| 755 | Servo Drive does not support TouchProbe2 Falling Edge |
Set TouchProbe2 Falling Edge PDO from Servo. |
| 756 | TouchProbe Signal Value is out of the rage | Set TouchProbe Signal Value in the rage. |
| 761 | “CAM Restart” can be executed only while main axis is operating. |
“CAM operating” command should be executed only when the main axis is being stopped and the status is STOP. |
| 762 | “CAM Restart” operation can’t be executed when the main axis is operating while the sub(execute) axis move to designated synchronous position. |
Please be assure main axis isn’t executed while the sub(execute) axis move to designated synchronous position after “CAM Restart” operation. |
| 771 | “Phasing correction command” can’t be executed if the sub(command) axis isn’t configured as “synchronous control”(CAM, Speed Sync.). |
Please execute “Phasing correction” command while the sub(command) axis is operating. |
| 772 | There exists configuration error for main axis of “Phasing correction command”. |
Please execute “Phasing correction” command after configuring the main axis as an actual main axis of synchronous operation. |
| 773 | Position expressions are for “Phasing correction amount” is out of range. |
Please execute command after set in pulse units for “Phasing correction” within DWORD(-2147483648~ 2147483647). |
| 774 | “Phasing correction speed value” is out of range. | Please execute command after set “Phasing correction speed” above 1 and range below of “speed limitation” for the main axis. |
| 775 | “Phasing correction speed value” is out of range. | Please execute command after set “Phasing correction speed” above 0 and range below of “speed limitation” for the main axis. |
| 776 | “Phasing correction speed value” is out of range. | Please execute command after set “Phasing correction speed” above 0 and range below of “speed limitation” for the main axis. |
| 791 | Sub Axis is over the Speed limit in Speed Sync. | In Syn.Speed Designating Sync.Position, Set Main and Sub axis Sync. Position lager. |
| 792 | Sub Axis is unavailable to catch Acc, Dec time, and | In Syn.Speed Designating Sync.Position, |
| Appendix1 |
| A1-17 |
| Error Code |
Error Description | Solutions |
| Speed. | Set Main and Sub axis Sync. Position lager. | |
| 801 | Command axis is the axis which is not connected to the current network. |
Check whether the command axis is the axis connected to current network. Give the command to the axis connected to current network. |
| 811 | Commands that have been run previously may not be able to perform additional commands that are not processed by the module. |
Make sure that there is a command that was executed previously, please run the additional command after the command has been processed by the module. |
(8) Error information related with communication
| Error Code |
Error Description | Solutions |
| 5001 | There is no servo connected to the current network. | Check whether power of the servo connected to the network is on, or whether communication cable between the module and first servo driver connected to the network is installed normally. |
| 5002 | Servo Communication Initialization Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5003 | Servo Communication Initialization Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5004 | Servo Communication Initialization Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5005 | Servo Communication Initialization Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5006 | Servo Communication Initialization Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5007 | Servo Parameter Read Communication Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5008 | Fixed Period Communication Error | Check whether servo power is off, or whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5009 | Communication Setting Error | Check whether servo power is off, or whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5010 | Servo Axis Number Setting Error | There are duplicated axis numbers among servo drivers connected to the current network. Set the axis number of the servo driver again. |
| 5011 | Single Servo Parameter Write Error | Check whether communication cable is installed normally, or whether communication cable is exposed to |
| Appendix1 |
A1-18
| Error Code |
Error Description | Solutions |
| the noise. | ||
| 5012 | Single Servo Parameter Read Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5013 | Servo Communication Initialization Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5014 | Servo Communication Initialization Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5015 | Servo Parameter Writ Communication Error | Check whether communication cable is installed normally, or whether communication cable is exposed to the noise. |
| 5020 | There is no setting information on the servo driver connected to current network. |
After adding the servo driver to the current network and writing network parameter, execute “Connect to all servos” command. |
| 5021 | There is no setting data in the network parameter | After setting the network parameter and writing network parameter, execute “Connect to all servos” command. |
| 5022 | Servo driver information set in the network parameter is different with that in the actual connection. |
Set the servo driver information set in the network parameter to be same |
| 5023 | Unable to switch operation mode of the servo driver to Position control mode |
Check if servo driver is normal |
| 5024 | Unable to switch operation mode of the servo driver to Home return mode |
Check if servo driver is normal |
| 5025 | Unable to switch operation mode of the servo driver to Torque control mode |
Check if servo driver is normal |
| 5026 | Unable to compete “Servo on” because it is impossible to change the servo driver to “Switched on" status |
Check the status of the servo driver In particular status, “Servo on” command can’t be executed. |
| 5027 | Unable to compete “Servo on” because it is impossible to change the servo driver to “Operation enabled " status |
Check the status of the servo driver In particular status, “Servo on” command can’t be executed. |
| 5028 | Unable to compete “Servo on” because “Quick stop” function is activated. |
Check if “Quick stop” function is activated because of EMG stop and etc. In particular status, “Servo on” command can’t be executed. |
| Appendix2 |
| A2-1 |
Module Internal Memory Address of “Read/Write Variable Data” command
App2.1. Parameter Memory Address
| 1axis | 2axis | 3axis | 4axis | 5axis | 6axis | 7axis | 8axis | Contents | |||||||||
| DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | ||
| Basic Parameter | 0 | 0 | 68 | 44 | 136 | 88 | 204 | CC | 272 | 110 | 340 | 154 | 408 | 198 | 476 | 1DC | Speed limit (Low) |
| 1 | 1 | 69 | 45 | 137 | 89 | 205 | CD | 273 | 111 | 341 | 155 | 409 | 199 | 477 | 1DD | Speed limit (High) | |
| 2 | 2 | 70 | 46 | 138 | 8A | 206 | CE | 274 | 112 | 342 | 156 | 410 | 19A | 478 | 1DE | Acc. time 1 (Low) | |
| 3 | 3 | 71 | 47 | 139 | 8B | 207 | CF | 275 | 113 | 343 | 157 | 411 | 19B | 479 | 1DF | Acc. time 1 (High) | |
| 4 | 4 | 72 | 48 | 140 | 8C | 208 | D0 | 276 | 114 | 344 | 158 | 412 | 19C | 480 | 1E0 | Acc. time 2 (Low) | |
| 5 | 5 | 73 | 49 | 141 | 8D | 209 | D1 | 277 | 115 | 345 | 159 | 413 | 19D | 481 | 1E1 | Acc. time 2 (High) | |
| 6 | 6 | 74 | 4A | 142 | 8E | 210 | D2 | 278 | 116 | 346 | 15A | 414 | 19E | 482 | 1E2 | Acc. time 3 (Low) | |
| 7 | 7 | 75 | 4B | 143 | 8F | 211 | D3 | 279 | 117 | 347 | 15B | 415 | 19F | 483 | 1E3 | Acc. time 3 (High) | |
| 8 | 8 | 76 | 4C | 144 | 90 | 212 | D4 | 280 | 118 | 348 | 15C | 416 | 1A0 | 484 | 1E4 | Acc. time 4 (Low) | |
| 9 | 9 | 77 | 4D | 145 | 91 | 213 | D5 | 281 | 119 | 349 | 15D | 417 | 1A1 | 485 | 1E5 | Acc. time 4 (High) | |
| 10 | A | 78 | 4E | 146 | 92 | 214 | D6 | 282 | 11A | 350 | 15E | 418 | 1A2 | 486 | 1E6 | Dec. time 1 (Low) | |
| 11 | B | 79 | 4F | 147 | 93 | 215 | D7 | 283 | 11B | 351 | 15F | 419 | 1A3 | 487 | 1E7 | Dec. time 1 (High) | |
| 12 | C | 80 | 50 | 148 | 94 | 216 | D8 | 284 | 11C | 352 | 160 | 420 | 1A4 | 488 | 1E8 | Dec. time 2 (Low) | |
| 13 | D | 81 | 51 | 149 | 95 | 217 | D9 | 285 | 11D | 353 | 161 | 421 | 1A5 | 489 | 1E9 | Dec. time 2 (High) | |
| 14 | E | 82 | 52 | 150 | 96 | 218 | DA | 286 | 11E | 354 | 162 | 422 | 1A6 | 490 | 1EA | Dec. time 3 (Low) | |
| 15 | F | 83 | 53 | 151 | 97 | 219 | DB | 287 | 11F | 355 | 163 | 423 | 1A7 | 491 | 1EB | Dec. time 3 (High) | |
| 16 | 10 | 84 | 54 | 152 | 98 | 220 | DC | 288 | 120 | 356 | 164 | 424 | 1A8 | 492 | 1EC | Dec. time 4 (Low) | |
| 17 | 11 | 85 | 55 | 153 | 99 | 221 | DD | 289 | 121 | 357 | 165 | 425 | 1A9 | 493 | 1ED | Dec. time 4 (High) | |
| 18 | 12 | 86 | 56 | 154 | 9A | 222 | DE | 290 | 122 | 358 | 166 | 426 | 1AA | 494 | 1EE | Dec. time for EMG stop (Low) | |
| 19 | 13 | 87 | 57 | 155 | 9B | 223 | DF | 291 | 123 | 359 | 167 | 427 | 1AB | 495 | 1EF | Dec. time for EMG stop (High) | |
| 20 | 14 | 88 | 58 | 156 | 9C | 224 | E0 | 292 | 124 | 360 | 168 | 428 | 1AC | 496 | 1F0 | Pulse per rotation (Low) | |
| 21 | 15 | 89 | 59 | 157 | 9D | 225 | E1 | 293 | 125 | 361 | 169 | 429 | 1AD | 497 | 1F1 | Pulse per rotation (High) | |
| 22 | 16 | 90 | 5A | 158 | 9E | 226 | E2 | 294 | 126 | 362 | 16A | 430 | 1AE | 498 | 1F2 | Distance per rotation (Low) | |
| 23 | 17 | 91 | 5B | 159 | 9F | 227 | E3 | 295 | 127 | 363 | 16B | 431 | 1AF | 499 | 1F3 | Distance per rotation (High) | |
| 24 | 18 | 92 | 5C | 160 | A0 | 228 | E4 | 296 | 128 | 364 | 16C | 432 | 1B0 | 500 | 1F4 | CONTROL WORD1 | |
| 25 | 19 | 93 | 5D | 161 | A1 | 229 | E5 | 297 | 129 | 365 | 16D | 433 | 1B1 | 501 | 1F5 | CONTROL WORD2 | |
| Extended parameter | 26 | 1A | 94 | 5E | 162 | A2 | 230 | E6 | 298 | 12A | 366 | 16E | 434 | 1B2 | 502 | 1F6 | S/W upper limit (Low) |
| 27 | 1B | 95 | 5F | 163 | A3 | 231 | E7 | 299 | 12B | 367 | 16F | 435 | 1B3 | 503 | 1F7 | S/W upper limit (High) | |
| 28 | 1C | 96 | 60 | 164 | A4 | 232 | E8 | 300 | 12C | 368 | 170 | 436 | 1B4 | 504 | 1F8 | S/W lower limit (Low) | |
| 29 | 1D | 97 | 61 | 165 | A5 | 233 | E9 | 301 | 12D | 369 | 171 | 437 | 1B5 | 505 | 1F9 | S/W lower limit (High) | |
| 30 | 1E | 98 | 62 | 166 | A6 | 234 | EA | 302 | 12E | 370 | 172 | 438 | 1B6 | 506 | 1FA | ||
| 31 | 1F | 99 | 63 | 167 | A7 | 235 | EB | 303 | 12F | 371 | 173 | 439 | 1B7 | 507 | 1FB | Position completion time | |
| 32 | 20 | 100 | 64 | 168 | A8 | 236 | EC | 304 | 130 | 372 | 174 | 440 | 1B8 | 508 | 1FC | S-curve ratio | |
| 33 | 21 | 101 | 65 | 169 | A9 | 237 | ED | 305 | 131 | 373 | 175 | 441 | 1B9 | 509 | 1FD | CONTROL WORD | |
| 34 | 22 | 102 | 66 | 170 | AA | 238 | EE | 306 | 132 | 374 | 176 | 442 | 1BA | 510 | 1FE | In-position width (Low) | |
| 35 | 23 | 103 | 67 | 171 | AB | 239 | EF | 307 | 133 | 375 | 177 | 443 | 1BB | 511 | 1FF | In-position width (High) | |
| 36 | 24 | 104 | 68 | 172 | AC | 240 | F0 | 308 | 134 | 376 | 178 | 444 | 1BC | 512 | 200 | Arc insertion position (Low) | |
| 37 | 25 | 105 | 69 | 173 | AD | 241 | F1 | 309 | 135 | 377 | 179 | 445 | 1BD | 513 | 201 | Arc insertion position (High) | |
| 38 | 26 | 106 | 6A | 174 | AE | 242 | F2 | 310 | 136 | 378 | 17A | 446 | 1BE | 514 | 202 | Infinite Running Repeat position (Low) | |
| 39 | 27 | 107 | 6B | 175 | AF | 243 | F3 | 311 | 137 | 379 | 17B | 447 | 1BF | 515 | 203 | Infinite Running Repeat position (High) |
| Appendix2 |
A2-2
| 1axis | 2axis | 3axis | 4axis | 5axis | 6axis | 7axis | 8axis | Contents | |||||||||
| DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | DEC | HEX | ||
| Manual operation parameter | 40 | 28 | 108 | 6C | 176 | B0 | 244 | F4 | 312 | 138 | 380 | 17C | 448 | 1C0 | 516 | 204 | JOG high speed (Low) |
| 41 | 29 | 109 | 6D | 177 | B1 | 245 | F5 | 313 | 139 | 381 | 17D | 449 | 1C1 | 517 | 205 | JOG high speed (High) | |
| 42 | 2A | 110 | 6E | 178 | B2 | 246 | F6 | 314 | 13A | 382 | 17E | 450 | 1C2 | 518 | 206 | JOG low speed (Low) | |
| 43 | 2B | 111 | 6F | 179 | B3 | 247 | F7 | 315 | 13B | 383 | 17F | 451 | 1C3 | 519 | 207 | JOG low speed (High) | |
| 44 | 2C | 112 | 70 | 180 | B4 | 248 | F8 | 316 | 13C | 384 | 180 | 452 | 1C4 | 520 | 208 | JOG acc. time (Low) | |
| 45 | 2D | 113 | 71 | 181 | B5 | 249 | F9 | 317 | 13D | 385 | 181 | 453 | 1C5 | 521 | 209 | JOG acc. time (High) | |
| 46 | 2E | 114 | 72 | 182 | B6 | 250 | FA | 318 | 13E | 386 | 182 | 454 | 1C6 | 522 | 20A | JOG dec. time (Low) | |
| 47 | 2F | 115 | 73 | 183 | B7 | 251 | FB | 319 | 13F | 387 | 183 | 455 | 1C7 | 523 | 20B | JOG dec. time (High) | |
| 48 | 30 | 116 | 74 | 184 | B8 | 252 | FC | 320 | 140 | 388 | 184 | 456 | 1C8 | 524 | 20C | Inching speed | |
| 49 | 31 | 117 | 75 | 185 | B9 | 253 | FD | 321 | 141 | 389 | 185 | 457 | 1C9 | 525 | 20D | - | |
| - | 50 | 32 | 118 | 76 | 186 | BA | 254 | FE | 322 | 142 | 390 | 186 | 458 | 1CA | 526 | 20E | - |
| 51 | 33 | 119 | 77 | 187 | BB | 255 | FF | 323 | 143 | 391 | 187 | 459 | 1CB | 527 | 20F | ||
| 52 | 34 | 120 | 78 | 188 | BC | 256 | 100 | 324 | 144 | 392 | 188 | 460 | 1CC | 528 | 210 | ||
| 53 | 35 | 121 | 79 | 189 | BD | 257 | 101 | 325 | 145 | 393 | 189 | 461 | 1CD | 529 | 211 | ||
| 54 | 36 | 122 | 7A | 190 | BE | 258 | 102 | 326 | 146 | 394 | 18A | 462 | 1CE | 530 | 212 | ||
| 55 | 37 | 123 | 7B | 191 | BF | 259 | 103 | 327 | 147 | 395 | 18B | 463 | 1CF | 531 | 213 | ||
| 56 | 38 | 124 | 7C | 192 | C0 | 260 | 104 | 328 | 148 | 396 | 18C | 464 | 1D0 | 532 | 214 | ||
| 57 | 39 | 125 | 7D | 193 | C1 | 261 | 105 | 329 | 149 | 397 | 18D | 465 | 1D1 | 533 | 215 | ||
| 58 | 3A | 126 | 7E | 194 | C2 | 262 | 106 | 330 | 14A | 398 | 18E | 466 | 1D2 | 534 | 216 | ||
| 59 | 3B | 127 | 7F | 195 | C3 | 263 | 107 | 331 | 14B | 399 | 18F | 467 | 1D3 | 535 | 217 | ||
| 60 | 3C | 128 | 80 | 196 | C4 | 264 | 108 | 332 | 14C | 400 | 190 | 468 | 1D4 | 536 | 218 | ||
| 61 | 3D | 129 | 81 | 197 | C5 | 265 | 109 | 333 | 14D | 401 | 191 | 469 | 1D5 | 537 | 219 | ||
| 62 | 3E | 130 | 82 | 198 | C6 | 266 | 10A | 334 | 14E | 402 | 192 | 470 | 1D6 | 538 | 21A | ||
| 63 | 3F | 131 | 83 | 199 | C7 | 267 | 10B | 335 | 14F | 403 | 193 | 471 | 1D7 | 539 | 21B | ||
| 64 | 40 | 132 | 84 | 200 | C8 | 268 | 10C | 336 | 150 | 404 | 194 | 472 | 1D8 | 540 | 21C | ||
| 65 | 41 | 133 | 85 | 201 | C9 | 269 | 10D | 337 | 151 | 405 | 195 | 473 | 1D9 | 541 | 21D | ||
| - | 66 | 42 | 134 | 86 | 202 | CA | 270 | 10E | 338 | 152 | 406 | 196 | 474 | 1DA | 542 | 21E | - |
| 67 | 43 | 135 | 87 | 203 | CB | 271 | 10F | 339 | 153 | 407 | 197 | 475 | 1DB | 543 | 21F | ||
| Common parameter | - | 544 | 220 | CONTROL WORD | |||||||||||||
| 545 | 221 | - | |||||||||||||||
| 546 | 222 | Encoder 1 max. value (Low) | |||||||||||||||
| 547 | 223 | Encoder 1 max. value (High) | |||||||||||||||
| 548 | 224 | Encoder 1 min. value (Low) | |||||||||||||||
| 549 | 225 | Encoder 1 min. value (High) | |||||||||||||||
| 550 | 226 | Encoder 2 max. value (Low) | |||||||||||||||
| 551 | 227 | Encoder 2 max. value (High) | |||||||||||||||
| 552 | 228 | Encoder 2 min. value (Low) | |||||||||||||||
| 553 | 229 | Encoder 2 min. value (High) |
| Appendix2 |
| A2-3 |
(1) Basic parameter Control Word
Control Word1
| Bit position | Contents |
| Axis type (bit 0 ~ 1) | 0: Real 1: Virtual |
| Unit (bit 2 ~ 3) | 0: pulse, 1: mm, 2: inch, 3: degree |
| Unit multiplier (bit 4 ~ 5) | 0: x1, 1: x10, 2: x100, 3: x1000 |
| Speed command unit (bit 6) | 0: Unit/Time, 1:rpm |
| Encoder selection * (bit 7) | 0: incremental encoder, 1: absolute encoder |
Control Word2
| Bit position | Contents |
| User defined position display magnification (bit 0 ~ 2) | 0 ~ 7 |
| User defined position speed magnification (bit 3 ~ 5) | 0 ~ 7 |
| Torque command unit (bit 6) | 0: 1%, 1: 0.1% |
(2) Extended parameter Control Word
| Bit position | Contents |
| CAM restart (bit 0) | 0: Diable, 1: Enable |
| Acc./Dec. pattern (bit 1) | 0: Trapezoid,, 1: S-curve |
| M code mode (bit 2 ~ 3) | 0: None, 1: With, 2: After |
| Interpolation speed selection (bit 4) | 0: main-axis speed, 1: synthetic speed |
| Soft limit detect (bit 5) | 0: Don’t detect, 1: Detect |
| External command selection (bit 6) | 0: External speed/position control switching, 1: External stop command |
| External command (bit 7) | 0: Disable, 1: Enable |
| Position complete condition (bit 10 ~ 11) | 0: Dwell time, 1: In-position, 2: Dwell time AND In-position, 3: Dwell time OR In-position |
| Infinite running repeat (bit 12) | 0: Disable, 1: Enable |
| Int. continuous opr. type (bit 13) | 0: Pass target pos, 1: Pass near pos |
| Arc insertion (bit 14) | 0: Don’t insert, 1: Insert arc cont. |
| Pos-specified speed override coordinate (bit 15) | 0: ABS, 1: INC |
| Appendix2 |
A2-4
(3) Common parameter Control Word
| Bit position | Contents |
| Encoder1 pulse input (bit 0 ~ 2) | 0: CW/CCW (x1) |
| 1: PULSE/DIR (x1) | |
| 2: PULSE/DIR (x2) | |
| 3: PHASE A/B (x1) | |
| 4: PHASE A/B (x2) | |
| 5: PHASE A/B (x3) | |
| Encoder1 Z phase clear(bit 3) | 0: Disable, 1: Enable |
| Encoder2 pulse input (bit 4 ~ 6) | 0: CW/CCW (x1) |
| 1: PULSE/DIR (x1) | |
| 2: PULSE/DIR (x2) | |
| 3: PHASE A/B (x1) | |
| 4: PHASE A/B (x2) | |
| 5: PHASE A/B (x3) | |
| Encoder2 Z phase clear (bit 7) | 0: Disable, 1: Enable |
| Speed override mode (bit 8) | 0: Specify %, 1: Specify speed |
| Appendix2 |
| A2-5 |
App2.2. 1-axis operation data memory address
2.2.1. Axis Memory Addressing Formula
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| n Step |
542 +12n |
543 +12n |
544 +12n |
545 +12n |
546 +12n |
547 +12n |
548 +12n |
549 +12n |
550 +12n |
551 +12n |
552 +12n |
553 +12n |
2.2.2. 1-Axis Memory Addressing Example
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| 1 | 554 | 555 | 556 | 557 | 558 | 559 | 560 | 561 | 562 | 563 | 564 | 565 |
| 2 | 566 | 567 | 568 | 569 | 570 | 571 | 572 | 573 | 574 | 575 | 576 | 577 |
| 3 | 578 | 579 | 580 | 581 | 582 | 583 | 584 | 585 | 586 | 587 | 588 | 589 |
| 4 | 590 | 591 | 592 | 593 | 594 | 595 | 596 | 597 | 598 | 599 | 600 | 601 |
| 5 | 602 | 603 | 604 | 605 | 606 | 607 | 608 | 609 | 610 | 611 | 612 | 613 |
| 6 | 614 | 615 | 616 | 617 | 618 | 619 | 620 | 621 | 622 | 623 | 624 | 625 |
| 7 | 626 | 627 | 628 | 629 | 630 | 631 | 632 | 633 | 634 | 635 | 636 | 637 |
| 8 | 638 | 639 | 640 | 641 | 642 | 643 | 644 | 645 | 646 | 647 | 648 | 649 |
| 9 | 650 | 651 | 652 | 653 | 654 | 655 | 656 | 657 | 658 | 659 | 660 | 661 |
| 10 | 662 | 663 | 664 | 665 | 666 | 667 | 668 | 669 | 670 | 671 | 672 | 673 |
| … 11~389 Step: Refer to addressing formula … | ||||||||||||
| 390 | 5222 | 5223 | 5224 | 5225 | 5226 | 5227 | 5228 | 5229 | 5230 | 5231 | 5232 | 5233 |
| 391 | 5234 | 5235 | 5236 | 5237 | 5238 | 5239 | 5240 | 5241 | 5242 | 5243 | 5244 | 5245 |
| 392 | 5246 | 5247 | 5248 | 5249 | 5250 | 5251 | 5252 | 5253 | 5254 | 5255 | 5256 | 5257 |
| 393 | 5258 | 5259 | 5260 | 5261 | 5262 | 5263 | 5264 | 5265 | 5266 | 5267 | 5268 | 5269 |
| 394 | 5270 | 5271 | 5272 | 5273 | 5274 | 5275 | 5276 | 5277 | 5278 | 5279 | 5280 | 5281 |
| 395 | 5282 | 5283 | 5284 | 5285 | 5286 | 5287 | 5288 | 5289 | 5290 | 5291 | 5292 | 5293 |
| 396 | 5294 | 5295 | 5296 | 5297 | 5298 | 5299 | 5300 | 5301 | 5302 | 5303 | 5304 | 5305 |
| 397 | 5306 | 5307 | 5308 | 5309 | 5310 | 5311 | 5312 | 5313 | 5314 | 5315 | 5316 | 5317 |
| 398 | 5318 | 5319 | 5320 | 5321 | 5322 | 5323 | 5324 | 5325 | 5326 | 5327 | 5328 | 5329 |
| 399 | 5330 | 5331 | 5332 | 5333 | 5334 | 5335 | 5336 | 5337 | 5338 | 5339 | 5340 | 5341 |
| 400 | 5342 | 5343 | 5344 | 5345 | 5346 | 5347 | 5348 | 5349 | 5350 | 5351 | 5352 | 5353 |
| Appendix2 |
A2-6
App2.3. 2-axis operation data memory address
2.3.1. 2-Axis Memory Addressing Formula
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| n | 5342 +12n |
5343 +12n |
5344 +12n |
5345 +12n |
5346 +12n |
5347 +12n |
5348 +12n |
5349 +12n |
5350 +12n |
5351 +12n |
5352 +12n |
5353 +12n |
2.3.2. 2-Axis Memory Addressing Example
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| 1 | 5354 | 5355 | 5356 | 5357 | 5358 | 5359 | 5360 | 5361 | 5362 | 5363 | 5364 | 5365 |
| 2 | 5366 | 5367 | 5368 | 5369 | 5370 | 5371 | 5372 | 5373 | 5374 | 5375 | 5376 | 5377 |
| 3 | 5378 | 5379 | 5380 | 5381 | 5382 | 5383 | 5384 | 5385 | 5386 | 5387 | 5388 | 5389 |
| 4 | 5390 | 5391 | 5392 | 5393 | 5394 | 5395 | 5396 | 5397 | 5398 | 5399 | 5400 | 5401 |
| 5 | 5402 | 5403 | 5404 | 5405 | 5406 | 5407 | 5408 | 5409 | 5410 | 5411 | 5412 | 5413 |
| 6 | 5414 | 5415 | 5416 | 5417 | 5418 | 5419 | 5420 | 5421 | 5422 | 5423 | 5424 | 5425 |
| 7 | 5426 | 5427 | 5428 | 5429 | 5430 | 5431 | 5432 | 5433 | 5434 | 5435 | 5436 | 5437 |
| 8 | 5438 | 5439 | 5440 | 5441 | 5442 | 5443 | 5444 | 5445 | 5446 | 5447 | 5448 | 5449 |
| 9 | 5450 | 5451 | 5452 | 5453 | 5454 | 5455 | 5456 | 5457 | 5458 | 5459 | 5460 | 5461 |
| 10 | 5462 | 5463 | 5464 | 5465 | 5466 | 5467 | 5468 | 5469 | 5470 | 5471 | 5472 | 5473 |
| … 11~389 Step: Refer to addressing formula … | ||||||||||||
| 390 | 10022 | 10023 | 10024 | 10025 | 10026 | 10027 | 10028 | 10029 | 10030 | 10031 | 10032 | 10033 |
| 391 | 10034 | 10035 | 10036 | 10037 | 10038 | 10039 | 10040 | 10041 | 10042 | 10043 | 10044 | 10045 |
| 392 | 10046 | 10047 | 10048 | 10049 | 10050 | 10051 | 10052 | 10053 | 10054 | 10055 | 10056 | 10057 |
| 393 | 10058 | 10059 | 10060 | 10061 | 10062 | 10063 | 10064 | 10065 | 10066 | 10067 | 10068 | 10069 |
| 394 | 10070 | 10071 | 10072 | 10073 | 10074 | 10075 | 10076 | 10077 | 10078 | 10079 | 10080 | 10081 |
| 395 | 10082 | 10083 | 10084 | 10085 | 10086 | 10087 | 10088 | 10089 | 10090 | 10091 | 10092 | 10093 |
| 396 | 10094 | 10095 | 10096 | 10097 | 10098 | 10099 | 10100 | 10101 | 10102 | 10103 | 10104 | 10105 |
| 397 | 10106 | 10107 | 10108 | 10109 | 10110 | 10111 | 10112 | 10113 | 10114 | 10115 | 10116 | 10117 |
| 398 | 10118 | 10119 | 10120 | 10121 | 10122 | 10123 | 10124 | 10125 | 10126 | 10127 | 10128 | 10129 |
| 399 | 10130 | 10131 | 10132 | 10133 | 10134 | 10135 | 10136 | 10137 | 10138 | 10139 | 10140 | 10141 |
| 400 | 10142 | 10143 | 10144 | 10145 | 10146 | 10147 | 10148 | 10149 | 10150 | 10151 | 10152 | 10153 |
| Appendix2 |
| A2-7 |
App2.4. 3-axis operation data memory address
2.4.1. 3- Axis Memory Addressing Formula
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| n Step |
10142 +12n |
10143 +12n |
10144 +12n |
10145 +12n |
10146 +12n |
10147 +12n |
10148 +12n |
10149 +12n |
10150 +12n |
10151 +12n |
10152 +12n |
10153 +12n |
2.4.2. 3-Axis Memory Addressing Example
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| 1 | 10154 | 10155 | 10156 | 10157 | 10158 | 10159 | 10160 | 10161 | 10162 | 10163 | 10164 | 10165 |
| 2 | 10166 | 10167 | 10168 | 10169 | 10170 | 10171 | 10172 | 10173 | 10174 | 10175 | 10176 | 10177 |
| 3 | 10178 | 10179 | 10180 | 10181 | 10182 | 10183 | 10184 | 10185 | 10186 | 10187 | 10188 | 10189 |
| 4 | 10190 | 10191 | 10192 | 10193 | 10194 | 10195 | 10196 | 10197 | 10198 | 10199 | 10200 | 10201 |
| 5 | 10202 | 10203 | 10204 | 10205 | 10206 | 10207 | 10208 | 10209 | 10210 | 10211 | 10212 | 10213 |
| 6 | 10214 | 10215 | 10216 | 10217 | 10218 | 10219 | 10220 | 10221 | 10222 | 10223 | 10224 | 10225 |
| 7 | 10226 | 10227 | 10228 | 10229 | 10230 | 10231 | 10232 | 10233 | 10234 | 10235 | 10236 | 10237 |
| 8 | 10238 | 10239 | 10240 | 10241 | 10242 | 10243 | 10244 | 10245 | 10246 | 10247 | 10248 | 10249 |
| 9 | 10250 | 10251 | 10252 | 10253 | 10254 | 10255 | 10256 | 10257 | 10258 | 10259 | 10260 | 10261 |
| 10 | 10262 | 10263 | 10264 | 10265 | 10266 | 10267 | 10268 | 10269 | 10270 | 10271 | 10272 | 10273 |
| … 11~389 Step: Refer to addressing formula … | ||||||||||||
| 390 | 14822 | 14823 | 14824 | 14825 | 14826 | 14827 | 14828 | 14829 | 14830 | 14831 | 14832 | 14833 |
| 391 | 14834 | 14835 | 14836 | 14837 | 14838 | 14839 | 14840 | 14841 | 14842 | 14843 | 14844 | 14845 |
| 392 | 14846 | 14847 | 14848 | 14849 | 14850 | 14851 | 14852 | 14853 | 14854 | 14855 | 14856 | 14857 |
| 393 | 14858 | 14859 | 14860 | 14861 | 14862 | 14863 | 14864 | 14865 | 14866 | 14867 | 14868 | 14869 |
| 394 | 14870 | 14871 | 14872 | 14873 | 14874 | 14875 | 14876 | 14877 | 14878 | 14879 | 14880 | 14881 |
| 395 | 14882 | 14883 | 14884 | 14885 | 14886 | 14887 | 14888 | 14889 | 14890 | 14891 | 14892 | 14893 |
| 396 | 14894 | 14895 | 14896 | 14897 | 14898 | 14899 | 14900 | 14901 | 14902 | 14903 | 14904 | 14905 |
| 397 | 14906 | 14907 | 14908 | 14909 | 14910 | 14911 | 14912 | 14913 | 14914 | 14915 | 14916 | 14917 |
| 398 | 14918 | 14919 | 14920 | 14921 | 14922 | 14923 | 14924 | 14925 | 14926 | 14927 | 14928 | 14929 |
| 399 | 14930 | 14931 | 14932 | 14933 | 14934 | 14935 | 14936 | 14937 | 14938 | 14939 | 14940 | 14941 |
| 400 | 14942 | 14943 | 14944 | 14945 | 14946 | 14947 | 14948 | 14949 | 14950 | 14951 | 14952 | 14953 |
| Appendix2 |
A2-8
App2.5. 4-axis operation data memory address
2.5.1. 4-Axis Memory Addressing Formula
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| n Step |
14942 +12n |
14943 +12n |
14944 +12n |
14945 +12n |
14946 +12n |
14947 +12n |
14948 +12n |
14949 +12n |
14950 +12n |
14951 +12n |
14952 +12n |
14953 +12n |
2.5.2. 4-Axis Memory Addressing Example
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| 1 | 14954 | 14955 | 14956 | 14957 | 14958 | 14959 | 14960 | 14961 | 14962 | 14963 | 14964 | 14965 |
| 2 | 14966 | 14967 | 14968 | 14969 | 14970 | 14971 | 14972 | 14973 | 14974 | 14975 | 14976 | 14977 |
| 3 | 14978 | 14979 | 14980 | 14981 | 14982 | 14983 | 14984 | 14985 | 14986 | 14987 | 14988 | 14989 |
| 4 | 14990 | 14991 | 14992 | 14993 | 14994 | 14995 | 14996 | 14997 | 14998 | 14999 | 15000 | 15001 |
| 5 | 15002 | 15003 | 15004 | 15005 | 15006 | 15007 | 15008 | 15009 | 15010 | 15011 | 15012 | 15013 |
| 6 | 15014 | 15015 | 15016 | 15017 | 15018 | 15019 | 15020 | 15021 | 15022 | 15023 | 15024 | 15025 |
| 7 | 15026 | 15027 | 15028 | 15029 | 15030 | 15031 | 15032 | 15033 | 15034 | 15035 | 15036 | 15037 |
| 8 | 15038 | 15039 | 15040 | 15041 | 15042 | 15043 | 15044 | 15045 | 15046 | 15047 | 15048 | 15049 |
| 9 | 15050 | 15051 | 15052 | 15053 | 15054 | 15055 | 15056 | 15057 | 15058 | 15059 | 15060 | 15061 |
| 10 | 15062 | 15063 | 15064 | 15065 | 15066 | 15067 | 15068 | 15069 | 15070 | 15071 | 15072 | 15073 |
| … 11~389 Step: Refer to addressing formula … | ||||||||||||
| 390 | 19622 | 19623 | 19624 | 19625 | 19626 | 19627 | 19628 | 19629 | 19630 | 19631 | 19632 | 19633 |
| 391 | 19634 | 19635 | 19636 | 19637 | 19638 | 19639 | 19640 | 19641 | 19642 | 19643 | 19644 | 19645 |
| 392 | 19646 | 19647 | 19648 | 19649 | 19650 | 19651 | 19652 | 19653 | 19654 | 19655 | 19656 | 19657 |
| 393 | 19658 | 19659 | 19660 | 19661 | 19662 | 19663 | 19664 | 19665 | 19666 | 19667 | 19668 | 19669 |
| 394 | 19670 | 19671 | 19672 | 19673 | 19674 | 19675 | 19676 | 19677 | 19678 | 19679 | 19680 | 19681 |
| 395 | 19682 | 19683 | 19684 | 19685 | 19686 | 19687 | 19688 | 19689 | 19690 | 19691 | 19692 | 19693 |
| 396 | 19694 | 19695 | 19696 | 19697 | 19698 | 19699 | 19700 | 19701 | 19702 | 19703 | 19704 | 19705 |
| 397 | 19706 | 19707 | 19708 | 19709 | 19710 | 19711 | 19712 | 19713 | 19714 | 19715 | 19716 | 19717 |
| 398 | 19718 | 19719 | 19720 | 19721 | 19722 | 19723 | 19724 | 19725 | 19726 | 19727 | 19728 | 19729 |
| 399 | 19730 | 19731 | 19732 | 19733 | 19734 | 19735 | 19736 | 19737 | 19738 | 19739 | 19740 | 19741 |
| 400 | 19742 | 19743 | 19744 | 19745 | 19746 | 19747 | 19748 | 19749 | 19750 | 19751 | 19752 | 19753 |
| Appendix2 |
| A2-9 |
App2.6. 5-axis operation data memory address
2.6.1. 5-Axis Memory Addressing Formula
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| n Step |
19742 +12n |
19743 +12n |
19744 +12n |
19745 +12n |
19746 +12n |
19747 +12n |
19748 +12n |
19749 +12n |
19750 +12n |
19751 +12n |
19752 +12n |
19753 +12n |
2.6.2. 5-Axis Memory Addressing Example
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| 1 | 19754 | 19755 | 19756 | 19757 | 19758 | 19759 | 19760 | 19761 | 19762 | 19763 | 19764 | 19765 |
| 2 | 19766 | 19767 | 19768 | 19769 | 19770 | 19771 | 19772 | 19773 | 19774 | 19775 | 19776 | 19777 |
| 3 | 19778 | 19779 | 19780 | 19781 | 19782 | 19783 | 19784 | 19785 | 19786 | 19787 | 19788 | 19789 |
| 4 | 19790 | 19791 | 19792 | 19793 | 19794 | 19795 | 19796 | 19797 | 19798 | 19799 | 19800 | 19801 |
| 5 | 19802 | 19803 | 19804 | 19805 | 19806 | 19807 | 19808 | 19809 | 19810 | 19811 | 19812 | 19813 |
| 6 | 19814 | 19815 | 19816 | 19817 | 19818 | 19819 | 19820 | 19821 | 19822 | 19823 | 19824 | 19825 |
| 7 | 19826 | 19827 | 19828 | 19829 | 19830 | 19831 | 19832 | 19833 | 19834 | 19835 | 19836 | 19837 |
| 8 | 19838 | 19839 | 19840 | 19841 | 19842 | 19843 | 19844 | 19845 | 19846 | 19847 | 19848 | 19849 |
| 9 | 19850 | 19851 | 19852 | 19853 | 19854 | 19855 | 19856 | 19857 | 19858 | 19859 | 19860 | 19861 |
| 10 | 19862 | 19863 | 19864 | 19865 | 19866 | 19867 | 19868 | 19869 | 19870 | 19871 | 19872 | 19873 |
| … 11~389 Step: Refer to addressing formula … | ||||||||||||
| 390 | 24422 | 24423 | 24424 | 24425 | 24426 | 24427 | 24428 | 24429 | 24430 | 24431 | 24432 | 24433 |
| 391 | 24434 | 24435 | 24436 | 24437 | 24438 | 24439 | 24440 | 24441 | 24442 | 24443 | 24444 | 24445 |
| 392 | 24446 | 24447 | 24448 | 24449 | 24450 | 24451 | 24452 | 24453 | 24454 | 24455 | 24456 | 24457 |
| 393 | 24458 | 24459 | 24460 | 24461 | 24462 | 24463 | 24464 | 24465 | 24466 | 24467 | 24468 | 24469 |
| 394 | 24470 | 24471 | 24472 | 24473 | 24474 | 24475 | 24476 | 24477 | 24478 | 24479 | 24480 | 24481 |
| 395 | 24482 | 24483 | 24484 | 24485 | 24486 | 24487 | 24488 | 24489 | 24490 | 24491 | 24492 | 24493 |
| 396 | 24494 | 24495 | 24496 | 24497 | 24498 | 24499 | 24500 | 24501 | 24502 | 24503 | 24504 | 24505 |
| 397 | 24506 | 24507 | 24508 | 24509 | 24510 | 24511 | 24512 | 24513 | 24514 | 24515 | 24516 | 24517 |
| 398 | 24518 | 24519 | 24520 | 24521 | 24522 | 24523 | 24524 | 24525 | 24526 | 24527 | 24528 | 24529 |
| 399 | 24530 | 24531 | 24532 | 24533 | 24534 | 24535 | 24536 | 24537 | 24538 | 24539 | 24540 | 24541 |
| 400 | 24542 | 24543 | 24544 | 24545 | 24546 | 24547 | 24548 | 24549 | 24550 | 24551 | 24552 | 24553 |
| Appendix2 |
A2-10
App2.7. 6-axis operation data memory address
2.7.1. 6-Axis Memory Addressing Formula
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| n Step |
24542 +12n |
24543 +12n |
24544 +12n |
24545 +12n |
24546 +12n |
24547 +12n |
24548 +12n |
24549 +12n |
24550 +12n |
24551 +12n |
24552 +12n |
24553 +12n |
2.7.2. 6-Axis Memory Addressing Example
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| 1 | 24554 | 24555 | 24556 | 24557 | 24558 | 24559 | 24560 | 24561 | 24562 | 24563 | 24564 | 24565 |
| 2 | 24566 | 24567 | 24568 | 24569 | 24570 | 24571 | 24572 | 24573 | 24574 | 24575 | 24576 | 24577 |
| 3 | 24578 | 24579 | 24580 | 24581 | 24582 | 24583 | 24584 | 24585 | 24586 | 24587 | 24588 | 24589 |
| 4 | 24590 | 24591 | 24592 | 24593 | 24594 | 24595 | 24596 | 24597 | 24598 | 24599 | 24600 | 24601 |
| 5 | 24602 | 24603 | 24604 | 24605 | 24606 | 24607 | 24608 | 24609 | 24610 | 24611 | 24612 | 24613 |
| 6 | 24614 | 24615 | 24616 | 24617 | 24618 | 24619 | 24620 | 24621 | 24622 | 24623 | 24624 | 24625 |
| 7 | 24626 | 24627 | 24628 | 24629 | 24630 | 24631 | 24632 | 24633 | 24634 | 24635 | 24636 | 24637 |
| 8 | 24638 | 24639 | 24640 | 24641 | 24642 | 24643 | 24644 | 24645 | 24646 | 24647 | 24648 | 24649 |
| 9 | 24650 | 24651 | 24652 | 24653 | 24654 | 24655 | 24656 | 24657 | 24658 | 24659 | 24660 | 24661 |
| 10 | 24662 | 24663 | 24664 | 24665 | 24666 | 24667 | 24668 | 24669 | 24670 | 24671 | 24672 | 24673 |
| … 11~389 Step: Refer to addressing formula … | ||||||||||||
| 390 | 29222 | 29223 | 29224 | 29225 | 29226 | 29227 | 29228 | 29229 | 29230 | 29231 | 29232 | 29233 |
| 391 | 29234 | 29235 | 29236 | 29237 | 29238 | 29239 | 29240 | 29241 | 29242 | 29243 | 29244 | 29245 |
| 392 | 29246 | 29247 | 29248 | 29249 | 29250 | 29251 | 29252 | 29253 | 29254 | 29255 | 29256 | 29257 |
| 393 | 29258 | 29259 | 29260 | 29261 | 29262 | 29263 | 29264 | 29265 | 29266 | 29267 | 29268 | 29269 |
| 394 | 29270 | 29271 | 29272 | 29273 | 29274 | 29275 | 29276 | 29277 | 29278 | 29279 | 29280 | 29281 |
| 395 | 29282 | 29283 | 29284 | 29285 | 29286 | 29287 | 29288 | 29289 | 29290 | 29291 | 29292 | 29293 |
| 396 | 29294 | 29295 | 29296 | 29297 | 29298 | 29299 | 29300 | 29301 | 29302 | 29303 | 29304 | 29305 |
| 397 | 29306 | 29307 | 29308 | 29309 | 29310 | 29311 | 29312 | 29313 | 29314 | 29315 | 29316 | 29317 |
| 398 | 29318 | 29319 | 29320 | 29321 | 29322 | 29323 | 29324 | 29325 | 29326 | 29327 | 29328 | 29329 |
| 399 | 29330 | 29331 | 29332 | 29333 | 29334 | 29335 | 29336 | 29337 | 29338 | 29339 | 29340 | 29341 |
| 400 | 29342 | 29343 | 29344 | 29345 | 29346 | 29347 | 29348 | 29349 | 29350 | 29351 | 29352 | 29353 |
| Appendix2 |
| A2-11 |
App2.8. 7-axis operation data memory address
2.8.1. 7-Axis Memory Addressing Formula
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| n Step |
29342 +12n |
29343 +12n |
29344 +12n |
29345 +12n |
29346 +12n |
29347 +12n |
29348 +12n |
29349 +12n |
29350 +12n |
29351 +12n |
29352 +12n |
29353 +12n |
2.8.2. 7-Axis Memory Addressing Example
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| 1 | 29354 | 29355 | 29356 | 29357 | 29358 | 29359 | 29360 | 29361 | 29362 | 29363 | 29364 | 29365 |
| 2 | 29366 | 29367 | 29368 | 29369 | 29370 | 29371 | 29372 | 29373 | 29374 | 29375 | 29376 | 29377 |
| 3 | 29378 | 29379 | 29380 | 29381 | 29382 | 29383 | 29384 | 29385 | 29386 | 29387 | 29388 | 29389 |
| 4 | 29390 | 29391 | 29392 | 29393 | 29394 | 29395 | 29396 | 29397 | 29398 | 29399 | 29400 | 29401 |
| 5 | 29402 | 29403 | 29404 | 29405 | 29406 | 29407 | 29408 | 29409 | 29410 | 29411 | 29412 | 29413 |
| 6 | 29414 | 29415 | 29416 | 29417 | 29418 | 29419 | 29420 | 29421 | 29422 | 29423 | 29424 | 29425 |
| 7 | 29426 | 29427 | 29428 | 29429 | 29430 | 29431 | 29432 | 29433 | 29434 | 29435 | 29436 | 29437 |
| 8 | 29438 | 29439 | 29440 | 29441 | 29442 | 29443 | 29444 | 29445 | 29446 | 29447 | 29448 | 29449 |
| 9 | 29450 | 29451 | 29452 | 29453 | 29454 | 29455 | 29456 | 29457 | 29458 | 29459 | 29460 | 29461 |
| 10 | 29462 | 29463 | 29464 | 29465 | 29466 | 29467 | 29468 | 29469 | 29470 | 29471 | 29472 | 29473 |
| … 11~389 Step: Refer to addressing formula … | ||||||||||||
| 390 | 34022 | 34023 | 34024 | 34025 | 34026 | 34027 | 34028 | 34029 | 34030 | 34031 | 34032 | 34033 |
| 391 | 34034 | 34035 | 34036 | 34037 | 34038 | 34039 | 34040 | 34041 | 34042 | 34043 | 34044 | 34045 |
| 392 | 34046 | 34047 | 34048 | 34049 | 34050 | 34051 | 34052 | 34053 | 34054 | 34055 | 34056 | 34057 |
| 393 | 34058 | 34059 | 34060 | 34061 | 34062 | 34063 | 34064 | 34065 | 34066 | 34067 | 34068 | 34069 |
| 394 | 34070 | 34071 | 34072 | 34073 | 34074 | 34075 | 34076 | 34077 | 34078 | 34079 | 34080 | 34081 |
| 395 | 34082 | 34083 | 34084 | 34085 | 34086 | 34087 | 34088 | 34089 | 34090 | 34091 | 34092 | 34093 |
| 396 | 34094 | 34095 | 34096 | 34097 | 34098 | 34099 | 34100 | 34101 | 34102 | 34103 | 34104 | 34105 |
| 397 | 34106 | 34107 | 34108 | 34109 | 34110 | 34111 | 34112 | 34113 | 34114 | 34115 | 34116 | 34117 |
| 398 | 34118 | 34119 | 34120 | 34121 | 34122 | 34123 | 34124 | 34125 | 34126 | 34127 | 34128 | 34129 |
| 399 | 34130 | 34131 | 34132 | 34133 | 34134 | 34135 | 34136 | 34137 | 34138 | 34139 | 34140 | 34141 |
| 400 | 34142 | 34143 | 34144 | 34145 | 34146 | 34147 | 34148 | 34149 | 34150 | 34151 | 34152 | 34153 |
| Appendix2 |
A2-12
App2.9. 8-axis operation data memory address
2.9.1. 8-Axis Memory Addressing Formula
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| n Step |
34142 +12n |
34143 +12n |
34144 +12n |
34145 +12n |
34146 +12n |
34147 +12n |
34148 +12n |
34149 +12n |
34150 +12n |
34151 +12n |
34152 +12n |
34153 +12n |
2.9.2. 8-Axis Memory Addressing Example
| Step | Target position | Cir. int. auxiliary point |
Operation speed | Dwell time |
M code | Sub. Axis setting |
Helical int. |
Circular int. turns |
Control word |
|||
| Low | High | Low | High | Low | High | |||||||
| 1 | 34154 | 34155 | 34156 | 34157 | 34158 | 34159 | 34160 | 34161 | 34162 | 34163 | 34164 | 34165 |
| 2 | 34166 | 34167 | 34168 | 34169 | 34170 | 34171 | 34172 | 34173 | 34174 | 34175 | 34176 | 34177 |
| 3 | 34178 | 34179 | 34180 | 34181 | 34182 | 34183 | 34184 | 34185 | 34186 | 34187 | 34188 | 34189 |
| 4 | 34190 | 34191 | 34192 | 34193 | 34194 | 34195 | 34196 | 34197 | 34198 | 34199 | 34200 | 34201 |
| 5 | 34202 | 34203 | 34204 | 34205 | 34206 | 34207 | 34208 | 34209 | 34210 | 34211 | 34212 | 34213 |
| 6 | 34214 | 34215 | 34216 | 34217 | 34218 | 34219 | 34220 | 34221 | 34222 | 34223 | 34224 | 34225 |
| 7 | 34226 | 34227 | 34228 | 34229 | 34230 | 34231 | 34232 | 34233 | 34234 | 34235 | 34236 | 34237 |
| 8 | 34238 | 34239 | 34240 | 34241 | 34242 | 34243 | 34244 | 34245 | 34246 | 34247 | 34248 | 34249 |
| 9 | 34250 | 34251 | 34252 | 34253 | 34254 | 34255 | 34256 | 34257 | 34258 | 34259 | 34260 | 34261 |
| 10 | 34262 | 34263 | 34264 | 34265 | 34266 | 34267 | 34268 | 34269 | 34270 | 34271 | 34272 | 34273 |
| … 11~389 Step: Refer to addressing formula … | ||||||||||||
| 390 | 38822 | 38823 | 38824 | 38825 | 38826 | 38827 | 38828 | 38829 | 38830 | 38831 | 38832 | 38833 |
| 391 | 38834 | 38835 | 38836 | 38837 | 38838 | 38839 | 38840 | 38841 | 38842 | 38843 | 38844 | 38845 |
| 392 | 38846 | 38847 | 38848 | 38849 | 38850 | 38851 | 38852 | 38853 | 38854 | 38855 | 38856 | 38857 |
| 393 | 38858 | 38859 | 38860 | 38861 | 38862 | 38863 | 38864 | 38865 | 38866 | 38867 | 38868 | 38869 |
| 394 | 38870 | 38871 | 38872 | 38873 | 38874 | 38875 | 38876 | 38877 | 38878 | 38879 | 38880 | 38881 |
| 395 | 38882 | 38883 | 38884 | 38885 | 38886 | 38887 | 38888 | 38889 | 38890 | 38891 | 38892 | 38893 |
| 396 | 38894 | 38895 | 38896 | 38897 | 38898 | 38899 | 38900 | 38901 | 38902 | 38903 | 38904 | 38905 |
| 397 | 38906 | 38907 | 38908 | 38909 | 38910 | 38911 | 38912 | 38913 | 38914 | 38915 | 38916 | 38917 |
| 398 | 38918 | 38919 | 38920 | 38921 | 38922 | 38923 | 38924 | 38925 | 38926 | 38927 | 38928 | 38929 |
| 399 | 38930 | 38931 | 38932 | 38933 | 38934 | 38935 | 38936 | 38937 | 38938 | 38939 | 38940 | 38941 |
| 400 | 38942 | 38943 | 38944 | 38945 | 38946 | 38947 | 38948 | 38949 | 38950 | 38951 | 38952 | 38953 |
| Appendix2 |
| A2-13 |
App2.10. Control Word-Operational Data
(1) Control word
| Bit position | Contents |
| Coordinate (bit 0) | 0: ABS, 1: INC |
| Control method (bit 1~3) | 0: single axis position control, 1: single axis speed control, 2: single axis FEED control, 3: Linear interpolation, 4: Circular interpolation |
| Operation method (bit 4) | 0: Single, 1: Repeat |
| Operation pattern (bit 5~6) | 0: End, 1: Keep, 2: Continuous |
| Arc size (bit 7) | 0: Arc<180, 1: Arc>=180 |
| Acc. No. (bit 8~9) | 0 ~ 3 |
| Dec. No. (bit 10~11) | 0 ~ 3 |
| Circular interpolation mode (bit 12~13) |
0: Middle point, 1: Center point, 2: Radius |
| Circular interpolation direction (bit 14) |
0: CW, 1: CCW |
| Appendix2 |
A2-14
App2.11. CAM data memory address
| Item | Block 1 | Block 2 | Block 3 | Block 4 | Block 5 | Block 6 | Block 7 | Block 8 | |
| Main axis travel distance per rotation | 38954 | 43184 | 47414 | 51644 | 55874 | 60104 | 64334 | 68564 | |
| Main axis pulse per rotation | 38956 | 43186 | 47416 | 51646 | 55876 | 60106 | 64336 | 68566 | |
| Sub axis travel distance per rotation | 38958 | 43188 | 47418 | 51648 | 55878 | 60108 | 64338 | 68568 | |
| Sub axis pulse per rotation | 38960 | 43190 | 47420 | 51650 | 55880 | 60110 | 64340 | 68570 | |
| CAM profile data count (WORD) | 38962 | 43192 | 47422 | 51652 | 55882 | 60112 | 64342 | 68572 | |
| Parameter and control mode (WORD) Bit 0~1 : main axis unit Bit 2~3 : sub axis unit Bit 8 : control method (0:Repeat,1:Increse) |
38963 | 43193 | 47423 | 51653 | 55883 | 60113 | 64343 | 68573 | |
| CAM block data 1 | Main axis end pos. |
38964 | 43194 | 47424 | 51654 | 55884 | 60114 | 64344 | 68574 |
| Sub axis end pos. |
38966 | 43196 | 47426 | 51656 | 55886 | 60116 | 64346 | 68576 | |
| CAM Curve | 38968 | 43198 | 47428 | 51658 | 55888 | 60118 | 64348 | 68578 | |
| CAM block data 2 | Main axis end pos. |
38970 | 43200 | 47430 | 51660 | 55890 | 60120 | 64350 | 68580 |
| Sub axis end pos. |
38972 | 43202 | 47432 | 51662 | 55892 | 60122 | 64352 | 68582 | |
| CAM Curve | 38974 | 43204 | 47434 | 51664 | 55894 | 60124 | 64354 | 68584 | |
| CAM block data 3 | Main axis end pos. |
38976 | 43206 | 47436 | 51666 | 55896 | 60126 | 64356 | 68586 |
| Sub axis end pos. |
38978 | 43208 | 47438 | 51668 | 55898 | 60128 | 64358 | 68588 | |
| CAM Curve | 38980 | 43210 | 47440 | 51670 | 55900 | 60130 | 64360 | 68590 | |
| CAM block data 4 | Main axis end pos. |
38982 | 43212 | 47442 | 51672 | 55902 | 60132 | 64362 | 68592 |
| Sub axis end pos. |
38984 | 43214 | 47444 | 51674 | 55904 | 60134 | 64364 | 68594 | |
| CAM Curve | 38986 | 43216 | 47446 | 51676 | 55906 | 60136 | 64366 | 68596 | |
| CAM block data 5 | Main axis end pos. |
38988 | 43218 | 47448 | 51678 | 55908 | 60138 | 64368 | 68598 |
| Sub axis end pos. |
38990 | 43220 | 47450 | 51680 | 55910 | 60140 | 64370 | 68600 | |
| CAM Curve | 38992 | 43222 | 47452 | 51682 | 55912 | 60142 | 64372 | 68602 | |
| CAM block data 6 | Main axis end pos. |
38994 | 43224 | 47454 | 51684 | 55914 | 60144 | 64374 | 68604 |
| Sub axis end pos. |
38996 | 43226 | 47456 | 51686 | 55916 | 60146 | 64376 | 68606 | |
| CAM Curve | 38998 | 43228 | 47458 | 51688 | 55918 | 60148 | 64378 | 68608 | |
| CAM block data 7 | Main axis end pos. |
39000 | 43230 | 47460 | 51690 | 55920 | 60150 | 64380 | 68610 |
| Sub axis end pos. |
39002 | 43232 | 47462 | 51692 | 55922 | 60152 | 64382 | 68612 | |
| CAM Curve | 39004 | 43234 | 47464 | 51694 | 55924 | 60154 | 64384 | 68614 |
| Appendix2 |
| A2-15 |
| Item | Block 1 | Block 2 | Block 3 | Block 4 | Block 5 | Block 6 | Block 7 | Block 8 | |
| CAM block data 8 | Main axis end pos. |
39006 | 43236 | 47466 | 51696 | 55926 | 60156 | 64386 | 68616 |
| Sub axis end pos. |
39008 | 43238 | 47468 | 51698 | 55928 | 60158 | 64388 | 68618 | |
| CAM Curve | 39010 | 43240 | 47470 | 51700 | 55930 | 60160 | 64390 | 68620 | |
| CAM block data 9 | Main axis end pos. |
39012 | 43242 | 47472 | 51702 | 55932 | 60162 | 64392 | 68622 |
| Sub axis end pos. |
39014 | 43244 | 47474 | 51704 | 55934 | 60164 | 64394 | 68624 | |
| CAM Curve | 39016 | 43246 | 47476 | 51706 | 55936 | 60166 | 64396 | 68626 | |
| CAM block data 10 | Main axis end pos. |
39018 | 43248 | 47478 | 51708 | 55938 | 60168 | 64398 | 68628 |
| Sub axis end pos. |
39020 | 43250 | 47480 | 51710 | 55940 | 60170 | 64400 | 68630 | |
| CAM Curve | 39022 | 43252 | 47482 | 51712 | 55942 | 60172 | 64402 | 68632 | |
| CAM block data 11 | Main axis end pos. |
39024 | 43254 | 47484 | 51714 | 55944 | 60174 | 64404 | 68634 |
| Sub axis end pos. |
39026 | 43256 | 47486 | 51716 | 55946 | 60176 | 64406 | 68636 | |
| CAM Curve | 39028 | 43258 | 47488 | 51718 | 55948 | 60178 | 64408 | 68638 | |
| CAM block data 12 | Main axis end pos. |
39030 | 43260 | 47490 | 51720 | 55950 | 60180 | 64410 | 68640 |
| Sub axis end pos. |
39032 | 43262 | 47492 | 51722 | 55952 | 60182 | 64412 | 68642 | |
| CAM Curve | 39034 | 43264 | 47494 | 51724 | 55954 | 60184 | 64414 | 68644 | |
| CAM block data 13 | Main axis end pos. |
39036 | 43266 | 47496 | 51726 | 55956 | 60186 | 64416 | 68646 |
| Sub axis end pos. |
39038 | 43268 | 47498 | 51728 | 55958 | 60188 | 64418 | 68648 | |
| CAM Curve | 39040 | 43270 | 47500 | 51730 | 55960 | 60190 | 64420 | 68650 | |
| CAM block data 14 | Main axis end pos. |
39042 | 43272 | 47502 | 51732 | 55962 | 60192 | 64422 | 68652 |
| Sub axis end pos. |
39044 | 43274 | 47504 | 51734 | 55964 | 60194 | 64424 | 68654 | |
| CAM Curve | 39046 | 43276 | 47506 | 51736 | 55966 | 60196 | 64426 | 68656 | |
| CAM block data 15 | Main axis end pos. |
39048 | 43278 | 47508 | 51738 | 55968 | 60198 | 64428 | 68658 |
| Sub axis end pos. |
39050 | 43280 | 47510 | 51740 | 55970 | 60200 | 64430 | 68660 | |
| CAM Curve | 39052 | 43282 | 47512 | 51742 | 55972 | 60202 | 64432 | 68662 | |
| CAM block data 16 | Main axis end pos. |
39054 | 43284 | 47514 | 51744 | 55974 | 60204 | 64434 | 68664 |
| Sub axis end pos. |
39056 | 43286 | 47516 | 51746 | 55976 | 60206 | 64436 | 68666 | |
| CAM Curve | 39058 | 43288 | 47518 | 51748 | 55978 | 60208 | 64438 | 68668 |
| Appendix2 |
A2-16
| Item | Block 1 | Block 2 | Block 3 | Block 4 | Block 5 | Block 6 | Block 7 | Block 8 | |
| CAM block data 17 | Main axis end pos. |
39060 | 43290 | 47520 | 51750 | 55980 | 60210 | 64440 | 68670 |
| Sub axis end pos. |
39062 | 43292 | 47522 | 51752 | 55982 | 60212 | 64442 | 68672 | |
| CAM Curve | 39064 | 43294 | 47524 | 51754 | 55984 | 60214 | 64444 | 68674 | |
| CAM block data 18 | Main axis end pos. |
39066 | 43296 | 47526 | 51756 | 55986 | 60216 | 64446 | 68676 |
| Sub axis end pos. |
39068 | 43298 | 47528 | 51758 | 55988 | 60218 | 64448 | 68678 | |
| CAM Curve | 39070 | 43300 | 47530 | 51760 | 55990 | 60220 | 64450 | 68680 | |
| CAM block data 19 | Main axis end pos. |
39072 | 43302 | 47532 | 51762 | 55992 | 60222 | 64452 | 68682 |
| Sub axis end pos. |
39074 | 43304 | 47534 | 51764 | 55994 | 60224 | 64454 | 68684 | |
| CAM Curve | 39076 | 43306 | 47536 | 51766 | 55996 | 60226 | 64456 | 68686 | |
| CAM block data 20 | Main axis end pos. |
39078 | 43308 | 47538 | 51768 | 55998 | 60228 | 64458 | 68688 |
| Sub axis end pos. |
39080 | 43310 | 47540 | 51770 | 56000 | 60230 | 64460 | 68690 | |
| CAM Curve | 39082 | 43312 | 47542 | 51772 | 56002 | 60232 | 64462 | 68692 | |
| Point unit | 39084 | 43314 | 47544 | 51774 | 56004 | 60234 | 64464 | 68694 | |
| Main axis end position | 39086 | 43316 | 47546 | 51776 | 56006 | 60236 | 64466 | 68696 |
| Appendix2 |
| A2-17 |
| Item | Axis 1 | Axis 2 | Axis 3 | Axis 4 | Axis 5 | Axis 6 | Axis 7 | Axis 8 |
| CAM Data[0] (REAL) | 39088 | 43318 | 47548 | 51778 | 56008 | 60238 | 64468 | 68698 |
| CAM Data[1] (REAL) | 39090 | 43320 | 47550 | 51780 | 56010 | 60240 | 64470 | 68700 |
| CAM Data[2] (REAL) | 39092 | 43322 | 47552 | 51782 | 56012 | 60242 | 64472 | 68702 |
| CAM Data[3] (REAL) | 39094 | 43324 | 47554 | 51784 | 56014 | 60244 | 64474 | 68704 |
| CAM Data[4] (REAL) | 39096 | 43326 | 47556 | 51786 | 56016 | 60246 | 64476 | 68706 |
| CAM Data[5] (REAL) | 39098 | 43328 | 47558 | 51788 | 56018 | 60248 | 64478 | 68708 |
| CAM Data[6] (REAL) | 39100 | 43330 | 47560 | 51790 | 56020 | 60250 | 64480 | 68710 |
| CAM Data[7] (REAL) | 39102 | 43332 | 47562 | 51792 | 56022 | 60252 | 64482 | 68712 |
| CAM Data[8] (REAL) | 39104 | 43334 | 47564 | 51794 | 56024 | 60254 | 64484 | 68714 |
| CAM Data[9] (REAL) | 39106 | 43336 | 47566 | 51796 | 56026 | 60256 | 64486 | 68716 |
| CAM Data[10] (REAL) | 39108 | 43338 | 47568 | 51798 | 56028 | 60258 | 64488 | 68718 |
| ... | ||||||||
| CAM Data[n](REAL) | 39088 +2n |
43318 +2n |
47548 +2n |
51778 +2n |
56008 +2n |
60238 +2n |
64468 +2n |
68698 +2n |
| ... | ||||||||
| CAM Data[2040] (REAL) | 43168 | 47398 | 51628 | 55858 | 60088 | 64318 | 68548 | 72778 |
| CAM Data[2041] (REAL) | 43170 | 47400 | 51630 | 55860 | 60090 | 64320 | 68550 | 72780 |
| CAM Data[2042] (REAL) | 43172 | 47402 | 51632 | 55862 | 60092 | 64322 | 68552 | 72782 |
| CAM Data[2043] (REAL) | 43174 | 47404 | 51634 | 55864 | 60094 | 64324 | 68554 | 72784 |
| CAM Data[2044] (REAL) | 43176 | 47406 | 51636 | 55866 | 60096 | 64326 | 68556 | 72786 |
| CAM Data[2045] (REAL) | 43178 | 47408 | 51638 | 55868 | 60098 | 64328 | 68558 | 72788 |
| CAM Data[2046] (REAL) | 43180 | 47410 | 51640 | 55870 | 60100 | 64330 | 68560 | 72790 |
| CAM Data[2047] (REAL) | 43182 | 47412 | 51642 | 55872 | 60102 | 64332 | 68562 | 72792 |
| Appendix2 |
A2-18
App2.12. User CAM Data Memory Address
| Item | Axis 1 | Axis 2 | Axis 3 | Axis 4 | Axis 5 | Axis 6 | Axis 7 | Axis 8 |
| Number of user CAM data | 72794 | 72916 | 73038 | 73160 | 73282 | 73404 | 73526 | 73648 |
| Main axis position 1 | 72796 | 72918 | 73040 | 73162 | 73284 | 73406 | 73528 | 73650 |
| Sub axis position 1 | 72798 | 72920 | 73042 | 73164 | 73286 | 73408 | 73530 | 73652 |
| Main axis position 2 | 72800 | 72922 | 73044 | 73166 | 73288 | 73410 | 73532 | 73654 |
| Sub axis position 2 | 72802 | 72924 | 73046 | 73168 | 73290 | 73412 | 73534 | 73656 |
| Main axis position 3 | 72804 | 72926 | 73048 | 73170 | 73292 | 73414 | 73536 | 73658 |
| Sub axis position 3 | 72806 | 72928 | 73050 | 73172 | 73294 | 73416 | 73538 | 73660 |
| Main axis position 4 | 72808 | 72930 | 73052 | 73174 | 73296 | 73418 | 73540 | 73662 |
| Sub axis position 4 | 72810 | 72932 | 73054 | 73176 | 73298 | 73420 | 73542 | 73664 |
| Main axis position 5 | 72812 | 72934 | 73056 | 73178 | 73300 | 73422 | 73544 | 73666 |
| Sub axis position 5 | 72814 | 72936 | 73058 | 73180 | 73302 | 73424 | 73546 | 73668 |
| Main axis position 6 | 72816 | 72938 | 73060 | 73182 | 73304 | 73426 | 73548 | 73670 |
| Sub axis position 6 | 72818 | 72940 | 73062 | 73184 | 73306 | 73428 | 73550 | 73672 |
| Main axis position 7 | 72820 | 72942 | 73064 | 73186 | 73308 | 73430 | 73552 | 73674 |
| Sub axis position 7 | 72822 | 72944 | 73066 | 73188 | 73310 | 73432 | 73554 | 73676 |
| Main axis position 8 | 72824 | 72946 | 73068 | 73190 | 73312 | 73434 | 73556 | 73678 |
| Sub axis position 8 | 72826 | 72948 | 73070 | 73192 | 73314 | 73436 | 73558 | 73680 |
| Main axis position 9 | 72828 | 72950 | 73072 | 73194 | 73316 | 73438 | 73560 | 73682 |
| Sub axis position 9 | 72830 | 72952 | 73074 | 73196 | 73318 | 73440 | 73562 | 73684 |
| Main axis position 10 | 72832 | 72954 | 73076 | 73198 | 73320 | 73442 | 73564 | 73686 |
| Sub axis position 10 | 72834 | 72956 | 73078 | 73200 | 73322 | 73444 | 73566 | 73688 |
| Main axis position 11 | 72836 | 72958 | 73080 | 73202 | 73324 | 73446 | 73568 | 73690 |
| Sub axis position 11 | 72838 | 72960 | 73082 | 73204 | 73326 | 73448 | 73570 | 73692 |
| Main axis position 12 | 72840 | 72962 | 73084 | 73206 | 73328 | 73450 | 73572 | 73694 |
| Sub axis position 12 | 72842 | 72964 | 73086 | 73208 | 73330 | 73452 | 73574 | 73696 |
| Main axis position 13 | 72844 | 72966 | 73088 | 73210 | 73332 | 73454 | 73576 | 73698 |
| Sub axis position 13 | 72846 | 72968 | 73090 | 73212 | 73334 | 73456 | 73578 | 73700 |
| Main axis position 14 | 72848 | 72970 | 73092 | 73214 | 73336 | 73458 | 73580 | 73702 |
| Sub axis position 14 | 72850 | 72972 | 73094 | 73216 | 73338 | 73460 | 73582 | 73704 |
| Main axis position 15 | 72852 | 72974 | 73096 | 73218 | 73340 | 73462 | 73584 | 73706 |
| Sub axis position 15 | 72854 | 72976 | 73098 | 73220 | 73342 | 73464 | 73586 | 73708 |
| Main axis position 16 | 72856 | 72978 | 73100 | 73222 | 73344 | 73466 | 73588 | 73710 |
| Sub axis position 16 | 72858 | 72980 | 73102 | 73224 | 73346 | 73468 | 73590 | 73712 |
| Main axis position 17 | 72860 | 72982 | 73104 | 73226 | 73348 | 73470 | 73592 | 73714 |
| Sub axis position 17 | 72862 | 72984 | 73106 | 73228 | 73350 | 73472 | 73594 | 73716 |
| Main axis position 18 | 72864 | 72986 | 73108 | 73230 | 73352 | 73474 | 73596 | 73718 |
| Sub axis position 18 | 72866 | 72988 | 73110 | 73232 | 73354 | 73476 | 73598 | 73720 |
| Main axis position 19 | 72868 | 72990 | 73112 | 73234 | 73356 | 73478 | 73600 | 73722 |
| Sub axis position 19 | 72870 | 72992 | 73114 | 73236 | 73358 | 73480 | 73602 | 73724 |
| Main axis position 20 | 72872 | 72994 | 73116 | 73238 | 73360 | 73482 | 73604 | 73726 |
| Appendix2 |
| A2-19 |
| Item | Axis 1 | Axis 2 | Axis 3 | Axis 4 | Axis 5 | Axis 6 | Axis 7 | Axis 8 |
| Sub axis position 20 | 72874 | 72996 | 73118 | 73240 | 73362 | 73484 | 73606 | 73728 |
| Main axis position 21 | 72876 | 72998 | 73120 | 73242 | 73364 | 73486 | 73608 | 73730 |
| Sub axis position 21 | 72878 | 73000 | 73122 | 73244 | 73366 | 73488 | 73610 | 73732 |
| Main axis position 22 | 72880 | 73002 | 73124 | 73246 | 73368 | 73490 | 73612 | 73734 |
| Sub axis position 22 | 72882 | 73004 | 73126 | 73248 | 73370 | 73492 | 73614 | 73736 |
| Main axis position 23 | 72884 | 73006 | 73128 | 73250 | 73372 | 73494 | 73616 | 73738 |
| Sub axis position 23 | 72886 | 73008 | 73130 | 73252 | 73374 | 73496 | 73618 | 73740 |
| Main axis position 24 | 72888 | 73010 | 73132 | 73254 | 73376 | 73498 | 73620 | 73742 |
| Sub axis position 24 | 72890 | 73012 | 73134 | 73256 | 73378 | 73500 | 73622 | 73744 |
| Main axis position 25 | 72892 | 73014 | 73136 | 73258 | 73380 | 73502 | 73624 | 73746 |
| Sub axis position 25 | 72894 | 73016 | 73138 | 73260 | 73382 | 73504 | 73626 | 73748 |
| Main axis position 26 | 72896 | 73018 | 73140 | 73262 | 73384 | 73506 | 73628 | 73750 |
| Sub axis position 26 | 72898 | 73020 | 73142 | 73264 | 73386 | 73508 | 73630 | 73752 |
| Main axis position 27 | 72900 | 73022 | 73144 | 73266 | 73388 | 73510 | 73632 | 73754 |
| Sub axis position 27 | 72902 | 73024 | 73146 | 73268 | 73390 | 73512 | 73634 | 73756 |
| Main axis position 28 | 72904 | 73026 | 73148 | 73270 | 73392 | 73514 | 73636 | 73758 |
| Sub axis position 28 | 72906 | 73028 | 73150 | 73272 | 73394 | 73516 | 73638 | 73760 |
| Main axis position 29 | 72908 | 73030 | 73152 | 73274 | 73396 | 73518 | 73640 | 73762 |
| Sub axis position 29 | 72910 | 73032 | 73154 | 73276 | 73398 | 73520 | 73642 | 73764 |
| Main axis position 30 | 72912 | 73034 | 73156 | 73278 | 73400 | 73522 | 73644 | 73766 |
| Sub axis position 30 | 72914 | 73036 | 73158 | 73280 | 73402 | 73524 | 73646 | 73768 |
| Appendix3 |
| A3-1 |
| Dimension Dimension of XGF-PN8A |
App3.1. |
| 98.0 -0.2 0 |
| 90 |
| 27.0 -0.2 0 |
| Appendix3 |
A3-2
App3.2. Dimension of XGF-PN4B
| Appendix3 |
| A3-3 |
App3.3. Dimension of XGF-PN8B
| Appendix4 |
| A4-1 |
Setting Example
It describes how to set when using the positioning module at the beginning.
App4.1. XGF-PN8A
(1) Install the servo driver.
Connect the power and motor to the servo driver and connect external signal as necessary.
(2) Install PLC.
Install PLC and mount the positioning module. And at the beginning of test-run, for safety’s sake, make sure PLC CPU is STOP
mode.
(3) Connect the positioning module and servo driver.
Connect the positioning module and first servo driver by using Ethernet cable. And connect other servo drivers.
At this time, check the I/O direction of communication port of the servo driver distinctly. The following is wiring diagram when
connecting 8 servo drivers and applicable motor type per servo driver capacity.
IN
OUT
Applicable motor
Driver
Driver
1-axis 2-axis 3-axis 8-axis
| Appendix4 |
A4-2
(4) Install XG5000 at the PC.
(5) Execute XG5000 and XG-PM by selecting “Tools – Position control”
(XG-PM is used for setting operation parameter, operation data and servo parameter or monitoring and etc.)
(6) If XG-PM is executed, create positioning project by selecting “Project – New Project”.
| Appendix4 |
| A4-3 |
(7) In the figure below, set up Project name, PLC series, CPU type, Module name, Module type, Module position to create new
project.
(8) If you set up as the figure above, the project will be created as follows.
| Appendix4 |
A4-4
(9) Turn on PLC and servo driver and connect PC with PLC CPU through USB or RS-232C cable.
(10) Select “Online- Connection Setting” and set up connection settings.
(11) Select “Online-Connect” to connect PC with PLC CPU.
(12) If connection is complete, the module will be shown in ‘Online’ as follows.
| Appendix4 |
| A4-5 |
(13) If the module doesn’t become “Online” and keeps “Offline”, check whether the module is mounted, position or type is correct.
(14) Select “Online-Connect to all servo” to connect the position module with servo driver.
(15) If connection is complete, the connected servo driver is activated in System View.
(16) At the first connection, all station numbers of servo driver may be set as 0. In system view, select the servo driver and set up the
| Appendix4 |
A4-6
servo station not to be duplicated. And execute “Servo station write” command. For setting servo station number, select the servo
in system view and click the right button of the mouse. Or double-click the servo in system view. For “Servo station write”
command, select “Online – All servo station setting”.
(17) Read the parameter to set up “operation parameter and servo parameter”.
Select menu “Online - Read” to execute reading.
| Appendix4 |
| A4-7 |
(18) Set up servo parameter of the each axis. Basically, set up servo driver capacity, motor capacity and encoder pulses.
(a) Motor ID
(b) Driver ID
Model Model Model Model Model
Each
Driver capacity
Driver
| Appendix4 |
A4-8
(c) Encoder ID
| Encoder type | Encoder ID (P01-12) |
| 17 bit incremental encoder | Enc-P |
| 17 bit absolute encoder | Encd-R |
(19) You can set up servo parameter with two methods. After selecting “Allow Servo Parameter (Individual) Change During
Operation”, if you set up servo parameter and click “Enter key”, that is applied to the servo driver instantly. Or after setting all servo
parameters, execute “Online – Write” to write all servo parameters once.
(20) According to servo parameter, you may have to restart servo driver to apply the change. So if you change servo driver and
| Appendix4 |
| A4-9 |
motor, encoder type at the beginning, disconnect the servo driver and restart the servo driver.
(21) If servo parameter setting is compete, set up operation parameter of the each axis and select operation parameter in “OnlineWrite” and execute writing.
(22) In step (20), if you restart the servo driver, click “Online- Connect to all servo” to connect the servo driver.
| Appendix4 |
A4-10
(23) After selecting command axis and executing “servo on”, check “servo on” status. And execute JOG and etc to check whether the
motor operates or not.
(24) If vibration or noise occurs when operating the motor, adjust response, inertia ratio and etc. in servo parameter and send to the
servo driver.
① ②
③
⑤
④
| Appendix4 |
| A4-11 |
(25) Write PLC program through XG5000
(a) Create new project. After selecting menu “Project-New Project”, set up project name.
(b) Disconnect XG-PM from PLC CPU. If you connect to XG5000 while XG-PM is connected in XGK CPU, the following dialog
box appears and PLC function is limited. If you connect XG-PM after connecting XG5000, that problem will not occur.
(c) Select “Online - Connection Settings” to set up connection setting and select “Online – Connect” to connect to PLC CPU.
(d) Change PLC PU mode to “STOP”.
| Appendix4 |
A4-12
(e) Select “Online – I/O information” and check the current I/O information of PLC.
(f) In I/O information window, check whether XGF-PN8A information is shown correctly. If you want to see version of the module,
click “Details”.
| Appendix4 |
| A4-13 |
(g) In I/O information window, click “I/O Sync.” button to set up I/O parameter.
(h) Select “Edit- Register U device” to register U device.
(i) In the following example, XGK CPU and two servos are used. Those servos are set as 1-axis and 2-axis. It connects by using
XECON and reads status information of the connected axis. Add other programs as necessary.
| Appendix4 |
A4-14
App4.2. XGF-PN4B/PN8B
(1) Install the servo driver.
Connect the power and motor to the servo driver and connect external signal as necessary.
(2) Install PLC.
Install PLC and mount the positioning module. And at the beginning of test-run, for safety’s sake, make sure PLC CPU is STOP
mode.
(3) Connect the positioning module and servo driver.
Connect the positioning module and first servo driver by using Ethernet cable. And connect other servo drivers.
At this time, check the I/O direction of communication port of the servo driver distinctly. The following is wiring diagram when
connecting 8 servo drivers and applicable motor type per servo driver capacity.
| Maker | Applicable servo driver |
| LS Mecapion | APD-L7E |
| Beckhoff Automation GmbH | AX2000-B110 EtherCAT Drive |
| Danaher Motion GmbH (KOLLMORGEN) |
S300/S400/S600/S700 EtherCAT Drive |
| AKD EtherCAT Drive(CoE) | |
| Sanyodenki Co., Ltd | R ADVANCED MODEL with EtherCAT Coe Interface |
| Yaskawa Electric Corporation | SGDV-E1 EtherCAT(CoE) SERVOPACK Rev1, Rev2, Rev3 |
Note
After installing a servo driver, make sure check the following items by using the dedicated tool provided by the servo driver
maker. And if there is mismatch with actual settings, you have to set up again according to the condition you are using.
1) Power supply
Make sure that power connected to the servo driver is same as allowable power condition set in the parameter
(In some servo driver, there may be no power setting according to servo driver.)
2) Motor and encoder (feedback) type
Set up the parameter according to actual motor and encoder type.
3) Position unit setting
When position unit setting is available in servo driver parameter, you have to set up them as pulse unit (Inc. or Counts).
And set up “Encoder resolution per rotation” according to encoder bit number.
(There may be no setting item according to servo driver type)
| Appendix4 |
| A4-15 |
(4) Install XG5000 at the PC.
(5) Execute XG5000 and XG-PM by selecting “Tools – Position control”
(XG-PM is used for setting operation parameter, operation data and servo parameter or monitoring and etc.)
(6) If XG-PM is executed, create positioning project by selecting “Project – New Project”.
| Appendix4 |
A4-16
(7) In the figure below, set up Project name, PLC series, CPU type, Module name, Module type, Module position to create a new
project.
(8) If you set up as the figure above, the project will be created as follows.
| Appendix4 |
| A4-17 |
(9) Turn on PLC and servo driver and connect PC with PLC CPU through USB or RS-232C cable.
(10) Select “Online- Connection Setting” and set up connection settings.
(11) Select “Online-Connect” to connect PC with PLC CPU.
(12) If connection is complete, the module will be shown in ‘Online’ as follows.
(13) If the module doesn’t become “Online” and keeps “Offline”, check whether the module is mounted, position or type is correct.
(14) In order to connect with the servo driver, set up the actually connected servo driver at the network parameter and write it to the
module. Before setting up network parameter, check whether the module is offline. In case of online, change it to offline by
executing “Online – Disconnect”.
| Appendix4 |
A4-18
(15) In order to add the servo driver at the network parameter, click the right button of the module while cursor is on Network parameter
and select “Add – Drive”.
(16) If servo information window appears, click “…” button.
| Appendix4 |
| A4-19 |
(17) In “Servo drive selection” window, select the firstly connected servo driver and click OK.
(18) In “Servo Info.” window, set up axis number of the selected servo driver. Connection sequence has nothing to do with axis
| Appendix4 |
A4-20
number. This axis number becomes the command axis of the command/function block when programming.
(19) After axis number setting is completed, the added servo driver appears in network parameter.
| Appendix4 |
| Note When the servo drivers are same, you can use “Copy”, “Paste”. After selecting “Copy” menu while first servo driver is added, click the right button and execute “Paste” menu while the cursor is on the network parameter. If you do as above, the same servo driver will be added and its axis number will increase by one. |
| A4-21 |
| Appendix4 |
A4-22
(20) For other servo drivers, add the servo driver equally. The following is the screen where all servo drivers are added. Before
connection between positioning module and servo driver is established by “Connect to all servo”, they will be shown with grey
color.
(21) After adding servo drivers, execute “Online-Connect” and execute “Online-Write” to write network parameter to the positioning
module.
| Appendix4 |
| A4-23 |
(22) If “Write project” window appears, check “Network Parameter” and click OK. The following is screen from start to completion.
(23) Select “Online – Connect to all servo” and connect the positioning module to the servo drivers.
(24) If connection is completed, servo driver name in network parameter is activated and becomes black color from grey color. And in
| Appendix4 |
A4-24
system view window, the actually conneted servo driver is activated.
| Appendix4 |
| Note 1. When connecting to network for the first time after configuring system with XGF-PN4B/PN8B, if you use “Network servo auto connect” function, you can connect conveniently without network parameter setting. 1) Execute “Online – Network servo auto connect” menu. 2) The following alarm message appears. If there is network parameter set in XG-PM and positioning module, it will be initialized and servo parameter in XG-PM also will be initialized. Check the message and click OK. 3) The following message appears and if connection is completed normally, completion message appears. 4) If it is completed normally, the currently connected servo driver will be added in network parameter automatically. 5) Axis number will be assigned automatically according to connection sequence. That is, the first servo driver becomes 1-axis. If you want to change axis number, disconnect and change axis number and write the network parameter and execute “Online – Connect to all servo”. |
| A4-25 |
| Appendix4 |
A4-26
(25) Read the parameter to set up “operation parameter and servo parameter”.
Select menu “Online - Read” to execute reading.
(26) The following is the servo parameter of “SanyoDenki”. The servo parameter may differ according to servo driver type. For detail,
refer to the each servo driver manual.
| Appendix4 |
| A4-27 |
(27) You can set up servo parameter with two methods. After selecting “Allow Servo Parameter (Individual) Change During Operation”,
if you set up servo parameter and click “Enter key”, that is applied to the servo driver instantly. If the changed is applied to “Current
Value” normally, the value has been transmitted normally.
In case of change by “Allow Servo Parameter (Individual) Change During Operation”, that is effective only when power is applied.
In order to keep the servo driver data after On/Off, you have to execute “Online – Save servo parameter to EEPROM”
As a second method, after setting all servo parameters, execute “Online – Write” to write all servo parameters once.
In case of method above, “Save servo parameter to EEPROM” command is executed automatically. So you don’t need to execute
“Save servo parameter to EEPROM” command. According to servo parameter, you may have to restart servo driver to apply the
| Appendix4 |
A4-28
change. Refer to the servo driver manual.
(28) After servo parameter setting is finished, set up position data and write it to the module by selecting “Online – Write”.
(29) If you restart the servo driver in step (27), execute “Online – connect to all servo” again to connect the module to the servo driver.
| Appendix4 |
| A4-29 |
(30) After selecting command axis and executing “servo on”, check “servo on” status. And execute JOG and etc to check whether the
motor operates or not.
(31) If vibration or noise occurs when operating the motor, adjust response, inertia ratio and etc. in servo parameter and send to the
servo driver.
① ②
③
④
⑤
| Appendix4 |
A4-30
(25) Write PLC program through XG5000
(a) Create new project. After selecting menu “Project-New Project”, set up project name.
(b) Disconnect XG-PM from PLC CPU. If you connect to XG5000 while XG-PM is connected in XGK CPU, the following dialog
box appears and PLC function is limited. If you connect XG-PM after connecting XG5000, that problem will not occur.
(c) Select “Online - Connection Settings” to set up connection setting and select “Online – Connect” to connect to PLC CPU.
(d) Change PLC PU mode to “STOP”.
(e) “Select “Online – I/O information” and check the current I/O information of PLC.
| Appendix4 |
| A4-31 |
(f) In I/O information window, check whether XGF-PN8A information is shown correctly. If you want to see version of the module,
click “Details”.
| Appendix4 |
A4-32
(g) In I/O information window, click “I/O Sync.” button to set up I/O parameter.
(h) Select “Edit- Register U device” to register U device.
(i) In the following example, XGK CPU and two servos are used. Those servos are set as 1-axis and 2-axis. It connects by using
XECON and reads status information of the connected axis. Add other programs as necessary.
Warranty and Environmental Policy
Warranty
1.Warranty Period
The product you purchased will be guaranteed for 18 months from the date of manufacturing.
2. Scope of Warranty
Any trouble or defect occurring for the above-mentioned period will be partially replaced or repaired. However, please note the following
cases will be excluded from the scope of warranty.
(1) Any trouble attributable to unreasonable condition, environment or handling otherwise specified in the manual,
(2) Any trouble attributable to others’ products,
(3) If the product is modified or repaired in any other place not designated by the company,
(4) Due to unintended purposes
(5) Owing to the reasons unexpected at the level of the contemporary science and technology when delivered.
(6) Not attributable to the company; for instance, natural disasters or fire
3. Since the above warranty is limited to PLC unit only, make sure to use the product considering the safety for system configuration or
applications.
Environmental Policy
LSIS Co., Ltd supports and observes the environmental policy as below.
LSIS considers the environmental preservation
as the preferential management subject and
every staff of LSIS use the reasonable
endeavors for the pleasurably environmental
preservation of the earth.
LSIS’ PLC unit is designed to protect the
environment. For the disposal, separate
aluminum, iron and synthetic resin (cover) from
the product as they are reusable.
Environmental Management About Disposal
LS values every single customers.
Quality and service come first at LSIS.
Always at your service, standing for our customers.
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2019. 07